Skip to content

Q
qgroundcontrol
Commit c6e6a519 authored by Valentin Platzgummer's avatar Valentin Platzgummer
Browse files
Options

project compiles, not tested

parent cf53d945
Hide whitespace changes
Inline Side-by-side
Showing with 2521 additions and 2799 deletions
src/Snake/snake.cpp
View file @ c6e6a519
...@@ -2,13 +2,13 @@ ...@@ -2,13 +2,13 @@
#include "snake.h" #include "snake.h"
#include <mapbox/polylabel.hpp>
#include <mapbox/geometry.hpp> #include <mapbox/geometry.hpp>
#include <mapbox/polylabel.hpp>
#include <boost/geometry.hpp> #include <boost/geometry.hpp>
#include <boost/geometry/geometries/polygon.hpp>
#include <boost/geometry/geometries/box.hpp>
#include <boost/geometry/geometries/adapted/boost_tuple.hpp> #include <boost/geometry/geometries/adapted/boost_tuple.hpp>
#include <boost/geometry/geometries/box.hpp>
#include <boost/geometry/geometries/polygon.hpp>
#include "clipper/clipper.hpp" #include "clipper/clipper.hpp"
#define CLIPPER_SCALE 10000 #define CLIPPER_SCALE 10000
...@@ -34,467 +34,434 @@ namespace snake { ...@@ -34,467 +34,434 @@ namespace snake {
// Geometry stuff. // Geometry stuff.
//========================================================================= //=========================================================================
void polygonCenter(const BoostPolygon &polygon, BoostPoint &center) void polygonCenter(const BoostPolygon &polygon, BoostPoint &center) {
{ using namespace mapbox;
using namespace mapbox; if (polygon.outer().empty())
if (polygon.outer().empty())
return; return;
geometry::polygon<double> p; geometry::polygon<double> p;
geometry::linear_ring<double> lr1; geometry::linear_ring<double> lr1;
for (size_t i = 0; i < polygon.outer().size(); ++i) { for (size_t i = 0; i < polygon.outer().size(); ++i) {
geometry::point<double> vertex(polygon.outer()[i].get<0>(), polygon.outer()[i].get<1>()); geometry::point<double> vertex(polygon.outer()[i].get<0>(),
polygon.outer()[i].get<1>());
lr1.push_back(vertex); lr1.push_back(vertex);
} }
p.push_back(lr1); p.push_back(lr1);
geometry::point<double> c = polylabel(p); geometry::point<double> c = polylabel(p);
center.set<0>(c.x); center.set<0>(c.x);
center.set<1>(c.y); center.set<1>(c.y);
} }
void minimalBoundingBox(const BoostPolygon &polygon, BoundingBox &minBBox) void minimalBoundingBox(const BoostPolygon &polygon, BoundingBox &minBBox) {
{ /*
/* Find the minimum-area bounding box of a set of 2D points
Find the minimum-area bounding box of a set of 2D points
The input is a 2D convex hull, in an Nx2 numpy array of x-y co-ordinates.
The input is a 2D convex hull, in an Nx2 numpy array of x-y co-ordinates. The first and last points points must be the same, making a closed polygon.
The first and last points points must be the same, making a closed polygon. This program finds the rotation angles of each edge of the convex polygon,
This program finds the rotation angles of each edge of the convex polygon, then tests the area of a bounding box aligned with the unique angles in
then tests the area of a bounding box aligned with the unique angles in 90 degrees of the 1st Quadrant.
90 degrees of the 1st Quadrant. Returns the
Returns the
Tested with Python 2.6.5 on Ubuntu 10.04.4 (original version)
Tested with Python 2.6.5 on Ubuntu 10.04.4 (original version) Results verified using Matlab
Results verified using Matlab
Copyright (c) 2013, David Butterworth, University of Queensland
Copyright (c) 2013, David Butterworth, University of Queensland All rights reserved.
All rights reserved.
Redistribution and use in source and binary forms, with or without
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
* Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the
notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
documentation and/or other materials provided with the distribution. * Neither the name of the Willow Garage, Inc. nor the names of its
* Neither the name of the Willow Garage, Inc. nor the names of its contributors may be used to endorse or promote products derived from
contributors may be used to endorse or promote products derived from this software without specific prior written permission.
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
POSSIBILITY OF SUCH DAMAGE. */
*/
if (polygon.outer().empty())
if (polygon.outer().empty()) return;
return; BoostPolygon convex_hull;
BoostPolygon convex_hull; bg::convex_hull(polygon, convex_hull);
bg::convex_hull(polygon, convex_hull);
// cout << "Convex hull: " << bg::wkt<BoostPolygon2D>(convex_hull) << endl;
//cout << "Convex hull: " << bg::wkt<BoostPolygon2D>(convex_hull) << endl;
//# Compute edges (x2-x1,y2-y1)
//# Compute edges (x2-x1,y2-y1) std::vector<BoostPoint> edges;
std::vector<BoostPoint> edges; auto convex_hull_outer = convex_hull.outer();
auto convex_hull_outer = convex_hull.outer(); for (long i = 0; i < long(convex_hull_outer.size()) - 1; ++i) {
for (long i=0; i < long(convex_hull_outer.size())-1; ++i) { BoostPoint p1 = convex_hull_outer.at(i);
BoostPoint p1 = convex_hull_outer.at(i); BoostPoint p2 = convex_hull_outer.at(i + 1);
BoostPoint p2 = convex_hull_outer.at(i+1); double edge_x = p2.get<0>() - p1.get<0>();
double edge_x = p2.get<0>() - p1.get<0>(); double edge_y = p2.get<1>() - p1.get<1>();
double edge_y = p2.get<1>() - p1.get<1>(); edges.push_back(BoostPoint{edge_x, edge_y});
edges.push_back(BoostPoint{edge_x, edge_y}); }
}
// cout << "Edges: ";
// cout << "Edges: "; // for (auto e : edges)
// for (auto e : edges) // cout << e.get<0>() << " " << e.get<1>() << ",";
// cout << e.get<0>() << " " << e.get<1>() << ","; // cout << endl;
// cout << endl;
// Calculate unique edge angles atan2(y/x)
// Calculate unique edge angles atan2(y/x) double angle_scale = 1e3;
double angle_scale = 1e3; std::set<long> angles_long;
std::set<long> angles_long; for (auto vertex : edges) {
for (auto vertex : edges) { double angle = std::fmod(atan2(vertex.get<1>(), vertex.get<0>()), M_PI / 2);
double angle = std::fmod(atan2(vertex.get<1>(), vertex.get<0>()), M_PI / 2); angle =
angle = angle < 0 ? angle + M_PI / 2 : angle; // want strictly positive answers angle < 0 ? angle + M_PI / 2 : angle; // want strictly positive answers
angles_long.insert(long(round(angle*angle_scale))); angles_long.insert(long(round(angle * angle_scale)));
} }
std::vector<double> edge_angles; std::vector<double> edge_angles;
for (auto a : angles_long) for (auto a : angles_long)
edge_angles.push_back(double(a)/angle_scale); edge_angles.push_back(double(a) / angle_scale);
// cout << "Unique angles: ";
// cout << "Unique angles: "; // for (auto e : edge_angles)
// for (auto e : edge_angles) // cout << e*180/M_PI << ",";
// cout << e*180/M_PI << ","; // cout << endl;
// cout << endl;
double min_area = std::numeric_limits<double>::infinity();
double min_area = std::numeric_limits<double>::infinity(); // Test each angle to find bounding box with smallest area
// Test each angle to find bounding box with smallest area // print "Testing", len(edge_angles), "possible rotations for bounding box...
// print "Testing", len(edge_angles), "possible rotations for bounding box... \n" // \n"
for (double angle : edge_angles){ for (double angle : edge_angles) {
trans::rotate_transformer<bg::degree, double, 2, 2> rotate(angle*180/M_PI); trans::rotate_transformer<bg::degree, double, 2, 2> rotate(angle * 180 /
BoostPolygon hull_rotated; M_PI);
bg::transform(convex_hull, hull_rotated, rotate); BoostPolygon hull_rotated;
//cout << "Convex hull rotated: " << bg::wkt<BoostPolygon2D>(hull_rotated) << endl; bg::transform(convex_hull, hull_rotated, rotate);
// cout << "Convex hull rotated: " << bg::wkt<BoostPolygon2D>(hull_rotated)
bg::model::box<BoostPoint> box; // << endl;
bg::envelope(hull_rotated, box);
// cout << "Bounding box: " << bg::wkt<bg::model::box<BoostPoint2D>>(box) << endl; bg::model::box<BoostPoint> box;
bg::envelope(hull_rotated, box);
//# print "Rotated hull points are \n", rot_points // cout << "Bounding box: " <<
BoostPoint min_corner = box.min_corner(); // bg::wkt<bg::model::box<BoostPoint2D>>(box) << endl;
BoostPoint max_corner = box.max_corner();
double min_x = min_corner.get<0>(); //# print "Rotated hull points are \n", rot_points
double max_x = max_corner.get<0>(); BoostPoint min_corner = box.min_corner();
double min_y = min_corner.get<1>(); BoostPoint max_corner = box.max_corner();
double max_y = max_corner.get<1>(); double min_x = min_corner.get<0>();
// cout << "min_x: " << min_x << endl; double max_x = max_corner.get<0>();
// cout << "max_x: " << max_x << endl; double min_y = min_corner.get<1>();
// cout << "min_y: " << min_y << endl; double max_y = max_corner.get<1>();
// cout << "max_y: " << max_y << endl; // cout << "min_x: " << min_x << endl;
// cout << "max_x: " << max_x << endl;
// Calculate height/width/area of this bounding rectangle // cout << "min_y: " << min_y << endl;
double width = max_x - min_x; // cout << "max_y: " << max_y << endl;
double height = max_y - min_y;
double area = width * height; // Calculate height/width/area of this bounding rectangle
// cout << "Width: " << width << endl; double width = max_x - min_x;
// cout << "Height: " << height << endl; double height = max_y - min_y;
// cout << "area: " << area << endl; double area = width * height;
// cout << "angle: " << angle*180/M_PI << endl; // cout << "Width: " << width << endl;
// cout << "Height: " << height << endl;
// Store the smallest rect found first (a simple convex hull might have 2 answers with same area) // cout << "area: " << area << endl;
if (area < min_area){ // cout << "angle: " << angle*180/M_PI << endl;
min_area = area;
minBBox.angle = angle; // Store the smallest rect found first (a simple convex hull might have 2
minBBox.width = width; // answers with same area)
minBBox.height = height; if (area < min_area) {
min_area = area;
minBBox.corners.clear(); minBBox.angle = angle;
minBBox.corners.outer().push_back(BoostPoint{min_x, min_y}); minBBox.width = width;
minBBox.corners.outer().push_back(BoostPoint{min_x, max_y}); minBBox.height = height;
minBBox.corners.outer().push_back(BoostPoint{max_x, max_y});
minBBox.corners.outer().push_back(BoostPoint{max_x, min_y}); minBBox.corners.clear();
minBBox.corners.outer().push_back(BoostPoint{min_x, min_y}); minBBox.corners.outer().push_back(BoostPoint{min_x, min_y});
} minBBox.corners.outer().push_back(BoostPoint{min_x, max_y});
//cout << endl << endl; minBBox.corners.outer().push_back(BoostPoint{max_x, max_y});
} minBBox.corners.outer().push_back(BoostPoint{max_x, min_y});
minBBox.corners.outer().push_back(BoostPoint{min_x, min_y});
}
// Transform corners of minimal bounding box. // cout << endl << endl;
trans::rotate_transformer<bg::degree, double, 2, 2> rotate(-minBBox.angle*180/M_PI); }
BoostPolygon rotated_polygon;
bg::transform(minBBox.corners, rotated_polygon, rotate); // Transform corners of minimal bounding box.
minBBox.corners = rotated_polygon; trans::rotate_transformer<bg::degree, double, 2, 2> rotate(-minBBox.angle *
180 / M_PI);
BoostPolygon rotated_polygon;
bg::transform(minBBox.corners, rotated_polygon, rotate);
minBBox.corners = rotated_polygon;
} }
void offsetPolygon(const BoostPolygon &polygon, BoostPolygon &polygonOffset, double offset) void offsetPolygon(const BoostPolygon &polygon, BoostPolygon &polygonOffset,
{ double offset) {
bg::strategy::buffer::distance_symmetric<double> distance_strategy(offset); bg::strategy::buffer::distance_symmetric<double> distance_strategy(offset);
bg::strategy::buffer::join_miter join_strategy(3); bg::strategy::buffer::join_miter join_strategy(3);
bg::strategy::buffer::end_flat end_strategy; bg::strategy::buffer::end_flat end_strategy;
bg::strategy::buffer::point_square point_strategy; bg::strategy::buffer::point_square point_strategy;
bg::strategy::buffer::side_straight side_strategy; bg::strategy::buffer::side_straight side_strategy;
bg::model::multi_polygon<BoostPolygon> result;
bg::model::multi_polygon<BoostPolygon> result; bg::buffer(polygon, result, distance_strategy, side_strategy, join_strategy,
end_strategy, point_strategy);
bg::buffer(polygon, result, distance_strategy, side_strategy, join_strategy, end_strategy, point_strategy);
if (result.size() > 0)
polygonOffset = result[0];
if (result.size() > 0)
polygonOffset = result[0];
} }
void graphFromPolygon(const BoostPolygon &polygon,
const BoostLineString &vertices, Matrix<double> &graph) {
size_t n = graph.getN();
void graphFromPolygon(const BoostPolygon &polygon, const BoostLineString &vertices, Matrix<double> &graph) for (size_t i = 0; i < n; ++i) {
{ BoostPoint v1 = vertices[i];
size_t n = graph.getN(); for (size_t j = i + 1; j < n; ++j) {
BoostPoint v2 = vertices[j];
for (size_t i=0; i < n; ++i) { BoostLineString path{v1, v2};
BoostPoint v1 = vertices[i];
for (size_t j=i+1; j < n; ++j){
BoostPoint v2 = vertices[j];
BoostLineString path{v1, v2};
double distance = 0; double distance = 0;
if (!bg::within(path, polygon)) if (!bg::within(path, polygon))
distance = std::numeric_limits<double>::infinity(); distance = std::numeric_limits<double>::infinity();
else else
distance = bg::length(path); distance = bg::length(path);
graph.set(i, j, distance);
graph.set(j, i, distance);
}
}
graph.set(i, j, distance);
graph.set(j, i, distance);
}
}
} }
bool dijkstraAlgorithm(const size_t numElements, bool dijkstraAlgorithm(
size_t startIndex, const size_t numElements, size_t startIndex, size_t endIndex,
size_t endIndex, std::vector<size_t> &elementPath,
std::vector<size_t> &elementPath, std::function<double(const size_t, const size_t)> distanceDij) {
std::function<double (const size_t, const size_t)> distanceDij) if (startIndex >= numElements || endIndex >= numElements ||
{ endIndex == startIndex) {
if ( startIndex >= numElements return false;
|| endIndex >= numElements }
|| endIndex == startIndex) { // Node struct
return false; // predecessorIndex is the index of the predecessor node
} // (nodeList[predecessorIndex]) distance is the distance between the node and
// Node struct // the start node node number is stored by the position in nodeList
// predecessorIndex is the index of the predecessor node (nodeList[predecessorIndex]) struct Node {
// distance is the distance between the node and the start node int predecessorIndex = -1;
// node number is stored by the position in nodeList double distance = std::numeric_limits<double>::infinity();
struct Node{ };
int predecessorIndex = -1;
double distance = std::numeric_limits<double>::infinity(); // The list with all Nodes (elements)
}; std::vector<Node> nodeList(numElements);
// This list will be initalized with indices referring to the elements of
// The list with all Nodes (elements) // nodeList. Elements will be successively remove during the execution of the
std::vector<Node> nodeList(numElements); // Dijkstra Algorithm.
// This list will be initalized with indices referring to the elements of nodeList. std::vector<size_t> workingSet(numElements);
// Elements will be successively remove during the execution of the Dijkstra Algorithm.
std::vector<size_t> workingSet(numElements); // append elements to node list
for (size_t i = 0; i < numElements; ++i)
//append elements to node list workingSet[i] = i;
for (size_t i = 0; i < numElements; ++i) workingSet[i] = i;
nodeList[startIndex].distance = 0;
nodeList[startIndex].distance = 0; // Dijkstra Algorithm
// https://de.wikipedia.org/wiki/Dijkstra-Algorithmus
// Dijkstra Algorithm while (workingSet.size() > 0) {
// https://de.wikipedia.org/wiki/Dijkstra-Algorithmus // serach Node with minimal distance
while (workingSet.size() > 0) { double minDist = std::numeric_limits<double>::infinity();
// serach Node with minimal distance int minDistIndex_WS = -1; // WS = workinSet
double minDist = std::numeric_limits<double>::infinity(); for (size_t i = 0; i < workingSet.size(); ++i) {
int minDistIndex_WS = -1; // WS = workinSet const int nodeIndex = workingSet.at(i);
for (size_t i = 0; i < workingSet.size(); ++i) { const double dist = nodeList.at(nodeIndex).distance;
const int nodeIndex = workingSet.at(i); if (dist < minDist) {
const double dist = nodeList.at(nodeIndex).distance; minDist = dist;
if (dist < minDist) { minDistIndex_WS = i;
minDist = dist; }
minDistIndex_WS = i; }
} if (minDistIndex_WS == -1)
} return false;
if (minDistIndex_WS == -1)
return false; size_t indexU_NL = workingSet.at(minDistIndex_WS); // NL = nodeList
workingSet.erase(workingSet.begin() + minDistIndex_WS);
size_t indexU_NL = workingSet.at(minDistIndex_WS); // NL = nodeList if (indexU_NL == endIndex) // shortest path found
workingSet.erase(workingSet.begin()+minDistIndex_WS); break;
if (indexU_NL == endIndex) // shortest path found
break; const double distanceU = nodeList.at(indexU_NL).distance;
// update distance
const double distanceU = nodeList.at(indexU_NL).distance; for (size_t i = 0; i < workingSet.size(); ++i) {
//update distance int indexV_NL = workingSet[i]; // NL = nodeList
for (size_t i = 0; i < workingSet.size(); ++i) { Node *v = &nodeList[indexV_NL];
int indexV_NL = workingSet[i]; // NL = nodeList double dist = distanceDij(indexU_NL, indexV_NL);
Node* v = &nodeList[indexV_NL]; // is ther an alternative path which is shorter?
double dist = distanceDij(indexU_NL, indexV_NL); double alternative = distanceU + dist;
// is ther an alternative path which is shorter? if (alternative < v->distance) {
double alternative = distanceU + dist; v->distance = alternative;
if (alternative < v->distance) { v->predecessorIndex = indexU_NL;
v->distance = alternative; }
v->predecessorIndex = indexU_NL; }
} }
} // end Djikstra Algorithm
} // reverse assemble path
// end Djikstra Algorithm int e = endIndex;
while (1) {
if (e == -1) {
// reverse assemble path if (elementPath[0] == startIndex) // check if starting point was reached
int e = endIndex; break;
while (1) { return false;
if (e == -1) { }
if (elementPath[0] == startIndex)// check if starting point was reached elementPath.insert(elementPath.begin(), e);
break;
return false;
}
elementPath.insert(elementPath.begin(), e);
//Update Node
e = nodeList[e].predecessorIndex;
}
return true;
}
void toDistanceMatrix(Matrix<double> &graph) // Update Node
{ e = nodeList[e].predecessorIndex;
size_t n = graph.getN(); }
return true;
auto distance = [graph](size_t i, size_t j){
return graph.get(i,j);
};
std::vector<size_t> path;
for (size_t i=0; i < n; ++i) {
for (size_t j=i+1; j < n; ++j){
double d = graph.get(i,j);
if (!std::isinf(d))
continue;
path.clear();
bool ret = dijkstraAlgorithm(n, i, j, path, distance);
assert(ret);
(void)ret;
// cout << "(" << i << "," << j << ") d: " << d << endl;
// cout << "Path size: " << path.size() << endl;
// for (auto idx : path)
// cout << idx << " ";
// cout << endl;
d = 0;
for (long k=0; k < long(path.size())-1; ++k) {
size_t idx0 = path[k];
size_t idx1 = path[k+1];
double d0 = graph.get(idx0, idx1);
assert(std::isinf(d0) == false);
d += d0;
}
graph.set(i, j, d);
graph.set(j, i, d);
}
}
} }
void shortestPathFromGraph(const Matrix<double> &graph, size_t startIndex, size_t endIndex, std::vector<size_t> &pathIdx) void toDistanceMatrix(Matrix<double> &graph) {
{ size_t n = graph.getN();
if (!std::isinf(graph.get(startIndex, endIndex))){ auto distance = [graph](size_t i, size_t j) { return graph.get(i, j); };
pathIdx.push_back(startIndex);
pathIdx.push_back(endIndex); std::vector<size_t> path;
} else { for (size_t i = 0; i < n; ++i) {
auto distance = [graph](size_t i, size_t j){ for (size_t j = i + 1; j < n; ++j) {
return graph.get(i, j); double d = graph.get(i, j);
}; if (!std::isinf(d))
bool ret = dijkstraAlgorithm(graph.getN(), startIndex, endIndex, pathIdx, distance); continue;
assert(ret); path.clear();
(void)ret; bool ret = dijkstraAlgorithm(n, i, j, path, distance);
} assert(ret);
(void)ret;
//========================================================================= // cout << "(" << i << "," << j << ") d: " << d << endl;
// Scenario calculation. // cout << "Path size: " << path.size() << endl;
//========================================================================= // for (auto idx : path)
}Scenario::Scenario() : // cout << idx << " ";
_tileWidth(5*bu::si::meter) // cout << endl;
, _tileHeight(5*bu::si::meter)
, _minTileArea(0*bu::si::meter*bu::si::meter) d = 0;
, _needsUpdate(true) for (long k = 0; k < long(path.size()) - 1; ++k) {
{ size_t idx0 = path[k];
size_t idx1 = path[k + 1];
double d0 = graph.get(idx0, idx1);
assert(std::isinf(d0) == false);
d += d0;
}
graph.set(i, j, d);
graph.set(j, i, d);
}
}
}
void shortestPathFromGraph(const Matrix<double> &graph, size_t startIndex,
size_t endIndex, std::vector<size_t> &pathIdx) {
if (!std::isinf(graph.get(startIndex, endIndex))) {
pathIdx.push_back(startIndex);
pathIdx.push_back(endIndex);
} else {
auto distance = [graph](size_t i, size_t j) { return graph.get(i, j); };
bool ret = dijkstraAlgorithm(graph.getN(), startIndex, endIndex, pathIdx,
distance);
assert(ret);
(void)ret;
}
//=========================================================================
// Scenario calculation.
//=========================================================================
} }
Scenario::Scenario()
: _tileWidth(5 * bu::si::meter), _tileHeight(5 * bu::si::meter),
_minTileArea(0 * bu::si::meter * bu::si::meter), _needsUpdate(true) {}
void Scenario::setMeasurementArea(const BoostPolygon &area) void Scenario::setMeasurementArea(const BoostPolygon &area) {
{ _needsUpdate = true;
_needsUpdate = true; _mArea = area;
_mArea = area;
} }
void Scenario::setServiceArea(const BoostPolygon &area) void Scenario::setServiceArea(const BoostPolygon &area) {
{ _needsUpdate = true;
_needsUpdate = true; _sArea = area;
_sArea = area;
} }
void Scenario::setCorridor(const BoostPolygon &area) void Scenario::setCorridor(const BoostPolygon &area) {
{ _needsUpdate = true;
_needsUpdate = true; _corridor = area;
_corridor = area;
} }
BoostPolygon &Scenario::measurementArea() { BoostPolygon &Scenario::measurementArea() {
_needsUpdate = true; _needsUpdate = true;
return _mArea; return _mArea;
} }
BoostPolygon &Scenario::serviceArea() { BoostPolygon &Scenario::serviceArea() {
_needsUpdate = true; _needsUpdate = true;
return _sArea; return _sArea;
} }
BoostPolygon &Scenario::corridor() { BoostPolygon &Scenario::corridor() {
_needsUpdate = true; _needsUpdate = true;
return _corridor; return _corridor;
} }
const BoundingBox &Scenario::mAreaBoundingBox() const const BoundingBox &Scenario::mAreaBoundingBox() const {
{ return _mAreaBoundingBox;
return _mAreaBoundingBox;
} }
const BoostPolygon &Scenario::measurementArea() const const BoostPolygon &Scenario::measurementArea() const { return _mArea; }
{
return _mArea;
}
const BoostPolygon &Scenario::serviceArea() const const BoostPolygon &Scenario::serviceArea() const { return _sArea; }
{
return _sArea;
}
const BoostPolygon &Scenario::corridor() const const BoostPolygon &Scenario::corridor() const { return _corridor; }
{
return _corridor;
}
const BoostPolygon &Scenario::joinedArea() const { const BoostPolygon &Scenario::joinedArea() const { return _jArea; }
return _jArea;
}
const vector<BoostPolygon> &Scenario::tiles() const{ const vector<BoostPolygon> &Scenario::tiles() const { return _tiles; }
return _tiles;
}
const BoostLineString &Scenario::tileCenterPoints() const{ const BoostLineString &Scenario::tileCenterPoints() const {
return _tileCenterPoints; return _tileCenterPoints;
} }
const BoundingBox &Scenario::measurementAreaBBox() const{ const BoundingBox &Scenario::measurementAreaBBox() const {
return _mAreaBoundingBox; return _mAreaBoundingBox;
} }
const BoostPoint &Scenario::homePositon() const{ const BoostPoint &Scenario::homePositon() const { return _homePosition; }
return _homePosition;
}
bool Scenario::update() bool Scenario::update() {
{ if (!_needsUpdate)
if ( !_needsUpdate )
return true;
if (!_calculateBoundingBox())
return false;
if (!_calculateTiles())
return false;
if (!_calculateJoinedArea())
return false;
_needsUpdate = false;
return true; return true;
if (!_calculateBoundingBox())
return false;
if (!_calculateTiles())
return false;
if (!_calculateJoinedArea())
return false;
_needsUpdate = false;
return true;
} }
bool Scenario::_calculateBoundingBox() bool Scenario::_calculateBoundingBox() {
{ minimalBoundingBox(_mArea, _mAreaBoundingBox);
minimalBoundingBox(_mArea, _mAreaBoundingBox); return true;
return true;
} }
/** /**
* Devides the (measurement area) bounding box into tiles and clips it to the measurement area. * Devides the (measurement area) bounding box into tiles and clips it to the
* measurement area.
* *
* Devides the (measurement area) bounding box into tiles of width \p tileWidth and height \p tileHeight. * Devides the (measurement area) bounding box into tiles of width \p tileWidth
* Clips the resulting tiles to the measurement area. Tiles are rejected, if their area is smaller than \p minTileArea. * and height \p tileHeight. Clips the resulting tiles to the measurement area.
* The function assumes that \a _mArea and \a _mAreaBoundingBox have correct values. \see \ref Scenario::_areas2enu() and \ref * Tiles are rejected, if their area is smaller than \p minTileArea. The
* Scenario::_calculateBoundingBox(). * function assumes that \a _mArea and \a _mAreaBoundingBox have correct values.
* \see \ref Scenario::_areas2enu() and \ref Scenario::_calculateBoundingBox().
* *
* @param tileWidth The width (>0) of a tile. * @param tileWidth The width (>0) of a tile.
* @param tileHeight The heigth (>0) of a tile. * @param tileHeight The heigth (>0) of a tile.
...@@ -502,585 +469,585 @@ bool Scenario::_calculateBoundingBox() ...@@ -502,585 +469,585 @@ bool Scenario::_calculateBoundingBox()
* *
* @return Returns true if successful. * @return Returns true if successful.
*/ */
bool Scenario::_calculateTiles() bool Scenario::_calculateTiles() {
{ _tiles.clear();
_tiles.clear(); _tileCenterPoints.clear();
_tileCenterPoints.clear();
if (_tileWidth <= 0 * bu::si::meter || _tileHeight <= 0 * bu::si::meter ||
if (_tileWidth <= 0*bu::si::meter _minTileArea <= 0 * bu::si::meter * bu::si::meter) {
|| _tileHeight <= 0*bu::si::meter errorString =
|| _minTileArea <= 0*bu::si::meter*bu::si::meter "Parameters tileWidth, tileHeight, minTileArea must be positive.";
) return false;
{ }
errorString = "Parameters tileWidth, tileHeight, minTileArea must be positive.";
return false; double bboxWidth = _mAreaBoundingBox.width;
} double bboxHeight = _mAreaBoundingBox.height;
double bboxWidth = _mAreaBoundingBox.width; BoostPoint origin = _mAreaBoundingBox.corners.outer()[0];
double bboxHeight = _mAreaBoundingBox.height;
// cout << "Origin: " << origin[0] << " " << origin[1] << endl;
BoostPoint origin = _mAreaBoundingBox.corners.outer()[0]; // Transform _mArea polygon to bounding box coordinate system.
trans::rotate_transformer<boost::geometry::degree, double, 2, 2> rotate(
//cout << "Origin: " << origin[0] << " " << origin[1] << endl; _mAreaBoundingBox.angle * 180 / M_PI);
// Transform _mArea polygon to bounding box coordinate system. trans::translate_transformer<double, 2, 2> translate(-origin.get<0>(),
trans::rotate_transformer<boost::geometry::degree, double, 2, 2> rotate(_mAreaBoundingBox.angle*180/M_PI); -origin.get<1>());
trans::translate_transformer<double, 2, 2> translate(-origin.get<0>(), -origin.get<1>()); BoostPolygon translated_polygon;
BoostPolygon translated_polygon; BoostPolygon rotated_polygon;
BoostPolygon rotated_polygon; boost::geometry::transform(_mArea, translated_polygon, translate);
boost::geometry::transform(_mArea, translated_polygon, translate); boost::geometry::transform(translated_polygon, rotated_polygon, rotate);
boost::geometry::transform(translated_polygon, rotated_polygon, rotate); bg::correct(rotated_polygon);
bg::correct(rotated_polygon);
// cout << bg::wkt<BoostPolygon2D>(rotated_polygon) << endl;
//cout << bg::wkt<BoostPolygon2D>(rotated_polygon) << endl;
size_t iMax = ceil(bboxWidth / _tileWidth.value());
size_t iMax = ceil(bboxWidth/_tileWidth.value()); size_t jMax = ceil(bboxHeight / _tileHeight.value());
size_t jMax = ceil(bboxHeight/_tileHeight.value());
if (iMax < 1 || jMax < 1) {
if (iMax < 1 || jMax < 1) { std::stringstream ss;
std::stringstream ss; ss << "Tile width or Tile height to large. "
ss << "Tile width or Tile height to large. " << "tile width = " << _tileWidth << ", "
<< "tile width = " << _tileWidth << ", " << "tile height = " << _tileHeight << "." << std::endl;
<< "tile height = " << _tileHeight << "." << std::endl; errorString = ss.str();
errorString = ss.str(); return false;
return false; }
}
trans::rotate_transformer<boost::geometry::degree, double, 2, 2> rotate_back(
-_mAreaBoundingBox.angle * 180 / M_PI);
trans::rotate_transformer<boost::geometry::degree, double, 2, 2> rotate_back(-_mAreaBoundingBox.angle*180/M_PI); trans::translate_transformer<double, 2, 2> translate_back(origin.get<0>(),
trans::translate_transformer<double, 2, 2> translate_back(origin.get<0>(), origin.get<1>()); origin.get<1>());
for (size_t i = 0; i < iMax; ++i){ for (size_t i = 0; i < iMax; ++i) {
double x_min = _tileWidth.value()*i; double x_min = _tileWidth.value() * i;
double x_max = x_min + _tileWidth.value(); double x_max = x_min + _tileWidth.value();
for (size_t j = 0; j < jMax; ++j){ for (size_t j = 0; j < jMax; ++j) {
double y_min = _tileHeight.value()*j; double y_min = _tileHeight.value() * j;
double y_max = y_min + _tileHeight.value(); double y_max = y_min + _tileHeight.value();
BoostPolygon tile_unclipped; BoostPolygon tile_unclipped;
tile_unclipped.outer().push_back(BoostPoint{x_min, y_min}); tile_unclipped.outer().push_back(BoostPoint{x_min, y_min});
tile_unclipped.outer().push_back(BoostPoint{x_min, y_max}); tile_unclipped.outer().push_back(BoostPoint{x_min, y_max});
tile_unclipped.outer().push_back(BoostPoint{x_max, y_max}); tile_unclipped.outer().push_back(BoostPoint{x_max, y_max});
tile_unclipped.outer().push_back(BoostPoint{x_max, y_min}); tile_unclipped.outer().push_back(BoostPoint{x_max, y_min});
tile_unclipped.outer().push_back(BoostPoint{x_min, y_min}); tile_unclipped.outer().push_back(BoostPoint{x_min, y_min});
std::deque<BoostPolygon> boost_tiles;
std::deque<BoostPolygon> boost_tiles; if (!boost::geometry::intersection(tile_unclipped, rotated_polygon,
if (!boost::geometry::intersection(tile_unclipped, rotated_polygon, boost_tiles)) boost_tiles))
continue; continue;
for (BoostPolygon t : boost_tiles) for (BoostPolygon t : boost_tiles) {
{ if (bg::area(t) > _minTileArea.value()) {
if (bg::area(t) > _minTileArea.value()){ // Transform boost_tile to world coordinate system.
// Transform boost_tile to world coordinate system. BoostPolygon rotated_tile;
BoostPolygon rotated_tile; BoostPolygon translated_tile;
BoostPolygon translated_tile; boost::geometry::transform(t, rotated_tile, rotate_back);
boost::geometry::transform(t, rotated_tile, rotate_back); boost::geometry::transform(rotated_tile, translated_tile,
boost::geometry::transform(rotated_tile, translated_tile, translate_back); translate_back);
// Store tile and calculate center point. // Store tile and calculate center point.
_tiles.push_back(translated_tile); _tiles.push_back(translated_tile);
BoostPoint tile_center; BoostPoint tile_center;
polygonCenter(translated_tile, tile_center); polygonCenter(translated_tile, tile_center);
_tileCenterPoints.push_back(tile_center); _tileCenterPoints.push_back(tile_center);
}
}
} }
}
} }
}
if (_tiles.size() < 1){ if (_tiles.size() < 1) {
errorString = "No tiles calculated. Is the minTileArea parameter large enough?"; errorString =
return false; "No tiles calculated. Is the minTileArea parameter large enough?";
} return false;
}
return true; return true;
} }
bool Scenario::_calculateJoinedArea() bool Scenario::_calculateJoinedArea() {
{ _jArea.clear();
_jArea.clear(); // Measurement area and service area overlapping?
// Measurement area and service area overlapping? bool overlapingSerMeas = bg::intersects(_mArea, _sArea) ? true : false;
bool overlapingSerMeas = bg::intersects(_mArea, _sArea) ? true : false; bool corridorValid = _corridor.outer().size() > 0 ? true : false;
bool corridorValid = _corridor.outer().size() > 0 ? true : false;
// Check if corridor is connecting measurement area and service area.
bool corridor_is_connection = false;
// Check if corridor is connecting measurement area and service area. if (corridorValid) {
bool corridor_is_connection = false; // Corridor overlaping with measurement area?
if (corridorValid) { if (bg::intersects(_corridor, _mArea)) {
// Corridor overlaping with measurement area? // Corridor overlaping with service area?
if ( bg::intersects(_corridor, _mArea) ) { if (bg::intersects(_corridor, _sArea)) {
// Corridor overlaping with service area? corridor_is_connection = true;
if ( bg::intersects(_corridor, _sArea) ) { }
corridor_is_connection = true;
}
}
} }
}
// Are areas joinable?
std::deque<BoostPolygon> sol; // Are areas joinable?
BoostPolygon partialArea = _mArea; std::deque<BoostPolygon> sol;
if (overlapingSerMeas){ BoostPolygon partialArea = _mArea;
if(corridor_is_connection){ if (overlapingSerMeas) {
bg::union_(partialArea, _corridor, sol); if (corridor_is_connection) {
} bg::union_(partialArea, _corridor, sol);
} else if (corridor_is_connection){
bg::union_(partialArea, _corridor, sol);
} else {
errorString = "Areas are not overlapping";
return false;
}
if (sol.size() > 0) {
partialArea = sol[0];
sol.clear();
} }
} else if (corridor_is_connection) {
// Join areas. bg::union_(partialArea, _corridor, sol);
bg::union_(partialArea, _sArea, sol); } else {
errorString = "Areas are not overlapping";
if (sol.size() > 0) { return false;
_jArea = sol[0]; }
} else {
return false; if (sol.size() > 0) {
} partialArea = sol[0];
sol.clear();
return true; }
// Join areas.
bg::union_(partialArea, _sArea, sol);
if (sol.size() > 0) {
_jArea = sol[0];
} else {
return false;
}
return true;
} }
Area Scenario::minTileArea() const Area Scenario::minTileArea() const { return _minTileArea; }
{
return _minTileArea;
}
void Scenario::setMinTileArea(Area minTileArea) void Scenario::setMinTileArea(Area minTileArea) {
{ if (minTileArea >= 0 * bu::si::meter * bu::si::meter) {
if ( minTileArea >= 0*bu::si::meter*bu::si::meter){ _needsUpdate = true;
_needsUpdate = true; _minTileArea = minTileArea;
_minTileArea = minTileArea; }
}
} }
Length Scenario::tileHeight() const Length Scenario::tileHeight() const { return _tileHeight; }
{
return _tileHeight;
}
void Scenario::setTileHeight(Length tileHeight) void Scenario::setTileHeight(Length tileHeight) {
{ if (tileHeight > 0 * bu::si::meter) {
if ( tileHeight > 0*bu::si::meter) { _needsUpdate = true;
_needsUpdate = true; _tileHeight = tileHeight;
_tileHeight = tileHeight; }
}
} }
Length Scenario::tileWidth() const Length Scenario::tileWidth() const { return _tileWidth; }
{
return _tileWidth;
}
void Scenario::setTileWidth(Length tileWidth) void Scenario::setTileWidth(Length tileWidth) {
{ if (tileWidth > 0 * bu::si::meter) {
if ( tileWidth > 0*bu::si::meter ){ _needsUpdate = true;
_needsUpdate = true; _tileWidth = tileWidth;
_tileWidth = tileWidth; }
}
} }
//========================================================================= //=========================================================================
// Tile calculation. // Tile calculation.
//========================================================================= //=========================================================================
bool joinAreas(const std::vector<BoostPolygon> &areas, BoostPolygon &joinedArea) bool joinAreas(const std::vector<BoostPolygon> &areas,
{ BoostPolygon &joinedArea) {
if (areas.size() < 1) if (areas.size() < 1)
return false; return false;
std::deque<std::size_t> idxList; std::deque<std::size_t> idxList;
for(size_t i = 1; i < areas.size(); ++i) for (size_t i = 1; i < areas.size(); ++i)
idxList.push_back(i); idxList.push_back(i);
joinedArea = areas[0]; joinedArea = areas[0];
std::deque<BoostPolygon> sol; std::deque<BoostPolygon> sol;
while (idxList.size() > 0){ while (idxList.size() > 0) {
bool success = false; bool success = false;
for (auto it = idxList.begin(); it != idxList.end(); ++it){ for (auto it = idxList.begin(); it != idxList.end(); ++it) {
bg::union_(joinedArea, areas[*it], sol); bg::union_(joinedArea, areas[*it], sol);
if (sol.size() > 0) { if (sol.size() > 0) {
joinedArea = sol[0]; joinedArea = sol[0];
sol.clear(); sol.clear();
idxList.erase(it); idxList.erase(it);
success = true; success = true;
break; break;
} }
}
if ( !success )
return false;
} }
if (!success)
return false;
}
return true; return true;
} }
BoundingBox::BoundingBox() : BoundingBox::BoundingBox() : width(0), height(0), angle(0) {}
width(0)
, height(0)
, angle(0)
{
void BoundingBox::clear() {
width = 0;
height = 0;
angle = 0;
corners.clear();
} }
void BoundingBox::clear() bool flight_plan::transectsFromScenario(Length distance, Length minLength,
{ Angle angle, const Scenario &scenario,
width = 0;
height = 0;
angle = 0;
corners.clear();
}
bool flight_plan::transectsFromScenario(Length distance,
Length minLength,
Angle angle,
const Scenario &scenario,
const Progress &p, const Progress &p,
flight_plan::Transects &t, flight_plan::Transects &t,
string &errorString) string &errorString) {
{ // Rotate measurement area by angle and calculate bounding box.
// Rotate measurement area by angle and calculate bounding box. auto &mArea = scenario.measurementArea();
auto &mArea = scenario.measurementArea(); BoostPolygon mAreaRotated;
BoostPolygon mAreaRotated; trans::rotate_transformer<bg::degree, double, 2, 2> rotate(-angle.value() *
trans::rotate_transformer<bg::degree, double, 2, 2> rotate(-angle.value()*180/M_PI); 180 / M_PI);
bg::transform(mArea, mAreaRotated, rotate); bg::transform(mArea, mAreaRotated, rotate);
BoostBox box; BoostBox box;
boost::geometry::envelope(mAreaRotated, box); boost::geometry::envelope(mAreaRotated, box);
double x0 = box.min_corner().get<0>(); double x0 = box.min_corner().get<0>();
double y0 = box.min_corner().get<1>(); double y0 = box.min_corner().get<1>();
double x1 = box.max_corner().get<0>(); double x1 = box.max_corner().get<0>();
double y1 = box.max_corner().get<1>(); double y1 = box.max_corner().get<1>();
// Generate transects and convert them to clipper path. // Generate transects and convert them to clipper path.
size_t num_t = int(ceil((y1 - y0)/distance.value())); // number of transects size_t num_t = int(ceil((y1 - y0) / distance.value())); // number of transects
trans::rotate_transformer<bg::degree, double, 2, 2> rotate_back(angle.value()*180/M_PI); trans::rotate_transformer<bg::degree, double, 2, 2> rotate_back(
vector<ClipperLib::Path> transectsClipper; angle.value() * 180 / M_PI);
transectsClipper.reserve(num_t); vector<ClipperLib::Path> transectsClipper;
for (size_t i=0; i < num_t; ++i) { transectsClipper.reserve(num_t);
// calculate transect for (size_t i = 0; i < num_t; ++i) {
BoostPoint v1{x0, y0 + i*distance.value()}; // calculate transect
BoostPoint v2{x1, y0 + i*distance.value()}; BoostPoint v1{x0, y0 + i * distance.value()};
BoostLineString transect; BoostPoint v2{x1, y0 + i * distance.value()};
transect.push_back(v1); BoostLineString transect;
transect.push_back(v2); transect.push_back(v1);
transect.push_back(v2);
// transform back
BoostLineString temp_transect; // transform back
bg::transform(transect, temp_transect, rotate_back); BoostLineString temp_transect;
bg::transform(transect, temp_transect, rotate_back);
ClipperLib::IntPoint c1{static_cast<ClipperLib::cInt>(transect[0].get<0>()*CLIPPER_SCALE), ClipperLib::IntPoint c1{
static_cast<ClipperLib::cInt>(transect[0].get<1>()*CLIPPER_SCALE)}; static_cast<ClipperLib::cInt>(transect[0].get<0>() * CLIPPER_SCALE),
ClipperLib::IntPoint c2{static_cast<ClipperLib::cInt>(transect[1].get<0>()*CLIPPER_SCALE), static_cast<ClipperLib::cInt>(transect[0].get<1>() * CLIPPER_SCALE)};
static_cast<ClipperLib::cInt>(transect[1].get<1>()*CLIPPER_SCALE)}; ClipperLib::IntPoint c2{
ClipperLib::Path path{c1, c2}; static_cast<ClipperLib::cInt>(transect[1].get<0>() * CLIPPER_SCALE),
transectsClipper.push_back(path); static_cast<ClipperLib::cInt>(transect[1].get<1>() * CLIPPER_SCALE)};
} ClipperLib::Path path{c1, c2};
transectsClipper.push_back(path);
if (transectsClipper.size() == 0){ }
std::stringstream ss;
ss << "Not able to generate transects. Parameter: distance = " << distance << std::endl; if (transectsClipper.size() == 0) {
errorString = ss.str(); std::stringstream ss;
return false; ss << "Not able to generate transects. Parameter: distance = " << distance
<< std::endl;
errorString = ss.str();
return false;
}
// Convert measurement area to clipper path.
ClipperLib::Path mAreaClipper;
for (auto vertex : mArea.outer()) {
mAreaClipper.push_back(ClipperLib::IntPoint{
static_cast<ClipperLib::cInt>(vertex.get<0>() * CLIPPER_SCALE),
static_cast<ClipperLib::cInt>(vertex.get<1>() * CLIPPER_SCALE)});
}
// Perform clipping.
// Clip transects to measurement area.
ClipperLib::Clipper clipper;
clipper.AddPath(mAreaClipper, ClipperLib::ptClip, true);
clipper.AddPaths(transectsClipper, ClipperLib::ptSubject, false);
ClipperLib::PolyTree clippedTransecs;
clipper.Execute(ClipperLib::ctIntersection, clippedTransecs,
ClipperLib::pftNonZero, ClipperLib::pftNonZero);
auto &transects = clippedTransecs;
bool ignoreProgress = p.size() != scenario.tiles().size();
ClipperLib::PolyTree clippedTransecs2;
if (!ignoreProgress) {
// Calculate processed tiles (_progress[i] == 100) and subtract them from
// measurement area.
size_t numTiles = p.size();
vector<BoostPolygon> processedTiles;
const auto &tiles = scenario.tiles();
for (size_t i = 0; i < numTiles; ++i) {
if (p[i] == 100) {
processedTiles.push_back(tiles[i]);
}
} }
// Convert measurement area to clipper path. if (processedTiles.size() != numTiles) {
ClipperLib::Path mAreaClipper; vector<ClipperLib::Path> processedTilesClipper;
for ( auto vertex : mArea.outer() ){ for (auto t : processedTiles) {
mAreaClipper.push_back(ClipperLib::IntPoint{static_cast<ClipperLib::cInt>(vertex.get<0>()*CLIPPER_SCALE), ClipperLib::Path path;
static_cast<ClipperLib::cInt>(vertex.get<1>()*CLIPPER_SCALE)}); for (auto vertex : t.outer()) {
} path.push_back(ClipperLib::IntPoint{
static_cast<ClipperLib::cInt>(vertex.get<0>() * CLIPPER_SCALE),
// Perform clipping. static_cast<ClipperLib::cInt>(vertex.get<1>() * CLIPPER_SCALE)});
// Clip transects to measurement area.
ClipperLib::Clipper clipper;
clipper.AddPath(mAreaClipper, ClipperLib::ptClip, true);
clipper.AddPaths(transectsClipper, ClipperLib::ptSubject, false);
ClipperLib::PolyTree clippedTransecs;
clipper.Execute(ClipperLib::ctIntersection, clippedTransecs, ClipperLib::pftNonZero, ClipperLib::pftNonZero);
auto &transects = clippedTransecs;
bool ignoreProgress = p.size() != scenario.tiles().size();
ClipperLib::PolyTree clippedTransecs2;
if ( !ignoreProgress ) {
// Calculate processed tiles (_progress[i] == 100) and subtract them from measurement area.
size_t numTiles = p.size();
vector<BoostPolygon> processedTiles;
const auto &tiles = scenario.tiles();
for (size_t i=0; i<numTiles; ++i) {
if (p[i] == 100){
processedTiles.push_back(tiles[i]);
}
}
if (processedTiles.size() != numTiles){
vector<ClipperLib::Path> processedTilesClipper;
for (auto t : processedTiles){
ClipperLib::Path path;
for (auto vertex : t.outer()){
path.push_back(ClipperLib::IntPoint{static_cast<ClipperLib::cInt>(vertex.get<0>()*CLIPPER_SCALE),
static_cast<ClipperLib::cInt>(vertex.get<1>()*CLIPPER_SCALE)});
}
processedTilesClipper.push_back(path);
}
// Subtract holes (tiles with measurement_progress == 100) from transects.
clipper.Clear();
for (auto &child : clippedTransecs.Childs)
clipper.AddPath(child->Contour, ClipperLib::ptSubject, false);
clipper.AddPaths(processedTilesClipper, ClipperLib::ptClip, true);
clipper.Execute(ClipperLib::ctDifference, clippedTransecs2, ClipperLib::pftNonZero, ClipperLib::pftNonZero);
transects = clippedTransecs2;
} }
processedTilesClipper.push_back(path);
}
// Subtract holes (tiles with measurement_progress == 100) from transects.
clipper.Clear();
for (auto &child : clippedTransecs.Childs)
clipper.AddPath(child->Contour, ClipperLib::ptSubject, false);
clipper.AddPaths(processedTilesClipper, ClipperLib::ptClip, true);
clipper.Execute(ClipperLib::ctDifference, clippedTransecs2,
ClipperLib::pftNonZero, ClipperLib::pftNonZero);
transects = clippedTransecs2;
} }
}
// Extract transects from PolyTree and convert them to BoostLineString
for (auto &child : transects.Childs){ // Extract transects from PolyTree and convert them to BoostLineString
auto &clipperTransect = child->Contour; for (auto &child : transects.Childs) {
BoostPoint v1{static_cast<double>(clipperTransect[0].X)/CLIPPER_SCALE, auto &clipperTransect = child->Contour;
static_cast<double>(clipperTransect[0].Y)/CLIPPER_SCALE}; BoostPoint v1{static_cast<double>(clipperTransect[0].X) / CLIPPER_SCALE,
BoostPoint v2{static_cast<double>(clipperTransect[1].X)/CLIPPER_SCALE, static_cast<double>(clipperTransect[0].Y) / CLIPPER_SCALE};
static_cast<double>(clipperTransect[1].Y)/CLIPPER_SCALE}; BoostPoint v2{static_cast<double>(clipperTransect[1].X) / CLIPPER_SCALE,
static_cast<double>(clipperTransect[1].Y) / CLIPPER_SCALE};
BoostLineString transect{v1, v2};
if (bg::length(transect) >= minLength.value()) BoostLineString transect{v1, v2};
t.push_back(transect); if (bg::length(transect) >= minLength.value())
} t.push_back(transect);
}
if (t.size() == 0){
std::stringstream ss; if (t.size() == 0) {
ss << "Not able to generate transects. Parameter: minLength = " << minLength << std::endl; std::stringstream ss;
errorString = ss.str(); ss << "Not able to generate transects. Parameter: minLength = " << minLength
return false; << std::endl;
} errorString = ss.str();
return true; return false;
}
return true;
} }
struct RoutingDataModel {
Matrix<int64_t> distanceMatrix;
struct RoutingDataModel{ long numVehicles;
Matrix<int64_t> distanceMatrix; RoutingIndexManager::NodeIndex depot;
long numVehicles;
RoutingIndexManager::NodeIndex depot;
}; };
void generateRoutingModel(const BoostLineString &vertices, void generateRoutingModel(const BoostLineString &vertices,
const BoostPolygon &polygonOffset, const BoostPolygon &polygonOffset, size_t n0,
size_t n0, RoutingDataModel &dataModel, Matrix<double> &graph) {
RoutingDataModel &dataModel,
Matrix<double> &graph){
#ifdef SHOW_TIME #ifdef SHOW_TIME
auto start = std::chrono::high_resolution_clock::now(); auto start = std::chrono::high_resolution_clock::now();
#endif #endif
graphFromPolygon(polygonOffset, vertices, graph); graphFromPolygon(polygonOffset, vertices, graph);
#ifdef SHOW_TIME #ifdef SHOW_TIME
auto delta = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now()-start); auto delta = std::chrono::duration_cast<std::chrono::milliseconds>(
cout << "Execution time graphFromPolygon(): " << delta.count() << " ms" << endl; std::chrono::high_resolution_clock::now() - start);
cout << "Execution time graphFromPolygon(): " << delta.count() << " ms"
<< endl;
#endif #endif
Matrix<double> distanceMatrix(graph); Matrix<double> distanceMatrix(graph);
#ifdef SHOW_TIME #ifdef SHOW_TIME
start = std::chrono::high_resolution_clock::now(); start = std::chrono::high_resolution_clock::now();
#endif #endif
toDistanceMatrix(distanceMatrix); toDistanceMatrix(distanceMatrix);
#ifdef SHOW_TIME #ifdef SHOW_TIME
delta = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now()-start); delta = std::chrono::duration_cast<std::chrono::milliseconds>(
cout << "Execution time toDistanceMatrix(): " << delta.count() << " ms" << endl; std::chrono::high_resolution_clock::now() - start);
cout << "Execution time toDistanceMatrix(): " << delta.count() << " ms"
<< endl;
#endif #endif
dataModel.distanceMatrix.setDimension(n0, n0); dataModel.distanceMatrix.setDimension(n0, n0);
for (size_t i=0; i<n0; ++i){ for (size_t i = 0; i < n0; ++i) {
dataModel.distanceMatrix.set(i, i, 0); dataModel.distanceMatrix.set(i, i, 0);
for (size_t j=i+1; j<n0; ++j){ for (size_t j = i + 1; j < n0; ++j) {
dataModel.distanceMatrix.set(i, j, int64_t(distanceMatrix.get(i, j)*CLIPPER_SCALE)); dataModel.distanceMatrix.set(
dataModel.distanceMatrix.set(j, i, int64_t(distanceMatrix.get(i, j)*CLIPPER_SCALE)); i, j, int64_t(distanceMatrix.get(i, j) * CLIPPER_SCALE));
} dataModel.distanceMatrix.set(
j, i, int64_t(distanceMatrix.get(i, j) * CLIPPER_SCALE));
} }
dataModel.numVehicles = 1; }
dataModel.depot = 0; dataModel.numVehicles = 1;
dataModel.depot = 0;
} }
bool flight_plan::route(const BoostPolygon &area, bool flight_plan::route(const BoostPolygon &area,
const flight_plan::Transects &transects, const flight_plan::Transects &transects,
Transects &transectsRouted, Transects &transectsRouted, flight_plan::Route &route,
flight_plan::Route &route, string &errorString) {
string &errorString) //=======================================
{ // Route Transects using Google or-tools.
//======================================= //=======================================
// Route Transects using Google or-tools.
//======================================= // Create vertex list;
BoostLineString vertices;
// Create vertex list; size_t n0 = 0;
BoostLineString vertices; for (const auto &t : transects) {
size_t n0 = 0; if (t.size() >= 2) {
for ( const auto &t : transects){ n0 += 2;
if (t.size() >= 2){ } else {
n0 += 2; n0 += 1;
} else {
n0 += 1;
}
}
vertices.reserve(n0);
struct TransectInfo{
TransectInfo(size_t n, bool f)
: index(n)
, front(f)
{}
size_t index;
bool front;
};
std::vector<TransectInfo> transectInfoList;
size_t idx = 0;
for ( size_t i=0; i<transects.size(); ++i){
const auto &t = transects[i];
vertices.push_back(t.front());
transectInfoList.push_back(TransectInfo{i, true});
if (t.size() >= 2){
vertices.push_back(t.back());
transectInfoList.push_back(TransectInfo{i, false});
}
}
for (long i=0; i<long(area.outer().size())-1; ++i) {
vertices.push_back(area.outer()[i]);
} }
for (auto &ring : area.inners()) { }
for (auto &vertex : ring) vertices.reserve(n0);
vertices.push_back(vertex); struct TransectInfo {
TransectInfo(size_t n, bool f) : index(n), front(f) {}
size_t index;
bool front;
};
std::vector<TransectInfo> transectInfoList;
size_t idx = 0;
for (size_t i = 0; i < transects.size(); ++i) {
const auto &t = transects[i];
vertices.push_back(t.front());
transectInfoList.push_back(TransectInfo{i, true});
if (t.size() >= 2) {
vertices.push_back(t.back());
transectInfoList.push_back(TransectInfo{i, false});
} }
size_t n1 = vertices.size(); }
// Generate routing model.
RoutingDataModel dataModel; for (long i = 0; i < long(area.outer().size()) - 1; ++i) {
Matrix<double> connectionGraph(n1, n1); vertices.push_back(area.outer()[i]);
// Offset joined area. }
BoostPolygon areaOffset; for (auto &ring : area.inners()) {
offsetPolygon(area, areaOffset, detail::offsetConstant); for (auto &vertex : ring)
vertices.push_back(vertex);
}
size_t n1 = vertices.size();
// Generate routing model.
RoutingDataModel dataModel;
Matrix<double> connectionGraph(n1, n1);
// Offset joined area.
BoostPolygon areaOffset;
offsetPolygon(area, areaOffset, detail::offsetConstant);
#ifdef SHOW_TIME #ifdef SHOW_TIME
start = std::chrono::high_resolution_clock::now(); start = std::chrono::high_resolution_clock::now();
#endif #endif
generateRoutingModel(vertices, areaOffset, n0, dataModel, connectionGraph); generateRoutingModel(vertices, areaOffset, n0, dataModel, connectionGraph);
#ifdef SHOW_TIME #ifdef SHOW_TIME
delta = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now() - start); delta = std::chrono::duration_cast<std::chrono::milliseconds>(
cout << "Execution time _generateRoutingModel(): " << delta.count() << " ms" << endl; std::chrono::high_resolution_clock::now() - start);
cout << "Execution time _generateRoutingModel(): " << delta.count() << " ms"
<< endl;
#endif #endif
// Create Routing Index Manager. // Create Routing Index Manager.
RoutingIndexManager manager(dataModel.distanceMatrix.getN(), dataModel.numVehicles, RoutingIndexManager manager(dataModel.distanceMatrix.getN(),
dataModel.depot); dataModel.numVehicles, dataModel.depot);
// Create Routing Model. // Create Routing Model.
RoutingModel routing(manager); RoutingModel routing(manager);
// Create and register a transit callback. // Create and register a transit callback.
const int transitCallbackIndex = routing.RegisterTransitCallback( const int transitCallbackIndex = routing.RegisterTransitCallback(
[&dataModel, &manager](int64 from_index, int64 to_index) -> int64 { [&dataModel, &manager](int64 from_index, int64 to_index) -> int64 {
// Convert from routing variable Index to distance matrix NodeIndex. // Convert from routing variable Index to distance matrix NodeIndex.
auto from_node = manager.IndexToNode(from_index).value(); auto from_node = manager.IndexToNode(from_index).value();
auto to_node = manager.IndexToNode(to_index).value(); auto to_node = manager.IndexToNode(to_index).value();
return dataModel.distanceMatrix.get(from_node, to_node); return dataModel.distanceMatrix.get(from_node, to_node);
}); });
// Define cost of each arc. // Define cost of each arc.
routing.SetArcCostEvaluatorOfAllVehicles(transitCallbackIndex); routing.SetArcCostEvaluatorOfAllVehicles(transitCallbackIndex);
// Define Constraints (this constraints have a huge impact on the
// Define Constraints (this constraints have a huge impact on the // solving time, improvments could be done, e.g. SearchFilter).
// solving time, improvments could be done, e.g. SearchFilter). Solver *solver = routing.solver();
Solver *solver = routing.solver(); size_t index = 0;
size_t index = 0; for (size_t i = 0; i < transects.size(); ++i) {
for (size_t i=0; i<transects.size(); ++i){ const auto &t = transects[i];
const auto& t = transects[i]; if (t.size() >= 2) {
if (t.size() >= 2){ auto idx0 = manager.NodeToIndex(RoutingIndexManager::NodeIndex(index));
auto idx0 = manager.NodeToIndex(RoutingIndexManager::NodeIndex(index)); auto idx1 =
auto idx1 = manager.NodeToIndex(RoutingIndexManager::NodeIndex(index+1)); manager.NodeToIndex(RoutingIndexManager::NodeIndex(index + 1));
auto cond0 = routing.NextVar(idx0)->IsEqual(idx1); auto cond0 = routing.NextVar(idx0)->IsEqual(idx1);
auto cond1 = routing.NextVar(idx1)->IsEqual(idx0); auto cond1 = routing.NextVar(idx1)->IsEqual(idx0);
vector<IntVar*> conds{cond0, cond1}; vector<IntVar *> conds{cond0, cond1};
auto c = solver->MakeAllDifferent(conds); auto c = solver->MakeAllDifferent(conds);
solver->MakeRejectFilter(); solver->MakeRejectFilter();
solver->AddConstraint(c); solver->AddConstraint(c);
index += 2; index += 2;
} else { } else {
index += 1; index += 1;
}
} }
}
// Setting first solution heuristic.
RoutingSearchParameters searchParameters = DefaultRoutingSearchParameters(); // Setting first solution heuristic.
searchParameters.set_first_solution_strategy( RoutingSearchParameters searchParameters = DefaultRoutingSearchParameters();
FirstSolutionStrategy::PATH_CHEAPEST_ARC); searchParameters.set_first_solution_strategy(
google::protobuf::Duration *tMax = new google::protobuf::Duration(); // seconds FirstSolutionStrategy::PATH_CHEAPEST_ARC);
tMax->set_seconds(10); google::protobuf::Duration *tMax =
searchParameters.set_allocated_time_limit(tMax); new google::protobuf::Duration(); // seconds
tMax->set_seconds(10);
// Solve the problem. searchParameters.set_allocated_time_limit(tMax);
// Solve the problem.
#ifdef SHOW_TIME #ifdef SHOW_TIME
start = std::chrono::high_resolution_clock::now(); start = std::chrono::high_resolution_clock::now();
#endif #endif
const Assignment* solution = routing.SolveWithParameters(searchParameters); const Assignment *solution = routing.SolveWithParameters(searchParameters);
#ifdef SHOW_TIME #ifdef SHOW_TIME
delta = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now() - start); delta = std::chrono::duration_cast<std::chrono::milliseconds>(
cout << "Execution time routing.SolveWithParameters(): " << delta.count() << " ms" << endl; std::chrono::high_resolution_clock::now() - start);
cout << "Execution time routing.SolveWithParameters(): " << delta.count()
<< " ms" << endl;
#endif #endif
if (!solution || solution->Size() <= 1){ if (!solution || solution->Size() <= 1) {
errorString = "Not able to solve the routing problem."; errorString = "Not able to solve the routing problem.";
return false; return false;
} }
// Extract index list from solution. // Extract index list from solution.
index = routing.Start(0); index = routing.Start(0);
std::vector<size_t> route_idx; std::vector<size_t> route_idx;
route_idx.push_back(manager.IndexToNode(index).value());
while (!routing.IsEnd(index)) {
index = solution->Value(routing.NextVar(index));
route_idx.push_back(manager.IndexToNode(index).value()); route_idx.push_back(manager.IndexToNode(index).value());
while (!routing.IsEnd(index)){ }
index = solution->Value(routing.NextVar(index));
route_idx.push_back(manager.IndexToNode(index).value());
}
// Helper Lambda. // Helper Lambda.
auto idx2Vertex = [&vertices](const std::vector<size_t> &idxArray, auto idx2Vertex = [&vertices](const std::vector<size_t> &idxArray,
std::vector<BoostPoint> &path){ std::vector<BoostPoint> &path) {
for (auto idx : idxArray) for (auto idx : idxArray)
path.push_back(vertices[idx]); path.push_back(vertices[idx]);
}; };
// Construct route. // Construct route.
for (size_t i=0; i<route_idx.size()-1; ++i){ for (size_t i = 0; i < route_idx.size() - 1; ++i) {
size_t idx0 = route_idx[i]; size_t idx0 = route_idx[i];
size_t idx1 = route_idx[i+1]; size_t idx1 = route_idx[i + 1];
const auto &info1 = transectInfoList[idx0]; const auto &info1 = transectInfoList[idx0];
const auto &info2 = transectInfoList[idx1]; const auto &info2 = transectInfoList[idx1];
if (info1.index == info2.index) { // same transect? if (info1.index == info2.index) { // same transect?
if ( !info1.front ) { // transect reversal needed? if (!info1.front) { // transect reversal needed?
BoostLineString reversedTransect; BoostLineString reversedTransect;
const auto &t = transects[info1.index]; const auto &t = transects[info1.index];
for ( auto it = t.end()-1; it >= t.begin(); --it){ for (auto it = t.end() - 1; it >= t.begin(); --it) {
reversedTransect.push_back(*it); reversedTransect.push_back(*it);
} }
transectsRouted.push_back(reversedTransect); transectsRouted.push_back(reversedTransect);
for (auto it = reversedTransect.begin(); it < reversedTransect.end()-1; ++it){ for (auto it = reversedTransect.begin();
route.push_back(*it); it < reversedTransect.end() - 1; ++it) {
} route.push_back(*it);
} else {
const auto &t = transects[info1.index];
for ( auto it = t.begin(); it < t.end()-1; ++it){
route.push_back(*it);
}
transectsRouted.push_back(t);
}
} else {
std::vector<size_t> idxList;
shortestPathFromGraph(connectionGraph, idx0, idx1, idxList);
if ( i != route_idx.size()-2){
idxList.pop_back();
}
idx2Vertex(idxList, route);
} }
} else {
const auto &t = transects[info1.index];
for (auto it = t.begin(); it < t.end() - 1; ++it) {
route.push_back(*it);
}
transectsRouted.push_back(t);
}
} else {
std::vector<size_t> idxList;
shortestPathFromGraph(connectionGraph, idx0, idx1, idxList);
if (i != route_idx.size() - 2) {
idxList.pop_back();
}
idx2Vertex(idxList, route);
} }
}
} }
} // namespace snake } // namespace snake
bool boost::geometry::model::operator==(snake::BoostPoint p1,
snake::BoostPoint p2) {
return (p1.get<0>() == p2.get<0>()) && (p1.get<1>() == p2.get<1>());
}
bool boost::geometry::model::operator!=(snake::BoostPoint p1,
snake::BoostPoint p2) {
return !(p1 == p2);
}
src/Snake/snake.h
View file @ c6e6a519
#pragma once #pragma once
#include <vector>
#include <string>
#include <array> #include <array>
#include <memory> #include <memory>
#include <string>
#include <vector>
#include <boost/geometry.hpp>
#include <boost/units/systems/angle/degrees.hpp>
#include <boost/units/systems/si.hpp>
#include <boost/units/systems/si/io.hpp>
#include <boost/units/systems/si/plane_angle.hpp>
#include <boost/units/systems/si/prefixes.hpp>
#include "snake_typedefs.h" namespace bg = boost::geometry;
namespace bu = boost::units;
#include <GeographicLib/Geocentric.hpp> #include <GeographicLib/Geocentric.hpp>
#include <GeographicLib/LocalCartesian.hpp> #include <GeographicLib/LocalCartesian.hpp>
...@@ -13,256 +21,239 @@ ...@@ -13,256 +21,239 @@
using namespace std; using namespace std;
namespace snake { namespace snake {
//========================================================================= //=========================================================================
// Geometry stuff. // Geometry stuff.
//========================================================================= //=========================================================================
template<class T>
class Matrix{ typedef bg::model::point<double, 2, bg::cs::cartesian> BoostPoint;
// typedef std::vector<BoostPoint> BoostPointList;
typedef bg::model::polygon<BoostPoint> BoostPolygon;
typedef bg::model::linestring<BoostPoint> BoostLineString;
typedef std::vector<std::vector<int64_t>> Int64Matrix;
typedef bg::model::box<BoostPoint> BoostBox;
template <class T> class Matrix {
public: public:
Matrix() : Matrix() : _elements(0), _m(0), _n(0), _isInitialized(false) {}
_elements(0), Matrix(size_t m, size_t n) : Matrix(m, n, T{0}) {}
_m(0), Matrix(size_t m, size_t n, T value)
_n(0), : _elements(m * n), _m(m), _n(n), _isInitialized(true) {
_isInitialized(false) assert((m > 0) || (n > 0));
{ _matrix.resize(_elements, value);
} }
Matrix(size_t m, size_t n) : Matrix(m, n, T{0}){}
Matrix(size_t m, size_t n, T value) : double get(size_t i, size_t j) const {
_elements(m*n), assert(_isInitialized);
_m(m), assert(i < _m);
_n(n), assert(j < _n);
_isInitialized(true) return _matrix[i * _m + j];
{ }
assert((m > 0) || (n > 0));
_matrix.resize(_elements, value); size_t getM() const { return _m; }
} size_t getN() const { return _n; }
double get(size_t i, size_t j) const void set(size_t i, size_t j, const T &value) {
{ assert(_isInitialized);
assert(_isInitialized); assert(i < _m);
assert(i < _m); assert(j < _n);
assert(j < _n); _matrix[i * _m + j] = value;
return _matrix[i*_m+j]; }
}
void setDimension(size_t m, size_t n, const T &value) {
size_t getM() const { return _m;} assert((m > 0) || (n > 0));
size_t getN() const { return _n;} assert(!_isInitialized);
_m = m;
void set(size_t i, size_t j, const T &value) _n = n;
{ _elements = n * m;
assert(_isInitialized); _matrix.resize(_elements, value);
assert(i < _m); _isInitialized = true;
assert(j < _n); }
_matrix[i*_m+j] = value;
} void setDimension(size_t m, size_t n) { setDimension(m, n, T{0}); }
void setDimension(size_t m, size_t n, const T &value)
{
assert((m > 0) || (n > 0));
assert(!_isInitialized);
_m = m;
_n = n;
_elements = n*m;
_matrix.resize(_elements, value);
_isInitialized = true;
}
void setDimension(size_t m, size_t n)
{
setDimension(m, n, T{0});
}
private: private:
size_t _elements; size_t _elements;
size_t _m; size_t _m;
size_t _n; size_t _n;
bool _isInitialized; bool _isInitialized;
std::vector<T> _matrix; std::vector<T> _matrix;
}; };
struct BoundingBox{ struct BoundingBox {
BoundingBox(); BoundingBox();
void clear(); void clear();
double width; double width;
double height; double height;
double angle; double angle;
BoostPolygon corners; BoostPolygon corners;
}; };
template<class GeoPoint> template <class GeoPoint>
void toENU(const GeoPoint &origin, const GeoPoint &in, BoostPoint &out) void toENU(const GeoPoint &origin, const GeoPoint &in, BoostPoint &out) {
{ GeographicLib::Geocentric earth(GeographicLib::Constants::WGS84_a(),
GeographicLib::Geocentric earth(GeographicLib::Constants::WGS84_a(), GeographicLib::Constants::WGS84_f());
GeographicLib::Constants::WGS84_f()); GeographicLib::LocalCartesian proj(origin.latitude(), origin.longitude(),
GeographicLib::LocalCartesian proj(origin.latitude(), origin.altitude(), earth);
origin.longitude(),
origin.altitude(), double x, y, z;
earth); proj.Forward(in.latitude(), in.longitude(), in.altitude(), x, y, z);
out.set<0>(x);
double x, y, z; out.set<0>(y);
proj.Forward(in.latitude(), in.longitude(), in.altitude(), x, y, z); (void)z;
out.set<0>(x);
out.set<0>(y);
(void)z;
} }
template<class GeoPoint> template <class GeoPoint>
void fromENU(const GeoPoint &origin, const BoostPoint &in, GeoPoint &out) void fromENU(const GeoPoint &origin, const BoostPoint &in, GeoPoint &out) {
{ GeographicLib::Geocentric earth(GeographicLib::Constants::WGS84_a(),
GeographicLib::Geocentric earth(GeographicLib::Constants::WGS84_a(), GeographicLib::Constants::WGS84_f());
GeographicLib::Constants::WGS84_f()); GeographicLib::LocalCartesian proj(origin.latitude(), origin.longitude(),
GeographicLib::LocalCartesian proj(origin.latitude(), origin.altitude(), earth);
origin.longitude(),
origin.altitude(), double lat, lon, alt;
earth); proj.Reverse(in.get<0>(), in.get<1>(), 0.0, lat, lon, alt);
out.setLatitude(lat);
double lat, lon, alt; out.setLongitude(lon);
proj.Reverse(in.get<0>(), in.get<1>(), 0.0, lat, lon, alt); out.setAltitude(alt);
out.setLatitude(lat);
out.setLongitude(lon);
out.setAltitude(alt);
} }
void polygonCenter(const BoostPolygon &polygon, void polygonCenter(const BoostPolygon &polygon, BoostPoint &center);
BoostPoint &center); void minimalBoundingBox(const BoostPolygon &polygon, BoundingBox &minBBox);
void minimalBoundingBox(const BoostPolygon &polygon, void offsetPolygon(const BoostPolygon &polygon, BoostPolygon &polygonOffset,
BoundingBox &minBBox); double offset);
void offsetPolygon(const BoostPolygon &polygon,
BoostPolygon &polygonOffset, void graphFromPolygon(const BoostPolygon &polygon,
double offset); const BoostLineString &vertices, Matrix<double> &graph);
void graphFromPolygon(const BoostPolygon &polygon,
const BoostLineString &vertices,
Matrix<double> &graph);
void toDistanceMatrix(Matrix<double> &graph); void toDistanceMatrix(Matrix<double> &graph);
bool dijkstraAlgorithm(const size_t numElements, bool dijkstraAlgorithm(
size_t startIndex, const size_t numElements, size_t startIndex, size_t endIndex,
size_t endIndex, std::vector<size_t> &elementPath,
std::vector<size_t> &elementPath, std::function<double(const size_t, const size_t)> distanceDij);
std::function<double (const size_t, const size_t)> distanceDij); void shortestPathFromGraph(const Matrix<double> &graph, size_t startIndex,
void shortestPathFromGraph(const Matrix<double> &graph, size_t endIndex, std::vector<size_t> &pathIdx);
size_t startIndex,
size_t endIndex,
std::vector<size_t> &pathIdx);
//========================================================================= //=========================================================================
// Scenario. // Scenario.
//========================================================================= //=========================================================================
class Scenario{
public:
Scenario();
void setMeasurementArea (const BoostPolygon &area); typedef bu::quantity<bu::si::length> Length;
void setServiceArea (const BoostPolygon &area); typedef bu::quantity<bu::si::area> Area;
void setCorridor (const BoostPolygon &area); typedef bu::quantity<bu::si::plane_angle> Angle;
const BoundingBox &mAreaBoundingBox() const; class Scenario {
public:
Scenario();
void setMeasurementArea(const BoostPolygon &area);
void setServiceArea(const BoostPolygon &area);
void setCorridor(const BoostPolygon &area);
const BoostPolygon &measurementArea() const; const BoundingBox &mAreaBoundingBox() const;
const BoostPolygon &serviceArea()const;
const BoostPolygon &corridor()const;
BoostPolygon &measurementArea(); const BoostPolygon &measurementArea() const;
BoostPolygon &serviceArea(); const BoostPolygon &serviceArea() const;
BoostPolygon &corridor(); const BoostPolygon &corridor() const;
Length tileWidth() const; BoostPolygon &measurementArea();
void setTileWidth(Length tileWidth); BoostPolygon &serviceArea();
BoostPolygon &corridor();
Length tileHeight() const; Length tileWidth() const;
void setTileHeight(Length tileHeight); void setTileWidth(Length tileWidth);
Area minTileArea() const; Length tileHeight() const;
void setMinTileArea(Area minTileArea); void setTileHeight(Length tileHeight);
const BoostPolygon &joinedArea() const; Area minTileArea() const;
const vector<BoostPolygon> &tiles() const; void setMinTileArea(Area minTileArea);
const BoostLineString &tileCenterPoints() const;
const BoundingBox &measurementAreaBBox() const;
const BoostPoint &homePositon() const;
bool update(); const BoostPolygon &joinedArea() const;
const vector<BoostPolygon> &tiles() const;
const BoostLineString &tileCenterPoints() const;
const BoundingBox &measurementAreaBBox() const;
const BoostPoint &homePositon() const;
string errorString; bool update();
string errorString;
private: private:
bool _calculateBoundingBox(); bool _calculateBoundingBox();
bool _calculateTiles(); bool _calculateTiles();
bool _calculateJoinedArea(); bool _calculateJoinedArea();
Length _tileWidth; Length _tileWidth;
Length _tileHeight; Length _tileHeight;
Area _minTileArea; Area _minTileArea;
mutable bool _needsUpdate; mutable bool _needsUpdate;
BoostPolygon _mArea; BoostPolygon _mArea;
BoostPolygon _sArea; BoostPolygon _sArea;
BoostPolygon _corridor; BoostPolygon _corridor;
BoostPolygon _jArea; BoostPolygon _jArea;
BoundingBox _mAreaBoundingBox; BoundingBox _mAreaBoundingBox;
vector<BoostPolygon> _tiles; vector<BoostPolygon> _tiles;
BoostLineString _tileCenterPoints; BoostLineString _tileCenterPoints;
BoostPoint _homePosition; BoostPoint _homePosition;
}; };
template<class GeoPoint, template <class, class...> class Container> template <class GeoPoint, template <class, class...> class Container>
void areaToEnu( const GeoPoint &origin, void areaToEnu(const GeoPoint &origin, const Container<GeoPoint> &in,
const Container<GeoPoint> &in, BoostPolygon &out) {
BoostPolygon &out ) for (auto vertex : in) {
{ BoostPoint p;
for(auto vertex : in) { toENU(origin, vertex, p);
BoostPoint p; out.outer().push_back(p);
toENU(origin, vertex, p); }
out.outer().push_back(p); bg::correct(out);
}
bg::correct(out);
} }
template<class GeoPoint, template <class, class...> class Container> template <class GeoPoint, template <class, class...> class Container>
void areaFromEnu( const GeoPoint &origin, void areaFromEnu(const GeoPoint &origin, BoostPolygon &in,
BoostPolygon &in, const Container<GeoPoint> &out) {
const Container<GeoPoint> &out ) for (auto vertex : in.outer()) {
{ GeoPoint p;
for(auto vertex : in.outer()) { fromENU(origin, vertex, p);
GeoPoint p; out.push_back(p);
fromENU(origin, vertex, p); }
out.push_back(p);
}
} }
bool joinAreas(const std::vector<BoostPolygon> &areas, bool joinAreas(const std::vector<BoostPolygon> &areas,
BoostPolygon &joinedArea); BoostPolygon &joinedArea);
//======================================================================================== //========================================================================================
// flight_plan // flight_plan
//======================================================================================== //========================================================================================
namespace flight_plan{ namespace flight_plan {
using Transects = vector<BoostLineString>; using Transects = vector<BoostLineString>;
using Progress = vector<int>; using Progress = vector<int>;
using Route = vector<BoostPoint>; using Route = vector<BoostPoint>;
bool transectsFromScenario(Length distance, bool transectsFromScenario(Length distance, Length minLength, Angle angle,
Length minLength, const Scenario &scenario, const Progress &p,
Angle angle, Transects &t, string &errorString);
const Scenario &scenario, bool route(const BoostPolygon &area, const Transects &transects,
const Progress &p, Transects &transectsRouted, Route &route, string &errorString);
Transects &t,
string &errorString);
bool route(const BoostPolygon &area,
const Transects &transects,
Transects &transectsRouted,
Route &route,
string &errorString);
} // namespace flight_plan } // namespace flight_plan
namespace detail { namespace detail {
const double offsetConstant = 0.1; // meter, polygon offset to compenstate for numerical inaccurracies. const double offsetConstant =
0.1; // meter, polygon offset to compenstate for numerical inaccurracies.
} // namespace detail } // namespace detail
} } // namespace snake
// operator== and operator!= for boost point
namespace boost {
namespace geometry {
namespace model {
bool operator==(snake::BoostPoint p1, snake::BoostPoint p2);
bool operator!=(snake::BoostPoint p1, snake::BoostPoint p2);
} // namespace model
} // namespace geometry
} // namespace boost
src/Wima/Snake/SnakeDataManager.cc
View file @ c6e6a519
...@@ -4,32 +4,30 @@ ...@@ -4,32 +4,30 @@
#include <QMutexLocker> #include <QMutexLocker>
#include "QGCApplication.h" #include "QGCApplication.h"
#include "SettingsManager.h"
#include "QGCToolbox.h" #include "QGCToolbox.h"
#include "WimaSettings.h"
#include "SettingsFact.h" #include "SettingsFact.h"
#include "SettingsManager.h"
#include "WimaSettings.h"
#include <memory> #include <memory>
#include <shared_mutex>
#include <mutex> #include <mutex>
#include <shared_mutex>
#include "snake.h"
#include "Wima/Snake/SnakeTiles.h" #include "Wima/Snake/SnakeTiles.h"
#include "Wima/Snake/SnakeTilesLocal.h" #include "Wima/Snake/SnakeTilesLocal.h"
#include "snake.h"
#include "ros_bridge/include/ros_bridge.h"
#include "ros_bridge/rapidjson/include/rapidjson/document.h"
#include "ros_bridge/rapidjson/include/rapidjson/writer.h"
#include "ros_bridge/rapidjson/include/rapidjson/ostreamwrapper.h"
#include "ros_bridge/include/messages/geographic_msgs/geopoint.h" #include "ros_bridge/include/messages/geographic_msgs/geopoint.h"
#include "ros_bridge/include/messages/jsk_recognition_msgs/polygon_array.h" #include "ros_bridge/include/messages/jsk_recognition_msgs/polygon_array.h"
#include "ros_bridge/include/messages/nemo_msgs/progress.h"
#include "ros_bridge/include/messages/nemo_msgs/heartbeat.h" #include "ros_bridge/include/messages/nemo_msgs/heartbeat.h"
#include "ros_bridge/include/messages/nemo_msgs/progress.h"
#include "ros_bridge/include/ros_bridge.h"
#include "ros_bridge/rapidjson/include/rapidjson/document.h"
#include "ros_bridge/rapidjson/include/rapidjson/ostreamwrapper.h"
#include "ros_bridge/rapidjson/include/rapidjson/writer.h"
#define EVENT_TIMER_INTERVAL 500 // ms #define EVENT_TIMER_INTERVAL 500 // ms
#define TIMEOUT 3000 // ms #define TIMEOUT 3000 // ms
using QVariantList = QList<QVariant>; using QVariantList = QList<QVariant>;
using ROSBridgePtr = std::unique_ptr<ros_bridge::ROSBridge>; using ROSBridgePtr = std::unique_ptr<ros_bridge::ROSBridge>;
...@@ -38,549 +36,552 @@ using UniqueLock = std::unique_lock<shared_timed_mutex>; ...@@ -38,549 +36,552 @@ using UniqueLock = std::unique_lock<shared_timed_mutex>;
using SharedLock = std::shared_lock<shared_timed_mutex>; using SharedLock = std::shared_lock<shared_timed_mutex>;
using JsonDocUPtr = ros_bridge::com_private::JsonDocUPtr; using JsonDocUPtr = ros_bridge::com_private::JsonDocUPtr;
class SnakeImpl : public QObject{ class SnakeDataManager::SnakeImpl {
Q_OBJECT
public: public:
SnakeImpl(SnakeDataManager* p); SnakeImpl(SnakeDataManager *p)
: rosBridgeEnabeled(false), topicServiceSetupDone(false),
bool precondition() const; lineDistance(1 * si::meter), minTransectLength(1 * si::meter),
void resetWaypointData(); calcInProgress(false), parent(p) {
bool doTopicServiceSetup(); // ROS Bridge.
WimaSettings *wimaSettings =
// Private data. qgcApp()->toolbox()->settingsManager()->wimaSettings();
ROSBridgePtr pRosBridge; auto connectionStringFact = wimaSettings->rosbridgeConnectionString();
bool rosBridgeEnabeled; auto setConnectionString = [connectionStringFact, this] {
bool topicServiceSetupDone; auto connectionString = connectionStringFact->rawValue().toString();
QTimer eventTimer; if (ros_bridge::isValidConnectionString(
QTimer timeout; connectionString.toLocal8Bit().data())) {
mutable std::shared_timed_mutex mutex; this->pRosBridge.reset(
new ros_bridge::ROSBridge(connectionString.toLocal8Bit().data()));
// Scenario } else {
snake::Scenario scenario; QString defaultString("localhost:9090");
Length lineDistance; qgcApp()->showMessage("ROS Bridge connection string invalid: " +
Length minTransectLength; connectionString);
QList<QGeoCoordinate> mArea; qgcApp()->showMessage("Resetting connection string to: " +
QList<QGeoCoordinate> sArea; defaultString);
QList<QGeoCoordinate> corridor; connectionStringFact->setRawValue(
QGeoCoordinate ENUOrigin; QVariant(defaultString)); // calls this function recursively
SnakeTiles tiles; }
QVariantList tileCenterPoints; };
SnakeTilesLocal tilesENU; connect(connectionStringFact, &SettingsFact::rawValueChanged,
QVector<QPointF> tileCenterPointsENU; setConnectionString);
setConnectionString();
// Waypoints
QVector<QGeoCoordinate> waypoints;
QVector<QGeoCoordinate> arrivalPath;
QVector<QGeoCoordinate> returnPath;
QVector<QPointF> waypointsENU;
QVector<QPointF> arrivalPathENU;
QVector<QPointF> returnPathENU;
QString errorMessage;
// Other
std::atomic_bool calcInProgress;
QNemoProgress qProgress;
std::vector<int> progress;
QNemoHeartbeat heartbeat;
SnakeDataManager *parent;
// Periodic.
connect(&this->eventTimer, &QTimer::timeout, [this] {
if (this->rosBridgeEnabeled) {
if (!this->pRosBridge->isRunning()) {
this->pRosBridge->start();
} else if (this->pRosBridge->isRunning() &&
this->pRosBridge->connected() &&
!this->topicServiceSetupDone) {
if (this->doTopicServiceSetup())
this->topicServiceSetupDone = true;
} else if (this->pRosBridge->isRunning() &&
!this->pRosBridge->connected() &&
this->topicServiceSetupDone) {
this->pRosBridge->reset();
this->pRosBridge->start();
this->topicServiceSetupDone = false;
}
} else if (this->pRosBridge->isRunning()) {
this->pRosBridge->reset();
this->topicServiceSetupDone = false;
}
});
this->eventTimer.start(EVENT_TIMER_INTERVAL);
}
bool precondition() const;
void resetOutput();
bool doTopicServiceSetup();
// Private data.
ROSBridgePtr pRosBridge;
bool rosBridgeEnabeled;
bool topicServiceSetupDone;
QTimer eventTimer;
QTimer timeout;
mutable std::shared_timed_mutex mutex;
// Scenario
snake::Scenario scenario;
Length lineDistance;
Length minTransectLength;
QList<QGeoCoordinate> mArea;
QList<QGeoCoordinate> sArea;
QList<QGeoCoordinate> corridor;
QGeoCoordinate ENUOrigin;
SnakeTiles tiles;
QmlObjectListModel tilesQml;
QVariantList tileCenterPoints;
SnakeTilesLocal tilesENU;
QVector<QPointF> tileCenterPointsENU;
// Waypoints
QVector<QGeoCoordinate> waypoints;
QVector<QGeoCoordinate> arrivalPath;
QVector<QGeoCoordinate> returnPath;
QVector<QPointF> waypointsENU;
QVector<QPointF> arrivalPathENU;
QVector<QPointF> returnPathENU;
QString errorMessage;
// Other
std::atomic_bool calcInProgress;
QNemoProgress qProgress;
std::vector<int> progress;
QNemoHeartbeat heartbeat;
SnakeDataManager *parent;
}; };
template<class AtomicType> bool SnakeDataManager::SnakeImpl::doTopicServiceSetup() {
class ToggleRAII{ using namespace ros_bridge::messages;
public: UniqueLock lk(this->mutex);
ToggleRAII(AtomicType &t)
: _t(t) if (this->tilesENU.polygons().size() == 0)
{} return false;
~ToggleRAII() // Publish snake origin.
{ this->pRosBridge->advertiseTopic(
if ( _t.load() ){ "/snake/origin", geographic_msgs::geo_point::messageType().c_str());
_t.store(false); JsonDocUPtr jOrigin(
} else { std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
_t.store(true); bool ret = geographic_msgs::geo_point::toJson(this->ENUOrigin, *jOrigin,
jOrigin->GetAllocator());
Q_ASSERT(ret);
(void)ret;
this->pRosBridge->publish(std::move(jOrigin), "/snake/origin");
// Publish snake tiles.
this->pRosBridge->advertiseTopic(
"/snake/tiles",
jsk_recognition_msgs::polygon_array::messageType().c_str());
JsonDocUPtr jSnakeTiles(
std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
ret = jsk_recognition_msgs::polygon_array::toJson(
this->tilesENU, *jSnakeTiles, jSnakeTiles->GetAllocator());
Q_ASSERT(ret);
(void)ret;
this->pRosBridge->publish(std::move(jSnakeTiles), "/snake/tiles");
// Subscribe nemo progress.
this->pRosBridge->subscribe(
"/nemo/progress",
/* callback */ [this](JsonDocUPtr pDoc) {
UniqueLock lk(this->mutex);
int requiredSize = this->tilesENU.polygons().size();
auto &progressMsg = this->qProgress;
if (!nemo_msgs::progress::fromJson(*pDoc, progressMsg) ||
progressMsg.progress().size() !=
requiredSize) { // Some error occured.
// Set progress to default.
progressMsg.progress().fill(0, requiredSize);
// Publish snake origin.
JsonDocUPtr jOrigin(
std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
bool ret = geographic_msgs::geo_point::toJson(
this->ENUOrigin, *jOrigin, jOrigin->GetAllocator());
Q_ASSERT(ret);
(void)ret;
this->pRosBridge->publish(std::move(jOrigin), "/snake/origin");
// Publish snake tiles.
JsonDocUPtr jSnakeTiles(
std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
ret = jsk_recognition_msgs::polygon_array::toJson(
this->tilesENU, *jSnakeTiles, jSnakeTiles->GetAllocator());
Q_ASSERT(ret);
(void)ret;
this->pRosBridge->publish(std::move(jSnakeTiles), "/snake/tiles");
} }
} this->progress.clear();
private: for (const auto &p : progressMsg.progress()) {
AtomicType &_t; this->progress.push_back(p);
}; }
lk.unlock();
emit this->parent->nemoProgressChanged();
});
// Subscribe /nemo/heartbeat.
this->pRosBridge->subscribe(
"/nemo/heartbeat",
/* callback */ [this](JsonDocUPtr pDoc) {
UniqueLock lk(this->mutex);
if (this->timeout.isActive()) {
this->timeout.stop();
}
auto &heartbeatMsg = this->heartbeat;
if (!nemo_msgs::heartbeat::fromJson(*pDoc, heartbeatMsg)) {
heartbeatMsg.setStatus(integral(NemoStatus::InvalidHeartbeat));
}
this->timeout.singleShot(TIMEOUT, [this] {
UniqueLock lk(this->mutex);
this->heartbeat.setStatus(integral(NemoStatus::Timeout));
emit this->parent->nemoStatusChanged(integral(NemoStatus::Timeout));
});
emit this->parent->nemoStatusChanged(heartbeatMsg.status());
});
// Advertise /snake/get_origin.
this->pRosBridge->advertiseService(
"/snake/get_origin", "snake_msgs/GetOrigin",
[this](JsonDocUPtr) -> JsonDocUPtr {
using namespace ros_bridge::messages;
SharedLock lk(this->mutex);
JsonDocUPtr pDoc(
std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
auto &origin = this->ENUOrigin;
rapidjson::Value jOrigin(rapidjson::kObjectType);
bool ret = geographic_msgs::geo_point::toJson(origin, jOrigin,
pDoc->GetAllocator());
lk.unlock();
Q_ASSERT(ret);
(void)ret;
pDoc->AddMember("origin", jOrigin, pDoc->GetAllocator());
return pDoc;
});
// Advertise /snake/get_tiles.
this->pRosBridge->advertiseService(
"/snake/get_tiles", "snake_msgs/GetTiles",
[this](JsonDocUPtr) -> JsonDocUPtr {
SharedLock lk(this->mutex);
SnakeDataManager::SnakeDataManager(QObject *parent) JsonDocUPtr pDoc(
: QThread(parent) std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
, pImpl(std::make_unique<SnakeImpl>(this)) rapidjson::Value jSnakeTiles(rapidjson::kObjectType);
bool ret = jsk_recognition_msgs::polygon_array::toJson(
this->tilesENU, jSnakeTiles, pDoc->GetAllocator());
Q_ASSERT(ret);
(void)ret;
pDoc->AddMember("tiles", jSnakeTiles, pDoc->GetAllocator());
return pDoc;
});
{ return true;
} }
SnakeDataManager::~SnakeDataManager() bool SnakeDataManager::SnakeImpl::precondition() const { return true; }
{
//!
//! \brief Resets waypoint data.
//! \pre this->_pImpl->mutex must be locked.
void SnakeDataManager::SnakeImpl::resetOutput() {
this->waypoints.clear();
this->arrivalPath.clear();
this->returnPath.clear();
this->ENUOrigin = QGeoCoordinate(0.0, 0.0, 0.0);
this->waypointsENU.clear();
this->arrivalPathENU.clear();
this->returnPathENU.clear();
this->tilesQml.clearAndDeleteContents();
this->tiles.polygons().clear();
this->tileCenterPoints.clear();
this->tilesENU.polygons().clear();
this->tileCenterPointsENU.clear();
this->errorMessage.clear();
} }
void SnakeDataManager::setMeasurementArea(const QList<QGeoCoordinate> &measurementArea) template <class Callable> class CommandRAII {
{ public:
UniqueLock lk(this->pImpl->mutex); CommandRAII(Callable &fun) : _fun(fun) {}
this->pImpl->mArea = measurementArea;
} ~CommandRAII() { _fun(); }
void SnakeDataManager::setServiceArea(const QList<QGeoCoordinate> &serviceArea) private:
{ Callable _fun;
UniqueLock lk(this->pImpl->mutex); };
this->pImpl->sArea = serviceArea;
SnakeDataManager::SnakeDataManager(QObject *parent)
: QThread(parent), pImpl(std::make_unique<SnakeImpl>(this))
{}
SnakeDataManager::~SnakeDataManager() {}
void SnakeDataManager::setMeasurementArea(
const QList<QGeoCoordinate> &measurementArea) {
UniqueLock lk(this->pImpl->mutex);
this->pImpl->mArea = measurementArea;
} }
void SnakeDataManager::setCorridor(const QList<QGeoCoordinate> &corridor) void SnakeDataManager::setServiceArea(
{ const QList<QGeoCoordinate> &serviceArea) {
UniqueLock lk(this->pImpl->mutex); UniqueLock lk(this->pImpl->mutex);
this->pImpl->corridor = corridor; this->pImpl->sArea = serviceArea;
} }
QNemoProgress SnakeDataManager::nemoProgress() void SnakeDataManager::setCorridor(const QList<QGeoCoordinate> &corridor) {
{ UniqueLock lk(this->pImpl->mutex);
SharedLock lk(this->pImpl->mutex); this->pImpl->corridor = corridor;
return this->pImpl->qProgress;
} }
int SnakeDataManager::nemoStatus() const QmlObjectListModel *SnakeDataManager::tiles() const {
{ SharedLock lk(this->pImpl->mutex);
SharedLock lk(this->pImpl->mutex); return &this->pImpl->tilesQml;
return this->pImpl->heartbeat.status();
} }
bool SnakeDataManager::calcInProgress() QVariantList SnakeDataManager::tileCenterPoints() const {
{ SharedLock lk(this->pImpl->mutex);
return this->pImpl->calcInProgress.load(); return this->pImpl->tileCenterPoints;
} }
Length SnakeDataManager::lineDistance() const QNemoProgress SnakeDataManager::nemoProgress() const {
{ SharedLock lk(this->pImpl->mutex);
SharedLock lk(this->pImpl->mutex); return this->pImpl->qProgress;
return this->pImpl->lineDistance;
} }
void SnakeDataManager::setLineDistance(Length lineDistance) int SnakeDataManager::nemoStatus() const {
{ SharedLock lk(this->pImpl->mutex);
UniqueLock lk(this->pImpl->mutex); return this->pImpl->heartbeat.status();
this->pImpl->lineDistance = lineDistance;
} }
Area SnakeDataManager::minTileArea() const bool SnakeDataManager::calcInProgress() const {
{ SharedLock lk(this->pImpl->mutex);
SharedLock lk(this->pImpl->mutex); return this->pImpl->calcInProgress.load();
return this->pImpl->scenario.minTileArea();
} }
void SnakeDataManager::setMinTileArea(Area minTileArea) QString SnakeDataManager::errorMessage() const {
{ SharedLock lk(this->pImpl->mutex);
UniqueLock lk(this->pImpl->mutex); return this->pImpl->errorMessage;
this->pImpl->scenario.setMinTileArea(minTileArea);
} }
Length SnakeDataManager::tileHeight() const bool SnakeDataManager::success() const {
{ SharedLock lk(this->pImpl->mutex);
SharedLock lk(this->pImpl->mutex); return this->pImpl->errorMessage.isEmpty() ? true : false;
return this->pImpl->scenario.tileHeight();
} }
void SnakeDataManager::setTileHeight(Length tileHeight) QVector<QGeoCoordinate> SnakeDataManager::waypoints() const {
{ SharedLock lk(this->pImpl->mutex);
UniqueLock lk(this->pImpl->mutex); return this->pImpl->waypoints;
this->pImpl->scenario.setTileHeight(tileHeight);
} }
Length SnakeDataManager::tileWidth() const QVector<QGeoCoordinate> SnakeDataManager::arrivalPath() const {
{ SharedLock lk(this->pImpl->mutex);
SharedLock lk(this->pImpl->mutex); return this->pImpl->arrivalPath;
return this->pImpl->scenario.tileWidth();
} }
void SnakeDataManager::setTileWidth(Length tileWidth) QVector<QGeoCoordinate> SnakeDataManager::returnPath() const {
{ SharedLock lk(this->pImpl->mutex);
UniqueLock lk(this->pImpl->mutex); return this->pImpl->returnPath;
this->pImpl->scenario.setTileWidth(tileWidth);
} }
void SnakeDataManager::enableRosBridge() Length SnakeDataManager::lineDistance() const {
{ SharedLock lk(this->pImpl->mutex);
this->pImpl->rosBridgeEnabeled = true; return this->pImpl->lineDistance;
} }
void SnakeDataManager::disableRosBride() void SnakeDataManager::setLineDistance(Length lineDistance) {
{ UniqueLock lk(this->pImpl->mutex);
this->pImpl->rosBridgeEnabeled = false; this->pImpl->lineDistance = lineDistance;
} }
bool SnakeImpl::precondition() const Area SnakeDataManager::minTileArea() const {
{ SharedLock lk(this->pImpl->mutex);
return true; return this->pImpl->scenario.minTileArea();
} }
//! void SnakeDataManager::setMinTileArea(Area minTileArea) {
//! \brief Resets waypoint data. UniqueLock lk(this->pImpl->mutex);
//! \pre this->_pImpl->mutex must be locked. this->pImpl->scenario.setMinTileArea(minTileArea);
void SnakeImpl::resetWaypointData()
{
this->waypoints.clear();
this->arrivalPath.clear();
this->returnPath.clear();
this->ENUOrigin = QGeoCoordinate(0.0,0.0,0.0);
this->waypointsENU.clear();
this->arrivalPathENU.clear();
this->returnPathENU.clear();
this->tiles.polygons().clear();
this->tileCenterPoints.clear();
this->tilesENU.polygons().clear();
this->tileCenterPointsENU.clear();
this->errorMessage.clear();
} }
void SnakeDataManager::run() Length SnakeDataManager::tileHeight() const {
{ SharedLock lk(this->pImpl->mutex);
this->pImpl->calcInProgress.store(true); return this->pImpl->scenario.tileHeight();
ToggleRAII<std::atomic_bool> tr(this->pImpl->calcInProgress); }
UniqueLock lk(this->pImpl->mutex); void SnakeDataManager::setTileHeight(Length tileHeight) {
this->pImpl->resetWaypointData(); UniqueLock lk(this->pImpl->mutex);
this->pImpl->scenario.setTileHeight(tileHeight);
}
if ( !this->pImpl->precondition() ) Length SnakeDataManager::tileWidth() const {
return; SharedLock lk(this->pImpl->mutex);
return this->pImpl->scenario.tileWidth();
}
if ( this->pImpl->mArea.size() < 3) { void SnakeDataManager::setTileWidth(Length tileWidth) {
this->pImpl->errorMessage = "Measurement area invalid: size < 3."; UniqueLock lk(this->pImpl->mutex);
return; this->pImpl->scenario.setTileWidth(tileWidth);
} }
if ( this->pImpl->sArea.size() < 3) {
this->pImpl->errorMessage = "Service area invalid: size < 3.";
return;
}
void SnakeDataManager::enableRosBridge() {
this->pImpl->rosBridgeEnabeled = true;
}
this->pImpl->ENUOrigin = this->pImpl->mArea.front(); void SnakeDataManager::disableRosBride() {
auto &origin = this->pImpl->ENUOrigin; this->pImpl->rosBridgeEnabeled = false;
// Update measurement area. }
auto &mAreaEnu = this->pImpl->scenario.measurementArea();
auto &mArea = this->pImpl->mArea;
mAreaEnu.clear();
for (auto geoVertex : mArea){
snake::BoostPoint p;
snake::toENU(origin, geoVertex, p);
mAreaEnu.outer().push_back(p);
}
// Update service area. void SnakeDataManager::run() {
auto &sAreaEnu = this->pImpl->scenario.serviceArea(); this->pImpl->calcInProgress.store(true);
auto &sArea = this->pImpl->sArea; emit calcInProgressChanged(this->pImpl->calcInProgress.load());
sAreaEnu.clear(); auto onExit = [this] {
for (auto geoVertex : sArea){ this->pImpl->calcInProgress.store(false);
snake::BoostPoint p; emit calcInProgressChanged(this->pImpl->calcInProgress.load());
snake::toENU(origin, geoVertex, p); };
sAreaEnu.outer().push_back(p); CommandRAII<decltype(onExit)> onExitRAII(onExit);
UniqueLock lk(this->pImpl->mutex);
this->pImpl->resetOutput();
if (!this->pImpl->precondition())
return;
if (this->pImpl->mArea.size() < 3) {
this->pImpl->errorMessage = "Measurement area invalid: size < 3.";
return;
}
if (this->pImpl->sArea.size() < 3) {
this->pImpl->errorMessage = "Service area invalid: size < 3.";
return;
}
this->pImpl->ENUOrigin = this->pImpl->mArea.front();
auto &origin = this->pImpl->ENUOrigin;
// Update measurement area.
auto &mAreaEnu = this->pImpl->scenario.measurementArea();
auto &mArea = this->pImpl->mArea;
mAreaEnu.clear();
for (auto geoVertex : mArea) {
snake::BoostPoint p;
snake::toENU(origin, geoVertex, p);
mAreaEnu.outer().push_back(p);
}
// Update service area.
auto &sAreaEnu = this->pImpl->scenario.serviceArea();
auto &sArea = this->pImpl->sArea;
sAreaEnu.clear();
for (auto geoVertex : sArea) {
snake::BoostPoint p;
snake::toENU(origin, geoVertex, p);
sAreaEnu.outer().push_back(p);
}
// Update corridor.
auto &corridorEnu = this->pImpl->scenario.corridor();
auto &corridor = this->pImpl->corridor;
corridor.clear();
for (auto geoVertex : corridor) {
snake::BoostPoint p;
snake::toENU(origin, geoVertex, p);
corridorEnu.outer().push_back(p);
}
if (!this->pImpl->scenario.update()) {
this->pImpl->errorMessage = this->pImpl->scenario.errorString.c_str();
return;
}
// Asynchronously update flightplan.
std::string errorString;
auto future = std::async([this, &errorString, &origin] {
snake::Angle alpha(-this->pImpl->scenario.mAreaBoundingBox().angle *
degree::degree);
snake::flight_plan::Transects transects;
transects.push_back(bg::model::linestring<snake::BoostPoint>{
this->pImpl->scenario.homePositon()});
bool value = snake::flight_plan::transectsFromScenario(
this->pImpl->lineDistance, this->pImpl->minTransectLength, alpha,
this->pImpl->scenario, this->pImpl->progress, transects, errorString);
if (!value) {
this->pImpl->errorMessage = "Not able to generate transects.";
return value;
} }
snake::flight_plan::Transects transectsRouted;
// Update corridor. snake::flight_plan::Route route;
auto &corridorEnu = this->pImpl->scenario.corridor(); value =
auto &corridor = this->pImpl->corridor; snake::flight_plan::route(this->pImpl->scenario.joinedArea(), transects,
corridor.clear(); transectsRouted, route, errorString);
for (auto geoVertex : corridor){ if (!value) {
snake::BoostPoint p; this->pImpl->errorMessage = "Routing error.";
snake::toENU(origin, geoVertex, p); return value;
corridorEnu.outer().push_back(p);
} }
if ( !this->pImpl->scenario.update() ){ // Store arrival path.
this->pImpl->errorMessage = this->pImpl->scenario.errorString.c_str(); const auto &firstWaypoint = transectsRouted.front().front();
return; long startIdx = 0;
for (long i = 0; i < long(route.size()); ++i) {
const auto &boostVertex = route[i];
if (boostVertex == firstWaypoint) {
startIdx = i;
break;
}
QPointF enuVertex{boostVertex.get<0>(), boostVertex.get<1>()};
QGeoCoordinate geoVertex;
snake::fromENU(origin, boostVertex, geoVertex);
this->pImpl->arrivalPathENU.push_back(enuVertex);
this->pImpl->arrivalPath.push_back(geoVertex);
} }
// Store return path.
// Asynchronously update flightplan. long endIdx = 0;
qWarning() << "route calculation missing"; const auto &lastWaypoint = transectsRouted.back().back();
std::string errorString; for (long i = route.size() - 1; i >= 0; --i) {
auto future = std::async([this, &errorString, &origin]{ const auto &boostVertex = route[i];
snake::Angle alpha(-this->pImpl->scenario.mAreaBoundingBox().angle*degree::degree); if (boostVertex == lastWaypoint) {
snake::flight_plan::Transects transects; endIdx = i;
transects.push_back(bg::model::linestring<snake::BoostPoint>{ break;
this->pImpl->scenario.homePositon() }
}); QPointF enuVertex{boostVertex.get<0>(), boostVertex.get<1>()};
bool value = snake::flight_plan::transectsFromScenario(this->pImpl->lineDistance, QGeoCoordinate geoVertex;
this->pImpl->minTransectLength, snake::fromENU(origin, boostVertex, geoVertex);
alpha, this->pImpl->returnPathENU.push_back(enuVertex);
this->pImpl->scenario, this->pImpl->returnPath.push_back(geoVertex);
this->pImpl->progress,
transects,
errorString);
if ( !value )
return value;
snake::flight_plan::Transects transectsRouted;
snake::flight_plan::Route route;
value = snake::flight_plan::route(this->pImpl->scenario.joinedArea(),
transects,
transectsRouted,
route,
errorString);
if ( !value )
return value;
// Store arrival path.
const auto &firstWaypoint = transectsRouted.front().front();
long startIdx = 0;
for (long i = 0; i < route.size(); ++i){
const auto &boostVertex = route[i];
if ( boostVertex == firstWaypoint){
startIdx = i;
break;
}
QPointF enuVertex{boostVertex.get<0>(), boostVertex.get<1>()};
QGeoCoordinate geoVertex;
snake::fromENU(origin, boostVertex, geoVertex);
this->pImpl->arrivalPathENU.push_back(enuVertex);
this->pImpl->arrivalPath.push_back(geoVertex);
}
// Store return path.
long endIdx = 0;
const auto &lastWaypoint = transectsRouted.back().back();
for (long i = route.size()-1; i >= 0; --i){
const auto &boostVertex = route[i];
if ( boostVertex == lastWaypoint){
endIdx = i;
break;
}
QPointF enuVertex{boostVertex.get<0>(), boostVertex.get<1>()};
QGeoCoordinate geoVertex;
snake::fromENU(origin, boostVertex, geoVertex);
this->pImpl->returnPathENU.push_back(enuVertex);
this->pImpl->returnPath.push_back(geoVertex);
}
// Store waypoints.
for (long i = startIdx; i <= endIdx; ++i){
const auto &boostVertex = route[i];
QPointF enuVertex{boostVertex.get<0>(), boostVertex.get<1>()};
QGeoCoordinate geoVertex;
snake::fromENU(origin, boostVertex, geoVertex);
this->pImpl->waypointsENU.push_back(enuVertex);
this->pImpl->waypoints.push_back(geoVertex);
}
return true;
});
// Continue with storing scenario data in the mean time.
{
// Get tiles.
const auto &tiles = this->pImpl->scenario.tiles();
const auto &centerPoints = this->pImpl->scenario.tileCenterPoints();
for ( unsigned int i=0; i < tiles.size(); ++i ) {
const auto &tile = tiles[i];
SnakeTile geoTile;
SnakeTileLocal enuTile;
for ( size_t i = tile.outer().size(); i < tile.outer().size()-1; ++i) {
auto &p = tile.outer()[i];
QPointF enuVertex(p.get<0>(), p.get<1>());
QGeoCoordinate geoVertex;
snake::fromENU(origin, p, geoVertex);
enuTile.polygon().points().push_back(enuVertex);
geoTile.push_back(geoVertex);
}
const auto &boostPoint = centerPoints[i];
QPointF enuVertex(boostPoint.get<0>(), boostPoint.get<1>());
QGeoCoordinate geoVertex;
snake::fromENU(origin, boostPoint, geoVertex);
geoTile.setCenter(geoVertex);
this->pImpl->tiles.polygons().push_back(geoTile);
this->pImpl->tileCenterPoints.push_back(QVariant::fromValue(geoVertex));
this->pImpl->tilesENU.polygons().push_back(enuTile);
this->pImpl->tileCenterPointsENU.push_back(enuVertex);
}
} }
// Store waypoints.
future.wait(); for (long i = startIdx; i <= endIdx; ++i) {
// Trying to generate flight plan. const auto &boostVertex = route[i];
if ( !future.get() ){ QPointF enuVertex{boostVertex.get<0>(), boostVertex.get<1>()};
// error QGeoCoordinate geoVertex;
this->pImpl->errorMessage = errorString.c_str(); snake::fromENU(origin, boostVertex, geoVertex);
} else { this->pImpl->waypointsENU.push_back(enuVertex);
// Success!!! this->pImpl->waypoints.push_back(geoVertex);
} }
}
bool SnakeImpl::doTopicServiceSetup()
{
using namespace ros_bridge::messages;
UniqueLock lk(this->mutex);
if ( this->tilesENU.polygons().size() == 0)
return false;
// Publish snake origin.
this->pRosBridge->advertiseTopic("/snake/origin",
geographic_msgs::geo_point::messageType().c_str());
JsonDocUPtr jOrigin(std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
bool ret = geographic_msgs::geo_point::toJson(
this->ENUOrigin, *jOrigin, jOrigin->GetAllocator());
Q_ASSERT(ret);
(void)ret;
this->pRosBridge->publish(std::move(jOrigin), "/snake/origin");
// Publish snake tiles.
this->pRosBridge->advertiseTopic("/snake/tiles",
jsk_recognition_msgs::polygon_array::messageType().c_str());
JsonDocUPtr jSnakeTiles(std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
ret = jsk_recognition_msgs::polygon_array::toJson(
this->tilesENU, *jSnakeTiles, jSnakeTiles->GetAllocator());
Q_ASSERT(ret);
(void)ret;
this->pRosBridge->publish(std::move(jSnakeTiles), "/snake/tiles");
// Subscribe nemo progress.
this->pRosBridge->subscribe("/nemo/progress",
/* callback */ [this](JsonDocUPtr pDoc){
UniqueLock lk(this->mutex);
int requiredSize = this->tilesENU.polygons().size();
auto& progressMsg = this->qProgress;
if ( !nemo_msgs::progress::fromJson(*pDoc, progressMsg)
|| progressMsg.progress().size() != requiredSize ) { // Some error occured.
// Set progress to default.
progressMsg.progress().fill(0, requiredSize);
// Publish snake origin.
JsonDocUPtr jOrigin(std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
bool ret = geographic_msgs::geo_point::toJson(
this->ENUOrigin, *jOrigin, jOrigin->GetAllocator());
Q_ASSERT(ret);
(void)ret;
this->pRosBridge->publish(std::move(jOrigin), "/snake/origin");
// Publish snake tiles.
JsonDocUPtr jSnakeTiles(std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
ret = jsk_recognition_msgs::polygon_array::toJson(
this->tilesENU, *jSnakeTiles, jSnakeTiles->GetAllocator());
Q_ASSERT(ret);
(void)ret;
this->pRosBridge->publish(std::move(jSnakeTiles), "/snake/tiles");
}
this->progress.clear();
for (const auto&p : progressMsg.progress()){
this->progress.push_back(p);
}
lk.unlock();
emit this->parent->nemoProgressChanged();
});
// Subscribe /nemo/heartbeat.
this->pRosBridge->subscribe("/nemo/heartbeat",
/* callback */ [this](JsonDocUPtr pDoc){
UniqueLock lk(this->mutex);
if ( this->timeout.isActive() ) {
this->timeout.stop();
}
auto &heartbeatMsg = this->heartbeat;
if ( !nemo_msgs::heartbeat::fromJson(*pDoc, heartbeatMsg) ) {
heartbeatMsg.setStatus(integral(NemoStatus::InvalidHeartbeat));
}
this->timeout.singleShot(TIMEOUT, [this]{
UniqueLock lk(this->mutex);
this->heartbeat.setStatus(integral(NemoStatus::Timeout));
emit this->parent->nemoStatusChanged(integral(NemoStatus::Timeout));
});
emit this->parent->nemoStatusChanged(heartbeatMsg.status());
});
// Advertise /snake/get_origin.
this->pRosBridge->advertiseService("/snake/get_origin", "snake_msgs/GetOrigin",
[this](JsonDocUPtr) -> JsonDocUPtr
{
using namespace ros_bridge::messages;
SharedLock lk(this->mutex);
JsonDocUPtr pDoc(std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
auto &origin = this->ENUOrigin;
rapidjson::Value jOrigin(rapidjson::kObjectType);
bool ret = geographic_msgs::geo_point::toJson(
origin, jOrigin, pDoc->GetAllocator());
lk.unlock();
Q_ASSERT(ret);
(void)ret;
pDoc->AddMember("origin", jOrigin, pDoc->GetAllocator());
return pDoc;
});
// Advertise /snake/get_tiles.
this->pRosBridge->advertiseService("/snake/get_tiles", "snake_msgs/GetTiles",
[this](JsonDocUPtr) -> JsonDocUPtr
{
SharedLock lk(this->mutex);
JsonDocUPtr pDoc(std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
rapidjson::Value jSnakeTiles(rapidjson::kObjectType);
bool ret = jsk_recognition_msgs::polygon_array::toJson(
this->tilesENU, jSnakeTiles, pDoc->GetAllocator());
Q_ASSERT(ret);
(void)ret;
pDoc->AddMember("tiles", jSnakeTiles, pDoc->GetAllocator());
return pDoc;
});
return true; return true;
} });
// Continue with storing scenario data in the mean time.
{
SnakeImpl::SnakeImpl(SnakeDataManager *p) : // Get tiles.
rosBridgeEnabeled(false) const auto &tiles = this->pImpl->scenario.tiles();
, topicServiceSetupDone(false) const auto &centerPoints = this->pImpl->scenario.tileCenterPoints();
, lineDistance(1*si::meter) for (unsigned int i = 0; i < tiles.size(); ++i) {
, minTransectLength(1*si::meter) const auto &tile = tiles[i];
, calcInProgress(false) SnakeTile geoTile;
, parent(p) SnakeTileLocal enuTile;
{ for (size_t i = tile.outer().size(); i < tile.outer().size() - 1; ++i) {
// ROS Bridge. auto &p = tile.outer()[i];
WimaSettings* wimaSettings = qgcApp()->toolbox()->settingsManager()->wimaSettings(); QPointF enuVertex(p.get<0>(), p.get<1>());
auto connectionStringFact = wimaSettings->rosbridgeConnectionString(); QGeoCoordinate geoVertex;
auto setConnectionString = [connectionStringFact, this]{ snake::fromENU(origin, p, geoVertex);
auto connectionString = connectionStringFact->rawValue().toString(); enuTile.polygon().points().push_back(enuVertex);
if ( ros_bridge::isValidConnectionString(connectionString.toLocal8Bit().data()) ){ geoTile.push_back(geoVertex);
this->pRosBridge.reset(new ros_bridge::ROSBridge(connectionString.toLocal8Bit().data())); }
} else { const auto &boostPoint = centerPoints[i];
QString defaultString("localhost:9090"); QPointF enuVertex(boostPoint.get<0>(), boostPoint.get<1>());
qgcApp()->showMessage("ROS Bridge connection string invalid: " + connectionString); QGeoCoordinate geoVertex;
qgcApp()->showMessage("Resetting connection string to: " + defaultString); snake::fromENU(origin, boostPoint, geoVertex);
connectionStringFact->setRawValue(QVariant(defaultString)); // calls this function recursively geoTile.setCenter(geoVertex);
} this->pImpl->tilesQml.append(new SnakeTile(geoTile));
}; this->pImpl->tiles.polygons().push_back(geoTile);
connect(connectionStringFact, &SettingsFact::rawValueChanged, setConnectionString); this->pImpl->tileCenterPoints.push_back(QVariant::fromValue(geoVertex));
setConnectionString(); this->pImpl->tilesENU.polygons().push_back(enuTile);
this->pImpl->tileCenterPointsENU.push_back(enuVertex);
// Periodic. }
connect(&this->eventTimer, &QTimer::timeout, [this]{ }
if ( this->rosBridgeEnabeled ) {
if ( !this->pRosBridge->isRunning()) { future.wait();
this->pRosBridge->start(); // Trying to generate flight plan.
} else if ( this->pRosBridge->isRunning() if (!future.get()) {
&& this->pRosBridge->connected() // error
&& !this->topicServiceSetupDone) { this->pImpl->errorMessage = errorString.c_str();
if ( this->doTopicServiceSetup() ) } else {
this->topicServiceSetupDone = true; // Success!!!
} else if ( this->pRosBridge->isRunning() }
&& !this->pRosBridge->connected()
&& this->topicServiceSetupDone){
this->pRosBridge->reset();
this->pRosBridge->start();
this->topicServiceSetupDone = false;
}
} else if ( this->pRosBridge->isRunning() ) {
this->pRosBridge->reset();
this->topicServiceSetupDone = false;
}
});
this->eventTimer.start(EVENT_TIMER_INTERVAL);
} }
src/Wima/Snake/SnakeDataManager.h
View file @ c6e6a519
#pragma once #pragma once
#include <QGeoCoordinate>
#include <QList>
#include <QObject> #include <QObject>
#include <QThread> #include <QThread>
#include <QList>
#include <QGeoCoordinate>
#include "QNemoProgress.h"
#include "QNemoHeartbeat.h" #include "QNemoHeartbeat.h"
#include "QNemoProgress.h"
#include "SnakeTiles.h"
#include <boost/units/systems/si.hpp> #include <boost/units/systems/si.hpp>
using namespace boost::units; using namespace boost::units;
using Length = quantity<si::length>; using Length = quantity<si::length>;
using Area = quantity<si::area>; using Area = quantity<si::area>;
class SnakeImpl; enum class NemoStatus {
NotConnected = 0,
enum class NemoStatus{ Connected = 1,
NotConnected = 0, Timeout = -1,
Connected = 1, InvalidHeartbeat = -2
Timeout = -1,
InvalidHeartbeat = -2
}; };
class SnakeDataManager : public QThread{ class SnakeDataManager : public QThread {
Q_OBJECT Q_OBJECT
public: class SnakeImpl;
using SnakeImplPtr = std::unique_ptr<SnakeImpl>; using SnakeImplPtr = std::unique_ptr<SnakeImpl>;
SnakeDataManager(QObject *parent = nullptr); public:
~SnakeDataManager() override; SnakeDataManager(QObject *parent = nullptr);
~SnakeDataManager() override;
void setMeasurementArea(const QList<QGeoCoordinate> &measurementArea);
void setServiceArea(const QList<QGeoCoordinate> &serviceArea);
void setCorridor(const QList<QGeoCoordinate> &corridor);
void setMeasurementArea (const QList<QGeoCoordinate> &measurementArea); const QmlObjectListModel *tiles() const;
void setServiceArea (const QList<QGeoCoordinate> &serviceArea); QVariantList tileCenterPoints() const;
void setCorridor (const QList<QGeoCoordinate> &corridor); QNemoProgress nemoProgress() const;
int nemoStatus() const;
bool calcInProgress() const;
QString errorMessage() const;
bool success() const;
QNemoProgress nemoProgress(); QVector<QGeoCoordinate> waypoints() const;
int nemoStatus(); QVector<QGeoCoordinate> arrivalPath() const;
bool calcInProgress(); QVector<QGeoCoordinate> returnPath() const;
Length lineDistance() const; Length lineDistance() const;
void setLineDistance(Length lineDistance); void setLineDistance(Length lineDistance);
Length minTransectLength() const; Length minTransectLength() const;
void setMinTransectLength(Length minTransectLength); void setMinTransectLength(Length minTransectLength);
Area minTileArea() const; Area minTileArea() const;
void setMinTileArea(Area minTileArea); void setMinTileArea(Area minTileArea);
Length tileHeight() const; Length tileHeight() const;
void setTileHeight(Length tileHeight); void setTileHeight(Length tileHeight);
Length tileWidth() const; Length tileWidth() const;
void setTileWidth(Length tileWidth); void setTileWidth(Length tileWidth);
void enableRosBridge(); void enableRosBridge();
void disableRosBride(); void disableRosBride();
signals: signals:
void nemoProgressChanged(); void nemoProgressChanged();
void nemoStatusChanged(int status); void nemoStatusChanged(int status);
void calcInProgressChanged(bool inProgress); void calcInProgressChanged(bool inProgress);
protected: protected:
void run() override; void run() override;
private: private:
SnakeImplPtr pImpl; SnakeImplPtr pImpl;
}; };
src/Wima/WimaController.cc
View file @ c6e6a519
...@@ -2,37 +2,38 @@ ...@@ -2,37 +2,38 @@
#include "utilities.h" #include "utilities.h"
#include "Snake/QNemoProgress.h"
#include "Snake/QNemoHeartbeat.h" #include "Snake/QNemoHeartbeat.h"
#include "Snake/QNemoProgress.h"
#include "QVector3D" #include "QVector3D"
#include <QScopedPointer> #include <QScopedPointer>
#include <QtConcurrentRun>
#include <memory> #include <memory>
#define SMART_RTL_MAX_ATTEMPTS 3 // times #define SMART_RTL_MAX_ATTEMPTS 3 // times
#define SMART_RTL_ATTEMPT_INTERVAL 200 // ms #define SMART_RTL_ATTEMPT_INTERVAL 200 // ms
#define EVENT_TIMER_INTERVAL 50 // ms #define EVENT_TIMER_INTERVAL 50 // ms
const char *WimaController::areaItemsName = "AreaItems";
const char *WimaController::missionItemsName = "MissionItems";
const char* WimaController::areaItemsName = "AreaItems"; const char *WimaController::settingsGroup = "WimaController";
const char* WimaController::missionItemsName = "MissionItems"; const char *WimaController::enableWimaControllerName = "EnableWimaController";
const char* WimaController::settingsGroup = "WimaController"; const char *WimaController::overlapWaypointsName = "OverlapWaypoints";
const char* WimaController::enableWimaControllerName = "EnableWimaController"; const char *WimaController::maxWaypointsPerPhaseName = "MaxWaypointsPerPhase";
const char* WimaController::overlapWaypointsName = "OverlapWaypoints"; const char *WimaController::startWaypointIndexName = "StartWaypointIndex";
const char* WimaController::maxWaypointsPerPhaseName = "MaxWaypointsPerPhase"; const char *WimaController::showAllMissionItemsName = "ShowAllMissionItems";
const char* WimaController::startWaypointIndexName = "StartWaypointIndex"; const char *WimaController::showCurrentMissionItemsName =
const char* WimaController::showAllMissionItemsName = "ShowAllMissionItems"; "ShowCurrentMissionItems";
const char* WimaController::showCurrentMissionItemsName = "ShowCurrentMissionItems"; const char *WimaController::flightSpeedName = "FlightSpeed";
const char* WimaController::flightSpeedName = "FlightSpeed"; const char *WimaController::arrivalReturnSpeedName = "ArrivalReturnSpeed";
const char* WimaController::arrivalReturnSpeedName = "ArrivalReturnSpeed"; const char *WimaController::altitudeName = "Altitude";
const char* WimaController::altitudeName = "Altitude"; const char *WimaController::snakeTileWidthName = "SnakeTileWidth";
const char* WimaController::snakeTileWidthName = "SnakeTileWidth"; const char *WimaController::snakeTileHeightName = "SnakeTileHeight";
const char* WimaController::snakeTileHeightName = "SnakeTileHeight"; const char *WimaController::snakeMinTileAreaName = "SnakeMinTileArea";
const char* WimaController::snakeMinTileAreaName = "SnakeMinTileArea"; const char *WimaController::snakeLineDistanceName = "SnakeLineDistance";
const char* WimaController::snakeLineDistanceName = "SnakeLineDistance"; const char *WimaController::snakeMinTransectLengthName =
const char* WimaController::snakeMinTransectLengthName = "SnakeMinTransectLength"; "SnakeMinTransectLength";
WimaController::StatusMap WimaController::_nemoStatusMap{ WimaController::StatusMap WimaController::_nemoStatusMap{
std::make_pair<int, QString>(0, "No Heartbeat"), std::make_pair<int, QString>(0, "No Heartbeat"),
...@@ -40,909 +41,754 @@ WimaController::StatusMap WimaController::_nemoStatusMap{ ...@@ -40,909 +41,754 @@ WimaController::StatusMap WimaController::_nemoStatusMap{
std::make_pair<int, QString>(-1, "Timeout"), std::make_pair<int, QString>(-1, "Timeout"),
std::make_pair<int, QString>(-2, "Error")}; std::make_pair<int, QString>(-2, "Error")};
using namespace snake;
WimaController::WimaController(QObject *parent) WimaController::WimaController(QObject *parent)
: QObject (parent) : QObject(parent), _joinedArea(), _measurementArea(), _serviceArea(),
, _joinedArea () _corridor(), _localPlanDataValid(false),
, _measurementArea () _areaInterface(&_measurementArea, &_serviceArea, &_corridor,
, _serviceArea () &_joinedArea),
, _corridor () _WMSettings(), _defaultWM(_WMSettings, _areaInterface),
, _localPlanDataValid (false) _snakeWM(_WMSettings, _areaInterface),
, _areaInterface (&_measurementArea, &_serviceArea, &_corridor, &_joinedArea) _rtlWM(_WMSettings, _areaInterface),
, _managerSettings () _currentWM(&_defaultWM), _WMList{&_defaultWM, &_snakeWM, &_rtlWM},
, _defaultManager (_managerSettings, _areaInterface) _metaDataMap(FactMetaData::createMapFromJsonFile(
, _snakeManager (_managerSettings, _areaInterface) QStringLiteral(":/json/WimaController.SettingsGroup.json"), this)),
, _rtlManager (_managerSettings, _areaInterface) _enableWimaController(settingsGroup,
, _currentManager (&_defaultManager) _metaDataMap[enableWimaControllerName]),
, _managerList {&_defaultManager, &_snakeManager, &_rtlManager} _overlapWaypoints(settingsGroup, _metaDataMap[overlapWaypointsName]),
, _metaDataMap ( _maxWaypointsPerPhase(settingsGroup,
FactMetaData::createMapFromJsonFile( _metaDataMap[maxWaypointsPerPhaseName]),
QStringLiteral(":/json/WimaController.SettingsGroup.json"), this)) _nextPhaseStartWaypointIndex(settingsGroup,
, _enableWimaController (settingsGroup, _metaDataMap[enableWimaControllerName]) _metaDataMap[startWaypointIndexName]),
, _overlapWaypoints (settingsGroup, _metaDataMap[overlapWaypointsName]) _showAllMissionItems(settingsGroup,
, _maxWaypointsPerPhase (settingsGroup, _metaDataMap[maxWaypointsPerPhaseName]) _metaDataMap[showAllMissionItemsName]),
, _nextPhaseStartWaypointIndex (settingsGroup, _metaDataMap[startWaypointIndexName]) _showCurrentMissionItems(settingsGroup,
, _showAllMissionItems (settingsGroup, _metaDataMap[showAllMissionItemsName]) _metaDataMap[showCurrentMissionItemsName]),
, _showCurrentMissionItems (settingsGroup, _metaDataMap[showCurrentMissionItemsName]) _flightSpeed(settingsGroup, _metaDataMap[flightSpeedName]),
, _flightSpeed (settingsGroup, _metaDataMap[flightSpeedName]) _arrivalReturnSpeed(settingsGroup, _metaDataMap[arrivalReturnSpeedName]),
, _arrivalReturnSpeed (settingsGroup, _metaDataMap[arrivalReturnSpeedName]) _altitude(settingsGroup, _metaDataMap[altitudeName]),
, _altitude (settingsGroup, _metaDataMap[altitudeName]) _snakeTileWidth(settingsGroup, _metaDataMap[snakeTileWidthName]),
, _snakeTileWidth (settingsGroup, _metaDataMap[snakeTileWidthName]) _snakeTileHeight(settingsGroup, _metaDataMap[snakeTileHeightName]),
, _snakeTileHeight (settingsGroup, _metaDataMap[snakeTileHeightName]) _snakeMinTileArea(settingsGroup, _metaDataMap[snakeMinTileAreaName]),
, _snakeMinTileArea (settingsGroup, _metaDataMap[snakeMinTileAreaName]) _snakeLineDistance(settingsGroup, _metaDataMap[snakeLineDistanceName]),
, _snakeLineDistance (settingsGroup, _metaDataMap[snakeLineDistanceName]) _snakeMinTransectLength(settingsGroup,
, _snakeMinTransectLength (settingsGroup, _metaDataMap[snakeMinTransectLengthName]) _metaDataMap[snakeMinTransectLengthName]),
, _lowBatteryHandlingTriggered (false) _lowBatteryHandlingTriggered(false), _measurementPathLength(-1),
, _measurementPathLength (-1) _currentDM(&_emptyDM),
, _snakeCalcInProgress (false) _batteryLevelTicker(EVENT_TIMER_INTERVAL, 1000 /*ms*/) {
, _nemoHeartbeat (0 /*status: not connected*/)
, _fallbackStatus (0 /*status: not connected*/) // Set up facts.
, _batteryLevelTicker (EVENT_TIMER_INTERVAL, 1000 /*ms*/) _showAllMissionItems.setRawValue(true);
, _snakeTicker (EVENT_TIMER_INTERVAL, 200 /*ms*/) _showCurrentMissionItems.setRawValue(true);
, _nemoTimeoutTicker (EVENT_TIMER_INTERVAL, 5000 /*ms*/) connect(&_overlapWaypoints, &Fact::rawValueChanged, this,
, _topicServiceSetupDone (false) &WimaController::_updateOverlap);
{ connect(&_maxWaypointsPerPhase, &Fact::rawValueChanged, this,
&WimaController::_updateMaxWaypoints);
// Set up facts. connect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this,
_showAllMissionItems.setRawValue(true); &WimaController::_setStartIndex);
_showCurrentMissionItems.setRawValue(true); connect(&_flightSpeed, &Fact::rawValueChanged, this,
connect(&_overlapWaypoints, &Fact::rawValueChanged, this, &WimaController::_updateOverlap); &WimaController::_updateflightSpeed);
connect(&_maxWaypointsPerPhase, &Fact::rawValueChanged, this, &WimaController::_updateMaxWaypoints); connect(&_arrivalReturnSpeed, &Fact::rawValueChanged, this,
connect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this, &WimaController::_setStartIndex); &WimaController::_updateArrivalReturnSpeed);
connect(&_flightSpeed, &Fact::rawValueChanged, this, &WimaController::_updateflightSpeed); connect(&_altitude, &Fact::rawValueChanged, this,
connect(&_arrivalReturnSpeed, &Fact::rawValueChanged, this, &WimaController::_updateArrivalReturnSpeed); &WimaController::_updateAltitude);
connect(&_altitude, &Fact::rawValueChanged, this, &WimaController::_updateAltitude);
// Init waypoint managers.
// Init waypoint managers. bool value;
bool value; size_t overlap = _overlapWaypoints.rawValue().toUInt(&value);
size_t overlap = _overlapWaypoints.rawValue().toUInt(&value); Q_ASSERT(value);
Q_ASSERT(value); size_t N = _maxWaypointsPerPhase.rawValue().toUInt(&value);
size_t N = _maxWaypointsPerPhase.rawValue().toUInt(&value); Q_ASSERT(value);
Q_ASSERT(value); size_t startIdx = _nextPhaseStartWaypointIndex.rawValue().toUInt(&value);
size_t startIdx = _nextPhaseStartWaypointIndex.rawValue().toUInt(&value); Q_ASSERT(value);
Q_ASSERT(value); (void)value;
(void)value; for (auto manager : _WMList) {
for (auto manager : _managerList){ manager->setOverlap(overlap);
manager->setOverlap(overlap); manager->setN(N);
manager->setN(N); manager->setStartIndex(startIdx);
manager->setStartIndex(startIdx); }
}
// Periodic.
// Periodic. connect(&_eventTimer, &QTimer::timeout, this,
connect(&_eventTimer, &QTimer::timeout, this, &WimaController::_eventTimerHandler); &WimaController::_eventTimerHandler);
//_eventTimer.setInterval(EVENT_TIMER_INTERVAL); _eventTimer.start(EVENT_TIMER_INTERVAL);
_eventTimer.start(EVENT_TIMER_INTERVAL);
// Snake Data Manager.
// Snake Worker Thread. connect(_currentDM, &SnakeDataManager::finished, this,
connect(&_snakeDataManager, &SnakeDataManager::finished, this, &WimaController::_snakeStoreWorkerResults); &WimaController::_DMFinishedHandler);
connect(this, &WimaController::nemoProgressChanged, this, &WimaController::_initStartSnakeWorker); connect(_currentDM, &SnakeDataManager::nemoProgressChanged, this,
connect(this, &QObject::destroyed, &this->_snakeDataManager, &SnakeDataManager::quit); &WimaController::_progressChangedHandler);
connect(_currentDM, &SnakeDataManager::nemoStatusChanged, this,
// Snake. &WimaController::nemoStatusChanged);
auto configRosBridge = [this]{ connect(_currentDM, &SnakeDataManager::nemoStatusChanged, this,
if ( this->_enableSnake.rawValue().toBool() ){ &WimaController::nemoStatusStringChanged);
this->_snakeDataManager.enableRosBridge();
} else { connect(this, &QObject::destroyed, &this->_snakeDM, &SnakeDataManager::quit);
this->_snakeDataManager.disableRosBride(); connect(this, &QObject::destroyed, &this->_emptyDM, &SnakeDataManager::quit);
}
}; connect(&_enableSnake, &Fact::rawValueChanged, this,
connect(&_enableSnake, &Fact::rawValueChanged, configRosBridge); &WimaController::_enableSnakeChangedHandler);
configRosBridge(); _enableSnakeChangedHandler();
connect(&_enableSnake, &Fact::rawValueChanged, this, &WimaController::_switchSnakeManager); // Snake Waypoint Manager.
_switchSnakeManager(_enableSnake.rawValue()); connect(&_enableSnake, &Fact::rawValueChanged, this,
&WimaController::_switchToSnakeWaypointManager);
_switchToSnakeWaypointManager(_enableSnake.rawValue());
} }
PlanMasterController *WimaController::masterController() { PlanMasterController *WimaController::masterController() {
return _masterController; return _masterController;
} }
MissionController *WimaController::missionController() { MissionController *WimaController::missionController() {
return _missionController; return _missionController;
} }
QmlObjectListModel *WimaController::visualItems() { QmlObjectListModel *WimaController::visualItems() { return &_areas; }
return &_areas;
}
QmlObjectListModel *WimaController::missionItems() { QmlObjectListModel *WimaController::missionItems() {
return const_cast<QmlObjectListModel*>(&_currentManager->missionItems()); return const_cast<QmlObjectListModel *>(&_currentWM->missionItems());
} }
QmlObjectListModel *WimaController::currentMissionItems() { QmlObjectListModel *WimaController::currentMissionItems() {
return const_cast<QmlObjectListModel*>(&_currentManager->currentMissionItems()); return const_cast<QmlObjectListModel *>(&_currentWM->currentMissionItems());
} }
QVariantList WimaController::waypointPath() QVariantList WimaController::waypointPath() {
{ return const_cast<QVariantList &>(_currentWM->waypointsVariant());
return const_cast<QVariantList&>(_currentManager->waypointsVariant());
} }
QVariantList WimaController::currentWaypointPath() QVariantList WimaController::currentWaypointPath() {
{ return const_cast<QVariantList &>(_currentWM->currentWaypointsVariant());
return const_cast<QVariantList&>(_currentManager->currentWaypointsVariant());
} }
Fact *WimaController::enableWimaController() { Fact *WimaController::enableWimaController() { return &_enableWimaController; }
return &_enableWimaController;
}
Fact *WimaController::overlapWaypoints() { Fact *WimaController::overlapWaypoints() { return &_overlapWaypoints; }
return &_overlapWaypoints;
}
Fact *WimaController::maxWaypointsPerPhase() { Fact *WimaController::maxWaypointsPerPhase() { return &_maxWaypointsPerPhase; }
return &_maxWaypointsPerPhase;
}
Fact *WimaController::startWaypointIndex() { Fact *WimaController::startWaypointIndex() {
return &_nextPhaseStartWaypointIndex; return &_nextPhaseStartWaypointIndex;
} }
Fact *WimaController::showAllMissionItems() { Fact *WimaController::showAllMissionItems() { return &_showAllMissionItems; }
return &_showAllMissionItems;
}
Fact *WimaController::showCurrentMissionItems() { Fact *WimaController::showCurrentMissionItems() {
return &_showCurrentMissionItems; return &_showCurrentMissionItems;
} }
Fact *WimaController::flightSpeed() { Fact *WimaController::flightSpeed() { return &_flightSpeed; }
return &_flightSpeed;
}
Fact *WimaController::arrivalReturnSpeed() { Fact *WimaController::arrivalReturnSpeed() { return &_arrivalReturnSpeed; }
return &_arrivalReturnSpeed;
}
Fact *WimaController::altitude() { Fact *WimaController::altitude() { return &_altitude; }
return &_altitude;
}
QmlObjectListModel *WimaController::snakeTiles() QmlObjectListModel *WimaController::snakeTiles() {
{ return const_cast<QmlObjectListModel *>(this->_snakeDM.tiles());
static QmlObjectListModel list;
qWarning() << "using snake tile dummy";
return &list;
} }
QVariantList WimaController::snakeTileCenterPoints() QVariantList WimaController::snakeTileCenterPoints() {
{ return _currentDM->tileCenterPoints();
qWarning() << "using snakeTileCenterPoints dummy";
return QVariantList();
} }
QVector<int> WimaController::nemoProgress() QVector<int> WimaController::nemoProgress() {
{ return _currentDM->nemoProgress().progress();
qWarning() << "using nemoProgress dummy";
return QVector<int>();
} }
double WimaController::phaseDistance() const double WimaController::phaseDistance() const {
{ qWarning() << "using phaseDistance dummy";
return 0.0; return 0.0;
} }
double WimaController::phaseDuration() const double WimaController::phaseDuration() const {
{ qWarning() << "using phaseDuration dummy";
return 0.0; return 0.0;
} }
int WimaController::nemoStatus() const int WimaController::nemoStatus() const { return _currentDM->nemoStatus(); }
{
qWarning() << "using nemoStatus dummy";
return 0;
}
QString WimaController::nemoStatusString() const QString WimaController::nemoStatusString() const {
{ return _nemoStatusMap.at(nemoStatus());
return _nemoStatusMap.at(nemoStatus());
} }
bool WimaController::snakeCalcInProgress() const bool WimaController::snakeCalcInProgress() const {
{ return _currentDM->calcInProgress();
qWarning() << "using snakeCalcInProgress dummy";
return false;
} }
void WimaController::setMasterController(PlanMasterController *masterC) void WimaController::setMasterController(PlanMasterController *masterC) {
{ _masterController = masterC;
_masterController = masterC; _WMSettings.setMasterController(masterC);
_managerSettings.setMasterController(masterC); emit masterControllerChanged();
emit masterControllerChanged();
} }
void WimaController::setMissionController(MissionController *missionC) void WimaController::setMissionController(MissionController *missionC) {
{ _missionController = missionC;
_missionController = missionC; _WMSettings.setMissionController(missionC);
_managerSettings.setMissionController(missionC); emit missionControllerChanged();
emit missionControllerChanged();
} }
void WimaController::nextPhase() void WimaController::nextPhase() { _calcNextPhase(); }
{
_calcNextPhase();
}
void WimaController::previousPhase() void WimaController::previousPhase() {
{ if (!_currentWM->previous()) {
if ( !_currentManager->previous() ) { Q_ASSERT(false);
Q_ASSERT(false); }
}
emit missionItemsChanged(); emit missionItemsChanged();
emit currentMissionItemsChanged(); emit currentMissionItemsChanged();
emit currentWaypointPathChanged(); emit currentWaypointPathChanged();
emit waypointPathChanged(); emit waypointPathChanged();
} }
void WimaController::resetPhase() void WimaController::resetPhase() {
{ if (!_currentWM->reset()) {
if ( !_currentManager->reset() ) { Q_ASSERT(false);
Q_ASSERT(false); }
}
emit missionItemsChanged(); emit missionItemsChanged();
emit currentMissionItemsChanged(); emit currentMissionItemsChanged();
emit currentWaypointPathChanged(); emit currentWaypointPathChanged();
emit waypointPathChanged(); emit waypointPathChanged();
} }
void WimaController::requestSmartRTL() void WimaController::requestSmartRTL() {
{ QString errorString("Smart RTL requested. ");
QString errorString("Smart RTL requested. "); if (!_checkSmartRTLPreCondition(errorString)) {
if ( !_checkSmartRTLPreCondition(errorString) ){ qgcApp()->showMessage(errorString);
qgcApp()->showMessage(errorString); return;
return; }
} emit smartRTLRequestConfirm();
emit smartRTLRequestConfirm();
} }
bool WimaController::upload() bool WimaController::upload() {
{ auto &currentMissionItems = _defaultWM.currentMissionItems();
auto &currentMissionItems = _defaultManager.currentMissionItems(); if (!_serviceArea.containsCoordinate(
if ( !_serviceArea.containsCoordinate(_masterController->managerVehicle()->coordinate()) _masterController->managerVehicle()->coordinate()) &&
&& currentMissionItems.count() > 0) { currentMissionItems.count() > 0) {
emit forceUploadConfirm(); emit forceUploadConfirm();
return false; return false;
} }
return forceUpload(); return forceUpload();
} }
bool WimaController::forceUpload() bool WimaController::forceUpload() {
{ auto &currentMissionItems = _defaultWM.currentMissionItems();
auto &currentMissionItems = _defaultManager.currentMissionItems(); if (currentMissionItems.count() < 1)
if (currentMissionItems.count() < 1) return false;
return false;
_missionController->removeAll(); _missionController->removeAll();
// Set homeposition of settingsItem. // Set homeposition of settingsItem.
QmlObjectListModel* visuals = _missionController->visualItems(); QmlObjectListModel *visuals = _missionController->visualItems();
MissionSettingsItem* settingsItem = visuals->value<MissionSettingsItem *>(0); MissionSettingsItem *settingsItem = visuals->value<MissionSettingsItem *>(0);
if (settingsItem == nullptr) { if (settingsItem == nullptr) {
Q_ASSERT(false); Q_ASSERT(false);
qWarning("WimaController::updateCurrentMissionItems(): nullptr"); qWarning("WimaController::updateCurrentMissionItems(): nullptr");
return false; return false;
} }
settingsItem->setCoordinate(_managerSettings.homePosition()); settingsItem->setCoordinate(_WMSettings.homePosition());
// Copy mission items to _missionController. // Copy mission items to _missionController.
for (int i = 1; i < currentMissionItems.count(); i++){ for (int i = 1; i < currentMissionItems.count(); i++) {
auto *item = currentMissionItems.value<const SimpleMissionItem *>(i); auto *item = currentMissionItems.value<const SimpleMissionItem *>(i);
_missionController->insertSimpleMissionItem(*item, visuals->count()); _missionController->insertSimpleMissionItem(*item, visuals->count());
} }
_masterController->sendToVehicle(); _masterController->sendToVehicle();
return true; return true;
} }
void WimaController::removeFromVehicle() void WimaController::removeFromVehicle() {
{ _masterController->removeAllFromVehicle();
_masterController->removeAllFromVehicle(); _missionController->removeAll();
_missionController->removeAll();
} }
void WimaController::executeSmartRTL() void WimaController::executeSmartRTL() {
{ forceUpload();
forceUpload(); masterController()->managerVehicle()->startMission();
masterController()->managerVehicle()->startMission();
} }
void WimaController::initSmartRTL() void WimaController::initSmartRTL() { _initSmartRTL(); }
{
_initSmartRTL();
}
void WimaController::removeVehicleTrajectoryHistory() void WimaController::removeVehicleTrajectoryHistory() {
{ Vehicle *managerVehicle = masterController()->managerVehicle();
Vehicle *managerVehicle = masterController()->managerVehicle(); managerVehicle->trajectoryPoints()->clear();
managerVehicle->trajectoryPoints()->clear();
} }
bool WimaController::_calcShortestPath(const QGeoCoordinate &start, bool WimaController::_calcShortestPath(const QGeoCoordinate &start,
const QGeoCoordinate &destination, const QGeoCoordinate &destination,
QVector<QGeoCoordinate> &path) QVector<QGeoCoordinate> &path) {
{ using namespace GeoUtilities;
using namespace GeoUtilities; using namespace PolygonCalculus;
using namespace PolygonCalculus; QPolygonF polygon2D;
QPolygonF polygon2D; toCartesianList(_joinedArea.coordinateList(), /*origin*/ start, polygon2D);
toCartesianList(_joinedArea.coordinateList(), /*origin*/ start, polygon2D); QPointF start2D(0, 0);
QPointF start2D(0,0); QPointF end2D;
QPointF end2D; toCartesian(destination, start, end2D);
toCartesian(destination, start, end2D); QVector<QPointF> path2D;
QVector<QPointF> path2D;
bool retVal = PolygonCalculus::shortestPath(polygon2D, start2D, end2D, path2D);
toGeoList(path2D, /*origin*/ start, path);
return retVal;
}
bool WimaController::setWimaPlanData(const WimaPlanData &planData)
{
// reset visual items
_areas.clear();
_defaultManager.clear();
_snakeManager.clear();
_snakeTiles.polygons().clear();
_snakeTilesLocal.polygons().clear();
_snakeTileCenterPoints.clear();
emit visualItemsChanged();
emit missionItemsChanged();
emit currentMissionItemsChanged();
emit waypointPathChanged();
emit currentWaypointPathChanged();
emit snakeTilesChanged();
emit snakeTileCenterPointsChanged();
_localPlanDataValid = false;
// extract list with WimaAreas
QList<const WimaAreaData*> areaList = planData.areaList();
int areaCounter = 0; bool retVal =
const int numAreas = 4; // extract only numAreas Areas, if there are more they are invalid and ignored PolygonCalculus::shortestPath(polygon2D, start2D, end2D, path2D);
for (int i = 0; i < areaList.size(); i++) { toGeoList(path2D, /*origin*/ start, path);
const WimaAreaData *areaData = areaList[i];
if (areaData->type() == WimaServiceAreaData::typeString) { // is it a service area? return retVal;
_serviceArea = *qobject_cast<const WimaServiceAreaData*>(areaData); }
areaCounter++;
_areas.append(&_serviceArea);
continue;
}
if (areaData->type() == WimaMeasurementAreaData::typeString) { // is it a measurement area?
_measurementArea = *qobject_cast<const WimaMeasurementAreaData*>(areaData);
areaCounter++;
_areas.append(&_measurementArea);
continue; bool WimaController::setWimaPlanData(const WimaPlanData &planData) {
} // reset visual items
_areas.clear();
_defaultWM.clear();
_snakeWM.clear();
if (areaData->type() == WimaCorridorData::typeString) { // is it a corridor? emit visualItemsChanged();
_corridor = *qobject_cast<const WimaCorridorData*>(areaData); emit missionItemsChanged();
areaCounter++; emit currentMissionItemsChanged();
//_visualItems.append(&_corridor); // not needed emit waypointPathChanged();
emit currentWaypointPathChanged();
continue; _localPlanDataValid = false;
}
if (areaData->type() == WimaJoinedAreaData::typeString) { // is it a corridor? // extract list with WimaAreas
_joinedArea = *qobject_cast<const WimaJoinedAreaData*>(areaData); QList<const WimaAreaData *> areaList = planData.areaList();
areaCounter++;
_areas.append(&_joinedArea);
continue; int areaCounter = 0;
} const int numAreas = 4; // extract only numAreas Areas, if there are more they
// are invalid and ignored
for (int i = 0; i < areaList.size(); i++) {
const WimaAreaData *areaData = areaList[i];
if (areaCounter >= numAreas) if (areaData->type() ==
break; WimaServiceAreaData::typeString) { // is it a service area?
} _serviceArea = *qobject_cast<const WimaServiceAreaData *>(areaData);
areaCounter++;
_areas.append(&_serviceArea);
if (areaCounter != numAreas) { continue;
Q_ASSERT(false);
return false;
} }
emit visualItemsChanged(); if (areaData->type() ==
WimaMeasurementAreaData::typeString) { // is it a measurement area?
// extract mission items _measurementArea =
QList<MissionItem> tempMissionItems = planData.missionItems(); *qobject_cast<const WimaMeasurementAreaData *>(areaData);
if (tempMissionItems.size() < 1) { areaCounter++;
qWarning("WimaController: Mission items from WimaPlaner empty!"); _areas.append(&_measurementArea);
return false;
}
for (auto item : tempMissionItems) { continue;
_defaultManager.push_back(item.coordinate());
} }
_managerSettings.setHomePosition( QGeoCoordinate(_serviceArea.center().latitude(), if (areaData->type() == WimaCorridorData::typeString) { // is it a corridor?
_serviceArea.center().longitude(), _corridor = *qobject_cast<const WimaCorridorData *>(areaData);
0) ); areaCounter++;
//_visualItems.append(&_corridor); // not needed
if( !_defaultManager.reset() ){ continue;
Q_ASSERT(false);
return false;
} }
emit missionItemsChanged(); if (areaData->type() ==
emit currentMissionItemsChanged(); WimaJoinedAreaData::typeString) { // is it a corridor?
emit waypointPathChanged(); _joinedArea = *qobject_cast<const WimaJoinedAreaData *>(areaData);
emit currentWaypointPathChanged(); areaCounter++;
_areas.append(&_joinedArea);
// Initialize _scenario.
Area mArea;
for (auto variant : _measurementArea.path()){
QGeoCoordinate c{variant.value<QGeoCoordinate>()};
mArea.geoPolygon.push_back(GeoPoint2D{c.latitude(), c.longitude()});
}
mArea.type = AreaType::MeasurementArea;
Area sArea; continue;
for (auto variant : _serviceArea.path()){
QGeoCoordinate c{variant.value<QGeoCoordinate>()};
sArea.geoPolygon.push_back(GeoPoint2D{c.latitude(), c.longitude()});
} }
sArea.type = AreaType::ServiceArea;
Area corridor; if (areaCounter >= numAreas)
for (auto variant : _corridor.path()){ break;
QGeoCoordinate c{variant.value<QGeoCoordinate>()}; }
corridor.geoPolygon.push_back(GeoPoint2D{c.latitude(), c.longitude()});
}
corridor.type = AreaType::Corridor;
_scenario.addArea(mArea);
_scenario.addArea(sArea);
_scenario.addArea(corridor);
// Check if scenario is defined.
if ( !_scenario.defined(_snakeTileWidth.rawValue().toUInt(),
_snakeTileHeight.rawValue().toUInt(),
_snakeMinTileArea.rawValue().toUInt()) ) {
Q_ASSERT(false);
return false;
}
{
// Get tiles and origin.
auto origin = _scenario.getOrigin();
_snakeOrigin.setLatitude(origin[0]);
_snakeOrigin.setLongitude(origin[1]);
_snakeOrigin.setAltitude(origin[2]);
const auto &tiles = _scenario.getTiles();
const auto &cps = _scenario.getTileCenterPoints();
for ( unsigned int i=0; i < tiles.size(); ++i ) {
const auto &tile = tiles[i];
SnakeTile Tile;
for ( const auto &vertex : tile) {
QGeoCoordinate QVertex(vertex[0], vertex[1], vertex[2]);
Tile.append(QVertex);
}
const auto &centerPoint = cps[i];
QGeoCoordinate QCenterPoint(centerPoint[0], centerPoint[1], centerPoint[2]);
Tile.setCenter(QCenterPoint);
_snakeTiles.polygons().append(Tile);
_snakeTileCenterPoints.append(QVariant::fromValue(QCenterPoint));
}
}
{
// Get local tiles.
const auto &tiles = _scenario.getTilesENU();
for ( unsigned int i=0; i < tiles.size(); ++i ) {
const auto &tile = tiles[i];
Polygon2D Tile;
for ( const auto &vertex : tile.outer()) {
QPointF QVertex(vertex.get<0>(), vertex.get<1>());
Tile.path().append(QVertex);
}
_snakeTilesLocal.polygons().append(Tile);
}
}
emit snakeTilesChanged();
emit snakeTileCenterPointsChanged();
if ( _enableSnake.rawValue().toBool()
&& _pRosBridge->isRunning()
&& _pRosBridge->connected()
&& _topicServiceSetupDone
&& _snakeTilesLocal.polygons().size() > 0
)
{
using namespace ros_bridge::messages;
// Publish snake origin.
JsonDocUPtr jOrigin(std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
bool ret = geographic_msgs::geo_point::toJson(
_snakeOrigin, *jOrigin, jOrigin->GetAllocator());
Q_ASSERT(ret);
_pRosBridge->publish(std::move(jOrigin), "/snake/origin");
// Publish snake tiles.
JsonDocUPtr jSnakeTiles(std::make_unique<rapidjson::Document>(rapidjson::kObjectType));
ret = jsk_recognition_msgs::polygon_array::toJson(
_snakeTilesLocal, *jSnakeTiles, jSnakeTiles->GetAllocator());
Q_ASSERT(ret);
_pRosBridge->publish(std::move(jSnakeTiles), "/snake/tiles");
}
_localPlanDataValid = true;
return true;
}
WimaController *WimaController::thisPointer()
{
return this;
}
bool WimaController::_calcNextPhase()
{
if ( !_currentManager->next() ) {
Q_ASSERT(false);
return false;
}
emit missionItemsChanged();
emit currentMissionItemsChanged();
emit currentWaypointPathChanged();
emit waypointPathChanged();
return true;
}
bool WimaController::_setStartIndex() if (areaCounter != numAreas) {
{ Q_ASSERT(false);
bool value; return false;
_currentManager->setStartIndex(_nextPhaseStartWaypointIndex.rawValue().toUInt(&value)-1); }
Q_ASSERT(value);
(void)value;
if ( !_currentManager->update() ) { emit visualItemsChanged();
Q_ASSERT(false);
return false;
}
emit missionItemsChanged(); // extract mission items
emit currentMissionItemsChanged(); QList<MissionItem> tempMissionItems = planData.missionItems();
emit currentWaypointPathChanged(); if (tempMissionItems.size() < 1) {
emit waypointPathChanged(); qWarning("WimaController: Mission items from WimaPlaner empty!");
return false;
}
return true; for (auto item : tempMissionItems) {
} _defaultWM.push_back(item.coordinate());
}
void WimaController::_recalcCurrentPhase() _WMSettings.setHomePosition(QGeoCoordinate(
{ _serviceArea.center().latitude(), _serviceArea.center().longitude(), 0));
if ( !_currentManager->update() ) {
Q_ASSERT(false);
}
emit missionItemsChanged(); if (!_defaultWM.reset()) {
emit currentMissionItemsChanged(); Q_ASSERT(false);
emit currentWaypointPathChanged(); return false;
emit waypointPathChanged(); }
}
void WimaController::_updateOverlap() emit missionItemsChanged();
{ emit currentMissionItemsChanged();
bool value; emit waypointPathChanged();
_currentManager->setOverlap(_overlapWaypoints.rawValue().toUInt(&value)); emit currentWaypointPathChanged();
Q_ASSERT(value);
(void)value;
if ( !_currentManager->update() ) { // Update Snake Data Manager
assert(false); _snakeDM.setMeasurementArea(_measurementArea.coordinateList());
} _snakeDM.setServiceArea(_serviceArea.coordinateList());
_snakeDM.setCorridor(_corridor.coordinateList());
_currentDM->start();
emit missionItemsChanged(); _localPlanDataValid = true;
emit currentMissionItemsChanged(); return true;
emit currentWaypointPathChanged();
emit waypointPathChanged();
} }
void WimaController::_updateMaxWaypoints() WimaController *WimaController::thisPointer() { return this; }
{
bool value;
_currentManager->setN(_maxWaypointsPerPhase.rawValue().toUInt(&value));
Q_ASSERT(value);
(void)value;
if ( !_currentManager->update() ) {
Q_ASSERT(false);
}
emit missionItemsChanged();
emit currentMissionItemsChanged();
emit currentWaypointPathChanged();
emit waypointPathChanged();
}
void WimaController::_updateflightSpeed() bool WimaController::_calcNextPhase() {
{ if (!_currentWM->next()) {
bool value; Q_ASSERT(false);
_managerSettings.setFlightSpeed(_flightSpeed.rawValue().toDouble(&value)); return false;
Q_ASSERT(value); }
(void)value;
if ( !_currentManager->update() ) { emit missionItemsChanged();
Q_ASSERT(false); emit currentMissionItemsChanged();
} emit currentWaypointPathChanged();
emit waypointPathChanged();
emit missionItemsChanged(); return true;
emit currentMissionItemsChanged();
emit currentWaypointPathChanged();
emit waypointPathChanged();
} }
void WimaController::_updateArrivalReturnSpeed() bool WimaController::_setStartIndex() {
{ bool value;
bool value; _currentWM->setStartIndex(
_managerSettings.setArrivalReturnSpeed(_arrivalReturnSpeed.rawValue().toDouble(&value)); _nextPhaseStartWaypointIndex.rawValue().toUInt(&value) - 1);
Q_ASSERT(value); Q_ASSERT(value);
(void)value; (void)value;
if ( !_currentManager->update() ) { if (!_currentWM->update()) {
Q_ASSERT(false); Q_ASSERT(false);
} return false;
}
emit missionItemsChanged();
emit currentMissionItemsChanged();
emit currentWaypointPathChanged();
emit waypointPathChanged();
}
void WimaController::_updateAltitude()
{
bool value;
_managerSettings.setAltitude(_altitude.rawValue().toDouble(&value));
Q_ASSERT(value);
(void)value;
if ( !_currentManager->update() ) { emit missionItemsChanged();
Q_ASSERT(false); emit currentMissionItemsChanged();
} emit currentWaypointPathChanged();
emit waypointPathChanged();
emit missionItemsChanged(); return true;
emit currentMissionItemsChanged();
emit currentWaypointPathChanged();
emit waypointPathChanged();
} }
void WimaController::_checkBatteryLevel() void WimaController::_recalcCurrentPhase() {
{ if (!_currentWM->update()) {
Vehicle *managerVehicle = masterController()->managerVehicle(); Q_ASSERT(false);
WimaSettings* wimaSettings = qgcApp()->toolbox()->settingsManager()->wimaSettings(); }
int batteryThreshold = wimaSettings->lowBatteryThreshold()->rawValue().toInt();
bool enabled = _enableWimaController.rawValue().toBool();
unsigned int minTime = wimaSettings->minimalRemainingMissionTime()->rawValue().toUInt();
if (managerVehicle != nullptr && enabled == true) {
Fact *battery1percentRemaining = managerVehicle->battery1FactGroup()->getFact(VehicleBatteryFactGroup::_percentRemainingFactName);
Fact *battery2percentRemaining = managerVehicle->battery2FactGroup()->getFact(VehicleBatteryFactGroup::_percentRemainingFactName);
emit missionItemsChanged();
if (battery1percentRemaining->rawValue().toDouble() < batteryThreshold emit currentMissionItemsChanged();
&& battery2percentRemaining->rawValue().toDouble() < batteryThreshold) { emit currentWaypointPathChanged();
if (!_lowBatteryHandlingTriggered) { emit waypointPathChanged();
_lowBatteryHandlingTriggered = true; }
if ( !(_missionController->remainingTime() <= minTime) ) {
requestSmartRTL(); void WimaController::_updateOverlap() {
} bool value;
} _currentWM->setOverlap(_overlapWaypoints.rawValue().toUInt(&value));
} Q_ASSERT(value);
else { (void)value;
_lowBatteryHandlingTriggered = false;
if (!_currentWM->update()) {
assert(false);
}
emit missionItemsChanged();
emit currentMissionItemsChanged();
emit currentWaypointPathChanged();
emit waypointPathChanged();
}
void WimaController::_updateMaxWaypoints() {
bool value;
_currentWM->setN(_maxWaypointsPerPhase.rawValue().toUInt(&value));
Q_ASSERT(value);
(void)value;
if (!_currentWM->update()) {
Q_ASSERT(false);
}
emit missionItemsChanged();
emit currentMissionItemsChanged();
emit currentWaypointPathChanged();
emit waypointPathChanged();
}
void WimaController::_updateflightSpeed() {
bool value;
_WMSettings.setFlightSpeed(_flightSpeed.rawValue().toDouble(&value));
Q_ASSERT(value);
(void)value;
if (!_currentWM->update()) {
Q_ASSERT(false);
}
emit missionItemsChanged();
emit currentMissionItemsChanged();
emit currentWaypointPathChanged();
emit waypointPathChanged();
}
void WimaController::_updateArrivalReturnSpeed() {
bool value;
_WMSettings.setArrivalReturnSpeed(
_arrivalReturnSpeed.rawValue().toDouble(&value));
Q_ASSERT(value);
(void)value;
if (!_currentWM->update()) {
Q_ASSERT(false);
}
emit missionItemsChanged();
emit currentMissionItemsChanged();
emit currentWaypointPathChanged();
emit waypointPathChanged();
}
void WimaController::_updateAltitude() {
bool value;
_WMSettings.setAltitude(_altitude.rawValue().toDouble(&value));
Q_ASSERT(value);
(void)value;
if (!_currentWM->update()) {
Q_ASSERT(false);
}
emit missionItemsChanged();
emit currentMissionItemsChanged();
emit currentWaypointPathChanged();
emit waypointPathChanged();
}
void WimaController::_checkBatteryLevel() {
Vehicle *managerVehicle = masterController()->managerVehicle();
WimaSettings *wimaSettings =
qgcApp()->toolbox()->settingsManager()->wimaSettings();
int batteryThreshold =
wimaSettings->lowBatteryThreshold()->rawValue().toInt();
bool enabled = _enableWimaController.rawValue().toBool();
unsigned int minTime =
wimaSettings->minimalRemainingMissionTime()->rawValue().toUInt();
if (managerVehicle != nullptr && enabled == true) {
Fact *battery1percentRemaining =
managerVehicle->battery1FactGroup()->getFact(
VehicleBatteryFactGroup::_percentRemainingFactName);
Fact *battery2percentRemaining =
managerVehicle->battery2FactGroup()->getFact(
VehicleBatteryFactGroup::_percentRemainingFactName);
if (battery1percentRemaining->rawValue().toDouble() < batteryThreshold &&
battery2percentRemaining->rawValue().toDouble() < batteryThreshold) {
if (!_lowBatteryHandlingTriggered) {
_lowBatteryHandlingTriggered = true;
if (!(_missionController->remainingTime() <= minTime)) {
requestSmartRTL();
} }
}
} else {
_lowBatteryHandlingTriggered = false;
} }
}
} }
void WimaController::_eventTimerHandler() void WimaController::_eventTimerHandler() {
{ // Battery level check necessary?
// Battery level check necessary? Fact *enableLowBatteryHandling = qgcApp()
Fact *enableLowBatteryHandling = qgcApp()->toolbox()->settingsManager()->wimaSettings()->enableLowBatteryHandling(); ->toolbox()
if ( enableLowBatteryHandling->rawValue().toBool() && _batteryLevelTicker.ready() ) ->settingsManager()
_checkBatteryLevel(); ->wimaSettings()
->enableLowBatteryHandling();
// Snake flight plan update necessary? if (enableLowBatteryHandling->rawValue().toBool() &&
// if ( snakeEventLoopTicker.ready() ) { _batteryLevelTicker.ready())
// if ( _enableSnake.rawValue().toBool() && _localPlanDataValid && !_snakeCalcInProgress && _scenarioDefinedBool) { _checkBatteryLevel();
// }
// }
if ( _nemoTimeoutTicker.ready() && _enableSnake.rawValue().toBool() ) {
this->_nemoHeartbeat.setStatus(_fallbackStatus);
emit WimaController::nemoStatusChanged();
emit WimaController::nemoStatusStringChanged();
}
} }
void WimaController::_smartRTLCleanUp(bool flying) void WimaController::_smartRTLCleanUp(bool flying) {
{ if (!flying) { // vehicle has landed
if ( !flying) { // vehicle has landed _switchWaypointManager(_defaultWM);
_switchWaypointManager(_defaultManager); _missionController->removeAllFromVehicle();
_missionController->removeAllFromVehicle(); _missionController->removeAll();
_missionController->removeAll(); disconnect(masterController()->managerVehicle(), &Vehicle::flyingChanged,
disconnect(masterController()->managerVehicle(), &Vehicle::flyingChanged, this, &WimaController::_smartRTLCleanUp); this, &WimaController::_smartRTLCleanUp);
} }
}
void WimaController::_setPhaseDistance(double distance)
{
(void)distance;
// if (!qFuzzyCompare(distance, _phaseDistance)) {
// _phaseDistance = distance;
// emit phaseDistanceChanged();
// }
} }
void WimaController::_setPhaseDuration(double duration) void WimaController::_setPhaseDistance(double distance) {
{ (void)distance;
(void)duration; // if (!qFuzzyCompare(distance, _phaseDistance)) {
// if (!qFuzzyCompare(duration, _phaseDuration)) { // _phaseDistance = distance;
// _phaseDuration = duration;
// emit phaseDurationChanged(); // emit phaseDistanceChanged();
// } // }
} }
bool WimaController::_checkSmartRTLPreCondition(QString &errorString) void WimaController::_setPhaseDuration(double duration) {
{ (void)duration;
if (!_localPlanDataValid) { // if (!qFuzzyCompare(duration, _phaseDuration)) {
errorString.append(tr("No WiMA data available. Please define at least a measurement and a service area.")); // _phaseDuration = duration;
return false;
}
return _rtlManager.checkPrecondition(errorString); // emit phaseDurationChanged();
// }
} }
void WimaController::_switchWaypointManager(WaypointManager::ManagerBase &manager) bool WimaController::_checkSmartRTLPreCondition(QString &errorString) {
{ if (!_localPlanDataValid) {
if (_currentManager != &manager) { errorString.append(tr("No WiMA data available. Please define at least a "
_currentManager = &manager; "measurement and a service area."));
return false;
disconnect(&_overlapWaypoints, &Fact::rawValueChanged, }
this, &WimaController::_updateOverlap);
disconnect(&_maxWaypointsPerPhase, &Fact::rawValueChanged,
this, &WimaController::_updateMaxWaypoints);
disconnect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged,
this, &WimaController::_setStartIndex);
_maxWaypointsPerPhase.setRawValue(_currentManager->N());
_overlapWaypoints.setRawValue(_currentManager->overlap());
_nextPhaseStartWaypointIndex.setRawValue(_currentManager->startIndex());
connect(&_overlapWaypoints, &Fact::rawValueChanged,
this, &WimaController::_updateOverlap);
connect(&_maxWaypointsPerPhase, &Fact::rawValueChanged,
this, &WimaController::_updateMaxWaypoints);
connect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged,
this, &WimaController::_setStartIndex);
emit missionItemsChanged();
emit currentMissionItemsChanged();
emit waypointPathChanged();
emit currentWaypointPathChanged();
qWarning() << "WimaController::_switchWaypointManager: statistics update missing.";
}
}
void WimaController::_initSmartRTL() return _rtlWM.checkPrecondition(errorString);
{
QString errorString;
static int attemptCounter = 0;
attemptCounter++;
if ( _checkSmartRTLPreCondition(errorString) ) {
_masterController->managerVehicle()->pauseVehicle();
connect(masterController()->managerVehicle(), &Vehicle::flyingChanged, this, &WimaController::_smartRTLCleanUp);
if ( _rtlManager.update() ) { // Calculate return path.
_switchWaypointManager(_rtlManager);
attemptCounter = 0;
emit smartRTLPathConfirm();
return;
}
} else if (attemptCounter > SMART_RTL_MAX_ATTEMPTS) {
errorString.append(tr("Smart RTL: No success after maximum number of attempts."));
qgcApp()->showMessage(errorString);
attemptCounter = 0;
} else {
_smartRTLTimer.singleShot(SMART_RTL_ATTEMPT_INTERVAL, this, &WimaController::_initSmartRTL);
}
} }
void WimaController::_setSnakeCalcInProgress(bool inProgress) void WimaController::_switchWaypointManager(
{ WaypointManager::ManagerBase &manager) {
if (_snakeCalcInProgress != inProgress){ if (_currentWM != &manager) {
_snakeCalcInProgress = inProgress; _currentWM = &manager;
emit snakeCalcInProgressChanged();
}
}
void WimaController::_snakeStoreWorkerResults() disconnect(&_overlapWaypoints, &Fact::rawValueChanged, this,
{ &WimaController::_updateOverlap);
_setSnakeCalcInProgress(false); disconnect(&_maxWaypointsPerPhase, &Fact::rawValueChanged, this,
auto start = std::chrono::high_resolution_clock::now(); &WimaController::_updateMaxWaypoints);
_snakeManager.clear(); disconnect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this,
&WimaController::_setStartIndex);
const auto &r = _snakeDataManager.getResult(); _maxWaypointsPerPhase.setRawValue(_currentWM->N());
if (!r.success) { _overlapWaypoints.setRawValue(_currentWM->overlap());
//qgcApp()->showMessage(r.errorMessage); _nextPhaseStartWaypointIndex.setRawValue(_currentWM->startIndex());
return;
}
// create Mission items from r.waypoints
long n = r.waypoints.size() - r.returnPathIdx.size() - r.arrivalPathIdx.size() + 2;
if (n < 1) {
return;
}
// Create QVector<QGeoCoordinate> containing all waypoints;
unsigned long startIdx = r.arrivalPathIdx.last();
unsigned long endIdx = r.returnPathIdx.first();
for (unsigned long i = startIdx; i <= endIdx; ++i) {
_snakeManager.push_back(r.waypoints[int(i)].value<QGeoCoordinate>());
}
_snakeManager.update(); connect(&_overlapWaypoints, &Fact::rawValueChanged, this,
&WimaController::_updateOverlap);
connect(&_maxWaypointsPerPhase, &Fact::rawValueChanged, this,
&WimaController::_updateMaxWaypoints);
connect(&_nextPhaseStartWaypointIndex, &Fact::rawValueChanged, this,
&WimaController::_setStartIndex);
emit missionItemsChanged(); emit missionItemsChanged();
emit currentMissionItemsChanged(); emit currentMissionItemsChanged();
emit currentWaypointPathChanged();
emit waypointPathChanged(); emit waypointPathChanged();
emit currentWaypointPathChanged();
auto end = std::chrono::high_resolution_clock::now(); qWarning()
double duration = std::chrono::duration_cast<std::chrono::milliseconds>(end-start).count(); << "WimaController::_switchWaypointManager: statistics update missing.";
qWarning() << "WimaController::_snakeStoreWorkerResults execution time: " << duration << " ms."; }
}
void WimaController::_initSmartRTL() {
QString errorString;
static int attemptCounter = 0;
attemptCounter++;
if (_checkSmartRTLPreCondition(errorString)) {
_masterController->managerVehicle()->pauseVehicle();
connect(masterController()->managerVehicle(), &Vehicle::flyingChanged, this,
&WimaController::_smartRTLCleanUp);
if (_rtlWM.update()) { // Calculate return path.
_switchWaypointManager(_rtlWM);
attemptCounter = 0;
emit smartRTLPathConfirm();
return;
}
} else if (attemptCounter > SMART_RTL_MAX_ATTEMPTS) {
errorString.append(
tr("Smart RTL: No success after maximum number of attempts."));
qgcApp()->showMessage(errorString);
attemptCounter = 0;
} else {
_smartRTLTimer.singleShot(SMART_RTL_ATTEMPT_INTERVAL, this,
&WimaController::_initSmartRTL);
}
}
void WimaController::_DMFinishedHandler() {
if (!_snakeDM.success()) {
// qgcApp()->showMessage(r.errorMessage);
return;
}
// Copy waypoints to waypoint manager.
_snakeWM.clear();
auto waypoints = _snakeDM.waypoints();
if (waypoints.size() < 1) {
return;
}
for (auto &vertex : waypoints) {
_snakeWM.push_back(vertex);
}
// Do update.
auto fut = QtConcurrent::run([this] {
this->_snakeWM.update(); // this can take a while (ca. 200ms)
emit this->missionItemsChanged();
emit this->currentMissionItemsChanged();
emit this->currentWaypointPathChanged();
emit this->waypointPathChanged();
});
(void)fut;
}
void WimaController::_switchToSnakeWaypointManager(QVariant variant) {
if (variant.value<bool>()) {
_switchWaypointManager(_snakeWM);
} else {
_switchWaypointManager(_defaultWM);
}
}
void WimaController::_switchDataManager(SnakeDataManager &dataManager) {
if (_currentDM != &dataManager) {
disconnect(_currentDM, &SnakeDataManager::finished, this,
&WimaController::_DMFinishedHandler);
disconnect(_currentDM, &SnakeDataManager::nemoProgressChanged, this,
&WimaController::_progressChangedHandler);
disconnect(_currentDM, &SnakeDataManager::nemoStatusChanged, this,
&WimaController::nemoStatusChanged);
disconnect(_currentDM, &SnakeDataManager::nemoStatusChanged, this,
&WimaController::nemoStatusStringChanged);
_currentDM = &dataManager;
connect(_currentDM, &SnakeDataManager::finished, this,
&WimaController::_DMFinishedHandler);
connect(_currentDM, &SnakeDataManager::nemoProgressChanged, this,
&WimaController::_progressChangedHandler);
connect(_currentDM, &SnakeDataManager::nemoStatusChanged, this,
&WimaController::nemoStatusChanged);
connect(_currentDM, &SnakeDataManager::nemoStatusChanged, this,
&WimaController::nemoStatusStringChanged);
emit snakeConnectionStatusChanged();
emit snakeCalcInProgressChanged();
emit snakeTilesChanged();
emit snakeTileCenterPointsChanged();
emit nemoProgressChanged();
emit nemoStatusChanged();
emit nemoStatusStringChanged();
}
} }
void WimaController::_initStartSnakeWorker() void WimaController::_progressChangedHandler() {
{ emit this->nemoProgressChanged();
if ( !_enableSnake.rawValue().toBool() ) this->_currentDM->start();
return;
// Stop worker thread if running.
if ( _snakeDataManager.isRunning() ) {
_snakeDataManager.quit();
}
// Initialize _snakeWorker.
_snakeDataManager.setProgress(
_nemoProgress.progress());
_snakeDataManager.setLineDistance(
_snakeLineDistance.rawValue().toDouble());
_snakeDataManager.setMinTransectLength(
_snakeMinTransectLength.rawValue().toDouble());
_snakeDataManager.setTileHeight(
_snakeTileHeight.rawValue().toDouble());
_snakeDataManager.setTileWidth(
_snakeTileWidth.rawValue().toDouble());
_snakeDataManager.setMinTileArea(
_snakeMinTileArea.rawValue().toDouble());
_setSnakeCalcInProgress(true);
// Start worker thread.
_snakeDataManager.start();
}
void WimaController::_switchSnakeManager(QVariant variant)
{
if (variant.value<bool>()){
_switchWaypointManager(_snakeManager);
} else {
_switchWaypointManager(_defaultManager);
}
} }
void WimaController::_enableSnakeChangedHandler() {
if (this->_enableSnake.rawValue().toBool()) {
this->_snakeDM.enableRosBridge();
_switchDataManager(_snakeDM);
_currentDM->start();
} else {
this->_snakeDM.disableRosBride();
_switchDataManager(_emptyDM);
}
}
src/Wima/WimaController.h
View file @ c6e6a519
...@@ -7,32 +7,29 @@ ...@@ -7,32 +7,29 @@
#include "QmlObjectListModel.h" #include "QmlObjectListModel.h"
#include "Geometry/WimaArea.h" #include "Geometry/WimaArea.h"
#include "Geometry/WimaMeasurementArea.h"
#include "Geometry/WimaServiceArea.h"
#include "Geometry/WimaCorridor.h" #include "Geometry/WimaCorridor.h"
#include "Geometry/WimaMeasurementAreaData.h"
#include "Geometry/WimaCorridorData.h" #include "Geometry/WimaCorridorData.h"
#include "Geometry/WimaMeasurementArea.h"
#include "Geometry/WimaMeasurementAreaData.h"
#include "Geometry/WimaServiceArea.h"
#include "Geometry/WimaServiceAreaData.h" #include "Geometry/WimaServiceAreaData.h"
#include "WimaPlanData.h" #include "WimaPlanData.h"
#include "PlanMasterController.h" #include "JsonHelper.h"
#include "MissionController.h" #include "MissionController.h"
#include "SurveyComplexItem.h"
#include "SimpleMissionItem.h"
#include "MissionSettingsItem.h" #include "MissionSettingsItem.h"
#include "JsonHelper.h" #include "PlanMasterController.h"
#include "QGCApplication.h" #include "QGCApplication.h"
#include "SettingsFact.h" #include "SettingsFact.h"
#include "SettingsManager.h" #include "SettingsManager.h"
#include "SimpleMissionItem.h"
#include "SurveyComplexItem.h"
#include "snake.h" #include "Geometry/GeoPoint3D.h"
#include "Snake/SnakeDataManager.h" #include "Snake/SnakeDataManager.h"
#include "Snake/SnakeTiles.h" #include "Snake/SnakeTiles.h"
#include "Snake/SnakeTilesLocal.h" #include "Snake/SnakeTilesLocal.h"
#include "Geometry/GeoPoint3D.h"
#include "ros_bridge/include/ros_bridge.h"
#include "WaypointManager/DefaultManager.h" #include "WaypointManager/DefaultManager.h"
#include "WaypointManager/RTLManager.h" #include "WaypointManager/RTLManager.h"
...@@ -41,363 +38,285 @@ ...@@ -41,363 +38,285 @@
#include <map> #include <map>
using namespace snake;
typedef std::unique_ptr<rapidjson::Document> JsonDocUPtr; typedef std::unique_ptr<rapidjson::Document> JsonDocUPtr;
class WimaController : public QObject class WimaController : public QObject {
{ Q_OBJECT
Q_OBJECT enum FileType { WimaFile, PlanFile };
enum FileType {WimaFile, PlanFile};
public:
WimaController(QObject *parent = nullptr);
// Controllers. public:
Q_PROPERTY(PlanMasterController* masterController WimaController(QObject *parent = nullptr);
READ masterController
WRITE setMasterController // Controllers.
NOTIFY masterControllerChanged Q_PROPERTY(PlanMasterController *masterController READ masterController WRITE
) setMasterController NOTIFY masterControllerChanged)
Q_PROPERTY(MissionController* missionController Q_PROPERTY(MissionController *missionController READ missionController WRITE
READ missionController setMissionController NOTIFY missionControllerChanged)
WRITE setMissionController // Wima Data.
NOTIFY missionControllerChanged Q_PROPERTY(QmlObjectListModel *visualItems READ visualItems NOTIFY
) visualItemsChanged)
// Wima Data. Q_PROPERTY(QmlObjectListModel *missionItems READ missionItems NOTIFY
Q_PROPERTY(QmlObjectListModel* visualItems missionItemsChanged)
READ visualItems Q_PROPERTY(QmlObjectListModel *currentMissionItems READ currentMissionItems
NOTIFY visualItemsChanged NOTIFY currentMissionItemsChanged)
) Q_PROPERTY(
Q_PROPERTY(QmlObjectListModel* missionItems QVariantList waypointPath READ waypointPath NOTIFY waypointPathChanged)
READ missionItems Q_PROPERTY(QVariantList currentWaypointPath READ currentWaypointPath NOTIFY
NOTIFY missionItemsChanged currentWaypointPathChanged)
) Q_PROPERTY(Fact *enableWimaController READ enableWimaController CONSTANT)
Q_PROPERTY(QmlObjectListModel* currentMissionItems // Waypoint navigaton.
READ currentMissionItems Q_PROPERTY(Fact *overlapWaypoints READ overlapWaypoints CONSTANT)
NOTIFY currentMissionItemsChanged Q_PROPERTY(Fact *maxWaypointsPerPhase READ maxWaypointsPerPhase CONSTANT)
) Q_PROPERTY(Fact *startWaypointIndex READ startWaypointIndex CONSTANT)
Q_PROPERTY(QVariantList waypointPath Q_PROPERTY(Fact *showAllMissionItems READ showAllMissionItems CONSTANT)
READ waypointPath Q_PROPERTY(
NOTIFY waypointPathChanged Fact *showCurrentMissionItems READ showCurrentMissionItems CONSTANT)
) // Waypoint settings.
Q_PROPERTY(QVariantList currentWaypointPath Q_PROPERTY(Fact *flightSpeed READ flightSpeed CONSTANT)
READ currentWaypointPath Q_PROPERTY(Fact *altitude READ altitude CONSTANT)
NOTIFY currentWaypointPathChanged Q_PROPERTY(Fact *arrivalReturnSpeed READ arrivalReturnSpeed CONSTANT)
) // Waypoint statistics.
Q_PROPERTY(Fact* enableWimaController Q_PROPERTY(
READ enableWimaController double phaseDistance READ phaseDistance NOTIFY phaseDistanceChanged)
CONSTANT) Q_PROPERTY(
// Waypoint navigaton. double phaseDuration READ phaseDuration NOTIFY phaseDurationChanged)
Q_PROPERTY(Fact* overlapWaypoints
READ overlapWaypoints // Snake
CONSTANT Q_PROPERTY(Fact *enableSnake READ enableSnake CONSTANT)
) Q_PROPERTY(int nemoStatus READ nemoStatus NOTIFY nemoStatusChanged)
Q_PROPERTY(Fact* maxWaypointsPerPhase Q_PROPERTY(QString nemoStatusString READ nemoStatusString NOTIFY
READ maxWaypointsPerPhase nemoStatusStringChanged)
CONSTANT Q_PROPERTY(bool snakeCalcInProgress READ snakeCalcInProgress NOTIFY
) snakeCalcInProgressChanged)
Q_PROPERTY(Fact* startWaypointIndex Q_PROPERTY(Fact *snakeTileWidth READ snakeTileWidth CONSTANT)
READ startWaypointIndex Q_PROPERTY(Fact *snakeTileHeight READ snakeTileHeight CONSTANT)
CONSTANT Q_PROPERTY(Fact *snakeMinTileArea READ snakeMinTileArea CONSTANT)
) Q_PROPERTY(Fact *snakeLineDistance READ snakeLineDistance CONSTANT)
Q_PROPERTY(Fact* showAllMissionItems Q_PROPERTY(Fact *snakeMinTransectLength READ snakeMinTransectLength CONSTANT)
READ showAllMissionItems Q_PROPERTY(
CONSTANT QmlObjectListModel *snakeTiles READ snakeTiles NOTIFY snakeTilesChanged)
) Q_PROPERTY(QVariantList snakeTileCenterPoints READ snakeTileCenterPoints
Q_PROPERTY(Fact* showCurrentMissionItems NOTIFY snakeTileCenterPointsChanged)
READ showCurrentMissionItems Q_PROPERTY(
CONSTANT QVector<int> nemoProgress READ nemoProgress NOTIFY nemoProgressChanged)
)
// Waypoint settings. // Property accessors
Q_PROPERTY(Fact* flightSpeed // Controllers.
READ flightSpeed PlanMasterController *masterController(void);
CONSTANT MissionController *missionController(void);
) // Wima Data
Q_PROPERTY(Fact* altitude QmlObjectListModel *visualItems(void);
READ altitude QGCMapPolygon joinedArea(void) const;
CONSTANT // Waypoints.
) QmlObjectListModel *missionItems(void);
Q_PROPERTY(Fact* arrivalReturnSpeed QmlObjectListModel *currentMissionItems(void);
READ arrivalReturnSpeed QVariantList waypointPath(void);
CONSTANT QVariantList currentWaypointPath(void);
) // Settings facts.
// Waypoint statistics. Fact *enableWimaController(void);
Q_PROPERTY(double phaseDistance Fact *overlapWaypoints(void);
READ phaseDistance Fact *maxWaypointsPerPhase(void);
NOTIFY phaseDistanceChanged Fact *startWaypointIndex(void);
) Fact *showAllMissionItems(void);
Q_PROPERTY(double phaseDuration Fact *showCurrentMissionItems(void);
READ phaseDuration Fact *flightSpeed(void);
NOTIFY phaseDurationChanged Fact *arrivalReturnSpeed(void);
) Fact *altitude(void);
// Snake settings facts.
// Snake Fact *enableSnake(void) { return &_enableSnake; }
Q_PROPERTY(Fact* enableSnake Fact *snakeTileWidth(void) { return &_snakeTileWidth; }
READ enableSnake Fact *snakeTileHeight(void) { return &_snakeTileHeight; }
CONSTANT Fact *snakeMinTileArea(void) { return &_snakeMinTileArea; }
) Fact *snakeLineDistance(void) { return &_snakeLineDistance; }
Q_PROPERTY(int nemoStatus Fact *snakeMinTransectLength(void) { return &_snakeMinTransectLength; }
READ nemoStatus // Snake data.
NOTIFY nemoStatusChanged QmlObjectListModel *snakeTiles(void);
) QVariantList snakeTileCenterPoints(void);
Q_PROPERTY(QString nemoStatusString QVector<int> nemoProgress(void);
READ nemoStatusString int nemoStatus(void) const;
NOTIFY nemoStatusStringChanged QString nemoStatusString(void) const;
) bool snakeCalcInProgress(void) const;
Q_PROPERTY(bool snakeCalcInProgress
READ snakeCalcInProgress // Smart RTL.
NOTIFY snakeCalcInProgressChanged bool uploadOverrideRequired(void) const;
) bool vehicleHasLowBattery(void) const;
Q_PROPERTY(Fact* snakeTileWidth // Waypoint statistics.
READ snakeTileWidth double phaseDistance(void) const;
CONSTANT double phaseDuration(void) const;
)
Q_PROPERTY(Fact* snakeTileHeight // Property setters
READ snakeTileHeight void setMasterController(PlanMasterController *masterController);
CONSTANT void setMissionController(MissionController *missionController);
) bool setWimaPlanData(const WimaPlanData &planData);
Q_PROPERTY(Fact* snakeMinTileArea
READ snakeMinTileArea // Member Methodes
CONSTANT Q_INVOKABLE WimaController *thisPointer();
) // Waypoint navigation.
Q_PROPERTY(Fact* snakeLineDistance Q_INVOKABLE void nextPhase();
READ snakeLineDistance Q_INVOKABLE void previousPhase();
CONSTANT Q_INVOKABLE void resetPhase();
) // Smart RTL.
Q_PROPERTY(Fact* snakeMinTransectLength Q_INVOKABLE void requestSmartRTL();
READ snakeMinTransectLength Q_INVOKABLE void initSmartRTL();
CONSTANT Q_INVOKABLE void executeSmartRTL();
) // Other.
Q_PROPERTY(QmlObjectListModel* snakeTiles Q_INVOKABLE void removeVehicleTrajectoryHistory();
READ snakeTiles Q_INVOKABLE bool upload();
NOTIFY snakeTilesChanged Q_INVOKABLE bool forceUpload();
) Q_INVOKABLE void removeFromVehicle();
Q_PROPERTY(QVariantList snakeTileCenterPoints
READ snakeTileCenterPoints // static Members
NOTIFY snakeTileCenterPointsChanged static const char *areaItemsName;
) static const char *missionItemsName;
Q_PROPERTY(QVector<int> nemoProgress static const char *settingsGroup;
READ nemoProgress static const char *endWaypointIndexName;
NOTIFY nemoProgressChanged static const char *enableWimaControllerName;
) static const char *overlapWaypointsName;
static const char *maxWaypointsPerPhaseName;
static const char *startWaypointIndexName;
static const char *showAllMissionItemsName;
// Property accessors static const char *showCurrentMissionItemsName;
// Controllers. static const char *flightSpeedName;
PlanMasterController* masterController (void); static const char *arrivalReturnSpeedName;
MissionController* missionController (void); static const char *altitudeName;
// Wima Data static const char *snakeTileWidthName;
QmlObjectListModel* visualItems (void); static const char *snakeTileHeightName;
QGCMapPolygon joinedArea (void) const; static const char *snakeMinTileAreaName;
// Waypoints. static const char *snakeLineDistanceName;
QmlObjectListModel* missionItems (void); static const char *snakeMinTransectLengthName;
QmlObjectListModel* currentMissionItems (void);
QVariantList waypointPath (void);
QVariantList currentWaypointPath (void);
// Settings facts.
Fact* enableWimaController (void);
Fact* overlapWaypoints (void);
Fact* maxWaypointsPerPhase (void);
Fact* startWaypointIndex (void);
Fact* showAllMissionItems (void);
Fact* showCurrentMissionItems(void);
Fact* flightSpeed (void);
Fact* arrivalReturnSpeed (void);
Fact* altitude (void);
// Snake settings facts.
Fact* enableSnake (void) { return &_enableSnake; }
Fact* snakeTileWidth (void) { return &_snakeTileWidth;}
Fact* snakeTileHeight (void) { return &_snakeTileHeight;}
Fact* snakeMinTileArea (void) { return &_snakeMinTileArea;}
Fact* snakeLineDistance (void) { return &_snakeLineDistance;}
Fact* snakeMinTransectLength (void) { return &_snakeMinTransectLength;}
// Snake data.
QmlObjectListModel* snakeTiles (void);
QVariantList snakeTileCenterPoints (void);
QVector<int> nemoProgress (void);
int nemoStatus (void) const;
QString nemoStatusString (void) const;
bool snakeCalcInProgress (void) const;
// Smart RTL.
bool uploadOverrideRequired (void) const;
bool vehicleHasLowBattery (void) const;
// Waypoint statistics.
double phaseDistance (void) const;
double phaseDuration (void) const;
// Property setters
void setMasterController (PlanMasterController* masterController);
void setMissionController (MissionController* missionController);
bool setWimaPlanData (const WimaPlanData &planData);
// Member Methodes
Q_INVOKABLE WimaController *thisPointer();
// Waypoint navigation.
Q_INVOKABLE void nextPhase();
Q_INVOKABLE void previousPhase();
Q_INVOKABLE void resetPhase();
// Smart RTL.
Q_INVOKABLE void requestSmartRTL();
Q_INVOKABLE void initSmartRTL();
Q_INVOKABLE void executeSmartRTL();
// Other.
Q_INVOKABLE void removeVehicleTrajectoryHistory();
Q_INVOKABLE bool upload();
Q_INVOKABLE bool forceUpload();
Q_INVOKABLE void removeFromVehicle();
// static Members
static const char* areaItemsName;
static const char* missionItemsName;
static const char* settingsGroup;
static const char* endWaypointIndexName;
static const char* enableWimaControllerName;
static const char* overlapWaypointsName;
static const char* maxWaypointsPerPhaseName;
static const char* startWaypointIndexName;
static const char* showAllMissionItemsName;
static const char* showCurrentMissionItemsName;
static const char* flightSpeedName;
static const char* arrivalReturnSpeedName;
static const char* altitudeName;
static const char* snakeTileWidthName;
static const char* snakeTileHeightName;
static const char* snakeMinTileAreaName;
static const char* snakeLineDistanceName;
static const char* snakeMinTransectLengthName;
signals: signals:
// Controllers. // Controllers.
void masterControllerChanged (void); void masterControllerChanged(void);
void missionControllerChanged (void); void missionControllerChanged(void);
// Wima data. // Wima data.
void visualItemsChanged (void); void visualItemsChanged(void);
// Waypoints. // Waypoints.
void missionItemsChanged (void); void missionItemsChanged(void);
void currentMissionItemsChanged (void); void currentMissionItemsChanged(void);
void waypointPathChanged (void); void waypointPathChanged(void);
void currentWaypointPathChanged (void); void currentWaypointPathChanged(void);
// Smart RTL. // Smart RTL.
void smartRTLRequestConfirm (void); void smartRTLRequestConfirm(void);
void smartRTLPathConfirm (void); void smartRTLPathConfirm(void);
// Upload. // Upload.
void forceUploadConfirm (void); void forceUploadConfirm(void);
// Waypoint statistics. // Waypoint statistics.
void phaseDistanceChanged (void); void phaseDistanceChanged(void);
void phaseDurationChanged (void); void phaseDurationChanged(void);
// Snake. // Snake.
void snakeConnectionStatusChanged (void); void snakeConnectionStatusChanged(void);
void snakeCalcInProgressChanged (void); void snakeCalcInProgressChanged(void);
void snakeTilesChanged (void); void snakeTilesChanged(void);
void snakeTileCenterPointsChanged (void); void snakeTileCenterPointsChanged(void);
void nemoProgressChanged (void); void nemoProgressChanged(void);
void nemoStatusChanged (void); void nemoStatusChanged(void);
void nemoStatusStringChanged (void); void nemoStatusStringChanged(void);
private slots: private slots:
// Waypoint navigation / helper. // Waypoint navigation / helper.
bool _calcNextPhase (void); bool _calcNextPhase(void);
void _recalcCurrentPhase (void); void _recalcCurrentPhase(void);
bool _calcShortestPath (const QGeoCoordinate &start, bool _calcShortestPath(const QGeoCoordinate &start,
const QGeoCoordinate &destination, const QGeoCoordinate &destination,
QVector<QGeoCoordinate> &path); QVector<QGeoCoordinate> &path);
// Slicing parameters // Slicing parameters
bool _setStartIndex (void); bool _setStartIndex(void);
void _updateOverlap (void); void _updateOverlap(void);
void _updateMaxWaypoints (void); void _updateMaxWaypoints(void);
// Waypoint settings. // Waypoint settings.
void _updateflightSpeed (void); void _updateflightSpeed(void);
void _updateArrivalReturnSpeed (void); void _updateArrivalReturnSpeed(void);
void _updateAltitude (void); void _updateAltitude(void);
// Waypoint Statistics. // Waypoint Statistics.
void _setPhaseDistance (double distance); void _setPhaseDistance(double distance);
void _setPhaseDuration (double duration); void _setPhaseDuration(double duration);
// SMART RTL // SMART RTL
void _checkBatteryLevel (void); void _checkBatteryLevel(void);
bool _checkSmartRTLPreCondition (QString &errorString); bool _checkSmartRTLPreCondition(QString &errorString);
void _initSmartRTL (); void _initSmartRTL();
void _smartRTLCleanUp (bool flying); void _smartRTLCleanUp(bool flying);
// Snake. // Snake.
void _setSnakeCalcInProgress (bool inProgress); void _DMFinishedHandler();
void _snakeStoreWorkerResults (); void _switchToSnakeWaypointManager(QVariant variant);
void _initStartSnakeWorker (); void _switchDataManager(SnakeDataManager &dataManager);
void _switchSnakeManager (QVariant variant); void _progressChangedHandler();
bool _doTopicServiceSetup(); void _enableSnakeChangedHandler();
// Periodic tasks. // Periodic tasks.
void _eventTimerHandler (void); void _eventTimerHandler(void);
// Waypoint manager handling. // Waypoint manager handling.
void _switchWaypointManager(WaypointManager::ManagerBase &manager); void _switchWaypointManager(WaypointManager::ManagerBase &manager);
private: private:
using StatusMap = std::map<int, QString>; using StatusMap = std::map<int, QString>;
// Controllers. // Controllers.
PlanMasterController *_masterController; PlanMasterController *_masterController;
MissionController *_missionController; MissionController *_missionController;
// Wima Data. // Wima Data.
QmlObjectListModel _areas; // contains all visible areas QmlObjectListModel _areas; // contains all visible areas
WimaJoinedAreaData _joinedArea; // joined area fromed by opArea, serArea, _corridor WimaJoinedAreaData
WimaMeasurementAreaData _measurementArea; // measurement area _joinedArea; // joined area fromed by opArea, serArea, _corridor
WimaServiceAreaData _serviceArea; // area for supplying WimaMeasurementAreaData _measurementArea; // measurement area
WimaCorridorData _corridor; // corridor connecting opArea and serArea WimaServiceAreaData _serviceArea; // area for supplying
bool _localPlanDataValid; WimaCorridorData _corridor; // corridor connecting opArea and serArea
bool _localPlanDataValid;
// Waypoint Managers.
WaypointManager::AreaInterface _areaInterface; // Waypoint Managers.
WaypointManager::Settings _managerSettings; WaypointManager::AreaInterface _areaInterface;
WaypointManager::DefaultManager _defaultManager; WaypointManager::Settings _WMSettings; // Waypoint Manager Settings
WaypointManager::DefaultManager _snakeManager; WaypointManager::DefaultManager _defaultWM;
WaypointManager::RTLManager _rtlManager; WaypointManager::DefaultManager _snakeWM;
WaypointManager::ManagerBase *_currentManager; WaypointManager::RTLManager _rtlWM;
using ManagerList = QList<WaypointManager::ManagerBase*>; WaypointManager::ManagerBase *_currentWM;
ManagerList _managerList; using ManagerList = QList<WaypointManager::ManagerBase *>;
ManagerList _WMList;
// Settings Facts.
QMap<QString, FactMetaData*> _metaDataMap; // Settings Facts.
SettingsFact _enableWimaController; // enables or disables the wimaControler QMap<QString, FactMetaData *> _metaDataMap;
SettingsFact _overlapWaypoints; // determines the number of overlapping waypoints between two consecutive mission phases SettingsFact _enableWimaController; // enables or disables the wimaControler
SettingsFact _maxWaypointsPerPhase; // determines the maximum number waypoints per phase SettingsFact
SettingsFact _nextPhaseStartWaypointIndex; // index (displayed on the map, -1 to get index of item in _missionItems) of the mission item _overlapWaypoints; // determines the number of overlapping waypoints
// defining the first element of the next phase // between two consecutive mission phases
SettingsFact _showAllMissionItems; // bool value, Determines whether the mission items of the overall mission are displayed or not. SettingsFact _maxWaypointsPerPhase; // determines the maximum number waypoints
SettingsFact _showCurrentMissionItems; // bool value, Determines whether the mission items of the current mission phase are displayed or not. // per phase
SettingsFact _flightSpeed; // mission flight speed SettingsFact
SettingsFact _arrivalReturnSpeed; // arrival and return path speed _nextPhaseStartWaypointIndex; // index (displayed on the map, -1 to get
SettingsFact _altitude; // mission altitude // index of item in _missionItems) of the
SettingsFact _enableSnake; // Enable Snake (see snake.h) // mission item defining the first element
SettingsFact _snakeTileWidth; // of the next phase
SettingsFact _snakeTileHeight; SettingsFact
SettingsFact _snakeMinTileArea; _showAllMissionItems; // bool value, Determines whether the mission items
SettingsFact _snakeLineDistance; // of the overall mission are displayed or not.
SettingsFact _snakeMinTransectLength; SettingsFact _showCurrentMissionItems; // bool value, Determines whether the
// mission items of the current mission
// Smart RTL. // phase are displayed or not.
QTimer _smartRTLTimer; SettingsFact _flightSpeed; // mission flight speed
bool _lowBatteryHandlingTriggered; SettingsFact _arrivalReturnSpeed; // arrival and return path speed
SettingsFact _altitude; // mission altitude
// Waypoint statistics. SettingsFact _enableSnake; // Enable Snake (see snake.h)
double _measurementPathLength; // the lenght of the phase in meters SettingsFact _snakeTileWidth;
SettingsFact _snakeTileHeight;
// Snake SettingsFact _snakeMinTileArea;
SnakeDataManager _snakeDataManager; SettingsFact _snakeLineDistance;
int _fallbackStatus; SettingsFact _snakeMinTransectLength;
static StatusMap _nemoStatusMap;
// Smart RTL.
// Periodic tasks. QTimer _smartRTLTimer;
QTimer _eventTimer; bool _lowBatteryHandlingTriggered;
EventTicker _batteryLevelTicker;
EventTicker _snakeTicker; // Waypoint statistics.
EventTicker _nemoTimeoutTicker; double _measurementPathLength; // the lenght of the phase in meters
// Snake
SnakeDataManager _snakeDM; // Snake Data Manager
SnakeDataManager _emptyDM;
SnakeDataManager *_currentDM;
static StatusMap _nemoStatusMap;
// Periodic tasks.
QTimer _eventTimer;
EventTicker _batteryLevelTicker;
}; };
src/comm/ros_bridge/include/messages/nemo_msgs/heartbeat.h
View file @ c6e6a519
...@@ -17,7 +17,7 @@ std::string messageType(); ...@@ -17,7 +17,7 @@ std::string messageType();
//! @brief C++ representation of nemo_msgs/Heartbeat message //! @brief C++ representation of nemo_msgs/Heartbeat message
class Heartbeat{ class Heartbeat{
public: public:
Heartbeat(){} Heartbeat() : _status(0){}
Heartbeat(int status) :_status(status){} Heartbeat(int status) :_status(status){}
Heartbeat(const Heartbeat &heartbeat) : _status(heartbeat.status()){} Heartbeat(const Heartbeat &heartbeat) : _status(heartbeat.status()){}
......
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