Skip to content

Q
qgroundcontrol
Commit 985c72e5 authored by DonLakeFlyer's avatar DonLakeFlyer
Browse files
Options

SurveyMissionItem -> SurveyComplexItem

parent 8962f261
Hide whitespace changes
Inline Side-by-side
Showing with 198 additions and 207 deletions
qgroundcontrol.pro
View file @ 985c72e5
......@@ -433,7 +433,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
src/MissionManager/SimpleMissionItemTest.h \
src/MissionManager/SpeedSectionTest.h \
src/MissionManager/StructureScanComplexItemTest.h \
src/MissionManager/SurveyMissionItemTest.h \
src/MissionManager/SurveyComplexItemTest.h \
src/MissionManager/TransectStyleComplexItemTest.h \
src/MissionManager/VisualMissionItemTest.h \
src/qgcunittest/FileDialogTest.h \
......@@ -474,7 +474,7 @@ DebugBuild { PX4FirmwarePlugin { PX4FirmwarePluginFactory { APMFirmwarePlugin {
src/MissionManager/SimpleMissionItemTest.cc \
src/MissionManager/SpeedSectionTest.cc \
src/MissionManager/StructureScanComplexItemTest.cc \
src/MissionManager/SurveyMissionItemTest.cc \
src/MissionManager/SurveyComplexItemTest.cc \
src/MissionManager/TransectStyleComplexItemTest.cc \
src/MissionManager/VisualMissionItemTest.cc \
src/qgcunittest/FileDialogTest.cc \
......@@ -546,7 +546,7 @@ HEADERS += \
src/MissionManager/Section.h \
src/MissionManager/SpeedSection.h \
src/MissionManager/StructureScanComplexItem.h \
src/MissionManager/SurveyMissionItem.h \
src/MissionManager/SurveyComplexItem.h \
src/MissionManager/TransectStyleComplexItem.h \
src/MissionManager/VisualMissionItem.h \
src/PositionManager/PositionManager.h \
......@@ -740,7 +740,7 @@ SOURCES += \
src/MissionManager/SimpleMissionItem.cc \
src/MissionManager/SpeedSection.cc \
src/MissionManager/StructureScanComplexItem.cc \
src/MissionManager/SurveyMissionItem.cc \
src/MissionManager/SurveyComplexItem.cc \
src/MissionManager/TransectStyleComplexItem.cc \
src/MissionManager/VisualMissionItem.cc \
src/PositionManager/PositionManager.cpp \
......
src/MissionManager/CorridorScanComplexItemTest.cc
View file @ 985c72e5
......@@ -117,10 +117,10 @@ void CorridorScanComplexItemTest::_testEntryLocation(void)
QList<QGeoCoordinate> rgSeenEntryCoords;
QList<int> rgEntryLocation;
rgEntryLocation << SurveyMissionItem::EntryLocationTopLeft
<< SurveyMissionItem::EntryLocationTopRight
<< SurveyMissionItem::EntryLocationBottomLeft
<< SurveyMissionItem::EntryLocationBottomRight;
rgEntryLocation << SurveyComplexItem::EntryLocationTopLeft
<< SurveyComplexItem::EntryLocationTopRight
<< SurveyComplexItem::EntryLocationBottomLeft
<< SurveyComplexItem::EntryLocationBottomRight;
// Validate that each entry location is unique
for (int i=0; i<rgEntryLocation.count(); i++) {
......
src/MissionManager/MissionController.cc
View file @ 985c72e5
......@@ -16,7 +16,7 @@
#include "FirmwarePlugin.h"
#include "QGCApplication.h"
#include "SimpleMissionItem.h"
#include "SurveyMissionItem.h"
#include "SurveyComplexItem.h"
#include "FixedWingLandingComplexItem.h"
#include "StructureScanComplexItem.h"
#include "CorridorScanComplexItem.h"
......@@ -394,7 +394,7 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate
int sequenceNumber = _nextSequenceNumber();
if (itemName == _surveyMissionItemName) {
newItem = new SurveyMissionItem(_controllerVehicle, _visualItems);
newItem = new SurveyComplexItem(_controllerVehicle, _visualItems);
newItem->setCoordinate(mapCenterCoordinate);
surveyStyleItem = true;
} else if (itemName == _fwLandingMissionItemName) {
......@@ -452,7 +452,7 @@ void MissionController::removeMissionItem(int index)
return;
}
bool removeSurveyStyle = _visualItems->value<SurveyMissionItem*>(index) || _visualItems->value<CorridorScanComplexItem*>(index);
bool removeSurveyStyle = _visualItems->value<SurveyComplexItem*>(index) || _visualItems->value<CorridorScanComplexItem*>(index);
VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->removeAt(index));
_deinitVisualItem(item);
......@@ -462,7 +462,7 @@ void MissionController::removeMissionItem(int index)
// Determine if the mission still has another survey style item in it
bool foundSurvey = false;
for (int i=1; i<_visualItems->count(); i++) {
if (_visualItems->value<SurveyMissionItem*>(i) || _visualItems->value<CorridorScanComplexItem*>(i)) {
if (_visualItems->value<SurveyComplexItem*>(i) || _visualItems->value<CorridorScanComplexItem*>(i)) {
foundSurvey = true;
break;
}
......@@ -519,7 +519,7 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjec
}
// Read complex items
QList<SurveyMissionItem*> surveyItems;
QList<SurveyComplexItem*> surveyItems;
QJsonArray complexArray(json[_jsonComplexItemsKey].toArray());
qCDebug(MissionControllerLog) << "Json load: complex item count" << complexArray.count();
for (int i=0; i<complexArray.count(); i++) {
......@@ -530,7 +530,7 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjec
return false;
}
SurveyMissionItem* item = new SurveyMissionItem(_controllerVehicle, visualItems);
SurveyComplexItem* item = new SurveyComplexItem(_controllerVehicle, visualItems);
const QJsonObject itemObject = itemValue.toObject();
if (item->load(itemObject, itemObject["id"].toInt(), errorString)) {
surveyItems.append(item);
......@@ -552,7 +552,7 @@ bool MissionController::_loadJsonMissionFileV1(const QJsonObject& json, QmlObjec
// If there is a complex item that should be next in sequence add it in
if (nextComplexItemIndex < surveyItems.count()) {
SurveyMissionItem* complexItem = surveyItems[nextComplexItemIndex];
SurveyComplexItem* complexItem = surveyItems[nextComplexItemIndex];
if (complexItem->sequenceNumber() == nextSequenceNumber) {
qCDebug(MissionControllerLog) << "Json load: injecting complex item expectedSequence:actualSequence:" << nextSequenceNumber << complexItem->sequenceNumber();
......@@ -686,9 +686,9 @@ bool MissionController::_loadJsonMissionFileV2(const QJsonObject& json, QmlObjec
}
QString complexItemType = itemObject[ComplexMissionItem::jsonComplexItemTypeKey].toString();
if (complexItemType == SurveyMissionItem::jsonComplexItemTypeValue) {
if (complexItemType == SurveyComplexItem::jsonComplexItemTypeValue) {
qCDebug(MissionControllerLog) << "Loading Survey: nextSequenceNumber" << nextSequenceNumber;
SurveyMissionItem* surveyItem = new SurveyMissionItem(_controllerVehicle, visualItems);
SurveyComplexItem* surveyItem = new SurveyComplexItem(_controllerVehicle, visualItems);
if (!surveyItem->load(itemObject, nextSequenceNumber++, errorString)) {
return false;
}
......
src/MissionManager/MissionItem.h
View file @ 985c72e5
......@@ -25,7 +25,7 @@
#include "QGCLoggingCategory.h"
#include "QmlObjectListModel.h"
class SurveyMissionItem;
class SurveyComplexItem;
class SimpleMissionItem;
class MissionController;
#ifdef UNITTEST_BUILD
......@@ -151,7 +151,7 @@ private:
static const char* _jsonParam3Key;
static const char* _jsonParam4Key;
friend class SurveyMissionItem;
friend class SurveyComplexItem;
friend class SimpleMissionItem;
friend class MissionController;
#ifdef UNITTEST_BUILD
......
src/MissionManager/QGCMapPolygonTest.h
View file @ 985c72e5
......@@ -14,7 +14,6 @@
#include "QGCMapPolygon.h"
#include "QmlObjectListModel.h"
/// Unit test for SurveyMissionItem
class QGCMapPolygonTest : public UnitTest
{
Q_OBJECT
......
src/MissionManager/SectionTest.cc
View file @ 985c72e5
......@@ -8,7 +8,7 @@
****************************************************************************/
#include "SectionTest.h"
#include "SurveyMissionItem.h"
#include "SurveyComplexItem.h"
SectionTest::SectionTest(void)
: _simpleItem(NULL)
......@@ -83,7 +83,7 @@ void SectionTest::_commonScanTest(Section* section)
waypointVisualItems.append(&simpleItem);
QmlObjectListModel complexVisualItems;
SurveyMissionItem surveyItem(_offlineVehicle);
SurveyComplexItem surveyItem(_offlineVehicle);
complexVisualItems.append(&surveyItem);
// This tests the common cases which should not lead to scan succeess
......
src/MissionManager/SurveyMissionItem.cc → src/MissionManager/SurveyComplexItem.cc
View file @ 985c72e5
......@@ -8,7 +8,7 @@
****************************************************************************/
#include "SurveyMissionItem.h"
#include "SurveyComplexItem.h"
#include "JsonHelper.h"
#include "MissionController.h"
#include "QGCGeo.h"
......@@ -19,61 +19,61 @@
#include <QPolygonF>
QGC_LOGGING_CATEGORY(SurveyMissionItemLog, "SurveyMissionItemLog")
const char* SurveyMissionItem::jsonComplexItemTypeValue = "survey";
const char* SurveyMissionItem::_jsonGridObjectKey = "grid";
const char* SurveyMissionItem::_jsonGridAltitudeKey = "altitude";
const char* SurveyMissionItem::_jsonGridAltitudeRelativeKey = "relativeAltitude";
const char* SurveyMissionItem::_jsonGridAngleKey = "angle";
const char* SurveyMissionItem::_jsonGridSpacingKey = "spacing";
const char* SurveyMissionItem::_jsonGridEntryLocationKey = "entryLocation";
const char* SurveyMissionItem::_jsonTurnaroundDistKey = "turnAroundDistance";
const char* SurveyMissionItem::_jsonCameraTriggerDistanceKey = "cameraTriggerDistance";
const char* SurveyMissionItem::_jsonCameraTriggerInTurnaroundKey = "cameraTriggerInTurnaround";
const char* SurveyMissionItem::_jsonHoverAndCaptureKey = "hoverAndCapture";
const char* SurveyMissionItem::_jsonGroundResolutionKey = "groundResolution";
const char* SurveyMissionItem::_jsonFrontalOverlapKey = "imageFrontalOverlap";
const char* SurveyMissionItem::_jsonSideOverlapKey = "imageSideOverlap";
const char* SurveyMissionItem::_jsonCameraSensorWidthKey = "sensorWidth";
const char* SurveyMissionItem::_jsonCameraSensorHeightKey = "sensorHeight";
const char* SurveyMissionItem::_jsonCameraResolutionWidthKey = "resolutionWidth";
const char* SurveyMissionItem::_jsonCameraResolutionHeightKey = "resolutionHeight";
const char* SurveyMissionItem::_jsonCameraFocalLengthKey = "focalLength";
const char* SurveyMissionItem::_jsonCameraMinTriggerIntervalKey = "minTriggerInterval";
const char* SurveyMissionItem::_jsonCameraObjectKey = "camera";
const char* SurveyMissionItem::_jsonCameraNameKey = "name";
const char* SurveyMissionItem::_jsonManualGridKey = "manualGrid";
const char* SurveyMissionItem::_jsonCameraOrientationLandscapeKey = "orientationLandscape";
const char* SurveyMissionItem::_jsonFixedValueIsAltitudeKey = "fixedValueIsAltitude";
const char* SurveyMissionItem::_jsonRefly90DegreesKey = "refly90Degrees";
const char* SurveyMissionItem::settingsGroup = "Survey";
const char* SurveyMissionItem::manualGridName = "ManualGrid";
const char* SurveyMissionItem::gridAltitudeName = "GridAltitude";
const char* SurveyMissionItem::gridAltitudeRelativeName = "GridAltitudeRelative";
const char* SurveyMissionItem::gridAngleName = "GridAngle";
const char* SurveyMissionItem::gridSpacingName = "GridSpacing";
const char* SurveyMissionItem::gridEntryLocationName = "GridEntryLocation";
const char* SurveyMissionItem::turnaroundDistName = "TurnaroundDist";
const char* SurveyMissionItem::cameraTriggerDistanceName = "CameraTriggerDistance";
const char* SurveyMissionItem::cameraTriggerInTurnaroundName = "CameraTriggerInTurnaround";
const char* SurveyMissionItem::hoverAndCaptureName = "HoverAndCapture";
const char* SurveyMissionItem::groundResolutionName = "GroundResolution";
const char* SurveyMissionItem::frontalOverlapName = "FrontalOverlap";
const char* SurveyMissionItem::sideOverlapName = "SideOverlap";
const char* SurveyMissionItem::cameraSensorWidthName = "CameraSensorWidth";
const char* SurveyMissionItem::cameraSensorHeightName = "CameraSensorHeight";
const char* SurveyMissionItem::cameraResolutionWidthName = "CameraResolutionWidth";
const char* SurveyMissionItem::cameraResolutionHeightName = "CameraResolutionHeight";
const char* SurveyMissionItem::cameraFocalLengthName = "CameraFocalLength";
const char* SurveyMissionItem::cameraTriggerName = "CameraTrigger";
const char* SurveyMissionItem::cameraOrientationLandscapeName = "CameraOrientationLandscape";
const char* SurveyMissionItem::fixedValueIsAltitudeName = "FixedValueIsAltitude";
const char* SurveyMissionItem::cameraName = "Camera";
SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
QGC_LOGGING_CATEGORY(SurveyComplexItemLog, "SurveyComplexItemLog")
const char* SurveyComplexItem::jsonComplexItemTypeValue = "survey";
const char* SurveyComplexItem::_jsonGridObjectKey = "grid";
const char* SurveyComplexItem::_jsonGridAltitudeKey = "altitude";
const char* SurveyComplexItem::_jsonGridAltitudeRelativeKey = "relativeAltitude";
const char* SurveyComplexItem::_jsonGridAngleKey = "angle";
const char* SurveyComplexItem::_jsonGridSpacingKey = "spacing";
const char* SurveyComplexItem::_jsonGridEntryLocationKey = "entryLocation";
const char* SurveyComplexItem::_jsonTurnaroundDistKey = "turnAroundDistance";
const char* SurveyComplexItem::_jsonCameraTriggerDistanceKey = "cameraTriggerDistance";
const char* SurveyComplexItem::_jsonCameraTriggerInTurnaroundKey = "cameraTriggerInTurnaround";
const char* SurveyComplexItem::_jsonHoverAndCaptureKey = "hoverAndCapture";
const char* SurveyComplexItem::_jsonGroundResolutionKey = "groundResolution";
const char* SurveyComplexItem::_jsonFrontalOverlapKey = "imageFrontalOverlap";
const char* SurveyComplexItem::_jsonSideOverlapKey = "imageSideOverlap";
const char* SurveyComplexItem::_jsonCameraSensorWidthKey = "sensorWidth";
const char* SurveyComplexItem::_jsonCameraSensorHeightKey = "sensorHeight";
const char* SurveyComplexItem::_jsonCameraResolutionWidthKey = "resolutionWidth";
const char* SurveyComplexItem::_jsonCameraResolutionHeightKey = "resolutionHeight";
const char* SurveyComplexItem::_jsonCameraFocalLengthKey = "focalLength";
const char* SurveyComplexItem::_jsonCameraMinTriggerIntervalKey = "minTriggerInterval";
const char* SurveyComplexItem::_jsonCameraObjectKey = "camera";
const char* SurveyComplexItem::_jsonCameraNameKey = "name";
const char* SurveyComplexItem::_jsonManualGridKey = "manualGrid";
const char* SurveyComplexItem::_jsonCameraOrientationLandscapeKey = "orientationLandscape";
const char* SurveyComplexItem::_jsonFixedValueIsAltitudeKey = "fixedValueIsAltitude";
const char* SurveyComplexItem::_jsonRefly90DegreesKey = "refly90Degrees";
const char* SurveyComplexItem::settingsGroup = "Survey";
const char* SurveyComplexItem::manualGridName = "ManualGrid";
const char* SurveyComplexItem::gridAltitudeName = "GridAltitude";
const char* SurveyComplexItem::gridAltitudeRelativeName = "GridAltitudeRelative";
const char* SurveyComplexItem::gridAngleName = "GridAngle";
const char* SurveyComplexItem::gridSpacingName = "GridSpacing";
const char* SurveyComplexItem::gridEntryLocationName = "GridEntryLocation";
const char* SurveyComplexItem::turnaroundDistName = "TurnaroundDist";
const char* SurveyComplexItem::cameraTriggerDistanceName = "CameraTriggerDistance";
const char* SurveyComplexItem::cameraTriggerInTurnaroundName = "CameraTriggerInTurnaround";
const char* SurveyComplexItem::hoverAndCaptureName = "HoverAndCapture";
const char* SurveyComplexItem::groundResolutionName = "GroundResolution";
const char* SurveyComplexItem::frontalOverlapName = "FrontalOverlap";
const char* SurveyComplexItem::sideOverlapName = "SideOverlap";
const char* SurveyComplexItem::cameraSensorWidthName = "CameraSensorWidth";
const char* SurveyComplexItem::cameraSensorHeightName = "CameraSensorHeight";
const char* SurveyComplexItem::cameraResolutionWidthName = "CameraResolutionWidth";
const char* SurveyComplexItem::cameraResolutionHeightName = "CameraResolutionHeight";
const char* SurveyComplexItem::cameraFocalLengthName = "CameraFocalLength";
const char* SurveyComplexItem::cameraTriggerName = "CameraTrigger";
const char* SurveyComplexItem::cameraOrientationLandscapeName = "CameraOrientationLandscape";
const char* SurveyComplexItem::fixedValueIsAltitudeName = "FixedValueIsAltitude";
const char* SurveyComplexItem::cameraName = "Camera";
SurveyComplexItem::SurveyComplexItem(Vehicle* vehicle, QObject* parent)
: ComplexMissionItem(vehicle, parent)
, _sequenceNumber(0)
, _dirty(false)
......@@ -125,37 +125,37 @@ SurveyMissionItem::SurveyMissionItem(Vehicle* vehicle, QObject* parent)
_gridAltitudeFact.setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue());
}
connect(&_gridSpacingFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_gridAngleFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_gridEntryLocationFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_turnaroundDistFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_cameraTriggerDistanceFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_cameraTriggerInTurnaroundFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_hoverAndCaptureFact, &Fact::valueChanged, this, &SurveyMissionItem::_generateGrid);
connect(this, &SurveyMissionItem::refly90DegreesChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_gridSpacingFact, &Fact::valueChanged, this, &SurveyComplexItem::_generateGrid);
connect(&_gridAngleFact, &Fact::valueChanged, this, &SurveyComplexItem::_generateGrid);
connect(&_gridEntryLocationFact, &Fact::valueChanged, this, &SurveyComplexItem::_generateGrid);
connect(&_turnaroundDistFact, &Fact::valueChanged, this, &SurveyComplexItem::_generateGrid);
connect(&_cameraTriggerDistanceFact, &Fact::valueChanged, this, &SurveyComplexItem::_generateGrid);
connect(&_cameraTriggerInTurnaroundFact, &Fact::valueChanged, this, &SurveyComplexItem::_generateGrid);
connect(&_hoverAndCaptureFact, &Fact::valueChanged, this, &SurveyComplexItem::_generateGrid);
connect(this, &SurveyComplexItem::refly90DegreesChanged, this, &SurveyComplexItem::_generateGrid);
connect(&_gridAltitudeFact, &Fact::valueChanged, this, &SurveyMissionItem::_updateCoordinateAltitude);
connect(&_gridAltitudeFact, &Fact::valueChanged, this, &SurveyComplexItem::_updateCoordinateAltitude);
connect(&_gridAltitudeRelativeFact, &Fact::valueChanged, this, &SurveyMissionItem::_setDirty);
connect(&_gridAltitudeRelativeFact, &Fact::valueChanged, this, &SurveyComplexItem::_setDirty);
// Signal to Qml when camera value changes so it can recalc
connect(&_groundResolutionFact, &Fact::valueChanged, this, &SurveyMissionItem::_cameraValueChanged);
connect(&_frontalOverlapFact, &Fact::valueChanged, this, &SurveyMissionItem::_cameraValueChanged);
connect(&_sideOverlapFact, &Fact::valueChanged, this, &SurveyMissionItem::_cameraValueChanged);
connect(&_cameraSensorWidthFact, &Fact::valueChanged, this, &SurveyMissionItem::_cameraValueChanged);
connect(&_cameraSensorHeightFact, &Fact::valueChanged, this, &SurveyMissionItem::_cameraValueChanged);
connect(&_cameraResolutionWidthFact, &Fact::valueChanged, this, &SurveyMissionItem::_cameraValueChanged);
connect(&_cameraResolutionHeightFact, &Fact::valueChanged, this, &SurveyMissionItem::_cameraValueChanged);
connect(&_cameraFocalLengthFact, &Fact::valueChanged, this, &SurveyMissionItem::_cameraValueChanged);
connect(&_cameraOrientationLandscapeFact, &Fact::valueChanged, this, &SurveyMissionItem::_cameraValueChanged);
connect(&_cameraTriggerDistanceFact, &Fact::valueChanged, this, &SurveyMissionItem::timeBetweenShotsChanged);
connect(&_mapPolygon, &QGCMapPolygon::dirtyChanged, this, &SurveyMissionItem::_polygonDirtyChanged);
connect(&_mapPolygon, &QGCMapPolygon::pathChanged, this, &SurveyMissionItem::_generateGrid);
connect(&_groundResolutionFact, &Fact::valueChanged, this, &SurveyComplexItem::_cameraValueChanged);
connect(&_frontalOverlapFact, &Fact::valueChanged, this, &SurveyComplexItem::_cameraValueChanged);
connect(&_sideOverlapFact, &Fact::valueChanged, this, &SurveyComplexItem::_cameraValueChanged);
connect(&_cameraSensorWidthFact, &Fact::valueChanged, this, &SurveyComplexItem::_cameraValueChanged);
connect(&_cameraSensorHeightFact, &Fact::valueChanged, this, &SurveyComplexItem::_cameraValueChanged);
connect(&_cameraResolutionWidthFact, &Fact::valueChanged, this, &SurveyComplexItem::_cameraValueChanged);
connect(&_cameraResolutionHeightFact, &Fact::valueChanged, this, &SurveyComplexItem::_cameraValueChanged);
connect(&_cameraFocalLengthFact, &Fact::valueChanged, this, &SurveyComplexItem::_cameraValueChanged);
connect(&_cameraOrientationLandscapeFact, &Fact::valueChanged, this, &SurveyComplexItem::_cameraValueChanged);
connect(&_cameraTriggerDistanceFact, &Fact::valueChanged, this, &SurveyComplexItem::timeBetweenShotsChanged);
connect(&_mapPolygon, &QGCMapPolygon::dirtyChanged, this, &SurveyComplexItem::_polygonDirtyChanged);
connect(&_mapPolygon, &QGCMapPolygon::pathChanged, this, &SurveyComplexItem::_generateGrid);
}
void SurveyMissionItem::_setSurveyDistance(double surveyDistance)
void SurveyComplexItem::_setSurveyDistance(double surveyDistance)
{
if (!qFuzzyCompare(_surveyDistance, surveyDistance)) {
_surveyDistance = surveyDistance;
......@@ -163,7 +163,7 @@ void SurveyMissionItem::_setSurveyDistance(double surveyDistance)
}
}
void SurveyMissionItem::_setCameraShots(int cameraShots)
void SurveyComplexItem::_setCameraShots(int cameraShots)
{
if (_cameraShots != cameraShots) {
_cameraShots = cameraShots;
......@@ -171,7 +171,7 @@ void SurveyMissionItem::_setCameraShots(int cameraShots)
}
}
void SurveyMissionItem::_setCoveredArea(double coveredArea)
void SurveyComplexItem::_setCoveredArea(double coveredArea)
{
if (!qFuzzyCompare(_coveredArea, coveredArea)) {
_coveredArea = coveredArea;
......@@ -179,7 +179,7 @@ void SurveyMissionItem::_setCoveredArea(double coveredArea)
}
}
void SurveyMissionItem::_clearInternal(void)
void SurveyComplexItem::_clearInternal(void)
{
// Bug workaround
while (_simpleGridPoints.count() > 1) {
......@@ -197,12 +197,12 @@ void SurveyMissionItem::_clearInternal(void)
emit lastSequenceNumberChanged(lastSequenceNumber());
}
int SurveyMissionItem::lastSequenceNumber(void) const
int SurveyComplexItem::lastSequenceNumber(void) const
{
return _sequenceNumber + _missionCommandCount;
}
void SurveyMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
void SurveyComplexItem::setCoordinate(const QGeoCoordinate& coordinate)
{
if (_coordinate != coordinate) {
_coordinate = coordinate;
......@@ -210,7 +210,7 @@ void SurveyMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
}
}
void SurveyMissionItem::setDirty(bool dirty)
void SurveyComplexItem::setDirty(bool dirty)
{
if (_dirty != dirty) {
_dirty = dirty;
......@@ -218,7 +218,7 @@ void SurveyMissionItem::setDirty(bool dirty)
}
}
void SurveyMissionItem::save(QJsonArray& missionItems)
void SurveyComplexItem::save(QJsonArray& missionItems)
{
QJsonObject saveObject;
......@@ -265,7 +265,7 @@ void SurveyMissionItem::save(QJsonArray& missionItems)
missionItems.append(saveObject);
}
void SurveyMissionItem::setSequenceNumber(int sequenceNumber)
void SurveyComplexItem::setSequenceNumber(int sequenceNumber)
{
if (_sequenceNumber != sequenceNumber) {
_sequenceNumber = sequenceNumber;
......@@ -274,7 +274,7 @@ void SurveyMissionItem::setSequenceNumber(int sequenceNumber)
}
}
bool SurveyMissionItem::load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString)
bool SurveyComplexItem::load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString)
{
QJsonObject v2Object = complexObject;
......@@ -424,7 +424,7 @@ bool SurveyMissionItem::load(const QJsonObject& complexObject, int sequenceNumbe
return true;
}
double SurveyMissionItem::greatestDistanceTo(const QGeoCoordinate &other) const
double SurveyComplexItem::greatestDistanceTo(const QGeoCoordinate &other) const
{
double greatestDistance = 0.0;
for (int i=0; i<_simpleGridPoints.count(); i++) {
......@@ -437,7 +437,7 @@ double SurveyMissionItem::greatestDistanceTo(const QGeoCoordinate &other) const
return greatestDistance;
}
void SurveyMissionItem::_setExitCoordinate(const QGeoCoordinate& coordinate)
void SurveyComplexItem::_setExitCoordinate(const QGeoCoordinate& coordinate)
{
if (_exitCoordinate != coordinate) {
_exitCoordinate = coordinate;
......@@ -445,7 +445,7 @@ void SurveyMissionItem::_setExitCoordinate(const QGeoCoordinate& coordinate)
}
}
bool SurveyMissionItem::specifiesCoordinate(void) const
bool SurveyComplexItem::specifiesCoordinate(void) const
{
return _mapPolygon.count() > 2;
}
......@@ -455,7 +455,7 @@ void _calcCameraShots()
}
void SurveyMissionItem::_convertTransectToGeo(const QList<QList<QPointF>>& transectSegmentsNED, const QGeoCoordinate& tangentOrigin, QList<QList<QGeoCoordinate>>& transectSegmentsGeo)
void SurveyComplexItem::_convertTransectToGeo(const QList<QList<QPointF>>& transectSegmentsNED, const QGeoCoordinate& tangentOrigin, QList<QList<QGeoCoordinate>>& transectSegmentsGeo)
{
transectSegmentsGeo.clear();
......@@ -474,7 +474,7 @@ void SurveyMissionItem::_convertTransectToGeo(const QList<QList<QPointF>>& trans
}
/// Reverse the order of the transects. First transect becomes last and so forth.
void SurveyMissionItem::_reverseTransectOrder(QList<QList<QGeoCoordinate>>& transects)
void SurveyComplexItem::_reverseTransectOrder(QList<QList<QGeoCoordinate>>& transects)
{
QList<QList<QGeoCoordinate>> rgReversedTransects;
for (int i=transects.count() - 1; i>=0; i--) {
......@@ -484,7 +484,7 @@ void SurveyMissionItem::_reverseTransectOrder(QList<QList<QGeoCoordinate>>& tran
}
/// Reverse the order of all points withing each transect, First point becomes last and so forth.
void SurveyMissionItem::_reverseInternalTransectPoints(QList<QList<QGeoCoordinate>>& transects)
void SurveyComplexItem::_reverseInternalTransectPoints(QList<QList<QGeoCoordinate>>& transects)
{
for (int i=0; i<transects.count(); i++) {
QList<QGeoCoordinate> rgReversedCoords;
......@@ -500,7 +500,7 @@ void SurveyMissionItem::_reverseInternalTransectPoints(QList<QList<QGeoCoordinat
/// and the first point within that transect is the shortest distance to the specified coordinate.
/// @param distanceCoord Coordinate to measure distance against
/// @param transects Transects to test and reorder
void SurveyMissionItem::_optimizeTransectsForShortestDistance(const QGeoCoordinate& distanceCoord, QList<QList<QGeoCoordinate>>& transects)
void SurveyComplexItem::_optimizeTransectsForShortestDistance(const QGeoCoordinate& distanceCoord, QList<QList<QGeoCoordinate>>& transects)
{
double rgTransectDistance[4];
rgTransectDistance[0] = transects.first().first().distanceTo(distanceCoord);
......@@ -527,9 +527,9 @@ void SurveyMissionItem::_optimizeTransectsForShortestDistance(const QGeoCoordina
}
}
void SurveyMissionItem::_appendGridPointsFromTransects(QList<QList<QGeoCoordinate>>& rgTransectSegments)
void SurveyComplexItem::_appendGridPointsFromTransects(QList<QList<QGeoCoordinate>>& rgTransectSegments)
{
qCDebug(SurveyMissionItemLog) << "Entry point _appendGridPointsFromTransects" << rgTransectSegments.first().first();
qCDebug(SurveyComplexItemLog) << "Entry point _appendGridPointsFromTransects" << rgTransectSegments.first().first();
for (int i=0; i<rgTransectSegments.count(); i++) {
_simpleGridPoints.append(QVariant::fromValue(rgTransectSegments[i].first()));
......@@ -537,17 +537,17 @@ void SurveyMissionItem::_appendGridPointsFromTransects(QList<QList<QGeoCoordinat
}
}
qreal SurveyMissionItem::_ccw(QPointF pt1, QPointF pt2, QPointF pt3)
qreal SurveyComplexItem::_ccw(QPointF pt1, QPointF pt2, QPointF pt3)
{
return (pt2.x()-pt1.x())*(pt3.y()-pt1.y()) - (pt2.y()-pt1.y())*(pt3.x()-pt1.x());
}
qreal SurveyMissionItem::_dp(QPointF pt1, QPointF pt2)
qreal SurveyComplexItem::_dp(QPointF pt1, QPointF pt2)
{
return (pt2.x()-pt1.x())/qSqrt((pt2.x()-pt1.x())*(pt2.x()-pt1.x()) + (pt2.y()-pt1.y())*(pt2.y()-pt1.y()));
}
void SurveyMissionItem::_swapPoints(QList<QPointF>& points, int index1, int index2)
void SurveyComplexItem::_swapPoints(QList<QPointF>& points, int index1, int index2)
{
QPointF temp = points[index1];
points[index1] = points[index2];
......@@ -555,14 +555,14 @@ void SurveyMissionItem::_swapPoints(QList<QPointF>& points, int index1, int inde
}
/// Returns true if the current grid angle generates north/south oriented transects
bool SurveyMissionItem::_gridAngleIsNorthSouthTransects()
bool SurveyComplexItem::_gridAngleIsNorthSouthTransects()
{
// Grid angle ranges from -360<->360
double gridAngle = qAbs(_gridAngleFact.rawValue().toDouble());
return gridAngle < 45.0 || (gridAngle > 360.0 - 45.0) || (gridAngle > 90.0 + 45.0 && gridAngle < 270.0 - 45.0);
}
void SurveyMissionItem::_adjustTransectsToEntryPointLocation(QList<QList<QGeoCoordinate>>& transects)
void SurveyComplexItem::_adjustTransectsToEntryPointLocation(QList<QList<QGeoCoordinate>>& transects)
{
if (transects.count() == 0) {
return;
......@@ -580,18 +580,18 @@ void SurveyMissionItem::_adjustTransectsToEntryPointLocation(QList<QList<QGeoCoo
}
if (reversePoints) {
qCDebug(SurveyMissionItemLog) << "Reverse Points";
qCDebug(SurveyComplexItemLog) << "Reverse Points";
_reverseInternalTransectPoints(transects);
}
if (reverseTransects) {
qCDebug(SurveyMissionItemLog) << "Reverse Transects";
qCDebug(SurveyComplexItemLog) << "Reverse Transects";
_reverseTransectOrder(transects);
}
qCDebug(SurveyMissionItemLog) << "Modified entry point" << transects.first().first();
qCDebug(SurveyComplexItemLog) << "Modified entry point" << transects.first().first();
}
int SurveyMissionItem::_calcMissionCommandCount(QList<QList<QGeoCoordinate>>& transectSegments)
int SurveyComplexItem::_calcMissionCommandCount(QList<QList<QGeoCoordinate>>& transectSegments)
{
int missionCommandCount= 0;
for (int i=0; i<transectSegments.count(); i++) {
......@@ -613,7 +613,7 @@ int SurveyMissionItem::_calcMissionCommandCount(QList<QList<QGeoCoordinate>>& tr
return missionCommandCount;
}
void SurveyMissionItem::_generateGrid(void)
void SurveyComplexItem::_generateGrid(void)
{
if (_ignoreRecalc) {
return;
......@@ -634,7 +634,7 @@ void SurveyMissionItem::_generateGrid(void)
// Convert polygon to NED
QGeoCoordinate tangentOrigin = _mapPolygon.pathModel().value<QGCQGeoCoordinate*>(0)->coordinate();
qCDebug(SurveyMissionItemLog) << "Convert polygon to NED - tangentOrigin" << tangentOrigin;
qCDebug(SurveyComplexItemLog) << "Convert polygon to NED - tangentOrigin" << tangentOrigin;
for (int i=0; i<_mapPolygon.count(); i++) {
double y, x, down;
QGeoCoordinate vertex = _mapPolygon.pathModel().value<QGCQGeoCoordinate*>(i)->coordinate();
......@@ -645,7 +645,7 @@ void SurveyMissionItem::_generateGrid(void)
convertGeoToNed(vertex, tangentOrigin, &y, &x, &down);
}
polygonPoints += QPointF(x, y);
qCDebug(SurveyMissionItemLog) << "vertex:x:y" << vertex << polygonPoints.last().x() << polygonPoints.last().y();
qCDebug(SurveyComplexItemLog) << "vertex:x:y" << vertex << polygonPoints.last().x() << polygonPoints.last().y();
}
double coveredArea = 0.0;
......@@ -713,7 +713,7 @@ void SurveyMissionItem::_generateGrid(void)
setDirty(true);
}
void SurveyMissionItem::_updateCoordinateAltitude(void)
void SurveyComplexItem::_updateCoordinateAltitude(void)
{
_coordinate.setAltitude(_gridAltitudeFact.rawValue().toDouble());
_exitCoordinate.setAltitude(_gridAltitudeFact.rawValue().toDouble());
......@@ -722,7 +722,7 @@ void SurveyMissionItem::_updateCoordinateAltitude(void)
setDirty(true);
}
QPointF SurveyMissionItem::_rotatePoint(const QPointF& point, const QPointF& origin, double angle)
QPointF SurveyComplexItem::_rotatePoint(const QPointF& point, const QPointF& origin, double angle)
{
QPointF rotated;
double radians = (M_PI / 180.0) * -angle;
......@@ -733,7 +733,7 @@ QPointF SurveyMissionItem::_rotatePoint(const QPointF& point, const QPointF& ori
return rotated;
}
void SurveyMissionItem::_intersectLinesWithRect(const QList<QLineF>& lineList, const QRectF& boundRect, QList<QLineF>& resultLines)
void SurveyComplexItem::_intersectLinesWithRect(const QList<QLineF>& lineList, const QRectF& boundRect, QList<QLineF>& resultLines)
{
QLineF topLine (boundRect.topLeft(), boundRect.topRight());
QLineF bottomLine (boundRect.bottomLeft(), boundRect.bottomRight());
......@@ -790,7 +790,7 @@ void SurveyMissionItem::_intersectLinesWithRect(const QList<QLineF>& lineList, c
}
}
void SurveyMissionItem::_intersectLinesWithPolygon(const QList<QLineF>& lineList, const QPolygonF& polygon, QList<QLineF>& resultLines)
void SurveyComplexItem::_intersectLinesWithPolygon(const QList<QLineF>& lineList, const QPolygonF& polygon, QList<QLineF>& resultLines)
{
resultLines.clear();
......@@ -833,7 +833,7 @@ void SurveyMissionItem::_intersectLinesWithPolygon(const QList<QLineF>& lineList
}
/// Adjust the line segments such that they are all going the same direction with respect to going from P1->P2
void SurveyMissionItem::_adjustLineDirection(const QList<QLineF>& lineList, QList<QLineF>& resultLines)
void SurveyComplexItem::_adjustLineDirection(const QList<QLineF>& lineList, QList<QLineF>& resultLines)
{
qreal firstAngle = 0;
for (int i=0; i<lineList.count(); i++) {
......@@ -855,7 +855,7 @@ void SurveyMissionItem::_adjustLineDirection(const QList<QLineF>& lineList, QLis
}
}
double SurveyMissionItem::_clampGridAngle90(double gridAngle)
double SurveyComplexItem::_clampGridAngle90(double gridAngle)
{
// Clamp grid angle to -90<->90. This prevents transects from being rotated to a reversed order.
if (gridAngle > 90.0) {
......@@ -866,7 +866,7 @@ double SurveyMissionItem::_clampGridAngle90(double gridAngle)
return gridAngle;
}
int SurveyMissionItem::_gridGenerator(const QList<QPointF>& polygonPoints, QList<QList<QPointF>>& transectSegments, bool refly)
int SurveyComplexItem::_gridGenerator(const QList<QPointF>& polygonPoints, QList<QList<QPointF>>& transectSegments, bool refly)
{
int cameraShots = 0;
......@@ -875,24 +875,24 @@ int SurveyMissionItem::_gridGenerator(const QList<QPointF>& polygonPoints, QLis
gridAngle = _clampGridAngle90(gridAngle);
gridAngle += refly ? 90 : 0;
qCDebug(SurveyMissionItemLog) << "Clamped grid angle" << gridAngle;
qCDebug(SurveyComplexItemLog) << "Clamped grid angle" << gridAngle;
qCDebug(SurveyMissionItemLog) << "SurveyMissionItem::_gridGenerator gridSpacing:gridAngle:refly" << gridSpacing << gridAngle << refly;
qCDebug(SurveyComplexItemLog) << "SurveyComplexItem::_gridGenerator gridSpacing:gridAngle:refly" << gridSpacing << gridAngle << refly;
transectSegments.clear();
// Convert polygon to bounding rect
qCDebug(SurveyMissionItemLog) << "Polygon";
qCDebug(SurveyComplexItemLog) << "Polygon";
QPolygonF polygon;
for (int i=0; i<polygonPoints.count(); i++) {
qCDebug(SurveyMissionItemLog) << polygonPoints[i];
qCDebug(SurveyComplexItemLog) << polygonPoints[i];
polygon << polygonPoints[i];
}
polygon << polygonPoints[0];
QRectF boundingRect = polygon.boundingRect();
QPointF boundingCenter = boundingRect.center();
qCDebug(SurveyMissionItemLog) << "Bounding rect" << boundingRect.topLeft().x() << boundingRect.topLeft().y() << boundingRect.bottomRight().x() << boundingRect.bottomRight().y();
qCDebug(SurveyComplexItemLog) << "Bounding rect" << boundingRect.topLeft().x() << boundingRect.topLeft().y() << boundingRect.bottomRight().x() << boundingRect.bottomRight().y();
// Create set of rotated parallel lines within the expanded bounding rect. Make the lines larger than the
// bounding box to guarantee intersection.
......@@ -979,7 +979,7 @@ int SurveyMissionItem::_gridGenerator(const QList<QPointF>& polygonPoints, QLis
if (_triggerCamera() && _hoverAndCaptureEnabled()) {
if (_triggerDistance() < transectLine.length()) {
int innerPoints = floor(transectLine.length() / _triggerDistance());
qCDebug(SurveyMissionItemLog) << "innerPoints" << innerPoints;
qCDebug(SurveyComplexItemLog) << "innerPoints" << innerPoints;
float transectPositionIncrement = _triggerDistance() / transectLine.length();
for (int i=0; i<innerPoints; i++) {
transectPoints.append(transectLine.pointAt(transectPositionIncrement * (i + 1)));
......@@ -1000,12 +1000,12 @@ int SurveyMissionItem::_gridGenerator(const QList<QPointF>& polygonPoints, QLis
return cameraShots;
}
int SurveyMissionItem::_appendWaypointToMission(QList<MissionItem*>& items, int seqNum, QGeoCoordinate& coord, CameraTriggerCode cameraTrigger, QObject* missionItemParent)
int SurveyComplexItem::_appendWaypointToMission(QList<MissionItem*>& items, int seqNum, QGeoCoordinate& coord, CameraTriggerCode cameraTrigger, QObject* missionItemParent)
{
double altitude = _gridAltitudeFact.rawValue().toDouble();
bool altitudeRelative = _gridAltitudeRelativeFact.rawValue().toBool();
qCDebug(SurveyMissionItemLog) << "_appendWaypointToMission seq:trigger" << seqNum << (cameraTrigger != CameraTriggerNone);
qCDebug(SurveyComplexItemLog) << "_appendWaypointToMission seq:trigger" << seqNum << (cameraTrigger != CameraTriggerNone);
MissionItem* item = new MissionItem(seqNum++,
MAV_CMD_NAV_WAYPOINT,
......@@ -1068,7 +1068,7 @@ int SurveyMissionItem::_appendWaypointToMission(QList<MissionItem*>& items, int
return seqNum;
}
bool SurveyMissionItem::_nextTransectCoord(const QList<QGeoCoordinate>& transectPoints, int pointIndex, QGeoCoordinate& coord)
bool SurveyComplexItem::_nextTransectCoord(const QList<QGeoCoordinate>& transectPoints, int pointIndex, QGeoCoordinate& coord)
{
if (pointIndex > transectPoints.count()) {
qWarning() << "Bad grid generation";
......@@ -1086,11 +1086,11 @@ bool SurveyMissionItem::_nextTransectCoord(const QList<QGeoCoordinate>& transect
/// @param hasRefly true: misison has a refly section
/// @param buildRefly: true: build the refly section, false: build the first section
/// @return false: Generation failed
bool SurveyMissionItem::_appendMissionItemsWorker(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, bool hasRefly, bool buildRefly)
bool SurveyComplexItem::_appendMissionItemsWorker(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, bool hasRefly, bool buildRefly)
{
bool firstWaypointTrigger = false;
qCDebug(SurveyMissionItemLog) << QStringLiteral("hasTurnaround(%1) triggerCamera(%2) hoverAndCapture(%3) imagesEverywhere(%4) hasRefly(%5) buildRefly(%6) ").arg(_hasTurnaround()).arg(_triggerCamera()).arg(_hoverAndCaptureEnabled()).arg(_imagesEverywhere()).arg(hasRefly).arg(buildRefly);
qCDebug(SurveyComplexItemLog) << QStringLiteral("hasTurnaround(%1) triggerCamera(%2) hoverAndCapture(%3) imagesEverywhere(%4) hasRefly(%5) buildRefly(%6) ").arg(_hasTurnaround()).arg(_triggerCamera()).arg(_hoverAndCaptureEnabled()).arg(_imagesEverywhere()).arg(hasRefly).arg(buildRefly);
QList<QList<QGeoCoordinate>>& transectSegments = buildRefly ? _reflyTransectSegments : _transectSegments;
......@@ -1104,7 +1104,7 @@ bool SurveyMissionItem::_appendMissionItemsWorker(QList<MissionItem*>& items, QO
CameraTriggerCode cameraTrigger;
const QList<QGeoCoordinate>& segment = transectSegments[segmentIndex];
qCDebug(SurveyMissionItemLog) << "segment.count" << segment.count();
qCDebug(SurveyComplexItemLog) << "segment.count" << segment.count();
if (_hasTurnaround()) {
// Add entry turnaround point
......@@ -1130,7 +1130,7 @@ bool SurveyMissionItem::_appendMissionItemsWorker(QList<MissionItem*>& items, QO
// Add internal hover and capture points
if (_hoverAndCaptureEnabled()) {
int lastHoverAndCaptureIndex = segment.count() - 1 - (_hasTurnaround() ? 1 : 0);
qCDebug(SurveyMissionItemLog) << "lastHoverAndCaptureIndex" << lastHoverAndCaptureIndex;
qCDebug(SurveyComplexItemLog) << "lastHoverAndCaptureIndex" << lastHoverAndCaptureIndex;
for (; pointIndex < lastHoverAndCaptureIndex; pointIndex++) {
if (!_nextTransectCoord(segment, pointIndex, coord)) {
return false;
......@@ -1154,7 +1154,7 @@ bool SurveyMissionItem::_appendMissionItemsWorker(QList<MissionItem*>& items, QO
seqNum = _appendWaypointToMission(items, seqNum, coord, CameraTriggerNone, missionItemParent);
}
qCDebug(SurveyMissionItemLog) << "last PointIndex" << pointIndex;
qCDebug(SurveyComplexItemLog) << "last PointIndex" << pointIndex;
}
if (((hasRefly && buildRefly) || !hasRefly) && _imagesEverywhere()) {
......@@ -1173,7 +1173,7 @@ bool SurveyMissionItem::_appendMissionItemsWorker(QList<MissionItem*>& items, QO
return true;
}
void SurveyMissionItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
void SurveyComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
int seqNum = _sequenceNumber;
......@@ -1186,22 +1186,22 @@ void SurveyMissionItem::appendMissionItems(QList<MissionItem*>& items, QObject*
}
}
int SurveyMissionItem::cameraShots(void) const
int SurveyComplexItem::cameraShots(void) const
{
return _triggerCamera() ? _cameraShots : 0;
}
void SurveyMissionItem::_cameraValueChanged(void)
void SurveyComplexItem::_cameraValueChanged(void)
{
emit cameraValueChanged();
}
double SurveyMissionItem::timeBetweenShots(void) const
double SurveyComplexItem::timeBetweenShots(void) const
{
return _cruiseSpeed == 0 ? 0 : _triggerDistance() / _cruiseSpeed;
}
void SurveyMissionItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
void SurveyComplexItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus)
{
ComplexMissionItem::setMissionFlightStatus(missionFlightStatus);
if (!qFuzzyCompare(_cruiseSpeed, missionFlightStatus.vehicleSpeed)) {
......@@ -1210,52 +1210,52 @@ void SurveyMissionItem::setMissionFlightStatus(MissionController::MissionFlightS
}
}
void SurveyMissionItem::_setDirty(void)
void SurveyComplexItem::_setDirty(void)
{
setDirty(true);
}
bool SurveyMissionItem::hoverAndCaptureAllowed(void) const
bool SurveyComplexItem::hoverAndCaptureAllowed(void) const
{
return _vehicle->multiRotor() || _vehicle->vtol();
}
double SurveyMissionItem::_triggerDistance(void) const {
double SurveyComplexItem::_triggerDistance(void) const {
return _cameraTriggerDistanceFact.rawValue().toDouble();
}
bool SurveyMissionItem::_triggerCamera(void) const
bool SurveyComplexItem::_triggerCamera(void) const
{
return _triggerDistance() > 0;
}
bool SurveyMissionItem::_imagesEverywhere(void) const
bool SurveyComplexItem::_imagesEverywhere(void) const
{
return _triggerCamera() && _cameraTriggerInTurnaroundFact.rawValue().toBool();
}
bool SurveyMissionItem::_hoverAndCaptureEnabled(void) const
bool SurveyComplexItem::_hoverAndCaptureEnabled(void) const
{
return hoverAndCaptureAllowed() && !_imagesEverywhere() && _triggerCamera() && _hoverAndCaptureFact.rawValue().toBool();
}
bool SurveyMissionItem::_hasTurnaround(void) const
bool SurveyComplexItem::_hasTurnaround(void) const
{
return _turnaroundDistance() > 0;
}
double SurveyMissionItem::_turnaroundDistance(void) const
double SurveyComplexItem::_turnaroundDistance(void) const
{
return _turnaroundDistFact.rawValue().toDouble();
}
void SurveyMissionItem::applyNewAltitude(double newAltitude)
void SurveyComplexItem::applyNewAltitude(double newAltitude)
{
_fixedValueIsAltitudeFact.setRawValue(true);
_gridAltitudeFact.setRawValue(newAltitude);
}
void SurveyMissionItem::setRefly90Degrees(bool refly90Degrees)
void SurveyComplexItem::setRefly90Degrees(bool refly90Degrees)
{
if (refly90Degrees != _refly90Degrees) {
_refly90Degrees = refly90Degrees;
......@@ -1263,7 +1263,7 @@ void SurveyMissionItem::setRefly90Degrees(bool refly90Degrees)
}
}
void SurveyMissionItem::_polygonDirtyChanged(bool dirty)
void SurveyComplexItem::_polygonDirtyChanged(bool dirty)
{
if (dirty) {
setDirty(true);
......
src/MissionManager/SurveyMissionItem.h → src/MissionManager/SurveyComplexItem.h
View file @ 985c72e5
......@@ -7,9 +7,7 @@
*
****************************************************************************/
#ifndef SurveyMissionItem_H
#define SurveyMissionItem_H
#pragma once
#include "ComplexMissionItem.h"
#include "MissionItem.h"
......@@ -17,14 +15,14 @@
#include "QGCLoggingCategory.h"
#include "QGCMapPolygon.h"
Q_DECLARE_LOGGING_CATEGORY(SurveyMissionItemLog)
Q_DECLARE_LOGGING_CATEGORY(SurveyComplexItemLog)
class SurveyMissionItem : public ComplexMissionItem
class SurveyComplexItem : public ComplexMissionItem
{
Q_OBJECT
public:
SurveyMissionItem(Vehicle* vehicle, QObject* parent = NULL);
SurveyComplexItem(Vehicle* vehicle, QObject* parent = NULL);
Q_PROPERTY(Fact* gridAltitude READ gridAltitude CONSTANT)
Q_PROPERTY(Fact* gridAltitudeRelative READ gridAltitudeRelative CONSTANT)
......@@ -297,5 +295,3 @@ private:
static const int _hoverAndCaptureDelaySeconds = 4;
};
#endif
src/MissionManager/SurveyMissionItemTest.cc → src/MissionManager/SurveyComplexItemTest.cc
View file @ 985c72e5
......@@ -7,17 +7,17 @@
*
****************************************************************************/
#include "SurveyMissionItemTest.h"
#include "SurveyComplexItemTest.h"
#include "QGCApplication.h"
SurveyMissionItemTest::SurveyMissionItemTest(void)
SurveyComplexItemTest::SurveyComplexItemTest(void)
: _offlineVehicle(NULL)
{
_polyPoints << QGeoCoordinate(47.633550640000003, -122.08982199) << QGeoCoordinate(47.634129020000003, -122.08887249) <<
QGeoCoordinate(47.633619320000001, -122.08811074) << QGeoCoordinate(47.633189139999999, -122.08900124);
}
void SurveyMissionItemTest::init(void)
void SurveyComplexItemTest::init(void)
{
UnitTest::init();
......@@ -32,7 +32,7 @@ void SurveyMissionItemTest::init(void)
_rgSurveySignals[dirtyChangedIndex] = SIGNAL(dirtyChanged(bool));
_offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
_surveyItem = new SurveyMissionItem(_offlineVehicle, this);
_surveyItem = new SurveyComplexItem(_offlineVehicle, this);
_surveyItem->setTurnaroundDist(0); // Unit test written for no turnaround distance
_surveyItem->setDirty(false);
_mapPolygon = _surveyItem->mapPolygon();
......@@ -46,14 +46,14 @@ void SurveyMissionItemTest::init(void)
QCOMPARE(_multiSpy->init(_surveyItem, _rgSurveySignals, _cSurveySignals), true);
}
void SurveyMissionItemTest::cleanup(void)
void SurveyComplexItemTest::cleanup(void)
{
delete _surveyItem;
delete _offlineVehicle;
delete _multiSpy;
}
void SurveyMissionItemTest::_testDirty(void)
void SurveyComplexItemTest::_testDirty(void)
{
QVERIFY(!_surveyItem->dirty());
_surveyItem->setDirty(false);
......@@ -110,7 +110,7 @@ void SurveyMissionItemTest::_testDirty(void)
rgFacts.clear();
}
void SurveyMissionItemTest::_testCameraValueChanged(void)
void SurveyComplexItemTest::_testCameraValueChanged(void)
{
// These facts should trigger cameraValueChanged when changed
QList<Fact*> rgFacts;
......@@ -145,7 +145,7 @@ void SurveyMissionItemTest::_testCameraValueChanged(void)
rgFacts.clear();
}
void SurveyMissionItemTest::_testCameraTrigger(void)
void SurveyComplexItemTest::_testCameraTrigger(void)
{
#if 0
QCOMPARE(_surveyItem->property("cameraTrigger").toBool(), true);
......@@ -182,7 +182,7 @@ void SurveyMissionItemTest::_testCameraTrigger(void)
}
// Clamp expected grid angle from 0<->180. We don't care about opposite angles like 90/270
double SurveyMissionItemTest::_clampGridAngle180(double gridAngle)
double SurveyComplexItemTest::_clampGridAngle180(double gridAngle)
{
if (gridAngle >= 0.0) {
if (gridAngle == 360.0) {
......@@ -200,7 +200,7 @@ double SurveyMissionItemTest::_clampGridAngle180(double gridAngle)
return gridAngle;
}
void SurveyMissionItemTest::_setPolygon(void)
void SurveyComplexItemTest::_setPolygon(void)
{
for (int i=0; i<_polyPoints.count(); i++) {
QGeoCoordinate& vertex = _polyPoints[i];
......@@ -208,7 +208,7 @@ void SurveyMissionItemTest::_setPolygon(void)
}
}
void SurveyMissionItemTest::_testGridAngle(void)
void SurveyComplexItemTest::_testGridAngle(void)
{
_setPolygon();
......@@ -224,7 +224,7 @@ void SurveyMissionItemTest::_testGridAngle(void)
}
}
void SurveyMissionItemTest::_testEntryLocation(void)
void SurveyComplexItemTest::_testEntryLocation(void)
{
_setPolygon();
......@@ -233,10 +233,10 @@ void SurveyMissionItemTest::_testEntryLocation(void)
QList<QGeoCoordinate> rgSeenEntryCoords;
QList<int> rgEntryLocation;
rgEntryLocation << SurveyMissionItem::EntryLocationTopLeft
<< SurveyMissionItem::EntryLocationTopRight
<< SurveyMissionItem::EntryLocationBottomLeft
<< SurveyMissionItem::EntryLocationBottomRight;
rgEntryLocation << SurveyComplexItem::EntryLocationTopLeft
<< SurveyComplexItem::EntryLocationTopRight
<< SurveyComplexItem::EntryLocationBottomLeft
<< SurveyComplexItem::EntryLocationBottomRight;
// Validate that each entry location is unique
for (int i=0; i<rgEntryLocation.count(); i++) {
......@@ -251,7 +251,7 @@ void SurveyMissionItemTest::_testEntryLocation(void)
}
void SurveyMissionItemTest::_testItemCount(void)
void SurveyComplexItemTest::_testItemCount(void)
{
QList<MissionItem*> items;
......
src/MissionManager/SurveyMissionItemTest.h → src/MissionManager/SurveyComplexItemTest.h
View file @ 985c72e5
......@@ -7,24 +7,22 @@
*
****************************************************************************/
#ifndef SurveyMissionItemTest_H
#define SurveyMissionItemTest_H
#pragma once
#include "UnitTest.h"
#include "TCPLink.h"
#include "MultiSignalSpy.h"
#include "SurveyMissionItem.h"
#include "SurveyComplexItem.h"
#include <QGeoCoordinate>
/// Unit test for SurveyMissionItem
class SurveyMissionItemTest : public UnitTest
/// Unit test for SurveyComplexItem
class SurveyComplexItemTest : public UnitTest
{
Q_OBJECT
public:
SurveyMissionItemTest(void);
SurveyComplexItemTest(void);
protected:
void init(void) final;
......@@ -72,9 +70,7 @@ private:
Vehicle* _offlineVehicle;
MultiSignalSpy* _multiSpy;
SurveyMissionItem* _surveyItem;
SurveyComplexItem* _surveyItem;
QGCMapPolygon* _mapPolygon;
QList<QGeoCoordinate> _polyPoints;
};
#endif
src/qgcunittest/UnitTestList.cc
View file @ 985c72e5
......@@ -20,7 +20,7 @@
#include "MessageBoxTest.h"
#include "MissionItemTest.h"
#include "SimpleMissionItemTest.h"
#include "SurveyMissionItemTest.h"
#include "SurveyComplexItemTest.h"
#include "MissionControllerTest.h"
#include "MissionManagerTest.h"
#include "RadioConfigTest.h"
......@@ -63,7 +63,7 @@ UT_REGISTER_TEST(ParameterManagerTest)
UT_REGISTER_TEST(MissionCommandTreeTest)
UT_REGISTER_TEST(LogDownloadTest)
UT_REGISTER_TEST(SendMavCommandTest)
UT_REGISTER_TEST(SurveyMissionItemTest)
UT_REGISTER_TEST(SurveyComplexItemTest)
UT_REGISTER_TEST(CameraSectionTest)
UT_REGISTER_TEST(SpeedSectionTest)
UT_REGISTER_TEST(PlanMasterControllerTest)
......
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