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Commit 790d03b4 authored by DonLakeFlyer's avatar DonLakeFlyer
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Initial Corridor Scan support

parent 8bf441af
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Showing with 2393 additions and 16 deletions
UnitTest.qrc
View file @ 790d03b4
......@@ -9,9 +9,10 @@
<file alias="MavCmdInfoVTOL.json">src/MissionManager/UnitTest/MavCmdInfoVTOL.json</file>
<file alias="MissionPlanner.waypoints">src/MissionManager/UnitTest/MissionPlanner.waypoints</file>
<file alias="OldFileFormat.mission">src/MissionManager/UnitTest/OldFileFormat.mission</file>
<file alias="GoodPolygon.kml">src/MissionManager/UnitTest/GoodPolygon.kml</file>
<file alias="MissingPolygonNode.kml">src/MissionManager/UnitTest/MissingPolygonNode.kml</file>
<file alias="BadXml.kml">src/MissionManager/UnitTest/BadXml.kml</file>
<file alias="BadCoordinatesNode.kml">src/MissionManager/UnitTest/BadCoordinatesNode.kml</file>
<file alias="PolygonAreaTest.kml">src/MissionManager/UnitTest/PolygonAreaTest.kml</file>
<file alias="PolygonGood.kml">src/MissionManager/UnitTest/PolygonGood.kml</file>
<file alias="PolygonMissingNode.kml">src/MissionManager/UnitTest/PolygonMissingNode.kml</file>
<file alias="PolygonBadXml.kml">src/MissionManager/UnitTest/PolygonBadXml.kml</file>
<file alias="PolygonBadCoordinatesNode.kml">src/MissionManager/UnitTest/PolygonBadCoordinatesNode.kml</file>
</qresource>
</RCC>
qgroundcontrol.pro
View file @ 790d03b4
......@@ -415,6 +415,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
src/FactSystem/FactSystemTestPX4.h \
src/FactSystem/ParameterManagerTest.h \
src/MissionManager/CameraSectionTest.h \
src/MissionManager/CorridorScanComplexItemTest.h \
src/MissionManager/MissionCommandTreeTest.h \
src/MissionManager/MissionControllerManagerTest.h \
src/MissionManager/MissionControllerTest.h \
......@@ -423,6 +424,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
src/MissionManager/MissionSettingsTest.h \
src/MissionManager/PlanMasterControllerTest.h \
src/MissionManager/QGCMapPolygonTest.h \
src/MissionManager/QGCMapPolylineTest.h \
src/MissionManager/SectionTest.h \
src/MissionManager/SimpleMissionItemTest.h \
src/MissionManager/SpeedSectionTest.h \
......@@ -452,6 +454,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
src/FactSystem/FactSystemTestPX4.cc \
src/FactSystem/ParameterManagerTest.cc \
src/MissionManager/CameraSectionTest.cc \
src/MissionManager/CorridorScanComplexItemTest.cc \
src/MissionManager/MissionCommandTreeTest.cc \
src/MissionManager/MissionControllerManagerTest.cc \
src/MissionManager/MissionControllerTest.cc \
......@@ -460,6 +463,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
src/MissionManager/MissionSettingsTest.cc \
src/MissionManager/PlanMasterControllerTest.cc \
src/MissionManager/QGCMapPolygonTest.cc \
src/MissionManager/QGCMapPolylineTest.cc \
src/MissionManager/SectionTest.cc \
src/MissionManager/SimpleMissionItemTest.cc \
src/MissionManager/SpeedSectionTest.cc \
......@@ -508,6 +512,7 @@ HEADERS += \
src/MissionManager/CameraSection.h \
src/MissionManager/CameraSpec.h \
src/MissionManager/ComplexMissionItem.h \
src/MissionManager/CorridorScanComplexItem.h \
src/MissionManager/FixedWingLandingComplexItem.h \
src/MissionManager/GeoFenceController.h \
src/MissionManager/GeoFenceManager.h \
......@@ -526,6 +531,7 @@ HEADERS += \
src/MissionManager/QGCFencePolygon.h \
src/MissionManager/QGCMapCircle.h \
src/MissionManager/QGCMapPolygon.h \
src/MissionManager/QGCMapPolyline.h \
src/MissionManager/RallyPoint.h \
src/MissionManager/RallyPointController.h \
src/MissionManager/RallyPointManager.h \
......@@ -700,6 +706,7 @@ SOURCES += \
src/MissionManager/CameraSection.cc \
src/MissionManager/CameraSpec.cc \
src/MissionManager/ComplexMissionItem.cc \
src/MissionManager/CorridorScanComplexItem.cc \
src/MissionManager/FixedWingLandingComplexItem.cc \
src/MissionManager/GeoFenceController.cc \
src/MissionManager/GeoFenceManager.cc \
......@@ -718,6 +725,7 @@ SOURCES += \
src/MissionManager/QGCFencePolygon.cc \
src/MissionManager/QGCMapCircle.cc \
src/MissionManager/QGCMapPolygon.cc \
src/MissionManager/QGCMapPolyline.cc \
src/MissionManager/RallyPoint.cc \
src/MissionManager/RallyPointController.cc \
src/MissionManager/RallyPointManager.cc \
......
qgroundcontrol.qrc
View file @ 790d03b4
......@@ -18,6 +18,7 @@
<file alias="AnalyzeView.qml">src/AnalyzeView/AnalyzeView.qml</file>
<file alias="AppSettings.qml">src/ui/AppSettings.qml</file>
<file alias="BluetoothSettings.qml">src/ui/preferences/BluetoothSettings.qml</file>
<file alias="CorridorScanEditor.qml">src/PlanView/CorridorScanEditor.qml</file>
<file alias="CustomCommandWidget.qml">src/ViewWidgets/CustomCommandWidget.qml</file>
<file alias="DebugWindow.qml">src/ui/preferences/DebugWindow.qml</file>
<file alias="ESP8266Component.qml">src/AutoPilotPlugins/Common/ESP8266Component.qml</file>
......@@ -48,6 +49,7 @@
<file alias="QGroundControl/Controls/CameraCalc.qml">src/PlanView/CameraCalc.qml</file>
<file alias="QGroundControl/Controls/CameraSection.qml">src/PlanView/CameraSection.qml</file>
<file alias="QGroundControl/Controls/ClickableColor.qml">src/QmlControls/ClickableColor.qml</file>
<file alias="QGroundControl/Controls/CorridorScanMapVisual.qml">src/PlanView/CorridorScanMapVisual.qml</file>
<file alias="QGroundControl/Controls/DropButton.qml">src/QmlControls/DropButton.qml</file>
<file alias="QGroundControl/Controls/EditPositionDialog.qml">src/QmlControls/EditPositionDialog.qml</file>
<file alias="QGroundControl/Controls/ExclusiveGroupItem.qml">src/QmlControls/ExclusiveGroupItem.qml</file>
......@@ -89,6 +91,7 @@
<file alias="QGroundControl/Controls/QGCMapLabel.qml">src/QmlControls/QGCMapLabel.qml</file>
<file alias="QGroundControl/Controls/QGCMapCircleVisuals.qml">src/MissionManager/QGCMapCircleVisuals.qml</file>
<file alias="QGroundControl/Controls/QGCMapPolygonVisuals.qml">src/MissionManager/QGCMapPolygonVisuals.qml</file>
<file alias="QGroundControl/Controls/QGCMapPolylineVisuals.qml">src/MissionManager/QGCMapPolylineVisuals.qml</file>
<file alias="QGroundControl/Controls/QGCMouseArea.qml">src/QmlControls/QGCMouseArea.qml</file>
<file alias="QGroundControl/Controls/QGCMovableItem.qml">src/QmlControls/QGCMovableItem.qml</file>
<file alias="QGroundControl/Controls/QGCPipable.qml">src/QmlControls/QGCPipable.qml</file>
......@@ -202,6 +205,7 @@
<file alias="QGCMapCircle.Facts.json">src/MissionManager/QGCMapCircle.Facts.json</file>
<file alias="RTK.SettingsGroup.json">src/Settings/RTK.SettingsGroup.json</file>
<file alias="Survey.SettingsGroup.json">src/MissionManager/Survey.SettingsGroup.json</file>
<file alias="CorridorScan.SettingsGroup.json">src/MissionManager/CorridorScan.SettingsGroup.json</file>
<file alias="StructureScan.SettingsGroup.json">src/MissionManager/StructureScan.SettingsGroup.json</file>
<file alias="Units.SettingsGroup.json">src/Settings/Units.SettingsGroup.json</file>
<file alias="Video.SettingsGroup.json">src/Settings/Video.SettingsGroup.json</file>
......
src/MissionManager/CameraCalc.h
View file @ 790d03b4
......@@ -49,6 +49,14 @@ public:
Fact* adjustedFootprintSide (void) { return &_adjustedFootprintSideFact; }
Fact* adjustedFootprintFrontal (void) { return &_adjustedFootprintFrontalFact; }
const Fact* valueSetIsDistance (void) const { return &_valueSetIsDistanceFact; }
const Fact* distanceToSurface (void) const { return &_distanceToSurfaceFact; }
const Fact* imageDensity (void) const { return &_imageDensityFact; }
const Fact* frontalOverlap (void) const { return &_frontalOverlapFact; }
const Fact* sideOverlap (void) const { return &_sideOverlapFact; }
const Fact* adjustedFootprintSide (void) const { return &_adjustedFootprintSideFact; }
const Fact* adjustedFootprintFrontal (void) const { return &_adjustedFootprintFrontalFact; }
bool isManualCamera (void) { return cameraName() == manualCameraName(); }
double imageFootprintSide (void) const { return _imageFootprintSide; }
double imageFootprintFrontal (void) const { return _imageFootprintFrontal; }
......
src/MissionManager/ComplexMissionItem.h
View file @ 790d03b4
......@@ -47,9 +47,9 @@ public:
static const char* jsonComplexItemTypeKey;
signals:
void complexDistanceChanged (double complexDistance);
void complexDistanceChanged (void);
void greatestDistanceToChanged (void);
void additionalTimeDelayChanged (double additionalTimeDelay);
void additionalTimeDelayChanged (void);
};
#endif
src/MissionManager/CorridorScan.SettingsGroup.json 0 → 100644
View file @ 790d03b4
[
{
"name": "Altitude",
"shortDescription": "Altitude for the bottom layer of the structure scan.",
"type": "double",
"units": "m",
"decimalPlaces": 1,
"defaultValue": 50
},
{
"name": "CorridorWidth",
"shortDescription": "Corridor width. Specify 0 width for a single pass scan.",
"type": "double",
"units": "m",
"min": 0,
"decimalPlaces": 1,
"defaultValue": 50
},
{
"name": "Trigger distance",
"shortDescription": "Distance between each triggering of the camera. 0 specifies not camera trigger.",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "m",
"defaultValue": 25
},
{
"name": "GridSpacing",
"shortDescription": "Amount of spacing in between parallel grid lines.",
"type": "double",
"decimalPlaces": 2,
"min": 0.1,
"units": "m",
"defaultValue": 30
},
{
"name": "TurnaroundDist",
"shortDescription": "Amount of additional distance to add outside the grid area for vehicle turnaround.",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "m",
"defaultValue": 30
}
]
src/MissionManager/CorridorScanComplexItem.cc 0 → 100644
View file @ 790d03b4
This diff is collapsed.
src/MissionManager/CorridorScanComplexItem.h 0 → 100644
View file @ 790d03b4
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "ComplexMissionItem.h"
#include "MissionItem.h"
#include "SettingsFact.h"
#include "QGCLoggingCategory.h"
#include "QGCMapPolyline.h"
#include "QGCMapPolygon.h"
#include "CameraCalc.h"
Q_DECLARE_LOGGING_CATEGORY(CorridorScanComplexItemLog)
class CorridorScanComplexItem : public ComplexMissionItem
{
Q_OBJECT
public:
CorridorScanComplexItem(Vehicle* vehicle, QObject* parent = NULL);
Q_PROPERTY(CameraCalc* cameraCalc READ cameraCalc CONSTANT)
Q_PROPERTY(QGCMapPolyline* corridorPolyline READ corridorPolyline CONSTANT)
Q_PROPERTY(QGCMapPolygon* corridorPolygon READ corridorPolygon CONSTANT)
Q_PROPERTY(Fact* corridorWidth READ corridorWidth CONSTANT)
Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged)
Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged)
Q_PROPERTY(double coveredArea READ coveredArea NOTIFY coveredAreaChanged)
Q_PROPERTY(double cameraMinTriggerInterval MEMBER _cameraMinTriggerInterval NOTIFY cameraMinTriggerIntervalChanged)
Q_PROPERTY(QVariantList transectPoints READ transectPoints NOTIFY transectPointsChanged)
CameraCalc* cameraCalc (void) { return &_cameraCalc; }
QGCMapPolyline* corridorPolyline(void) { return &_corridorPolyline; }
QGCMapPolygon* corridorPolygon (void) { return &_corridorPolygon; }
Fact* corridorWidth (void) { return &_corridorWidthFact; }
QVariantList transectPoints (void) { return _transectPoints; }
int cameraShots (void) const { return _cameraShots; }
double timeBetweenShots (void);
double coveredArea (void) const;
Q_INVOKABLE void rotateEntryPoint(void);
// Overrides from ComplexMissionItem
double complexDistance (void) const final { return _scanDistance; }
int lastSequenceNumber (void) const final;
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
double greatestDistanceTo (const QGeoCoordinate &other) const final;
QString mapVisualQML (void) const final { return QStringLiteral("CorridorScanMapVisual.qml"); }
// Overrides from VisualMissionItem
bool dirty (void) const final { return _dirty; }
bool isSimpleItem (void) const final { return false; }
bool isStandaloneCoordinate (void) const final { return false; }
bool specifiesCoordinate (void) const final;
bool specifiesAltitudeOnly (void) const final { return false; }
QString commandDescription (void) const final { return tr("Corridor Scan"); }
QString commandName (void) const final { return tr("Corridor Scan"); }
QString abbreviation (void) const final { return "S"; }
QGeoCoordinate coordinate (void) const final { return _coordinate; }
QGeoCoordinate exitCoordinate (void) const final { return _exitCoordinate; }
int sequenceNumber (void) const final { return _sequenceNumber; }
double specifiedFlightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalYaw (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalPitch (void) final { return std::numeric_limits<double>::quiet_NaN(); }
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void setMissionFlightStatus (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
void applyNewAltitude (double newAltitude) final;
bool coordinateHasRelativeAltitude (void) const final { return true /*_altitudeRelative*/; }
bool exitCoordinateHasRelativeAltitude (void) const final { return true /*_altitudeRelative*/; }
bool exitCoordinateSameAsEntry (void) const final { return false; }
void setDirty (bool dirty) final;
void setCoordinate (const QGeoCoordinate& coordinate) final { Q_UNUSED(coordinate); }
void setSequenceNumber (int sequenceNumber) final;
void save (QJsonArray& missionItems) final;
static const char* jsonComplexItemTypeValue;
signals:
void cameraShotsChanged (void);
void timeBetweenShotsChanged (void);
void cameraMinTriggerIntervalChanged(double cameraMinTriggerInterval);
void altitudeRelativeChanged (bool altitudeRelative);
void transectPointsChanged (void);
void coveredAreaChanged (void);
private slots:
void _setDirty (void);
void _polylineDirtyChanged (bool dirty);
void _polylineCountChanged (int count);
void _clearInternal (void);
void _updateCoordinateAltitudes (void);
void _signalLastSequenceNumberChanged (void);
void _rebuildCorridor (void);
void _rebuildTransects (void);
private:
void _setExitCoordinate (const QGeoCoordinate& coordinate);
void _setScanDistance (double scanDistance);
void _setCameraShots (int cameraShots);
double _triggerDistance (void) const;
int _transectCount (void) const;
void _rebuildCorridorPolygon(void);
int _sequenceNumber;
bool _dirty;
QGeoCoordinate _coordinate;
QGeoCoordinate _exitCoordinate;
QGCMapPolyline _corridorPolyline;
QGCMapPolygon _corridorPolygon;
Fact _corridorWidthFact;
QVariantList _transectPoints;
bool _ignoreRecalc;
double _scanDistance;
int _cameraShots;
double _timeBetweenShots;
double _cameraMinTriggerInterval;
double _cruiseSpeed;
CameraCalc _cameraCalc;
static QMap<QString, FactMetaData*> _metaDataMap;
static const char* _corridorWidthFactName;
static const char* _jsonCameraCalcKey;
};
src/MissionManager/CorridorScanComplexItemTest.cc 0 → 100644
View file @ 790d03b4
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include "CorridorScanComplexItemTest.h"
#include "QGCApplication.h"
CorridorScanComplexItemTest::CorridorScanComplexItemTest(void)
: _offlineVehicle(NULL)
{
_linePoints << QGeoCoordinate(47.633550640000003, -122.08982199)
<< QGeoCoordinate(47.634129020000003, -122.08887249)
<< QGeoCoordinate(47.633619320000001, -122.08811074);
}
void CorridorScanComplexItemTest::init(void)
{
UnitTest::init();
_offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
_corridorItem = new CorridorScanComplexItem(_offlineVehicle, this);
// _corridorItem->setTurnaroundDist(0); // Unit test written for no turnaround distance
_corridorItem->setDirty(false);
_mapPolyline = _corridorItem->corridorPolyline();
_rgSignals[complexDistanceChangedIndex] = SIGNAL(complexDistanceChanged());
_rgSignals[greatestDistanceToChangedIndex] = SIGNAL(greatestDistanceToChanged());
_rgSignals[additionalTimeDelayChangedIndex] = SIGNAL(additionalTimeDelayChanged());
_rgSignals[transectPointsChangedIndex] = SIGNAL(transectPointsChanged());
_rgSignals[cameraShotsChangedIndex] = SIGNAL(cameraShotsChanged());
_rgSignals[coveredAreaChangedIndex] = SIGNAL(coveredAreaChanged());
_rgSignals[timeBetweenShotsChangedIndex] = SIGNAL(timeBetweenShotsChanged());
_rgSignals[dirtyChangedIndex] = SIGNAL(dirtyChanged(bool));
_multiSpy = new MultiSignalSpy();
QCOMPARE(_multiSpy->init(_corridorItem, _rgSignals, _cSignals), true);
_rgCorridorPolygonSignals[corridorPolygonPathChangedIndex] = SIGNAL(pathChanged());
_multiSpyCorridorPolygon = new MultiSignalSpy();
QCOMPARE(_multiSpyCorridorPolygon->init(_corridorItem->corridorPolygon(), _rgCorridorPolygonSignals, _cCorridorPolygonSignals), true);
}
void CorridorScanComplexItemTest::cleanup(void)
{
delete _corridorItem;
delete _offlineVehicle;
delete _multiSpy;
}
void CorridorScanComplexItemTest::_testDirty(void)
{
QVERIFY(!_corridorItem->dirty());
_corridorItem->setDirty(false);
QVERIFY(!_corridorItem->dirty());
QVERIFY(_multiSpy->checkNoSignals());
_corridorItem->setDirty(true);
QVERIFY(_corridorItem->dirty());
QVERIFY(_multiSpy->checkOnlySignalByMask(dirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_multiSpy->clearAllSignals();
_corridorItem->setDirty(false);
QVERIFY(!_corridorItem->dirty());
QVERIFY(_multiSpy->checkOnlySignalByMask(dirtyChangedMask));
QVERIFY(!_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_multiSpy->clearAllSignals();
// These facts should set dirty when changed
QList<Fact*> rgFacts;
#if 0
rgFacts << _corridorItem->gridAltitude() << _corridorItem->gridAngle() << _corridorItem->gridSpacing() << _corridorItem->turnaroundDist() << _corridorItem->cameraTriggerDistance() <<
_corridorItem->gridAltitudeRelative() << _corridorItem->cameraTriggerInTurnaround() << _corridorItem->hoverAndCapture();
#endif
rgFacts << _corridorItem->corridorWidth();
foreach(Fact* fact, rgFacts) {
qDebug() << fact->name();
QVERIFY(!_corridorItem->dirty());
if (fact->typeIsBool()) {
fact->setRawValue(!fact->rawValue().toBool());
} else {
fact->setRawValue(fact->rawValue().toDouble() + 1);
}
QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask));
QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex));
_corridorItem->setDirty(false);
_multiSpy->clearAllSignals();
}
rgFacts.clear();
// These facts should not change dirty bit
#if 0
rgFacts << _corridorItem->groundResolution() << _corridorItem->frontalOverlap() << _corridorItem->sideOverlap() << _corridorItem->cameraSensorWidth() << _corridorItem->cameraSensorHeight() <<
_corridorItem->cameraResolutionWidth() << _corridorItem->cameraResolutionHeight() << _corridorItem->cameraFocalLength() << _corridorItem->cameraOrientationLandscape() <<
_corridorItem->fixedValueIsAltitude() << _corridorItem->camera() << _corridorItem->manualGrid();
#endif
foreach(Fact* fact, rgFacts) {
qDebug() << fact->name();
QVERIFY(!_corridorItem->dirty());
if (fact->typeIsBool()) {
fact->setRawValue(!fact->rawValue().toBool());
} else {
fact->setRawValue(fact->rawValue().toDouble() + 1);
}
QVERIFY(_multiSpy->checkNoSignalByMask(dirtyChangedMask));
QVERIFY(!_corridorItem->dirty());
_multiSpy->clearAllSignals();
}
rgFacts.clear();
}
void CorridorScanComplexItemTest::_testCameraTrigger(void)
{
#if 0
QCOMPARE(_corridorItem->property("cameraTrigger").toBool(), true);
// Set up a grid
for (int i=0; i<3; i++) {
_mapPolyline->appendVertex(_linePoints[i]);
}
_corridorItem->setDirty(false);
_multiSpy->clearAllSignals();
int lastSeq = _corridorItem->lastSequenceNumber();
QVERIFY(lastSeq > 0);
// Turning off camera triggering should remove two camera trigger mission items, this should trigger:
// lastSequenceNumberChanged
// dirtyChanged
_corridorItem->setProperty("cameraTrigger", false);
QVERIFY(_multiSpy->checkOnlySignalByMask(lastSequenceNumberChangedMask | dirtyChangedMask | cameraTriggerChangedMask));
QCOMPARE(_multiSpy->pullIntFromSignalIndex(lastSequenceNumberChangedIndex), lastSeq - 2);
_corridorItem->setDirty(false);
_multiSpy->clearAllSignals();
// Turn on camera triggering and make sure things go back to previous count
_corridorItem->setProperty("cameraTrigger", true);
QVERIFY(_multiSpy->checkOnlySignalByMask(lastSequenceNumberChangedMask | dirtyChangedMask | cameraTriggerChangedMask));
QCOMPARE(_multiSpy->pullIntFromSignalIndex(lastSequenceNumberChangedIndex), lastSeq);
#endif
}
void CorridorScanComplexItemTest::_setPolyline(void)
{
for (int i=0; i<_linePoints.count(); i++) {
QGeoCoordinate& vertex = _linePoints[i];
_mapPolyline->appendVertex(vertex);
}
}
#if 0
void CorridorScanComplexItemTest::_testEntryLocation(void)
{
_setPolygon();
for (double gridAngle=-360.0; gridAngle<=360.0; gridAngle++) {
_corridorItem->gridAngle()->setRawValue(gridAngle);
QList<QGeoCoordinate> rgSeenEntryCoords;
QList<int> rgEntryLocation;
rgEntryLocation << SurveyMissionItem::EntryLocationTopLeft
<< SurveyMissionItem::EntryLocationTopRight
<< SurveyMissionItem::EntryLocationBottomLeft
<< SurveyMissionItem::EntryLocationBottomRight;
// Validate that each entry location is unique
for (int i=0; i<rgEntryLocation.count(); i++) {
int entryLocation = rgEntryLocation[i];
_corridorItem->gridEntryLocation()->setRawValue(entryLocation);
QVERIFY(!rgSeenEntryCoords.contains(_corridorItem->coordinate()));
rgSeenEntryCoords << _corridorItem->coordinate();
}
rgSeenEntryCoords.clear();
}
}
#endif
void CorridorScanComplexItemTest::_testItemCount(void)
{
QList<MissionItem*> items;
_setPolyline();
// _corridorItem->cameraTriggerInTurnaround()->setRawValue(false);
_corridorItem->appendMissionItems(items, this);
QCOMPARE(items.count(), _corridorItem->lastSequenceNumber());
items.clear();
}
void CorridorScanComplexItemTest::_testPathChanges(void)
{
_setPolyline();
_corridorItem->setDirty(false);
_multiSpy->clearAllSignals();
_multiSpyCorridorPolygon->clearAllSignals();
QGeoCoordinate vertex = _mapPolyline->vertexCoordinate(1);
vertex.setLatitude(vertex.latitude() + 0.01);
_mapPolyline->adjustVertex(1, vertex);
QVERIFY(_corridorItem->dirty());
QVERIFY(_multiSpy->checkOnlySignalsByMask(dirtyChangedMask | transectPointsChangedMask | cameraShotsChangedMask | coveredAreaChangedMask | complexDistanceChangedMask | greatestDistanceToChangedMask));
QVERIFY(_multiSpyCorridorPolygon->checkSignalsByMask(corridorPolygonPathChangedMask));
_multiSpy->clearAllSignals();
}
src/MissionManager/CorridorScanComplexItemTest.h 0 → 100644
View file @ 790d03b4
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#pragma once
#include "UnitTest.h"
#include "TCPLink.h"
#include "MultiSignalSpy.h"
#include "CorridorScanComplexItem.h"
#include <QGeoCoordinate>
class CorridorScanComplexItemTest : public UnitTest
{
Q_OBJECT
public:
CorridorScanComplexItemTest(void);
protected:
void init(void) final;
void cleanup(void) final;
private slots:
void _testDirty(void);
void _testCameraTrigger(void);
// void _testEntryLocation(void);
void _testItemCount(void);
void _testPathChanges(void);
private:
void _setPolyline(void);
enum {
complexDistanceChangedIndex = 0,
greatestDistanceToChangedIndex,
additionalTimeDelayChangedIndex,
transectPointsChangedIndex,
cameraShotsChangedIndex,
coveredAreaChangedIndex,
timeBetweenShotsChangedIndex,
dirtyChangedIndex,
maxSignalIndex
};
enum {
complexDistanceChangedMask = 1 << complexDistanceChangedIndex,
greatestDistanceToChangedMask = 1 << greatestDistanceToChangedIndex,
additionalTimeDelayChangedMask = 1 << additionalTimeDelayChangedIndex,
transectPointsChangedMask = 1 << transectPointsChangedIndex,
cameraShotsChangedMask = 1 << cameraShotsChangedIndex,
coveredAreaChangedMask = 1 << coveredAreaChangedIndex,
timeBetweenShotsChangedMask = 1 << timeBetweenShotsChangedIndex,
dirtyChangedMask = 1 << dirtyChangedIndex
};
static const size_t _cSignals = maxSignalIndex;
const char* _rgSignals[_cSignals];
enum {
corridorPolygonPathChangedIndex = 0,
maxCorridorPolygonSignalIndex
};
enum {
corridorPolygonPathChangedMask = 1 << corridorPolygonPathChangedIndex,
};
static const size_t _cCorridorPolygonSignals = maxCorridorPolygonSignalIndex;
const char* _rgCorridorPolygonSignals[_cCorridorPolygonSignals];
Vehicle* _offlineVehicle;
MultiSignalSpy* _multiSpy;
MultiSignalSpy* _multiSpyCorridorPolygon;
CorridorScanComplexItem* _corridorItem;
QGCMapPolyline* _mapPolyline;
QList<QGeoCoordinate> _linePoints;
};
src/MissionManager/MissionController.cc
View file @ 790d03b4
......@@ -19,7 +19,7 @@
#include "SurveyMissionItem.h"
#include "FixedWingLandingComplexItem.h"
#include "StructureScanComplexItem.h"
#include "StructureScanComplexItem.h"
#include "CorridorScanComplexItem.h"
#include "JsonHelper.h"
#include "ParameterManager.h"
#include "QGroundControlQmlGlobal.h"
......@@ -63,6 +63,7 @@ MissionController::MissionController(PlanMasterController* masterController, QOb
, _surveyMissionItemName(tr("Survey"))
, _fwLandingMissionItemName(tr("Fixed Wing Landing"))
, _structureScanMissionItemName(tr("Structure Scan"))
, _corridorScanMissionItemName(tr("Corridor Scan"))
, _appSettings(qgcApp()->toolbox()->settingsManager()->appSettings())
, _progressPct(0)
, _currentPlanViewIndex(-1)
......@@ -416,6 +417,8 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate
newItem = new FixedWingLandingComplexItem(_controllerVehicle, _visualItems);
} else if (itemName == _structureScanMissionItemName) {
newItem = new StructureScanComplexItem(_controllerVehicle, _visualItems);
} else if (itemName == _corridorScanMissionItemName) {
newItem = new CorridorScanComplexItem(_controllerVehicle, _visualItems);
} else {
qWarning() << "Internal error: Unknown complex item:" << itemName;
return sequenceNumber;
......@@ -697,6 +700,15 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
nextSequenceNumber = structureItem->lastSequenceNumber() + 1;
qCDebug(MissionControllerLog) << "Structure Scan load complete: nextSequenceNumber" << nextSequenceNumber;
visualItems->append(structureItem);
} else if (complexItemType == CorridorScanComplexItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Corridor Scan: nextSequenceNumber" << nextSequenceNumber;
CorridorScanComplexItem* corridorItem = new CorridorScanComplexItem(_controllerVehicle, visualItems);
if (!corridorItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
nextSequenceNumber = corridorItem->lastSequenceNumber() + 1;
qCDebug(MissionControllerLog) << "Corridor Scan load complete: nextSequenceNumber" << nextSequenceNumber;
visualItems->append(corridorItem);
} else if (complexItemType == MissionSettingsItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Mission Settings: nextSequenceNumber" << nextSequenceNumber;
MissionSettingsItem* settingsItem = new MissionSettingsItem(_controllerVehicle, visualItems);
......@@ -1841,6 +1853,7 @@ QStringList MissionController::complexMissionItemNames(void) const
QStringList complexItems;
complexItems.append(_surveyMissionItemName);
complexItems.append(_corridorScanMissionItemName);
if (_controllerVehicle->fixedWing()) {
complexItems.append(_fwLandingMissionItemName);
}
......
src/MissionManager/MissionController.h
View file @ 790d03b4
......@@ -253,6 +253,7 @@ private:
QString _surveyMissionItemName;
QString _fwLandingMissionItemName;
QString _structureScanMissionItemName;
QString _corridorScanMissionItemName;
AppSettings* _appSettings;
double _progressPct;
int _currentPlanViewIndex;
......
src/MissionManager/QGCMapPolygon.cc
View file @ 790d03b4
......@@ -362,7 +362,7 @@ QGeoCoordinate QGCMapPolygon::vertexCoordinate(int vertex) const
}
}
QList<QPointF> QGCMapPolygon::nedPolygon(void)
QList<QPointF> QGCMapPolygon::nedPolygon(void) const
{
QList<QPointF> nedPolygon;
......@@ -515,3 +515,19 @@ bool QGCMapPolygon::loadKMLFile(const QString& kmlFile)
return true;
}
double QGCMapPolygon::area(void) const