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Commit 801221a8 authored by Don Gagne's avatar Don Gagne
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Initial Structure Scan support

parent de55d6e8
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Showing with 1041 additions and 2 deletions
qgroundcontrol.pro
View file @ 801221a8
......@@ -522,6 +522,7 @@ HEADERS += \
src/MissionManager/SimpleMissionItem.h \
src/MissionManager/Section.h \
src/MissionManager/SpeedSection.h \
src/MissionManager/StructureScanComplexItem.h \
src/MissionManager/SurveyMissionItem.h \
src/MissionManager/VisualMissionItem.h \
src/PositionManager/PositionManager.h \
......@@ -707,6 +708,7 @@ SOURCES += \
src/MissionManager/RallyPointManager.cc \
src/MissionManager/SimpleMissionItem.cc \
src/MissionManager/SpeedSection.cc \
src/MissionManager/StructureScanComplexItem.cc \
src/MissionManager/SurveyMissionItem.cc \
src/MissionManager/VisualMissionItem.cc \
src/PositionManager/PositionManager.cpp \
......
qgroundcontrol.qrc
View file @ 801221a8
......@@ -115,6 +115,7 @@
<file alias="QGroundControl/Controls/SignalStrength.qml">src/ui/toolbar/SignalStrength.qml</file>
<file alias="QGroundControl/Controls/SimpleItemMapVisual.qml">src/PlanView/SimpleItemMapVisual.qml</file>
<file alias="QGroundControl/Controls/SliderSwitch.qml">src/QmlControls/SliderSwitch.qml</file>
<file alias="QGroundControl/Controls/StructureScanMapVisual.qml">src/PlanView/StructureScanMapVisual.qml</file>
<file alias="QGroundControl/Controls/SubMenuButton.qml">src/QmlControls/SubMenuButton.qml</file>
<file alias="QGroundControl/Controls/SurveyMapVisual.qml">src/PlanView/SurveyMapVisual.qml</file>
<file alias="QGroundControl/Controls/VehicleRotationCal.qml">src/QmlControls/VehicleRotationCal.qml</file>
......@@ -179,7 +180,7 @@
<file alias="SetupParameterEditor.qml">src/VehicleSetup/SetupParameterEditor.qml</file>
<file alias="SetupView.qml">src/VehicleSetup/SetupView.qml</file>
<file alias="SimpleItemEditor.qml">src/PlanView/SimpleItemEditor.qml</file>
<file alias="SurveyItemEditor.qml">src/PlanView/SurveyItemEditor.qml</file>
<file alias="StructureScanEditor.qml">src/PlanView/StructureScanEditor.qml</file>
<file alias="FWLandingPatternEditor.qml">src/PlanView/FWLandingPatternEditor.qml</file>
<file alias="MissionSettingsEditor.qml">src/PlanView/MissionSettingsEditor.qml</file>
<file alias="TcpSettings.qml">src/ui/preferences/TcpSettings.qml</file>
......@@ -206,6 +207,7 @@
<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="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>
<file alias="RallyPoint.FactMetaData.json">src/MissionManager/RallyPoint.FactMetaData.json</file>
......
src/MissionManager/ComplexMissionItem.h
View file @ 801221a8
......@@ -24,6 +24,7 @@ public:
Q_PROPERTY(double complexDistance READ complexDistance NOTIFY complexDistanceChanged)
/// @return The distance covered the complex mission item in meters.
/// Signals complexDistanceChanged
virtual double complexDistance(void) const = 0;
/// @return Amount of additional time delay in seconds needed to fly the complex item
......@@ -39,6 +40,7 @@ public:
/// Get the point of complex mission item furthest away from a coordinate
/// @param other QGeoCoordinate to which distance is calculated
/// @return the greatest distance from any point of the complex item to some coordinate
/// Signals greatestDistanceToChanged
virtual double greatestDistanceTo(const QGeoCoordinate &other) const = 0;
/// This mission item attribute specifies the type of the complex item.
......@@ -46,6 +48,7 @@ public:
signals:
void complexDistanceChanged (double complexDistance);
void greatestDistanceToChanged (void);
void additionalTimeDelayChanged (double additionalTimeDelay);
};
......
src/MissionManager/MissionController.cc
View file @ 801221a8
......@@ -18,6 +18,7 @@
#include "SimpleMissionItem.h"
#include "SurveyMissionItem.h"
#include "FixedWingLandingComplexItem.h"
#include "StructureScanComplexItem.h"
#include "JsonHelper.h"
#include "ParameterManager.h"
#include "QGroundControlQmlGlobal.h"
......@@ -60,6 +61,7 @@ MissionController::MissionController(PlanMasterController* masterController, QOb
, _itemsRequested(false)
, _surveyMissionItemName(tr("Survey"))
, _fwLandingMissionItemName(tr("Fixed Wing Landing"))
, _structureScanMissionItemName(tr("Structure Scan"))
, _appSettings(qgcApp()->toolbox()->settingsManager()->appSettings())
, _progressPct(0)
{
......@@ -379,6 +381,8 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate
}
} else if (itemName == _fwLandingMissionItemName) {
newItem = new FixedWingLandingComplexItem(_controllerVehicle, _visualItems);
} else if (itemName == _structureScanMissionItemName) {
newItem = new StructureScanComplexItem(_controllerVehicle, _visualItems);
} else {
qWarning() << "Internal error: Unknown complex item:" << itemName;
return sequenceNumber;
......@@ -1475,6 +1479,7 @@ void MissionController::_initVisualItem(VisualMissionItem* visualItem)
ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);
if (complexItem) {
connect(complexItem, &ComplexMissionItem::complexDistanceChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(complexItem, &ComplexMissionItem::greatestDistanceToChanged, this, &MissionController::_recalcMissionFlightStatus);
connect(complexItem, &ComplexMissionItem::additionalTimeDelayChanged, this, &MissionController::_recalcMissionFlightStatus);
} else {
qWarning() << "ComplexMissionItem not found";
......@@ -1769,6 +1774,9 @@ QStringList MissionController::complexMissionItemNames(void) const
if (_controllerVehicle->fixedWing()) {
complexItems.append(_fwLandingMissionItemName);
}
if (_controllerVehicle->multiRotor() || _controllerVehicle->vtol()) {
complexItems.append(_structureScanMissionItemName);
}
return complexItems;
}
......
src/MissionManager/MissionController.h
View file @ 801221a8
......@@ -231,6 +231,7 @@ private:
MissionFlightStatus_t _missionFlightStatus;
QString _surveyMissionItemName;
QString _fwLandingMissionItemName;
QString _structureScanMissionItemName;
AppSettings* _appSettings;
double _progressPct;
......
src/MissionManager/QGCMapPolygon.cc
View file @ 801221a8
......@@ -354,3 +354,13 @@ void QGCMapPolygon::setInteractive(bool interactive)
emit interactiveChanged(interactive);
}
}
QGeoCoordinate QGCMapPolygon::vertexCoordinate(int vertex) const
{
if (vertex >= 0 && vertex < _polygonPath.count()) {
return _polygonPath[vertex].value<QGeoCoordinate>();
} else {
qWarning() << "QGCMapPolygon::vertexCoordinate bad vertex requested";
return QGeoCoordinate();
}
}
src/MissionManager/QGCMapPolygon.h
View file @ 801221a8
......@@ -55,6 +55,9 @@ public:
/// Returns the path in a list of QGeoCoordinate's format
QList<QGeoCoordinate> coordinateList(void) const;
/// Returns the QGeoCoordinate for the vertex specified
QGeoCoordinate vertexCoordinate(int vertex) const;
/// Saves the polygon to the json object.
/// @param json Json object to save to
void saveToJson(QJsonObject& json);
......
src/MissionManager/StructureScan.SettingsGroup.json 0 → 100644
View file @ 801221a8
[
{
"name": "Altitude",
"shortDescription": "Altitude for the bottom layer of the structure scan.",
"type": "double",
"units": "m",
"decimalPlaces": 1,
"defaultValue": 50
},
{
"name": "Layers",
"shortDescription": "Number of scan layers.",
"type": "uint32",
"min": 1,
"defaultValue": 1
},
{
"name": "Layer distance",
"shortDescription": "Distance between each layer.",
"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.",
"type": "double",
"decimalPlaces": 2,
"min": 0,
"units": "m",
"defaultValue": 25
}
]
src/MissionManager/StructureScanComplexItem.cc 0 → 100644
View file @ 801221a8
/****************************************************************************
*
* (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 "StructureScanComplexItem.h"
#include "JsonHelper.h"
#include "MissionController.h"
#include "QGCGeo.h"
#include "QGroundControlQmlGlobal.h"
#include "QGCQGeoCoordinate.h"
#include "SettingsManager.h"
#include "AppSettings.h"
#include "QGCQGeoCoordinate.h"
#include <QPolygonF>
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";
QMap<QString, FactMetaData*> StructureScanComplexItem::_metaDataMap;
StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, QObject* parent)
: ComplexMissionItem (vehicle, parent)
, _sequenceNumber (0)
, _dirty (false)
, _altitudeRelative (true)
, _entryVertex (0)
, _ignoreRecalc (false)
, _scanDistance (0.0)
, _cameraShots (0)
, _cameraMinTriggerInterval (0)
, _altitudeFact (0, _altitudeFactName, FactMetaData::valueTypeDouble)
, _layersFact (0, _layersFactName, FactMetaData::valueTypeUint32)
, _layerDistanceFact (0, _layerDistanceFactName, FactMetaData::valueTypeDouble)
, _cameraTriggerDistanceFact(0, _cameraTriggerDistanceFactName, FactMetaData::valueTypeDouble)
{
_editorQml = "qrc:/qml/StructureScanEditor.qml";
if (_metaDataMap.isEmpty()) {
_metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/StructureScan.SettingsGroup.json"), this);
}
_altitudeFact.setMetaData (_metaDataMap[_altitudeFactName]);
_layersFact.setMetaData (_metaDataMap[_layersFactName]);
_layerDistanceFact.setMetaData (_metaDataMap[_layerDistanceFactName]);
_cameraTriggerDistanceFact.setMetaData (_metaDataMap[_cameraTriggerDistanceFactName]);
_altitudeFact.setRawValue (_altitudeFact.rawDefaultValue());
_layersFact.setRawValue (_layersFact.rawDefaultValue());
_layerDistanceFact.setRawValue (_layerDistanceFact.rawDefaultValue());
_cameraTriggerDistanceFact.setRawValue (_cameraTriggerDistanceFact.rawDefaultValue());
_altitudeFact.setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue());
connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_layerDistanceFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(&_cameraTriggerDistanceFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty);
connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::_setDirty);
connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::coordinateHasRelativeAltitudeChanged);
connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::exitCoordinateHasRelativeAltitudeChanged);
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);
}
void StructureScanComplexItem::_setScanDistance(double scanDistance)
{
if (!qFuzzyCompare(_scanDistance, scanDistance)) {
_scanDistance = scanDistance;
emit complexDistanceChanged(_scanDistance);
}
}
void StructureScanComplexItem::_setCameraShots(int cameraShots)
{
if (_cameraShots != cameraShots) {
_cameraShots = cameraShots;
emit cameraShotsChanged(this->cameraShots());
}
}
void StructureScanComplexItem::_clearInternal(void)
{
setDirty(true);
emit specifiesCoordinateChanged();
emit lastSequenceNumberChanged(lastSequenceNumber());
}
void StructureScanComplexItem::_polygonCountChanged(int count)
{
Q_UNUSED(count);
emit lastSequenceNumberChanged(lastSequenceNumber());
}
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
1; // Gimbal yaw command
}
void StructureScanComplexItem::setDirty(bool dirty)
{
if (_dirty != dirty) {
_dirty = dirty;
emit dirtyChanged(_dirty);
}
}
void StructureScanComplexItem::save(QJsonArray& missionItems)
{
Q_UNUSED(missionItems);
#if 0
QJsonObject saveObject;
saveObject[JsonHelper::jsonVersionKey] = 3;
saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
saveObject[_jsonManualGridKey] = _manualGridFact.rawValue().toBool();
saveObject[_jsonFixedValueIsAltitudeKey] = _fixedValueIsAltitudeFact.rawValue().toBool();
saveObject[_jsonHoverAndCaptureKey] = _hoverAndCaptureFact.rawValue().toBool();
saveObject[_jsonRefly90DegreesKey] = _refly90Degrees;
saveObject[_jsonCameraTriggerDistanceKey] = _cameraTriggerDistanceFact.rawValue().toDouble();
QJsonObject gridObject;
gridObject[_jsonGridAltitudeKey] = _gridAltitudeFact.rawValue().toDouble();
gridObject[_jsonGridAltitudeRelativeKey] = _gridAltitudeRelativeFact.rawValue().toBool();
gridObject[_jsonGridAngleKey] = _gridAngleFact.rawValue().toDouble();
gridObject[_jsonGridSpacingKey] = _gridSpacingFact.rawValue().toDouble();
gridObject[_jsonGridEntryLocationKey] = _gridEntryLocationFact.rawValue().toDouble();
gridObject[_jsonTurnaroundDistKey] = _turnaroundDistFact.rawValue().toDouble();
saveObject[_jsonGridObjectKey] = gridObject;
if (!_manualGridFact.rawValue().toBool()) {
QJsonObject cameraObject;
cameraObject[_jsonCameraNameKey] = _cameraFact.rawValue().toString();
cameraObject[_jsonCameraOrientationLandscapeKey] = _cameraOrientationLandscapeFact.rawValue().toBool();
cameraObject[_jsonCameraSensorWidthKey] = _cameraSensorWidthFact.rawValue().toDouble();
cameraObject[_jsonCameraSensorHeightKey] = _cameraSensorHeightFact.rawValue().toDouble();
cameraObject[_jsonCameraResolutionWidthKey] = _cameraResolutionWidthFact.rawValue().toDouble();
cameraObject[_jsonCameraResolutionHeightKey] = _cameraResolutionHeightFact.rawValue().toDouble();
cameraObject[_jsonCameraFocalLengthKey] = _cameraFocalLengthFact.rawValue().toDouble();
cameraObject[_jsonCameraMinTriggerIntervalKey] = _cameraMinTriggerInterval;
cameraObject[_jsonGroundResolutionKey] = _groundResolutionFact.rawValue().toDouble();
cameraObject[_jsonFrontalOverlapKey] = _frontalOverlapFact.rawValue().toInt();
cameraObject[_jsonSideOverlapKey] = _sideOverlapFact.rawValue().toInt();
saveObject[_jsonCameraObjectKey] = cameraObject;
}
// Polygon shape
_mapPolygon.saveToJson(saveObject);
missionItems.append(saveObject);
#endif
}
void StructureScanComplexItem::setSequenceNumber(int sequenceNumber)
{
if (_sequenceNumber != sequenceNumber) {
_sequenceNumber = sequenceNumber;
emit sequenceNumberChanged(sequenceNumber);
emit lastSequenceNumberChanged(lastSequenceNumber());
}
}
bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString)
{
#if 0
QJsonObject v2Object = complexObject;
// We need to pull version first to determine what validation/conversion needs to be performed.
QList<JsonHelper::KeyValidateInfo> versionKeyInfoList = {
{ JsonHelper::jsonVersionKey, QJsonValue::Double, true },
};
if (!JsonHelper::validateKeys(v2Object, versionKeyInfoList, errorString)) {
return false;
}
int version = v2Object[JsonHelper::jsonVersionKey].toInt();
if (version != 2 && version != 3) {
errorString = tr("%1 does not support this version of survey items").arg(qgcApp()->applicationName());
return false;
}
if (version == 2) {
// Convert to v3
if (v2Object.contains(VisualMissionItem::jsonTypeKey) && v2Object[VisualMissionItem::jsonTypeKey].toString() == QStringLiteral("survey")) {
v2Object[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
v2Object[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
}
}
QList<JsonHelper::KeyValidateInfo> mainKeyInfoList = {
{ JsonHelper::jsonVersionKey, QJsonValue::Double, true },
{ VisualMissionItem::jsonTypeKey, QJsonValue::String, true },
{ ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true },
{ QGCMapPolygon::jsonPolygonKey, QJsonValue::Array, true },
{ _jsonGridObjectKey, QJsonValue::Object, true },
{ _jsonCameraObjectKey, QJsonValue::Object, false },
{ _jsonCameraTriggerDistanceKey, QJsonValue::Double, true },
{ _jsonManualGridKey, QJsonValue::Bool, true },
{ _jsonFixedValueIsAltitudeKey, QJsonValue::Bool, true },
{ _jsonHoverAndCaptureKey, QJsonValue::Bool, false },
{ _jsonRefly90DegreesKey, QJsonValue::Bool, false },
};
if (!JsonHelper::validateKeys(v2Object, mainKeyInfoList, errorString)) {
return false;
}
QString itemType = v2Object[VisualMissionItem::jsonTypeKey].toString();
QString complexType = v2Object[ComplexMissionItem::jsonComplexItemTypeKey].toString();
if (itemType != VisualMissionItem::jsonTypeComplexItemValue || complexType != jsonComplexItemTypeValue) {
errorString = tr("%1 does not support loading this complex mission item type: %2:%3").arg(qgcApp()->applicationName()).arg(itemType).arg(complexType);
return false;
}
_ignoreRecalc = true;
_mapPolygon.clear();
setSequenceNumber(sequenceNumber);
_manualGridFact.setRawValue (v2Object[_jsonManualGridKey].toBool(true));
_fixedValueIsAltitudeFact.setRawValue (v2Object[_jsonFixedValueIsAltitudeKey].toBool(true));
_gridAltitudeRelativeFact.setRawValue (v2Object[_jsonGridAltitudeRelativeKey].toBool(true));
_hoverAndCaptureFact.setRawValue (v2Object[_jsonHoverAndCaptureKey].toBool(false));
_refly90Degrees = v2Object[_jsonRefly90DegreesKey].toBool(false);
QList<JsonHelper::KeyValidateInfo> gridKeyInfoList = {
{ _jsonGridAltitudeKey, QJsonValue::Double, true },
{ _jsonGridAltitudeRelativeKey, QJsonValue::Bool, true },
{ _jsonGridAngleKey, QJsonValue::Double, true },
{ _jsonGridSpacingKey, QJsonValue::Double, true },
{ _jsonGridEntryLocationKey, QJsonValue::Double, false },
{ _jsonTurnaroundDistKey, QJsonValue::Double, true },
};
QJsonObject gridObject = v2Object[_jsonGridObjectKey].toObject();
if (!JsonHelper::validateKeys(gridObject, gridKeyInfoList, errorString)) {
return false;
}
_gridAltitudeFact.setRawValue (gridObject[_jsonGridAltitudeKey].toDouble());
_gridAngleFact.setRawValue (gridObject[_jsonGridAngleKey].toDouble());
_gridSpacingFact.setRawValue (gridObject[_jsonGridSpacingKey].toDouble());
_turnaroundDistFact.setRawValue (gridObject[_jsonTurnaroundDistKey].toDouble());
_cameraTriggerDistanceFact.setRawValue (v2Object[_jsonCameraTriggerDistanceKey].toDouble());
if (gridObject.contains(_jsonGridEntryLocationKey)) {
_gridEntryLocationFact.setRawValue(gridObject[_jsonGridEntryLocationKey].toDouble());
} else {
_gridEntryLocationFact.setRawValue(_gridEntryLocationFact.rawDefaultValue());
}
if (!_manualGridFact.rawValue().toBool()) {
if (!v2Object.contains(_jsonCameraObjectKey)) {
errorString = tr("%1 but %2 object is missing").arg("manualGrid = false").arg("camera");
return false;
}
QJsonObject cameraObject = v2Object[_jsonCameraObjectKey].toObject();
// Older code had typo on "imageSideOverlap" incorrectly being "imageSizeOverlap"
QString incorrectImageSideOverlap = "imageSizeOverlap";
if (cameraObject.contains(incorrectImageSideOverlap)) {
cameraObject[_jsonSideOverlapKey] = cameraObject[incorrectImageSideOverlap];
cameraObject.remove(incorrectImageSideOverlap);
}
QList<JsonHelper::KeyValidateInfo> cameraKeyInfoList = {
{ _jsonGroundResolutionKey, QJsonValue::Double, true },
{ _jsonFrontalOverlapKey, QJsonValue::Double, true },
{ _jsonSideOverlapKey, QJsonValue::Double, true },
{ _jsonCameraSensorWidthKey, QJsonValue::Double, true },
{ _jsonCameraSensorHeightKey, QJsonValue::Double, true },
{ _jsonCameraResolutionWidthKey, QJsonValue::Double, true },
{ _jsonCameraResolutionHeightKey, QJsonValue::Double, true },
{ _jsonCameraFocalLengthKey, QJsonValue::Double, true },
{ _jsonCameraNameKey, QJsonValue::String, true },
{ _jsonCameraOrientationLandscapeKey, QJsonValue::Bool, true },
{ _jsonCameraMinTriggerIntervalKey, QJsonValue::Double, false },
};
if (!JsonHelper::validateKeys(cameraObject, cameraKeyInfoList, errorString)) {
return false;
}
_cameraFact.setRawValue(cameraObject[_jsonCameraNameKey].toString());
_cameraOrientationLandscapeFact.setRawValue(cameraObject[_jsonCameraOrientationLandscapeKey].toBool(true));
_groundResolutionFact.setRawValue (cameraObject[_jsonGroundResolutionKey].toDouble());
_frontalOverlapFact.setRawValue (cameraObject[_jsonFrontalOverlapKey].toInt());
_sideOverlapFact.setRawValue (cameraObject[_jsonSideOverlapKey].toInt());
_cameraSensorWidthFact.setRawValue (cameraObject[_jsonCameraSensorWidthKey].toDouble());
_cameraSensorHeightFact.setRawValue (cameraObject[_jsonCameraSensorHeightKey].toDouble());
_cameraResolutionWidthFact.setRawValue (cameraObject[_jsonCameraResolutionWidthKey].toDouble());
_cameraResolutionHeightFact.setRawValue (cameraObject[_jsonCameraResolutionHeightKey].toDouble());
_cameraFocalLengthFact.setRawValue (cameraObject[_jsonCameraFocalLengthKey].toDouble());
_cameraMinTriggerInterval = cameraObject[_jsonCameraMinTriggerIntervalKey].toDouble(0);
}
// Polygon shape
/// Load a polygon from json
/// @param json Json object to load from
/// @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();
return false;
}
_ignoreRecalc = false;
_generateGrid();
return true;
#else
Q_UNUSED(complexObject);
Q_UNUSED(sequenceNumber);
Q_UNUSED(errorString);
return false;
#endif
}
void StructureScanComplexItem::_polygonPathChanged(void)
{
emit coordinateChanged(coordinate());
emit exitCoordinateChanged(exitCoordinate());
emit greatestDistanceToChanged();
}
double StructureScanComplexItem::greatestDistanceTo(const QGeoCoordinate &other) const
{
double greatestDistance = 0.0;
QList<QGeoCoordinate> vertices = _mapPolygon.coordinateList();
for (int i=0; i<vertices.count(); i++) {
QGeoCoordinate vertex = vertices[i];
double distance = vertex.distanceTo(other);
if (distance > greatestDistance) {
greatestDistance = distance;
}
}
return greatestDistance;
}
bool StructureScanComplexItem::specifiesCoordinate(void) const
{
return _mapPolygon.count() > 2;
}
void StructureScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
int seqNum = _sequenceNumber;
double baseAltitude = _altitudeFact.rawValue().toDouble();
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_DO_MOUNT_CONTROL,
MAV_FRAME_MISSION,
0, // Gimbal pitch
0, // Gimbal roll
90, // Gimbal yaw
0, 0, 0, // param 4-6 not used
MAV_MOUNT_MODE_MAVLINK_TARGETING,
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
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();
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
_altitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
0, // No hold time
0.0, // No acceptance radius specified
0.0, // Pass through waypoint
90, //std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
vertexCoord.latitude(),
vertexCoord.longitude(),
layerAltitude,
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
QGeoCoordinate vertexCoord = _mapPolygon.pathModel().value<QGCQGeoCoordinate*>(0)->coordinate();
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
_altitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL,
0, // No hold time
0.0, // No acceptance radius specified
0.0, // Pass through waypoint
std::numeric_limits<double>::quiet_NaN(), // Yaw unchanged
vertexCoord.latitude(),
vertexCoord.longitude(),
layerAltitude,
true, // autoContinue
false, // isCurrentItem
missionItemParent);
items.append(item);
}
}
int StructureScanComplexItem::cameraShots(void) const
{
return true /*_triggerCamera()*/ ? _cameraShots : 0;
}
void StructureScanComplexItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
{
ComplexMissionItem::setMissionFlightStatus(missionFlightStatus);
if (!qFuzzyCompare(_cruiseSpeed, missionFlightStatus.vehicleSpeed)) {
_cruiseSpeed = missionFlightStatus.vehicleSpeed;
emit timeBetweenShotsChanged();
}
}
void StructureScanComplexItem::_setDirty(void)
{
setDirty(true);
}
void StructureScanComplexItem::applyNewAltitude(double newAltitude)
{
_altitudeFact.setRawValue(newAltitude);
}
void StructureScanComplexItem::_polygonDirtyChanged(bool dirty)
{
if (dirty) {
setDirty(true);
}
}
double StructureScanComplexItem::timeBetweenShots(void) const
{
return _cruiseSpeed == 0 ? 0 :_cameraTriggerDistanceFact.rawValue().toDouble() / _cruiseSpeed;
}
QGeoCoordinate StructureScanComplexItem::coordinate(void) const
{
if (_mapPolygon.count() > 0) {
int entryVertex = qMax(qMin(_entryVertex, _mapPolygon.count() - 1), 0);
return _mapPolygon.vertexCoordinate(entryVertex);
} else {
return QGeoCoordinate();
}
}
QGeoCoordinate StructureScanComplexItem::exitCoordinate(void) const
{
return coordinate();
}
void StructureScanComplexItem::_updateCoordinateAltitudes(void)
{
emit coordinateChanged(coordinate());
emit exitCoordinateChanged(exitCoordinate());
}
void StructureScanComplexItem::rotateEntryPoint(void)
{
_entryVertex++;
if (_entryVertex >= _mapPolygon.count()) {
_entryVertex = 0;
}
emit coordinateChanged(coordinate());
emit exitCoordinateChanged(exitCoordinate());
}
src/MissionManager/StructureScanComplexItem.h 0 → 100644
View file @ 801221a8
/****************************************************************************
*
* (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.
*
****************************************************************************/
#ifndef StructureScanComplexItem_H
#define StructureScanComplexItem_H
#include "ComplexMissionItem.h"
#include "MissionItem.h"