Merge pull request #6226 from DonLakeFlyer/GeneratedItems

Corridor Scan: Store/Load generated items from Plan file

src/MissionManager/CorridorScanComplexItem.cc

@@ -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

@@ -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;
@@ -59,12 +59,14 @@ private slots:
     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);
-
+    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

@@ -27,7 +27,10 @@ const char* TransectStyleComplexItem::cameraTriggerInTurnAroundName =       "Cam
 const char* TransectStyleComplexItem::hoverAndCaptureName =                 "HoverAndCapture";
 const char* TransectStyleComplexItem::refly90DegreesName =                  "Refly90Degrees";
 
+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)
@@ -39,6 +42,7 @@ TransectStyleComplexItem::TransectStyleComplexItem(Vehicle* vehicle, QString set
     , _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])
@@ -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

@@ -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

@@ -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

@@ -101,5 +101,6 @@ public:
 
 private slots:
     // Overrides from TransectStyleComplexItem
-    void    _rebuildTransects   (void) final;
+    void _rebuildTransectsPhase1(void) final;
+    void _rebuildTransectsPhase2(void) final;
 };