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qgroundcontrol
Commit dd135422 authored by Valentin Platzgummer's avatar Valentin Platzgummer
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editing added to RouteComplexItem

parent 0877c5b7
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Showing with 4653 additions and 7432 deletions
qgroundcontrol.pro
View file @ dd135422
......@@ -421,6 +421,8 @@ INCLUDEPATH += \
src/Vehicle \
src/Audio \
src/comm \
src/RouteMissionItem \
src/RouteMissionItem/geometry \
src/comm/ros_bridge \
src/input \
src/lib/qmapcontrol \
......@@ -445,7 +447,11 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
HEADERS += \
src/QmlControls/QmlUnitsConversion.h \
src/RouteMissionItem/geometry/GeoArea.h \
src/RouteMissionItem/geometry/MeasurementArea.h \
src/RouteMissionItem/geometry/SafeArea.h \
src/Vehicle/VehicleEscStatusFactGroup.h \
src/RouteMissionItem/AreaData.h \
src/RouteMissionItem/RouteComplexItem.h \
src/RouteMissionItem/GenericSingelton.h \
src/RouteMissionItem/geometry/GenericCircle.h \
......@@ -492,12 +498,6 @@ HEADERS += \
src/api/QGCSettings.h \
src/api/QmlComponentInfo.h \
src/GPS/Drivers/src/base_station.h \
src/RouteMissionItem/geometry/WimaArea.h \
src/RouteMissionItem/geometry/WimaServiceArea.h \
src/RouteMissionItem/geometry/WimaMeasurementArea.h \
src/RouteMissionItem/geometry/PlanimetryCalculus.h \
src/RouteMissionItem/geometry/PolygonCalculus.h \
src/RouteMissionItem/OptimisationTools.h \
src/Settings/WimaSettings.h \
src/comm/ros_bridge/include/RosBridgeClient.h \
src/comm/ros_bridge/include/com_private.h \
......@@ -522,6 +522,9 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
}
SOURCES += \
src/RouteMissionItem/geometry/GeoArea.cc \
src/RouteMissionItem/geometry/MeasurementArea.cc \
src/RouteMissionItem/geometry/SafeArea.cc \
src/Vehicle/VehicleEscStatusFactGroup.cc \
src/RouteMissionItem/AreaData.cc \
src/api/QGCCorePlugin.cc \
......@@ -554,12 +557,6 @@ SOURCES += \
src/comm/ros_bridge/include/server.cpp \
src/comm/ros_bridge/include/topic_publisher.cpp \
src/comm/ros_bridge/include/topic_subscriber.cpp \
src/RouteMissionItem/geometry/WimaArea.cc \
src/RouteMissionItem/geometry/WimaServiceArea.cc \
src/RouteMissionItem/geometry/WimaMeasurementArea.cc \
src/RouteMissionItem/geometry/PlanimetryCalculus.cc \
src/RouteMissionItem/OptimisationTools.cc \
src/RouteMissionItem/geometry/PolygonCalculus.cc \
src/Settings/WimaSettings.cc \
src/comm/ros_bridge/src/ros_bridge.cpp
......
qgroundcontrol.qrc
View file @ dd135422
......@@ -261,7 +261,6 @@
<file alias="QmlTest.qml">src/QmlControls/QmlTest.qml</file>
<file alias="RadioComponent.qml">src/AutoPilotPlugins/Common/RadioComponent.qml</file>
<file alias="SerialSettings.qml">src/ui/preferences/SerialSettings.qml</file>
<file alias="Wima/WimaAreaNoVisual.qml">src/Wima/Snake/WimaAreaNoVisual.qml</file>
<file alias="CircularGeneratorEditor.qml">src/WimaView/CircularGeneratorEditor.qml</file>
<file alias="QGroundControl/Controls/CircularGeneratorMapVisual.qml">src/WimaView/CircularGeneratorMapVisual.qml</file>
<file alias="CircularSurveyItemEditor.qml">src/WimaView/CircularSurveyItemEditor.qml</file>
......@@ -273,21 +272,14 @@
<file alias="Wima/ProgressIndicator.qml">src/WimaView/ProgressIndicator.qml</file>
<file alias="Wima/qmldir">src/WimaView/Wima.qmldir</file>
<file alias="Wima/WimaAreaMapVisual.qml">src/WimaView/WimaAreaMapVisual.qml</file>
<file alias="Wima/WimaCorridorDataVisual.qml">src/WimaView/WimaCorridorDataVisual.qml</file>
<file alias="Wima/WimaCorridorEditor.qml">src/WimaView/WimaCorridorEditor.qml</file>
<file alias="Wima/WimaCorridorMapVisual.qml">src/WimaView/WimaCorridorMapVisual.qml</file>
<file alias="Wima/WimaItemEditor.qml">src/WimaView/WimaItemEditor.qml</file>
<file alias="Wima/WimaJoinedAreaDataVisual.qml">src/WimaView/WimaJoinedAreaDataVisual.qml</file>
<file alias="Wima/WimaJoinedAreaMapVisual.qml">src/WimaView/WimaJoinedAreaMapVisual.qml</file>
<file alias="Wima/WimaMapPolygonVisuals.qml">src/WimaView/WimaMapPolygonVisuals.qml</file>
<file alias="Wima/WimaMapPolylineVisuals.qml">src/WimaView/WimaMapPolylineVisuals.qml</file>
<file alias="Wima/WimaMapVisual.qml">src/WimaView/WimaMapVisual.qml</file>
<file alias="Wima/WimaMeasurementAreaDataVisual.qml">src/WimaView/WimaMeasurementAreaDataVisual.qml</file>
<file alias="Wima/WimaMeasurementAreaEditor.qml">src/WimaView/WimaMeasurementAreaEditor.qml</file>
<file alias="Wima/WimaMeasurementAreaMapVisual.qml">src/WimaView/WimaMeasurementAreaMapVisual.qml</file>
<file alias="Wima/WimaServiceAreaDataVisual.qml">src/WimaView/WimaServiceAreaDataVisual.qml</file>
<file alias="Wima/WimaServiceAreaEditor.qml">src/WimaView/WimaServiceAreaEditor.qml</file>
<file alias="Wima/WimaServiceAreaMapVisual.qml">src/WimaView/WimaServiceAreaMapVisual.qml</file>
<file alias="Wima/WimaMeasurementAreaEditor.qml">src/WimaView/MeasurementAreaEditor.qml</file>
<file alias="Wima/WimaMeasurementAreaMapVisual.qml">src/WimaView/MeasurementAreaMapVisual.qml</file>
<file alias="Wima/WimaServiceAreaEditor.qml">src/WimaView/SafeAreaEditor.qml</file>
<file alias="Wima/WimaServiceAreaMapVisual.qml">src/WimaView/SafeAreaMapVisual.qml</file>
<file alias="Wima/WimaToolBar.qml">src/WimaView/WimaToolBar.qml</file>
<file alias="SetupParameterEditor.qml">src/VehicleSetup/SetupParameterEditor.qml</file>
<file alias="SetupView.qml">src/VehicleSetup/SetupView.qml</file>
......@@ -360,9 +352,9 @@
<file alias="Video.SettingsGroup.json">src/Settings/Video.SettingsGroup.json</file>
<file alias="VTOLLandingPattern.FactMetaData.json">src/MissionManager/VTOLLandingPattern.FactMetaData.json</file>
<file alias="Wima.SettingsGroup.json">src/Settings/Wima.SettingsGroup.json</file>
<file alias="CircularSurvey.SettingsGroup.json">src/Wima/json/CircularSurvey.SettingsGroup.json</file>
<file alias="LinearGenerator.SettingsGroup.json">src/Wima/Snake/json/LinearGenerator.SettingsGroup.json</file>
<file alias="CircularGenerator.SettingsGroup.json">src/Wima/Snake/json/CircularGenerator.SettingsGroup.json</file>
<file alias="RouteComplexItem.SettingsGroup.json">src/RouteMissionItem/json/RouteComplexItem.SettingsGroup.json</file>
<file alias="LinearGenerator.SettingsGroup.json">src/RouteMissionItem/json/LinearGenerator.SettingsGroup.json</file>
<file alias="CircularGenerator.SettingsGroup.json">src/RouteMissionItem/json/CircularGenerator.SettingsGroup.json</file>
</qresource>
<qresource prefix="/MockLink">
<file alias="APMArduSubMockLink.params">src/comm/APMArduSubMockLink.params</file>
......
src/MissionManager/MissionController.cc
View file @ dd135422
This diff is collapsed.
src/MissionManager/MissionItem.h
View file @ dd135422
......@@ -26,7 +26,7 @@
#include "QmlObjectListModel.h"
class SurveyComplexItem;
class CircularSurvey;
class RouteComplexItem;
class SimpleMissionItem;
class MissionController;
#ifdef UNITTEST_BUILD
......@@ -153,7 +153,7 @@ private:
static const char* _jsonParam4Key;
friend class SurveyComplexItem;
friend class CircularSurvey;
friend class RouteComplexItem;
friend class SimpleMissionItem;
friend class MissionController;
#ifdef UNITTEST_BUILD
......
src/QGCApplication.cc
View file @ dd135422
This diff is collapsed.
src/RouteMissionItem/AreaData.cc
View file @ dd135422
#include "WimaPlanData.h"
#include "AreaData.h"
AreaData::AreaData(QObject *parent) : QObject(parent) {}
#include "geometry/MeasurementArea.h"
#include "geometry/SafeArea.h"
AreaData::AreaData(const AreaData &other, QObject *parent)
: QObject(parent) {
*this = other;
}
#include "QGCLoggingCategory.h"
#include "QGCQGeoCoordinate.h"
AreaData &AreaData::operator=(const AreaData &other) {
this->append(other.measurementArea());
this->append(other.serviceArea());
this->append(other.joinedArea());
this->append(other.corridor());
QGC_LOGGING_CATEGORY(AreaDataLog, "AreaDataLog")
return *this;
}
AreaData::AreaData(QObject *parent) : QObject(parent) {}
void AreaData::append(const WimaJoinedAreaData &areaData) {
if (_joinedArea != areaData) {
_joinedArea = areaData;
emit joinedAreaChanged();
}
}
AreaData::~AreaData() {}
void AreaData::append(const WimaServiceAreaData &areaData) {
if (_serviceArea != areaData) {
_serviceArea = areaData;
emit serviceAreaChanged();
AreaData::AreaData(const AreaData &other, QObject *parent) : QObject(parent) {
if (!copyAreaList(other._areaList, _areaList, this)) {
qCWarning(AreaDataLog) << "AreaData(): not able to copy other._areaList";
} else {
_origin = other._origin;
}
}
void AreaData::append(const WimaCorridorData &areaData) {
if (_corridor != areaData) {
_corridor = areaData;
emit corridorChanged();
AreaData &AreaData::operator=(const AreaData &other) {
if (!copyAreaList(other._areaList, _areaList, this)) {
qCWarning(AreaDataLog) << "operator=(): not able to copy other._areaList";
} else {
_origin = other._origin;
}
return *this;
}
void AreaData::append(const WimaMeasurementAreaData &areaData) {
if (_measurementArea != areaData) {
_measurementArea = areaData;
emit measurementAreaChanged();
if (_measurementArea.coordinateList().size() > 0) {
setOrigin(_measurementArea.coordinateList().first());
} else {
setOrigin(QGeoCoordinate());
bool AreaData::insert(GeoArea *areaData) {
{
SafeArea *area = qobject_cast<SafeArea *>(areaData);
if (area != nullptr) {
if (Q_LIKELY(!this->_areaList.contains(area))) {
_areaList.append(area);
emit areaList();
return true;
} else {
return false;
}
}
}
}
void AreaData::append(const WimaJoinedArea &areaData) {
if (_joinedArea != areaData) {
_joinedArea = areaData;
emit joinedAreaChanged();
{
MeasurementArea *area = qobject_cast<MeasurementArea *>(areaData);
if (area != nullptr) {
if (Q_LIKELY(!this->_areaList.contains(area))) {
_areaList.append(area);
emit areaList();
return true;
} else {
return false;
}
}
}
}
void AreaData::append(const WimaArea &areaData) {
if (_serviceArea != areaData) {
_serviceArea = areaData;
emit serviceAreaChanged();
}
return false;
}
void AreaData::append(const WimaCorridor &areaData) {
if (_corridor != areaData) {
_corridor = areaData;
emit corridorChanged();
}
}
void AreaData::remove(GeoArea *areaData) {
int index = _areaList.indexOf(areaData);
if (index >= 0) {
QObject *obj = _areaList.removeAt(index);
void AreaData::append(const WimaMeasurementArea &areaData) {
if (_measurementArea != areaData) {
_measurementArea = areaData;
emit measurementAreaChanged();
_setOrigin(_newOrigin());
if (_measurementArea.coordinateList().size() > 0) {
setOrigin(_measurementArea.coordinateList().first());
} else {
setOrigin(QGeoCoordinate());
if (obj->parent() == nullptr) {
obj->deleteLater();
}
}
}
void AreaData::clear() { *this = AreaData(); }
const QGeoCoordinate &AreaData::origin() const { return _origin; }
bool AreaData::isValid() {
return _measurementArea.coordinateList().size() >= 3 &&
_serviceArea.coordinateList().size() >= 3 && _origin.isValid();
emit areaListChanged();
}
}
const WimaJoinedAreaData &AreaData::joinedArea() const {
return this->_joinedArea;
void AreaData::clear() {
if (_areaList.count() > 0) {
for (int i = 0; i < _areaList.count(); ++i) {
remove(_areaList.value<GeoArea *>(i));
}
emit areaListChanged();
}
}
const WimaServiceAreaData &AreaData::serviceArea() const {
return this->_serviceArea;
}
QmlObjectListModel *AreaData::areaList() { return &_areaList; }
const WimaCorridorData &AreaData::corridor() const {
return this->_corridor;
}
const QmlObjectListModel *AreaData::areaList() const { return &_areaList; }
const WimaMeasurementAreaData &AreaData::measurementArea() const {
return this->_measurementArea;
}
const QGeoCoordinate &AreaData::origin() const { return _origin; }
WimaJoinedAreaData &AreaData::joinedArea() { return this->_joinedArea; }
bool AreaData::isValid() const {
qWarning("AreaData::isValid(): impl. incomplete.");
auto *measurementArea = getGeoArea<const MeasurementArea *>(_areaList);
auto *safeArea = getGeoArea<const SafeArea *>(_areaList);
return measurementArea != nullptr && safeArea != nullptr &&
measurementArea->count() >= 3 && safeArea->count() >= 3 &&
_origin.isValid();
}
bool AreaData::tryMakeValid() {
qWarning("AreaData::tryMakeValid(): impl. missing.");
return true;
}
bool AreaData::initialize(const QGeoCoordinate &bottomLeft,
const QGeoCoordinate &topRight) {
// bottomLeft and topRight define the bounding box.
if (bottomLeft.isValid() && topRight.isValid() && bottomLeft != topRight) {
auto *measurementArea = getGeoArea<MeasurementArea *>(_areaList);
auto *safeArea = getGeoArea<SafeArea *>(_areaList);
if (safeArea == nullptr) {
if (!insert(new SafeArea())) {
qCCritical(AreaDataLog)
<< "initialize(): safeArea == nullptr, but insert() failed.";
return false;
}
}
WimaServiceAreaData &AreaData::serviceArea() { return this->_serviceArea; }
if (measurementArea == nullptr) {
if (!insert(new MeasurementArea())) {
qCCritical(AreaDataLog) << "initialize(): measurementArea == nullptr, "
"but insert() failed.";
return false;
}
}
WimaCorridorData &AreaData::corridor() { return this->_corridor; }
// Fit safe area to bounding box.
safeArea->clear();
safeArea->appendVertex(bottomLeft);
safeArea->appendVertex(
QGeoCoordinate(topRight.latitude(), bottomLeft.longitude()));
safeArea->appendVertex(topRight);
safeArea->appendVertex(
QGeoCoordinate(bottomLeft.latitude(), topRight.longitude()));
// Put measurement area inside safeArea;
measurementArea->clear();
measurementArea->appendVertex(QGeoCoordinate(
0.8 * bottomLeft.latitude() + 0.2 * topRight.latitude(),
0.8 * bottomLeft.longitude() + 0.2 * topRight.longitude()));
measurementArea->appendVertex(QGeoCoordinate(
0.2 * bottomLeft.latitude() + 0.8 * topRight.latitude(),
0.8 * bottomLeft.longitude() + 0.2 * topRight.longitude()));
measurementArea->appendVertex(QGeoCoordinate(
0.2 * bottomLeft.latitude() + 0.8 * topRight.latitude(),
0.2 * bottomLeft.longitude() + 0.8 * topRight.longitude()));
measurementArea->appendVertex(QGeoCoordinate(
0.8 * bottomLeft.latitude() + 0.2 * topRight.latitude(),
0.2 * bottomLeft.longitude() + 0.8 * topRight.longitude()));
return true;
} else {
qCWarning(AreaDataLog)
<< "initialize(): bounding box invaldid (bottomLeft, topRight) "
<< bottomLeft << "," << topRight;
return false;
}
}
WimaMeasurementAreaData &AreaData::measurementArea() {
return this->_measurementArea;
bool AreaData::initialized() {
auto *measurementArea = getGeoArea<MeasurementArea *>(_areaList);
auto *safeArea = getGeoArea<SafeArea *>(_areaList);
return measurementArea != nullptr && safeArea != nullptr &&
measurementArea->count() >= 3 && safeArea->count() >= 3;
}
bool AreaData::operator==(const AreaData &other) const {
return this->_joinedArea == other._joinedArea &&
this->_measurementArea == other._measurementArea &&
this->_corridor == other._corridor &&
this->_serviceArea == other._serviceArea;
if (_areaList.count() == other._areaList.count()) {
for (int i = 0; i < _areaList.count(); ++i) {
if (_areaList[i] != other._areaList[i]) {
return false;
}
}
return true;
} else {
return false;
}
}
bool AreaData::operator!=(const AreaData &other) const {
return !(*this == other);
}
void AreaData::setOrigin(const QGeoCoordinate &origin) {
void AreaData::_setOrigin(const QGeoCoordinate &origin) {
if (this->_origin != origin) {
this->_origin = origin;
emit originChanged();
}
}
QGeoCoordinate AreaData::_newOrigin() {
auto *measurementArea = getGeoArea<MeasurementArea *>(_areaList);
auto *safeArea = getGeoArea<SafeArea *>(_areaList);
if (measurementArea != nullptr && measurementArea->pathModel().count() > 0) {
QGCQGeoCoordinate *ori =
measurementArea->pathModel().value<QGCQGeoCoordinate *>(0);
if (ori != nullptr && ori->coordinate().isValid()) {
return ori->coordinate();
}
}
if (safeArea != nullptr && safeArea->pathModel().count() > 0) {
QGCQGeoCoordinate *ori =
measurementArea->pathModel().value<QGCQGeoCoordinate *>(0);
if (ori != nullptr && ori->coordinate().isValid()) {
return ori->coordinate();
}
}
return QGeoCoordinate();
}
src/RouteMissionItem/AreaData.h 0 → 100644
View file @ dd135422
#pragma once
#include <QGeoCoordinate>
#include <QObject>
#include "QmlObjectListModel.h"
class GeoArea;
class SafeArea;
class MeasurementArea;
class AreaData : public QObject {
Q_OBJECT
public:
AreaData(QObject *parent = nullptr);
~AreaData();
AreaData(const AreaData &other, QObject *parent = nullptr);
AreaData &operator=(const AreaData &other);
// Member Methodes
//!
//! \brief insert Inserts the area if areaList does not contain it.
//! \param areaData
bool insert(GeoArea *areaData);
//!
//! \brief remove
//! \param areaData Removes the area.
//! \note Deletes the area if it has no parent.
void remove(GeoArea *areaData);
void clear();
//!
//! \brief areaList
//! \return Returns the list of areas.
//! \note For Qml use only, don't alter the list, or risk to break invariants.
QmlObjectListModel *areaList();
//!
//! \brief areaList
//! \return Returns the list of areas.
const QmlObjectListModel *areaList() const;
//!
//! \brief origin
//! \return Returns an origin near one of the areas.
//! \note Origin might change if the list of areas changes.
const QGeoCoordinate &origin() const;
Q_INVOKABLE bool isValid() const;
Q_INVOKABLE bool tryMakeValid();
//!
//! \brief initialize Initializes the areas in a valid way, such that they
//! area inside the bounding box. \param bottomLeft bottom left corner of the
//! bounding box. \param topRight top right corner of the bounding box. \note
//! Behavior is undefined, if \p bottomLeft and \p topRight are not the bottom
//! left and the top right corner of the bounding box. \return Returns true on
//! succes, false either.
//!
Q_INVOKABLE bool initialize(const QGeoCoordinate &bottomLeft,
const QGeoCoordinate &topRight);
//!
//! \brief initialized Checks if area data is initialized
//! \return Returns true if area list contains a SafeArea and a
//! MeasurementArea and both areas have atleast three vertices, returns false
//! either.
//!
Q_INVOKABLE bool initialized();
bool operator==(const AreaData &other) const;
bool operator!=(const AreaData &other) const;
signals:
void areaListChanged();
void originChanged();
private:
void _setOrigin(const QGeoCoordinate &origin);
QGeoCoordinate _newOrigin();
QGeoCoordinate _origin;
QmlObjectListModel _areaList;
};
src/RouteMissionItem/CircularGenerator.cpp
View file @ dd135422
#include "CircularGenerator.h"
#include "QGCLoggingCategory.h"
QGC_LOGGING_CATEGORY(CircularGeneratorLog, "CircularGeneratorLog")
#include "SettingsFact.h"
#define CLIPPER_SCALE 1000000
#include "Wima/Geometry/GenericCircle.h"
#include "clipper/clipper.hpp"
#include "RoutingThread.h"
#include "geometry/GenericCircle.h"
#include "geometry/MeasurementArea.h"
#include "geometry/SafeArea.h"
#include "geometry/clipper/clipper.hpp"
#include "nemo_interface/SnakeTile.h"
QGC_LOGGING_CATEGORY(CircularGeneratorLog, "CircularGeneratorLog")
using namespace ClipperLib;
template <> inline auto get<0>(const IntPoint &p) { return p.X; }
template <> inline auto get<1>(const IntPoint &p) { return p.Y; }
#include "SnakeTile.h"
#include "Wima/RoutingThread.h"
namespace routing {
bool circularTransects(const snake::FPoint &reference,
......@@ -77,7 +80,13 @@ bool CircularGenerator::get(Generator &generator) {
snake::FPoint reference;
snake::toENU(origin, ref, reference);
auto geoPolygon = this->_d->measurementArea().coordinateList();
auto measurementArea =
getGeoArea<const MeasurementArea *>(*this->_d->areaList());
if (measurementArea == nullptr) {
qCDebug(CircularGeneratorLog) << "get(): measurement area == nullptr";
return false;
}
auto geoPolygon = measurementArea->coordinateList();
for (auto &v : geoPolygon) {
if (v.isValid()) {
v.setAltitude(0);
......@@ -93,8 +102,8 @@ bool CircularGenerator::get(Generator &generator) {
snake::areaToEnu(origin, geoPolygon, *pPolygon);
// Progress and tiles.
const auto &progress = this->_d->measurementArea().progress();
const auto *tiles = this->_d->measurementArea().tiles();
const auto &progress = measurementArea->progress();
const auto *tiles = measurementArea->tiles();
auto pTiles = std::make_shared<std::vector<snake::FPolygon>>();
if (progress.size() == tiles->count()) {
for (int i = 0; i < tiles->count(); ++i) {
......@@ -119,7 +128,12 @@ bool CircularGenerator::get(Generator &generator) {
return false;
}
auto geoDepot = this->_d->serviceArea().depot();
auto serviceArea = getGeoArea<const SafeArea *>(*this->_d->areaList());
if (measurementArea == nullptr) {
qCDebug(CircularGeneratorLog) << "get(): measurement area == nullptr";
return false;
}
auto geoDepot = serviceArea->depot();
if (!geoDepot.isValid()) {
qCDebug(CircularGeneratorLog) << "get(): depot invalid." << geoDepot;
return false;
......@@ -169,73 +183,85 @@ void CircularGenerator::resetReferenceIfInvalid() {
}
void CircularGenerator::resetReference() {
if (this->_d->measurementArea().center().isValid()) {
setReference(this->_d->measurementArea().center());
auto measurementArea =
getGeoArea<const MeasurementArea *>(*this->_d->areaList());
if (measurementArea != nullptr) {
if (measurementArea->center().isValid()) {
setReference(measurementArea->center());
} else {
qCWarning(CircularGeneratorLog)
<< "measurement area center" << measurementArea->center();
}
} else {
qCWarning(CircularGeneratorLog)
<< "measurement area center" << this->_d->measurementArea().center();
qCDebug(CircularGeneratorLog)
<< "resetReference(): measurement area == nullptr";
}
}
void CircularGenerator::establishConnections() {
if (this->_d && !this->_connectionsEstablished) {
connect(this->_d.get(), &AreaData::originChanged, this,
&GeneratorBase::generatorChanged);
connect(&this->_d->measurementArea(),
&WimaMeasurementAreaData::progressChanged, this,
&GeneratorBase::generatorChanged);
connect(&this->_d->measurementArea(),
&WimaMeasurementAreaData::tileDataChanged, this,
&GeneratorBase::generatorChanged);
connect(&this->_d->measurementArea(),
&WimaMeasurementAreaData::centerChanged, this,
&CircularGenerator::resetReferenceIfInvalid);
connect(&this->_d->measurementArea(), &WimaMeasurementAreaData::pathChanged,
this, &GeneratorBase::generatorChanged);
connect(&this->_d->serviceArea(), &WimaServiceAreaData::depotChanged, this,
&GeneratorBase::generatorChanged);
connect(&this->_d->joinedArea(), &WimaJoinedAreaData::pathChanged, this,
&GeneratorBase::generatorChanged);
connect(this->distance(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
connect(this->deltaAlpha(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
connect(this->minLength(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
connect(this, &CircularGenerator::referenceChanged, this,
&GeneratorBase::generatorChanged);
this->_connectionsEstablished = true;
auto measurementArea =
getGeoArea<const MeasurementArea *>(*this->_d->areaList());
auto serviceArea = getGeoArea<const SafeArea *>(*this->_d->areaList());
if (measurementArea != nullptr && serviceArea != nullptr) {
GeneratorBase::establishConnections();
connect(this->_d, &AreaData::originChanged, this,
&GeneratorBase::generatorChanged);
connect(measurementArea, &MeasurementArea::progressChanged, this,
&GeneratorBase::generatorChanged);
connect(measurementArea, &MeasurementArea::tilesChanged, this,
&GeneratorBase::generatorChanged);
connect(measurementArea, &MeasurementArea::centerChanged, this,
&CircularGenerator::resetReferenceIfInvalid);
connect(measurementArea, &MeasurementArea::pathChanged, this,
&GeneratorBase::generatorChanged);
connect(serviceArea, &SafeArea::depotChanged, this,
&GeneratorBase::generatorChanged);
connect(this->distance(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
connect(this->deltaAlpha(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
connect(this->minLength(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
connect(this, &CircularGenerator::referenceChanged, this,
&GeneratorBase::generatorChanged);
this->_connectionsEstablished = true;
}
}
}
void CircularGenerator::deleteConnections() {
if (this->_d && this->_connectionsEstablished) {
disconnect(this->_d.get(), &AreaData::originChanged, this,
&GeneratorBase::generatorChanged);
disconnect(&this->_d->measurementArea(),
&WimaMeasurementAreaData::progressChanged, this,
&GeneratorBase::generatorChanged);
disconnect(&this->_d->measurementArea(),
&WimaMeasurementAreaData::tileDataChanged, this,
&GeneratorBase::generatorChanged);
disconnect(&this->_d->measurementArea(), &WimaMeasurementAreaData::center,
this, &CircularGenerator::resetReferenceIfInvalid);
disconnect(&this->_d->measurementArea(),
&WimaMeasurementAreaData::pathChanged, this,
&GeneratorBase::generatorChanged);
disconnect(&this->_d->serviceArea(), &WimaServiceAreaData::depotChanged,
this, &GeneratorBase::generatorChanged);
disconnect(&this->_d->joinedArea(), &WimaJoinedAreaData::pathChanged, this,
&GeneratorBase::generatorChanged);
disconnect(this->distance(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
disconnect(this->deltaAlpha(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
disconnect(this->minLength(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
disconnect(this, &CircularGenerator::referenceChanged, this,
&GeneratorBase::generatorChanged);
this->_connectionsEstablished = false;
auto measurementArea =
getGeoArea<const MeasurementArea *>(*this->_d->areaList());
auto serviceArea = getGeoArea<const SafeArea *>(*this->_d->areaList());
if (measurementArea != nullptr && serviceArea != nullptr) {
GeneratorBase::deleteConnections();
disconnect(this->_d, &AreaData::originChanged, this,
&GeneratorBase::generatorChanged);
disconnect(measurementArea, &MeasurementArea::progressChanged, this,
&GeneratorBase::generatorChanged);
disconnect(measurementArea, &MeasurementArea::tilesChanged, this,
&GeneratorBase::generatorChanged);
disconnect(measurementArea, &MeasurementArea::centerChanged, this,
&CircularGenerator::resetReferenceIfInvalid);
disconnect(measurementArea, &MeasurementArea::pathChanged, this,
&GeneratorBase::generatorChanged);
disconnect(serviceArea, &SafeArea::depotChanged, this,
&GeneratorBase::generatorChanged);
disconnect(this->distance(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
disconnect(this->deltaAlpha(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
disconnect(this->minLength(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
disconnect(this, &CircularGenerator::referenceChanged, this,
&GeneratorBase::generatorChanged);
this->_connectionsEstablished = true;
}
}
}
......
src/RouteMissionItem/CircularGenerator.h
View file @ dd135422
......@@ -2,6 +2,8 @@
#include <QGeoCoordinate>
#include "SettingsFact.h"
namespace routing {
class CircularGenerator : public GeneratorBase {
......
src/RouteMissionItem/GeneratorBase.cc
View file @ dd135422
......@@ -12,10 +12,6 @@ GeneratorBase::GeneratorBase(GeneratorBase::Data d, QObject *parent)
GeneratorBase::~GeneratorBase() {}
QString GeneratorBase::editorQml() { return QStringLiteral(""); }
QString GeneratorBase::mapVisualQml() { return QStringLiteral(""); }
GeneratorBase::Data GeneratorBase::data() const { return _d; }
void GeneratorBase::setData(const Data &d) {
......@@ -28,4 +24,9 @@ void GeneratorBase::establishConnections() {}
void GeneratorBase::deleteConnections() {}
void GeneratorBase::_areaListChangedHandler() {
deleteConnections();
establishConnections();
}
} // namespace routing
src/RouteMissionItem/GeneratorBase.h
View file @ dd135422
......@@ -5,16 +5,16 @@
#include <functional>
#include <memory>
#include "snake.h"
#include "geometry/snake.h"
#include "Wima/WimaPlanData.h"
#include "AreaData.h"
namespace routing {
class GeneratorBase : public QObject {
Q_OBJECT
public:
using Data = std::shared_ptr<AreaData>;
using Data = AreaData *;
using Generator = std::function<bool(snake::Transects &)>;
explicit GeneratorBase(QObject *parent = nullptr);
......@@ -24,8 +24,8 @@ public:
Q_PROPERTY(QString editorQml READ editorQml CONSTANT)
Q_PROPERTY(QString mapVisualQml READ mapVisualQml CONSTANT)
virtual QString editorQml();
virtual QString mapVisualQml();
virtual QString editorQml() = 0;
virtual QString mapVisualQml() = 0;
virtual QString name() = 0;
virtual QString abbreviation() = 0;
......@@ -42,6 +42,9 @@ protected:
virtual void establishConnections();
virtual void deleteConnections();
Data _d;
private:
void _areaListChangedHandler();
};
} // namespace routing
src/RouteMissionItem/LinearGenerator.cpp
View file @ dd135422
......@@ -4,10 +4,12 @@
QGC_LOGGING_CATEGORY(LinearGeneratorLog, "LinearGeneratorLog")
#define CLIPPER_SCALE 1000000
#include "clipper/clipper.hpp"
#include "geometry/MeasurementArea.h"
#include "geometry/SafeArea.h"
#include "geometry/clipper/clipper.hpp"
#include "SnakeTile.h"
#include "Wima/RoutingThread.h"
#include "RoutingThread.h"
#include "nemo_interface/SnakeTile.h"
namespace routing {
......@@ -38,6 +40,8 @@ QString LinearGenerator::editorQml() {
return QStringLiteral("LinearGeneratorEditor.qml");
}
QString LinearGenerator::mapVisualQml() { return QStringLiteral(""); }
QString LinearGenerator::name() { return QStringLiteral("Linear Generator"); }
QString LinearGenerator::abbreviation() { return QStringLiteral("L. Gen."); }
......@@ -52,7 +56,13 @@ bool LinearGenerator::get(Generator &generator) {
qCDebug(LinearGeneratorLog) << "get(): origin invalid." << origin;
}
auto geoPolygon = this->_d->measurementArea().coordinateList();
auto measurementArea =
getGeoArea<const MeasurementArea *>(*this->_d->areaList());
if (measurementArea == nullptr) {
qCDebug(LinearGeneratorLog) << "get(): measurement area == nullptr";
return false;
}
auto geoPolygon = measurementArea->coordinateList();
for (auto &v : geoPolygon) {
if (v.isValid()) {
v.setAltitude(0);
......@@ -68,8 +78,8 @@ bool LinearGenerator::get(Generator &generator) {
snake::areaToEnu(origin, geoPolygon, *pPolygon);
// Progress and tiles.
const auto &progress = this->_d->measurementArea().progress();
const auto *tiles = this->_d->measurementArea().tiles();
const auto &progress = measurementArea->progress();
const auto *tiles = measurementArea->tiles();
auto pTiles = std::make_shared<std::vector<snake::FPolygon>>();
if (progress.size() == tiles->count()) {
for (int i = 0; i < tiles->count(); ++i) {
......@@ -93,7 +103,12 @@ bool LinearGenerator::get(Generator &generator) {
return false;
}
auto geoDepot = this->_d->serviceArea().depot();
auto serviceArea = getGeoArea<const SafeArea *>(*this->_d->areaList());
if (serviceArea == nullptr) {
qCDebug(LinearGeneratorLog) << "get(): service area == nullptr";
return false;
}
auto geoDepot = serviceArea->depot();
if (!geoDepot.isValid()) {
qCDebug(LinearGeneratorLog) << "get(): depot invalid." << geoDepot;
return false;
......@@ -134,53 +149,61 @@ Fact *LinearGenerator::minLength() { return &_minLength; }
void LinearGenerator::establishConnections() {
if (this->_d && !this->_connectionsEstablished) {
connect(this->_d.get(), &AreaData::originChanged, this,
&GeneratorBase::generatorChanged);
connect(&this->_d->measurementArea(),
&WimaMeasurementAreaData::progressChanged, this,
&GeneratorBase::generatorChanged);
connect(&this->_d->measurementArea(),
&WimaMeasurementAreaData::tileDataChanged, this,
&GeneratorBase::generatorChanged);
connect(&this->_d->measurementArea(), &WimaMeasurementAreaData::pathChanged,
this, &GeneratorBase::generatorChanged);
connect(&this->_d->serviceArea(), &WimaServiceAreaData::depotChanged, this,
&GeneratorBase::generatorChanged);
connect(&this->_d->joinedArea(), &WimaJoinedAreaData::pathChanged, this,
&GeneratorBase::generatorChanged);
connect(this->distance(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
connect(this->alpha(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
connect(this->minLength(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
this->_connectionsEstablished = true;
auto measurementArea =
getGeoArea<const MeasurementArea *>(*this->_d->areaList());
auto serviceArea = getGeoArea<const SafeArea *>(*this->_d->areaList());
if (measurementArea != nullptr && serviceArea != nullptr) {
GeneratorBase::establishConnections();
connect(this->_d, &AreaData::originChanged, this,
&GeneratorBase::generatorChanged);
connect(measurementArea, &MeasurementArea::progressChanged, this,
&GeneratorBase::generatorChanged);
connect(measurementArea, &MeasurementArea::tilesChanged, this,
&GeneratorBase::generatorChanged);
connect(measurementArea, &MeasurementArea::pathChanged, this,
&GeneratorBase::generatorChanged);
connect(serviceArea, &SafeArea::depotChanged, this,
&GeneratorBase::generatorChanged);
connect(this->distance(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
connect(this->alpha(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
connect(this->minLength(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
this->_connectionsEstablished = true;
}
}
}
void LinearGenerator::deleteConnections() {
if (this->_d && this->_connectionsEstablished) {
connect(this->_d.get(), &AreaData::originChanged, this,
&GeneratorBase::generatorChanged);
connect(&this->_d->measurementArea(),
&WimaMeasurementAreaData::progressChanged, this,
&GeneratorBase::generatorChanged);
connect(&this->_d->measurementArea(),
&WimaMeasurementAreaData::tileDataChanged, this,
&GeneratorBase::generatorChanged);
connect(&this->_d->measurementArea(), &WimaMeasurementAreaData::pathChanged,
this, &GeneratorBase::generatorChanged);
connect(&this->_d->serviceArea(), &WimaServiceAreaData::depotChanged, this,
&GeneratorBase::generatorChanged);
connect(&this->_d->joinedArea(), &WimaJoinedAreaData::pathChanged, this,
&GeneratorBase::generatorChanged);
connect(this->distance(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
connect(this->alpha(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
connect(this->minLength(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
this->_connectionsEstablished = false;
auto measurementArea =
getGeoArea<const MeasurementArea *>(*this->_d->areaList());
auto serviceArea = getGeoArea<const SafeArea *>(*this->_d->areaList());
if (measurementArea != nullptr && serviceArea != nullptr) {
GeneratorBase::deleteConnections();
disconnect(this->_d, &AreaData::originChanged, this,
&GeneratorBase::generatorChanged);
disconnect(measurementArea, &MeasurementArea::progressChanged, this,
&GeneratorBase::generatorChanged);
disconnect(measurementArea, &MeasurementArea::tilesChanged, this,
&GeneratorBase::generatorChanged);
disconnect(measurementArea, &MeasurementArea::pathChanged, this,
&GeneratorBase::generatorChanged);
disconnect(serviceArea, &SafeArea::depotChanged, this,
&GeneratorBase::generatorChanged);
disconnect(this->distance(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
disconnect(this->alpha(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
disconnect(this->minLength(), &Fact::rawValueChanged, this,
&GeneratorBase::generatorChanged);
this->_connectionsEstablished = true;
}
}
}
......
src/RouteMissionItem/LinearGenerator.h
View file @ dd135422
......@@ -2,6 +2,8 @@
#include <QGeoCoordinate>
#include "SettingsFact.h"
namespace routing {
class LinearGenerator : public GeneratorBase {
......@@ -15,6 +17,7 @@ public:
Q_PROPERTY(Fact *minLength READ minLength CONSTANT)
virtual QString editorQml() override;
virtual QString mapVisualQml() override;
virtual QString name() override;
virtual QString abbreviation() override;
......
src/RouteMissionItem/NemoInterface.cpp
View file @ dd135422
#include "NemoInterface.h"
#include "SnakeTilesLocal.h"
#include "nemo_interface/SnakeTilesLocal.h"
#include "QGCApplication.h"
#include "QGCLoggingCategory.h"
......@@ -12,11 +12,11 @@
#include <QTimer>
#include "QNemoHeartbeat.h"
#include "QNemoProgress.h"
#include "Wima/Geometry/WimaMeasurementArea.h"
#include "Wima/Snake/SnakeTile.h"
#include "Wima/Snake/snake.h"
#include "geometry/MeasurementArea.h"
#include "geometry/snake.h"
#include "nemo_interface/QNemoHeartbeat.h"
#include "nemo_interface/QNemoProgress.h"
#include "nemo_interface/SnakeTile.h"
#include "ros_bridge/include/messages/geographic_msgs/geopoint.h"
#include "ros_bridge/include/messages/jsk_recognition_msgs/polygon_array.h"
......
src/RouteMissionItem/OptimisationTools.cc deleted 100644 → 0
View file @ 0877c5b7
#include "OptimisationTools.h"
namespace OptimisationTools {
namespace {
} // end anonymous namespace
bool dijkstraAlgorithm(const int numElements, int startIndex, int endIndex, QVector<int> &elementPath, std::function<double (const int, const int)> distanceDij)
{
if ( numElements < 0
|| startIndex < 0
|| endIndex < 0
|| startIndex >= numElements
|| endIndex >= numElements
|| endIndex == startIndex) {
return false;
}
// Node struct
// predecessorIndex is the index of the predecessor node (nodeList[predecessorIndex])
// distance is the distance between the node and the start node
// node number is stored by the position in nodeList
struct Node{
int predecessorIndex = -1;
double distance = std::numeric_limits<qreal>::infinity();
};
// The list with all Nodes (elements)
QVector<Node> nodeList(numElements);
// This list will be initalized with indices referring to the elements of nodeList.
// Elements will be successively remove during the execution of the Dijkstra Algorithm.
QVector<int> workingSet(numElements);
//append elements to node list
for (int i = 0; i < numElements; ++i) workingSet[i] = i;
nodeList[startIndex].distance = 0;
// qDebug() << "nodeList" ;
// for (auto node : nodeList) {
// qDebug() << "predecessor: " << node.predecessorIndex;
// qDebug() << "distance: " << node.distance;
// }
// qDebug() << "workingSet";
// for (auto node : workingSet) {
// qDebug() << "index: " << node;
// }
// 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 minDistIndex_WS = -1; // WS = workinSet
for (int i = 0; i < workingSet.size(); ++i) {
const int nodeIndex = workingSet.at(i);
const double dist = nodeList.at(nodeIndex).distance;
if (dist < minDist) {
minDist = dist;
minDistIndex_WS = i;
}
}
if (minDistIndex_WS == -1)
return false;
int indexU_NL = workingSet.takeAt(minDistIndex_WS); // NL = nodeList
if (indexU_NL == endIndex) // shortest path found
break;
const double distanceU = nodeList.at(indexU_NL).distance;
//update distance
for (int i = 0; i < workingSet.size(); ++i) {
int indexV_NL = workingSet[i]; // NL = nodeList
Node* v = &nodeList[indexV_NL];
double dist = distanceDij(indexU_NL, indexV_NL);
// is ther an alternative path which is shorter?
double alternative = distanceU + dist;
if (alternative < v->distance) {
v->distance = alternative;
v->predecessorIndex = indexU_NL;
}
}
}
// end Djikstra Algorithm
// reverse assemble path
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 = nodeList[e].predecessorIndex;
}
return true;
}
} // end OptimisationTools namespace
src/RouteMissionItem/OptimisationTools.h deleted 100644 → 0
View file @ 0877c5b7
#pragma once
#include <QObject>
#include <QDebug>
#include <functional>
#include <QVector>
namespace OptimisationTools {
bool dijkstraAlgorithm(const int numElements, int startIndex, int endIndex, QVector<int> &elementPath, std::function<double(const int, const int)> distanceDij);
}
src/RouteMissionItem/RouteComplexItem.cc
View file @ dd135422
This diff is collapsed.
src/RouteMissionItem/RouteComplexItem.h
View file @ dd135422
......@@ -7,9 +7,7 @@
#include "SettingsFact.h"
#include "TransectStyleComplexItem.h"
#include "Geometry/WimaJoinedAreaData.h"
#include "Geometry/WimaMeasurementAreaData.h"
#include "WimaPlanData.h"
#include "AreaData.h"
class RoutingThread;
class RoutingData;
......@@ -18,21 +16,22 @@ namespace routing {
class GeneratorBase;
}
class CircularSurvey : public TransectStyleComplexItem {
class RouteComplexItem : public TransectStyleComplexItem {
Q_OBJECT
using PtrGenerator = std::shared_ptr<routing::GeneratorBase>;
using PtrGenerator = routing::GeneratorBase *;
using PtrAreaData = AreaData *;
using PtrRoutingData = std::shared_ptr<RoutingData>;
using PtrWorker = std::unique_ptr<RoutingThread>;
using PtrWorker = RoutingThread *;
using Transects = QList<QList<CoordInfo_t>>;
using Variant = Transects;
enum class STATE { IDLE, ROUTING, SKIPP, REVERT_PATH, CHANGE_VARIANT };
public:
CircularSurvey(PlanMasterController *masterController, bool flyView,
const QString &kmlOrShpFile, QObject *parent);
~CircularSurvey();
RouteComplexItem(PlanMasterController *masterController, bool flyView,
const QString &kmlOrShpFile, QObject *parent);
~RouteComplexItem();
Q_PROPERTY(Fact *variant READ variant CONSTANT)
Q_PROPERTY(
......@@ -43,14 +42,18 @@ public:
Q_PROPERTY(
routing::GeneratorBase *generator READ generator NOTIFY generatorChanged)
Q_PROPERTY(int generatorIndex READ generatorIndex NOTIFY generatorChanged)
Q_PROPERTY(bool editing READ editing NOTIFY editingChanged)
Q_PROPERTY(AreaData *areaData READ areaData NOTIFY areaDataChanged)
Q_INVOKABLE void revert_path(void);
Q_INVOKABLE void revertPath(void);
// Property getters
const AreaData &planData() const;
const AreaData *areaData() const;
AreaData *areaData();
Fact *variant();
QStringList variantNames() const;
bool calculating() const;
bool editing() const;
// Overrides
virtual bool load(const QJsonObject &complexObject, int sequenceNumber,
......@@ -67,8 +70,7 @@ public:
virtual QString patternName(void) const override;
// Generator
bool registerGenerator(const QString &name,
std::shared_ptr<routing::GeneratorBase> g);
bool registerGenerator(const QString &name, routing::GeneratorBase *g);
bool unregisterGenerator(const QString &name);
bool unregisterGenerator(int index);
Q_INVOKABLE bool switchToGenerator(const QString &name);
......@@ -77,6 +79,22 @@ public:
routing::GeneratorBase *generator();
int generatorIndex();
// Editing.
//!
//! \brief editingStart Starts area data editing.
//!
//! Starts area data editing. Transects will not be updated bewteen a call
//! sequence of editingStart() and editingStop().
//!
void editingStart();
//!
//! \brief editingStop Stops area editing.
//!
//! Stops area editing. Will reset area data to the state before
//! editingStart() if it is invalid. Triggers a transect update.
//!
void editingStop();
static const char *settingsGroup;
static const char *variantName;
static const char *jsonComplexItemTypeValue;
......@@ -87,6 +105,8 @@ signals:
void variantNamesChanged();
void generatorNameListChanged();
void generatorChanged();
void editingChanged();
void areaDataChanged();
private slots:
// Overrides from TransectStyleComplexItem
......@@ -101,20 +121,25 @@ private slots:
void _reverseWorker();
private:
bool _switchToGenerator(const PtrGenerator &newG);
bool _setGenerator(PtrGenerator newG);
void _setState(STATE state);
bool _calculating(STATE state) const;
void _setEditing(bool editing);
void _setAreaData(PtrAreaData data);
// State.
STATE _state;
// center of the circular lanes, e.g. base station
// Facts
QMap<QString, FactMetaData *> _metaDataMap;
SettingsFact _variant;
QStringList _variantNames;
// Area data
AreaData _areaData;
PtrAreaData _areaData;
PtrAreaData _editorData;
PtrAreaData _currentData;
bool _editing;
// Generators
QList<PtrGenerator> _generatorList;
......
src/RouteMissionItem/RoutingThread.h
View file @ dd135422
......@@ -4,7 +4,7 @@
#include <QSharedPointer>
#include <QThread>
#include "snake.h"
#include "geometry/snake.h"
#include <atomic>
#include <condition_variable>
#include <functional>
......
src/RouteMissionItem/geometry/GeoArea.cc 0 → 100644
View file @ dd135422
#include "GeoArea.h"
#include <QDebug>
const char *GeoArea::wimaAreaName = "GeoArea";
const char *GeoArea::areaTypeName = "AreaType";
const char *GeoArea::settingsGroup = "GeoArea";
// Constructors
GeoArea::GeoArea(QObject *parent) : QGCMapPolygon(parent) { init(); }
GeoArea::GeoArea(const GeoArea &other, QObject *parent)
: QGCMapPolygon(other, parent) {
init();
}
GeoArea &GeoArea::operator=(const GeoArea &other) {
QGCMapPolygon::operator=(other);
return *this;
}
void GeoArea::saveToJson(QJsonObject &json) {
this->QGCMapPolygon::saveToJson(json);
}
bool GeoArea::loadFromJson(const QJsonObject &json, QString &errorString) {
if (!this->QGCMapPolygon::loadFromJson(json, false /*no poly required*/,
errorString)) {
qWarning() << errorString;
return false;
}
return true;
}
bool GeoArea::isSimplePolygon() {
qWarning() << "WimaArea::isSimplePolygon: impl. missing.";
return false;
}
void GeoArea::init() { this->setObjectName(wimaAreaName); }
bool copyAreaList(const QmlObjectListModel &from, QmlObjectListModel &to,
QObject *parent) {
// Check if elements are valid.
for (int i = 0; i < from.count(); ++i) {
auto obj = from[i];
auto area = qobject_cast<const GeoArea *>(obj);
if (area == nullptr) {
return false;
}
}
// Clone elements.
for (int i = 0; i < from.count(); ++i) {
auto obj = from[i];
auto area = qobject_cast<const GeoArea *>(obj);
to.append(area->clone(parent));
}
return true;
}
src/RouteMissionItem/geometry/GeoArea.h 0 → 100644
View file @ dd135422
#pragma once
#include <QObject>
#include "QGCMapPolygon.h"
class GeoArea : public QGCMapPolygon {
Q_OBJECT
public:
GeoArea(QObject *parent = nullptr);
GeoArea(const GeoArea &other, QObject *parent = nullptr);
GeoArea &operator=(const GeoArea &other);
Q_PROPERTY(QString mapVisualQML READ mapVisualQML CONSTANT)
Q_PROPERTY(QString editorQML READ editorQML CONSTANT)
virtual QString mapVisualQML(void) const = 0;
virtual QString editorQML(void) const = 0;
virtual void saveToJson(QJsonObject &jsonObject);
virtual bool loadFromJson(const QJsonObject &jsonObject,
QString &errorString);
virtual GeoArea *clone(QObject *parent = nullptr) const = 0;
bool isSimplePolygon();
// static Members
static const char *wimaAreaName;
static const char *areaTypeName;
static const char *settingsGroup;
private:
void init();
};
// Example usage:
// QmlObjecListModel list;
// .... add areas ....
// auto area = getArea<WimaMeasurementArea *>(list); // returns the first
// WimaMeasurementArea or nullptr
template <class AreaPtr, class QObjectList>
inline AreaPtr getGeoArea(QObjectList &list) {
static_assert(std::is_pointer<AreaPtr>::value,
"AreaPtr must be a pointer type.");
for (int i = 0; i < list.count(); ++i) {
auto obj = list[i];
auto area = qobject_cast<AreaPtr>(obj);
if (area != nullptr) {
return area;
}
}
return nullptr;
}
bool copyAreaList(const QmlObjectListModel &from, QmlObjectListModel &to,
QObject *parent);
src/RouteMissionItem/geometry/WimaMeasurementArea.h → src/RouteMissionItem/geometry/MeasurementArea.h
View file @ dd135422
......@@ -2,9 +2,10 @@
#include <QFutureWatcher>
#include <QObject>
#include <QSharedPointer>
#include <QTimer>
#include "WimaArea.h"
#include "GeoArea.h"
#include "SettingsFact.h"
......@@ -24,17 +25,16 @@ public:
std::size_t size() const;
};
class WimaMeasurementArea : public WimaArea {
class MeasurementArea : public GeoArea {
Q_OBJECT
enum class STATE { IDLE, DEFERED, UPDATEING, RESTARTING, STOP };
using DataPtr = QSharedPointer<TileData>;
public:
WimaMeasurementArea(QObject *parent = nullptr);
WimaMeasurementArea(const WimaMeasurementArea &other,
QObject *parent = nullptr);
WimaMeasurementArea &operator=(const WimaMeasurementArea &other);
~WimaMeasurementArea();
MeasurementArea(QObject *parent = nullptr);
MeasurementArea(const MeasurementArea &other, QObject *parent = nullptr);
MeasurementArea &operator=(const MeasurementArea &other);
~MeasurementArea();
Q_PROPERTY(Fact *tileHeight READ tileHeight CONSTANT)
Q_PROPERTY(Fact *tileWidth READ tileWidth CONSTANT)
......@@ -44,9 +44,12 @@ public:
Q_PROPERTY(int maxTiles READ maxTiles NOTIFY maxTilesChanged)
Q_PROPERTY(QVector<int> progress READ progressQml NOTIFY progressChanged)
// Overrides from WimaPolygon
QString mapVisualQML(void) const;
QString editorQML(void) const;
// Overrides from GeoArea
QString mapVisualQML(void) const override;
QString editorQML(void) const override;
MeasurementArea *clone(QObject *parent = nullptr) const;
void saveToJson(QJsonObject &json) override;
bool loadFromJson(const QJsonObject &json, QString &errorString) override;
// Property getters.
Fact *tileHeight();
......@@ -62,17 +65,13 @@ public:
int maxTiles() const;
bool ready() const;
// Member Methodes
void saveToJson(QJsonObject &json);
bool loadFromJson(const QJsonObject &json, QString &errorString);
// Static Variables
static const char *settingsGroup;
static const char *tileHeightName;
static const char *tileWidthName;
static const char *minTileAreaName;
static const char *showTilesName;
static const char *WimaMeasurementAreaName;
static const char *MeasurementAreaName;
signals:
void tilesChanged();
......@@ -109,7 +108,6 @@ private:
// Tile stuff.
// Tile stuff.
mutable QTimer _timer;
using DataPtr = std::shared_ptr<TileData>;
mutable STATE _state;
mutable TileData _tileData;
mutable QFutureWatcher<DataPtr> _watcher;
......
src/RouteMissionItem/geometry/PlanimetryCalculus.cc deleted 100644 → 0
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src/RouteMissionItem/geometry/PlanimetryCalculus.h deleted 100644 → 0
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#pragma once
#include <QLineF>
#include <QPointF>
#include <QPolygonF>
#include <QtMath>
#include "GenericCircle.h"
#include "PolygonCalculus.h"
using Circle = GenericCircle<qreal, QPointF>;
namespace PlanimetryCalculus {
enum IntersectType {
InsideNoIntersection,
InsideTouching,
InsideIntersection,
OutsideIntersection,
OutsideTouching,
OutsideNoIntersection,
CirclesEqual, // Circle Circle intersection
Tangent,
Secant, // Circle Line Intersetion
EdgeCornerIntersection,
EdgeEdgeIntersection,
CornerCornerIntersection,
LinesParallel,
LinesEqual, // Line Line intersection
Interior, // Polygon contains
NoIntersection,
Error // general
};
typedef QVector<QPair<int, int>> NeighbourVector;
typedef QVector<QPointF> QPointFVector;
typedef QVector<IntersectType> IntersectVector;
void rotateReference(QPointF &point, double alpha);
void rotateReference(QPointFVector &points, double alpha);
void rotateReference(QLineF &line, double alpha);
// void rotateReference(QPolygonF &polygon, double alpha);
QPointF rotateReturn(QPointF point, double alpha);
QPointFVector rotateReturn(QPointFVector points, double alpha);
QLineF rotateReturn(QLineF line, double alpha);
// QPolygonF rotateReturn(QPolygonF &polygon, double alpha);
bool intersects(const Circle &circle1, const Circle &circle2);
bool intersects(const Circle &circle1, const Circle &circle2,
IntersectType &type);
bool intersects(const Circle &circle1, const Circle &circle2,
QPointFVector &intersectionPoints);
bool intersects(const Circle &circle1, const Circle &circle2,
QPointFVector &intersectionPoints, IntersectType &type);
bool intersects(const Circle &circle, const QLineF &line);
bool intersects(const Circle &circle, const QLineF &line, IntersectType &type);
bool intersects(const Circle &circle, const QLineF &line,
QPointFVector &intersectionPoints);
bool intersects(const Circle &circle, const QLineF &line,
QPointFVector &intersectionPoints, IntersectType &type);
bool intersects(const Circle &circle, const QPolygonF &polygon);
bool intersects(const Circle &circle, const QPolygonF &polygon,
QVector<QPointFVector> &intersectionPoints);
bool intersects(const Circle &circle, const QPolygonF &polygon,
QVector<QPointFVector> &intersectionPoints,
IntersectVector &typeList);
bool intersects(const Circle &circle, const QPolygonF &polygon,
QVector<QPointFVector> &intersectionPoints,
NeighbourVector &neighbourList);
bool intersects(const Circle &circle, const QPolygonF &polygon,
QVector<QPointFVector> &intersectionPoints,
NeighbourVector &neighbourList, IntersectVector &typeList);
bool intersects(const QLineF &line1, const QLineF &line2);
bool intersects(const QLineF &line1, const QLineF &line2,
QPointF &intersectionPt);
bool intersects(const QLineF &line1, const QLineF &line2,
QPointF &intersectionPt, IntersectType &type);
// bool intersectsFast(const QLineF &line1, const QLineF &line2, QPointF
// &intersectionPt, IntersectType &type);
bool intersects(const QPolygonF &polygon, const QLineF &line,
QPointFVector &intersectionList);
bool intersects(const QPolygonF &polygon, const QLineF &line,
QPointFVector &intersectionList, IntersectVector &typeList);
bool intersects(const QPolygonF &polygon, const QLineF &line,
QPointFVector &intersectionList,
NeighbourVector &neighbourList);
bool intersects(const QPolygonF &polygon, const QLineF &line,
QPointFVector &intersectionList, NeighbourVector &neighbourList,
IntersectVector &typeList);
bool intersectsFast(const QPolygonF &polygon, const QLineF &line);
bool contains(const QLineF &line, const QPointF &point);
bool contains(const QLineF &line, const QPointF &point, IntersectType &type);
bool contains(const QPolygonF &polygon, const QPointF &point);
bool contains(const QPolygonF &polygon, const QPointF &point,
IntersectType &type);
double distance(const QPointF &p1, const QPointF p2);
double norm(double x, double y);
double norm(const QPointF &p);
double angle(const QPointF &p1, const QPointF p2);
double angle(const QPointF &p1);
double angle(const QLineF &line);
double angleDegree(const QPointF &p1, const QPointF p2);
double truncateAngle(double angle);
double truncateAngleDegree(double angle);
/*!
* \fntemplate <typename T> int signum(T val)
* Returns the signum of a value \a val.
*
* \sa QPair, QVector
*/
template <typename T> int signum(T val) { return (T(0) < val) - (val < T(0)); }
} // namespace PlanimetryCalculus
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src/RouteMissionItem/nemo_interface/SnakeTileLocal.h
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#pragma once
#include "Wima/Geometry/GenericPolygon.h"
#include "geometry/GenericPolygon.h"
using SnakeTileLocal = GenericPolygon<QPointF, std::vector>;
src/WimaView/CircularSurveyMapVisual.qml
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