GeoFenceController.cc

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#include "GeoFenceController.h"
#include "Vehicle.h"
#include "ParameterManager.h"
#include "GeoJsonHelper.h"
#include "JsonParsing.h"
#include "PlanMasterController.h"
#include "SettingsManager.h"
#include "AppSettings.h"
#include "GeoFenceManager.h"
#include "QGCFenceCircle.h"
#include "QGCFencePolygon.h"
#include "QGCLoggingCategory.h"
 
#include <QtCore/QJsonArray>
#include <QtCore/QJsonDocument>
 
QGC_LOGGING_CATEGORY(GeoFenceControllerLog, "PlanManager.GeoFenceController")
 
QMap<QString, FactMetaData*> GeoFenceController::_metaDataMap;
 
GeoFenceController::GeoFenceController(PlanMasterController* masterController, QObject* parent)
    : PlanElementController         (masterController, parent)
    , _managerVehicle               (masterController->managerVehicle())
    , _geoFenceManager              (masterController->managerVehicle()->geoFenceManager())
    , _breachReturnAltitudeFact     (0, _breachReturnAltitudeFactName, FactMetaData::valueTypeDouble)
    , _breachReturnDefaultAltitude  (SettingsManager::instance()->appSettings()->defaultMissionItemAltitude()->rawValue().toDouble())
{
    if (_metaDataMap.isEmpty()) {
        _metaDataMap = FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/BreachReturn.FactMetaData.json"), nullptr /* metaDataParent */);
    }
 
    _breachReturnAltitudeFact.setMetaData(_metaDataMap[_breachReturnAltitudeFactName]);
    _breachReturnAltitudeFact.setRawValue(_breachReturnDefaultAltitude);
 
    connect(&_polygons, &QmlObjectListModel::countChanged, this, &GeoFenceController::containsItemsChanged);
    connect(&_circles,  &QmlObjectListModel::countChanged, this, &GeoFenceController::containsItemsChanged);
 
    connect(this,                       &GeoFenceController::breachReturnPointChanged,  this, &GeoFenceController::_setDirty);
    connect(&_breachReturnAltitudeFact, &Fact::rawValueChanged,                         this, &GeoFenceController::_setDirty);
    connect(&_polygons,                 &QmlObjectListModel::dirtyChanged,              this, &GeoFenceController::_setDirty);
    connect(&_circles,                  &QmlObjectListModel::dirtyChanged,              this, &GeoFenceController::_setDirty);
}
 
GeoFenceController::~GeoFenceController()
{
 
}
 
void GeoFenceController::start(bool flyView)
{
    qCDebug(GeoFenceControllerLog) << "start flyView" << flyView;
 
    _managerVehicleChanged(_masterController->managerVehicle());
    connect(_masterController, &PlanMasterController::managerVehicleChanged, this, &GeoFenceController::_managerVehicleChanged);
 
    PlanElementController::start(flyView);
    _init();
}
 
void GeoFenceController::_init(void)
{
 
}
 
void GeoFenceController::setBreachReturnPoint(const QGeoCoordinate& breachReturnPoint)
{
    if (_breachReturnPoint != breachReturnPoint) {
        _breachReturnPoint = breachReturnPoint;
        setDirty(true);
        emit breachReturnPointChanged(breachReturnPoint);
    }
}
 
void GeoFenceController::_managerVehicleChanged(Vehicle* managerVehicle)
{
    if (_managerVehicle) {
        _geoFenceManager->disconnect(this);
        _managerVehicle->disconnect(this);
        _managerVehicle->parameterManager()->disconnect(this);
        _managerVehicle = nullptr;
        _geoFenceManager = nullptr;
    }
 
    _managerVehicle = managerVehicle;
    if (!_managerVehicle) {
        qWarning() << "GeoFenceController::managerVehicleChanged managerVehicle=nullptr";
        return;
    }
 
    _geoFenceManager = _managerVehicle->geoFenceManager();
    connect(_geoFenceManager, &GeoFenceManager::loadComplete,                   this, &GeoFenceController::_managerLoadComplete);
    connect(_geoFenceManager, &GeoFenceManager::sendComplete,                   this, &GeoFenceController::_managerSendComplete);
    connect(_geoFenceManager, &GeoFenceManager::removeAllComplete,              this, &GeoFenceController::_managerRemoveAllComplete);
    connect(_geoFenceManager, &GeoFenceManager::inProgressChanged,              this, &GeoFenceController::syncInProgressChanged);
 
    (void) connect(_managerVehicle, &Vehicle::capabilityBitsChanged, this, [this](uint64_t capabilityBits) {
        Q_UNUSED(capabilityBits);
        emit supportedChanged(supported());
    });
 
    connect(_managerVehicle->parameterManager(), &ParameterManager::parametersReadyChanged, this, &GeoFenceController::_parametersReady);
    _parametersReady();
 
    emit supportedChanged(supported());
}
 
bool GeoFenceController::load(const QJsonObject& json, QString& errorString)
{
    removeAll();
 
    errorString.clear();
 
    if (!json.contains(JsonParsing::jsonVersionKey) ||
            (json.contains(JsonParsing::jsonVersionKey) && json[JsonParsing::jsonVersionKey].toInt() == 1)) {
        // We just ignore old version 1 or prior data
        return true;
    }
 
    QList<JsonParsing::KeyValidateInfo> keyInfoList = {
        { JsonParsing::jsonVersionKey,   QJsonValue::Double, true },
        { _jsonCirclesKey,              QJsonValue::Array,  true },
        { _jsonPolygonsKey,             QJsonValue::Array,  true },
        { _jsonBreachReturnKey,         QJsonValue::Array,  false },
    };
    if (!JsonParsing::validateKeys(json, keyInfoList, errorString)) {
        return false;
    }
 
    if (json[JsonParsing::jsonVersionKey].toInt() != _jsonCurrentVersion) {
        errorString = tr("GeoFence supports version %1").arg(_jsonCurrentVersion);
        return false;
    }
 
    QJsonArray jsonPolygonArray = json[_jsonPolygonsKey].toArray();
    for (const QJsonValue jsonPolygonValue: jsonPolygonArray) {
        if (jsonPolygonValue.type() != QJsonValue::Object) {
            errorString = tr("GeoFence polygon not stored as object");
            return false;
        }
 
        QGCFencePolygon* fencePolygon = new QGCFencePolygon(false /* inclusion */, this /* parent */);
        if (!fencePolygon->loadFromJson(jsonPolygonValue.toObject(), true /* required */, errorString)) {
            return false;
        }
        _polygons.append(fencePolygon);
    }
 
    QJsonArray jsonCircleArray = json[_jsonCirclesKey].toArray();
    for (const QJsonValue jsonCircleValue: jsonCircleArray) {
        if (jsonCircleValue.type() != QJsonValue::Object) {
            errorString = tr("GeoFence circle not stored as object");
            return false;
        }
 
        QGCFenceCircle* fenceCircle = new QGCFenceCircle(this /* parent */);
        if (!fenceCircle->loadFromJson(jsonCircleValue.toObject(), errorString)) {
            return false;
        }
        _circles.append(fenceCircle);
    }
 
    if (json.contains(_jsonBreachReturnKey)) {
        if (!GeoJsonHelper::loadGeoCoordinate(json[_jsonBreachReturnKey], true /* altitudeRequred */, _breachReturnPoint, errorString)) {
            return false;
        }
        _breachReturnAltitudeFact.setRawValue(_breachReturnPoint.altitude());
    } else {
        _breachReturnPoint = QGeoCoordinate();
        _breachReturnAltitudeFact.setRawValue(_breachReturnDefaultAltitude);
    }
    emit breachReturnPointChanged(_breachReturnPoint);
 
    setDirty(false);
 
    return true;
}
 
void GeoFenceController::save(QJsonObject& json)
{
    json[JsonParsing::jsonVersionKey] = _jsonCurrentVersion;
 
    QJsonArray jsonPolygonArray;
    for (int i=0; i<_polygons.count(); i++) {
        QJsonObject jsonPolygon;
        QGCFencePolygon* fencePolygon = _polygons.value<QGCFencePolygon*>(i);
        fencePolygon->saveToJson(jsonPolygon);
        jsonPolygonArray.append(jsonPolygon);
    }
    json[_jsonPolygonsKey] = jsonPolygonArray;
 
    QJsonArray jsonCircleArray;
    for (int i=0; i<_circles.count(); i++) {
        QJsonObject jsonCircle;
        QGCFenceCircle* fenceCircle = _circles.value<QGCFenceCircle*>(i);
        fenceCircle->saveToJson(jsonCircle);
        jsonCircleArray.append(jsonCircle);
    }
    json[_jsonCirclesKey] = jsonCircleArray;
 
    if (_breachReturnPoint.isValid()) {
        QJsonValue jsonCoordinate;
 
        _breachReturnPoint.setAltitude(_breachReturnAltitudeFact.rawValue().toDouble());
        GeoJsonHelper::saveGeoCoordinate(_breachReturnPoint, true /* writeAltitude */, jsonCoordinate);
        json[_jsonBreachReturnKey] = jsonCoordinate;
    }
}
 
void GeoFenceController::removeAll(void)
{
    setBreachReturnPoint(QGeoCoordinate());
    _polygons.clearAndDeleteContents();
    _circles.clearAndDeleteContents();
}
 
void GeoFenceController::removeAllFromVehicle(void)
{
    if (_masterController->offline()) {
        qCCritical(GeoFenceControllerLog) << "GeoFenceController::removeAllFromVehicle called while offline";
    } else if (syncInProgress()) {
        qCCritical(GeoFenceControllerLog) << "GeoFenceController::removeAllFromVehicle called while syncInProgress";
    } else {
        _geoFenceManager->removeAll();
    }
}
 
void GeoFenceController::loadFromVehicle(void)
{
    if (_masterController->offline()) {
        qCCritical(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle called while offline";
    } else if (syncInProgress()) {
        qCCritical(GeoFenceControllerLog) << "GeoFenceController::loadFromVehicle called while syncInProgress";
    } else {
        _itemsRequested = true;
        _geoFenceManager->loadFromVehicle();
    }
}
 
void GeoFenceController::sendToVehicle(void)
{
    if (_masterController->offline()) {
        qCCritical(GeoFenceControllerLog) << "GeoFenceController::sendToVehicle called while offline";
    } else if (syncInProgress()) {
        qCCritical(GeoFenceControllerLog) << "GeoFenceController::sendToVehicle called while syncInProgress";
    } else {
        qCDebug(GeoFenceControllerLog) << "GeoFenceController::sendToVehicle";
        _geoFenceManager->sendToVehicle(_breachReturnPoint, _polygons, _circles);
        setDirty(false);
    }
}
 
bool GeoFenceController::syncInProgress(void) const
{
    return _geoFenceManager->inProgress();
}
 
bool GeoFenceController::dirty(void) const
{
    return _dirty;
}
 
 
void GeoFenceController::setDirty(bool dirty)
{
    if (dirty != _dirty) {
        _dirty = dirty;
        if (!dirty) {
            for (int i=0; i<_polygons.count(); i++) {
                QGCFencePolygon* polygon = _polygons.value<QGCFencePolygon*>(i);
                polygon->setDirty(false);
            }
            for (int i=0; i<_circles.count(); i++) {
                QGCFenceCircle* circle = _circles.value<QGCFenceCircle*>(i);
                circle->setDirty(false);
            }
        }
        emit dirtyChanged(dirty);
    }
}
 
void GeoFenceController::_polygonDirtyChanged(bool dirty)
{
    if (dirty) {
        setDirty(true);
    }
}
 
void GeoFenceController::_setDirty(void)
{
    setDirty(true);
}
 
void GeoFenceController::_setFenceFromManager(const QList<QGCFencePolygon>& polygons,
                                              const QList<QGCFenceCircle>&  circles)
{
    _polygons.clearAndDeleteContents();
    _circles.clearAndDeleteContents();
 
    for (int i=0; i<polygons.count(); i++) {
        _polygons.append(new QGCFencePolygon(polygons[i], this));
    }
 
    for (int i=0; i<circles.count(); i++) {
        _circles.append(new QGCFenceCircle(circles[i], this));
    }
 
    setDirty(false);
}
 
void GeoFenceController::_setReturnPointFromManager(QGeoCoordinate breachReturnPoint)
{
    _breachReturnPoint = breachReturnPoint;
    emit breachReturnPointChanged(_breachReturnPoint);
    if (_breachReturnPoint.isValid()) {
        _breachReturnAltitudeFact.setRawValue(_breachReturnPoint.altitude());
    } else {
        _breachReturnAltitudeFact.setRawValue(_breachReturnDefaultAltitude);
    }
}
 
void GeoFenceController::_managerLoadComplete(void)
{
    // Fly view always reloads on _loadComplete
    // Plan view only reloads if:
    //  - Load was specifically requested
    //  - There is no current Plan
    if (_flyView || _itemsRequested || isEmpty()) {
        _setReturnPointFromManager(_geoFenceManager->breachReturnPoint());
        _setFenceFromManager(_geoFenceManager->polygons(), _geoFenceManager->circles());
        setDirty(false);
        emit loadComplete();
    }
    _itemsRequested = false;
}
 
void GeoFenceController::_managerSendComplete(bool error)
{
    // Fly view always reloads on manager sendComplete
    if (!error && _flyView) {
        showPlanFromManagerVehicle();
    }
}
 
void GeoFenceController::_managerRemoveAllComplete(bool error)
{
    if (!error) {
        // Remove all from vehicle so we always update
        showPlanFromManagerVehicle();
    }
}
 
bool GeoFenceController::containsItems(void) const
{
    return _polygons.count() > 0 || _circles.count() > 0;
}
 
bool GeoFenceController::showPlanFromManagerVehicle(void)
{
    qCDebug(GeoFenceControllerLog) << "showPlanFromManagerVehicle _flyView" << _flyView;
    if (_masterController->offline()) {
        qCCritical(GeoFenceControllerLog) << "GeoFenceController::showPlanFromManagerVehicle called while offline";
        return true;    // stops further propagation of showPlanFromManagerVehicle due to error
    } else {
        _itemsRequested = true;
        if (!_managerVehicle->initialPlanRequestComplete()) {
            // The vehicle hasn't completed initial load, we can just wait for loadComplete to be signalled automatically
            qCDebug(GeoFenceControllerLog) << "showPlanFromManagerVehicle: !initialPlanRequestComplete, wait for signal";
            return true;
        } else if (syncInProgress()) {
            // If the sync is already in progress, _loadComplete will be called automatically when it is done. So no need to do anything.
            qCDebug(GeoFenceControllerLog) << "showPlanFromManagerVehicle: syncInProgress wait for signal";
            return true;
        } else {
            // Fake a _loadComplete with the current items
            qCDebug(GeoFenceControllerLog) << "showPlanFromManagerVehicle: sync complete simulate signal";
            _itemsRequested = true;
            _managerLoadComplete();
            return false;
        }
    }
}
 
void GeoFenceController::addInclusionPolygon(QGeoCoordinate topLeft, QGeoCoordinate bottomRight)
{
    QGeoCoordinate topRight(topLeft.latitude(), bottomRight.longitude());
    QGeoCoordinate bottomLeft(bottomRight.latitude(), topLeft.longitude());
 
    double halfWidthMeters = topLeft.distanceTo(topRight) / 2.0;
    double halfHeightMeters = topLeft.distanceTo(bottomLeft) / 2.0;
 
    QGeoCoordinate centerLeftEdge = topLeft.atDistanceAndAzimuth(halfHeightMeters, 180);
    QGeoCoordinate centerTopEdge = topLeft.atDistanceAndAzimuth(halfWidthMeters, 90);
    QGeoCoordinate center(centerLeftEdge.latitude(), centerTopEdge.longitude());
 
    // Initial polygon is inset to take 3/4s of viewport with max width/height of 3000 meters
    halfWidthMeters =   qMin(halfWidthMeters * 0.75, 1500.0);
    halfHeightMeters =  qMin(halfHeightMeters * 0.75, 1500.0);
 
    // Initial polygon has max width and height of 3000 meters
    topLeft =           center.atDistanceAndAzimuth(halfWidthMeters, -90).atDistanceAndAzimuth(halfHeightMeters, 0);
    topRight =          center.atDistanceAndAzimuth(halfWidthMeters, 90).atDistanceAndAzimuth(halfHeightMeters, 0);
    bottomLeft =        center.atDistanceAndAzimuth(halfWidthMeters, -90).atDistanceAndAzimuth(halfHeightMeters, 180);
    bottomRight =       center.atDistanceAndAzimuth(halfWidthMeters, 90).atDistanceAndAzimuth(halfHeightMeters, 180);
 
    QGCFencePolygon* polygon = new QGCFencePolygon(true /* inclusion */, this);
    polygon->appendVertex(topLeft);
    polygon->appendVertex(topRight);
    polygon->appendVertex(bottomRight);
    polygon->appendVertex(bottomLeft);
    _polygons.append(polygon);
 
    clearAllInteractive();
    polygon->setInteractive(true);
}
 
void GeoFenceController::addInclusionCircle(QGeoCoordinate topLeft, QGeoCoordinate bottomRight)
{
    QGeoCoordinate topRight(topLeft.latitude(), bottomRight.longitude());
    QGeoCoordinate bottomLeft(bottomRight.latitude(), topLeft.longitude());
 
    // Initial radius is inset to take 3/4s of viewport and max of 1500 meters
    double halfWidthMeters = topLeft.distanceTo(topRight) / 2.0;
    double halfHeightMeters = topLeft.distanceTo(bottomLeft) / 2.0;
    double radius = qMin(qMin(halfWidthMeters, halfHeightMeters) * 0.75, 1500.0);
 
    QGeoCoordinate centerLeftEdge = topLeft.atDistanceAndAzimuth(halfHeightMeters, 180);
    QGeoCoordinate centerTopEdge = topLeft.atDistanceAndAzimuth(halfWidthMeters, 90);
    QGeoCoordinate center(centerLeftEdge.latitude(), centerTopEdge.longitude());
 
    QGCFenceCircle* circle = new QGCFenceCircle(center, radius, true /* inclusion */, this);
    _circles.append(circle);
 
    clearAllInteractive();
    circle->setInteractive(true);
}
 
void GeoFenceController::deletePolygon(int index)
{
    if (index < 0 || index > _polygons.count() - 1) {
        return;
    }
 
    QGCFencePolygon* polygon = qobject_cast<QGCFencePolygon*>(_polygons.removeAt(index));
    polygon->deleteLater();
}
 
void GeoFenceController::deleteCircle(int index)
{
    if (index < 0 || index > _circles.count() - 1) {
        return;
    }
 
    QGCFenceCircle* circle = qobject_cast<QGCFenceCircle*>(_circles.removeAt(index));
    circle->deleteLater();
}
 
void GeoFenceController::clearAllInteractive(void)
{
    for (int i=0; i<_polygons.count(); i++) {
        _polygons.value<QGCFencePolygon*>(i)->setInteractive(false);
    }
    for (int i=0; i<_circles.count(); i++) {
        _circles.value<QGCFenceCircle*>(i)->setInteractive(false);
    }
}
 
bool GeoFenceController::supported(void) const
{
    return _managerVehicle->capabilityBits() & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE;
}
 
/* Returns the radius of the "paramCircularFence"
 * which is called the "Geofence Failsafe" in PX4 and the "Circular Geofence" on Ardupilot
 * this code should ideally live in the firmware plugin since it is specific to apm and px4 firmwares */
double GeoFenceController::paramCircularFence(void)
{
    if(_managerVehicle->isOfflineEditingVehicle()){
        return 0;
    }
 
    if(_managerVehicle->px4Firmware()){
        if(!_managerVehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, _px4ParamCircularFence)){
            return 0;
        }
 
        return _managerVehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, _px4ParamCircularFence)->rawValue().toDouble();
    }
 
    if(_managerVehicle->apmFirmware())
    {
        if (!_managerVehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, _apmParamCircularFenceRadius) ||
            !_managerVehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, _apmParamCircularFenceEnabled) ||
            !_managerVehicle->parameterManager()->parameterExists(ParameterManager::defaultComponentId, _apmParamCircularFenceType)){
            return 0;
        }
 
        bool apm_fence_enabled = _managerVehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, _apmParamCircularFenceEnabled)->rawValue().toBool();
        bool apm_fence_type_circle = (1 << 1) & _managerVehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, _apmParamCircularFenceType)->rawValue().toUInt();
 
        if(!apm_fence_enabled || !apm_fence_type_circle)
            return 0;
 
        return _managerVehicle->parameterManager()->getParameter(ParameterManager::defaultComponentId, _apmParamCircularFenceRadius)->rawValue().toDouble();
    }
 
    return 0;
}
 
void GeoFenceController::_parametersReady(void)
{
    /* When parameters are ready we setup notifications of param changes
     * so that if a param changes we can emit paramCircularFenceChanged
     * and trigger an update to the UI */
 
    // First disconnect from any existing facts
    if (_px4ParamCircularFenceFact) {
        _px4ParamCircularFenceFact->disconnect(this);
        _px4ParamCircularFenceFact = nullptr;
    }
    if (_apmParamCircularFenceRadiusFact) {
        _apmParamCircularFenceRadiusFact->disconnect(this);
        _apmParamCircularFenceRadiusFact = nullptr;
    }
    if (_apmParamCircularFenceEnabledFact) {
        _apmParamCircularFenceEnabledFact->disconnect(this);
        _apmParamCircularFenceEnabledFact = nullptr;
    }
    if (_apmParamCircularFenceTypeFact) {
        _apmParamCircularFenceTypeFact->disconnect(this);
        _apmParamCircularFenceTypeFact = nullptr;
    }
 
    // then connect to needed paremters
    // While checking they exist to avoid errors
    ParameterManager* _paramManager = _managerVehicle->parameterManager();
 
    if(_managerVehicle->isOfflineEditingVehicle()){
        emit paramCircularFenceChanged();
        return;
    }
 
    if(_managerVehicle->px4Firmware()){
        if(!_paramManager->parameterExists(ParameterManager::defaultComponentId, _px4ParamCircularFence)){
            emit paramCircularFenceChanged();
            return;
        }
 
        _px4ParamCircularFenceFact = _paramManager->getParameter(ParameterManager::defaultComponentId, _px4ParamCircularFence);
        connect(_px4ParamCircularFenceFact, &Fact::rawValueChanged, this, &GeoFenceController::paramCircularFenceChanged);
    }
    else if(_managerVehicle->apmFirmware())
    {
        if (!_paramManager->parameterExists(ParameterManager::defaultComponentId, _apmParamCircularFenceRadius) ||
            !_paramManager->parameterExists(ParameterManager::defaultComponentId, _apmParamCircularFenceEnabled) ||
            !_paramManager->parameterExists(ParameterManager::defaultComponentId, _apmParamCircularFenceType)){
            emit paramCircularFenceChanged();
            return;
        }
 
        _apmParamCircularFenceRadiusFact = _paramManager->getParameter(ParameterManager::defaultComponentId, _apmParamCircularFenceRadius);
        _apmParamCircularFenceEnabledFact = _paramManager->getParameter(ParameterManager::defaultComponentId, _apmParamCircularFenceEnabled);
        _apmParamCircularFenceTypeFact = _paramManager->getParameter(ParameterManager::defaultComponentId, _apmParamCircularFenceType);
        connect(_apmParamCircularFenceRadiusFact, &Fact::rawValueChanged, this, &GeoFenceController::paramCircularFenceChanged);
        connect(_apmParamCircularFenceEnabledFact, &Fact::rawValueChanged, this, &GeoFenceController::paramCircularFenceChanged);
        connect(_apmParamCircularFenceTypeFact, &Fact::rawValueChanged, this, &GeoFenceController::paramCircularFenceChanged);
    }
 
    emit paramCircularFenceChanged();
}
 
bool GeoFenceController::isEmpty(void) const
{
    return _polygons.count() == 0 && _circles.count() == 0 && !_breachReturnPoint.isValid();
 
}