Merge pull request #6962 from mavlink/feature/concave_poly

Feature: Concave Polygon Support by Splitting into Sub-Polygons

ChangeLog.md

@@ -13,6 +13,7 @@ Note: This file only contains high level features or important fixes.
 * Make Heading to Home available for display from instrument panel.
 * Edit Position dialog available on polygon vertices.
 * Fixed Wing Landing Pattern: Add stop photo/video support. Defaults to on such that doing an RTL will stop camera.
+* Survey Planning: add mode that supports concave polygons
 
 ## 3.4
 

src/MissionManager/Survey.SettingsGroup.json

@@ -14,5 +14,11 @@
     "shortDescription": "Fly every other transect in each pass.",
     "type":             "bool",
     "defaultValue":     false
+},
+{
+    "name":             "SplitConcavePolygons",
+    "shortDescription": "Split mission concave polygons into separate regular, convex polygons.",
+    "type":             "bool",
+    "defaultValue":     true
 }
 ]

src/MissionManager/SurveyComplexItem.h

@@ -28,9 +28,11 @@ public:
 
     Q_PROPERTY(Fact* gridAngle              READ gridAngle              CONSTANT)
     Q_PROPERTY(Fact* flyAlternateTransects  READ flyAlternateTransects  CONSTANT)
+    Q_PROPERTY(Fact* splitConcavePolygons   READ splitConcavePolygons   CONSTANT)
 
     Fact* gridAngle             (void) { return &_gridAngleFact; }
     Fact* flyAlternateTransects (void) { return &_flyAlternateTransectsFact; }
+    Fact* splitConcavePolygons  (void) { return &_splitConcavePolygonsFact; }
 
     Q_INVOKABLE void rotateEntryPoint(void);
 
@@ -66,6 +68,7 @@ public:
     static const char* gridAngleName;
     static const char* gridEntryLocationName;
     static const char* flyAlternateTransectsName;
+    static const char* splitConcavePolygonsName;
 
     static const char* jsonV3ComplexItemTypeValue;
 
@@ -109,18 +112,29 @@ private:
     double _turnaroundDistance(void) const;
     bool _hoverAndCaptureEnabled(void) const;
     bool _loadV3(const QJsonObject& complexObject, int sequenceNumber, QString& errorString);
-    bool _loadV4(const QJsonObject& complexObject, int sequenceNumber, QString& errorString);
+    bool _loadV4V5(const QJsonObject& complexObject, int sequenceNumber, QString& errorString, int version);
     void _rebuildTransectsPhase1Worker(bool refly);
+    void _rebuildTransectsPhase1WorkerSinglePolygon(bool refly);
+    void _rebuildTransectsPhase1WorkerSplitPolygons(bool refly);
+    /// Adds to the _transects array from one polygon
+    void _rebuildTranscetsFromPolygon(bool refly, const QPolygonF& polygon, const QGeoCoordinate& tangentOrigin, const QPointF* const transitionPoint);
+    // Decompose polygon into list of convex sub polygons
+    void _PolygonDecomposeConvex(const QPolygonF& polygon, QList<QPolygonF>& decomposedPolygons);
+    // return true if vertex a can see vertex b
+    bool _VertexCanSeeOther(const QPolygonF& polygon, const QPointF* vertexA, const QPointF* vertexB);
+    bool _VertexIsReflex(const QPolygonF& polygon, const QPointF* vertex);
 
     QMap<QString, FactMetaData*> _metaDataMap;
 
     SettingsFact    _gridAngleFact;
     SettingsFact    _flyAlternateTransectsFact;
+    SettingsFact    _splitConcavePolygonsFact;
     int             _entryPoint;
 
     static const char* _jsonGridAngleKey;
     static const char* _jsonEntryPointKey;
     static const char* _jsonFlyAlternateTransectsKey;
+    static const char* _jsonSplitConcavePolygonsKey;
 
     static const char* _jsonV3GridObjectKey;
     static const char* _jsonV3GridAltitudeKey;

src/PlanView/SurveyItemEditor.qml

@@ -9,6 +9,7 @@ import QGroundControl               1.0
 import QGroundControl.ScreenTools   1.0
 import QGroundControl.Vehicle       1.0
 import QGroundControl.Controls      1.0
+import QGroundControl.FactSystem    1.0
 import QGroundControl.FactControls  1.0
 import QGroundControl.Palette       1.0
 import QGroundControl.FlightMap     1.0
@@ -119,6 +120,13 @@ Rectangle {
                 onClicked:          missionItem.rotateEntryPoint();
             }
 
+            FactCheckBox {
+                text:       qsTr("Split concave polygons")
+                fact:       _splitConcave
+                visible:    _splitConcave.visible
+                property Fact _splitConcave: missionItem.splitConcavePolygons
+            }
+
             FactCheckBox {
                 text:               qsTr("Hover and capture image")
                 fact:               missionItem.hoverAndCapture

src/Settings/AppSettings.cc

@@ -61,29 +61,29 @@ const char* AppSettings::crashDirectory =           "CrashLogs";
 
 AppSettings::AppSettings(QObject* parent)
     : SettingsGroup                         (name, settingsGroup, parent)
-    , _offlineEditingFirmwareTypeFact       (NULL)
-    , _offlineEditingVehicleTypeFact        (NULL)
-    , _offlineEditingCruiseSpeedFact        (NULL)
-    , _offlineEditingHoverSpeedFact         (NULL)
-    , _offlineEditingAscentSpeedFact        (NULL)
-    , _offlineEditingDescentSpeedFact       (NULL)
-    , _batteryPercentRemainingAnnounceFact  (NULL)
-    , _defaultMissionItemAltitudeFact       (NULL)
-    , _telemetrySaveFact                    (NULL)
-    , _telemetrySaveNotArmedFact            (NULL)
-    , _audioMutedFact                       (NULL)
-    , _virtualJoystickFact                  (NULL)
-    , _appFontPointSizeFact                 (NULL)
-    , _indoorPaletteFact                    (NULL)
-    , _showLargeCompassFact                 (NULL)
-    , _savePathFact                         (NULL)
-    , _autoLoadMissionsFact                 (NULL)
-    , _useChecklistFact                     (NULL)
-    , _mapboxTokenFact                      (NULL)
-    , _esriTokenFact                        (NULL)
-    , _defaultFirmwareTypeFact              (NULL)
-    , _gstDebugFact                         (NULL)
-    , _followTargetFact                     (NULL)
+    , _offlineEditingFirmwareTypeFact       (nullptr)
+    , _offlineEditingVehicleTypeFact        (nullptr)
+    , _offlineEditingCruiseSpeedFact        (nullptr)
+    , _offlineEditingHoverSpeedFact         (nullptr)
+    , _offlineEditingAscentSpeedFact        (nullptr)
+    , _offlineEditingDescentSpeedFact       (nullptr)
+    , _batteryPercentRemainingAnnounceFact  (nullptr)
+    , _defaultMissionItemAltitudeFact       (nullptr)
+    , _telemetrySaveFact                    (nullptr)
+    , _telemetrySaveNotArmedFact            (nullptr)
+    , _audioMutedFact                       (nullptr)
+    , _virtualJoystickFact                  (nullptr)
+    , _appFontPointSizeFact                 (nullptr)
+    , _indoorPaletteFact                    (nullptr)
+    , _showLargeCompassFact                 (nullptr)
+    , _savePathFact                         (nullptr)
+    , _autoLoadMissionsFact                 (nullptr)
+    , _useChecklistFact                     (nullptr)
+    , _mapboxTokenFact                      (nullptr)
+    , _esriTokenFact                        (nullptr)
+    , _defaultFirmwareTypeFact              (nullptr)
+    , _gstDebugFact                         (nullptr)
+    , _followTargetFact                     (nullptr)
 {
     QQmlEngine::setObjectOwnership(this, QQmlEngine::CppOwnership);
     qmlRegisterUncreatableType<AppSettings>("QGroundControl.SettingsManager", 1, 0, "AppSettings", "Reference only");
@@ -427,4 +427,3 @@ Fact* AppSettings::followTarget(void)
 
     return _followTargetFact;
 }
-

src/Settings/AppSettings.h

@@ -18,7 +18,7 @@ class AppSettings : public SettingsGroup
     Q_OBJECT
     
 public:
-    AppSettings(QObject* parent = NULL);
+    AppSettings(QObject* parent = nullptr);
 
     Q_PROPERTY(Fact* offlineEditingFirmwareType         READ offlineEditingFirmwareType         CONSTANT)
     Q_PROPERTY(Fact* offlineEditingVehicleType          READ offlineEditingVehicleType          CONSTANT)
@@ -87,8 +87,8 @@ public:
     QString parameterSavePath   (void);
     QString telemetrySavePath   (void);
     QString logSavePath         (void);
-    QString videoSavePath         (void);
-    QString crashSavePath         (void);
+    QString videoSavePath       (void);
+    QString crashSavePath       (void);
 
     static MAV_AUTOPILOT offlineEditingFirmwareTypeFromFirmwareType(MAV_AUTOPILOT firmwareType);
     static MAV_TYPE offlineEditingVehicleTypeFromVehicleType(MAV_TYPE vehicleType);