/**************************************************************************** * * (c) 2009-2016 QGROUNDCONTROL PROJECT * * QGroundControl is licensed according to the terms in the file * COPYING.md in the root of the source code directory. * ****************************************************************************/ #include "TransectStyleComplexItem.h" #include "JsonHelper.h" #include "MissionController.h" #include "QGCGeo.h" #include "QGroundControlQmlGlobal.h" #include "QGCQGeoCoordinate.h" #include "SettingsManager.h" #include "AppSettings.h" #include "QGCQGeoCoordinate.h" #include QGC_LOGGING_CATEGORY(TransectStyleComplexItemLog, "TransectStyleComplexItemLog") const char* TransectStyleComplexItem::turnAroundDistanceName = "TurnAroundDistance"; const char* TransectStyleComplexItem::turnAroundDistanceMultiRotorName = "TurnAroundDistanceMultiRotor"; const char* TransectStyleComplexItem::cameraTriggerInTurnAroundName = "CameraTriggerInTurnAround"; const char* TransectStyleComplexItem::hoverAndCaptureName = "HoverAndCapture"; const char* TransectStyleComplexItem::refly90DegreesName = "Refly90Degrees"; const char* TransectStyleComplexItem::_jsonTransectStyleComplexItemKey = "TransectStyleComplexItem"; const char* TransectStyleComplexItem::_jsonCameraCalcKey = "CameraCalc"; const char* TransectStyleComplexItem::_jsonTransectPointsKey = "TransectPoints"; const char* TransectStyleComplexItem::_jsonItemsKey = "Items"; TransectStyleComplexItem::TransectStyleComplexItem(Vehicle* vehicle, QString settingsGroup, QObject* parent) : ComplexMissionItem (vehicle, parent) , _settingsGroup (settingsGroup) , _sequenceNumber (0) , _dirty (false) , _ignoreRecalc (false) , _complexDistance (0) , _cameraShots (0) , _cameraMinTriggerInterval (0) , _cameraCalc (vehicle) , _loadedMissionItemsParent (NULL) , _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/TransectStyle.SettingsGroup.json"), this)) , _turnAroundDistanceFact (_settingsGroup, _metaDataMap[_vehicle->multiRotor() ? turnAroundDistanceMultiRotorName : turnAroundDistanceName]) , _cameraTriggerInTurnAroundFact(_settingsGroup, _metaDataMap[cameraTriggerInTurnAroundName]) , _hoverAndCaptureFact (_settingsGroup, _metaDataMap[hoverAndCaptureName]) , _refly90DegreesFact (_settingsGroup, _metaDataMap[refly90DegreesName]) { connect(&_turnAroundDistanceFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_rebuildTransects); connect(&_hoverAndCaptureFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_rebuildTransects); connect(&_refly90DegreesFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_rebuildTransects); connect(&_surveyAreaPolygon, &QGCMapPolygon::pathChanged, this, &TransectStyleComplexItem::_rebuildTransects); connect(&_cameraTriggerInTurnAroundFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_rebuildTransects); connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &TransectStyleComplexItem::_rebuildTransects); connect(_cameraCalc.adjustedFootprintFrontal(), &Fact::valueChanged, this, &TransectStyleComplexItem::_rebuildTransects); connect(&_turnAroundDistanceFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged); connect(&_hoverAndCaptureFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged); connect(&_refly90DegreesFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged); connect(&_surveyAreaPolygon, &QGCMapPolygon::pathChanged, this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged); connect(&_cameraTriggerInTurnAroundFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged); connect(_cameraCalc.adjustedFootprintSide(), &Fact::valueChanged, this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged); connect(_cameraCalc.adjustedFootprintFrontal(), &Fact::valueChanged, this, &TransectStyleComplexItem::_signalLastSequenceNumberChanged); connect(&_turnAroundDistanceFact, &Fact::valueChanged, this, &TransectStyleComplexItem::complexDistanceChanged); connect(&_hoverAndCaptureFact, &Fact::valueChanged, this, &TransectStyleComplexItem::complexDistanceChanged); connect(&_refly90DegreesFact, &Fact::valueChanged, this, &TransectStyleComplexItem::complexDistanceChanged); connect(&_surveyAreaPolygon, &QGCMapPolygon::pathChanged, this, &TransectStyleComplexItem::complexDistanceChanged); connect(&_turnAroundDistanceFact, &Fact::valueChanged, this, &TransectStyleComplexItem::greatestDistanceToChanged); connect(&_hoverAndCaptureFact, &Fact::valueChanged, this, &TransectStyleComplexItem::greatestDistanceToChanged); connect(&_refly90DegreesFact, &Fact::valueChanged, this, &TransectStyleComplexItem::greatestDistanceToChanged); connect(&_surveyAreaPolygon, &QGCMapPolygon::pathChanged, this, &TransectStyleComplexItem::greatestDistanceToChanged); connect(&_turnAroundDistanceFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_setDirty); connect(&_cameraTriggerInTurnAroundFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_setDirty); connect(&_hoverAndCaptureFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_setDirty); connect(&_refly90DegreesFact, &Fact::valueChanged, this, &TransectStyleComplexItem::_setDirty); connect(&_surveyAreaPolygon, &QGCMapPolygon::pathChanged, this, &TransectStyleComplexItem::_setDirty); connect(&_surveyAreaPolygon, &QGCMapPolygon::dirtyChanged, this, &TransectStyleComplexItem::_setIfDirty); connect(&_cameraCalc, &CameraCalc::dirtyChanged, this, &TransectStyleComplexItem::_setIfDirty); connect(&_surveyAreaPolygon, &QGCMapPolygon::pathChanged, this, &TransectStyleComplexItem::coveredAreaChanged); connect(this, &TransectStyleComplexItem::transectPointsChanged, this, &TransectStyleComplexItem::complexDistanceChanged); connect(this, &TransectStyleComplexItem::transectPointsChanged, this, &TransectStyleComplexItem::greatestDistanceToChanged); } void TransectStyleComplexItem::_setCameraShots(int cameraShots) { if (_cameraShots != cameraShots) { _cameraShots = cameraShots; emit cameraShotsChanged(); } } void TransectStyleComplexItem::setDirty(bool dirty) { if (!dirty) { _surveyAreaPolygon.setDirty(false); _cameraCalc.setDirty(false); } if (_dirty != dirty) { _dirty = dirty; emit dirtyChanged(_dirty); } } void TransectStyleComplexItem::_save(QJsonObject& complexObject) { QJsonObject innerObject; innerObject[JsonHelper::jsonVersionKey] = 1; innerObject[turnAroundDistanceName] = _turnAroundDistanceFact.rawValue().toDouble(); innerObject[cameraTriggerInTurnAroundName] = _cameraTriggerInTurnAroundFact.rawValue().toBool(); innerObject[hoverAndCaptureName] = _hoverAndCaptureFact.rawValue().toBool(); innerObject[refly90DegreesName] = _refly90DegreesFact.rawValue().toBool(); QJsonObject cameraCalcObject; _cameraCalc.save(cameraCalcObject); innerObject[_jsonCameraCalcKey] = cameraCalcObject; QJsonValue transectPointsJson; // Save transects polyline JsonHelper::saveGeoCoordinateArray(_transectPoints, false /* writeAltitude */, transectPointsJson); innerObject[_jsonTransectPointsKey] = transectPointsJson; // Save the interal mission items QJsonArray missionItemsJsonArray; QObject* missionItemParent = new QObject(); QList missionItems; appendMissionItems(missionItems, missionItemParent); foreach (const MissionItem* missionItem, missionItems) { QJsonObject missionItemJsonObject; missionItem->save(missionItemJsonObject); missionItemsJsonArray.append(missionItemJsonObject); } missionItemParent->deleteLater(); innerObject[_jsonItemsKey] = missionItemsJsonArray; complexObject[_jsonTransectStyleComplexItemKey] = innerObject; } void TransectStyleComplexItem::setSequenceNumber(int sequenceNumber) { if (_sequenceNumber != sequenceNumber) { _sequenceNumber = sequenceNumber; emit sequenceNumberChanged(sequenceNumber); emit lastSequenceNumberChanged(lastSequenceNumber()); } } bool TransectStyleComplexItem::_load(const QJsonObject& complexObject, QString& errorString) { QList keyInfoList = { { _jsonTransectStyleComplexItemKey, QJsonValue::Object, true }, }; if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) { return false; } // The TransectStyleComplexItem is a sub-object of the main complex item object QJsonObject innerObject = complexObject[_jsonTransectStyleComplexItemKey].toObject(); QList innerKeyInfoList = { { JsonHelper::jsonVersionKey, QJsonValue::Double, true }, { turnAroundDistanceName, QJsonValue::Double, true }, { cameraTriggerInTurnAroundName, QJsonValue::Bool, true }, { hoverAndCaptureName, QJsonValue::Bool, true }, { refly90DegreesName, QJsonValue::Bool, true }, { _jsonCameraCalcKey, QJsonValue::Object, true }, { _jsonTransectPointsKey, QJsonValue::Array, true }, { _jsonItemsKey, QJsonValue::Array, true }, }; if (!JsonHelper::validateKeys(innerObject, innerKeyInfoList, errorString)) { return false; } int version = innerObject[JsonHelper::jsonVersionKey].toInt(); if (version != 1) { errorString = tr("TransectStyleComplexItem version %2 not supported").arg(version); return false; } // Load transect points if (!JsonHelper::loadGeoCoordinateArray(innerObject[_jsonTransectPointsKey], false /* altitudeRequired */, _transectPoints, errorString)) { return false; } // Load generated mission items _loadedMissionItemsParent = new QObject(this); QJsonArray missionItemsJsonArray = innerObject[_jsonItemsKey].toArray(); foreach (const QJsonValue& missionItemJson, missionItemsJsonArray) { MissionItem* missionItem = new MissionItem(_loadedMissionItemsParent); if (!missionItem->load(missionItemJson.toObject(), 0 /* sequenceNumber */, errorString)) { _loadedMissionItemsParent->deleteLater(); _loadedMissionItemsParent = NULL; return false; } _loadedMissionItems.append(missionItem); } // Load CameraCalc data if (!_cameraCalc.load(innerObject[_jsonCameraCalcKey].toObject(), errorString)) { return false; } // Load TransectStyleComplexItem individual values _turnAroundDistanceFact.setRawValue (innerObject[turnAroundDistanceName].toDouble()); _cameraTriggerInTurnAroundFact.setRawValue (innerObject[cameraTriggerInTurnAroundName].toBool()); _hoverAndCaptureFact.setRawValue (innerObject[hoverAndCaptureName].toBool()); _hoverAndCaptureFact.setRawValue (innerObject[refly90DegreesName].toBool()); return true; } double TransectStyleComplexItem::greatestDistanceTo(const QGeoCoordinate &other) const { double greatestDistance = 0.0; for (int i=0; i<_transectPoints.count(); i++) { QGeoCoordinate vertex = _transectPoints[i].value(); double distance = vertex.distanceTo(other); if (distance > greatestDistance) { greatestDistance = distance; } } return greatestDistance; } void TransectStyleComplexItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus) { ComplexMissionItem::setMissionFlightStatus(missionFlightStatus); if (!qFuzzyCompare(_cruiseSpeed, missionFlightStatus.vehicleSpeed)) { _cruiseSpeed = missionFlightStatus.vehicleSpeed; emit timeBetweenShotsChanged(); } } void TransectStyleComplexItem::_setDirty(void) { setDirty(true); } void TransectStyleComplexItem::_setIfDirty(bool dirty) { if (dirty) { setDirty(true); } } void TransectStyleComplexItem::applyNewAltitude(double newAltitude) { Q_UNUSED(newAltitude); // FIXME: NYI //_altitudeFact.setRawValue(newAltitude); } double TransectStyleComplexItem::timeBetweenShots(void) { return _cruiseSpeed == 0 ? 0 : _cameraCalc.adjustedFootprintSide()->rawValue().toDouble() / _cruiseSpeed; } void TransectStyleComplexItem::_updateCoordinateAltitudes(void) { emit coordinateChanged(coordinate()); emit exitCoordinateChanged(exitCoordinate()); } void TransectStyleComplexItem::_signalLastSequenceNumberChanged(void) { emit lastSequenceNumberChanged(lastSequenceNumber()); } double TransectStyleComplexItem::coveredArea(void) const { return _surveyAreaPolygon.area(); } bool TransectStyleComplexItem::_hasTurnaround(void) const { return _turnaroundDistance() > 0; } double TransectStyleComplexItem::_turnaroundDistance(void) const { return _turnAroundDistanceFact.rawValue().toDouble(); } bool TransectStyleComplexItem::hoverAndCaptureAllowed(void) const { return _vehicle->multiRotor() || _vehicle->vtol(); } void TransectStyleComplexItem::_rebuildTransects(void) { _rebuildTransectsPhase1(); _rebuildTransectsPhase2(); }