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