Skip to content

Q
qgroundcontrol
Commit 912e993b authored by Valentin Platzgummer's avatar Valentin Platzgummer
Browse files
Options

wima planer edited

parent 6fd60bb5
Hide whitespace changes
Inline Side-by-side
Showing with 6219 additions and 3301 deletions
Paths/KlingenbachTest.wima
View file @ 912e993b
This source diff could not be displayed because it is too large. You can view the blob instead.
Paths/temp0.plan 0 → 100644
View file @ 912e993b
This source diff could not be displayed because it is too large. You can view the blob instead.
Paths/temp1.plan 0 → 100644
View file @ 912e993b
{
"fileType": "Plan",
"geoFence": {
"circles": [
],
"polygons": [
],
"version": 2
},
"groundStation": "QGroundControl",
"mission": {
"cruiseSpeed": 15,
"firmwareType": 3,
"hoverSpeed": 1,
"items": [
{
"autoContinue": true,
"command": 22,
"doJumpId": 1,
"frame": 3,
"params": [
15,
0,
0,
null,
47.76779208273835,
16.53052025186404,
5
],
"type": "SimpleItem"
},
{
"DeltaAlpha": 3,
"DeltaR": 10,
"ReferencePointAlt": 0,
"ReferencePointLat": 47.77087170283815,
"ReferencePointLong": 16.53120355954269,
"TransectMinLength": 1,
"TransectStyleComplexItem": {
"CameraCalc": {
"AdjustedFootprintFrontal": 25,
"AdjustedFootprintSide": 25,
"CameraName": "Manual (no camera specs)",
"DistanceToSurface": 15,
"DistanceToSurfaceRelative": true,
"version": 1
},
"CameraShots": 0,
"CameraTriggerInTurnAround": true,
"FollowTerrain": false,
"HoverAndCapture": false,
"Items": [
{
"autoContinue": true,
"command": 16,
"doJumpId": 2,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76787911538782,
16.530373143053875,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 3,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76787112287341,
16.530432237754336,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 4,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76785187605887,
16.530627484718586,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 5,
"frame": 3,
"params": [
0,
0,
0,
null,
47.767925215533104,
16.530875349994385,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 6,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76793716779096,
16.530684010368297,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 7,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76795974224912,
16.53045501678237,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 8,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76797500239839,
16.530342187419713,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 9,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76807772170158,
16.530260710744177,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 10,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76804836071953,
16.53047779455375,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 11,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76802647332397,
16.530699820729467,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 12,
"frame": 3,
"params": [
0,
0,
0,
null,
47.768012516370526,
16.530923248770208,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 13,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76800652762542,
16.531147458440163,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 14,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76800655280982,
16.53115024528538,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 15,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76809756799416,
16.531107700703668,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 16,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76810225985858,
16.5309320464106,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 17,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76811577885341,
16.530715631144773,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 18,
"frame": 3,
"params": [
0,
0,
0,
null,
47.768136979184064,
16.530500573736578,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 19,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76815245701991,
16.530386140459395,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 20,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76822214416695,
16.53055838419157,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 21,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76820508527868,
16.5307314416142,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 22,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76819200424394,
16.53094084541531,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 23,
"frame": 3,
"params": [
0,
0,
0,
null,
47.768188800809625,
16.531060776248225,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 24,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76828003270505,
16.53101385296271,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 25,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76828174772784,
16.53094964311624,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 26,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76829404005899,
16.530752861881787,
15
],
"type": "SimpleItem"
}
],
"Refly90Degrees": false,
"TurnAroundDistance": 10,
"VisualTransectPoints": [
[
47.76787911538782,
16.530373143053875
],
[
47.76787112287341,
16.530432237754336
],
[
47.76785187605887,
16.530627484718586
],
[
47.767925215533104,
16.530875349994385
],
[
47.76793716779096,
16.530684010368297
],
[
47.76795974224912,
16.53045501678237
],
[
47.76797500239839,
16.530342187419713
],
[
47.76807772170158,
16.530260710744177
],
[
47.76804836071953,
16.53047779455375
],
[
47.76802647332397,
16.530699820729467
],
[
47.768012516370526,
16.530923248770208
],
[
47.76800652762542,
16.531147458440163
],
[
47.76800655280982,
16.53115024528538
],
[
47.76809756799416,
16.531107700703668
],
[
47.76810225985858,
16.5309320464106
],
[
47.76811577885341,
16.530715631144773
],
[
47.768136979184064,
16.530500573736578
],
[
47.76815245701991,
16.530386140459395
],
[
47.76822214416695,
16.53055838419157
],
[
47.76820508527868,
16.5307314416142
],
[
47.76819200424394,
16.53094084541531
],
[
47.768188800809625,
16.531060776248225
],
[
47.76828003270505,
16.53101385296271
],
[
47.76828174772784,
16.53094964311624
],
[
47.76829404005899,
16.530752861881787
]
],
"version": 1
},
"complexItemType": "CircularSurvey",
"polygon": [
[
47.76809580679245,
16.530246122817612
],
[
47.768239336013224,
16.53060087654427
],
[
47.7683711160486,
16.530967006195464
],
[
47.7680076482754,
16.531153949077463
],
[
47.7677855557718,
16.530403347547246
],
[
47.76797785674764,
16.530341265362296
]
],
"type": "ComplexItem",
"version": 1
}
],
"plannedHomePosition": [
47.76779208273835,
16.530520251864044,
178
],
"vehicleType": 2,
"version": 2
},
"rallyPoints": {
"points": [
],
"version": 2
},
"version": 1
}
Paths/temp2.plan 0 → 100644
View file @ 912e993b
{
"fileType": "Plan",
"geoFence": {
"circles": [
],
"polygons": [
],
"version": 2
},
"groundStation": "QGroundControl",
"mission": {
"cruiseSpeed": 15,
"firmwareType": 3,
"hoverSpeed": 1,
"items": [
{
"autoContinue": true,
"command": 22,
"doJumpId": 1,
"frame": 3,
"params": [
15,
0,
0,
null,
47.76779208273835,
16.53052025186404,
5
],
"type": "SimpleItem"
},
{
"DeltaAlpha": 3,
"DeltaR": 10,
"ReferencePointAlt": 0,
"ReferencePointLat": 47.77087170283815,
"ReferencePointLong": 16.53120355954269,
"TransectMinLength": 1,
"TransectStyleComplexItem": {
"CameraCalc": {
"AdjustedFootprintFrontal": 25,
"AdjustedFootprintSide": 25,
"CameraName": "Manual (no camera specs)",
"DistanceToSurface": 15,
"DistanceToSurfaceRelative": true,
"version": 1
},
"CameraShots": 0,
"CameraTriggerInTurnAround": true,
"FollowTerrain": false,
"HoverAndCapture": false,
"Items": [
{
"autoContinue": true,
"command": 16,
"doJumpId": 2,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76787911538782,
16.530373143053875,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 3,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76787112287341,
16.530432237754336,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 4,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76785187605887,
16.530627484718586,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 5,
"frame": 3,
"params": [
0,
0,
0,
null,
47.767925215533104,
16.530875349994385,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 6,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76793716779096,
16.530684010368297,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 7,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76795974224912,
16.53045501678237,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 8,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76797500239839,
16.530342187419713,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 9,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76807772170158,
16.530260710744177,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 10,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76804836071953,
16.53047779455375,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 11,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76802647332397,
16.530699820729467,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 12,
"frame": 3,
"params": [
0,
0,
0,
null,
47.768012516370526,
16.530923248770208,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 13,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76800652762542,
16.531147458440163,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 14,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76800655280982,
16.53115024528538,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 15,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76809756799416,
16.531107700703668,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 16,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76810225985858,
16.5309320464106,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 17,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76811577885341,
16.530715631144773,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 18,
"frame": 3,
"params": [
0,
0,
0,
null,
47.768136979184064,
16.530500573736578,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 19,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76815245701991,
16.530386140459395,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 20,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76822214416695,
16.53055838419157,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 21,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76820508527868,
16.5307314416142,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 22,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76819200424394,
16.53094084541531,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 23,
"frame": 3,
"params": [
0,
0,
0,
null,
47.768188800809625,
16.531060776248225,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 24,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76828003270505,
16.53101385296271,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 25,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76828174772784,
16.53094964311624,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 26,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76829404005899,
16.530752861881787,
15
],
"type": "SimpleItem"
}
],
"Refly90Degrees": false,
"TurnAroundDistance": 10,
"VisualTransectPoints": [
[
47.76787911538782,
16.530373143053875
],
[
47.76787112287341,
16.530432237754336
],
[
47.76785187605887,
16.530627484718586
],
[
47.767925215533104,
16.530875349994385
],
[
47.76793716779096,
16.530684010368297
],
[
47.76795974224912,
16.53045501678237
],
[
47.76797500239839,
16.530342187419713
],
[
47.76807772170158,
16.530260710744177
],
[
47.76804836071953,
16.53047779455375
],
[
47.76802647332397,
16.530699820729467
],
[
47.768012516370526,
16.530923248770208
],
[
47.76800652762542,
16.531147458440163
],
[
47.76800655280982,
16.53115024528538
],
[
47.76809756799416,
16.531107700703668
],
[
47.76810225985858,
16.5309320464106
],
[
47.76811577885341,
16.530715631144773
],
[
47.768136979184064,
16.530500573736578
],
[
47.76815245701991,
16.530386140459395
],
[
47.76822214416695,
16.53055838419157
],
[
47.76820508527868,
16.5307314416142
],
[
47.76819200424394,
16.53094084541531
],
[
47.768188800809625,
16.531060776248225
],
[
47.76828003270505,
16.53101385296271
],
[
47.76828174772784,
16.53094964311624
],
[
47.76829404005899,
16.530752861881787
]
],
"version": 1
},
"complexItemType": "CircularSurvey",
"polygon": [
[
47.76809580679245,
16.530246122817612
],
[
47.768239336013224,
16.53060087654427
],
[
47.7683711160486,
16.530967006195464
],
[
47.7680076482754,
16.531153949077463
],
[
47.7677855557718,
16.530403347547246
],
[
47.76797785674764,
16.530341265362296
]
],
"type": "ComplexItem",
"version": 1
}
],
"plannedHomePosition": [
47.76779208273835,
16.530520251864044,
178
],
"vehicleType": 2,
"version": 2
},
"rallyPoints": {
"points": [
],
"version": 2
},
"version": 1
}
Paths/temp3.plan 0 → 100644
View file @ 912e993b
{
"fileType": "Plan",
"geoFence": {
"circles": [
],
"polygons": [
],
"version": 2
},
"groundStation": "QGroundControl",
"mission": {
"cruiseSpeed": 15,
"firmwareType": 3,
"hoverSpeed": 1,
"items": [
{
"autoContinue": true,
"command": 22,
"doJumpId": 1,
"frame": 3,
"params": [
15,
0,
0,
null,
47.76779208273835,
16.53052025186404,
5
],
"type": "SimpleItem"
},
{
"DeltaAlpha": 3,
"DeltaR": 10,
"ReferencePointAlt": 0,
"ReferencePointLat": 47.77087170283815,
"ReferencePointLong": 16.53120355954269,
"TransectMinLength": 1,
"TransectStyleComplexItem": {
"CameraCalc": {
"AdjustedFootprintFrontal": 25,
"AdjustedFootprintSide": 25,
"CameraName": "Manual (no camera specs)",
"DistanceToSurface": 15,
"DistanceToSurfaceRelative": true,
"version": 1
},
"CameraShots": 0,
"CameraTriggerInTurnAround": true,
"FollowTerrain": false,
"HoverAndCapture": false,
"Items": [
{
"autoContinue": true,
"command": 16,
"doJumpId": 2,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76787911538782,
16.530373143053875,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 3,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76787112287341,
16.530432237754336,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 4,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76785187605887,
16.530627484718586,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 5,
"frame": 3,
"params": [
0,
0,
0,
null,
47.767925215533104,
16.530875349994385,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 6,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76793716779096,
16.530684010368297,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 7,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76795974224912,
16.53045501678237,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 8,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76797500239839,
16.530342187419713,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 9,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76807772170158,
16.530260710744177,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 10,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76804836071953,
16.53047779455375,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 11,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76802647332397,
16.530699820729467,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 12,
"frame": 3,
"params": [
0,
0,
0,
null,
47.768012516370526,
16.530923248770208,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 13,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76800652762542,
16.531147458440163,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 14,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76800655280982,
16.53115024528538,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 15,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76809756799416,
16.531107700703668,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 16,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76810225985858,
16.5309320464106,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 17,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76811577885341,
16.530715631144773,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 18,
"frame": 3,
"params": [
0,
0,
0,
null,
47.768136979184064,
16.530500573736578,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 19,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76815245701991,
16.530386140459395,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 20,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76822214416695,
16.53055838419157,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 21,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76820508527868,
16.5307314416142,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 22,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76819200424394,
16.53094084541531,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 23,
"frame": 3,
"params": [
0,
0,
0,
null,
47.768188800809625,
16.531060776248225,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 24,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76828003270505,
16.53101385296271,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 25,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76828174772784,
16.53094964311624,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 26,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76829404005899,
16.530752861881787,
15
],
"type": "SimpleItem"
}
],
"Refly90Degrees": false,
"TurnAroundDistance": 10,
"VisualTransectPoints": [
[
47.76787911538782,
16.530373143053875
],
[
47.76787112287341,
16.530432237754336
],
[
47.76785187605887,
16.530627484718586
],
[
47.767925215533104,
16.530875349994385
],
[
47.76793716779096,
16.530684010368297
],
[
47.76795974224912,
16.53045501678237
],
[
47.76797500239839,
16.530342187419713
],
[
47.76807772170158,
16.530260710744177
],
[
47.76804836071953,
16.53047779455375
],
[
47.76802647332397,
16.530699820729467
],
[
47.768012516370526,
16.530923248770208
],
[
47.76800652762542,
16.531147458440163
],
[
47.76800655280982,
16.53115024528538
],
[
47.76809756799416,
16.531107700703668
],
[
47.76810225985858,
16.5309320464106
],
[
47.76811577885341,
16.530715631144773
],
[
47.768136979184064,
16.530500573736578
],
[
47.76815245701991,
16.530386140459395
],
[
47.76822214416695,
16.53055838419157
],
[
47.76820508527868,
16.5307314416142
],
[
47.76819200424394,
16.53094084541531
],
[
47.768188800809625,
16.531060776248225
],
[
47.76828003270505,
16.53101385296271
],
[
47.76828174772784,
16.53094964311624
],
[
47.76829404005899,
16.530752861881787
]
],
"version": 1
},
"complexItemType": "CircularSurvey",
"polygon": [
[
47.76809580679245,
16.530246122817612
],
[
47.768239336013224,
16.53060087654427
],
[
47.7683711160486,
16.530967006195464
],
[
47.7680076482754,
16.531153949077463
],
[
47.7677855557718,
16.530403347547246
],
[
47.76797785674764,
16.530341265362296
]
],
"type": "ComplexItem",
"version": 1
}
],
"plannedHomePosition": [
47.76779208273835,
16.530520251864044,
178
],
"vehicleType": 2,
"version": 2
},
"rallyPoints": {
"points": [
],
"version": 2
},
"version": 1
}
Paths/temp4.plan 0 → 100644
View file @ 912e993b
{
"fileType": "Plan",
"geoFence": {
"circles": [
],
"polygons": [
],
"version": 2
},
"groundStation": "QGroundControl",
"mission": {
"cruiseSpeed": 15,
"firmwareType": 3,
"hoverSpeed": 1,
"items": [
{
"autoContinue": true,
"command": 22,
"doJumpId": 1,
"frame": 3,
"params": [
15,
0,
0,
null,
47.76779208273835,
16.53052025186404,
5
],
"type": "SimpleItem"
},
{
"DeltaAlpha": 3,
"DeltaR": 10,
"ReferencePointAlt": 0,
"ReferencePointLat": 47.77087170283815,
"ReferencePointLong": 16.53120355954269,
"TransectMinLength": 1,
"TransectStyleComplexItem": {
"CameraCalc": {
"AdjustedFootprintFrontal": 25,
"AdjustedFootprintSide": 25,
"CameraName": "Manual (no camera specs)",
"DistanceToSurface": 15,
"DistanceToSurfaceRelative": true,
"version": 1
},
"CameraShots": 0,
"CameraTriggerInTurnAround": true,
"FollowTerrain": false,
"HoverAndCapture": false,
"Items": [
{
"autoContinue": true,
"command": 16,
"doJumpId": 2,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76787911538782,
16.530373143053875,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 3,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76787112287341,
16.530432237754336,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 4,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76785187605887,
16.530627484718586,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 5,
"frame": 3,
"params": [
0,
0,
0,
null,
47.767925215533104,
16.530875349994385,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 6,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76793716779096,
16.530684010368297,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 7,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76795974224912,
16.53045501678237,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 8,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76797500239839,
16.530342187419713,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 9,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76807772170158,
16.530260710744177,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 10,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76804836071953,
16.53047779455375,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 11,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76802647332397,
16.530699820729467,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 12,
"frame": 3,
"params": [
0,
0,
0,
null,
47.768012516370526,
16.530923248770208,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 13,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76800652762542,
16.531147458440163,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 14,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76800655280982,
16.53115024528538,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 15,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76809756799416,
16.531107700703668,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 16,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76810225985858,
16.5309320464106,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 17,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76811577885341,
16.530715631144773,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 18,
"frame": 3,
"params": [
0,
0,
0,
null,
47.768136979184064,
16.530500573736578,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 19,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76815245701991,
16.530386140459395,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 20,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76822214416695,
16.53055838419157,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 21,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76820508527868,
16.5307314416142,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 22,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76819200424394,
16.53094084541531,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 23,
"frame": 3,
"params": [
0,
0,
0,
null,
47.768188800809625,
16.531060776248225,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 24,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76828003270505,
16.53101385296271,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 25,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76828174772784,
16.53094964311624,
15
],
"type": "SimpleItem"
},
{
"autoContinue": true,
"command": 16,
"doJumpId": 26,
"frame": 3,
"params": [
0,
0,
0,
null,
47.76829404005899,
16.530752861881787,
15
],
"type": "SimpleItem"
}
],
"Refly90Degrees": false,
"TurnAroundDistance": 10,
"VisualTransectPoints": [
[
47.76787911538782,
16.530373143053875
],
[
47.76787112287341,
16.530432237754336
],
[
47.76785187605887,
16.530627484718586
],
[
47.767925215533104,
16.530875349994385
],
[
47.76793716779096,
16.530684010368297
],
[
47.76795974224912,
16.53045501678237
],
[
47.76797500239839,
16.530342187419713
],
[
47.76807772170158,
16.530260710744177
],
[
47.76804836071953,
16.53047779455375
],
[
47.76802647332397,
16.530699820729467
],
[
47.768012516370526,
16.530923248770208
],
[
47.76800652762542,
16.531147458440163
],
[
47.76800655280982,
16.53115024528538
],
[
47.76809756799416,
16.531107700703668
],
[
47.76810225985858,
16.5309320464106
],
[
47.76811577885341,
16.530715631144773
],
[
47.768136979184064,
16.530500573736578
],
[
47.76815245701991,
16.530386140459395
],
[
47.76822214416695,
16.53055838419157
],
[
47.76820508527868,
16.5307314416142
],
[
47.76819200424394,
16.53094084541531
],
[
47.768188800809625,
16.531060776248225
],
[
47.76828003270505,
16.53101385296271
],
[
47.76828174772784,
16.53094964311624
],
[
47.76829404005899,
16.530752861881787
]
],
"version": 1
},
"complexItemType": "CircularSurvey",
"polygon": [
[
47.76809580679245,
16.530246122817612
],
[
47.768239336013224,
16.53060087654427
],
[
47.7683711160486,
16.530967006195464
],
[
47.7680076482754,
16.531153949077463
],
[
47.7677855557718,
16.530403347547246
],
[
47.76797785674764,
16.530341265362296
]
],
"type": "ComplexItem",
"version": 1
}
],
"plannedHomePosition": [
47.76779208273835,
16.530520251864044,
178
],
"vehicleType": 2,
"version": 2
},
"rallyPoints": {
"points": [
],
"version": 2
},
"version": 1
}
src/Wima/CSWorker.cpp
View file @ 912e993b
......@@ -15,7 +15,8 @@ template <> ClipperLib::cInt get<1>(ClipperLib::IntPoint &p) { return p.Y; }
CSWorker::CSWorker(QObject *parent)
: QThread(parent), _deltaR(2 * bu::si::meter),
_deltaAlpha(3 * bu::degree::degree), _minLength(10 * bu::si::meter),
_calculating(false), _stop(false), _restart(false) {}
_useDepotSafeArea(false), _calculating(false), _stop(false),
_restart(false) {}
CSWorker::~CSWorker() {
this->_stop = true;
......@@ -34,11 +35,46 @@ void CSWorker::update(const QList<QGeoCoordinate> &polygon,
// Sample input.
Lock lk(this->_mutex);
this->_polygon = polygon;
for (auto &v : this->_polygon) {
v.setAltitude(0);
}
this->_origin = origin;
this->_origin.setAltitude(0);
this->_deltaR = deltaR;
this->_deltaAlpha = deltaAlpha;
this->_minLength = minLength;
lk.unlock();
this->_useDepotSafeArea = false;
if (!this->isRunning()) {
this->start();
} else {
Lock lk(this->_mutex);
this->_restart = true;
this->_cv.notify_one();
}
}
void CSWorker::update(const QGeoCoordinate &depot,
const QList<QGeoCoordinate> &safeArea,
const QList<QGeoCoordinate> &polygon,
const QGeoCoordinate &origin, snake::Length deltaR,
snake::Length minLength, snake::Angle deltaAlpha) {
// Sample input.
Lock lk(this->_mutex);
this->_depot = depot;
this->_safeArea = safeArea;
this->_polygon = polygon;
for (auto &v : this->_polygon) {
v.setAltitude(0);
}
this->_origin = origin;
this->_origin.setAltitude(0);
this->_deltaR = deltaR;
this->_deltaAlpha = deltaAlpha;
this->_minLength = minLength;
lk.unlock();
this->_useDepotSafeArea = true;
if (!this->isRunning()) {
this->start();
......@@ -53,7 +89,15 @@ void CSWorker::run() {
qWarning() << "CSWorker::run(): thread start.";
while (!this->_stop) {
// Copy input.
QGeoCoordinate depot;
QList<QGeoCoordinate> safeArea;
Lock lk(this->_mutex);
if (this->_useDepotSafeArea) {
depot = this->_depot;
safeArea = this->_safeArea;
} else {
safeArea = this->_polygon;
}
const auto polygon = this->_polygon;
const auto origin = this->_origin;
const auto deltaR = this->_deltaR;
......@@ -74,11 +118,16 @@ void CSWorker::run() {
emit calculatingChanged();
// Convert geo polygon to ENU polygon.
snake::BoostPolygon polygonENU;
snake::BoostPolygon safeAreaENU;
snake::BoostPoint originENU{0, 0};
snake::BoostPoint depotENU;
snake::areaToEnu(origin, polygon, polygonENU);
snake::areaToEnu(origin, safeArea, safeAreaENU);
snake::toENU(origin, depot, depotENU);
std::string error;
// Check validity.
if (!bg::is_valid(polygonENU, error)) {
if (!bg::is_valid(polygonENU, error) ||
!bg::is_valid(safeAreaENU, error)) {
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "CSWorker::run(): "
"invalid polygon.";
......@@ -159,7 +208,9 @@ void CSWorker::run() {
}
// Clip sectors to polygonENU.
ClipperLib::Path polygonClipper;
auto &outer = polygonENU.outer();
snake::BoostPolygon shrinked;
snake::offsetPolygon(polygonENU, shrinked, -0.1);
auto &outer = shrinked.outer();
polygonClipper.reserve(outer.size() - 1);
for (auto it = outer.begin(); it < outer.end() - 1; ++it) {
auto x = ClipperLib::cInt(std::round(it->get<0>() * CLIPPER_SCALE));
......@@ -176,6 +227,9 @@ void CSWorker::run() {
// Extract transects from PolyTree and convert them to
// BoostLineString
snake::Transects transectsENU;
if (this->_useDepotSafeArea) {
transectsENU.push_back(snake::BoostLineString{depotENU});
}
for (const auto &child : transectsClipper.Childs) {
snake::BoostLineString transect;
transect.reserve(child->Contour.size());
......@@ -233,44 +287,49 @@ void CSWorker::run() {
}
}
// Remove short transects
for (auto it = transectsENU.begin(); it < transectsENU.end();) {
auto begin = this->_useDepotSafeArea ? transectsENU.begin() + 1
: transectsENU.begin();
for (auto it = begin; it < transectsENU.end();) {
if (bg::length(*it) < minLength.value()) {
it = transectsENU.erase(it);
} else {
++it;
}
}
// Move transect with min. distance to the front.
auto minDist = std::numeric_limits<double>::max();
auto minIt = transectsENU.begin();
bool reverse = false;
for (auto it = transectsENU.begin(); it < transectsENU.end(); ++it) {
auto distFront = bg::distance(originENU, it->front());
auto distBack = bg::distance(originENU, it->back());
if (distFront < minDist) {
minDist = distFront;
minIt = it;
reverse = false;
}
if (distBack < minDist) {
minDist = distBack;
minIt = it;
reverse = true;
if (!this->_useDepotSafeArea) {
// Move transect with min. distance to the front.
auto minDist = std::numeric_limits<double>::max();
auto minIt = transectsENU.begin();
bool reverse = false;
for (auto it = transectsENU.begin(); it < transectsENU.end(); ++it) {
auto distFront = bg::distance(originENU, it->front());
auto distBack = bg::distance(originENU, it->back());
if (distFront < minDist) {
minDist = distFront;
minIt = it;
reverse = false;
}
if (distBack < minDist) {
minDist = distBack;
minIt = it;
reverse = true;
}
}
}
// Swap and reverse (if necessary).
if (minIt != transectsENU.begin()) {
auto minTransect = *minIt;
if (reverse) {
snake::BoostLineString rev;
for (auto it = minTransect.end() - 1; it >= minTransect.begin();
--it) {
rev.push_back(*it);
// Swap and reverse (if necessary).
if (minIt != transectsENU.begin()) {
auto minTransect = *minIt;
if (reverse) {
snake::BoostLineString rev;
for (auto it = minTransect.end() - 1; it >= minTransect.begin();
--it) {
rev.push_back(*it);
}
minTransect = rev;
}
minTransect = rev;
*minIt = *transectsENU.begin();
*transectsENU.begin() = minTransect;
}
*minIt = *transectsENU.begin();
*transectsENU.begin() = minTransect;
}
#ifdef SHOW_CIRCULAR_SURVEY_TIME
qWarning() << "CSWorker::run(): transect gen. time: "
......@@ -305,9 +364,9 @@ void CSWorker::run() {
};
std::string errorString;
// Route transects;
bool success = snake::route(polygonENU, transectsENU, transectsInfo,
bool success = snake::route(safeAreaENU, transectsENU, transectsInfo,
route, stopLambda, errorString);
if (!success && !this->_restart) {
if ((!success || route.size() < 3) && !this->_restart) {
#ifdef DEBUG_CIRCULAR_SURVEY
qWarning() << "CSWorker::run(): "
"routing failed.";
......@@ -318,19 +377,38 @@ void CSWorker::run() {
"restart requested.";
#endif
} else {
// Remove return path.
// Find index of first waypoint.
std::size_t idxFirst = 0;
const auto &info1 =
this->_useDepotSafeArea ? transectsInfo[1] : transectsInfo[0];
const auto &firstTransect = transectsENU[info1.index];
const auto &firstWaypoint =
info1.reversed ? firstTransect.back() : firstTransect.front();
double th = 0.001;
for (std::size_t i = 0; i < route.size(); ++i) {
auto dist = bg::distance(route[i], firstWaypoint);
if (dist < th) {
idxFirst = i;
break;
}
}
// Find index of last waypoint.
std::size_t idxLast = 0;
const auto &info = transectsInfo.back();
const auto &lastTransect = transectsENU[info.index];
const auto &lastWaypoint =
info.reversed ? lastTransect.front() : lastTransect.back();
auto &wp = route.back();
while (wp != lastWaypoint) {
route.pop_back();
wp = route.back();
for (long i = route.size() - 1; i >= 0; --i) {
auto dist = bg::distance(route[i], lastWaypoint);
if (dist < th) {
idxLast = i;
break;
}
}
// Convert to geo coordinates and notify main thread.
auto pRoute = PtrRoute(new Route());
for (const auto &vertex : route) {
for (std::size_t i = idxFirst; i <= idxLast; ++i) {
auto vertex = route[i];
QGeoCoordinate c;
snake::fromENU(origin, vertex, c);
pRoute->append(c);
......
src/Wima/CSWorker.h
View file @ 912e993b
......@@ -31,6 +31,11 @@ public slots:
void update(const QList<QGeoCoordinate> &polygon,
const QGeoCoordinate &origin, snake::Length deltaR,
snake::Length minLength, snake::Angle deltaAlpha);
void update(const QGeoCoordinate &depot,
const QList<QGeoCoordinate> &safeArea,
const QList<QGeoCoordinate> &polygon,
const QGeoCoordinate &origin, snake::Length deltaR,
snake::Length minLength, snake::Angle deltaAlpha);
signals:
void ready(PtrRoute pTransects);
......@@ -43,6 +48,8 @@ private:
mutable std::mutex _mutex;
mutable std::condition_variable _cv;
// Internal data
QGeoCoordinate _depot;
QList<QGeoCoordinate> _safeArea;
QList<QGeoCoordinate> _polygon;
QGeoCoordinate _origin;
snake::Length _deltaR;
......@@ -51,6 +58,7 @@ private:
std::size_t _maxWaypoints;
// State
std::atomic_bool _useDepotSafeArea;
std::atomic_bool _calculating;
std::atomic_bool _stop;
std::atomic_bool _restart;
......
src/Wima/CircularSurvey.cc
View file @ 912e993b
......@@ -36,8 +36,8 @@ CircularSurvey::CircularSurvey(Vehicle *vehicle, bool flyView,
_deltaR(settingsGroup, _metaDataMap[deltaRName]),
_deltaAlpha(settingsGroup, _metaDataMap[deltaAlphaName]),
_minLength(settingsGroup, _metaDataMap[transectMinLengthName]),
_isInitialized(false), _pWorker(std::make_unique<CSWorker>()),
_needsStoring(false), _needsReversal(false) {
_pWorker(std::make_unique<CSWorker>()), _needsStoring(false),
_needsReversal(false) {
Q_UNUSED(kmlOrShpFile)
_editorQml = "qrc:/qml/CircularSurveyItemEditor.qml";
......@@ -50,6 +50,10 @@ CircularSurvey::CircularSurvey(Vehicle *vehicle, bool flyView,
&CircularSurvey::_rebuildTransects);
connect(this, &CircularSurvey::refPointChanged, this,
&CircularSurvey::_rebuildTransects);
connect(this, &CircularSurvey::depotChanged, this,
&CircularSurvey::_rebuildTransects);
connect(this, &CircularSurvey::safeAreaChanged, this,
&CircularSurvey::_rebuildTransects);
// Connect worker.
qRegisterMetaType<PtrRoute>("PtrRoute");
connect(this->_pWorker.get(), &CSWorker::ready, this,
......@@ -78,21 +82,40 @@ void CircularSurvey::setRefPoint(const QGeoCoordinate &refPt) {
}
}
void CircularSurvey::setIsInitialized(bool isInitialized) {
if (isInitialized != _isInitialized) {
_isInitialized = isInitialized;
emit isInitializedChanged();
}
}
QGeoCoordinate CircularSurvey::refPoint() const { return _referencePoint; }
Fact *CircularSurvey::deltaR() { return &_deltaR; }
Fact *CircularSurvey::deltaAlpha() { return &_deltaAlpha; }
bool CircularSurvey::isInitialized() { return _isInitialized; }
bool CircularSurvey::hidePolygon() const { return _hidePolygon; }
QGeoCoordinate CircularSurvey::depot() const { return this->_depot; }
QList<QGeoCoordinate> CircularSurvey::safeArea() const {
return this->_safeArea;
}
void CircularSurvey::setHidePolygon(bool hide) {
if (this->_hidePolygon != hide) {
this->_hidePolygon = hide;
emit hidePolygonChanged();
}
}
void CircularSurvey::setDepot(const QGeoCoordinate &depot) {
if (this->_depot != depot) {
this->_depot = depot;
emit depotChanged();
}
}
void CircularSurvey::setSafeArea(const QList<QGeoCoordinate> &safeArea) {
if (this->_safeArea != safeArea) {
this->_safeArea = safeArea;
emit safeAreaChanged();
}
}
bool CircularSurvey::load(const QJsonObject &complexObject, int sequenceNumber,
QString &errorString) {
......@@ -161,7 +184,6 @@ bool CircularSurvey::load(const QJsonObject &complexObject, int sequenceNumber,
_referencePoint.setLongitude(complexObject[refPointLongitudeName].toDouble());
_referencePoint.setLatitude(complexObject[refPointLatitudeName].toDouble());
_referencePoint.setAltitude(complexObject[refPointAltitudeName].toDouble());
setIsInitialized(true);
_ignoreRecalc = false;
......@@ -319,12 +341,21 @@ void CircularSurvey::_rebuildTransectsPhase1(void) {
} else {
this->_transects.clear();
auto polygon = this->_surveyAreaPolygon.coordinateList();
this->_pWorker->update(
polygon, this->_referencePoint,
this->_deltaR.rawValue().toDouble() * bu::si::meter,
this->_minLength.rawValue().toDouble() * bu::si::meter,
snake::Angle(this->_deltaAlpha.rawValue().toDouble() *
bu::degree::degree));
if (this->_depot.isValid() && this->_safeArea.size() >= 3) {
this->_pWorker->update(
this->_depot, this->_safeArea, polygon, this->_referencePoint,
this->_deltaR.rawValue().toDouble() * bu::si::meter,
this->_minLength.rawValue().toDouble() * bu::si::meter,
snake::Angle(this->_deltaAlpha.rawValue().toDouble() *
bu::degree::degree));
} else {
this->_pWorker->update(
polygon, this->_referencePoint,
this->_deltaR.rawValue().toDouble() * bu::si::meter,
this->_minLength.rawValue().toDouble() * bu::si::meter,
snake::Angle(this->_deltaAlpha.rawValue().toDouble() *
bu::degree::degree));
}
}
}
......@@ -351,7 +382,9 @@ void CircularSurvey::_setTransects(CircularSurvey::PtrRoute pRoute) {
Fact *CircularSurvey::transectMinLength() { return &_minLength; }
bool CircularSurvey::calculating() { return this->_pWorker->calculating(); }
bool CircularSurvey::calculating() const {
return this->_pWorker->calculating();
}
/*!
\class CircularSurveyComplexItem
......
src/Wima/CircularSurvey.h
View file @ 912e993b
......@@ -28,48 +28,43 @@ public:
Q_PROPERTY(Fact *deltaR READ deltaR CONSTANT)
Q_PROPERTY(Fact *deltaAlpha READ deltaAlpha CONSTANT)
Q_PROPERTY(Fact *transectMinLength READ transectMinLength CONSTANT)
Q_PROPERTY(bool isInitialized READ isInitialized WRITE setIsInitialized NOTIFY
isInitializedChanged)
Q_PROPERTY(bool calculating READ calculating NOTIFY calculatingChanged)
Q_PROPERTY(bool hidePolygon READ hidePolygon NOTIFY hidePolygon)
Q_INVOKABLE void resetReference(void);
Q_INVOKABLE void reverse(void);
// Property setters
void setRefPoint(const QGeoCoordinate &refPt);
// Set this to true if survey was automatically generated, prevents
// initialisation from gui.
void setIsInitialized(bool isInitialized);
void setHidePolygon(bool hide);
void setDepot(const QGeoCoordinate &depot);
void setSafeArea(const QList<QGeoCoordinate> &safeArea);
// Property getters
QGeoCoordinate refPoint() const;
Fact *deltaR();
Fact *deltaAlpha();
Fact *transectMinLength();
bool calculating();
// Is true if survey was automatically generated, prevents initialisation from
// gui.
bool isInitialized();
bool calculating() const;
bool hidePolygon() const;
QGeoCoordinate depot() const;
QList<QGeoCoordinate> safeArea() const;
// Overrides from ComplexMissionItem
// Overrides
bool load(const QJsonObject &complexObject, int sequenceNumber,
QString &errorString) final;
QString mapVisualQML(void) const final;
// Overrides from TransectStyleComplexItem
void save(QJsonArray &planItems) final;
bool specifiesCoordinate(void) const final;
QString &errorString) override final;
QString mapVisualQML(void) const override final;
void save(QJsonArray &planItems) override final;
bool specifiesCoordinate(void) const override final;
void appendMissionItems(QList<MissionItem *> &items,
QObject *missionItemParent) final;
void applyNewAltitude(double newAltitude) final;
double timeBetweenShots(void) final;
// Overrides from VisualMissionionItem
QString commandDescription(void) const final;
QString commandName(void) const final;
QString abbreviation(void) const final;
bool readyForSave(void) const final;
double additionalTimeDelay(void) const final;
QObject *missionItemParent) override final;
void applyNewAltitude(double newAltitude) override final;
double timeBetweenShots(void) override final;
QString commandDescription(void) const override final;
QString commandName(void) const override final;
QString abbreviation(void) const override final;
bool readyForSave(void) const override final;
double additionalTimeDelay(void) const override final;
static const char *settingsGroup;
static const char *deltaRName;
......@@ -82,8 +77,10 @@ public:
signals:
void refPointChanged();
void isInitializedChanged();
void calculatingChanged();
void hidePolygonChanged();
void depotChanged();
void safeAreaChanged();
private slots:
// Overrides from TransectStyleComplexItem
......@@ -109,14 +106,14 @@ private:
// minimal transect lenght, transects are rejected if they are shorter than
// this value
SettingsFact _minLength;
// indicates if the polygon and refpoint etc. are initialized, prevents
// reinitialisation from gui and execution of _rebuildTransectsPhase1 during
// init from gui
bool _isInitialized;
using PtrWorker = std::shared_ptr<CSWorker>;
PtrWorker _pWorker;
PtrRoute _pRoute;
bool _needsStoring;
bool _needsReversal;
bool _hidePolygon;
QGeoCoordinate _depot;
QList<QGeoCoordinate> _safeArea;
};
src/Wima/Geometry/WimaMeasurementArea.cc
View file @ 912e993b
......@@ -135,14 +135,14 @@ bool WimaMeasurementArea::loadFromJson(const QJsonObject &json,
}
if (json.contains(tileWidthName) && json[tileWidthName].isDouble()) {
_tileHeight.setRawValue(json[tileWidthName].toDouble());
_tileWidth.setRawValue(json[tileWidthName].toDouble());
} else {
errorString.append(tr("Could not load tile width!\n"));
retVal = false;
}
if (json.contains(minTileAreaName) && json[minTileAreaName].isDouble()) {
_tileHeight.setRawValue(json[minTileAreaName].toDouble());
_minTileArea.setRawValue(json[minTileAreaName].toDouble());
} else {
errorString.append(tr("Could not load minimal tile area!\n"));
retVal = false;
......@@ -150,7 +150,7 @@ bool WimaMeasurementArea::loadFromJson(const QJsonObject &json,
if (json.contains(transectDistanceName) &&
json[transectDistanceName].isDouble()) {
_tileHeight.setRawValue(json[transectDistanceName].toDouble());
_transectDistance.setRawValue(json[transectDistanceName].toDouble());
} else {
errorString.append(tr("Could not load transect distance!\n"));
retVal = false;
......@@ -158,14 +158,14 @@ bool WimaMeasurementArea::loadFromJson(const QJsonObject &json,
if (json.contains(minTransectLengthName) &&
json[minTransectLengthName].isDouble()) {
_tileHeight.setRawValue(json[minTransectLengthName].toDouble());
_minTransectLength.setRawValue(json[minTransectLengthName].toDouble());
} else {
errorString.append(tr("Could not load minimal transect length!\n"));
retVal = false;
}
if (json.contains(showTilesName) && json[showTilesName].isBool()) {
_tileHeight.setRawValue(json[showTilesName].toDouble());
_showTiles.setRawValue(json[showTilesName].toBool());
} else {
errorString.append(tr("Could not load show tiles !\n"));
retVal = false;
......
src/Wima/Geometry/WimaServiceArea.cc
View file @ 912e993b
#include "WimaServiceArea.h"
const char* WimaServiceArea::wimaServiceAreaName = "Service Area";
const char *WimaServiceArea::wimaServiceAreaName = "Service Area";
WimaServiceArea::WimaServiceArea(QObject *parent)
: WimaArea (parent)
{
init();
}
WimaServiceArea::WimaServiceArea(QObject *parent) : WimaArea(parent) { init(); }
WimaServiceArea::WimaServiceArea(const WimaServiceArea &other, QObject *parent)
: WimaArea (other, parent)
{
init();
: WimaArea(other, parent) {
init();
}
/*!
......@@ -21,63 +14,53 @@ WimaServiceArea::WimaServiceArea(const WimaServiceArea &other, QObject *parent)
*
* Calls the inherited operator WimaArea::operator=().
*/
WimaServiceArea &WimaServiceArea::operator=(const WimaServiceArea &other)
{
WimaArea::operator=(other);
return *this;
}
WimaServiceArea &WimaServiceArea::operator=(const WimaServiceArea &other) {
WimaArea::operator=(other);
void WimaServiceArea::setTakeOffPosition(const QGeoCoordinate &coordinate)
{
if(_takeOffPosition != coordinate){
_takeOffPosition = coordinate;
emit takeOffPositionChanged();
}
return *this;
}
void WimaServiceArea::setLandPosition(const QGeoCoordinate &coordinate)
{
if(_landPosition != coordinate){
_landPosition = coordinate;
emit landPositionChanged();
}
void WimaServiceArea::setDepot(const QGeoCoordinate &coordinate) {
if (_depot != coordinate) {
_depot = coordinate;
emit depotChanged();
}
}
void WimaServiceArea::saveToJson(QJsonObject &json)
{
this->WimaArea::saveToJson(json);
json[areaTypeName] = wimaServiceAreaName;
void WimaServiceArea::saveToJson(QJsonObject &json) {
this->WimaArea::saveToJson(json);
json[areaTypeName] = wimaServiceAreaName;
}
bool WimaServiceArea::loadFromJson(const QJsonObject &json, QString &errorString)
{
if ( this->WimaArea::loadFromJson(json, errorString)) {
bool retVal = true;
// code for loading here
return retVal;
} else {
qWarning() << errorString;
return false;
}
bool WimaServiceArea::loadFromJson(const QJsonObject &json,
QString &errorString) {
if (this->WimaArea::loadFromJson(json, errorString)) {
bool retVal = true;
// code for loading here
return retVal;
} else {
qWarning() << errorString;
return false;
}
}
void print(const WimaServiceArea &area)
{
QString message;
print(area, message);
qWarning() << message;
void print(const WimaServiceArea &area) {
QString message;
print(area, message);
qWarning() << message;
}
void print(const WimaServiceArea &area, QString &outputStr)
{
print(static_cast<const WimaArea&>(area), outputStr);
outputStr.append(QString("Takeoff Position: %s\n").arg(area._takeOffPosition.toString(QGeoCoordinate::Degrees)));
outputStr.append(QString("Land Position: %s\n").arg(area._landPosition.toString(QGeoCoordinate::Degrees)));
void print(const WimaServiceArea &area, QString &outputStr) {
print(static_cast<const WimaArea &>(area), outputStr);
outputStr.append(QString("Depot Position: %s\n")
.arg(area._depot.toString(QGeoCoordinate::Degrees)));
}
void WimaServiceArea::init()
{
this->setObjectName(wimaServiceAreaName);
void WimaServiceArea::init() {
this->setObjectName(wimaServiceAreaName);
connect(this, &WimaServiceArea::centerChanged, [this] {
if (!this->_depot.isValid()) {
this->setDepot(this->center());
}
});
}
src/Wima/Geometry/WimaServiceArea.h
View file @ 912e993b
#pragma once
#include <QObject>
#include "WimaArea.h"
#include "WimaTrackerPolyline.h"
#include <QObject>
class WimaServiceArea : public WimaArea
{
Q_OBJECT
class WimaServiceArea : public WimaArea {
Q_OBJECT
public:
WimaServiceArea(QObject* parent = nullptr);
WimaServiceArea(const WimaServiceArea& other, QObject* parent);
WimaServiceArea& operator=(const WimaServiceArea &other);
Q_PROPERTY(const QGeoCoordinate& takeOffPosition READ takeOffPosition WRITE setTakeOffPosition NOTIFY takeOffPositionChanged)
Q_PROPERTY(const QGeoCoordinate& landPosition READ landPosition WRITE setLandPosition NOTIFY landPositionChanged)
WimaServiceArea(QObject *parent = nullptr);
WimaServiceArea(const WimaServiceArea &other, QObject *parent);
WimaServiceArea &operator=(const WimaServiceArea &other);
// Overrides from WimaPolygon
QString mapVisualQML (void) const { return "WimaServiceAreaMapVisual.qml";}
QString editorQML (void) const { return "WimaServiceAreaEditor.qml";}
Q_PROPERTY(QGeoCoordinate depot READ depot WRITE setDepot NOTIFY depotChanged)
// Property acessors
const QGeoCoordinate& takeOffPosition (void) const { return _takeOffPosition;}
const QGeoCoordinate& landPosition (void) const { return _landPosition;}
// Overrides from WimaPolygon
QString mapVisualQML(void) const { return "WimaServiceAreaMapVisual.qml"; }
QString editorQML(void) const { return "WimaServiceAreaEditor.qml"; }
// Member Methodes
void saveToJson(QJsonObject& json);
bool loadFromJson(const QJsonObject& json, QString& errorString);
// Property acessors
const QGeoCoordinate &depot(void) const { return _depot; }
// Member Methodes
void saveToJson(QJsonObject &json);
bool loadFromJson(const QJsonObject &json, QString &errorString);
// Friends
friend void print(const WimaServiceArea &area, QString &outputStr);
friend void print(const WimaServiceArea &area);
// Friends
friend void print(const WimaServiceArea& area, QString& outputStr);
friend void print(const WimaServiceArea& area);
// static Members
static const char* wimaServiceAreaName;
// static Members
static const char *wimaServiceAreaName;
signals:
void takeOffPositionChanged (void);
void landPositionChanged (void);
void depotChanged(void);
public slots:
void setTakeOffPosition (const QGeoCoordinate& coordinate);
void setLandPosition (const QGeoCoordinate& coordinate);
void setDepot(const QGeoCoordinate &coordinate);
private:
// Member Methodes
void init();
// Member Methodes
void init();
// Members
QGeoCoordinate _takeOffPosition;
QGeoCoordinate _landPosition;
// Members
QGeoCoordinate _depot;
};
src/Wima/Geometry/WimaServiceAreaData.cc
View file @ 912e993b
......@@ -100,7 +100,7 @@ void WimaServiceAreaData::assign(const WimaServiceArea &other)
{
WimaAreaData::assign(other);
setLandPosition(other.landPosition());
setTakeOffPosition(other.takeOffPosition());
setTakeOffPosition(other.depot());
}
......
src/Wima/WimaPlaner.cc
View file @ 912e993b
......@@ -22,25 +22,25 @@ const char *WimaPlaner::missionItemsName = "MissionItems";
WimaPlaner::WimaPlaner(QObject *parent)
: QObject(parent), _masterController(nullptr), _missionController(nullptr),
_currentAreaIndex(-1), _wimaBridge(nullptr), _joinedArea(this),
_joinedAreaValid(false), _arrivalPathLength(0), _returnPathLength(0),
_TSComplexItem(nullptr), _surveyRefChanging(false),
_measurementAreaChanging(false), _corridorChanging(false),
_serviceAreaChanging(false), _syncronizedWithController(false),
_readyForSync(false) {
_lastMeasurementAreaPath = _measurementArea.path();
_lastServiceAreaPath = _serviceArea.path();
_lastCorridorPath = _corridor.path();
_currentAreaIndex(-1), _wimaBridge(nullptr), _mAreaChanged(true),
_sAreaChanged(true), _corridorChanged(true), _joinedArea(this),
_arrivalPathLength(0), _returnPathLength(0), _TSComplexItem(nullptr),
_surveyChanged(true), _synchronized(false) {
connect(this, &WimaPlaner::currentPolygonIndexChanged, this,
&WimaPlaner::recalcPolygonInteractivity);
connect(&_updateTimer, &QTimer::timeout, this, &WimaPlaner::updateTimerSlot);
connect(this, &WimaPlaner::joinedAreaValidChanged, this,
&WimaPlaner::updateMission);
_updateTimer.setInterval(300); // 300 ms means: max update time 2*300 ms
_updateTimer.start();
&WimaPlaner::updatePolygonInteractivity);
connect(&this->_measurementArea, &WimaArea::pathChanged, [this] {
this->_mAreaChanged = true;
this->setNeedsUpdate(true);
});
connect(&this->_serviceArea, &WimaArea::pathChanged, [this] {
this->_sAreaChanged = true;
this->setNeedsUpdate(true);
});
connect(&this->_corridor, &WimaArea::pathChanged, [this] {
this->_corridorChanged = true;
this->setNeedsUpdate(true);
});
#ifndef NDEBUG
// for debugging and testing purpose, remove if not needed anymore
connect(&_autoLoadTimer, &QTimer::timeout, this,
......@@ -48,15 +48,22 @@ WimaPlaner::WimaPlaner(QObject *parent)
_autoLoadTimer.setSingleShot(true);
_autoLoadTimer.start(300);
#endif
}
_calcArrivalAndReturnPathTimer.setInterval(100);
_calcArrivalAndReturnPathTimer.setSingleShot(true);
connect(&_calcArrivalAndReturnPathTimer, &QTimer::timeout, this,
&WimaPlaner::calcArrivalAndReturnPath);
PlanMasterController *WimaPlaner::masterController() {
return _masterController;
}
MissionController *WimaPlaner::missionController() {
return _missionController;
}
QmlObjectListModel *WimaPlaner::visualItems() { return &_visualItems; }
int WimaPlaner::currentPolygonIndex() const { return _currentAreaIndex; }
QString WimaPlaner::currentFile() const { return _currentFile; }
QStringList WimaPlaner::loadNameFilters() const {
QStringList filters;
......@@ -76,10 +83,14 @@ QStringList WimaPlaner::saveNameFilters() const {
return filters;
}
QString WimaPlaner::fileExtension() const { return wimaFileExtension; }
QGeoCoordinate WimaPlaner::joinedAreaCenter() const {
return _joinedArea.center();
}
WimaBridge *WimaPlaner::wimaBridge() { return _wimaBridge; }
void WimaPlaner::setMasterController(PlanMasterController *masterC) {
_masterController = masterC;
emit masterControllerChanged();
......@@ -106,11 +117,9 @@ void WimaPlaner::setWimaBridge(WimaBridge *bridge) {
}
}
bool WimaPlaner::syncronizedWithController() {
return _syncronizedWithController;
}
bool WimaPlaner::synchronized() { return _synchronized; }
bool WimaPlaner::readyForSync() { return _readyForSync; }
bool WimaPlaner::needsUpdate() { return _needsUpdate; }
WimaPlaner *WimaPlaner::thisPointer() { return this; }
......@@ -139,7 +148,7 @@ void WimaPlaner::removeArea(int index) {
if (_currentAreaIndex >= _visualItems.count()) {
setCurrentPolygonIndex(_visualItems.count() - 1);
} else {
recalcPolygonInteractivity(_currentAreaIndex);
updatePolygonInteractivity(_currentAreaIndex);
}
} else {
qWarning("Index out of bounds!");
......@@ -200,25 +209,75 @@ void WimaPlaner::removeAll() {
_currentFile = "";
_TSComplexItem = nullptr;
_surveyRefChanging = false;
emit currentFileChanged();
if (changesApplied)
emit visualItemsChanged();
}
bool WimaPlaner::updateMission() {
bool WimaPlaner::update() {
this->_synchronized = false;
emit synchronizedChanged();
// ====================== update joined area ======================
// check if at least service area and measurement area are available
if (_visualItems.indexOf(&_serviceArea) == -1 ||
_visualItems.indexOf(&_measurementArea) == -1)
return false;
// Check if polygons have at least three vertices
if (_serviceArea.count() < 3) {
qgcApp()->showMessage(tr("Service area has less than three vertices."));
return false;
}
if (_measurementArea.count() < 3) {
qgcApp()->showMessage(tr("Measurement area has less than three vertices."));
return false;
}
// Check for simple polygons
if (!_serviceArea.isSimplePolygon()) {
qgcApp()->showMessage(tr("Service area is not a simple polygon. "
"Only simple polygons allowed.\n"));
return false;
}
setReadyForSync(false);
if (!_corridor.isSimplePolygon() && _corridor.count() > 0) {
qgcApp()->showMessage(tr("Corridor is not a simple polygon. Only "
"simple polygons allowed.\n"));
return false;
}
if (!_joinedAreaValid)
if (!_measurementArea.isSimplePolygon()) {
qgcApp()->showMessage(tr("Measurement area is not a simple "
"polygon. Only simple polygons allowed.\n"));
return false;
}
// Join areas.
bool jAreaChanged =
this->_mAreaChanged || this->_sAreaChanged || this->_corridorChanged;
if (jAreaChanged) {
_joinedArea.setPath(_serviceArea.path());
if (_corridor.count() >= 3) {
_joinedArea.join(_corridor);
}
if (!_joinedArea.join(_measurementArea)) {
qgcApp()->showMessage(
tr("Not able to join areas. Service and measurement area"
" must be overlapping, or connected through a "
"corridor."));
return false;
}
}
// ===========================================================
// ====================== update survey ======================
bool updateSurveyArea = jAreaChanged;
// extract old survey data
QmlObjectListModel *missionItems = _missionController->visualItems();
int surveyIndex = missionItems->indexOf(_TSComplexItem);
// create survey item if not yet present
if (surveyIndex == -1) {
_missionController->insertComplexMissionItem(
......@@ -228,29 +287,150 @@ bool WimaPlaner::updateMission() {
missionItems->get(missionItems->count() - 1));
if (_TSComplexItem == nullptr) {
qWarning("WimaPlaner::updateMission(): survey == nullptr");
qWarning("WimaPlaner::update(): survey == nullptr");
return false;
}
// establish connections
_TSComplexItem->setRefPoint(_measurementArea.center());
_lastSurveyRefPoint = _measurementArea.center();
_surveyRefChanging = false;
_TSComplexItem->setIsInitialized(
true); // prevents reinitialisation from gui
connect(_TSComplexItem, &TransectStyleComplexItem::missionItemReady, this,
&WimaPlaner::calcArrivalAndReturnPath);
}
_TSComplexItem->setHidePolygon(true);
connect(_TSComplexItem, &CircularSurvey::missionItemReady, [this] {
this->_surveyChanged = true;
this->setNeedsUpdate(true);
});
updateSurveyArea = true;
}
if (updateSurveyArea) {
// update survey area
_TSComplexItem->surveyAreaPolygon()->clear();
_TSComplexItem->surveyAreaPolygon()->appendVertices(
_measurementArea.coordinateList());
_TSComplexItem->setDepot(this->_serviceArea.depot());
_TSComplexItem->setSafeArea(this->_joinedArea.coordinateList());
this->_mAreaChanged = false;
this->_sAreaChanged = false;
this->_corridorChanged = false;
} else if (this->_surveyChanged) {
// ==========================================================
// ====================== update paths ======================
surveyIndex = missionItems->indexOf(_TSComplexItem);
if (surveyIndex == -1) {
qWarning("WimaPlaner::update(): no survey item");
return false;
}
// update survey area
_TSComplexItem->surveyAreaPolygon()->clear();
_TSComplexItem->surveyAreaPolygon()->appendVertices(
_measurementArea.coordinateList());
// remove old arrival and return path
int size = missionItems->count();
for (int i = surveyIndex + 1; i < size; i++)
_missionController->removeMissionItem(surveyIndex + 1);
for (int i = surveyIndex - 1; i > 1; i--)
_missionController->removeMissionItem(i);
// set home position to serArea center
MissionSettingsItem *settingsItem =
qobject_cast<MissionSettingsItem *>(missionItems->get(0));
if (settingsItem == nullptr) {
qWarning("WimaPlaner::update(): settingsItem == nullptr");
return false;
}
// set altitudes
QGeoCoordinate point = _serviceArea.depot();
point.setAltitude(0);
_serviceArea.setDepot(point);
point = _measurementArea.center();
point.setAltitude(0);
_measurementArea.setCenter(point);
point = _corridor.center();
point.setAltitude(0);
_corridor.setCenter(point);
settingsItem->setCoordinate(_serviceArea.depot());
// set takeoff position
bool setCommandNeeded = false;
if (missionItems->count() < 3) {
setCommandNeeded = true;
_missionController->insertSimpleMissionItem(_serviceArea.depot(), 1);
}
SimpleMissionItem *takeOffItem =
qobject_cast<SimpleMissionItem *>(missionItems->get(1));
if (takeOffItem == nullptr) {
qWarning("WimaPlaner::update(): takeOffItem == nullptr");
return false;
}
if (setCommandNeeded)
_missionController->setTakeoffCommand(*takeOffItem);
takeOffItem->setCoordinate(_serviceArea.depot());
setReadyForSync(true);
if (_TSComplexItem->visualTransectPoints().size() == 0) {
qWarning("WimaPlaner::update(): survey no points.");
return false;
}
// calculate path from take off to survey
QGeoCoordinate start = _serviceArea.depot();
QGeoCoordinate end = _TSComplexItem->coordinate();
#ifdef QT_DEBUG
// if (!_visualItems.contains(&_joinedArea))
//_visualItems.append(&_joinedArea);
#endif
QVector<QGeoCoordinate> path;
if (!shortestPath(start, end, path)) {
qgcApp()->showMessage(QString(tr("Not able to calculate path from "
"takeoff position to measurement area."))
.toLocal8Bit()
.data());
return false;
}
_arrivalPathLength = path.size() - 1;
int sequenceNumber = 0;
for (int i = 1; i < path.count() - 1; i++) {
sequenceNumber = _missionController->insertSimpleMissionItem(
path[i], missionItems->count() - 1);
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
}
// calculate return path
start = _TSComplexItem->exitCoordinate();
end = _serviceArea.depot();
path.clear();
if (!shortestPath(start, end, path)) {
qgcApp()->showMessage(QString(tr("Not able to calculate the path from "
"measurement area to landing position."))
.toLocal8Bit()
.data());
return false;
}
_returnPathLength =
path.size() - 1; // -1: fist item is last measurement point
for (int i = 1; i < path.count() - 1; i++) {
sequenceNumber = _missionController->insertSimpleMissionItem(
path[i], missionItems->count());
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
}
// create land position item
sequenceNumber = _missionController->insertSimpleMissionItem(
_serviceArea.depot(), missionItems->count());
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
SimpleMissionItem *landItem = qobject_cast<SimpleMissionItem *>(
missionItems->get(missionItems->count() - 1));
if (landItem == nullptr) {
qWarning("WimaPlaner::calcArrivalAndReturnPath(): landItem == nullptr");
return false;
} else {
if (!_missionController->setLandCommand(*landItem))
return false;
}
this->_surveyChanged = false;
}
setNeedsUpdate(false);
return true;
}
void WimaPlaner::saveToCurrent() { saveToFile(_currentFile); }
void WimaPlaner::saveToFile(const QString &filename) {
......@@ -344,8 +524,6 @@ bool WimaPlaner::loadFromFile(const QString &filename) {
return false;
}
_lastMeasurementAreaPath =
_measurementArea.path(); // prevents error messages at this point
validAreaCounter++;
_visualItems.append(&_measurementArea);
emit visualItemsChanged();
......@@ -358,8 +536,6 @@ bool WimaPlaner::loadFromFile(const QString &filename) {
return false;
}
_lastServiceAreaPath =
_serviceArea.path(); // prevents error messages at this point
validAreaCounter++;
_visualItems.append(&_serviceArea);
emit visualItemsChanged();
......@@ -372,8 +548,6 @@ bool WimaPlaner::loadFromFile(const QString &filename) {
return false;
}
_lastCorridorPath =
_corridor.path(); // prevents error messages at this point
validAreaCounter++;
_visualItems.append(&_corridor);
emit visualItemsChanged();
......@@ -434,28 +608,21 @@ bool WimaPlaner::loadFromFile(const QString &filename) {
// load from temporary file
_masterController->loadFromFile(temporaryFileName);
QmlObjectListModel *missionItems = _missionController->visualItems();
_TSComplexItem = nullptr;
for (int i = 0; i < missionItems->count(); i++) {
_TSComplexItem = missionItems->value<CircularSurvey *>(i);
if (_TSComplexItem != nullptr) {
_lastSurveyRefPoint = _TSComplexItem->refPoint();
_surveyRefChanging = false;
_TSComplexItem->setIsInitialized(
true); // prevents reinitialisation from gui
connect(_TSComplexItem, &TransectStyleComplexItem::missionItemReady,
this, &WimaPlaner::calcArrivalAndReturnPath);
_TSComplexItem->setHidePolygon(true);
connect(_TSComplexItem, &CircularSurvey::missionItemReady, [this] {
this->_surveyChanged = true;
this->setNeedsUpdate(true);
});
break;
}
}
// if (_circularSurvey == nullptr)
if (!recalcJoinedArea())
return false;
if (!updateMission())
if (!update())
return false;
// remove temporary file
......@@ -464,13 +631,12 @@ bool WimaPlaner::loadFromFile(const QString &filename) {
"WimaPlaner::loadFromFile(): not able to remove temporary file.");
}
setSyncronizedWithController(false);
this->_synchronized = false;
emit synchronizedChanged();
return true;
} else if (fileInfo.suffix() == AppSettings::planFileExtension) {
_masterController->loadFromFile(filename);
return true; // might be wrong return value
} else {
errorString += QString(tr("File extension not supported.\n"));
......@@ -479,7 +645,7 @@ bool WimaPlaner::loadFromFile(const QString &filename) {
}
}
void WimaPlaner::recalcPolygonInteractivity(int index) {
void WimaPlaner::updatePolygonInteractivity(int index) {
if (index >= 0 && index < _visualItems.count()) {
resetAllInteractive();
WimaArea *interactivePoly =
......@@ -489,198 +655,22 @@ void WimaPlaner::recalcPolygonInteractivity(int index) {
}
}
bool WimaPlaner::calcArrivalAndReturnPath() {
setReadyForSync(false);
// extract old survey data
QmlObjectListModel *missionItems = _missionController->visualItems();
int surveyIndex = missionItems->indexOf(_TSComplexItem);
if (surveyIndex == -1) {
qWarning("WimaPlaner::calcArrivalAndReturnPath(): no survey item");
return false;
}
bool restorePlanViewIndex = false;
if (surveyIndex == _missionController->currentPlanViewIndex())
restorePlanViewIndex = true;
// remove old arrival and return path
int size = missionItems->count();
for (int i = surveyIndex + 1; i < size; i++)
_missionController->removeMissionItem(surveyIndex + 1);
for (int i = surveyIndex - 1; i > 1; i--)
_missionController->removeMissionItem(i);
// set home position to serArea center
MissionSettingsItem *settingsItem =
qobject_cast<MissionSettingsItem *>(missionItems->get(0));
if (settingsItem == nullptr) {
qWarning("WimaPlaner::calcArrivalAndReturnPath(): settingsItem == nullptr");
return false;
}
// set altitudes, temporary measure to solve bugs
QGeoCoordinate center = _serviceArea.center();
center.setAltitude(0);
_serviceArea.setCenter(center);
center = _measurementArea.center();
center.setAltitude(0);
_measurementArea.setCenter(center);
center = _corridor.center();
center.setAltitude(0);
_corridor.setCenter(center);
// set HomePos. to serArea center
settingsItem->setCoordinate(_serviceArea.center());
// set takeoff position
bool setCommandNeeded = false;
if (missionItems->count() < 3) {
setCommandNeeded = true;
_missionController->insertSimpleMissionItem(_serviceArea.center(), 1);
}
SimpleMissionItem *takeOffItem =
qobject_cast<SimpleMissionItem *>(missionItems->get(1));
if (takeOffItem == nullptr) {
qWarning("WimaPlaner::calcArrivalAndReturnPath(): takeOffItem == nullptr");
return false;
}
if (setCommandNeeded)
_missionController->setTakeoffCommand(*takeOffItem);
takeOffItem->setCoordinate(_serviceArea.center());
if (_TSComplexItem->visualTransectPoints().size() == 0) {
qWarning("WimaPlaner::calcArrivalAndReturnPath(): survey no points.");
return false;
}
// calculate path from take off to survey
QGeoCoordinate start = _serviceArea.center();
QGeoCoordinate end = _TSComplexItem->coordinate();
#ifdef QT_DEBUG
// if (!_visualItems.contains(&_joinedArea))
//_visualItems.append(&_joinedArea);
#endif
QVector<QGeoCoordinate> path;
if (!calcShortestPath(start, end, path)) {
qgcApp()->showMessage(QString(tr("Not able to calculate the path from "
"takeoff position to measurement area."))
.toLocal8Bit()
.data());
return false;
}
_arrivalPathLength = path.size() - 1;
int sequenceNumber = 0;
for (int i = 1; i < path.count() - 1; i++) {
sequenceNumber = _missionController->insertSimpleMissionItem(
path[i], missionItems->count() - 1);
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
}
// calculate return path
start = _TSComplexItem->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;
}
_returnPathLength =
path.size() - 1; // -1: fist item is last measurement point
for (int i = 1; i < path.count() - 1; i++) {
sequenceNumber = _missionController->insertSimpleMissionItem(
path[i], missionItems->count());
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
}
// create land position item
sequenceNumber = _missionController->insertSimpleMissionItem(
_serviceArea.center(), missionItems->count());
_missionController->setCurrentPlanViewIndex(sequenceNumber, true);
SimpleMissionItem *landItem = qobject_cast<SimpleMissionItem *>(
missionItems->get(missionItems->count() - 1));
if (landItem == nullptr) {
qWarning("WimaPlaner::calcArrivalAndReturnPath(): landItem == nullptr");
return false;
} else {
if (!_missionController->setLandCommand(*landItem))
return false;
}
if (restorePlanViewIndex)
_missionController->setCurrentPlanViewIndex(
missionItems->indexOf(_TSComplexItem), false);
setSyncronizedWithControllerFalse();
setReadyForSync(true);
return true;
}
bool WimaPlaner::recalcJoinedArea() {
setJoinedAreaValid(false);
// check if at least service area and measurement area are available
if (_visualItems.indexOf(&_serviceArea) == -1 ||
_visualItems.indexOf(&_measurementArea) == -1)
return false;
// check if area paths form simple polygons
if (!_serviceArea.isSimplePolygon()) {
qgcApp()->showMessage(
tr("Service area is self intersecting and thus not a simple polygon. "
"Only simple polygons allowed.\n"));
return false;
}
if (!_corridor.isSimplePolygon() && _corridor.count() > 0) {
qgcApp()->showMessage(
tr("Corridor is self intersecting and thus not a simple polygon. Only "
"simple polygons allowed.\n"));
return false;
}
if (!_measurementArea.isSimplePolygon()) {
qgcApp()->showMessage(
tr("Measurement area is self intersecting and thus not a simple "
"polygon. Only simple polygons allowed.\n"));
return false;
}
_joinedArea.setPath(_serviceArea.path());
_joinedArea.join(_corridor);
if (!_joinedArea.join(_measurementArea)) {
/*qgcApp()->showMessage(tr("Not able to join areas. Service area and
measurement"
" must have a overlapping section, or be connected
through a corridor."));*/
return false; // this happens if all areas are pairwise disjoint
}
// join service area, op area and corridor
setJoinedAreaValid(true);
return true;
}
void WimaPlaner::pushToWimaController() {
if (_wimaBridge != nullptr) {
if (!_readyForSync)
if (!_needsUpdate)
return;
WimaPlanData planData = toPlanData();
(void)_wimaBridge->setWimaPlanData(planData);
setSyncronizedWithController(true);
this->_synchronized = true;
emit synchronizedChanged();
} else {
qWarning("WimaPlaner::uploadToContainer(): no container assigned.");
}
}
bool WimaPlaner::calcShortestPath(const QGeoCoordinate &start,
const QGeoCoordinate &destination,
QVector<QGeoCoordinate> &path) {
bool WimaPlaner::shortestPath(const QGeoCoordinate &start,
const QGeoCoordinate &destination,
QVector<QGeoCoordinate> &path) {
using namespace GeoUtilities;
using namespace PolygonCalculus;
QPolygonF polygon2D;
......@@ -696,6 +686,13 @@ bool WimaPlaner::calcShortestPath(const QGeoCoordinate &start,
return retVal;
}
void WimaPlaner::setNeedsUpdate(bool needsUpdate) {
if (this->_needsUpdate != needsUpdate) {
this->_needsUpdate = needsUpdate;
emit needsUpdateChanged();
}
}
void WimaPlaner::resetAllInteractive() {
// Marks all areas as inactive (area.interactive == false)
int itemCount = _visualItems.count();
......@@ -708,15 +705,15 @@ void WimaPlaner::resetAllInteractive() {
}
void WimaPlaner::setInteractive() {
recalcPolygonInteractivity(_currentAreaIndex);
updatePolygonInteractivity(_currentAreaIndex);
}
/*!
* \fn WimaPlanData WimaPlaner::toPlanData()
*
* Returns a \c WimaPlanData object containing information about the current
* mission. The \c WimaPlanData object holds only the data which is relevant for
* the \c WimaController class. Should only be called if updateMission() was
* mission. The \c WimaPlanData object holds only the data which is relevant
* for the \c WimaController class. Should only be called if update() was
* successful.
*
* \sa WimaController, WimaPlanData
......@@ -748,111 +745,6 @@ WimaPlanData WimaPlaner::toPlanData() {
return planData;
}
void WimaPlaner::setSyncronizedWithController(bool sync) {
if (_syncronizedWithController != sync) {
_syncronizedWithController = sync;
emit syncronizedWithControllerChanged();
}
}
void WimaPlaner::setReadyForSync(bool ready) {
if (_readyForSync != ready) {
_readyForSync = ready;
emit readyForSyncChanged();
}
}
void WimaPlaner::setJoinedAreaValid(bool valid) {
if (_joinedAreaValid != valid) {
_joinedAreaValid = valid;
emit joinedAreaValidChanged();
}
}
void WimaPlaner::updateTimerSlot() {
// General operation of this function:
// Check if parameter has changed, wait until it stops changing, update
// mission
// circular survey reference point
// if (_missionController != nullptr
// && _missionController->visualItems()->indexOf(_circularSurvey)
// != -1
// && _circularSurvey != nullptr)
// {
// if (_surveyRefChanging) {
// if (_circularSurvey->refPoint() == _lastSurveyRefPoint) { // is
// it still changing?
// calcArrivalAndReturnPath();
// _surveyRefChanging = false;
// }
// } else {
// if (_circularSurvey->refPoint() != _lastSurveyRefPoint) // does
// it started changing?
// _surveyRefChanging = true;
// }
// }
// measurementArea
if (_measurementAreaChanging) {
if (_measurementArea.path() ==
_lastMeasurementAreaPath) { // is it still changing?
setReadyForSync(false);
if (recalcJoinedArea() && calcArrivalAndReturnPath())
setReadyForSync(true);
_measurementAreaChanging = false;
}
} else {
if (_measurementArea.path() !=
_lastMeasurementAreaPath) // does it started changing?
_measurementAreaChanging = true;
}
// corridor
if (_corridorChanging) {
if (_corridor.path() == _lastCorridorPath) { // is it still changing?
setReadyForSync(false);
if (recalcJoinedArea() && calcArrivalAndReturnPath())
setReadyForSync(true);
_corridorChanging = false;
}
} else {
if (_corridor.path() != _lastCorridorPath) // does it started changing?
_corridorChanging = true;
}
// service area
if (_serviceAreaChanging) {
if (_serviceArea.path() == _lastServiceAreaPath) { // is it still changing?
setReadyForSync(false);
if (recalcJoinedArea() && calcArrivalAndReturnPath())
setReadyForSync(true);
_serviceAreaChanging = false;
}
} else {
if (_serviceArea.path() !=
_lastServiceAreaPath) // does it started changing?
_serviceAreaChanging = true;
}
// update old values
// if (_missionController != nullptr
// && _missionController->visualItems()->indexOf(_circularSurvey)
// != -1
// && _circularSurvey != nullptr)
// _lastSurveyRefPoint = _circularSurvey->refPoint();
_lastMeasurementAreaPath = _measurementArea.path();
_lastCorridorPath = _corridor.path();
_lastServiceAreaPath = _serviceArea.path();
}
void WimaPlaner::setSyncronizedWithControllerFalse() {
setSyncronizedWithController(false);
}
#ifndef NDEBUG
void WimaPlaner::autoLoadMission() {
loadFromFile("/home/valentin/Desktop/drones/qgroundcontrol/Paths/"
......@@ -861,10 +753,6 @@ void WimaPlaner::autoLoadMission() {
}
#endif
void WimaPlaner::startCalcArrivalAndReturnTimer() {
_calcArrivalAndReturnPathTimer.start();
}
QJsonDocument WimaPlaner::saveToJson(FileType fileType) {
/// This function save all areas (of WimaPlaner) and all mission items (of
/// MissionController) to a QJsonDocument
......
src/Wima/WimaPlaner.h
View file @ 912e993b
......@@ -44,9 +44,8 @@ public:
Q_PROPERTY(QGeoCoordinate joinedAreaCenter READ joinedAreaCenter CONSTANT)
Q_PROPERTY(WimaBridge *wimaBridge READ wimaBridge WRITE setWimaBridge NOTIFY
wimaBridgeChanged)
Q_PROPERTY(bool syncronized READ syncronizedWithController NOTIFY
syncronizedWithControllerChanged)
Q_PROPERTY(bool readyForSync READ readyForSync NOTIFY readyForSyncChanged)
Q_PROPERTY(bool synchronized READ synchronized NOTIFY synchronizedChanged)
Q_PROPERTY(bool needsUpdate READ needsUpdate NOTIFY needsUpdateChanged)
// Property accessors
PlanMasterController *masterController(void);
......@@ -59,6 +58,8 @@ public:
QString fileExtension(void) const;
QGeoCoordinate joinedAreaCenter(void) const;
WimaBridge *wimaBridge(void);
bool synchronized();
bool needsUpdate();
// Property setters
void setMasterController(PlanMasterController *masterController);
......@@ -68,11 +69,6 @@ public:
void setCurrentPolygonIndex(int index);
void setWimaBridge(WimaBridge *bridge);
// Property acessors
bool syncronizedWithController();
bool readyForSync();
// Member Methodes
Q_INVOKABLE WimaPlaner *thisPointer();
Q_INVOKABLE bool addMeasurementArea();
/// Removes an area from _visualItems
......@@ -84,24 +80,17 @@ public:
/// MissionController
Q_INVOKABLE void removeAll();
/// Recalculates vehicle corridor, flight path, etc.
Q_INVOKABLE bool updateMission();
Q_INVOKABLE bool update();
/// Pushes the generated mission data to the wimaController.
Q_INVOKABLE void pushToWimaController();
Q_INVOKABLE void saveToCurrent();
Q_INVOKABLE void saveToFile(const QString &filename);
Q_INVOKABLE bool loadFromCurrent();
Q_INVOKABLE bool loadFromFile(const QString &filename);
Q_INVOKABLE void resetAllInteractive(void);
Q_INVOKABLE void setInteractive(void);
QJsonDocument saveToJson(FileType fileType);
bool calcShortestPath(const QGeoCoordinate &start,
const QGeoCoordinate &destination,
QVector<QGeoCoordinate> &path);
// static Members
static const char *wimaFileExtension;
static const char *areaItemsName;
......@@ -114,21 +103,14 @@ signals:
void currentPolygonIndexChanged(int index);
void currentFileChanged();
void wimaBridgeChanged();
void syncronizedWithControllerChanged(void);
void readyForSyncChanged(void);
void synchronizedChanged(void);
void needsUpdateChanged(void);
private slots:
void recalcPolygonInteractivity(int index);
bool calcArrivalAndReturnPath(void);
bool recalcJoinedArea();
// called by _updateTimer::timeout signal, updates different mission parts, if
// parameters (e.g. survey or areas) have changed
void updateTimerSlot();
void setSyncronizedWithControllerFalse(void);
void updatePolygonInteractivity(int index);
#ifndef NDEBUG
void autoLoadMission(void);
#endif
void startCalcArrivalAndReturnTimer(void);
private:
signals:
......@@ -137,9 +119,10 @@ signals:
private:
// Member Functions
WimaPlanData toPlanData();
void setSyncronizedWithController(bool sync);
void setReadyForSync(bool ready);
void setJoinedAreaValid(bool valid);
bool shortestPath(const QGeoCoordinate &start,
const QGeoCoordinate &destination,
QVector<QGeoCoordinate> &path);
void setNeedsUpdate(bool needsUpdate);
// Member Variables
PlanMasterController *_masterController;
......@@ -151,8 +134,11 @@ private:
bool _joinedAreaValid;
WimaMeasurementArea _measurementArea;
bool _mAreaChanged;
WimaServiceArea _serviceArea;
bool _sAreaChanged;
WimaCorridor _corridor;
bool _corridorChanged;
// contains all visible areas
QmlObjectListModel _visualItems;
// joined area fromed by _measurementArea, _serviceArea, _corridor
......@@ -162,36 +148,15 @@ private:
// path from last measurement point to land
unsigned long _returnPathLength;
CircularSurvey *_TSComplexItem; // pointer to the CircularSurvey item in
// _missionController.visualItems()
// auto update
QTimer _updateTimer; // on this timers timeout different mission parts will be
// updated, if parameters (e.g. survey or areas) have
// changed
QGeoCoordinate _lastSurveyRefPoint; // stores the SurveyRefPoint of the
// previous timer call
bool _surveyRefChanging; // true if SurveyRefPoint is changing
QVariantList
_lastMeasurementAreaPath; // stores the path of _measurementArea, at the
// time instance of the previous timer call
bool _measurementAreaChanging; // true if the path of the _measurementArea is
// changing
QVariantList _lastCorridorPath; // stores the path of _corridor, at the time
// instance of the previous timer call
bool _corridorChanging; // true if the path of the _corridor is changing
QVariantList _lastServiceAreaPath; // stores the path of _serviceArea, at the
// time instance of the previous timer call
bool _serviceAreaChanging; // true if the path of the _serviceArea is changing
CircularSurvey *_TSComplexItem;
bool _surveyChanged;
// sync stuff
bool _syncronizedWithController; // true if planData is syncronized with
// wimaController
bool _readyForSync; // gets set by updateMission and calcArrivalAndReturnPath
bool _synchronized; // true if planData is synchronized with
// wimaController
bool _needsUpdate; // gets set by updateMission and calcArrivalAndReturnPath
#ifndef NDEBUG
QTimer _autoLoadTimer; // timer to auto load mission after some time, prevents
// seg. faults
#endif
QTimer _calcArrivalAndReturnPathTimer;
};
src/WimaView/CircularSurveyMapVisual.qml
View file @ 912e993b
......@@ -88,13 +88,11 @@ Item {
}
Component.onCompleted: {
if ( !_missionItem.isInitialized ) {
if ( _missionItem.visualTransectPoints.length === 0 ) {
_addInitialPolygon()
_missionItem.isInitialized = true // set isInitialized to true, to trigger _rebuildTransectsPhase1 in the last line
_setRefPoint()
}
_addVisualElements()
}
Component.onDestruction: {
......@@ -111,6 +109,7 @@ Item {
borderColor: "black"
interiorColor: "green"
interiorOpacity: 0.5
visible: !_missionItem.hidePolygon
}
// Transect lines
......
src/WimaView/WimaServiceAreaMapVisual.qml
View file @ 912e993b
......@@ -27,11 +27,9 @@ Item {
property var areaItem: object
property var _polygon: areaItem
//property var _polyline: areaItem.polyline
signal clicked(int sequenceNumber)
/// Add an initial 4 sided polygon if there is none
/// Add an initial 4 sided polygon if there is none
function _addInitialPolygon() {
......@@ -109,4 +107,30 @@ Item {
interiorOpacity: 1
}
// Depot Point.
Component {
id: depotPointComponent
DragCoordinate {
map: _root.map
qgcView: _root.qgcView
z: QGroundControl.zOrderMapItems
checked: areaItem.interactive
coordinate: areaItem.depot
property var point: areaItem.depot
onRefPointChanged: {
if (point !== coordinate) {
coordinate = point
}
}
onDragReleased: {
areaItem.depot = coordinate
}
}
}
}
src/WimaView/WimaToolBar.qml
View file @ 912e993b
......@@ -285,12 +285,15 @@ Rectangle {
anchors.rightMargin: _margins
anchors.right: parent.right
anchors.verticalCenter: parent.verticalCenter
text: qsTr("Sync WiMA")
text: wimaPlaner && wimaPlaner.needsUpdate ? qsTr("Update") : qsTr("Sync.")
enabled: true
visible: wimaPlaner ? wimaPlaner.readyForSync : false
onClicked: {
if (wimaPlaner && wimaPlaner.readyForSync) {
wimaPlaner.pushToWimaController()
if (wimaPlaner){
if (!wimaPlaner.needsUpdate) {
wimaPlaner.pushToWimaController()
} else {
wimaPlaner.update()
}
}
}
......@@ -299,7 +302,7 @@ Rectangle {
from: 0.5
to: 1
loops: Animation.Infinite
running: wimaPlaner ? !wimaPlaner.syncronized && wimaPlaner.readyForSync : false
running: wimaPlaner ? wimaPlaner.needsUpdate : false
alwaysRunToEnd: true
duration: 2000
}
......
src/WimaView/WimaView.qml
View file @ 912e993b
......@@ -699,7 +699,7 @@ QGCView {
iconSource: "/res/street.png"
},
{
name: qsTr("Calculate"),
name: qsTr("Update"),
iconSource: "/res/calculator.png"
},
{
......@@ -729,7 +729,7 @@ QGCView {
wimaPlaner.addCorridor();
break
case 4:
wimaPlaner.updateMission();
wimaPlaner.update();
break
case 6:
editorMap.zoomLevel += 0.5
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment