survey works now

ToDo.txt

 optimize circular survey
-remove Reference artefacts 
-solve Dijkstra issue (path not found, or not minimal)
+profile survey
+add dijkstra to flight view
 

src/Wima/CircularSurveyComplexItem.cc

@@ -11,6 +11,7 @@ CircularSurveyComplexItem::CircularSurveyComplexItem(Vehicle *vehicle, bool flyV
     ,   _metaDataMap                (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/CircularSurvey.SettingsGroup.json"), this))
     ,   _deltaR                     (settingsGroup, _metaDataMap[deltaRName])
     ,   _deltaAlpha                 (settingsGroup, _metaDataMap[deltaAlphaName])
+    ,   _autoGenerated              (false)
 {
     _editorQml = "qrc:/qml/CircularSurveyItemEditor.qml";
 
@@ -37,6 +38,15 @@ void CircularSurveyComplexItem::setRefPoint(const QGeoCoordinate &refPt)
     }
 }
 
+void CircularSurveyComplexItem::setAutoGenerated(bool autoGen)
+{
+    if (autoGen != _autoGenerated) {
+        _autoGenerated = autoGen;
+
+        emit autoGeneratedChanged();
+    }
+}
+
 QGeoCoordinate CircularSurveyComplexItem::refPoint() const
 {
     return _referencePoint;
@@ -52,6 +62,11 @@ Fact *CircularSurveyComplexItem::deltaAlpha()
     return &_deltaAlpha;
 }
 
+bool CircularSurveyComplexItem::autoGenerated()
+{
+    return _autoGenerated;
+}
+
 bool CircularSurveyComplexItem::load(const QJsonObject &complexObject, int sequenceNumber, QString &errorString)
 {
     return false;

src/Wima/CircularSurveyComplexItem.h

@@ -20,14 +20,19 @@ public:
     Q_PROPERTY(QGeoCoordinate refPoint READ refPoint WRITE setRefPoint NOTIFY refPointChanged)
     Q_PROPERTY(Fact* deltaR READ deltaR CONSTANT)
     Q_PROPERTY(Fact* deltaAlpha READ deltaAlpha CONSTANT)
+    Q_PROPERTY(bool autoGenerated READ autoGenerated NOTIFY autoGeneratedChanged)
 
     // Property setters
     void setRefPoint(const QGeoCoordinate &refPt);
+    // Set this to true if survey was automatically generated, prevents initialisation from gui.
+    void setAutoGenerated(bool autoGen);
 
     // Property getters
     QGeoCoordinate  refPoint()      const;
     Fact            *deltaR();
     Fact            *deltaAlpha();
+    // Is true if survey was automatically generated, prevents initialisation from gui.
+    bool            autoGenerated();
 
     // Overrides from ComplexMissionItem
     bool    load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
@@ -53,6 +58,7 @@ public:
 
 signals:
     void refPointChanged();
+    void autoGeneratedChanged();
 
 private slots:
     // Overrides from TransectStyleComplexItem
@@ -72,6 +78,8 @@ private:
     SettingsFact            _deltaAlpha;
 
     QTimer _updateTimer;
+
+    bool _autoGenerated; // set to true if survey was automatically generated, prevents initialisation from gui
 };
 
 

src/Wima/OptimisationTools.h

@@ -46,6 +46,10 @@ namespace OptimisationTools {
             workingSet.append(&nodeList[i]);
         }
 
+//        double d1 = distanceDij(elements[0], elements[1]);
+//        double d2 = distanceDij(elements[0], elements[5]);
+//        double d3 = distanceDij(elements[5], elements[1]);
+
         nodeList[startIndex].distance = 0;
 
         // Dijkstra Algorithm
@@ -67,6 +71,9 @@ namespace OptimisationTools {
 
             Node* u = workingSet.takeAt(minDistIndex);
 
+            if (u->element == elements[endIndex]) // shortest path found
+                break;
+
             //update distance
             for (int i = 0; i < workingSet.size(); i++) {
                 Node* v = workingSet[i];

src/Wima/WimaPlaner.cc

@@ -215,9 +215,30 @@ bool WimaPlaner::updateMission()
         _visualItems.append(&_joinedArea);
     #endif
 
+    // extract old survey data
+    QmlObjectListModel* missionItems        = _missionController->visualItems();
+    CircularSurveyComplexItem* OldSurveyPt  = nullptr;
+
+    QGeoCoordinate oldSurveyRef;
+    double oldSurveyDeltaR      = 0;
+    double oldSurveyDeltaAlpha  = 0;
+    bool oldSurveyExists = false;
+
+    for (int i = 0; i < _missionController->visualItems()->count(); i++) {
+        OldSurveyPt = qobject_cast<CircularSurveyComplexItem*>(missionItems->get(i));
+        if ( OldSurveyPt != nullptr) {
+            oldSurveyRef        = OldSurveyPt->refPoint();
+            oldSurveyDeltaR     = OldSurveyPt->deltaR()->rawValue().toDouble();
+            oldSurveyDeltaAlpha = OldSurveyPt->deltaAlpha()->rawValue().toDouble();
+            oldSurveyExists     = true;
+            break;
+        }
+
+    }
+
     // reset visual items
     _missionController->removeAll();
-    QmlObjectListModel* missionItems = _missionController->visualItems();
+    missionItems        = _missionController->visualItems();
     // set home position to serArea center
     MissionSettingsItem* settingsItem= qobject_cast<MissionSettingsItem*>(missionItems->get(0));
     if (settingsItem == nullptr){
@@ -248,21 +269,36 @@ bool WimaPlaner::updateMission()
     // create survey item, will be extened with more()-> mission types in the future
     _missionController->insertComplexMissionItem(_missionController->circularSurveyComplexItemName(), _measurementArea.center(), missionItems->count());
     CircularSurveyComplexItem* survey = qobject_cast<CircularSurveyComplexItem*>(missionItems->get(missionItems->count()-1));
+
     if (survey == nullptr){
         qWarning("WimaPlaner::updateMission(): survey == nullptr");
         return false;
     } else {
+        if ( oldSurveyExists ) {
+           survey->setRefPoint(oldSurveyRef);
+           survey->deltaR()->setRawValue(oldSurveyDeltaR);
+           survey->deltaAlpha()->setRawValue(oldSurveyDeltaAlpha);
+        } else  {
+            survey->setRefPoint(_measurementArea.center());
+        }
+
+        survey->setAutoGenerated(true); // prevents reinitialisation from gui
         survey->surveyAreaPolygon()->clear();
         survey->surveyAreaPolygon()->appendVertices(_measurementArea.coordinateList());
+
     }
 
+
+
+
+
     // calculate path from take off to opArea
     if (survey->visualTransectPoints().size() == 0) {
         qWarning("WimaPlaner::updateMission(): survey no points.");
         return false;
     }
     QGeoCoordinate start = _serviceArea.center();
-    QGeoCoordinate end = survey->visualTransectPoints().first().value<QGeoCoordinate>();
+    QGeoCoordinate end = survey->coordinate();
     if (!_visualItems.contains(&_joinedArea))
         _visualItems.append(&_joinedArea);
 
@@ -271,19 +307,29 @@ bool WimaPlaner::updateMission()
         qgcApp()->showMessage( QString(tr("Not able to calculate the path from takeoff position to measurement area.")).toLocal8Bit().data());
         return false;
     }
+//    path.clear();
+//    path.append(end);
+//    path.append(start);
+//    path.append(end);
+//    path.append(end);
     for (int i = 1; i < path.count()-1; i++) {
         sequenceNumber = _missionController->insertSimpleMissionItem(path.value(i), missionItems->count()-1);
         _missionController->setCurrentPlanViewIndex(sequenceNumber, true);
     }
 
     // calculate return path
-    start   = survey->visualTransectPoints().last().value<QGeoCoordinate>();
+    start   = survey->exitCoordinate();
     end     = _serviceArea.center();
     path.clear();
     if ( !calcShortestPath(start, end, path)) {
         qgcApp()->showMessage(QString(tr("Not able to calculate the path from measurement area to landing position.")).toLocal8Bit().data());
         return false;
     }
+//    path.clear();
+//    path.append(end);
+//    path.append(start);
+//    path.append(end);
+//    path.append(end);
     for (int i = 1; i < path.count()-1; i++) {
         sequenceNumber = _missionController->insertSimpleMissionItem(path.value(i), missionItems->count());
         _missionController->setCurrentPlanViewIndex(sequenceNumber, true);
@@ -583,7 +629,7 @@ bool WimaPlaner::calcShortestPath(const QGeoCoordinate &start, const QGeoCoordin
                                    /*start point*/ QPointF(0,0),
                                    /*destination*/ toCartesian2D(destination, start),
                                    /*shortest path*/ path2D);
-    path.append(toGeo(path2D, /*origin*/start));
+    path.append(toGeo(path2D, /*origin*/ start));
 
     return  retVal;
 }

src/WimaView/SphericalSurveyMapVisual.qml

@@ -90,9 +90,12 @@ Item {
     }
 
     Component.onCompleted: {
-        _addInitialPolygon()
+        if ( !_missionItem.autoGenerated ) {
+            _addInitialPolygon()
+            _setRefPoint()
+        }
         _addVisualElements()
-        _setRefPoint()
+
     }
 
     Component.onDestruction: {