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Commit 7a669919 authored by DonLakeFlyer's avatar DonLakeFlyer
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Support scan distance from structure 

Fix crash when adding second structure scan
parent cc9f9d52
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Inline Side-by-side
Showing with 85 additions and 99 deletions
src/MissionManager/StructureScan.SettingsGroup.json
View file @ 7a669919
......@@ -23,6 +23,15 @@
"units": "m",
"defaultValue": 25
},
{
"name": "Scan distance",
"shortDescription": "Scan distance away from structure.",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "m",
"defaultValue": 25
},
{
"name": "Trigger distance",
"shortDescription": "Distance between each triggering of the camera. 0 specifies not camera trigger.",
......
src/MissionManager/StructureScanComplexItem.cc
View file @ 7a669919
......@@ -23,36 +23,11 @@ QGC_LOGGING_CATEGORY(StructureScanComplexItemLog, "StructureScanComplexItemLog")
const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan-WIP";
const char* StructureScanComplexItem::_jsonGridObjectKey = "grid";
const char* StructureScanComplexItem::_jsonGridAltitudeKey = "altitude";
const char* StructureScanComplexItem::_jsonGridAltitudeRelativeKey = "relativeAltitude";
const char* StructureScanComplexItem::_jsonGridAngleKey = "angle";
const char* StructureScanComplexItem::_jsonGridSpacingKey = "spacing";
const char* StructureScanComplexItem::_jsonGridEntryLocationKey = "entryLocation";
const char* StructureScanComplexItem::_jsonTurnaroundDistKey = "turnAroundDistance";
const char* StructureScanComplexItem::_jsonCameraTriggerDistanceKey = "cameraTriggerDistance";
const char* StructureScanComplexItem::_jsonCameraTriggerInTurnaroundKey = "cameraTriggerInTurnaround";
const char* StructureScanComplexItem::_jsonHoverAndCaptureKey = "hoverAndCapture";
const char* StructureScanComplexItem::_jsonGroundResolutionKey = "groundResolution";
const char* StructureScanComplexItem::_jsonFrontalOverlapKey = "imageFrontalOverlap";
const char* StructureScanComplexItem::_jsonSideOverlapKey = "imageSideOverlap";
const char* StructureScanComplexItem::_jsonCameraSensorWidthKey = "sensorWidth";
const char* StructureScanComplexItem::_jsonCameraSensorHeightKey = "sensorHeight";
const char* StructureScanComplexItem::_jsonCameraResolutionWidthKey = "resolutionWidth";
const char* StructureScanComplexItem::_jsonCameraResolutionHeightKey = "resolutionHeight";
const char* StructureScanComplexItem::_jsonCameraFocalLengthKey = "focalLength";
const char* StructureScanComplexItem::_jsonCameraMinTriggerIntervalKey = "minTriggerInterval";
const char* StructureScanComplexItem::_jsonCameraObjectKey = "camera";
const char* StructureScanComplexItem::_jsonCameraNameKey = "name";
const char* StructureScanComplexItem::_jsonManualGridKey = "manualGrid";
const char* StructureScanComplexItem::_jsonCameraOrientationLandscapeKey = "orientationLandscape";
const char* StructureScanComplexItem::_jsonFixedValueIsAltitudeKey = "fixedValueIsAltitude";
const char* StructureScanComplexItem::_jsonRefly90DegreesKey = "refly90Degrees";
const char* StructureScanComplexItem::_altitudeFactName = "Altitude";
const char* StructureScanComplexItem::_layersFactName = "Layers";
const char* StructureScanComplexItem::_layerDistanceFactName = "Layer distance";
const char* StructureScanComplexItem::_cameraTriggerDistanceFactName = "Trigger distance";
const char* StructureScanComplexItem::_scanDistanceFactName = "Scan distance";
QMap<QString, FactMetaData*> StructureScanComplexItem::_metaDataMap;
......@@ -70,22 +45,26 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
, _layersFact (0, _layersFactName, FactMetaData::valueTypeUint32)
, _layerDistanceFact (0, _layerDistanceFactName, FactMetaData::valueTypeDouble)
, _cameraTriggerDistanceFact(0, _cameraTriggerDistanceFactName, FactMetaData::valueTypeDouble)
, _scanDistanceFact (0, _scanDistanceFactName, FactMetaData::valueTypeDouble)
{
_editorQml = "qrc:/qml/StructureScanEditor.qml";
if (_metaDataMap.isEmpty()) {
_metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/StructureScan.SettingsGroup.json"), this);
_metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/StructureScan.SettingsGroup.json"), NULL /* QObject parent */);
}
qDebug() << _metaDataMap[_altitudeFactName];
_altitudeFact.setMetaData (_metaDataMap[_altitudeFactName]);
_layersFact.setMetaData (_metaDataMap[_layersFactName]);
_layerDistanceFact.setMetaData (_metaDataMap[_layerDistanceFactName]);
_cameraTriggerDistanceFact.setMetaData (_metaDataMap[_cameraTriggerDistanceFactName]);
_scanDistanceFact.setMetaData (_metaDataMap[_scanDistanceFactName]);
_altitudeFact.setRawValue (_altitudeFact.rawDefaultValue());
_layersFact.setRawValue (_layersFact.rawDefaultValue());
_layerDistanceFact.setRawValue (_layerDistanceFact.rawDefaultValue());
_cameraTriggerDistanceFact.setRawValue (_cameraTriggerDistanceFact.rawDefaultValue());
_scanDistanceFact.setRawValue (_scanDistanceFact.rawDefaultValue());
_altitudeFact.setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue());
......@@ -93,6 +72,7 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layerDistanceFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_cameraTriggerDistanceFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_scanDistanceFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::_setDirty);
connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::coordinateHasRelativeAltitudeChanged);
......@@ -100,9 +80,13 @@ StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* pa
connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_updateCoordinateAltitudes);
connect(&_mapPolygon, &QGCMapPolygon::dirtyChanged, this, &StructureScanComplexItem::_polygonDirtyChanged);
connect(&_mapPolygon, &QGCMapPolygon::countChanged, this, &StructureScanComplexItem::_polygonCountChanged);
connect(&_mapPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_polygonPathChanged);
connect(&_structurePolygon, &QGCMapPolygon::dirtyChanged, this, &StructureScanComplexItem::_polygonDirtyChanged);
connect(&_structurePolygon, &QGCMapPolygon::countChanged, this, &StructureScanComplexItem::_polygonCountChanged);
connect(&_structurePolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon);
connect(&_flightPolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_flightPathChanged);
connect(&_scanDistanceFact, &Fact::valueChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon);
}
void StructureScanComplexItem::_setScanDistance(double scanDistance)
......@@ -138,7 +122,7 @@ void StructureScanComplexItem::_polygonCountChanged(int count)
int StructureScanComplexItem::lastSequenceNumber(void) const
{
return _sequenceNumber +
((_mapPolygon.count() + 1) * _layersFact.rawValue().toInt()) + // 1 waypoint for each polygon vertex + 1 to go back to first polygon vertex
((_flightPolygon.count() + 1) * _layersFact.rawValue().toInt()) + // 1 waypoint for each polygon vertex + 1 to go back to first polygon vertex
1; // Gimbal yaw command
}
......@@ -193,7 +177,7 @@ void StructureScanComplexItem::save(QJsonArray& missionItems)
}
// Polygon shape
_mapPolygon.saveToJson(saveObject);
_structurePolygon.saveToJson(saveObject);
missionItems.append(saveObject);
#endif
......@@ -260,7 +244,7 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
_ignoreRecalc = true;
_mapPolygon.clear();
_structurePolygon.clear();
setSequenceNumber(sequenceNumber);
......@@ -346,8 +330,8 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
/// @param required true: no polygon in object will generate error
/// @param errorString Error string if return is false
/// @return true: success, false: failure (errorString set)
if (!_mapPolygon.loadFromJson(v2Object, true /* required */, errorString)) {
_mapPolygon.clear();
if (!_structurePolygon.loadFromJson(v2Object, true /* required */, errorString)) {
_structurePolygon.clear();
return false;
}
......@@ -364,7 +348,7 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen
#endif
}
void StructureScanComplexItem::_polygonPathChanged(void)
void StructureScanComplexItem::_flightPathChanged(void)
{
emit coordinateChanged(coordinate());
emit exitCoordinateChanged(exitCoordinate());
......@@ -374,7 +358,7 @@ void StructureScanComplexItem::_polygonPathChanged(void)
double StructureScanComplexItem::greatestDistanceTo(const QGeoCoordinate &other) const
{
double greatestDistance = 0.0;
QList<QGeoCoordinate> vertices = _mapPolygon.coordinateList();
QList<QGeoCoordinate> vertices = _flightPolygon.coordinateList();
for (int i=0; i<vertices.count(); i++) {
QGeoCoordinate vertex = vertices[i];
......@@ -389,7 +373,7 @@ double StructureScanComplexItem::greatestDistanceTo(const QGeoCoordinate &other)
bool StructureScanComplexItem::specifiesCoordinate(void) const
{
return _mapPolygon.count() > 2;
return _flightPolygon.count() > 2;
}
void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
......@@ -413,8 +397,8 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
for (int layer=0; layer<_layersFact.rawValue().toInt(); layer++) {
double layerAltitude = baseAltitude + (layer * _layerDistanceFact.rawValue().toDouble());
for (int i=0; i<_mapPolygon.count(); i++) {
QGeoCoordinate vertexCoord = _mapPolygon.pathModel().value<QGCQGeoCoordinate*>(i)->coordinate();
for (int i=0; i<_flightPolygon.count(); i++) {
QGeoCoordinate vertexCoord = _flightPolygon.vertexCoordinate(i);
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
......@@ -432,7 +416,7 @@ void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QO
items.append(item);
}
QGeoCoordinate vertexCoord = _mapPolygon.pathModel().value<QGCQGeoCoordinate*>(0)->coordinate();
QGeoCoordinate vertexCoord = _flightPolygon.vertexCoordinate(0);
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
......@@ -489,9 +473,9 @@ double StructureScanComplexItem::timeBetweenShots(void) const
QGeoCoordinate StructureScanComplexItem::coordinate(void) const
{
if (_mapPolygon.count() > 0) {
int entryVertex = qMax(qMin(_entryVertex, _mapPolygon.count() - 1), 0);
return _mapPolygon.vertexCoordinate(entryVertex);
if (_flightPolygon.count() > 0) {
int entryVertex = qMax(qMin(_entryVertex, _flightPolygon.count() - 1), 0);
return _flightPolygon.vertexCoordinate(entryVertex);
} else {
return QGeoCoordinate();
}
......@@ -511,9 +495,15 @@ void StructureScanComplexItem::_updateCoordinateAltitudes(void)
void StructureScanComplexItem::rotateEntryPoint(void)
{
_entryVertex++;
if (_entryVertex >= _mapPolygon.count()) {
if (_entryVertex >= _flightPolygon.count()) {
_entryVertex = 0;
}
emit coordinateChanged(coordinate());
emit exitCoordinateChanged(exitCoordinate());
}
void StructureScanComplexItem::_rebuildFlightPolygon(void)
{
_flightPolygon = _structurePolygon;
_flightPolygon.offset(_scanDistanceFact.rawValue().toDouble());
}
src/MissionManager/StructureScanComplexItem.h
View file @ 7a669919
......@@ -30,20 +30,24 @@ public:
Q_PROPERTY(Fact* layers READ layers CONSTANT)
Q_PROPERTY(Fact* layerDistance READ layerDistance CONSTANT)
Q_PROPERTY(Fact* cameraTriggerDistance READ cameraTriggerDistance CONSTANT)
Q_PROPERTY(Fact* scanDistance READ scanDistance CONSTANT)
Q_PROPERTY(bool altitudeRelative MEMBER _altitudeRelative NOTIFY altitudeRelativeChanged)
Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged)
Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged)
Q_PROPERTY(double cameraMinTriggerInterval MEMBER _cameraMinTriggerInterval NOTIFY cameraMinTriggerIntervalChanged)
Q_PROPERTY(QGCMapPolygon* mapPolygon READ mapPolygon CONSTANT)
Q_PROPERTY(QGCMapPolygon* structurePolygon READ structurePolygon CONSTANT)
Q_PROPERTY(QGCMapPolygon* flightPolygon READ flightPolygon CONSTANT)
Fact* altitude (void) { return &_altitudeFact; }
Fact* layers (void) { return &_layersFact; }
Fact* layerDistance (void) { return &_layerDistanceFact; }
Fact* cameraTriggerDistance (void) { return &_cameraTriggerDistanceFact; }
Fact* scanDistance (void) { return &_scanDistanceFact; }
int cameraShots (void) const;
double timeBetweenShots(void) const;
QGCMapPolygon* mapPolygon (void) { return &_mapPolygon; }
QGCMapPolygon* structurePolygon(void) { return &_structurePolygon; }
QGCMapPolygon* flightPolygon (void) { return &_flightPolygon; }
Q_INVOKABLE void rotateEntryPoint(void);
......@@ -95,9 +99,10 @@ private slots:
void _setDirty(void);
void _polygonDirtyChanged(bool dirty);
void _polygonCountChanged(int count);
void _polygonPathChanged(void);
void _flightPathChanged(void);
void _clearInternal(void);
void _updateCoordinateAltitudes(void);
void _rebuildFlightPolygon(void);
private:
void _setExitCoordinate(const QGeoCoordinate& coordinate);
......@@ -107,7 +112,8 @@ private:
int _sequenceNumber;
bool _dirty;
QGCMapPolygon _mapPolygon;
QGCMapPolygon _structurePolygon;
QGCMapPolygon _flightPolygon;
bool _altitudeRelative;
int _entryVertex; // Polygon vertext which is used as the mission entry point
......@@ -124,39 +130,13 @@ private:
Fact _layersFact;
Fact _layerDistanceFact;
Fact _cameraTriggerDistanceFact;
Fact _scanDistanceFact;
static const char* _altitudeFactName;
static const char* _layersFactName;
static const char* _layerDistanceFactName;
static const char* _cameraTriggerDistanceFactName;
static const char* _jsonGridObjectKey;
static const char* _jsonGridAltitudeKey;
static const char* _jsonGridAltitudeRelativeKey;
static const char* _jsonGridAngleKey;
static const char* _jsonGridSpacingKey;
static const char* _jsonGridEntryLocationKey;
static const char* _jsonTurnaroundDistKey;
static const char* _jsonCameraTriggerDistanceKey;
static const char* _jsonCameraTriggerInTurnaroundKey;
static const char* _jsonHoverAndCaptureKey;
static const char* _jsonGroundResolutionKey;
static const char* _jsonFrontalOverlapKey;
static const char* _jsonSideOverlapKey;
static const char* _jsonCameraSensorWidthKey;
static const char* _jsonCameraSensorHeightKey;
static const char* _jsonCameraResolutionWidthKey;
static const char* _jsonCameraResolutionHeightKey;
static const char* _jsonCameraFocalLengthKey;
static const char* _jsonCameraMinTriggerIntervalKey;
static const char* _jsonManualGridKey;
static const char* _jsonCameraObjectKey;
static const char* _jsonCameraNameKey;
static const char* _jsonCameraOrientationLandscapeKey;
static const char* _jsonFixedValueIsAltitudeKey;
static const char* _jsonRefly90DegreesKey;
static const int _hoverAndCaptureDelaySeconds = 1;
static const char* _scanDistanceFactName;
};
#endif
src/PlanView/StructureScanEditor.qml
View file @ 7a669919
......@@ -60,11 +60,19 @@ Rectangle {
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
text: qsTr("WARNING: WORK IN PROGRESS. USE AT YOUR OWN RISK.")
text: qsTr("WARNING: WORK IN PROGRESS. USE AT YOUR OWN RISK. MEANT FOR DISCUSSION ONLY. DO NOT REPORT BUGS.")
wrapMode: Text.WordWrap
color: qgcPal.warningText
}
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
text: qsTr("Note: Polygon respresents structure surface not vehicle flight path.")
wrapMode: Text.WordWrap
font.pointSize: ScreenTools.smallFontPointSize
}
QGCLabel {
anchors.left: parent.left
anchors.right: parent.right
......@@ -99,6 +107,12 @@ Rectangle {
Layout.fillWidth: true
}
QGCLabel { text: qsTr("Scan distance") }
FactTextField {
fact: missionItem.scanDistance
Layout.fillWidth: true
}
QGCLabel { text: qsTr("Trigger Distance") }
FactTextField {
fact: missionItem.cameraTriggerDistance
......
src/PlanView/StructureScanMapVisual.qml
View file @ 7a669919
......@@ -25,31 +25,28 @@ Item {
property var map ///< Map control to place item in
property var _missionItem: object
property var _mapPolygon: object.mapPolygon
property var _gridComponent
property var _structurePolygon: object.structurePolygon
property var _flightPolygon: object.flightPolygon
property var _entryCoordinate
property var _exitCoordinate
signal clicked(int sequenceNumber)
function _addVisualElements() {
_gridComponent = gridComponent.createObject(map)
_entryCoordinate = entryPointComponent.createObject(map)
_exitCoordinate = exitPointComponent.createObject(map)
map.addMapItem(_gridComponent)
map.addMapItem(_entryCoordinate)
map.addMapItem(_exitCoordinate)
}
function _destroyVisualElements() {
_gridComponent.destroy()
_entryCoordinate.destroy()
_exitCoordinate.destroy()
}
/// Add an initial 4 sided polygon if there is none
function _addInitialPolygon() {
if (_mapPolygon.count < 3) {
if (_structurePolygon.count < 3) {
// Initial polygon is inset to take 2/3rds space
var rect = Qt.rect(map.centerViewport.x, map.centerViewport.y, map.centerViewport.width, map.centerViewport.height)
rect.x += (rect.width * 0.25) / 2
......@@ -71,10 +68,10 @@ Item {
bottomLeftCoord = centerCoord.atDistanceAndAzimuth(halfWidthMeters, -90).atDistanceAndAzimuth(halfHeightMeters, 180)
bottomRightCoord = centerCoord.atDistanceAndAzimuth(halfWidthMeters, 90).atDistanceAndAzimuth(halfHeightMeters, 180)
_mapPolygon.appendVertex(topLeftCoord)
_mapPolygon.appendVertex(topRightCoord)
_mapPolygon.appendVertex(bottomRightCoord)
_mapPolygon.appendVertex(bottomLeftCoord)
_structurePolygon.appendVertex(topLeftCoord)
_structurePolygon.appendVertex(topRightCoord)
_structurePolygon.appendVertex(bottomRightCoord)
_structurePolygon.appendVertex(bottomLeftCoord)
}
}
......@@ -88,9 +85,8 @@ Item {
}
QGCMapPolygonVisuals {
id: mapPolygonVisuals
mapControl: map
mapPolygon: _mapPolygon
mapPolygon: _structurePolygon
interactive: _missionItem.isCurrentItem
borderWidth: 1
borderColor: "black"
......@@ -98,15 +94,12 @@ Item {
interiorOpacity: 0.5
}
// Survey grid lines
Component {
id: gridComponent
MapPolyline {
line.color: "white"
line.width: 2
path: _missionItem.gridPoints
}
QGCMapPolygonVisuals {
mapControl: map
mapPolygon: _flightPolygon
interactive: false
borderWidth: 2
borderColor: "white"
}
// Entry point
......
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