/**************************************************************************** * * (c) 2009-2020 QGROUNDCONTROL PROJECT * * QGroundControl is licensed according to the terms in the file * COPYING.md in the root of the source code directory. * ****************************************************************************/ #pragma once #include "ComplexMissionItem.h" #include "MissionItem.h" #include "SettingsFact.h" #include "QGCLoggingCategory.h" #include "QGCMapPolyline.h" #include "QGCMapPolygon.h" #include "CameraCalc.h" #include "TerrainQuery.h" Q_DECLARE_LOGGING_CATEGORY(TransectStyleComplexItemLog) class PlanMasterController; class TransectStyleComplexItem : public ComplexMissionItem { Q_OBJECT public: TransectStyleComplexItem(PlanMasterController* masterController, bool flyView, QString settignsGroup, QObject* parent); Q_PROPERTY(QGCMapPolygon* surveyAreaPolygon READ surveyAreaPolygon CONSTANT) Q_PROPERTY(CameraCalc* cameraCalc READ cameraCalc CONSTANT) Q_PROPERTY(Fact* turnAroundDistance READ turnAroundDistance CONSTANT) Q_PROPERTY(Fact* cameraTriggerInTurnAround READ cameraTriggerInTurnAround CONSTANT) Q_PROPERTY(Fact* hoverAndCapture READ hoverAndCapture CONSTANT) Q_PROPERTY(Fact* refly90Degrees READ refly90Degrees CONSTANT) Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged) Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged) Q_PROPERTY(double coveredArea READ coveredArea NOTIFY coveredAreaChanged) Q_PROPERTY(bool hoverAndCaptureAllowed READ hoverAndCaptureAllowed CONSTANT) 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) Q_PROPERTY(Fact* terrainAdjustMaxDescentRate READ terrainAdjustMaxDescentRate CONSTANT) Q_PROPERTY(Fact* terrainAdjustMaxClimbRate READ terrainAdjustMaxClimbRate CONSTANT) QGCMapPolygon* surveyAreaPolygon (void) { return &_surveyAreaPolygon; } CameraCalc* cameraCalc (void) { return &_cameraCalc; } QVariantList visualTransectPoints(void) { return _visualTransectPoints; } Fact* turnAroundDistance (void) { return &_turnAroundDistanceFact; } Fact* cameraTriggerInTurnAround (void) { return &_cameraTriggerInTurnAroundFact; } Fact* hoverAndCapture (void) { return &_hoverAndCaptureFact; } Fact* refly90Degrees (void) { return &_refly90DegreesFact; } Fact* terrainAdjustTolerance (void) { return &_terrainAdjustToleranceFact; } Fact* terrainAdjustMaxDescentRate (void) { return &_terrainAdjustMaxDescentRateFact; } Fact* terrainAdjustMaxClimbRate (void) { return &_terrainAdjustMaxClimbRateFact; } const Fact* hoverAndCapture (void) const { return &_hoverAndCaptureFact; } int cameraShots (void) const { return _cameraShots; } double coveredArea (void) const; bool hoverAndCaptureAllowed (void) const; bool followTerrain (void) const { return _followTerrain; } virtual double timeBetweenShots (void) { return 0; } // Most be overridden. Implementation here is needed for unit testing. void setFollowTerrain(bool followTerrain); double triggerDistance (void) const { return _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble(); } bool hoverAndCaptureEnabled (void) const { return hoverAndCapture()->rawValue().toBool(); } bool triggerCamera (void) const { return triggerDistance() != 0; } // Used internally only by unit tests int _transectCount(void) const { return _transects.count(); } // Overrides from ComplexMissionItem int lastSequenceNumber (void) const final; QString mapVisualQML (void) const override = 0; bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) override = 0; void addKMLVisuals (KMLPlanDomDocument& domDocument) final; double complexDistance (void) const final { return _complexDistance; } double greatestDistanceTo (const QGeoCoordinate &other) const final; // Overrides from VisualMissionItem void save (QJsonArray& planItems) override = 0; bool specifiesCoordinate (void) const override = 0; void appendMissionItems (QList& items, QObject* missionItemParent) final; void applyNewAltitude (double newAltitude) override = 0; bool dirty (void) const final { return _dirty; } bool isSimpleItem (void) const final { return false; } bool isStandaloneCoordinate (void) const final { return false; } bool specifiesAltitudeOnly (void) const final { return false; } QGeoCoordinate coordinate (void) const final { return _coordinate; } QGeoCoordinate exitCoordinate (void) const final { return _exitCoordinate; } int sequenceNumber (void) const final { return _sequenceNumber; } double specifiedFlightSpeed (void) final { return std::numeric_limits::quiet_NaN(); } double specifiedGimbalYaw (void) final { return std::numeric_limits::quiet_NaN(); } double specifiedGimbalPitch (void) final { return std::numeric_limits::quiet_NaN(); } void setMissionFlightStatus (MissionController::MissionFlightStatus_t& missionFlightStatus) final; ReadyForSaveState readyForSaveState (void) const override; QString commandDescription (void) const override { return tr("Transect"); } QString commandName (void) const override { return tr("Transect"); } QString abbreviation (void) const override { return tr("T"); } bool coordinateHasRelativeAltitude (void) const final; bool exitCoordinateHasRelativeAltitude (void) const final; bool exitCoordinateSameAsEntry (void) const final { return false; } void setDirty (bool dirty) final; void setCoordinate (const QGeoCoordinate& coordinate) final { Q_UNUSED(coordinate); } void setSequenceNumber (int sequenceNumber) final; static const char* turnAroundDistanceName; static const char* turnAroundDistanceMultiRotorName; static const char* cameraTriggerInTurnAroundName; static const char* hoverAndCaptureName; static const char* refly90DegreesName; static const char* terrainAdjustToleranceName; static const char* terrainAdjustMaxClimbRateName; static const char* terrainAdjustMaxDescentRateName; signals: void cameraShotsChanged (void); void timeBetweenShotsChanged (void); void visualTransectPointsChanged (void); void coveredAreaChanged (void); void followTerrainChanged (bool followTerrain); protected slots: void _setDirty (void); void _setIfDirty (bool dirty); void _updateCoordinateAltitudes (void); void _polyPathTerrainData (bool success, const QList& rgPathHeightInfo); void _rebuildTransects (void); protected: virtual void _rebuildTransectsPhase1 (void) = 0; ///< Rebuilds the _transects array virtual void _recalcComplexDistance (void) = 0; virtual void _recalcCameraShots (void) = 0; void _save (QJsonObject& saveObject); bool _load (const QJsonObject& complexObject, bool forPresets, QString& errorString); void _setExitCoordinate (const QGeoCoordinate& coordinate); void _setCameraShots (int cameraShots); double _triggerDistance (void) const; bool _hasTurnaround (void) const; double _turnAroundDistance (void) const; void _appendWaypoint (QList& items, QObject* missionItemParent, int& seqNum, MAV_FRAME mavFrame, float holdTime, const QGeoCoordinate& coordinate); void _appendSinglePhotoCapture (QList& items, QObject* missionItemParent, int& seqNum); void _appendConditionGate (QList& items, QObject* missionItemParent, int& seqNum, MAV_FRAME mavFrame, const QGeoCoordinate& coordinate); void _appendCameraTriggerDistance (QList& items, QObject* missionItemParent, int& seqNum, float triggerDistance); void _appendCameraTriggerDistanceUpdatePoint(QList& items, QObject* missionItemParent, int& seqNum, MAV_FRAME mavFrame, const QGeoCoordinate& coordinate, bool useConditionGate, float triggerDistance); void _buildAndAppendMissionItems (QList& items, QObject* missionItemParent); void _appendLoadedMissionItems (QList& items, QObject* missionItemParent); int _sequenceNumber; QGeoCoordinate _coordinate; QGeoCoordinate _exitCoordinate; QGCMapPolygon _surveyAreaPolygon; enum CoordType { CoordTypeInterior, ///< Interior waypoint for flight path only CoordTypeInteriorHoverTrigger, ///< Interior waypoint for hover and capture trigger CoordTypeInteriorTerrainAdded, ///< Interior waypoint added for terrain CoordTypeSurveyEntry, ///< Waypoint at entry edge of survey polygon CoordTypeSurveyExit, ///< Waypoint at exit edge of survey polygon CoordTypeTurnaround, ///< First turnaround waypoint }; typedef struct { QGeoCoordinate coord; CoordType coordType; } CoordInfo_t; QVariantList _visualTransectPoints; QList> _transects; QList> _transectsPathHeightInfo; TerrainPolyPathQuery* _terrainPolyPathQuery; QTimer _terrainQueryTimer; bool _ignoreRecalc; double _complexDistance; int _cameraShots; double _timeBetweenShots; double _cruiseSpeed; CameraCalc _cameraCalc; bool _followTerrain; QObject* _loadedMissionItemsParent; ///< Parent for all items in _loadedMissionItems for simpler delete QList _loadedMissionItems; ///< Mission items loaded from plan file QMap _metaDataMap; SettingsFact _turnAroundDistanceFact; SettingsFact _cameraTriggerInTurnAroundFact; SettingsFact _hoverAndCaptureFact; SettingsFact _refly90DegreesFact; SettingsFact _terrainAdjustToleranceFact; SettingsFact _terrainAdjustMaxClimbRateFact; SettingsFact _terrainAdjustMaxDescentRateFact; static const char* _jsonCameraCalcKey; static const char* _jsonTransectStyleComplexItemKey; static const char* _jsonVisualTransectPointsKey; static const char* _jsonItemsKey; static const char* _jsonFollowTerrainKey; static const char* _jsonCameraShotsKey; static const int _terrainQueryTimeoutMsecs= 1000; static const int _hoverAndCaptureDelaySeconds = 4; private slots: void _reallyQueryTransectsPathHeightInfo(void); void _followTerrainChanged (bool followTerrain); void _handleHoverAndCaptureEnabled (QVariant enabled); private: void _queryTransectsPathHeightInfo (void); void _adjustTransectsForTerrain (void); void _addInterstitialTerrainPoints (QList& transect, const QList& transectPathHeightInfo); void _adjustForMaxRates (QList& transect); void _adjustForTolerance (QList& transect); double _altitudeBetweenCoords (const QGeoCoordinate& fromCoord, const QGeoCoordinate& toCoord, double percentTowardsTo); int _maxPathHeight (const TerrainPathQuery::PathHeightInfo_t& pathHeightInfo, int fromIndex, int toIndex, double& maxHeight); };