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qgroundcontrol
Commit 8d2e42c4 authored by Valentin Platzgummer's avatar Valentin Platzgummer
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circular survey max waypoints added

parent 76edd9d2
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Showing with 87 additions and 29 deletions
qgroundcontrol.qrc
View file @ 8d2e42c4
......@@ -220,7 +220,7 @@
<file alias="QGroundControl/Controls/WimaMeasurementAreaMapVisual.qml">src/WimaView/WimaMeasurementAreaMapVisual.qml</file>
<file alias="QGroundControl/Controls/WimaCorridorMapVisual.qml">src/WimaView/WimaCorridorMapVisual.qml</file>
<file alias="QGroundControl/Controls/WimaMeasurementAreaEditor.qml">src/WimaView/WimaMeasurementAreaEditor.qml</file>
<file alias="QGroundControl/Controls/CircularSurveyMapVisual.qml">src/PlanView/CircularSurveyItemEditor.qml</file>
<file alias="CircularSurveyItemEditor.qml">src/PlanView/CircularSurveyItemEditor.qml</file>
<file alias="QGroundControl/Controls/DragCoordinate.qml">src/WimaView/DragCoordinate.qml</file>
<file alias="QGroundControl/Controls/CoordinateIndicatorDrag.qml">src/WimaView/CoordinateIndicatorDrag.qml</file>
<file alias="QGroundControl/Controls/CoordinateIndicator.qml">src/WimaView/CoordinateIndicator.qml</file>
......@@ -229,7 +229,7 @@
<file alias="QGroundControl/FlightMap/WimaPlanMapItems.qml">src/FlightMap/MapItems/WimaPlanMapItems.qml</file>
<file alias="QGroundControl/FlightMap/WimaMissionItemMapVisual.qml">src/PlanView/WimaMissionItemMapVisual.qml</file>
<file alias="QGroundControl/FlightDisplay/FlightDisplayWimaMenu.qml">src/FlightDisplay/FlightDisplayWimaMenu.qml</file>
<file>src/WimaView/CircularSurveyMapVisual.qml</file>
<file alias="QGroundControl/Controls/CircularSurveyMapVisual.qml">src/WimaView/CircularSurveyMapVisual.qml</file>
</qresource>
<qresource prefix="/json">
<file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>
......
src/MissionManager/TransectStyleComplexItem.cc
View file @ 8d2e42c4
......@@ -358,10 +358,10 @@ void TransectStyleComplexItem::_rebuildTransects(void)
}
//CALLGRIND_TOGGLE_COLLECT;
auto startTime = std::chrono::high_resolution_clock::now();
//auto startTime = std::chrono::high_resolution_clock::now();
_rebuildTransectsPhase1();
auto delta = std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::high_resolution_clock::now() - startTime).count();
qWarning() << "TransectStyleComplexItem::_rebuildTransects(): time: " << delta << " us";
//auto delta = std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::high_resolution_clock::now() - startTime).count();
//qWarning() << "TransectStyleComplexItem::_rebuildTransects(): time: " << delta << " us";
//CALLGRIND_TOGGLE_COLLECT;
if (_followTerrain) {
......
src/PlanView/CircularSurveyItemEditor.qml
View file @ 8d2e42c4
......@@ -166,18 +166,35 @@ Rectangle {
onClicked: missionItem.resetReference();
Layout.fillWidth: true
}
}
/*
Temporarily removed due to bug https://github.com/mavlink/qgroundcontrol/issues/7005
FactCheckBox {
text: qsTr("Split concave polygons")
fact: _splitConcave
visible: _splitConcave.visible
property Fact _splitConcave: missionItem.splitConcavePolygons
SectionHeader {
id: miscellaneousHeader
text: qsTr("Miscellaneous")
}
*/
ColumnLayout {
anchors.left: parent.left
anchors.right: parent.right
spacing: _margin
visible: miscellaneousHeader.checked
GridLayout {
Layout.fillWidth: true
columnSpacing: _margin
rowSpacing: _margin
columns: 2
QGCLabel { text: qsTr("Max Waypoints") }
FactTextField {
fact: missionItem.maxWaypoints
Layout.fillWidth: true
}
} // GridLayout
} // ColumnLayout
/*
// The following code causes seg. faults from time to time
SectionHeader {
id: terrainHeader
text: qsTr("Terrain")
......@@ -222,7 +239,7 @@ Rectangle {
Layout.fillWidth: true
}
}
}
}*/
/*SectionHeader {
id: statsHeader
......
src/Terrain/TerrainQuery.cc
View file @ 8d2e42c4
......@@ -362,10 +362,13 @@ void TerrainTileManager::addCoordinateQuery(TerrainOfflineAirMapQuery* terrainQu
void TerrainTileManager::addPathQuery(TerrainOfflineAirMapQuery* terrainQueryInterface, const QGeoCoordinate &startPoint, const QGeoCoordinate &endPoint)
{
// Convert to individual coordinate queries
//qDebug() << "TerrainTileManager::addPathQuery()" << startPoint;
QList<QGeoCoordinate> coordinates;
double lat = startPoint.latitude();
double lon = startPoint.longitude();
double steps = ceil(endPoint.distanceTo(startPoint) / TerrainTile::terrainAltitudeSpacing);
// if (qFuzzyIsNull(steps))
// return;
double latDiff = endPoint.latitude() - lat;
double lonDiff = endPoint.longitude() - lon;
for (double i = 0.0; i <= steps; i = i + 1) {
......
src/Wima/CircularSurvey.SettingsGroup.json
View file @ 8d2e42c4
......@@ -35,8 +35,15 @@
},
{
"name": "Reverse",
"shortDescription": "Reverses the transect path",
"shortDescription": "Reverses the transect path.",
"type": "bool",
"defaultValue": 0
},
{
"name": "MaxWaypoints",
"shortDescription": "The maximum number of waypoints the circular survey can containt. To many waypoints cause a performance hit.",
"type": "uint32",
"defaultValue": 2000,
"min": 1
}
]
src/Wima/CircularSurveyComplexItem.cc
View file @ 8d2e42c4
......@@ -10,6 +10,7 @@ const char* CircularSurveyComplexItem::deltaAlphaName = "DeltaAlpha"
const char* CircularSurveyComplexItem::transectMinLengthName = "TransectMinLength";
const char* CircularSurveyComplexItem::isSnakePathName = "IsSnakePath";
const char* CircularSurveyComplexItem::reverseName = "Reverse";
const char* CircularSurveyComplexItem::maxWaypointsName = "MaxWaypoints";
const char* CircularSurveyComplexItem::jsonComplexItemTypeValue = "circularSurvey";
......@@ -17,6 +18,7 @@ const char* CircularSurveyComplexItem::jsonDeltaRKey = "deltaR"
const char* CircularSurveyComplexItem::jsonDeltaAlphaKey = "deltaAlpha";
const char* CircularSurveyComplexItem::jsonTransectMinLengthKey = "transectMinLength";
const char* CircularSurveyComplexItem::jsonIsSnakePathKey = "isSnakePath";
const char* CircularSurveyComplexItem::jsonReverseKey = "reverse";
const char* CircularSurveyComplexItem::jsonReferencePointLatKey = "referencePointLat";
const char* CircularSurveyComplexItem::jsonReferencePointLongKey = "referencePointLong";
const char* CircularSurveyComplexItem::jsonReferencePointAltKey = "referencePointAlt";
......@@ -30,6 +32,7 @@ CircularSurveyComplexItem::CircularSurveyComplexItem(Vehicle *vehicle, bool flyV
, _transectMinLength (settingsGroup, _metaDataMap[transectMinLengthName])
, _isSnakePath (settingsGroup, _metaDataMap[isSnakePathName])
, _reverse (settingsGroup, _metaDataMap[reverseName])
, _maxWaypoints (settingsGroup, _metaDataMap[maxWaypointsName])
, _isInitialized (false)
, _reverseOnly (false)
, _referencePointBeingChanged (false)
......@@ -41,6 +44,7 @@ CircularSurveyComplexItem::CircularSurveyComplexItem(Vehicle *vehicle, bool flyV
connect(&_deltaAlpha, &Fact::valueChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
connect(&_transectMinLength, &Fact::valueChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
connect(&_isSnakePath, &Fact::valueChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
connect(&_maxWaypoints, &Fact::valueChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
connect(&_reverse, &Fact::valueChanged, this, &CircularSurveyComplexItem::_reverseTransects);
connect(this, &CircularSurveyComplexItem::refPointChanged, this, &CircularSurveyComplexItem::_rebuildTransects);
//connect(&_cameraCalc.distanceToSurface(), &Fact::rawValueChanged, this->)
......@@ -123,6 +127,7 @@ bool CircularSurveyComplexItem::load(const QJsonObject &complexObject, int seque
{ jsonDeltaAlphaKey, QJsonValue::Double, true },
{ jsonTransectMinLengthKey, QJsonValue::Double, true },
{ jsonIsSnakePathKey, QJsonValue::Bool, true },
{ jsonReverseKey, QJsonValue::Bool, true },
{ jsonReferencePointLatKey, QJsonValue::Double, true },
{ jsonReferencePointLongKey, QJsonValue::Double, true },
{ jsonReferencePointAltKey, QJsonValue::Double, true },
......@@ -160,6 +165,7 @@ bool CircularSurveyComplexItem::load(const QJsonObject &complexObject, int seque
_referencePoint.setLatitude (complexObject[jsonReferencePointLatKey].toDouble());
_referencePoint.setAltitude (complexObject[jsonReferencePointAltKey].toDouble());
_isSnakePath.setRawValue (complexObject[jsonIsSnakePathKey].toBool());
_reverse.setRawValue (complexObject[jsonReverseKey].toBool());
setIsInitialized(true);
_ignoreRecalc = false;
......@@ -187,6 +193,7 @@ void CircularSurveyComplexItem::save(QJsonArray &planItems)
saveObject[jsonDeltaAlphaKey] = _deltaAlpha.rawValue().toDouble();
saveObject[jsonTransectMinLengthKey] = _transectMinLength.rawValue().toDouble();
saveObject[jsonIsSnakePathKey] = _isSnakePath.rawValue().toBool();
saveObject[jsonReverseKey] = _reverse.rawValue().toBool();
saveObject[jsonReferencePointLongKey] = _referencePoint.longitude();
saveObject[jsonReferencePointLatKey] = _referencePoint.latitude();
saveObject[jsonReferencePointAltKey] = _referencePoint.altitude();
......@@ -372,6 +379,7 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
return;
_updateCounter++;
unsigned int waypointCounter = 0;
// If the transects are getting rebuilt then any previously loaded mission items are now invalid
if (_loadedMissionItemsParent) {
......@@ -389,7 +397,11 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
// reverse transects and return
if (_reverseOnly) {
_reverseOnly = false;
if (_transects.size() > 1) {
QList<QList<CoordInfo_t>> transectsReverse;
transectsReverse.reserve(_transects.size());
for (auto list : _transects) {
QList<CoordInfo_t> listReverse;
......@@ -398,13 +410,11 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
transectsReverse.prepend(listReverse);
}
_transects = transectsReverse;
_transects.clear();
_transects.append(transectsReverse);
_reverseOnly = false;
return;
}
}
_transects.clear();
QPolygonF surveyPolygon = toQPolygonF(toCartesian2D(_surveyAreaPolygon.coordinateList(), _referencePoint));
......@@ -437,6 +447,7 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
double lmin = _transectMinLength.rawValue().toDouble();
double r_min = dr; // meter
double r_max = (*std::max_element(distances.begin(), distances.end())); // meter
unsigned int maxWaypoints = _maxWaypoints.rawValue().toUInt();
QPointF origin(0, 0);
IntersectType type;
......@@ -546,14 +557,21 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
QVector<QPointF> sectorPath = circle.approximateSektor(numNodes, alpha1, alpha2);
// use shortestPath() here if necessary, could be a problem if dr >>
if (sectorPath.size() > 0)
if (sectorPath.size() > 0) {
waypointCounter += uint(sectorPath.size());
if (waypointCounter > maxWaypoints )
return;
transectPath.append(sectorPath);
}
}
} else if (originInside) {
// circle fully inside polygon
int numNodes = int(ceil(2*M_PI/dalpha)) + 1;
QVector<QPointF> sectorPath = circle.approximateSektor(numNodes, 0, 2*M_PI);
// use shortestPath() here if necessary, could be a problem if dr >>
waypointCounter += uint(sectorPath.size());
if (waypointCounter > maxWaypoints )
return;
transectPath.append(sectorPath);
}
r += dr;
......@@ -613,6 +631,9 @@ void CircularSurveyComplexItem::_rebuildTransectsPhase1()
optiPath.append(currentSection); // append last section
if (optiPath.size() > _maxWaypoints.rawValue().toInt())
return;
// convert to CoordInfo_t
if (_reverse.rawValue().toBool())
......@@ -669,6 +690,11 @@ Fact *CircularSurveyComplexItem::reverse()
return &_reverse;
}
Fact *CircularSurveyComplexItem::maxWaypoints()
{
return &_maxWaypoints;
}
......
src/Wima/CircularSurveyComplexItem.h
View file @ 8d2e42c4
......@@ -24,6 +24,7 @@ public:
Q_PROPERTY(Fact* transectMinLength READ transectMinLength CONSTANT)
Q_PROPERTY(Fact* isSnakePath READ isSnakePath CONSTANT)
Q_PROPERTY(Fact* reverse READ reverse CONSTANT)
Q_PROPERTY(Fact* maxWaypoints READ maxWaypoints CONSTANT)
Q_PROPERTY(bool isInitialized READ isInitialized WRITE setIsInitialized NOTIFY isInitializedChanged)
Q_INVOKABLE void resetReference(void);
......@@ -41,6 +42,7 @@ public:
Fact *transectMinLength();
Fact *isSnakePath();
Fact *reverse();
Fact *maxWaypoints();
// Is true if survey was automatically generated, prevents initialisation from gui.
bool isInitialized();
bool referencePointBeingChanged(); // returns true if the referencepoint is being changed (dragged by user)
......@@ -69,12 +71,14 @@ public:
static const char* transectMinLengthName;
static const char* isSnakePathName;
static const char* reverseName;
static const char* maxWaypointsName;
static const char* jsonComplexItemTypeValue;
static const char* jsonDeltaRKey;
static const char* jsonDeltaAlphaKey;
static const char* jsonTransectMinLengthKey;
static const char* jsonIsSnakePathKey;
static const char* jsonReverseKey;
static const char* jsonReferencePointLongKey;
static const char* jsonReferencePointLatKey;
static const char* jsonReferencePointAltKey;
......@@ -108,6 +112,7 @@ private:
SettingsFact _transectMinLength; // minimal transect lenght, transects are rejected if they are shorter than this value
SettingsFact _isSnakePath; // bool value, determining if transects are connected in a snake like or zig zag like manner
SettingsFact _reverse; // reverses the _transects path
SettingsFact _maxWaypoints; // the maximum number of waypoints _transects (TransectStyleComplexItem) can contain (to avoid performance hits)
QTimer _updateTimer;
......
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