Merge pull request #6239 from DonLakeFlyer/PolyLineLoadKML

PolyLine load kml support

src/MissionManager/QGCMapPolygon.cc

@@ -56,9 +56,11 @@ const QGCMapPolygon& QGCMapPolygon::operator=(const QGCMapPolygon& other)
     clear();
 
     QVariantList vertices = other.path();
-    for (int i=0; i<vertices.count(); i++) {
-        appendVertex(vertices[i].value<QGeoCoordinate>());
+    QList<QGeoCoordinate> rgCoord;
+    foreach (const QVariant& vertexVar, vertices) {
+        rgCoord.append(vertexVar.value<QGeoCoordinate>());
     }
+    appendVertices(rgCoord);
 
     setDirty(true);
 
@@ -270,7 +272,6 @@ void QGCMapPolygon::appendVertices(const QList<QGeoCoordinate>& coordinates)
     emit pathChanged();
 }
 
-
 void QGCMapPolygon::_polygonModelDirtyChanged(bool dirty)
 {
     if (dirty) {
@@ -447,9 +448,7 @@ void QGCMapPolygon::offset(double distance)
 
     // Update internals
     clear();
-    for (int i=0; i<rgNewPolygon.count(); i++) {
-        appendVertex(rgNewPolygon[i]);
-    }
+    appendVertices(rgNewPolygon);
 }
 
 bool QGCMapPolygon::loadKMLFile(const QString& kmlFile)

src/MissionManager/QGCMapPolyline.cc

@@ -358,13 +358,13 @@ bool QGCMapPolyline::loadKMLFile(const QString& kmlFile)
         return false;
     }
 
-    QDomNodeList rgNodes = doc.elementsByTagName("Polygon");
+    QDomNodeList rgNodes = doc.elementsByTagName("LineString");
     if (rgNodes.count() == 0) {
-        qgcApp()->showMessage(tr("Unable to find Polygon node in KML"));
+        qgcApp()->showMessage(tr("Unable to find LineString node in KML"));
         return false;
     }
 
-    QDomNode coordinatesNode = rgNodes.item(0).namedItem("outerBoundaryIs").namedItem("LinearRing").namedItem("coordinates");
+    QDomNode coordinatesNode = rgNodes.item(0).namedItem("coordinates");
     if (coordinatesNode.isNull()) {
         qgcApp()->showMessage(tr("Internal error: Unable to find coordinates node in KML"));
         return false;
@@ -386,29 +386,8 @@ bool QGCMapPolyline::loadKMLFile(const QString& kmlFile)
         rgCoords.append(coord);
     }
 
-    // Determine winding, reverse if needed
-    double sum = 0;
-    for (int i=0; i<rgCoords.count(); i++) {
-        QGeoCoordinate coord1 = rgCoords[i];
-        QGeoCoordinate coord2 = (i == rgCoords.count() - 1) ? rgCoords[0] : rgCoords[i+1];
-
-        sum += (coord2.longitude() - coord1.longitude()) * (coord2.latitude() + coord1.latitude());
-    }
-    bool reverse = sum < 0.0;
-
-    if (reverse) {
-        QList<QGeoCoordinate> rgReversed;
-
-        for (int i=0; i<rgCoords.count(); i++) {
-            rgReversed.prepend(rgCoords[i]);
-        }
-        rgCoords = rgReversed;
-    }
-
     clear();
-    for (int i=0; i<rgCoords.count(); i++) {
-        appendVertex(rgCoords[i]);
-    }
+    appendVertices(rgCoords);
 
     return true;
 }
@@ -438,3 +417,15 @@ double QGCMapPolyline::length(void) const
 
     return length;
 }
+
+void QGCMapPolyline::appendVertices(const QList<QGeoCoordinate>& coordinates)
+{
+    QList<QObject*> objects;
+
+    foreach (const QGeoCoordinate& coordinate, coordinates) {
+        objects.append(new QGCQGeoCoordinate(coordinate, this));
+        _polylinePath.append(QVariant::fromValue(coordinate));
+    }
+    _polylineModel.append(objects);
+    emit pathChanged();
+}

src/MissionManager/QGCMapPolyline.h

@@ -34,6 +34,7 @@ public:
     Q_INVOKABLE void clear(void);
     Q_INVOKABLE void appendVertex(const QGeoCoordinate& coordinate);
     Q_INVOKABLE void removeVertex(int vertexIndex);
+    Q_INVOKABLE void appendVertices(const QList<QGeoCoordinate>& coordinates);
 
     /// Adjust the value for the specified coordinate
     ///     @param vertexIndex Polygon point index to modify (0-based)

src/MissionManager/QGCMapPolylineVisuals.qml

@@ -120,13 +120,28 @@ Item {
         selectExisting: true
         nameFilters:    [ qsTr("KML files (*.kml)") ]
 
-
         onAcceptedForLoad: {
             mapPolyline.loadKMLFile(file)
             close()
         }
     }
 
+    Menu {
+        id: menu
+
+        property int removeVertex
+
+        MenuItem {
+            text:           qsTr("Remove vertex" )
+            onTriggered:    mapPolyline.removeVertex(parent.removeVertex)
+        }
+
+        MenuItem {
+            text:           qsTr("Load KML...")
+            onTriggered:    kmlLoadDialog.openForLoad()
+        }
+    }
+
     Component {
         id: polylineComponent
 
@@ -227,7 +242,15 @@ Item {
                 }
             }
 
-            onClicked: mapPolyline.removeVertex(polylineVertex)
+            onClicked: {
+                if (polylineVertex == 0) {
+                    menu.removeVertex = polylineVertex
+                    menu.popup()
+                } else {
+                    mapPolyline.removeVertex(polylineVertex)
+                }
+            }
+
         }
     }
 
@@ -249,6 +272,14 @@ Item {
                 radius:     width / 2
                 color:      "white"
                 opacity:    .90
+
+                QGCLabel {
+                    anchors.horizontalCenter:   parent.horizontalCenter
+                    anchors.verticalCenter:     parent.verticalCenter
+                    text:                       "..."
+                    color:                      "black"
+                    visible:                    polylineVertex == 0
+                }
             }
         }
     }

src/MissionManager/TransectStyle.SettingsGroup.json

@@ -37,7 +37,7 @@
 },
 {
     "name":             "TerrainAdjustTolerance",
-    "shortDescription": "TerrainAdjustTolerance",
+    "shortDescription": "If adjacent terrain waypoints are within this tolerence they will be removed.",
     "type":             "double",
     "decimalPlaces":    2,
     "min":              0,
@@ -46,7 +46,7 @@
 },
 {
     "name":             "TerrainAdjustMaxClimbRate",
-    "shortDescription": "TerrainAdjustMaxClimbRate",
+    "shortDescription": "The maximum climb rate from one waypoint to another when adjusting for terrain. Set to 0 for no max.",
     "type":             "double",
     "decimalPlaces":    2,
     "min":              0,
@@ -55,7 +55,7 @@
 },
 {
     "name":             "TerrainAdjustMaxDescentRate",
-    "shortDescription": "TerrainAdjustMaxDescentRate",
+    "shortDescription": "The maximum descent rate from one waypoint to another when adjusting for terrain. Set to 0 for no max.",
     "type":             "double",
     "decimalPlaces":    2,
     "min":              0,

src/MissionManager/TransectStyleComplexItem.cc

@@ -500,7 +500,7 @@ int TransectStyleComplexItem::_maxPathHeight(const TerrainPathQuery::PathHeightI
 void TransectStyleComplexItem::_adjustForMaxRates(QList<CoordInfo_t>& transect)
 {
     double maxClimbRate = _terrainAdjustMaxClimbRateFact.rawValue().toDouble();
-    double maxDescentRate = -_terrainAdjustMaxDescentRateFact.rawValue().toDouble();
+    double maxDescentRate = _terrainAdjustMaxDescentRateFact.rawValue().toDouble();
     double flightSpeed = _missionFlightStatus.vehicleSpeed;
 
     if (qIsNaN(flightSpeed) || (maxClimbRate == 0 && maxDescentRate == 0)) {
@@ -510,55 +510,60 @@ void TransectStyleComplexItem::_adjustForMaxRates(QList<CoordInfo_t>& transect)
         return;
     }
 
-    // Adjust climb rates
-    bool climbRateAdjusted;
-    do {
-        //qDebug() << "climbrate pass";
-        climbRateAdjusted = false;
-        for (int i=0; i<transect.count() - 1; i++) {
-            QGeoCoordinate& fromCoord = transect[i].coord;
-            QGeoCoordinate& toCoord = transect[i+1].coord;
-
-            double altDifference = toCoord.altitude() - fromCoord.altitude();
-            double distance = fromCoord.distanceTo(toCoord);
-            double seconds = distance / flightSpeed;
-            double climbRate = altDifference / seconds;
-
-            //qDebug() << QString("Index:%1 altDifference:%2 distance:%3 seconds:%4 climbRate:%5").arg(i).arg(altDifference).arg(distance).arg(seconds).arg(climbRate);
-
-            if (climbRate > 0 && climbRate - maxClimbRate > 0.1) {
-                double maxAltitudeDelta = maxClimbRate * seconds;
-                fromCoord.setAltitude(toCoord.altitude() - maxAltitudeDelta);
-                //qDebug() << "Adjusting";
-                climbRateAdjusted = true;
+    if (maxClimbRate > 0) {
+        // Adjust climb rates
+        bool climbRateAdjusted;
+        do {
+            //qDebug() << "climbrate pass";
+            climbRateAdjusted = false;
+            for (int i=0; i<transect.count() - 1; i++) {
+                QGeoCoordinate& fromCoord = transect[i].coord;
+                QGeoCoordinate& toCoord = transect[i+1].coord;
+
+                double altDifference = toCoord.altitude() - fromCoord.altitude();
+                double distance = fromCoord.distanceTo(toCoord);
+                double seconds = distance / flightSpeed;
+                double climbRate = altDifference / seconds;
+
+                //qDebug() << QString("Index:%1 altDifference:%2 distance:%3 seconds:%4 climbRate:%5").arg(i).arg(altDifference).arg(distance).arg(seconds).arg(climbRate);
+
+                if (climbRate > 0 && climbRate - maxClimbRate > 0.1) {
+                    double maxAltitudeDelta = maxClimbRate * seconds;
+                    fromCoord.setAltitude(toCoord.altitude() - maxAltitudeDelta);
+                    //qDebug() << "Adjusting";
+                    climbRateAdjusted = true;
+                }
             }
-        }
-    } while (climbRateAdjusted);
-
-    // Adjust descent rates
-    bool descentRateAdjusted;
-    do {
-        //qDebug() << "descent rate pass";
-        descentRateAdjusted = false;
-        for (int i=1; i<transect.count(); i++) {
-            QGeoCoordinate& fromCoord = transect[i-1].coord;
-            QGeoCoordinate& toCoord = transect[i].coord;
-
-            double altDifference = toCoord.altitude() - fromCoord.altitude();
-            double distance = fromCoord.distanceTo(toCoord);
-            double seconds = distance / flightSpeed;
-            double descentRate = altDifference / seconds;
-
-            //qDebug() << QString("Index:%1 altDifference:%2 distance:%3 seconds:%4 descentRate:%5").arg(i).arg(altDifference).arg(distance).arg(seconds).arg(descentRate);
-
-            if (descentRate < 0 && descentRate - maxDescentRate < -0.1) {
-                double maxAltitudeDelta = maxDescentRate * seconds;
-                toCoord.setAltitude(fromCoord.altitude() + maxAltitudeDelta);
-                //qDebug() << "Adjusting";
-                descentRateAdjusted = true;
+        } while (climbRateAdjusted);
+    }
+
+    if (maxDescentRate > 0) {
+        // Adjust descent rates
+        bool descentRateAdjusted;
+        maxDescentRate = -maxDescentRate;
+        do {
+            //qDebug() << "descent rate pass";
+            descentRateAdjusted = false;
+            for (int i=1; i<transect.count(); i++) {
+                QGeoCoordinate& fromCoord = transect[i-1].coord;
+                QGeoCoordinate& toCoord = transect[i].coord;
+
+                double altDifference = toCoord.altitude() - fromCoord.altitude();
+                double distance = fromCoord.distanceTo(toCoord);
+                double seconds = distance / flightSpeed;
+                double descentRate = altDifference / seconds;
+
+                //qDebug() << QString("Index:%1 altDifference:%2 distance:%3 seconds:%4 descentRate:%5").arg(i).arg(altDifference).arg(distance).arg(seconds).arg(descentRate);
+
+                if (descentRate < 0 && descentRate - maxDescentRate < -0.1) {
+                    double maxAltitudeDelta = maxDescentRate * seconds;
+                    toCoord.setAltitude(fromCoord.altitude() + maxAltitudeDelta);
+                    //qDebug() << "Adjusting";
+                    descentRateAdjusted = true;
+                }
             }
-        }
-    } while (descentRateAdjusted);
+        } while (descentRateAdjusted);
+    }
 }
 
 void TransectStyleComplexItem::_adjustForTolerance(QList<CoordInfo_t>& transect)