about to add Dijkstra

qgroundcontrol.qrc

@@ -220,6 +220,7 @@
         <file alias="QGroundControl/Controls/WimaGOperationAreaEditor.qml">src/WimaView/WimaGOperationAreaEditor.qml</file>
         <file alias="QGroundControl/Controls/WimaServiceAreaEditor.qml">src/WimaView/WimaServiceAreaEditor.qml</file>
         <file alias="QGroundControl/Controls/WimaVCorridorMapVisual.qml">src/WimaView/WimaVCorridorMapVisual.qml</file>
+        <file alias="QGroundControl/Controls/WimaAreaMapVisual.qml">src/WimaView/WimaAreaMapVisual.qml</file>
     </qresource>
     <qresource prefix="/json">
         <file alias="APMMavlinkStreamRate.SettingsGroup.json">src/Settings/APMMavlinkStreamRate.SettingsGroup.json</file>

src/QmlControls/QGroundControl.Controls.qmldir

@@ -89,6 +89,7 @@ WimaMapVisual                       1.0 WimaMapVisual.qml
 WimaGOperationAreaMapVisual         1.0 WimaGOperationAreaMapVisual.qml
 WimaGOperationAreaEditor            1.0 WimaGOperationAreaEditor.qml
 WimaServiceAreaMapVisual            1.0 WimaServiceAreaMapVisual.qml
+WimaAreaMapVisual                   1.0 WimaAreaMapVisual.qml
 WimaServiceAreaEditor               1.0 WimaServiceAreaEditor.qml
 WimaVCorridorMapVisual              1.0 WimaVCorridorMapVisual.qml
 WimaItemEditor                      1.0 WimaItemEditor.qml

src/Wima/WimaArea.h

@@ -9,6 +9,7 @@
 #include <QLineF>
 #include <QPointF>
 #include "QGCGeo.h"
+#include <QPair>
 
 class WimaArea : public QGCMapPolygon //abstract base class for all WimaAreas
 {
@@ -42,34 +43,41 @@ public:
     template <class T>
     QList<T*>*      splitArea        (int numberOfFractions); // use QScopedPointer to store return value*/
     //iterates over all vertices in _polygon and returns the index of that one closest to coordinate
-    int                     getClosestVertexIndex   (QGeoCoordinate coordinate);
+    int             getClosestVertexIndex   (QGeoCoordinate coordinate);
     //iterates over all vertices in _polygon and returns that one closest to coordinate
-    QGeoCoordinate          getClosestVertex        (QGeoCoordinate coordinate);
-    QGCMapPolygon*          toQGCPolygon            (WimaArea* poly);
-    WimaArea*               joinPolygons            (QList<WimaArea*>* polyList);
+    QGeoCoordinate  getClosestVertex        (QGeoCoordinate coordinate);
+    QGCMapPolygon*  toQGCPolygon            (WimaArea* poly);
+    static void     join                    (QList<WimaArea*>* polyList,  WimaArea* joinedPoly);
     /// joins the poly1 and poly2 if possible, joins the polygons to form a simple polygon (no holes)
     /// see https://en.wikipedia.org/wiki/Simple_polygon
     /// @return the joined polygon of poly1 and poly2 if possible, poly1 else
-    WimaArea*               joinPolygons            (WimaArea* poly1, WimaArea* poly2);
-    bool                    isDisjunct              (QList<WimaArea*>* polyList);
-    bool                    isDisjunct              (WimaArea* poly1, WimaArea* poly2);
+    static void     join                    (WimaArea* poly1, WimaArea* poly2, WimaArea* joinedPoly);
+    void            join                    (WimaArea* poly);
+    bool            isDisjunct              (QList<WimaArea*>* polyList);
+    bool            isDisjunct              (WimaArea* poly1, WimaArea* poly2);
     /// calculates the next polygon vertex index
     /// @return index + 1 if index < poly->count()-1 && index >= 0, or 0 if index == poly->count()-1, -1 else
-    int                     nextVertexIndex         (int index);
+    int             nextVertexIndex         (int index);
     /// calculates the previous polygon vertex index
     /// @return index - 1 if index < poly->count() && index > 0, or poly->count()-1 if index == 0, -1 else
-    int                     previousVertexIndex     (int index);
+    int             previousVertexIndex     (int index);
     /// checks if line1 and line2 intersect with each other, takes latitude and longitute into account only (height neglected)
     /// @param line1 line containing two coordinates, height not taken into account
     /// @param line2 line containing two coordinates, height not taken into account
-    /// @return the intersection point if line1 intersects line2, nullptr else
-    QGeoCoordinate*          intersects(QGCMapPolyline* line1, QGCMapPolyline* line2);
+    /// @param intersectionPt Coordinate item to store intersection pt. in.
+    /// @return false on error or no intersection, true else
+    static bool            intersects(QGCMapPolyline* line1, QGCMapPolyline* line2, QGeoCoordinate* intersectionPt);
     /// checks if line1 and poly intersect with each other, takes latitude and longitute into account only (height neglected)
     /// @param line line containing two coordinates, height not taken into account
-    /// @return a list of intersection points and the two neares neighbours of poly to the intersection point if line intersects poly, or an empty list else.
-    /// The first entry is the first intersec. pt. (if existing). The second and third entries are the nearest neighbours of the first intersec. pt. in poly
-    /// The fourth entry is the second intersec. pt. (if existing). The fifth and sixth entries are the nearest neighbours of the second intersec. pt. in poly
-    QList<QGeoCoordinate>*  intersects(QGCMapPolyline* line, WimaArea* poly);
+    /// @param intersectionList Empty list to store intersection points in.
+    /// @param neighbourList Empty list to store the indices of the neighbours (the two Vertices of poly with the smallest distance to the intersection pt.)
+    /// @return false on error or no intersection, true else
+    static bool            intersects(QGCMapPolyline* line, WimaArea* poly, QList<QGeoCoordinate>* intersectionList, QList<QPair<int, int>>* neighbourlist);
+    /// calculates the distance between to geo coordinates, returns the distance if the path lies within the polygon and inf. else.
+    /// @return the distance if the path lies within the polygon and inf. else.
+    static double          distInsidePoly(QGeoCoordinate *c1, QGeoCoordinate *c2, WimaArea *poly);
+    /// calculates the shortes path between two geo coordinates inside a polygon using the Dijkstra Algorithm
+    static void            dijkstraPath(QGeoCoordinate *c1, QGeoCoordinate *c2, WimaArea *poly, QGCMapPolyline *dijkstraPath);
 
     // Accurracy used to compute isDisjunct
     static const double numericalAccuracy;

src/Wima/WimaController.cc

@@ -73,55 +73,13 @@ void WimaController::addServiceArea()
     emit visualItemsChanged();
 }
 
-bool WimaController::addVehicleCorridor(WimaGOperationArea *opArea, WimaServiceArea *serviceArea)
+void WimaController::addVehicleCorridor()
 {
-     WimaVCorridor* corridor = nullptr;
-    if (opArea != nullptr && serviceArea != nullptr){
-        for (int i = 0; i < _visualItems->count(); i++) {
-            corridor = qobject_cast<WimaVCorridor*>(_visualItems->get(i));
-            if (corridor != nullptr){
-                if (corridor->serviceArea() == serviceArea && corridor->opArea() == opArea){
-                    break;
-                }else {
-                    corridor = nullptr;
-                }
-            }
-        }
-
-        bool newCorridorCreated = false;
-        if(corridor == nullptr){
-            corridor = new WimaVCorridor(opArea);
-            newCorridorCreated = true;
-        }else {
-            corridor->clear();
-        }
-
-        QList<QGeoCoordinate> opAreaPolyline = opArea->polyline()->coordinateList();
-        QList<QGeoCoordinate> serAreaPolyline = serviceArea->polyline()->coordinateList();
-        if (opAreaPolyline.size() > 1 && serAreaPolyline.size() > 1){
-            corridor->appendVertices(opAreaPolyline);
-            corridor->appendVertices(serAreaPolyline);
-
-            if (newCorridorCreated){
-                corridor->setServiceArea(serviceArea);
-                corridor->setOpArea(opArea);
-                serviceArea->setVehicleCorridor(corridor);
-                opArea->setVehicleCorridor(corridor);
-                _visualItems->append(corridor);
-                emit visualItemsChanged();
-            }
-
-            return true;
-        }else {
-            qWarning("WimaController::addVehicleCorridor(): OpArea or serviceArea polyline size <= 1!");
-            if (newCorridorCreated){
-                corridor->deleteLater();
-            }
-            return false;
-        }
-    }else {
-        return false;
-    }
+    WimaVCorridor* corridor = new WimaVCorridor(this);
+    _visualItems->append(corridor);
+    int newIndex = _visualItems->count()-1;
+    setCurrentPolygonIndex(newIndex);
+    emit visualItemsChanged();
 }
 
 void WimaController::startMission()
@@ -166,14 +124,23 @@ bool WimaController::updateMission()
         }
     }
 
-    // calc. vehicle corridor
-    if (opArea != nullptr && serArea != nullptr){
-        if(!addVehicleCorridor(opArea, serArea)){
-            return false;
+    // pick first WimaVCorridor
+    WimaVCorridor* corridor = nullptr;
+    for (int i = 0; i < _visualItems->count(); i++) {
+        WimaVCorridor* currentArea = qobject_cast<WimaVCorridor*>(_visualItems->get(i));
+        if (currentArea != nullptr){
+            corridor = currentArea;
+            break;
         }
-    }else{
-        return false;
     }
+
+
+    // join service area and op area
+    WimaArea* joinedArea = new WimaArea(this);
+    WimaArea::join(corridor, serArea, joinedArea);
+    joinedArea->join(opArea);
+
+    _visualItems->append(joinedArea);
     
     // reset visual items
     _missionController->removeAll();

src/Wima/WimaController.h

@@ -50,7 +50,7 @@ public:
     Q_INVOKABLE void removeArea(int index);
     Q_INVOKABLE void addServiceArea();
     /// @return true if a vehicle corridor was added sucessfully and false otherwise.
-                bool addVehicleCorridor(WimaGOperationArea* opArea, WimaServiceArea* serviceArea);
+    Q_INVOKABLE void addVehicleCorridor();
 
     Q_INVOKABLE void startMission();
     Q_INVOKABLE void abortMission();

src/WimaView/WimaAreaMapVisual.qml

+/****************************************************************************
+ *
+ *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ *
+ * QGroundControl is licensed according to the terms in the file
+ * COPYING.md in the root of the source code directory.
+ *
+ ****************************************************************************/
+
+import QtQuick          2.3
+import QtQuick.Controls 1.2
+import QtLocation       5.3
+import QtPositioning    5.3
+
+import QGroundControl               1.0
+import QGroundControl.ScreenTools   1.0
+import QGroundControl.Palette       1.0
+import QGroundControl.Controls      1.0
+import QGroundControl.FlightMap     1.0
+
+/// Wima Area visuals
+Item {
+    id: _root
+
+    property var map        ///< Map control to place item in
+    property var qgcView    ///< QGCView to use for popping dialogs
+
+    property var areaItem:          object
+    property var _polygon:          areaItem
+
+    signal clicked(int sequenceNumber)
+
+    /// Add an initial 4 sided polygon if there is none
+    function _addInitialPolygon() {
+        if (_polygon.count < 3) {
+            // Initial polygon is inset to take 2/3rds space
+            var rect = Qt.rect(map.centerViewport.x, map.centerViewport.y, map.centerViewport.width, map.centerViewport.height)
+            rect.x += (rect.width * 0.25) / 2
+            rect.y += (rect.height * 0.25) / 2
+            rect.width *= 0.75
+            rect.height *= 0.75
+
+            var centerCoord =       map.toCoordinate(Qt.point(rect.x + (rect.width / 2), rect.y + (rect.height / 2)),   false /* clipToViewPort */)
+            var topLeftCoord =      map.toCoordinate(Qt.point(rect.x, rect.y),                                          false /* clipToViewPort */)
+            var topRightCoord =     map.toCoordinate(Qt.point(rect.x + rect.width, rect.y),                             false /* clipToViewPort */)
+            var bottomLeftCoord =   map.toCoordinate(Qt.point(rect.x, rect.y + rect.height),                            false /* clipToViewPort */)
+            var bottomRightCoord =  map.toCoordinate(Qt.point(rect.x + rect.width, rect.y + rect.height),               false /* clipToViewPort */)
+
+            // Adjust polygon to max size
+            var maxSize = 100
+            var halfWidthMeters =   Math.min(topLeftCoord.distanceTo(topRightCoord), maxSize) / 2
+            var halfHeightMeters =  Math.min(topLeftCoord.distanceTo(bottomLeftCoord), maxSize) / 2
+            topLeftCoord =      centerCoord.atDistanceAndAzimuth(halfWidthMeters, -90).atDistanceAndAzimuth(halfHeightMeters, 0)
+            topRightCoord =     centerCoord.atDistanceAndAzimuth(halfWidthMeters, 90).atDistanceAndAzimuth(halfHeightMeters, 0)
+            bottomLeftCoord =   centerCoord.atDistanceAndAzimuth(halfWidthMeters, -90).atDistanceAndAzimuth(halfHeightMeters, 180)
+            bottomRightCoord =  centerCoord.atDistanceAndAzimuth(halfWidthMeters, 90).atDistanceAndAzimuth(halfHeightMeters, 180)
+
+            _polygon.appendVertex(topLeftCoord)
+            _polygon.appendVertex(topRightCoord)
+            _polygon.appendVertex(bottomRightCoord)
+            _polygon.appendVertex(bottomLeftCoord)
+        }
+    }
+
+
+
+
+
+    Component.onCompleted: {
+        _addInitialPolygon()
+    }
+
+    Component.onDestruction: {
+    }
+
+
+    WimaMapPolygonVisuals {
+        qgcView:            _root.qgcView
+        mapControl:         map
+        mapPolygon:         _polygon
+        borderWidth:        1
+        borderColor:        "black"
+        interiorColor:      "gray"
+        interiorOpacity:    0.25
+    }
+
+}

src/WimaView/WimaMapPolygonVisuals.qml

@@ -33,6 +33,7 @@ Item {
     property int    borderWidth:        0
     property color  borderColor:        "black"
     property bool   initPolygon:        false
+    property bool   showVertexIndex:    true
 
     property var    _polygonComponent
     property var    _dragHandlesComponent
@@ -417,6 +418,13 @@ Item {
                 color:          Qt.rgba(1,1,1,0.8)
                 border.color:   Qt.rgba(0,0,0,0.25)
                 border.width:   1
+
+                QGCLabel {
+                    anchors.horizontalCenter:   parent.horizontalCenter
+                    anchors.verticalCenter:     parent.verticalCenter
+                    color:                      "black"
+                    text:                       showVertexIndex ? polygonVertex : ""
+                }
             }
         }
     }

src/WimaView/WimaVCorridorMapVisual.qml

@@ -71,7 +71,7 @@ Item {
 
 
     Component.onCompleted: {
-        //_addInitialPolygon()
+        _addInitialPolygon()
         //_addInitialPolyline()
     }
 
@@ -85,7 +85,6 @@ Item {
         borderWidth:        1
         borderColor:        "black"
         interiorColor:      "blue"
-        interactive:        false
         interiorOpacity:    0.2
     }
 

src/WimaView/WimaView.qml

@@ -576,11 +576,15 @@ QGCView {
                         dropPanelComponent:     syncDropPanel
                     },
                     {
-                        name:                   qsTr("Global Area"),
+                        name:                   qsTr("Global"),
                         iconSource:             "/qmlimages/Target.svg"
                     },
                     {
-                        name:                   qsTr("Service Area"),
+                        name:                   qsTr("Service"),
+                        iconSource:             "/qmlimages/noFlyArea.svg"
+                    },
+                    {
+                        name:                   qsTr("Corridor"),
                         iconSource:             "/qmlimages/noFlyArea.svg"
                     },
                     {
@@ -621,16 +625,19 @@ QGCView {
                         _addWaypointOnClick = false*/
                         break
                     case 3:
+                        wimaController.addVehicleCorridor();
+                        break
+                    case 4:
 
                         /*if (_singleComplexItem) {
                             addComplexItem(_missionController.complexMissionItemNames[0])
                         }*/
                         wimaController.updateMission();
                         break
-                    case 5:
+                    case 6:
                         editorMap.zoomLevel += 0.5
                         break
-                    case 6:
+                    case 7:
                         editorMap.zoomLevel -= 0.5
                         break
                     }