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Unverified Commit c7f4ac3d authored by Don Gagne's avatar Don Gagne Committed by GitHub
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Merge pull request #6226 from DonLakeFlyer/GeneratedItems 

Corridor Scan: Store/Load generated items from Plan file
parents 2676fe2c ee5736e1
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Showing with 194 additions and 60 deletions
src/MissionManager/CorridorScanComplexItem.cc
View file @ c7f4ac3d
......@@ -23,7 +23,7 @@ QGC_LOGGING_CATEGORY(CorridorScanComplexItemLog, "CorridorScanComplexItemLog")
const char* CorridorScanComplexItem::settingsGroup = "CorridorScan";
const char* CorridorScanComplexItem::corridorWidthName = "CorridorWidth";
const char* CorridorScanComplexItem::_entryPointName = "EntryPoint";
const char* CorridorScanComplexItem::_jsonEntryPointKey = "EntryPoint";
const char* CorridorScanComplexItem::jsonComplexItemTypeValue = "CorridorScan";
......@@ -77,16 +77,17 @@ int CorridorScanComplexItem::lastSequenceNumber(void) const
return _sequenceNumber + itemCount - 1;
}
void CorridorScanComplexItem::save(QJsonArray& missionItems)
void CorridorScanComplexItem::save(QJsonArray& planItems)
{
QJsonObject saveObject;
saveObject[JsonHelper::jsonVersionKey] = 1;
_save(saveObject);
saveObject[JsonHelper::jsonVersionKey] = 2;
saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue;
saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue;
saveObject[corridorWidthName] = _corridorWidthFact.rawValue().toDouble();
saveObject[turnAroundDistanceName] = _turnAroundDistanceFact.rawValue().toDouble();
saveObject[_entryPointName] = _entryPoint;
saveObject[_jsonEntryPointKey] = _entryPoint;
QJsonObject cameraCalcObject;
_cameraCalc.save(cameraCalcObject);
......@@ -94,28 +95,29 @@ void CorridorScanComplexItem::save(QJsonArray& missionItems)
_corridorPolyline.saveToJson(saveObject);
_save(saveObject);
missionItems.append(saveObject);
planItems.append(saveObject);
}
bool CorridorScanComplexItem::load(const QJsonObject& complexObject, int sequenceNumber, QString& errorString)
{
// We don't recalc while loading since all the information we need is specified in the file
_ignoreRecalc = true;
QList<JsonHelper::KeyValidateInfo> keyInfoList = {
{ JsonHelper::jsonVersionKey, QJsonValue::Double, true },
{ VisualMissionItem::jsonTypeKey, QJsonValue::String, true },
{ ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true },
{ corridorWidthName, QJsonValue::Double, true },
{ turnAroundDistanceName, QJsonValue::Double, true },
{ _entryPointName, QJsonValue::Double, true },
{ _jsonEntryPointKey, QJsonValue::Double, true },
{ QGCMapPolyline::jsonPolylineKey, QJsonValue::Array, true },
{ _jsonCameraCalcKey, QJsonValue::Object, true },
};
if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
_ignoreRecalc = false;
return false;
}
if (!_corridorPolyline.loadFromJson(complexObject, true, errorString)) {
_ignoreRecalc = false;
return false;
}
......@@ -123,27 +125,32 @@ bool CorridorScanComplexItem::load(const QJsonObject& complexObject, int sequenc
QString complexType = complexObject[ComplexMissionItem::jsonComplexItemTypeKey].toString();
if (itemType != VisualMissionItem::jsonTypeComplexItemValue || complexType != jsonComplexItemTypeValue) {
errorString = tr("%1 does not support loading this complex mission item type: %2:%3").arg(qgcApp()->applicationName()).arg(itemType).arg(complexType);
_ignoreRecalc = false;
return false;
}
int version = complexObject[JsonHelper::jsonVersionKey].toInt();
if (version != 1) {
if (version != 2) {
errorString = tr("%1 complex item version %2 not supported").arg(jsonComplexItemTypeValue).arg(version);
_ignoreRecalc = false;
return false;
}
setSequenceNumber(sequenceNumber);
if (!_load(complexObject, errorString)) {
_ignoreRecalc = false;
return false;
}
_corridorWidthFact.setRawValue (complexObject[corridorWidthName].toDouble());
_entryPoint = complexObject[_entryPointName].toInt();
_entryPoint = complexObject[_jsonEntryPointKey].toInt();
_rebuildCorridor();
_ignoreRecalc = false;
return true;
}
......@@ -159,8 +166,23 @@ int CorridorScanComplexItem::_transectCount(void) const
return fullWidth > 0.0 ? qCeil(fullWidth / transectSpacing) : 1;
}
void CorridorScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
void CorridorScanComplexItem::_appendLoadedMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
qCDebug(CorridorScanComplexItemLog) << "_appendLoadedMissionItems";
int seqNum = _sequenceNumber;
foreach (const MissionItem* loadedMissionItem, _loadedMissionItems) {
MissionItem* item = new MissionItem(*loadedMissionItem, missionItemParent);
item->setSequenceNumber(seqNum++);
items.append(item);
}
}
void CorridorScanComplexItem::_buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
qCDebug(CorridorScanComplexItemLog) << "_buildAndAppendMissionItems";
int seqNum = _sequenceNumber;
int pointIndex = 0;
bool imagesEverywhere = _cameraTriggerInTurnAroundFact.rawValue().toBool();
......@@ -279,6 +301,17 @@ void CorridorScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QOb
}
}
void CorridorScanComplexItem::appendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent)
{
if (_loadedMissionItems.count()) {
// We have mission items from the loaded plan, use those
_appendLoadedMissionItems(items, missionItemParent);
} else {
// Build the mission items on the fly
_buildAndAppendMissionItems(items, missionItemParent);
}
}
void CorridorScanComplexItem::applyNewAltitude(double newAltitude)
{
_cameraCalc.valueSetIsDistance()->setRawValue(true);
......@@ -324,10 +357,20 @@ void CorridorScanComplexItem::_rebuildCorridorPolygon(void)
}
}
void CorridorScanComplexItem::_rebuildTransects(void)
void CorridorScanComplexItem::_rebuildTransectsPhase1(void)
{
if (_ignoreRecalc) {
return;
}
// If the transects are getting rebuilt then any previsouly loaded mission items are now invalid
if (_loadedMissionItemsParent) {
_loadedMissionItems.clear();
_loadedMissionItemsParent->deleteLater();
_loadedMissionItemsParent = NULL;
}
_transectPoints.clear();
_cameraShots = 0;
double transectSpacing = _cameraCalc.adjustedFootprintSide()->rawValue().toDouble();
double fullWidth = _corridorWidthFact.rawValue().toDouble();
......@@ -336,13 +379,9 @@ void CorridorScanComplexItem::_rebuildTransects(void)
double normalizedTransectPosition = transectSpacing / 2.0;
if (_corridorPolyline.count() >= 2) {
int singleTransectImageCount = qCeil(_corridorPolyline.length() / _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
// First build up the transects all going the same direction
QList<QList<QGeoCoordinate>> transects;
for (int i=0; i<transectCount; i++) {
_cameraShots += singleTransectImageCount;
double offsetDistance;
if (transectCount == 1) {
// Single transect is flown over scan line
......@@ -415,8 +454,6 @@ void CorridorScanComplexItem::_rebuildTransects(void)
// Convert the list of transects to grid points
reverseVertices = false;
for (int i=0; i<transects.count(); i++) {
_cameraShots += singleTransectImageCount;
// We must reverse the vertices for every other transect in order to make a lawnmower pattern
QList<QGeoCoordinate> transectVertices = transects[i];
if (reverseVertices) {
......@@ -436,15 +473,21 @@ void CorridorScanComplexItem::_rebuildTransects(void)
normalizedTransectPosition += transectSpacing;
}
}
}
void CorridorScanComplexItem::_rebuildTransectsPhase2(void)
{
// Calculate distance flown for complex item
_complexDistance = 0;
for (int i=0; i<_transectPoints.count() - 2; i++) {
_complexDistance += _transectPoints[i].value<QGeoCoordinate>().distanceTo(_transectPoints[i+1].value<QGeoCoordinate>());
}
if (_cameraTriggerInTurnAroundFact.rawValue().toDouble()) {
if (_cameraTriggerInTurnAroundFact.rawValue().toBool()) {
_cameraShots = qCeil(_complexDistance / _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
} else {
int singleTransectImageCount = qCeil(_corridorPolyline.length() / _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble());
_cameraShots = singleTransectImageCount * _transectCount();
}
_coordinate = _transectPoints.count() ? _transectPoints.first().value<QGeoCoordinate>() : QGeoCoordinate();
......@@ -460,5 +503,6 @@ void CorridorScanComplexItem::_rebuildTransects(void)
void CorridorScanComplexItem::_rebuildCorridor(void)
{
_rebuildCorridorPolygon();
_rebuildTransects();
_rebuildTransectsPhase1();
_rebuildTransectsPhase2();
}
src/MissionManager/CorridorScanComplexItem.h
View file @ c7f4ac3d
......@@ -43,7 +43,7 @@ public:
// Overrides from TransectStyleComplexItem
void save (QJsonArray& missionItems) final;
void save (QJsonArray& planItems) final;
bool specifiesCoordinate (void) const final;
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
void applyNewAltitude (double newAltitude) final;
......@@ -54,17 +54,19 @@ public:
static const char* corridorWidthName;
private slots:
void _polylineDirtyChanged (bool dirty);
void _polylineCountChanged (int count);
void _rebuildCorridor (void);
void _polylineDirtyChanged (bool dirty);
void _polylineCountChanged (int count);
void _rebuildCorridor (void);
// Overrides from TransectStyleComplexItem
virtual void _rebuildTransects (void) final;
void _rebuildTransectsPhase1 (void) final;
void _rebuildTransectsPhase2 (void) final;
private:
int _transectCount (void) const;
void _rebuildCorridorPolygon(void);
int _transectCount (void) const;
void _rebuildCorridorPolygon (void);
void _buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent);
void _appendLoadedMissionItems (QList<MissionItem*>& items, QObject* missionItemParent);
QGCMapPolyline _corridorPolyline;
QList<QList<QGeoCoordinate>> _transectSegments; ///< Internal transect segments including grid exit, turnaround and internal camera points
......@@ -75,5 +77,5 @@ private:
QMap<QString, FactMetaData*> _metaDataMap;
SettingsFact _corridorWidthFact;
static const char* _entryPointName;
static const char* _jsonEntryPointKey;
};
src/MissionManager/TransectStyleComplexItem.cc
View file @ c7f4ac3d
......@@ -27,19 +27,23 @@ const char* TransectStyleComplexItem::cameraTriggerInTurnAroundName = "Cam
const char* TransectStyleComplexItem::hoverAndCaptureName = "HoverAndCapture";
const char* TransectStyleComplexItem::refly90DegreesName = "Refly90Degrees";
const char* TransectStyleComplexItem::_jsonCameraCalcKey = "CameraCalc";
const char* TransectStyleComplexItem::_jsonTransectStyleComplexItemKey = "TransectStyleComplexItem";
const char* TransectStyleComplexItem::_jsonCameraCalcKey = "CameraCalc";
const char* TransectStyleComplexItem::_jsonTransectPointsKey = "TransectPoints";
const char* TransectStyleComplexItem::_jsonItemsKey = "Items";
TransectStyleComplexItem::TransectStyleComplexItem(Vehicle* vehicle, QString settingsGroup, QObject* parent)
: ComplexMissionItem (vehicle, parent)
, _settingsGroup (settingsGroup)
, _sequenceNumber (0)
, _dirty (false)
, _ignoreRecalc (false)
, _complexDistance (0)
, _cameraShots (0)
, _cameraMinTriggerInterval (0)
, _cameraCalc (vehicle)
, _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/TransectStyle.SettingsGroup.json"), this))
: ComplexMissionItem (vehicle, parent)
, _settingsGroup (settingsGroup)
, _sequenceNumber (0)
, _dirty (false)
, _ignoreRecalc (false)
, _complexDistance (0)
, _cameraShots (0)
, _cameraMinTriggerInterval (0)
, _cameraCalc (vehicle)
, _loadedMissionItemsParent (NULL)
, _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/TransectStyle.SettingsGroup.json"), this))
, _turnAroundDistanceFact (_settingsGroup, _metaDataMap[_vehicle->multiRotor() ? turnAroundDistanceMultiRotorName : turnAroundDistanceName])
, _cameraTriggerInTurnAroundFact(_settingsGroup, _metaDataMap[cameraTriggerInTurnAroundName])
, _hoverAndCaptureFact (_settingsGroup, _metaDataMap[hoverAndCaptureName])
......@@ -108,14 +112,38 @@ void TransectStyleComplexItem::setDirty(bool dirty)
void TransectStyleComplexItem::_save(QJsonObject& complexObject)
{
complexObject[turnAroundDistanceName] = _turnAroundDistanceFact.rawValue().toDouble();
complexObject[cameraTriggerInTurnAroundName] = _cameraTriggerInTurnAroundFact.rawValue().toBool();
complexObject[hoverAndCaptureName] = _hoverAndCaptureFact.rawValue().toBool();
complexObject[refly90DegreesName] = _refly90DegreesFact.rawValue().toBool();
QJsonObject innerObject;
innerObject[JsonHelper::jsonVersionKey] = 1;
innerObject[turnAroundDistanceName] = _turnAroundDistanceFact.rawValue().toDouble();
innerObject[cameraTriggerInTurnAroundName] = _cameraTriggerInTurnAroundFact.rawValue().toBool();
innerObject[hoverAndCaptureName] = _hoverAndCaptureFact.rawValue().toBool();
innerObject[refly90DegreesName] = _refly90DegreesFact.rawValue().toBool();
QJsonObject cameraCalcObject;
_cameraCalc.save(cameraCalcObject);
complexObject[_jsonCameraCalcKey] = cameraCalcObject;
innerObject[_jsonCameraCalcKey] = cameraCalcObject;
QJsonValue transectPointsJson;
// Save transects polyline
JsonHelper::saveGeoCoordinateArray(_transectPoints, false /* writeAltitude */, transectPointsJson);
innerObject[_jsonTransectPointsKey] = transectPointsJson;
// Save the interal mission items
QJsonArray missionItemsJsonArray;
QObject* missionItemParent = new QObject();
QList<MissionItem*> missionItems;
appendMissionItems(missionItems, missionItemParent);
foreach (const MissionItem* missionItem, missionItems) {
QJsonObject missionItemJsonObject;
missionItem->save(missionItemJsonObject);
missionItemsJsonArray.append(missionItemJsonObject);
}
missionItemParent->deleteLater();
innerObject[_jsonItemsKey] = missionItemsJsonArray;
complexObject[_jsonTransectStyleComplexItemKey] = innerObject;
}
void TransectStyleComplexItem::setSequenceNumber(int sequenceNumber)
......@@ -129,25 +157,65 @@ void TransectStyleComplexItem::setSequenceNumber(int sequenceNumber)
bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, QString& errorString)
{
QList<JsonHelper::KeyValidateInfo> keyInfoList = {
{ _jsonTransectStyleComplexItemKey, QJsonValue::Object, true },
};
if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
return false;
}
// The TransectStyleComplexItem is a sub-object of the main complex item object
QJsonObject innerObject = complexObject[_jsonTransectStyleComplexItemKey].toObject();
QList<JsonHelper::KeyValidateInfo> innerKeyInfoList = {
{ JsonHelper::jsonVersionKey, QJsonValue::Double, true },
{ turnAroundDistanceName, QJsonValue::Double, true },
{ cameraTriggerInTurnAroundName, QJsonValue::Bool, true },
{ hoverAndCaptureName, QJsonValue::Bool, true },
{ refly90DegreesName, QJsonValue::Bool, true },
{ _jsonCameraCalcKey, QJsonValue::Object, true },
{ _jsonTransectPointsKey, QJsonValue::Array, true },
{ _jsonItemsKey, QJsonValue::Array, true },
};
if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) {
if (!JsonHelper::validateKeys(innerObject, innerKeyInfoList, errorString)) {
return false;
}
if (!_cameraCalc.load(complexObject[_jsonCameraCalcKey].toObject(), errorString)) {
int version = innerObject[JsonHelper::jsonVersionKey].toInt();
if (version != 1) {
errorString = tr("TransectStyleComplexItem version %2 not supported").arg(version);
return false;
}
_turnAroundDistanceFact.setRawValue (complexObject[turnAroundDistanceName].toDouble());
_cameraTriggerInTurnAroundFact.setRawValue (complexObject[cameraTriggerInTurnAroundName].toBool());
_hoverAndCaptureFact.setRawValue (complexObject[hoverAndCaptureName].toBool());
_hoverAndCaptureFact.setRawValue (complexObject[refly90DegreesName].toBool());
// Load transect points
if (!JsonHelper::loadGeoCoordinateArray(innerObject[_jsonTransectPointsKey], false /* altitudeRequired */, _transectPoints, errorString)) {
return false;
}
// Load generated mission items
_loadedMissionItemsParent = new QObject(this);
QJsonArray missionItemsJsonArray = innerObject[_jsonItemsKey].toArray();
foreach (const QJsonValue& missionItemJson, missionItemsJsonArray) {
MissionItem* missionItem = new MissionItem(_loadedMissionItemsParent);
if (!missionItem->load(missionItemJson.toObject(), 0 /* sequenceNumber */, errorString)) {
_loadedMissionItemsParent->deleteLater();
_loadedMissionItemsParent = NULL;
return false;
}
_loadedMissionItems.append(missionItem);
}
// Load CameraCalc data
if (!_cameraCalc.load(innerObject[_jsonCameraCalcKey].toObject(), errorString)) {
return false;
}
// Load TransectStyleComplexItem individual values
_turnAroundDistanceFact.setRawValue (innerObject[turnAroundDistanceName].toDouble());
_cameraTriggerInTurnAroundFact.setRawValue (innerObject[cameraTriggerInTurnAroundName].toBool());
_hoverAndCaptureFact.setRawValue (innerObject[hoverAndCaptureName].toBool());
_hoverAndCaptureFact.setRawValue (innerObject[refly90DegreesName].toBool());
return true;
}
......@@ -230,3 +298,8 @@ bool TransectStyleComplexItem::hoverAndCaptureAllowed(void) const
return _vehicle->multiRotor() || _vehicle->vtol();
}
void TransectStyleComplexItem::_rebuildTransects(void)
{
_rebuildTransectsPhase1();
_rebuildTransectsPhase2();
}
src/MissionManager/TransectStyleComplexItem.h
View file @ c7f4ac3d
......@@ -66,7 +66,7 @@ public:
// Overrides from VisualMissionItem
void save (QJsonArray& missionItems) override = 0;
void save (QJsonArray& planItems) override = 0;
bool specifiesCoordinate (void) const override = 0;
void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) override = 0;
void applyNewAltitude (double newAltitude) override = 0;
......@@ -108,7 +108,8 @@ signals:
void coveredAreaChanged (void);
protected slots:
virtual void _rebuildTransects (void) = 0;
virtual void _rebuildTransectsPhase1 (void) = 0;
virtual void _rebuildTransectsPhase2 (void) = 0;
void _setDirty (void);
void _setIfDirty (bool dirty);
......@@ -121,7 +122,6 @@ protected:
void _setExitCoordinate (const QGeoCoordinate& coordinate);
void _setCameraShots (int cameraShots);
double _triggerDistance (void) const;
int _transectCount (void) const;
bool _hasTurnaround (void) const;
double _turnaroundDistance (void) const;
......@@ -141,6 +141,9 @@ protected:
double _cruiseSpeed;
CameraCalc _cameraCalc;
QObject* _loadedMissionItemsParent; ///< Parent for all items in _loadedMissionItems for simpler delete
QList<MissionItem*> _loadedMissionItems; ///< Mission items loaded from plan file
QMap<QString, FactMetaData*> _metaDataMap;
SettingsFact _turnAroundDistanceFact;
......@@ -149,4 +152,10 @@ protected:
SettingsFact _refly90DegreesFact;
static const char* _jsonCameraCalcKey;
static const char* _jsonTransectStyleComplexItemKey;
static const char* _jsonTransectPointsKey;
static const char* _jsonItemsKey;
private slots:
void _rebuildTransects(void);
};
src/MissionManager/TransectStyleComplexItemTest.cc
View file @ c7f4ac3d
......@@ -174,7 +174,12 @@ TransectStyleItem::TransectStyleItem(Vehicle* vehicle, QObject* parent)
}
void TransectStyleItem::_rebuildTransects(void)
void TransectStyleItem::_rebuildTransectsPhase1(void)
{
rebuildTransectsCalled = true;
}
void TransectStyleItem::_rebuildTransectsPhase2(void)
{
}
src/MissionManager/TransectStyleComplexItemTest.h
View file @ c7f4ac3d
......@@ -101,5 +101,6 @@ public:
private slots:
// Overrides from TransectStyleComplexItem
void _rebuildTransects (void) final;
void _rebuildTransectsPhase1(void) final;
void _rebuildTransectsPhase2(void) final;
};
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