Add support for max rates and tolerance

src/MissionManager/CorridorScanComplexItem.h

@@ -36,7 +36,6 @@ public:
     Q_INVOKABLE void rotateEntryPoint(void);
 
     // Overrides from ComplexMissionItem
-    int     lastSequenceNumber  (void) const final;
     bool    load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
     QString mapVisualQML        (void) const final { return QStringLiteral("CorridorScanMapVisual.qml"); }
 
@@ -56,8 +55,7 @@ public:
 
 private slots:
     void _polylineDirtyChanged      (bool dirty);
-    void _polylineCountChanged      (int count);
-    void _rebuildCorridor           (void);
+    void _rebuildCorridorPolygon    (void);
 
     // Overrides from TransectStyleComplexItem
     void _rebuildTransectsPhase1    (void) final;
@@ -65,7 +63,6 @@ private slots:
 
 private:
     int _transectCount              (void) const;
-    void _rebuildCorridorPolygon    (void);
     void _buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent);
     void _appendLoadedMissionItems  (QList<MissionItem*>& items, QObject* missionItemParent);
 

src/MissionManager/CorridorScanComplexItemTest.cc

@@ -24,7 +24,12 @@ void CorridorScanComplexItemTest::init(void)
 
     _offlineVehicle = new Vehicle(MAV_AUTOPILOT_PX4, MAV_TYPE_QUADROTOR, qgcApp()->toolbox()->firmwarePluginManager(), this);
     _corridorItem = new CorridorScanComplexItem(_offlineVehicle, this);
-//    _corridorItem->setTurnaroundDist(0);  // Unit test written for no turnaround distance
+
+    // vehicleSpeed need for terrain calcs
+    MissionController::MissionFlightStatus_t missionFlightStatus;
+    missionFlightStatus.vehicleSpeed = 5;
+    _corridorItem->setMissionFlightStatus(missionFlightStatus);
+
     _setPolyline();
     _corridorItem->setDirty(false);
 
@@ -130,10 +135,27 @@ void CorridorScanComplexItemTest::_testEntryLocation(void)
 }
 #endif
 
+void CorridorScanComplexItemTest::_waitForReadyForSave(void)
+{
+    int loops = 0;
+    while (loops++ < 8) {
+        if (_corridorItem->readyForSave()) {
+            return;
+        }
+        QTest::qWait(500);
+    }
+    QVERIFY(false);
+}
+
 void CorridorScanComplexItemTest::_testItemCount(void)
 {
     QList<MissionItem*> items;
 
+    _corridorItem->turnAroundDistance()->setRawValue(0);
+    _corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
+    _corridorItem->appendMissionItems(items, this);
+    QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
+    items.clear();
 
     _corridorItem->turnAroundDistance()->setRawValue(0);
     _corridorItem->cameraTriggerInTurnAround()->setRawValue(false);
@@ -141,7 +163,7 @@ void CorridorScanComplexItemTest::_testItemCount(void)
     QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
     items.clear();
 
-    _corridorItem->turnAroundDistance()->setRawValue(0);
+    _corridorItem->turnAroundDistance()->setRawValue(20);
     _corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
     _corridorItem->appendMissionItems(items, this);
     QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
@@ -153,8 +175,32 @@ void CorridorScanComplexItemTest::_testItemCount(void)
     QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
     items.clear();
 
+    _corridorItem->setFollowTerrain(true);
+
+    _corridorItem->turnAroundDistance()->setRawValue(0);
+    _corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
+    _waitForReadyForSave();
+    _corridorItem->appendMissionItems(items, this);
+    QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
+    items.clear();
+
+    _corridorItem->turnAroundDistance()->setRawValue(0);
+    _corridorItem->cameraTriggerInTurnAround()->setRawValue(false);
+    _waitForReadyForSave();
+    _corridorItem->appendMissionItems(items, this);
+    QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
+    items.clear();
+
     _corridorItem->turnAroundDistance()->setRawValue(20);
     _corridorItem->cameraTriggerInTurnAround()->setRawValue(true);
+    _waitForReadyForSave();
+    _corridorItem->appendMissionItems(items, this);
+    QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
+    items.clear();
+
+    _corridorItem->turnAroundDistance()->setRawValue(20);
+    _corridorItem->cameraTriggerInTurnAround()->setRawValue(false);
+    _waitForReadyForSave();
     _corridorItem->appendMissionItems(items, this);
     QCOMPARE(items.count() - 1, _corridorItem->lastSequenceNumber());
     items.clear();

src/MissionManager/CorridorScanComplexItemTest.h

@@ -36,6 +36,7 @@ private slots:
 
 private:
     void _setPolyline(void);
+    void _waitForReadyForSave(void);
 
     enum {
         corridorPolygonPathChangedIndex = 0,

src/MissionManager/MissionController.cc

@@ -2006,3 +2006,11 @@ void MissionController::setCurrentPlanViewIndex(int sequenceNumber, bool force)
         emit currentPlanViewItemChanged();
     }
 }
+
+MissionController::MissionFlightStatus_t::_MissionFlightStatus_t(void)
+    : cruiseSpeed   (qQNaN())
+    , hoverSpeed    (qQNaN())
+    , vehicleSpeed  (qQNaN())
+{
+
+}

src/MissionManager/MissionController.h

@@ -41,7 +41,7 @@ public:
     MissionController(PlanMasterController* masterController, QObject* parent = NULL);
     ~MissionController();
 
-    typedef struct {
+    typedef struct _MissionFlightStatus_t {
         double  maxTelemetryDistance;
         double  totalDistance;
         double  totalTime;
@@ -63,6 +63,8 @@ public:
         double  cruiseAmpsTotal;        ///< Total cruise amps used
         int     batteryChangePoint;     ///< -1 for not supported, 0 for not needed
         int     batteriesRequired;      ///< -1 for not supported
+
+        _MissionFlightStatus_t(void);
     } MissionFlightStatus_t;
 
     Q_PROPERTY(QmlObjectListModel*  visualItems             READ visualItems                NOTIFY visualItemsChanged)

src/MissionManager/SimpleMissionItem.cc

@@ -125,6 +125,9 @@ SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, bool editMode, const Miss
     if (editMode) {
         _rebuildFacts();
     }
+
+    // Signal coordinate changed to kick off terrain query
+    emit coordinateChanged(coordinate());
 }
 
 SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, QObject* parent)

src/MissionManager/TransectStyleComplexItem.h

@@ -39,7 +39,7 @@ public:
     Q_PROPERTY(double           coveredArea                 READ coveredArea                                        NOTIFY coveredAreaChanged)
     Q_PROPERTY(double           cameraMinTriggerInterval    READ cameraMinTriggerInterval                           NOTIFY cameraMinTriggerIntervalChanged)
     Q_PROPERTY(bool             hoverAndCaptureAllowed      READ hoverAndCaptureAllowed                             CONSTANT)
-    Q_PROPERTY(QVariantList     transectPoints              READ transectPoints                                     NOTIFY transectPointsChanged)
+    Q_PROPERTY(QVariantList     visualTransectPoints        READ visualTransectPoints                               NOTIFY visualTransectPointsChanged)
 
     Q_PROPERTY(bool             followTerrain               READ followTerrain              WRITE setFollowTerrain  NOTIFY followTerrainChanged)
     Q_PROPERTY(Fact*            terrainAdjustTolerance      READ terrainAdjustTolerance                             CONSTANT)
@@ -48,7 +48,7 @@ public:
 
     QGCMapPolygon*  surveyAreaPolygon   (void) { return &_surveyAreaPolygon; }
     CameraCalc*     cameraCalc          (void) { return &_cameraCalc; }
-    QVariantList    transectPoints      (void) { return _transectPoints; }
+    QVariantList    visualTransectPoints(void) { return _visualTransectPoints; }
 
     Fact* turnAroundDistance            (void) { return &_turnAroundDistanceFact; }
     Fact* cameraTriggerInTurnAround     (void) { return &_cameraTriggerInTurnAroundFact; }
@@ -69,7 +69,7 @@ public:
 
     // Overrides from ComplexMissionItem
 
-    int             lastSequenceNumber  (void) const override = 0;
+    int             lastSequenceNumber  (void) const final;
     QString         mapVisualQML        (void) const override = 0;
     bool            load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) override = 0;
 
@@ -120,19 +120,19 @@ signals:
     void cameraShotsChanged             (void);
     void timeBetweenShotsChanged        (void);
     void cameraMinTriggerIntervalChanged(double cameraMinTriggerInterval);
-    void transectPointsChanged          (void);
+    void visualTransectPointsChanged    (void);
     void coveredAreaChanged             (void);
     void followTerrainChanged           (bool followTerrain);
 
 protected slots:
-    virtual void _rebuildTransectsPhase1    (void) = 0;
-    virtual void _rebuildTransectsPhase2    (void) = 0;
+    virtual void _rebuildTransectsPhase1    (void) = 0; ///< Rebuilds the _transects array
+    virtual void _rebuildTransectsPhase2    (void) = 0; ///< Adjust values associated with _transects array
 
     void _setDirty                          (void);
     void _setIfDirty                        (bool dirty);
     void _updateCoordinateAltitudes         (void);
-    void _signalLastSequenceNumberChanged   (void);
     void _polyPathTerrainData               (bool success, const QList<TerrainPathQuery::PathHeightInfo_t>& rgPathHeightInfo);
+    void _rebuildTransects                  (void);
 
 protected:
     void    _save                           (QJsonObject& saveObject);
@@ -142,8 +142,6 @@ protected:
     double  _triggerDistance                (void) const;
     bool    _hasTurnaround                  (void) const;
     double  _turnaroundDistance             (void) const;
-    void    _queryTransectsPathHeightInfo   (void);
-    void    _adjustTransectPointsForTerrain (void);
 
     QString         _settingsGroup;
     int             _sequenceNumber;
@@ -152,10 +150,23 @@ protected:
     QGeoCoordinate  _exitCoordinate;
     QGCMapPolygon   _surveyAreaPolygon;
 
-    QVariantList                                _transectPoints;
-    QList<TerrainPathQuery::PathHeightInfo_t>   _transectsPathHeightInfo;
-    TerrainPolyPathQuery*                       _terrainPolyPathQuery;
-    QTimer                                      _terrainQueryTimer;
+    enum CoordType {
+        CoordTypeInterior,
+        CoordTypeInteriorTerrainAdded,
+        CoordTypeSurveyEdge,
+        CoordTypeTurnaround
+    };
+
+    typedef struct {
+        QGeoCoordinate  coord;
+        CoordType       coordType;
+    } CoordInfo_t;
+
+    QVariantList                                        _visualTransectPoints;
+    QList<QList<CoordInfo_t>>                           _transects;
+    QList<QList<TerrainPathQuery::PathHeightInfo_t>>    _transectsPathHeightInfo;
+    TerrainPolyPathQuery*                               _terrainPolyPathQuery;
+    QTimer                                              _terrainQueryTimer;
 
     bool            _ignoreRecalc;
     double          _complexDistance;
@@ -186,14 +197,16 @@ protected:
     static const char* _jsonFollowTerrainKey;
 
     static const int _terrainQueryTimeoutMsecs;
-    static const double _surveyEdgeIndicator;   ///< Altitude value in _transectPoints which indicates survey entry
 
 private slots:
-    void _rebuildTransects                      (void);
-    void _reallyQueryTransectsPathHeightInfo    (void);
+    void _reallyQueryTransectsPathHeightInfo(void);
 
 private:
-    void    _addInterstitialTransectsForTerrain (void);
-    double  _altitudeBetweenCoords              (const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord, double percentTowardsTo);
-    int     _maxPathHeight                      (const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo, int fromIndex, int toIndex, double& maxHeight);
+    void    _queryTransectsPathHeightInfo   (void);
+    void    _adjustTransectsForTerrain      (void);
+    void    _addInterstitialTerrainPoints   (QList<CoordInfo_t>& transect, const QList<TerrainPathQuery::PathHeightInfo_t>& transectPathHeightInfo);
+    void    _adjustForMaxRates              (QList<CoordInfo_t>& transect);
+    void    _adjustForTolerance             (QList<CoordInfo_t>& transect);
+    double  _altitudeBetweenCoords          (const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord, double percentTowardsTo);
+    int     _maxPathHeight                  (const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo, int fromIndex, int toIndex, double& maxHeight);
 };

src/MissionManager/TransectStyleComplexItemTest.h

@@ -87,7 +87,6 @@ public:
     TransectStyleItem(Vehicle* vehicle, QObject* parent = NULL);
 
     // Overrides from ComplexMissionItem
-    int     lastSequenceNumber  (void) const final { return _sequenceNumber; }
     QString mapVisualQML        (void) const final { return QString(); }
     bool    load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final { Q_UNUSED(complexObject); Q_UNUSED(sequenceNumber); Q_UNUSED(errorString); return false; }
 

src/MissionManager/VisualMissionItem.cc

@@ -38,15 +38,7 @@ VisualMissionItem::VisualMissionItem(Vehicle* vehicle, QObject* parent)
     , _lastLatTerrainQuery      (0)
     , _lastLonTerrainQuery      (0)
 {
-
-    // Don't get terrain altitude information for submarines or boards
-    if (_vehicle->vehicleType() != MAV_TYPE_SUBMARINE && _vehicle->vehicleType() != MAV_TYPE_SURFACE_BOAT) {
-        _updateTerrainTimer.setInterval(500);
-        _updateTerrainTimer.setSingleShot(true);
-        connect(&_updateTerrainTimer, &QTimer::timeout, this, &VisualMissionItem::_reallyUpdateTerrainAltitude);
-
-        connect(this, &VisualMissionItem::coordinateChanged, this, &VisualMissionItem::_updateTerrainAltitude);
-    }
+    _commonInit();
 }
 
 VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, QObject* parent)
@@ -63,8 +55,17 @@ VisualMissionItem::VisualMissionItem(const VisualMissionItem& other, QObject* pa
 {
     *this = other;
 
+    _commonInit();
+}
+
+void VisualMissionItem::_commonInit(void)
+{
     // Don't get terrain altitude information for submarines or boats
     if (_vehicle->vehicleType() != MAV_TYPE_SUBMARINE && _vehicle->vehicleType() != MAV_TYPE_SURFACE_BOAT) {
+        _updateTerrainTimer.setInterval(500);
+        _updateTerrainTimer.setSingleShot(true);
+        connect(&_updateTerrainTimer, &QTimer::timeout, this, &VisualMissionItem::_reallyUpdateTerrainAltitude);
+
         connect(this, &VisualMissionItem::coordinateChanged, this, &VisualMissionItem::_updateTerrainAltitude);
     }
 }

src/MissionManager/VisualMissionItem.h

@@ -214,6 +214,8 @@ private slots:
     void _terrainDataReceived   (bool success, QList<double> heights);
 
 private:
+    void _commonInit(void);
+
     QTimer _updateTerrainTimer;
     double _lastLatTerrainQuery;
     double _lastLonTerrainQuery;

src/PlanView/CorridorScanMapVisual.qml

@@ -119,7 +119,7 @@ Item {
         MapPolyline {
             line.color: "white"
             line.width: 2
-            path:       _missionItem.transectPoints
+            path:       _missionItem.visualTransectPoints
         }
     }
 }

src/Terrain/TerrainQuery.cc

@@ -80,8 +80,8 @@ void TerrainAirMapQuery::requestCarpetHeights(const QGeoCoordinate& swCoord, con
 void TerrainAirMapQuery::_sendQuery(const QString& path, const QUrlQuery& urlQuery)
 {
     QUrl url(QStringLiteral("https://api.airmap.com/elevation/v1/ele") + path);
-    url.setQuery(urlQuery);
     qCDebug(TerrainQueryLog) << "_sendQuery" << url;
+    url.setQuery(urlQuery);
 
     QNetworkRequest request(url);
 
@@ -133,7 +133,7 @@ void TerrainAirMapQuery::_requestFinished(void)
 
     // Send back data
     const QJsonValue& jsonData = rootObject["data"];
-    qCDebug(TerrainQueryLog) << "_requestFinished" << jsonData;
+    qCDebug(TerrainQueryLog) << "_requestFinished sucess";
     switch (_queryMode) {
     case QueryModeCoordinates:
         emit _parseCoordinateData(jsonData);
@@ -227,7 +227,6 @@ TerrainAtCoordinateBatchManager::TerrainAtCoordinateBatchManager(void)
 void TerrainAtCoordinateBatchManager::addQuery(TerrainAtCoordinateQuery* terrainAtCoordinateQuery, const QList<QGeoCoordinate>& coordinates)
 {
     if (coordinates.length() > 0) {
-        qCDebug(TerrainQueryLog) << "addQuery: TerrainAtCoordinateQuery:coordinates.count" << terrainAtCoordinateQuery << coordinates.count();
         connect(terrainAtCoordinateQuery, &TerrainAtCoordinateQuery::destroyed, this, &TerrainAtCoordinateBatchManager::_queryObjectDestroyed);
         QueuedRequestInfo_t queuedRequestInfo = { terrainAtCoordinateQuery, coordinates };
         _requestQueue.append(queuedRequestInfo);
@@ -255,14 +254,18 @@ void TerrainAtCoordinateBatchManager::_sendNextBatch(void)
 
     // Convert coordinates to point strings for json query
     QList<QGeoCoordinate> coords;
+    int requestQueueAdded = 0;
     foreach (const QueuedRequestInfo_t& requestInfo, _requestQueue) {
         SentRequestInfo_t sentRequestInfo = { requestInfo.terrainAtCoordinateQuery, false, requestInfo.coordinates.count() };
-        qCDebug(TerrainQueryLog) << "Building request: coordinate count" << requestInfo.coordinates.count();
         _sentRequests.append(sentRequestInfo);
-
         coords += requestInfo.coordinates;
+        requestQueueAdded++;
+        if (coords.count() > 50) {
+            break;
+        }
     }
-    _requestQueue.clear();
+    qCDebug(TerrainQueryLog) << "Built request: coordinate count" << coords.count();
+    _requestQueue = _requestQueue.mid(requestQueueAdded);
 
     _terrainQuery.requestCoordinateHeights(coords);
     _state = State::Downloading;