From e9d5cff529dec1cd7b2491ce00c1488635985441 Mon Sep 17 00:00:00 2001
From: Kelly Steich <kelly.steich@wingtra.com>
Date: Thu, 14 Jul 2016 16:27:20 +0200
Subject: [PATCH] computing camera shots and covered area

---
 src/MissionEditor/MissionItemStatus.qml  | 11 +++--
 src/MissionManager/ComplexMissionItem.cc | 53 ++++++++++++++++++++++++
 src/MissionManager/ComplexMissionItem.h  | 17 ++++++++
 3 files changed, 78 insertions(+), 3 deletions(-)

diff --git a/src/MissionEditor/MissionItemStatus.qml b/src/MissionEditor/MissionItemStatus.qml
index a2342d3f1..527ac7d58 100644
--- a/src/MissionEditor/MissionItemStatus.qml
+++ b/src/MissionEditor/MissionItemStatus.qml
@@ -34,25 +34,30 @@ Rectangle {
 
     property real   _collapsedWidth:    valueGrid.width + (margins * 2)
     property bool   _expanded:          true
+
     property real   _distance:          _statusValid ? _currentMissionItem.distance : 0
     property real   _altDifference:     _statusValid ? _currentMissionItem.altDifference : 0
     property real   _gradient:          _statusValid || _currentMissionItem.distance == 0 ? Math.atan(_currentMissionItem.altDifference / _currentMissionItem.distance) : 0
     property real   _gradientPercent:   isNaN(_gradient) ? 0 : _gradient * 100
     property real   _azimuth:           _statusValid ? _currentMissionItem.azimuth : -1
+    property int    _numberShots:       _currentSurvey ? _currentMissionItem.cameraShots : 0
+    property real   _coveredArea:       _currentSurvey ? _currentMissionItem.coveredArea : 0
+
     property bool   _statusValid:       currentMissionItem != undefined
     property bool   _vehicleValid:      _activeVehicle != undefined
     property bool   _missionValid:      missionItems != undefined
     property bool   _currentSurvey:     _statusValid ? currentMissionItem.commandName == "Survey" : false
+    property bool   _isVTOL:            _vehicleValid ? _activeVehicle.vtol : false
+
     property string _distanceText:      _statusValid ? QGroundControl.metersToAppSettingsDistanceUnits(_distance).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString : " "
     property string _altText:           _statusValid ? QGroundControl.metersToAppSettingsDistanceUnits(_altDifference).toFixed(2) + " " + QGroundControl.appSettingsDistanceUnitsString : " "
     property string _gradientText:      _statusValid ? _gradientPercent.toFixed(0) + "%" : " "
     property string _azimuthText:       _statusValid ? Math.round(_azimuth) : " "
-    property string _numberShotsText:   _currentSurvey ? "783" : " "
-    property string _coveredAreaText:   _currentSurvey ? "87ha / 217acr" : " "
+    property string _numberShotsText:   _currentSurvey ? _numberShots.toFixed(0) : " "
+    property string _coveredAreaText:   _currentSurvey ? QGroundControl.squareMetersToAppSettingsAreaUnits(_coveredArea).toFixed(2) + " " + QGroundControl.appSettingsAreaUnitsString : " "
     property string _totalDistanceText: _missionValid ? "30.91" + " " + QGroundControl.appSettingsDistanceUnitsString : " "
     property string _totalTimeText:     _missionValid ? "34min 23s" : " "
     property string _maxTelemDistText:  _missionValid ? "5.23" + " " + QGroundControl.appSettingsDistanceUnitsString : " "
-    property bool   _isVTOL:            _vehicleValid ? _activeVehicle.vtol : false
     property string _hoverDistanceText: _missionValid ? "0.47" + " " + QGroundControl.appSettingsDistanceUnitsString : " "
     property string _cruiseDistanceText: _missionValid ? "30.44" + " " + QGroundControl.appSettingsDistanceUnitsString : " "
     property string _hoverTimeText:     _missionValid ? "4min 02s" : " "
diff --git a/src/MissionManager/ComplexMissionItem.cc b/src/MissionManager/ComplexMissionItem.cc
index 687c6a485..e520490b0 100644
--- a/src/MissionManager/ComplexMissionItem.cc
+++ b/src/MissionManager/ComplexMissionItem.cc
@@ -36,6 +36,8 @@ ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent)
     , _dirty(false)
     , _cameraTrigger(false)
     , _gridAltitudeRelative(true)
+    , _cameraShots(0)
+    , _coveredArea(0.0)
     , _gridAltitudeFact (0, "Altitude:",        FactMetaData::valueTypeDouble)
     , _gridAngleFact    (0, "Grid angle:",      FactMetaData::valueTypeDouble)
     , _gridSpacingFact  (0, "Grid spacing:",    FactMetaData::valueTypeDouble)
@@ -47,10 +49,44 @@ ComplexMissionItem::ComplexMissionItem(Vehicle* vehicle, QObject* parent)
 
     connect(&_gridSpacingFact,  &Fact::valueChanged, this, &ComplexMissionItem::_generateGrid);
     connect(&_gridAngleFact,    &Fact::valueChanged, this, &ComplexMissionItem::_generateGrid);
+    connect(&_cameraTriggerDistanceFact,    &Fact::valueChanged, this, &ComplexMissionItem::_generateGrid);
 
     connect(this, &ComplexMissionItem::cameraTriggerChanged, this, &ComplexMissionItem::_cameraTriggerChanged);
 }
 
+const ComplexMissionItem& ComplexMissionItem::operator=(const ComplexMissionItem& other)
+{
+    _vehicle = other._vehicle;
+
+    setIsCurrentItem(other._isCurrentItem);
+    setDirty(other._dirty);
+    setAltDifference(other._altDifference);
+    setAltPercent(other._altPercent);
+    setAzimuth(other._azimuth);
+    setDistance(other._distance);
+    setCameraShots(other._cameraShots);
+    setCoveredArea(other._coveredArea);
+
+    return *this;
+}
+
+void ComplexMissionItem::setCameraShots(int cameraShots)
+{
+    if (_cameraShots != cameraShots) {
+        _cameraShots = cameraShots;
+        emit cameraShotsChanged(_cameraShots);
+    }
+}
+
+void ComplexMissionItem::setCoveredArea(double coveredArea)
+{
+    if (!qFuzzyCompare(_coveredArea, coveredArea)) {
+        _coveredArea = coveredArea;
+        emit coveredAreaChanged(_coveredArea);
+    }
+}
+
+
 void ComplexMissionItem::clearPolygon(void)
 {
     // Bug workaround, see below
@@ -280,17 +316,34 @@ void ComplexMissionItem::_generateGrid(void)
         qCDebug(ComplexMissionItemLog) << _polygonPath[i].value<QGeoCoordinate>() << polygonPoints.last().x() << polygonPoints.last().y();
     }
 
+    double coveredArea = 0.0;
+    for (int i=0; i<polygonPoints.count(); i++) {
+        if (i != 0) {
+            coveredArea += polygonPoints[i - 1].x() * polygonPoints[i].y() - polygonPoints[i].x() * polygonPoints[i -1].y();
+        } else {
+            coveredArea += polygonPoints.last().x() * polygonPoints[i].y() - polygonPoints[i].x() * polygonPoints.last().y();
+        }
+    }
+    setCoveredArea(0.5 * fabs(coveredArea));
+
     // Generate grid
     _gridGenerator(polygonPoints, gridPoints);
 
+    double surveyDistance = 0.0;
     // Convert to Geo and set altitude
     for (int i=0; i<gridPoints.count(); i++) {
         QPointF& point = gridPoints[i];
 
+        if (i != 0) {
+            surveyDistance += sqrt(pow((gridPoints[i] - gridPoints[i - 1]).x(),2.0) + pow((gridPoints[i] - gridPoints[i - 1]).y(),2.0));
+        }
+
         QGeoCoordinate geoCoord;
         convertNedToGeo(-point.y(), point.x(), 0, tangentOrigin, &geoCoord);
         _gridPoints += QVariant::fromValue(geoCoord);
     }
+    setCameraShots((int)floor(surveyDistance / _cameraTriggerDistanceFact.rawValue().toDouble()));
+
     emit gridPointsChanged();
     emit lastSequenceNumberChanged(lastSequenceNumber());
 
diff --git a/src/MissionManager/ComplexMissionItem.h b/src/MissionManager/ComplexMissionItem.h
index 1e3f8fbd9..b4a0a2966 100644
--- a/src/MissionManager/ComplexMissionItem.h
+++ b/src/MissionManager/ComplexMissionItem.h
@@ -25,6 +25,8 @@ class ComplexMissionItem : public VisualMissionItem
 public:
     ComplexMissionItem(Vehicle* vehicle, QObject* parent = NULL);
 
+    const ComplexMissionItem& operator=(const ComplexMissionItem& other);
+
     Q_PROPERTY(Fact*                gridAltitude            READ gridAltitude               CONSTANT)
     Q_PROPERTY(bool                 gridAltitudeRelative    MEMBER _gridAltitudeRelative    NOTIFY gridAltitudeRelativeChanged)
     Q_PROPERTY(Fact*                gridAngle               READ gridAngle                  CONSTANT)
@@ -35,6 +37,9 @@ public:
     Q_PROPERTY(int                  lastSequenceNumber      READ lastSequenceNumber         NOTIFY lastSequenceNumberChanged)
     Q_PROPERTY(QVariantList         gridPoints              READ gridPoints                 NOTIFY gridPointsChanged)
 
+    Q_PROPERTY(int                  cameraShots             READ cameraShots                NOTIFY cameraShotsChanged)
+    Q_PROPERTY(double               coveredArea             READ coveredArea                NOTIFY coveredAreaChanged)
+
     Q_INVOKABLE void clearPolygon(void);
     Q_INVOKABLE void addPolygonCoordinate(const QGeoCoordinate coordinate);
     Q_INVOKABLE void adjustPolygonCoordinate(int vertexIndex, const QGeoCoordinate coordinate);
@@ -47,6 +52,12 @@ public:
     Fact* gridSpacing(void)     { return &_gridSpacingFact; }
     Fact* cameraTriggerDistance(void) { return &_cameraTriggerDistanceFact; }
 
+    int     cameraShots         (void) const { return _cameraShots; }
+    double  coveredArea         (void) const { return _coveredArea; }
+
+    void setCameraShots         (int cameraShots);
+    void setCoveredArea         (double coveredArea);
+
     /// @return The last sequence number used by this item. Takes into account child items of the complex item
     int lastSequenceNumber(void) const;
 
@@ -91,6 +102,9 @@ signals:
     void cameraTriggerChanged           (bool cameraTrigger);
     void gridAltitudeRelativeChanged    (bool gridAltitudeRelative);
 
+    void cameraShotsChanged             (int cameraShots);
+    void coveredAreaChanged             (double coveredArea);
+
 private slots:
     void _cameraTriggerChanged(void);
 
@@ -115,6 +129,9 @@ private:
     bool                _cameraTrigger;
     bool                _gridAltitudeRelative;
 
+    int                 _cameraShots;
+    double              _coveredArea;
+
     Fact    _gridAltitudeFact;
     Fact    _gridAngleFact;
     Fact    _gridSpacingFact;
-- 
2.22.0