174 lines
8.2 KiB
C++
174 lines
8.2 KiB
C++
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/****************************************************************************
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*
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* (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
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*
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* QGroundControl is licensed according to the terms in the file
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* COPYING.md in the root of the source code directory.
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*
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****************************************************************************/
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#pragma once
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#include "TransectStyleComplexItem.h"
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#include "MissionItem.h"
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#include "SettingsFact.h"
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#include "QGCLoggingCategory.h"
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Q_DECLARE_LOGGING_CATEGORY(SurveyComplexItemLog)
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class SurveyComplexItem : public TransectStyleComplexItem
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{
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Q_OBJECT
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public:
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/// @param vehicle Vehicle which this is being contructed for
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/// @param flyView true: Created for use in the Fly View, false: Created for use in the Plan View
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/// @param kmlOrShpFile Polygon comes from this file, empty for default polygon
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SurveyComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrShpFile, QObject* parent);
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Q_PROPERTY(Fact* gridAngle READ gridAngle CONSTANT)
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Q_PROPERTY(Fact* flyAlternateTransects READ flyAlternateTransects CONSTANT)
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Q_PROPERTY(Fact* splitConcavePolygons READ splitConcavePolygons CONSTANT)
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Fact* gridAngle (void) { return &_gridAngleFact; }
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Fact* flyAlternateTransects (void) { return &_flyAlternateTransectsFact; }
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Fact* splitConcavePolygons (void) { return &_splitConcavePolygonsFact; }
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Q_INVOKABLE void rotateEntryPoint(void);
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// Overrides from ComplexMissionItem
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bool load (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
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QString mapVisualQML (void) const final { return QStringLiteral("SurveyMapVisual.qml"); }
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QString presetsSettingsGroup(void) { return settingsGroup; }
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void savePreset (const QString& name);
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void loadPreset (const QString& name);
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// Overrides from TransectStyleComplexItem
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void save (QJsonArray& planItems) final;
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bool specifiesCoordinate (void) const final { return true; }
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void appendMissionItems (QList<MissionItem*>& items, QObject* missionItemParent) final;
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void applyNewAltitude (double newAltitude) final;
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double timeBetweenShots (void) final;
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// Overrides from VisualMissionionItem
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QString commandDescription (void) const final { return tr("Survey"); }
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QString commandName (void) const final { return tr("Survey"); }
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QString abbreviation (void) const final { return tr("S"); }
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ReadyForSaveState readyForSaveState (void) const final;
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double additionalTimeDelay (void) const final;
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// Must match json spec for GridEntryLocation
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enum EntryLocation {
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EntryLocationFirst,
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EntryLocationTopLeft = EntryLocationFirst,
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EntryLocationTopRight,
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EntryLocationBottomLeft,
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EntryLocationBottomRight,
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EntryLocationLast = EntryLocationBottomRight
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};
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static const char* jsonComplexItemTypeValue;
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static const char* settingsGroup;
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static const char* gridAngleName;
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static const char* gridEntryLocationName;
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static const char* flyAlternateTransectsName;
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static const char* splitConcavePolygonsName;
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static const char* jsonV3ComplexItemTypeValue;
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signals:
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void refly90DegreesChanged(bool refly90Degrees);
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private slots:
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// Overrides from TransectStyleComplexItem
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void _rebuildTransectsPhase1 (void) final;
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void _recalcComplexDistance (void) final;
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void _recalcCameraShots (void) final;
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private:
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enum CameraTriggerCode {
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CameraTriggerNone,
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CameraTriggerOn,
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CameraTriggerOff,
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CameraTriggerHoverAndCapture
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};
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QPointF _rotatePoint(const QPointF& point, const QPointF& origin, double angle);
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void _intersectLinesWithRect(const QList<QLineF>& lineList, const QRectF& boundRect, QList<QLineF>& resultLines);
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void _intersectLinesWithPolygon(const QList<QLineF>& lineList, const QPolygonF& polygon, QList<QLineF>& resultLines);
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void _adjustLineDirection(const QList<QLineF>& lineList, QList<QLineF>& resultLines);
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int _appendWaypointToMission(QList<MissionItem*>& items, int seqNum, QGeoCoordinate& coord, CameraTriggerCode cameraTrigger, QObject* missionItemParent);
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bool _nextTransectCoord(const QList<QGeoCoordinate>& transectPoints, int pointIndex, QGeoCoordinate& coord);
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bool _appendMissionItemsWorker(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, bool hasRefly, bool buildRefly);
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void _optimizeTransectsForShortestDistance(const QGeoCoordinate& distanceCoord, QList<QList<QGeoCoordinate>>& transects);
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qreal _ccw(QPointF pt1, QPointF pt2, QPointF pt3);
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qreal _dp(QPointF pt1, QPointF pt2);
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void _swapPoints(QList<QPointF>& points, int index1, int index2);
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void _reverseTransectOrder(QList<QList<QGeoCoordinate>>& transects);
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void _reverseInternalTransectPoints(QList<QList<QGeoCoordinate>>& transects);
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void _adjustTransectsToEntryPointLocation(QList<QList<QGeoCoordinate>>& transects);
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bool _gridAngleIsNorthSouthTransects();
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double _clampGridAngle90(double gridAngle);
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void _buildAndAppendMissionItems(QList<MissionItem*>& items, QObject* missionItemParent);
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void _appendLoadedMissionItems (QList<MissionItem*>& items, QObject* missionItemParent);
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bool _imagesEverywhere(void) const;
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bool _triggerCamera(void) const;
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bool _hasTurnaround(void) const;
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double _turnaroundDistance(void) const;
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bool _hoverAndCaptureEnabled(void) const;
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bool _loadV3(const QJsonObject& complexObject, int sequenceNumber, QString& errorString);
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bool _loadV4V5(const QJsonObject& complexObject, int sequenceNumber, QString& errorString, int version, bool forPresets);
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void _saveWorker(QJsonObject& complexObject);
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void _rebuildTransectsPhase1Worker(bool refly);
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void _rebuildTransectsPhase1WorkerSinglePolygon(bool refly);
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void _rebuildTransectsPhase1WorkerSplitPolygons(bool refly);
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/// Adds to the _transects array from one polygon
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void _rebuildTransectsFromPolygon(bool refly, const QPolygonF& polygon, const QGeoCoordinate& tangentOrigin, const QPointF* const transitionPoint);
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// Decompose polygon into list of convex sub polygons
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void _PolygonDecomposeConvex(const QPolygonF& polygon, QList<QPolygonF>& decomposedPolygons);
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// return true if vertex a can see vertex b
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bool _VertexCanSeeOther(const QPolygonF& polygon, const QPointF* vertexA, const QPointF* vertexB);
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bool _VertexIsReflex(const QPolygonF& polygon, const QPointF* vertex);
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QMap<QString, FactMetaData*> _metaDataMap;
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SettingsFact _gridAngleFact;
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SettingsFact _flyAlternateTransectsFact;
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SettingsFact _splitConcavePolygonsFact;
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int _entryPoint;
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static const char* _jsonGridAngleKey;
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static const char* _jsonEntryPointKey;
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static const char* _jsonFlyAlternateTransectsKey;
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static const char* _jsonSplitConcavePolygonsKey;
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static const char* _jsonV3GridObjectKey;
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static const char* _jsonV3GridAltitudeKey;
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static const char* _jsonV3GridAltitudeRelativeKey;
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static const char* _jsonV3GridAngleKey;
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static const char* _jsonV3GridSpacingKey;
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static const char* _jsonV3EntryPointKey;
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static const char* _jsonV3TurnaroundDistKey;
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static const char* _jsonV3CameraTriggerDistanceKey;
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static const char* _jsonV3CameraTriggerInTurnaroundKey;
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static const char* _jsonV3HoverAndCaptureKey;
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static const char* _jsonV3GroundResolutionKey;
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static const char* _jsonV3FrontalOverlapKey;
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static const char* _jsonV3SideOverlapKey;
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static const char* _jsonV3CameraSensorWidthKey;
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static const char* _jsonV3CameraSensorHeightKey;
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static const char* _jsonV3CameraResolutionWidthKey;
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static const char* _jsonV3CameraResolutionHeightKey;
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static const char* _jsonV3CameraFocalLengthKey;
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static const char* _jsonV3CameraMinTriggerIntervalKey;
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static const char* _jsonV3ManualGridKey;
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static const char* _jsonV3CameraObjectKey;
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static const char* _jsonV3CameraNameKey;
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static const char* _jsonV3CameraOrientationLandscapeKey;
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static const char* _jsonV3FixedValueIsAltitudeKey;
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static const char* _jsonV3Refly90DegreesKey;
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static const int _hoverAndCaptureDelaySeconds = 4;
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};
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