Convert Survey complex item to use TransectStyleComplexItem

src/MissionManager/CameraSpec.cc

@@ -121,8 +121,8 @@ bool CameraSpec::load(const QJsonObject& json, QString& errorString)
 
     _sensorWidthFact.setRawValue        (json[_sensorWidthName].toDouble());
     _sensorHeightFact.setRawValue       (json[_sensorHeightName].toDouble());
-    _imageWidthFact.setRawValue         (json[_imageWidthName].toDouble());
-    _imageHeightFact.setRawValue        (json[_imageHeightName].toDouble());
+    _imageWidthFact.setRawValue         (json[_imageWidthName].toInt());
+    _imageHeightFact.setRawValue        (json[_imageHeightName].toInt());
     _focalLengthFact.setRawValue        (json[_focalLengthName].toDouble());
     _landscapeFact.setRawValue          (json[_landscapeName].toBool());
     _fixedOrientationFact.setRawValue   (json[_fixedOrientationName].toBool());

src/MissionManager/CorridorScanComplexItem.cc

@@ -64,10 +64,6 @@ void CorridorScanComplexItem::save(QJsonArray&  planItems)
     saveObject[corridorWidthName] =                             _corridorWidthFact.rawValue().toDouble();
     saveObject[_jsonEntryPointKey] =                            _entryPoint;
 
-    QJsonObject cameraCalcObject;
-    _cameraCalc.save(cameraCalcObject);
-    saveObject[_jsonCameraCalcKey] = cameraCalcObject;
-
     _corridorPolyline.saveToJson(saveObject);
 
     planItems.append(saveObject);

src/MissionManager/CorridorScanComplexItem.h

@@ -15,7 +15,6 @@
 #include "QGCLoggingCategory.h"
 #include "QGCMapPolyline.h"
 #include "QGCMapPolygon.h"
-#include "CameraCalc.h"
 
 Q_DECLARE_LOGGING_CATEGORY(CorridorScanComplexItemLog)
 
@@ -26,7 +25,6 @@ class CorridorScanComplexItem : public TransectStyleComplexItem
 public:
     CorridorScanComplexItem(Vehicle* vehicle, QObject* parent = NULL);
 
-    Q_PROPERTY(CameraCalc*      cameraCalc          READ cameraCalc         CONSTANT)
     Q_PROPERTY(QGCMapPolyline*  corridorPolyline    READ corridorPolyline   CONSTANT)
     Q_PROPERTY(Fact*            corridorWidth       READ corridorWidth      CONSTANT)
 
@@ -46,6 +44,9 @@ public:
     void    applyNewAltitude    (double newAltitude) final;
 
     // Overrides from VisualMissionionItem
+    QString commandDescription  (void) const final { return tr("Corridor Scan"); }
+    QString commandName         (void) const final { return tr("Corridor Scan"); }
+    QString abbreviation        (void) const final { return tr("C"); }
     bool    readyForSave        (void) const;
 
     static const char* jsonComplexItemTypeValue;

src/MissionManager/MissionController.cc

@@ -265,25 +265,21 @@ bool MissionController::_convertToMissionItems(QmlObjectListModel* visualMission
 
 void MissionController::convertToKMLDocument(QDomDocument& document)
 {
-    QJsonObject missionJson;
-    QmlObjectListModel* visualItems = new QmlObjectListModel();
-    QList<MissionItem*> missionItems;
-    QString error;
-    save(missionJson);
-    _loadItemsFromJson(missionJson, visualItems, error);
-    _convertToMissionItems(visualItems, missionItems, this);
-
-    if (missionItems.count() == 0) {
+    QObject*            deleteParent = new QObject();
+    QList<MissionItem*> rgMissionItems;
+
+    _convertToMissionItems(_visualItems, rgMissionItems, deleteParent);
+    if (rgMissionItems.count() == 0) {
         return;
     }
 
-    float homeAltitude = missionJson[_jsonPlannedHomePositionKey].toArray()[2].toDouble();
+    const double homePositionAltitude = _settingsItem->coordinate().altitude();
 
     QString coord;
     QStringList coords;
     // Drop home position
     bool dropPoint = true;
-    for(const auto& item : missionItems) {
+    for(const auto& item : rgMissionItems) {
         if(dropPoint) {
             dropPoint = false;
             continue;
@@ -292,7 +288,7 @@ void MissionController::convertToKMLDocument(QDomDocument& document)
                 qgcApp()->toolbox()->missionCommandTree()->getUIInfo(_controllerVehicle, item->command());
 
         if (uiInfo && uiInfo->specifiesCoordinate() && !uiInfo->isStandaloneCoordinate()) {
-            double amslAltitude = item->param7() + (item->frame() == MAV_FRAME_GLOBAL ? 0 : homeAltitude);
+            double amslAltitude = item->param7() + (item->frame() == MAV_FRAME_GLOBAL ? 0 : homePositionAltitude);
             coord = QString::number(item->param6(),'f',7) \
                     + "," \
                     + QString::number(item->param5(),'f',7) \
@@ -301,6 +297,9 @@ void MissionController::convertToKMLDocument(QDomDocument& document)
             coords.append(coord);
         }
     }
+
+    deleteParent->deleteLater();
+
     Kml kml;
     kml.points(coords);
     kml.save(document);

src/MissionManager/SurveyComplexItemTest.h

@@ -30,42 +30,37 @@ protected:
     
 private slots:
     void _testDirty(void);
-    void _testCameraValueChanged(void);
-    void _testCameraTrigger(void);
     void _testGridAngle(void);
     void _testEntryLocation(void);
     void _testItemCount(void);
 
 private:
+
     double _clampGridAngle180(double gridAngle);
     void _setPolygon(void);
 
+    // SurveyComplexItem signals
+
     enum {
-        gridPointsChangedIndex = 0,
-        cameraShotsChangedIndex,
-        coveredAreaChangedIndex,
-        cameraValueChangedIndex,
-        gridTypeChangedIndex,
-        timeBetweenShotsChangedIndex,
-        cameraOrientationFixedChangedIndex,
-        refly90DegreesChangedIndex,
-        dirtyChangedIndex,
-        maxSignalIndex
+        surveyVisualTransectPointsChangedIndex = 0,
+        surveyCameraShotsChangedIndex,
+        surveyCoveredAreaChangedIndex,
+        surveyTimeBetweenShotsChangedIndex,
+        surveyRefly90DegreesChangedIndex,
+        surveyDirtyChangedIndex,
+        surveyMaxSignalIndex
     };
 
     enum {
-        gridPointsChangedMask =             1 << gridPointsChangedIndex,
-        cameraShotsChangedMask =            1 << cameraShotsChangedIndex,
-        coveredAreaChangedMask =            1 << coveredAreaChangedIndex,
-        cameraValueChangedMask =            1 << cameraValueChangedIndex,
-        gridTypeChangedMask =               1 << gridTypeChangedIndex,
-        timeBetweenShotsChangedMask =       1 << timeBetweenShotsChangedIndex,
-        cameraOrientationFixedChangedMask = 1 << cameraOrientationFixedChangedIndex,
-        refly90DegreesChangedMask =         1 << refly90DegreesChangedIndex,
-        dirtyChangedMask =                  1 << dirtyChangedIndex
+        surveyVisualTransectPointsChangedMask = 1 << surveyVisualTransectPointsChangedIndex,
+        surveyCameraShotsChangedMask =          1 << surveyCameraShotsChangedIndex,
+        surveyCoveredAreaChangedMask =          1 << surveyCoveredAreaChangedIndex,
+        surveyTimeBetweenShotsChangedMask =     1 << surveyTimeBetweenShotsChangedIndex,
+        surveyRefly90DegreesChangedMask =       1 << surveyRefly90DegreesChangedIndex,
+        surveyDirtyChangedMask =                1 << surveyDirtyChangedIndex
     };
 
-    static const size_t _cSurveySignals = maxSignalIndex;
+    static const size_t _cSurveySignals = surveyMaxSignalIndex;
     const char*         _rgSurveySignals[_cSurveySignals];
 
     Vehicle*                _offlineVehicle;

src/MissionManager/TransectStyleComplexItem.cc

@@ -101,8 +101,13 @@ TransectStyleComplexItem::TransectStyleComplexItem(Vehicle* vehicle, QString set
 
     connect(&_surveyAreaPolygon,                        &QGCMapPolygon::pathChanged,    this, &TransectStyleComplexItem::coveredAreaChanged);
 
-    connect(this,               &TransectStyleComplexItem::visualTransectPointsChanged, this, &TransectStyleComplexItem::complexDistanceChanged);
-    connect(this,               &TransectStyleComplexItem::visualTransectPointsChanged, this, &TransectStyleComplexItem::greatestDistanceToChanged);
+    connect(&_cameraCalc,                               &CameraCalc::distanceToSurfaceRelativeChanged, this, &TransectStyleComplexItem::coordinateHasRelativeAltitudeChanged);
+    connect(&_cameraCalc,                               &CameraCalc::distanceToSurfaceRelativeChanged, this, &TransectStyleComplexItem::exitCoordinateHasRelativeAltitudeChanged);
+
+    connect(this,                                       &TransectStyleComplexItem::visualTransectPointsChanged, this, &TransectStyleComplexItem::complexDistanceChanged);
+    connect(this,                                       &TransectStyleComplexItem::visualTransectPointsChanged, this, &TransectStyleComplexItem::greatestDistanceToChanged);
+
+    connect(this,                                       &TransectStyleComplexItem::followTerrainChanged, this, &TransectStyleComplexItem::_followTerrainChanged);
 }
 
 void TransectStyleComplexItem::_setCameraShots(int cameraShots)
@@ -611,7 +616,7 @@ void TransectStyleComplexItem::_addInterstitialTerrainPoints(QList<CoordInfo_t>&
 {
     QList<CoordInfo_t> adjustedTransect;
 
-    adjustedTransect.append(transect.first());
+    double requestedAltitude = _cameraCalc.distanceToSurface()->rawValue().toDouble();
 
     for (int i=0; i<transect.count() - 1; i++) {
         CoordInfo_t fromCoordInfo = transect[i];
@@ -621,11 +626,14 @@ void TransectStyleComplexItem::_addInterstitialTerrainPoints(QList<CoordInfo_t>&
         double distance = fromCoordInfo.coord.distanceTo(toCoordInfo.coord);
 
         const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo = transectPathHeightInfo[i];
-        double requestedAltitude = _cameraCalc.distanceToSurface()->rawValue().toDouble();
 
         fromCoordInfo.coord.setAltitude(pathHeightInfo.heights.first() + requestedAltitude);
         toCoordInfo.coord.setAltitude(pathHeightInfo.heights.last() + requestedAltitude);
 
+        if (i == 0) {
+            adjustedTransect.append(fromCoordInfo);
+        }
+
         int cHeights = pathHeightInfo.heights.count();
         for (int pathHeightIndex=1; pathHeightIndex<cHeights - 1; pathHeightIndex++) {
             double interstitialTerrainHeight = pathHeightInfo.heights[pathHeightIndex];
@@ -642,6 +650,11 @@ void TransectStyleComplexItem::_addInterstitialTerrainPoints(QList<CoordInfo_t>&
         adjustedTransect.append(toCoordInfo);
     }
 
+    CoordInfo_t lastCoordInfo = transect.last();
+    const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo = transectPathHeightInfo.last();
+    lastCoordInfo.coord.setAltitude(pathHeightInfo.heights.last() + requestedAltitude);
+    adjustedTransect.append(lastCoordInfo);
+
 #if 0
     qDebug() << "_addInterstitialTerrainPoints";
     foreach (const TransectStyleComplexItem::CoordInfo_t& coordInfo, adjustedTransect) {
@@ -685,3 +698,21 @@ int TransectStyleComplexItem::lastSequenceNumber(void) const
     }
 }
 
+bool TransectStyleComplexItem::coordinateHasRelativeAltitude(void) const
+{
+    return _cameraCalc.distanceToSurfaceRelative();
+}
+
+bool TransectStyleComplexItem::exitCoordinateHasRelativeAltitude(void) const
+{
+    return coordinateHasRelativeAltitude();
+}
+
+void TransectStyleComplexItem::_followTerrainChanged(bool followTerrain)
+{
+    if (followTerrain) {
+        _cameraCalc.setDistanceToSurfaceRelative(false);
+        _refly90DegreesFact.setRawValue(false);
+        _hoverAndCaptureFact.setRawValue(false);
+    }
+}

src/MissionManager/TransectStyleComplexItem.h

@@ -87,9 +87,6 @@ public:
     bool            isSimpleItem            (void) const final { return false; }
     bool            isStandaloneCoordinate  (void) const final { return false; }
     bool            specifiesAltitudeOnly   (void) const final { return false; }
-    QString         commandDescription      (void) const final { return tr("Corridor Scan"); }
-    QString         commandName             (void) const final { return tr("Corridor Scan"); }
-    QString         abbreviation            (void) const final { return "S"; }
     QGeoCoordinate  coordinate              (void) const final { return _coordinate; }
     QGeoCoordinate  exitCoordinate          (void) const final { return _exitCoordinate; }
     int             sequenceNumber          (void) const final { return _sequenceNumber; }
@@ -98,9 +95,12 @@ public:
     double          specifiedGimbalPitch    (void) final { return std::numeric_limits<double>::quiet_NaN(); }
     void            setMissionFlightStatus  (MissionController::MissionFlightStatus_t& missionFlightStatus) final;
     bool            readyForSave            (void) const override;
+    QString         commandDescription      (void) const override { return tr("Transect"); }
+    QString         commandName             (void) const override { return tr("Transect"); }
+    QString         abbreviation            (void) const override { return tr("T"); }
 
-    bool coordinateHasRelativeAltitude      (void) const final { return true /*_altitudeRelative*/; }
-    bool exitCoordinateHasRelativeAltitude  (void) const final { return true /*_altitudeRelative*/; }
+    bool coordinateHasRelativeAltitude      (void) const final;
+    bool exitCoordinateHasRelativeAltitude  (void) const final;
     bool exitCoordinateSameAsEntry          (void) const final { return false; }
 
     void            setDirty                (bool dirty) final;
@@ -200,6 +200,7 @@ protected:
 
 private slots:
     void _reallyQueryTransectsPathHeightInfo(void);
+    void _followTerrainChanged              (bool followTerrain);
 
 private:
     void    _queryTransectsPathHeightInfo   (void);

src/PlanView/CorridorScanEditor.qml

@@ -13,7 +13,6 @@ import QGroundControl.FactControls  1.0
 import QGroundControl.Palette       1.0
 import QGroundControl.FlightMap     1.0
 
-// Editor for Survery mission items
 Rectangle {
     id:         _root
     height:     visible ? (editorColumn.height + (_margin * 2)) : 0
@@ -56,11 +55,6 @@ Rectangle {
         anchors.right:      parent.right
         spacing:            _margin
 
-        QGCLabel {
-            text: "WIP: Careful!"
-            color:  qgcPal.warningText
-        }
-
         QGCLabel {
             anchors.left:   parent.left
             anchors.right:  parent.right
@@ -115,7 +109,7 @@ Rectangle {
                 anchors.left:       parent.left
                 text:               qsTr("Relative altitude")
                 checked:            missionItem.cameraCalc.distanceToSurfaceRelative
-                enabled:            missionItem.cameraCalc.isManualCamera
+                enabled:            missionItem.cameraCalc.isManualCamera && !missionItem.followTerrain
                 Layout.columnSpan:  2
                 onClicked:          missionItem.cameraCalc.distanceToSurfaceRelative = checked
 
@@ -158,12 +152,6 @@ Rectangle {
                 columns:        2
                 visible:        followsTerrainCheckBox.checked
 
-                QGCLabel {
-                    text: "WIP: Careful!"
-                    color:  qgcPal.warningText
-                    Layout.columnSpan: 2
-                }
-
                 QGCLabel { text: qsTr("Tolerance") }
                 FactTextField {
                     fact:               missionItem.terrainAdjustTolerance

src/PlanView/SurveyMapVisual.qml

@@ -26,24 +26,24 @@ Item {
     property var qgcView    ///< QGCView to use for popping dialogs
 
     property var _missionItem:      object
-    property var _mapPolygon:       object.mapPolygon
-    property var _gridComponent
+    property var _mapPolygon:       object.surveyAreaPolygon
+    property var _visualTransectsComponent
     property var _entryCoordinate
     property var _exitCoordinate
 
     signal clicked(int sequenceNumber)
 
     function _addVisualElements() {
-        _gridComponent = gridComponent.createObject(map)
+        _visualTransectsComponent = visualTransectsComponent.createObject(map)
         _entryCoordinate = entryPointComponent.createObject(map)
         _exitCoordinate = exitPointComponent.createObject(map)
-        map.addMapItem(_gridComponent)
+        map.addMapItem(_visualTransectsComponent)
         map.addMapItem(_entryCoordinate)
         map.addMapItem(_exitCoordinate)
     }
 
     function _destroyVisualElements() {
-        _gridComponent.destroy()
+        _visualTransectsComponent.destroy()
         _entryCoordinate.destroy()
         _exitCoordinate.destroy()
     }
@@ -100,14 +100,14 @@ Item {
         interiorOpacity:    0.5
     }
 
-    // Survey grid lines
+    // Transect lines
     Component {
-        id: gridComponent
+        id: visualTransectsComponent
 
         MapPolyline {
             line.color: "white"
             line.width: 2
-            path:       _missionItem.gridPoints
+            path:       _missionItem.visualTransectPoints
         }
     }