Skip to content

Q
qgroundcontrol
Commit 9d216588 authored by Daniel Agar's avatar Daniel Agar
Browse files
Options

cmake: MissionManager add new source and delete obsolete

parent b8316907
Hide whitespace changes
Inline Side-by-side
Showing with 60 additions and 500 deletions
src/MissionManager/CMakeLists.txt
View file @ 9d216588
...@@ -3,67 +3,126 @@ set(EXTRA_SRC) ...@@ -3,67 +3,126 @@ set(EXTRA_SRC)
if(BUILD_TESTING) if(BUILD_TESTING)
list(APPEND EXTRA_SRC list(APPEND EXTRA_SRC
CameraCalcTest.cc CameraCalcTest.cc
CameraCalcTest.h
CameraSectionTest.cc CameraSectionTest.cc
CameraSectionTest.h
CorridorScanComplexItemTest.cc CorridorScanComplexItemTest.cc
CorridorScanComplexItemTest.h
FWLandingPatternTest.cc FWLandingPatternTest.cc
FWLandingPatternTest.h
MissionCommandTreeTest.cc MissionCommandTreeTest.cc
MissionCommandTreeTest.h
MissionControllerManagerTest.cc MissionControllerManagerTest.cc
MissionControllerManagerTest.h
MissionControllerTest.cc MissionControllerTest.cc
MissionControllerTest.h
MissionItemTest.cc MissionItemTest.cc
MissionItemTest.h
MissionManagerTest.cc MissionManagerTest.cc
MissionManagerTest.h
MissionSettingsTest.cc MissionSettingsTest.cc
MissionSettingsTest.h
PlanMasterControllerTest.cc PlanMasterControllerTest.cc
PlanMasterControllerTest.h
QGCMapPolygonTest.cc QGCMapPolygonTest.cc
QGCMapPolygonTest.h
QGCMapPolylineTest.cc QGCMapPolylineTest.cc
QGCMapPolylineTest.h
SectionTest.cc SectionTest.cc
SectionTest.h
SimpleMissionItemTest.cc SimpleMissionItemTest.cc
SimpleMissionItemTest.h
SpeedSectionTest.cc SpeedSectionTest.cc
SpeedSectionTest.h
StructureScanComplexItemTest.cc StructureScanComplexItemTest.cc
StructureScanComplexItemTest.h
SurveyComplexItemTest.cc SurveyComplexItemTest.cc
SurveyComplexItemTest.h
TransectStyleComplexItemTest.cc TransectStyleComplexItemTest.cc
TransectStyleComplexItemTest.h
VisualMissionItemTest.cc VisualMissionItemTest.cc
VisualMissionItemTest.h
) )
endif() endif()
add_library(MissionManager add_library(MissionManager
BlankPlanCreator.cc
BlankPlanCreator.h
CameraCalc.cc CameraCalc.cc
CameraCalc.h
CameraSection.cc CameraSection.cc
CameraSection.h
CameraSpec.cc CameraSpec.cc
CameraSpec.h
ComplexMissionItem.cc ComplexMissionItem.cc
ComplexMissionItem.h
CorridorScanComplexItem.cc CorridorScanComplexItem.cc
CorridorScanComplexItem.h
CorridorScanPlanCreator.cc CorridorScanPlanCreator.cc
CustomPlanCreator.cc CorridorScanPlanCreator.h
FixedWingLandingComplexItem.cc FixedWingLandingComplexItem.cc
FixedWingLandingComplexItem.h
GeoFenceController.cc GeoFenceController.cc
GeoFenceController.h
GeoFenceManager.cc GeoFenceManager.cc
GeoFenceManager.h
KML.cc KML.cc
KML.h
MissionCommandList.cc MissionCommandList.cc
MissionCommandList.h
MissionCommandTree.cc MissionCommandTree.cc
MissionCommandTree.h
MissionCommandUIInfo.cc MissionCommandUIInfo.cc
MissionCommandUIInfo.h
MissionController.cc MissionController.cc
MissionController.h
MissionItem.cc MissionItem.cc
MissionItem.h
MissionManager.cc MissionManager.cc
MissionManager.h
MissionSettingsItem.cc MissionSettingsItem.cc
MissionSettingsItem.h
PlanCreator.cc PlanCreator.cc
PlanCreator.h
PlanElementController.cc PlanElementController.cc
PlanElementController.h
PlanManager.cc PlanManager.cc
PlanManager.h
PlanMasterController.cc PlanMasterController.cc
PlanMasterController.h
QGCFenceCircle.cc QGCFenceCircle.cc
QGCFenceCircle.h
QGCFencePolygon.cc QGCFencePolygon.cc
QGCFencePolygon.h
QGCMapCircle.cc QGCMapCircle.cc
QGCMapCircle.h
QGCMapPolygon.cc QGCMapPolygon.cc
QGCMapPolygon.h
QGCMapPolyline.cc QGCMapPolyline.cc
QGCMapPolyline.h
RallyPoint.cc RallyPoint.cc
RallyPointController.cc RallyPointController.cc
RallyPointController.h
RallyPoint.h
RallyPointManager.cc RallyPointManager.cc
RallyPointManager.h
Section.h
SimpleMissionItem.cc SimpleMissionItem.cc
SimpleMissionItem.h
SpeedSection.cc SpeedSection.cc
SpeedSection.h
StructureScanComplexItem.cc StructureScanComplexItem.cc
StructureScanComplexItem.h
StructureScanPlanCreator.cc StructureScanPlanCreator.cc
StructureScanPlanCreator.h
SurveyComplexItem.cc SurveyComplexItem.cc
SurveyComplexItem.h
SurveyPlanCreator.cc SurveyPlanCreator.cc
SurveyPlanCreator.h
TransectStyleComplexItem.cc TransectStyleComplexItem.cc
TransectStyleComplexItem.h
VisualMissionItem.cc VisualMissionItem.cc
VisualMissionItem.h
Section.h # shouldn't be listed here, but isn't named properly for AUTOMOC Section.h # shouldn't be listed here, but isn't named properly for AUTOMOC
......
src/MissionManager/MissionLoader.h deleted 100644 → 0
View file @ b8316907
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#ifndef MissionController_H
#define MissionController_H
#include "PlanElementController.h"
#include "QmlObjectListModel.h"
#include "Vehicle.h"
#include "QGCLoggingCategory.h"
#include "MavlinkQmlSingleton.h"
#include "VisualMissionItem.h"
#include <QHash>
class CoordinateVector;
Q_DECLARE_LOGGING_CATEGORY(MissionControllerLog)
typedef QPair<VisualMissionItem*,VisualMissionItem*> VisualItemPair;
typedef QHash<VisualItemPair, CoordinateVector*> CoordVectHashTable;
class MissionController : public PlanElementController
{
Q_OBJECT
public:
MissionController(QObject* parent = NULL);
~MissionController();
Q_PROPERTY(QGeoCoordinate plannedHomePosition READ plannedHomePosition NOTIFY plannedHomePositionChanged)
Q_PROPERTY(QmlObjectListModel* visualItems READ visualItems NOTIFY visualItemsChanged)
Q_PROPERTY(QmlObjectListModel* complexVisualItems READ complexVisualItems NOTIFY complexVisualItemsChanged)
Q_PROPERTY(QmlObjectListModel* waypointLines READ waypointLines NOTIFY waypointLinesChanged)
Q_PROPERTY(double missionDistance READ missionDistance NOTIFY missionDistanceChanged)
Q_PROPERTY(double missionTime READ missionTime NOTIFY missionTimeChanged)
Q_PROPERTY(double missionHoverDistance READ missionHoverDistance NOTIFY missionHoverDistanceChanged)
Q_PROPERTY(double missionCruiseDistance READ missionCruiseDistance NOTIFY missionCruiseDistanceChanged)
Q_PROPERTY(double missionHoverTime READ missionHoverTime NOTIFY missionHoverTimeChanged)
Q_PROPERTY(double missionCruiseTime READ missionCruiseTime NOTIFY missionCruiseTimeChanged)
Q_PROPERTY(double missionMaxTelemetry READ missionMaxTelemetry NOTIFY missionMaxTelemetryChanged)
Q_INVOKABLE void removeMissionItem(int index);
/// Add a new simple mission item to the list
/// @param i: index to insert at
/// @return Sequence number for new item
Q_INVOKABLE int insertSimpleMissionItem(QGeoCoordinate coordinate, int i);
/// Add a new complex mission item to the list
/// @param i: index to insert at
/// @return Sequence number for new item
Q_INVOKABLE int insertComplexMissionItem(QGeoCoordinate coordinate, int i);
// Overrides from PlanElementController
void start (bool editMode) final;
void startStaticActiveVehicle (Vehicle* vehicle) final;
void loadFromVehicle (void) final;
void sendToVehicle (void) final;
void loadFromFilePicker (void) final;
void loadFromFile (const QString& filename) final;
void saveToFilePicker (void) final;
void saveToFile (const QString& filename) final;
void removeAll (void) final;
bool syncInProgress (void) const final;
bool dirty (void) const final;
void setDirty (bool dirty) final;
QString fileExtension(void) const final;
// Property accessors
QGeoCoordinate plannedHomePosition (void);
QmlObjectListModel* visualItems (void) { return _visualItems; }
QmlObjectListModel* complexVisualItems (void) { return _complexItems; }
QmlObjectListModel* waypointLines (void) { return &_waypointLines; }
double missionDistance (void) const { return _missionDistance; }
double missionTime (void) const { return _missionTime; }
double missionHoverDistance (void) const { return _missionHoverDistance; }
double missionHoverTime (void) const { return _missionHoverTime; }
double missionCruiseDistance (void) const { return _missionCruiseDistance; }
double missionCruiseTime (void) const { return _missionCruiseTime; }
double missionMaxTelemetry (void) const { return _missionMaxTelemetry; }
double cruiseSpeed (void) const;
double hoverSpeed (void) const;
static void createVisualItemsFromFile(const QString& filename);
signals:
void plannedHomePositionChanged(QGeoCoordinate plannedHomePosition);
void visualItemsChanged(void);
void complexVisualItemsChanged(void);
void waypointLinesChanged(void);
void newItemsFromVehicle(void);
void missionDistanceChanged(double missionDistance);
void missionTimeChanged(void);
void missionHoverDistanceChanged(double missionHoverDistance);
void missionHoverTimeChanged(void);
void missionCruiseDistanceChanged(double missionCruiseDistance);
void missionCruiseTimeChanged(void);
void missionMaxTelemetryChanged(double missionMaxTelemetry);
void cruiseDistanceChanged(double cruiseDistance);
void hoverDistanceChanged(double hoverDistance);
void cruiseSpeedChanged(double cruiseSpeed);
void hoverSpeedChanged(double hoverSpeed);
private slots:
void _newMissionItemsAvailableFromVehicle();
void _itemCommandChanged(void);
void _activeVehicleHomePositionAvailableChanged(bool homePositionAvailable);
void _activeVehicleHomePositionChanged(const QGeoCoordinate& homePosition);
void _inProgressChanged(bool inProgress);
void _currentMissionItemChanged(int sequenceNumber);
void _recalcWaypointLines(void);
void _recalcAltitudeRangeBearing(void);
void _homeCoordinateChanged(void);
private:
void _init(void);
void _recalcSequence(void);
void _recalcChildItems(void);
void _recalcAll(void);
void _initAllVisualItems(void);
void _deinitAllVisualItems(void);
void _initVisualItem(VisualMissionItem* item);
void _deinitVisualItem(VisualMissionItem* item);
void _setupActiveVehicle(Vehicle* activeVehicle, bool forceLoadFromVehicle);
static void _calcPrevWaypointValues(double homeAlt, VisualMissionItem* currentItem, VisualMissionItem* prevItem, double* azimuth, double* distance, double* altDifference);
static double _calcDistanceToHome(VisualMissionItem* currentItem, VisualMissionItem* homeItem);
bool _findLastAltitude(double* lastAltitude, MAV_FRAME* frame);
bool _findLastAcceptanceRadius(double* lastAcceptanceRadius);
void _addPlannedHomePosition(QmlObjectListModel* visualItems, bool addToCenter);
double _normalizeLat(double lat);
double _normalizeLon(double lon);
bool _loadJsonMissionFile(const QByteArray& bytes, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
bool _loadJsonMissionFileV1(const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
bool _loadJsonMissionFileV2(const QJsonObject& json, QmlObjectListModel* visualItems, QmlObjectListModel* complexItems, QString& errorString);
bool _loadTextMissionFile(QTextStream& stream, QmlObjectListModel* visualItems, QString& errorString);
int _nextSequenceNumber(void);
void _setMissionDistance(double missionDistance);
void _setMissionTime(double missionTime);
void _setMissionHoverDistance(double missionHoverDistance);
void _setMissionHoverTime(double missionHoverTime);
void _setMissionCruiseDistance(double missionCruiseDistance);
void _setMissionCruiseTime(double missionCruiseTime);
void _setMissionMaxTelemetry(double missionMaxTelemetry);
// Overrides from PlanElementController
void _activeVehicleBeingRemoved(void) final;
void _activeVehicleSet(void) final;
private:
QmlObjectListModel* _visualItems;
QmlObjectListModel* _complexItems;
QmlObjectListModel _waypointLines;
CoordVectHashTable _linesTable;
bool _firstItemsFromVehicle;
bool _missionItemsRequested;
bool _queuedSend;
double _missionDistance;
double _missionTime;
double _missionHoverDistance;
double _missionHoverTime;
double _missionCruiseDistance;
double _missionCruiseTime;
double _missionMaxTelemetry;
static const char* _settingsGroup;
static const char* _jsonFileTypeValue;
static const char* _jsonFirmwareTypeKey;
static const char* _jsonVehicleTypeKey;
static const char* _jsonCruiseSpeedKey;
static const char* _jsonHoverSpeedKey;
static const char* _jsonItemsKey;
static const char* _jsonPlannedHomePositionKey;
static const char* _jsonParamsKey;
// Deprecated V1 format keys
static const char* _jsonMavAutopilotKey;
static const char* _jsonComplexItemsKey;
static const int _missionFileVersion;
};
#endif
src/MissionManager/SurveyMissionItem.h deleted 100644 → 0
View file @ b8316907
/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#ifndef SurveyMissionItem_H
#define SurveyMissionItem_H
#include "ComplexMissionItem.h"
#include "MissionItem.h"
#include "SettingsFact.h"
#include "QGCLoggingCategory.h"
#include "QGCMapPolygon.h"
Q_DECLARE_LOGGING_CATEGORY(SurveyMissionItemLog)
class SurveyMissionItem : public ComplexMissionItem
{
Q_OBJECT
public:
SurveyMissionItem(Vehicle* vehicle, QObject* parent = NULL);
Q_PROPERTY(Fact* gridAltitude READ gridAltitude CONSTANT)
Q_PROPERTY(Fact* gridAltitudeRelative READ gridAltitudeRelative CONSTANT)
Q_PROPERTY(Fact* gridAngle READ gridAngle CONSTANT)
Q_PROPERTY(Fact* gridSpacing READ gridSpacing CONSTANT)
Q_PROPERTY(Fact* gridEntryLocation READ gridEntryLocation CONSTANT)
Q_PROPERTY(Fact* turnaroundDist READ turnaroundDist CONSTANT)
Q_PROPERTY(Fact* cameraTriggerDistance READ cameraTriggerDistance CONSTANT)
Q_PROPERTY(Fact* cameraTriggerInTurnaround READ cameraTriggerInTurnaround CONSTANT)
Q_PROPERTY(Fact* hoverAndCapture READ hoverAndCapture CONSTANT)
Q_PROPERTY(Fact* groundResolution READ groundResolution CONSTANT)
Q_PROPERTY(Fact* frontalOverlap READ frontalOverlap CONSTANT)
Q_PROPERTY(Fact* sideOverlap READ sideOverlap CONSTANT)
Q_PROPERTY(Fact* cameraSensorWidth READ cameraSensorWidth CONSTANT)
Q_PROPERTY(Fact* cameraSensorHeight READ cameraSensorHeight CONSTANT)
Q_PROPERTY(Fact* cameraResolutionWidth READ cameraResolutionWidth CONSTANT)
Q_PROPERTY(Fact* cameraResolutionHeight READ cameraResolutionHeight CONSTANT)
Q_PROPERTY(Fact* cameraFocalLength READ cameraFocalLength CONSTANT)
Q_PROPERTY(Fact* cameraOrientationLandscape READ cameraOrientationLandscape CONSTANT)
Q_PROPERTY(Fact* fixedValueIsAltitude READ fixedValueIsAltitude CONSTANT)
Q_PROPERTY(Fact* manualGrid READ manualGrid CONSTANT)
Q_PROPERTY(Fact* camera READ camera CONSTANT)
Q_PROPERTY(bool cameraOrientationFixed MEMBER _cameraOrientationFixed NOTIFY cameraOrientationFixedChanged)
Q_PROPERTY(bool hoverAndCaptureAllowed READ hoverAndCaptureAllowed CONSTANT)
Q_PROPERTY(bool refly90Degrees READ refly90Degrees WRITE setRefly90Degrees NOTIFY refly90DegreesChanged)
Q_PROPERTY(double cameraMinTriggerInterval MEMBER _cameraMinTriggerInterval NOTIFY cameraMinTriggerIntervalChanged)
Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged)
Q_PROPERTY(QVariantList gridPoints READ gridPoints NOTIFY gridPointsChanged)
Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged)
Q_PROPERTY(double coveredArea READ coveredArea NOTIFY coveredAreaChanged)
Q_PROPERTY(QGCMapPolygon* mapPolygon READ mapPolygon CONSTANT)
QVariantList gridPoints (void) { return _simpleGridPoints; }
Fact* manualGrid (void) { return &_manualGridFact; }
Fact* gridAltitude (void) { return &_gridAltitudeFact; }
Fact* gridAltitudeRelative (void) { return &_gridAltitudeRelativeFact; }
Fact* gridAngle (void) { return &_gridAngleFact; }
Fact* gridSpacing (void) { return &_gridSpacingFact; }
Fact* gridEntryLocation (void) { return &_gridEntryLocationFact; }
Fact* turnaroundDist (void) { return &_turnaroundDistFact; }
Fact* cameraTriggerDistance (void) { return &_cameraTriggerDistanceFact; }
Fact* cameraTriggerInTurnaround (void) { return &_cameraTriggerInTurnaroundFact; }
Fact* hoverAndCapture (void) { return &_hoverAndCaptureFact; }
Fact* groundResolution (void) { return &_groundResolutionFact; }
Fact* frontalOverlap (void) { return &_frontalOverlapFact; }
Fact* sideOverlap (void) { return &_sideOverlapFact; }
Fact* cameraSensorWidth (void) { return &_cameraSensorWidthFact; }
Fact* cameraSensorHeight (void) { return &_cameraSensorHeightFact; }
Fact* cameraResolutionWidth (void) { return &_cameraResolutionWidthFact; }
Fact* cameraResolutionHeight (void) { return &_cameraResolutionHeightFact; }
Fact* cameraFocalLength (void) { return &_cameraFocalLengthFact; }
Fact* cameraOrientationLandscape(void) { return &_cameraOrientationLandscapeFact; }
Fact* fixedValueIsAltitude (void) { return &_fixedValueIsAltitudeFact; }
Fact* camera (void) { return &_cameraFact; }
int cameraShots (void) const;
double coveredArea (void) const { return _coveredArea; }
double timeBetweenShots (void) const;
bool hoverAndCaptureAllowed (void) const;
bool refly90Degrees (void) const { return _refly90Degrees; }
QGCMapPolygon* mapPolygon (void) { return &_mapPolygon; }
void setRefly90Degrees(bool refly90Degrees);
// Overrides from ComplexMissionItem
double complexDistance (void) const final { return _surveyDistance; }
QGCGeoBoundingCube boundingCube (void) const final { return _boundingCube; }
double additionalTimeDelay (void) const final { return _additionalFlightDelaySeconds; }
int lastSequenceNumber (void) const final;
bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
double greatestDistanceTo (const QGeoCoordinate &other) const final;
QString mapVisualQML (void) const final { return QStringLiteral("SurveyMapVisual.qml"); }
// Overrides from VisualMissionItem
bool dirty (void) const final { return _dirty; }
bool isSimpleItem (void) const final { return false; }
bool isStandaloneCoordinate (void) const final { return false; }
bool specifiesCoordinate (void) const final;
bool specifiesAltitudeOnly (void) const final { return false; }
QString commandDescription (void) const final { return "Survey"; }
QString commandName (void) const final { return "Survey"; }
QString abbreviation (void) const final { return "S"; }
QGeoCoordinate coordinate (void) const final { return _coordinate; }
QGeoCoordinate exitCoordinate (void) const final { return _exitCoordinate; }
int sequenceNumber (void) const final { return _sequenceNumber; }
double specifiedFlightSpeed (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalYaw (void) final { return std::numeric_limits<double>::quiet_NaN(); }
double specifiedGimbalPitch (void) final { return std::numeric_limits<double>::quiet_NaN(); }
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void setMissionFlightStatus (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
void applyNewAltitude (double newAltitude) final;
bool coordinateHasRelativeAltitude (void) const final { return _gridAltitudeRelativeFact.rawValue().toBool(); }
bool exitCoordinateHasRelativeAltitude (void) const final { return _gridAltitudeRelativeFact.rawValue().toBool(); }
bool exitCoordinateSameAsEntry (void) const final { return false; }
void setDirty (bool dirty) final;
void setCoordinate (const QGeoCoordinate& coordinate) final;
void setSequenceNumber (int sequenceNumber) final;
void setTurnaroundDist (double dist) { _turnaroundDistFact.setRawValue(dist); }
void save (QJsonArray& missionItems) final;
// Must match json spec for GridEntryLocation
enum EntryLocation {
EntryLocationTopLeft,
EntryLocationTopRight,
EntryLocationBottomLeft,
EntryLocationBottomRight,
};
static const char* jsonComplexItemTypeValue;
static const char* settingsGroup;
static const char* manualGridName;
static const char* gridAltitudeName;
static const char* gridAltitudeRelativeName;
static const char* gridAngleName;
static const char* gridSpacingName;
static const char* gridEntryLocationName;
static const char* turnaroundDistName;
static const char* cameraTriggerDistanceName;
static const char* cameraTriggerInTurnaroundName;
static const char* hoverAndCaptureName;
static const char* groundResolutionName;
static const char* frontalOverlapName;
static const char* sideOverlapName;
static const char* cameraSensorWidthName;
static const char* cameraSensorHeightName;
static const char* cameraResolutionWidthName;
static const char* cameraResolutionHeightName;
static const char* cameraFocalLengthName;
static const char* cameraTriggerName;
static const char* cameraOrientationLandscapeName;
static const char* fixedValueIsAltitudeName;
static const char* cameraName;
signals:
void gridPointsChanged (void);
void cameraShotsChanged (int cameraShots);
void coveredAreaChanged (double coveredArea);
void cameraValueChanged (void);
void gridTypeChanged (QString gridType);
void timeBetweenShotsChanged (void);
void cameraOrientationFixedChanged (bool cameraOrientationFixed);
void refly90DegreesChanged (bool refly90Degrees);
void cameraMinTriggerIntervalChanged (double cameraMinTriggerInterval);
private slots:
void _setDirty(void);
void _polygonDirtyChanged(bool dirty);
void _clearInternal(void);
private:
enum CameraTriggerCode {
CameraTriggerNone,
CameraTriggerOn,
CameraTriggerOff,
CameraTriggerHoverAndCapture
};
void _setExitCoordinate(const QGeoCoordinate& coordinate);
void _generateGrid(void);
void _updateCoordinateAltitude(void);
int _gridGenerator(const QList<QPointF>& polygonPoints, QList<QList<QPointF>>& transectSegments, bool refly);
QPointF _rotatePoint(const QPointF& point, const QPointF& origin, double angle);
void _intersectLinesWithRect(const QList<QLineF>& lineList, const QRectF& boundRect, QList<QLineF>& resultLines);
void _intersectLinesWithPolygon(const QList<QLineF>& lineList, const QPolygonF& polygon, QList<QLineF>& resultLines);
void _adjustLineDirection(const QList<QLineF>& lineList, QList<QLineF>& resultLines);
void _setSurveyDistance(double surveyDistance);
void _setBoundingCube(QGCGeoBoundingCube bc);
void _setCameraShots(int cameraShots);
void _setCoveredArea(double coveredArea);
void _cameraValueChanged(void);
int _appendWaypointToMission(QList<MissionItem*>& items, int seqNum, QGeoCoordinate& coord, CameraTriggerCode cameraTrigger, QObject* missionItemParent);
bool _nextTransectCoord(const QList<QGeoCoordinate>& transectPoints, int pointIndex, QGeoCoordinate& coord);
double _triggerDistance(void) const;
bool _triggerCamera(void) const;
bool _imagesEverywhere(void) const;
bool _hoverAndCaptureEnabled(void) const;
bool _hasTurnaround(void) const;
double _turnaroundDistance(void) const;
void _convertTransectToGeo(const QList<QList<QPointF>>& transectSegmentsNED, const QGeoCoordinate& tangentOrigin, QList<QList<QGeoCoordinate>>& transectSegmentsGeo);
bool _appendMissionItemsWorker(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, bool hasRefly, bool buildRefly);
void _optimizeTransectsForShortestDistance(const QGeoCoordinate& distanceCoord, QList<QList<QGeoCoordinate>>& transects);
void _appendGridPointsFromTransects(QList<QList<QGeoCoordinate>>& rgTransectSegments);
qreal _ccw(QPointF pt1, QPointF pt2, QPointF pt3);
qreal _dp(QPointF pt1, QPointF pt2);
void _swapPoints(QList<QPointF>& points, int index1, int index2);
void _reverseTransectOrder(QList<QList<QGeoCoordinate>>& transects);
void _reverseInternalTransectPoints(QList<QList<QGeoCoordinate>>& transects);
void _adjustTransectsToEntryPointLocation(QList<QList<QGeoCoordinate>>& transects);
bool _gridAngleIsNorthSouthTransects();
double _clampGridAngle90(double gridAngle);
int _calcMissionCommandCount(QList<QList<QGeoCoordinate>>& transectSegments);
void _calcBoundingCube();
int _sequenceNumber;
bool _dirty;
QGCMapPolygon _mapPolygon;
QVariantList _simpleGridPoints; ///< Grid points for drawing simple grid visuals
QList<QList<QGeoCoordinate>> _transectSegments; ///< Internal transect segments including grid exit, turnaround and internal camera points
QList<QList<QGeoCoordinate>> _reflyTransectSegments; ///< Refly segments
QGeoCoordinate _coordinate;
QGeoCoordinate _exitCoordinate;
bool _cameraOrientationFixed;
int _missionCommandCount;
bool _refly90Degrees;
double _additionalFlightDelaySeconds;
double _cameraMinTriggerInterval;
bool _ignoreRecalc;
double _surveyDistance;
int _cameraShots;
double _coveredArea;
double _timeBetweenShots;
double _cruiseSpeed;
QGCGeoBoundingCube _boundingCube;
QMap<QString, FactMetaData*> _metaDataMap;
SettingsFact _manualGridFact;
SettingsFact _gridAltitudeFact;
SettingsFact _gridAltitudeRelativeFact;
SettingsFact _gridAngleFact;
SettingsFact _gridSpacingFact;
SettingsFact _gridEntryLocationFact;
SettingsFact _turnaroundDistFact;
SettingsFact _cameraTriggerDistanceFact;
SettingsFact _cameraTriggerInTurnaroundFact;
SettingsFact _hoverAndCaptureFact;
SettingsFact _groundResolutionFact;
SettingsFact _frontalOverlapFact;
SettingsFact _sideOverlapFact;
SettingsFact _cameraSensorWidthFact;
SettingsFact _cameraSensorHeightFact;
SettingsFact _cameraResolutionWidthFact;
SettingsFact _cameraResolutionHeightFact;
SettingsFact _cameraFocalLengthFact;
SettingsFact _cameraOrientationLandscapeFact;
SettingsFact _fixedValueIsAltitudeFact;
SettingsFact _cameraFact;
static const char* _jsonGridObjectKey;
static const char* _jsonGridAltitudeKey;
static const char* _jsonGridAltitudeRelativeKey;
static const char* _jsonGridAngleKey;
static const char* _jsonGridSpacingKey;
static const char* _jsonGridEntryLocationKey;
static const char* _jsonTurnaroundDistKey;
static const char* _jsonCameraTriggerDistanceKey;
static const char* _jsonCameraTriggerInTurnaroundKey;
static const char* _jsonHoverAndCaptureKey;
static const char* _jsonGroundResolutionKey;
static const char* _jsonFrontalOverlapKey;
static const char* _jsonSideOverlapKey;
static const char* _jsonCameraSensorWidthKey;
static const char* _jsonCameraSensorHeightKey;
static const char* _jsonCameraResolutionWidthKey;
static const char* _jsonCameraResolutionHeightKey;
static const char* _jsonCameraFocalLengthKey;
static const char* _jsonCameraMinTriggerIntervalKey;
static const char* _jsonManualGridKey;
static const char* _jsonCameraObjectKey;
static const char* _jsonCameraNameKey;
static const char* _jsonCameraOrientationLandscapeKey;
static const char* _jsonFixedValueIsAltitudeKey;
static const char* _jsonRefly90DegreesKey;
static const int _hoverAndCaptureDelaySeconds = 4;
};
#endif
src/PlanView/CMakeLists.txt
View file @ 9d216588
...@@ -14,7 +14,6 @@ add_custom_target(PlanViewQml ...@@ -14,7 +14,6 @@ add_custom_target(PlanViewQml
MissionItemStatus.qml MissionItemStatus.qml
MissionSettingsEditor.qml MissionSettingsEditor.qml
PlanEditToolbar.qml PlanEditToolbar.qml
PlanStartOverlay.qml
PlanToolBarIndicators.qml PlanToolBarIndicators.qml
PlanToolBar.qml PlanToolBar.qml
PlanView.qml PlanView.qml
......
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