CircularSurvey::rebuildTransectsPhase1 split in slow and fast version

src/MissionManager/TransectStyleComplexItem.cc

@@ -357,12 +357,10 @@ void TransectStyleComplexItem::_rebuildTransects(void)
         return;
     }
 
-    //CALLGRIND_TOGGLE_COLLECT;    
-    //auto startTime = std::chrono::high_resolution_clock::now();
+    auto startTime = std::chrono::high_resolution_clock::now();
     _rebuildTransectsPhase1();    
-    //auto delta = std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::high_resolution_clock::now() - startTime).count();
-    //qWarning() << "TransectStyleComplexItem::_rebuildTransects(): time: " << delta << " us";
-    //CALLGRIND_TOGGLE_COLLECT;
+    auto delta = std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::high_resolution_clock::now() - startTime).count();
+    qWarning() << "TransectStyleComplexItem::_rebuildTransects(): time: " << delta << " us";
 
     if (_followTerrain) {
         // Query the terrain data. Once available terrain heights will be calculated

src/Wima/CircularSurvey.SettingsGroup.json

@@ -44,6 +44,7 @@
     "shortDescription": "The maximum number of waypoints the circular survey can containt. To many waypoints cause a performance hit.",
     "type":             "uint32",
     "defaultValue":     2000,
-    "min":              1
+    "min":              1,
+    "max":              20000
 }
 ]

src/Wima/CircularSurveyComplexItem.h

@@ -28,7 +28,6 @@ public:
     Q_PROPERTY(bool  isInitialized      READ isInitialized      WRITE setIsInitialized  NOTIFY isInitializedChanged)
 
     Q_INVOKABLE void resetReference(void);
-    Q_INVOKABLE void setReferencePointBeingChanged(bool changeing); // used by gui to indicate a changeing reference point (dagging by user)
 
     // Property setters
     void setRefPoint(const QGeoCoordinate &refPt);
@@ -90,9 +89,11 @@ signals:
 private slots:
     // Overrides from TransectStyleComplexItem
     void _rebuildTransectsPhase1    (void) final; // do not call this function, it is called by TransectStyleComplexItem::_rebuildTransects()
+    void _rebuildTransectsSlow      (void); // the slow version of _rebuildTransectsPhase1 which properly connects the _transects
     void _recalcComplexDistance     (void) final;
     void _recalcCameraShots         (void) final;
     void _reverseTransects          (void);
+    bool _shortestPath              (const QGeoCoordinate &start, const QGeoCoordinate &destination, QVector<QGeoCoordinate> shortestPath);
 
 signals:
 
@@ -121,8 +122,7 @@ private:
     bool _referencePointBeingChanged; // is set to true by gui, if user is changeing the reference point
 
     int _updateCounter;
-
-
+    int _transectsDiry;
 };
 
 

src/Wima/OptimisationTools_delLater.cc

-#include "OptimisationTools.h"
-#include <QPointF>
-
-namespace OptimisationTools {
-    namespace  {
-
-    }
-
-    bool dijkstraAlgorithm(const int numNodes,const int startIndex,const int endIndex, QVector<int> &elementPath, std::function<double(const int, const int)> distance)
-    {
-        if (      numNodes < 0
-               || startIndex < 0
-               || endIndex < 0
-               || endIndex >= numNodes
-               || startIndex >= numNodes
-               || endIndex == startIndex) {
-            return false;
-        }
-        // distanceToStart[i] contains the distance of element[i] to element[startIndex] (after successful algorithm termination)
-        QVector<double> distanceToStart(numNodes, std::numeric_limits<qreal>::infinity());
-        // elementPredecessor[i] contains the predecessor of element[i]
-        QVector<int> elementPredecessor(numNodes, -1);
-
-        // Elements will be successively removed from this list during the execution of the Dijkstra Algorithm.
-        QVector<int> workingSet;
-        workingSet.reserve(numNodes);
-
-        //fill workingSet with 0, 1, ..., numNodes-1
-        for (int i = 0; i < numNodes; i++) workingSet.append(i);
-
-        distanceToStart[startIndex] = 0;
-
-        // Dijkstra Algorithm
-        // https://de.wikipedia.org/wiki/Dijkstra-Algorithmus
-        while (workingSet.size() > 0) {
-            // serach Node with minimal distance
-            double minDist = std::numeric_limits<qreal>::infinity();
-            int minIndex = -1; // index of element with least distance to element[startIndex]
-            for (int i = 0; i < workingSet.size(); i++) {
-                int e = workingSet[i];
-                double dist = distanceToStart[e];
-                if (dist < minDist) {
-                    minDist = dist;
-                    minIndex = i;
-                }
-            }
-            if (minIndex == -1)
-                return false;
-
-            int u = workingSet.takeAt(minIndex);
-            if (u == endIndex) // shortest path found
-                break;
-
-            //update distance
-            double distanceU = distanceToStart[u];
-            for (int i = 0; i < workingSet.size(); i++) {
-                int v = workingSet[i];
-                double dist = distance(u, v);
-                // is ther a alternative path which is shorter?
-                double alternative = distanceU + dist;
-                if (alternative < distanceToStart[v])  {
-                    distanceToStart[v]    = alternative;
-                    elementPredecessor[v] = u;
-                }
-            }
-
-        }
-        // end Djikstra Algorithm
-
-
-        // reverse assemble elementPath
-        int e = endIndex;
-        while (1) {
-            if (e == -1) {
-                if (elementPath[0] == startIndex)// check if starting point was reached
-                    break;
-                return false;
-            }
-            elementPath.prepend(e);
-
-            //Update Node
-            e = elementPredecessor[e];
-        }
-        return true;
-    }
-
-    // end anonymous namespace
-
-
-} // end OptimisationTools namespace

src/WimaView/CircularSurveyMapVisual.qml

@@ -103,7 +103,7 @@ Item {
         _destroyVisualElements()
     }
 
-    QGCMapPolygonVisuals {
+    WimaMapPolygonVisuals {
         id:                 mapPolygonVisuals
         qgcView:            _root.qgcView
         mapControl:         map
@@ -179,7 +179,6 @@ Item {
 
             property var refPoint: _missionItem.refPoint
 
-            onCoordinateChanged: _missionItem.refPoint = coordinate
             onRefPointChanged: {
                 if (refPoint !== coordinate) {
                     coordinate = refPoint
@@ -188,17 +187,10 @@ Item {
 
             onClicked:  {
                 _root.clicked(_missionItem.sequenceNumber)
-                _missionItem.setReferencePointBeingChanged(true)
             }
 
-            onDragClicked: {// replace with entered
-                _missionItem.setReferencePointBeingChanged(true)
-                console.log('onDragClicked')
-            }
-
-            onDragReleased: { // replace with exited
-                _missionItem.setReferencePointBeingChanged(false)
-                console.log('onDragReleased')
+            onDragReleased: {
+                _missionItem.refPoint = coordinate
             }
         }
     }

src/WimaView/WimaMapPolygonVisuals.qml

@@ -20,7 +20,7 @@ import QGroundControl.Controls          1.0
 import QGroundControl.FlightMap         1.0
 import QGroundControl.ShapeFileHelper   1.0
 
-/// QGCMapPolygon map visuals
+/// WimaMapPolygon map visuals
 Item {
     id: _root