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qgroundcontrol
Commit fdb53cb4 authored by DonLakeFlyer's avatar DonLakeFlyer
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parent ed9e7e27
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Showing with 88 additions and 71 deletions
src/QmlControls/TerrainProfile.cc
View file @ fdb53cb4
......@@ -57,12 +57,12 @@ void TerrainProfile::_newVisualItems(void)
emit _updateSignal();
}
void TerrainProfile::_createGeometry(QSGGeometryNode*& geometryNode, QSGGeometry*& geometry, int vertices, QSGGeometry::DrawingMode drawingMode, const QColor& color)
void TerrainProfile::_createGeometry(QSGGeometryNode*& geometryNode, QSGGeometry*& geometry, QSGGeometry::DrawingMode drawingMode, const QColor& color)
{
QSGFlatColorMaterial* terrainMaterial = new QSGFlatColorMaterial;
terrainMaterial->setColor(color);
geometry = new QSGGeometry(QSGGeometry::defaultAttributes_Point2D(), vertices);
geometry = new QSGGeometry(QSGGeometry::defaultAttributes_Point2D(), 0);
geometry->setDrawingMode(drawingMode);
geometry->setLineWidth(2);
......@@ -74,12 +74,16 @@ void TerrainProfile::_createGeometry(QSGGeometryNode*& geometryNode, QSGGeometry
geometryNode->setGeometry(geometry);
}
void TerrainProfile::_updateSegmentCounts(FlightPathSegment* segment, int& cTerrainPoints, int& cMissingTerrainSegments, int& cTerrainCollisionSegments, double& maxTerrainHeight)
void TerrainProfile::_updateSegmentCounts(FlightPathSegment* segment, int& cFlightProfileSegments, int& cTerrainProfilePoints, int& cMissingTerrainSegments, int& cTerrainCollisionSegments, double& maxTerrainHeight)
{
if (segment->amslTerrainHeights().count() == 0 || qIsNaN(segment->coord1AMSLAlt()) || qIsNaN(segment->coord2AMSLAlt())) {
if (_shouldAddFlightProfileSegment(segment)) {
cFlightProfileSegments++;
}
if (_shouldAddMissingTerrainSegment(segment)) {
cMissingTerrainSegments += 1;
} else {
cTerrainPoints += segment->amslTerrainHeights().count();
cTerrainProfilePoints += segment->amslTerrainHeights().count();
for (int i=0; i<segment->amslTerrainHeights().count(); i++) {
maxTerrainHeight = qMax(maxTerrainHeight, segment->amslTerrainHeights()[i].value<double>());
}
......@@ -89,7 +93,7 @@ void TerrainProfile::_updateSegmentCounts(FlightPathSegment* segment, int& cTerr
}
}
void TerrainProfile::_addTerrainProfileSegment(FlightPathSegment* segment, double currentDistance, double amslAltRange, QSGGeometry::Point2D* terrainVertices, int& terrainVertexIndex)
void TerrainProfile::_addTerrainProfileSegment(FlightPathSegment* segment, double currentDistance, double amslAltRange, QSGGeometry::Point2D* terrainVertices, int& terrainProfileVertexIndex)
{
double terrainDistance = 0;
for (int heightIndex=0; heightIndex<segment->amslTerrainHeights().count(); heightIndex++) {
......@@ -110,17 +114,17 @@ void TerrainProfile::_addTerrainProfileSegment(FlightPathSegment* segment, doubl
float x = (currentDistance + terrainDistance) * _pixelsPerMeter;
float y = _availableHeight() - (terrainHeightPercent * _availableHeight());
_setVertex(terrainVertices[terrainVertexIndex++], x, y);
_setVertex(terrainVertices[terrainProfileVertexIndex++], x, y);
}
}
void TerrainProfile::_addMissingTerrainSegment(FlightPathSegment* segment, double currentDistance, QSGGeometry::Point2D* missingTerrainVertices, int& missingTerrainVertexIndex)
void TerrainProfile::_addMissingTerrainSegment(FlightPathSegment* segment, double currentDistance, QSGGeometry::Point2D* missingTerrainVertices, int& missingterrainProfileVertexIndex)
{
if (segment->amslTerrainHeights().count() == 0) {
if (_shouldAddMissingTerrainSegment(segment)) {
float x = currentDistance * _pixelsPerMeter;
float y = _availableHeight();
_setVertex(missingTerrainVertices[missingTerrainVertexIndex++], x, y);
_setVertex(missingTerrainVertices[missingTerrainVertexIndex++], x + (segment->totalDistance() * _pixelsPerMeter), y);
_setVertex(missingTerrainVertices[missingterrainProfileVertexIndex++], x, y);
_setVertex(missingTerrainVertices[missingterrainProfileVertexIndex++], x + (segment->totalDistance() * _pixelsPerMeter), y);
}
}
......@@ -146,15 +150,15 @@ void TerrainProfile::_addTerrainCollisionSegment(FlightPathSegment* segment, dou
void TerrainProfile::_addFlightProfileSegment(FlightPathSegment* segment, double currentDistance, double amslAltRange, QSGGeometry::Point2D* flightProfileVertices, int& flightProfileVertexIndex)
{
if (!_shouldAddFlightProfileSegment(segment)) {
return;
}
double amslCoord1Height = segment->coord1AMSLAlt();
double amslCoord2Height = segment->coord2AMSLAlt();
double coord1HeightPercent = qMax(((amslCoord1Height - _missionController->minAMSLAltitude()) / amslAltRange), 0.0);
double coord2HeightPercent = qMax(((amslCoord2Height - _missionController->minAMSLAltitude()) / amslAltRange), 0.0);
if (qIsNaN(amslCoord1Height) || qIsNaN(amslCoord2Height)) {
return;
}
float x = currentDistance * _pixelsPerMeter;
float y = _availableHeight() - (coord1HeightPercent * _availableHeight());
......@@ -173,16 +177,16 @@ QSGNode* TerrainProfile::updatePaintNode(QSGNode* oldNode, QQuickItem::UpdatePai
QSGGeometry* missingTerrainGeometry = nullptr;
QSGGeometry* flightProfileGeometry = nullptr;
QSGGeometry* terrainCollisionGeometry = nullptr;
int cTerrainPoints = 0;
int cTerrainProfilePoints = 0;
int cMissingTerrainSegments = 0;
int cFlightPathSegments = 0;
int cFlightProfileSegments = 0;
int cTerrainCollisionSegments = 0;
double maxTerrainHeight = 0;
// First we need to determine:
// - how many terrain vertices we need
// - how many terrain profile vertices we need
// - how many missing terrain segments there are
// - how many flight path segments we need
// - how many flight profile segments we need
// - how many terrain collision segments there are
// - what is the total distance so we can calculate pixels per meter
......@@ -191,16 +195,14 @@ QSGNode* TerrainProfile::updatePaintNode(QSGNode* oldNode, QQuickItem::UpdatePai
ComplexMissionItem* complexItem = _visualItems->value<ComplexMissionItem*>(viIndex);
if (visualItem->simpleFlightPathSegment()) {
cFlightPathSegments++;
FlightPathSegment* segment = visualItem->simpleFlightPathSegment();
_updateSegmentCounts(segment, cTerrainPoints, cMissingTerrainSegments, cTerrainCollisionSegments, maxTerrainHeight);
_updateSegmentCounts(segment, cFlightProfileSegments, cTerrainProfilePoints, cMissingTerrainSegments, cTerrainCollisionSegments, maxTerrainHeight);
}
if (complexItem) {
for (int segmentIndex=0; segmentIndex<complexItem->flightPathSegments()->count(); segmentIndex++) {
cFlightPathSegments++;
FlightPathSegment* segment = complexItem->flightPathSegments()->value<FlightPathSegment*>(segmentIndex);
_updateSegmentCounts(segment, cTerrainPoints, cMissingTerrainSegments, cTerrainCollisionSegments, maxTerrainHeight);
_updateSegmentCounts(segment, cFlightProfileSegments, cTerrainProfilePoints, cMissingTerrainSegments, cTerrainCollisionSegments, maxTerrainHeight);
}
}
}
......@@ -209,12 +211,12 @@ QSGNode* TerrainProfile::updatePaintNode(QSGNode* oldNode, QQuickItem::UpdatePai
#if 0
static int counter = 0;
qDebug() << "updatePaintNode" << counter++ << cFlightPathSegments << cTerrainPoints << cMissingTerrainSegments << cTerrainCollisionSegments;
qDebug() << "updatePaintNode" << counter++ << cFlightProfileSegments << cTerrainProfilePoints << cMissingTerrainSegments << cTerrainCollisionSegments;
#endif
_pixelsPerMeter = (_visibleWidth - (_horizontalMargin * 2)) / _missionController->missionDistance();
// Instantiate nodes
if (!rootNode) {
rootNode = new QSGNode;
......@@ -223,47 +225,50 @@ QSGNode* TerrainProfile::updatePaintNode(QSGNode* oldNode, QQuickItem::UpdatePai
QSGGeometryNode* flightProfileNode = nullptr;
QSGGeometryNode* terrainCollisionNode = nullptr;
_createGeometry(terrainProfileNode, terrainProfileGeometry, cTerrainPoints, QSGGeometry::DrawLineStrip, "green");
_createGeometry(missingTerrainNode, missingTerrainGeometry, cMissingTerrainSegments * 2, QSGGeometry::DrawLines, "yellow");
_createGeometry(flightProfileNode, flightProfileGeometry, cFlightPathSegments * 2, QSGGeometry::DrawLines, "orange");
_createGeometry(terrainCollisionNode, terrainCollisionGeometry, cTerrainCollisionSegments * 2, QSGGeometry::DrawLines, "red");
_createGeometry(terrainProfileNode, terrainProfileGeometry, QSGGeometry::DrawLineStrip, "green");
_createGeometry(missingTerrainNode, missingTerrainGeometry, QSGGeometry::DrawLines, "yellow");
_createGeometry(flightProfileNode, flightProfileGeometry, QSGGeometry::DrawLines, "orange");
_createGeometry(terrainCollisionNode, terrainCollisionGeometry, QSGGeometry::DrawLines, "red");
rootNode->appendChildNode(terrainProfileNode);
rootNode->appendChildNode(missingTerrainNode);
rootNode->appendChildNode(flightProfileNode);
rootNode->appendChildNode(terrainCollisionNode);
} else {
QSGNode* node = rootNode->childAtIndex(0);
terrainProfileGeometry = static_cast<QSGGeometryNode*>(node)->geometry();
terrainProfileGeometry->allocate(cTerrainPoints);
node->markDirty(QSGNode::DirtyGeometry);
node = rootNode->childAtIndex(1);
missingTerrainGeometry = static_cast<QSGGeometryNode*>(node)->geometry();
missingTerrainGeometry->allocate(cMissingTerrainSegments * 2);
node->markDirty(QSGNode::DirtyGeometry);
node = rootNode->childAtIndex(2);
flightProfileGeometry = static_cast<QSGGeometryNode*>(node)->geometry();
flightProfileGeometry->allocate(cFlightPathSegments * 2);
node->markDirty(QSGNode::DirtyGeometry);
node = rootNode->childAtIndex(3);
terrainCollisionGeometry = static_cast<QSGGeometryNode*>(node)->geometry();
terrainCollisionGeometry->allocate(cTerrainCollisionSegments * 2);
node->markDirty(QSGNode::DirtyGeometry);
}
int flightProfileVertexIndex = 0;
int terrainVertexIndex = 0;
int missingTerrainVertexIndex = 0;
int terrainCollisionVertexIndex = 0;
double currentDistance = 0;
QSGGeometry::Point2D* flightProfileVertices = flightProfileGeometry->vertexDataAsPoint2D();
QSGGeometry::Point2D* terrainVertices = terrainProfileGeometry->vertexDataAsPoint2D();
QSGGeometry::Point2D* missingTerrainVertices = missingTerrainGeometry->vertexDataAsPoint2D();
QSGGeometry::Point2D* terrainCollisionVertices = terrainCollisionGeometry->vertexDataAsPoint2D();
// Allocate space for the vertices
QSGNode* node = rootNode->childAtIndex(0);
terrainProfileGeometry = static_cast<QSGGeometryNode*>(node)->geometry();
terrainProfileGeometry->allocate(cTerrainProfilePoints);
node->markDirty(QSGNode::DirtyGeometry);
node = rootNode->childAtIndex(1);
missingTerrainGeometry = static_cast<QSGGeometryNode*>(node)->geometry();
missingTerrainGeometry->allocate(cMissingTerrainSegments * 2);
node->markDirty(QSGNode::DirtyGeometry);
node = rootNode->childAtIndex(2);
flightProfileGeometry = static_cast<QSGGeometryNode*>(node)->geometry();
flightProfileGeometry->allocate(cFlightProfileSegments * 2);
node->markDirty(QSGNode::DirtyGeometry);
node = rootNode->childAtIndex(3);
terrainCollisionGeometry = static_cast<QSGGeometryNode*>(node)->geometry();
terrainCollisionGeometry->allocate(cTerrainCollisionSegments * 2);
node->markDirty(QSGNode::DirtyGeometry);
int flightProfileVertexIndex = 0;
int terrainProfileVertexIndex = 0;
int missingterrainProfileVertexIndex = 0;
int terrainCollisionVertexIndex = 0;
double currentDistance = 0;
QSGGeometry::Point2D* flightProfileVertices = flightProfileGeometry->vertexDataAsPoint2D();
QSGGeometry::Point2D* terrainProfileVertices = terrainProfileGeometry->vertexDataAsPoint2D();
QSGGeometry::Point2D* missingTerrainVertices = missingTerrainGeometry->vertexDataAsPoint2D();
QSGGeometry::Point2D* terrainCollisionVertices = terrainCollisionGeometry->vertexDataAsPoint2D();
// This step places the vertices for display into the nodes
for (int viIndex=0; viIndex<_visualItems->count(); viIndex++) {
VisualMissionItem* visualItem = _visualItems->value<VisualMissionItem*>(viIndex);
ComplexMissionItem* complexItem = _visualItems->value<ComplexMissionItem*>(viIndex);
......@@ -276,8 +281,8 @@ QSGNode* TerrainProfile::updatePaintNode(QSGNode* oldNode, QQuickItem::UpdatePai
FlightPathSegment* segment = complexItem->flightPathSegments()->value<FlightPathSegment*>(segmentIndex);
_addFlightProfileSegment (segment, currentDistance, amslAltRange, flightProfileVertices, flightProfileVertexIndex);
_addTerrainProfileSegment (segment, currentDistance, amslAltRange, terrainVertices, terrainVertexIndex);
_addMissingTerrainSegment (segment, currentDistance, missingTerrainVertices, missingTerrainVertexIndex);
_addTerrainProfileSegment (segment, currentDistance, amslAltRange, terrainProfileVertices, terrainProfileVertexIndex);
_addMissingTerrainSegment (segment, currentDistance, missingTerrainVertices, missingterrainProfileVertexIndex);
_addTerrainCollisionSegment (segment, currentDistance, amslAltRange, terrainCollisionVertices, terrainCollisionVertexIndex);
currentDistance += segment->totalDistance();
......@@ -289,8 +294,8 @@ QSGNode* TerrainProfile::updatePaintNode(QSGNode* oldNode, QQuickItem::UpdatePai
FlightPathSegment* segment = visualItem->simpleFlightPathSegment();
_addFlightProfileSegment (segment, currentDistance, amslAltRange, flightProfileVertices, flightProfileVertexIndex);
_addTerrainProfileSegment (segment, currentDistance, amslAltRange, terrainVertices, terrainVertexIndex);
_addMissingTerrainSegment (segment, currentDistance, missingTerrainVertices, missingTerrainVertexIndex);
_addTerrainProfileSegment (segment, currentDistance, amslAltRange, terrainProfileVertices, terrainProfileVertexIndex);
_addMissingTerrainSegment (segment, currentDistance, missingTerrainVertices, missingterrainProfileVertexIndex);
_addTerrainCollisionSegment (segment, currentDistance, amslAltRange, terrainCollisionVertices, terrainCollisionVertexIndex);
currentDistance += segment->totalDistance();
......@@ -326,3 +331,13 @@ void TerrainProfile::_setVertex(QSGGeometry::Point2D& vertex, double x, double y
{
vertex.set(x + _horizontalMargin, y + _verticalMargin);
}
bool TerrainProfile::_shouldAddFlightProfileSegment (FlightPathSegment* segment)
{
return !qIsNaN(segment->coord1AMSLAlt()) && !qIsNaN(segment->coord2AMSLAlt());
}
bool TerrainProfile::_shouldAddMissingTerrainSegment (FlightPathSegment* segment)
{
return segment->amslTerrainHeights().count() == 0;
}
src/QmlControls/TerrainProfile.h
View file @ fdb53cb4
......@@ -57,14 +57,16 @@ private slots:
void _newVisualItems (void);
private:
void _createGeometry (QSGGeometryNode*& geometryNode, QSGGeometry*& geometry, int vertices, QSGGeometry::DrawingMode drawingMode, const QColor& color);
void _updateSegmentCounts (FlightPathSegment* segment, int& cTerrainPoints, int& cMissingTerrainSegments, int& cTerrainCollisionSegments, double& maxTerrainHeight);
void _addTerrainProfileSegment (FlightPathSegment* segment, double currentDistance, double amslAltRange, QSGGeometry::Point2D* terrainVertices, int& terrainVertexIndex);
void _addMissingTerrainSegment (FlightPathSegment* segment, double currentDistance, QSGGeometry::Point2D* missingTerrainVertices, int& missingTerrainVertexIndex);
void _addTerrainCollisionSegment (FlightPathSegment* segment, double currentDistance, double amslAltRange, QSGGeometry::Point2D* terrainCollisionVertices, int& terrainCollisionVertexIndex);
void _addFlightProfileSegment (FlightPathSegment* segment, double currentDistance, double amslAltRange, QSGGeometry::Point2D* flightProfileVertices, int& flightProfileVertexIndex);
double _availableHeight (void) const;
void _setVertex (QSGGeometry::Point2D& vertex, double x, double y);
void _createGeometry (QSGGeometryNode*& geometryNode, QSGGeometry*& geometry, QSGGeometry::DrawingMode drawingMode, const QColor& color);
void _updateSegmentCounts (FlightPathSegment* segment, int& cFlightProfileSegments, int& cTerrainPoints, int& cMissingTerrainSegments, int& cTerrainCollisionSegments, double& maxTerrainHeight);
void _addTerrainProfileSegment (FlightPathSegment* segment, double currentDistance, double amslAltRange, QSGGeometry::Point2D* terrainProfileVertices, int& terrainVertexIndex);
void _addMissingTerrainSegment (FlightPathSegment* segment, double currentDistance, QSGGeometry::Point2D* missingTerrainVertices, int& missingTerrainVertexIndex);
void _addTerrainCollisionSegment (FlightPathSegment* segment, double currentDistance, double amslAltRange, QSGGeometry::Point2D* terrainCollisionVertices, int& terrainCollisionVertexIndex);
void _addFlightProfileSegment (FlightPathSegment* segment, double currentDistance, double amslAltRange, QSGGeometry::Point2D* flightProfileVertices, int& flightProfileVertexIndex);
double _availableHeight (void) const;
void _setVertex (QSGGeometry::Point2D& vertex, double x, double y);
bool _shouldAddFlightProfileSegment (FlightPathSegment* segment);
bool _shouldAddMissingTerrainSegment (FlightPathSegment* segment);
MissionController* _missionController = nullptr;
QmlObjectListModel* _visualItems = nullptr;
......
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