SurveyComplexItem.h

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#pragma once
 
#include "TransectStyleComplexItem.h"
#include "SettingsFact.h"
 
class PlanMasterController;
class MissionItem;
 
class SurveyComplexItem : public TransectStyleComplexItem
{
    Q_OBJECT
 
public:
    SurveyComplexItem(PlanMasterController* masterController, bool flyView, const QString& kmlOrShpFile);
 
    Q_PROPERTY(Fact*            gridAngle              READ gridAngle              CONSTANT)
    Q_PROPERTY(Fact*            flyAlternateTransects  READ flyAlternateTransects  CONSTANT)
    Q_PROPERTY(Fact*            splitConcavePolygons   READ splitConcavePolygons   CONSTANT)
    Q_PROPERTY(QGeoCoordinate   centerCoordinate       READ centerCoordinate       WRITE setCenterCoordinate)
 
    Fact* gridAngle             (void) { return &_gridAngleFact; }
    Fact* flyAlternateTransects (void) { return &_flyAlternateTransectsFact; }
    Fact* splitConcavePolygons  (void) { return &_splitConcavePolygonsFact; }
 
    Q_INVOKABLE void rotateEntryPoint(void);
 
    // Overrides from ComplexMissionItem
    QString         patternName         (void) const final { return tr(canonicalName); }
    void            applyPreviousAltitudeFrame(QGroundControlQmlGlobal::AltitudeFrame prevAltFrame, double prevAltitude) final;
    bool            load                (const QJsonObject& complexObject, int sequenceNumber, QString& errorString) final;
    QString         mapVisualQML        (void) const final { return QStringLiteral("SurveyMapVisual.qml"); }
    QString         presetsSettingsGroup(void) { return settingsGroup; }
    void            savePreset          (const QString& name);
    void            loadPreset          (const QString& name);
    bool            isSurveyItem        (void) const final { return true; }
    QGeoCoordinate  centerCoordinate    (void) const { return _surveyAreaPolygon.center(); }
    void            setCenterCoordinate (const QGeoCoordinate& coordinate) { _surveyAreaPolygon.setCenter(coordinate); }
 
    // Overrides from TransectStyleComplexItem
    void    save                (QJsonArray&  planItems) final;
    bool    specifiesCoordinate (void) const final { return true; }
    double  timeBetweenShots    (void) final;
 
    // Overrides from VisualMissionionItem
    QString             commandDescription  (void) const final { return tr("Survey"); }
    QString             commandName         (void) const final { return tr("Survey"); }
    QString             abbreviation        (void) const final { return tr("S"); }
    ReadyForSaveState   readyForSaveState    (void) const final;
    double              additionalTimeDelay (void) const final;
 
    // Must match json spec for GridEntryLocation
    enum EntryLocation {
        EntryLocationFirst,
        EntryLocationTopLeft = EntryLocationFirst,
        EntryLocationTopRight,
        EntryLocationBottomLeft,
        EntryLocationBottomRight,
        EntryLocationLast = EntryLocationBottomRight
    };
 
    static constexpr const char* canonicalName = QT_TR_NOOP("Survey");
 
    static constexpr const char* jsonComplexItemTypeValue =   "survey";
    static constexpr const char* jsonV3ComplexItemTypeValue = "survey";
 
    static constexpr const char* settingsGroup =              "Survey";
    static constexpr const char* gridAngleName =              "GridAngle";
    static constexpr const char* gridEntryLocationName =      "GridEntryLocation";
    static constexpr const char* flyAlternateTransectsName =  "FlyAlternateTransects";
    static constexpr const char* splitConcavePolygonsName =   "SplitConcavePolygons";
 
signals:
    void refly90DegreesChanged(bool refly90Degrees);
 
private slots:
    void _updateWizardMode              (void);
 
    // Overrides from TransectStyleComplexItem
    void _rebuildTransectsPhase1        (void) final;
    void _recalcCameraShots             (void) final;
 
private:
    enum CameraTriggerCode {
        CameraTriggerNone,
        CameraTriggerOn,
        CameraTriggerOff,
        CameraTriggerHoverAndCapture
    };
 
    QPointF _rotatePoint(const QPointF& point, const QPointF& origin, double angle);
    void _intersectLinesWithRect(const QList<QLineF>& lineList, const QRectF& boundRect, QList<QLineF>& resultLines);
    void _intersectLinesWithPolygon(const QList<QLineF>& lineList, const QPolygonF& polygon, QList<QLineF>& resultLines);
    void _adjustLineDirection(const QList<QLineF>& lineList, QList<QLineF>& resultLines);
    bool _nextTransectCoord(const QList<QGeoCoordinate>& transectPoints, int pointIndex, QGeoCoordinate& coord);
    bool _appendMissionItemsWorker(QList<MissionItem*>& items, QObject* missionItemParent, int& seqNum, bool hasRefly, bool buildRefly);
    void _optimizeTransectsForShortestDistance(const QGeoCoordinate& distanceCoord, QList<QList<QGeoCoordinate>>& transects);
    qreal _ccw(QPointF pt1, QPointF pt2, QPointF pt3);
    qreal _dp(QPointF pt1, QPointF pt2);
    void _swapPoints(QList<QPointF>& points, int index1, int index2);
    void _reverseTransectOrder(QList<QList<QGeoCoordinate>>& transects);
    void _reverseInternalTransectPoints(QList<QList<QGeoCoordinate>>& transects);
    void _adjustTransectsToEntryPointLocation(QList<QList<QGeoCoordinate>>& transects);
    bool _gridAngleIsNorthSouthTransects();
    double _clampGridAngle90(double gridAngle);
    bool _imagesEverywhere(void) const;
    bool _triggerCamera(void) const;
    bool _hasTurnaround(void) const;
    double _turnaroundDistance(void) const;
    bool _hoverAndCaptureEnabled(void) const;
    bool _loadV3(const QJsonObject& complexObject, int sequenceNumber, QString& errorString);
    bool _loadV4V5(const QJsonObject& complexObject, int sequenceNumber, QString& errorString, int version, bool forPresets);
    void _saveCommon(QJsonObject& complexObject);
    void _rebuildTransectsPhase1Worker(bool refly);
    void _rebuildTransectsPhase1WorkerSinglePolygon(bool refly);
    void _rebuildTransectsFromPolygon(bool refly, const QPolygonF& polygon, const QGeoCoordinate& tangentOrigin, const QPointF* const transitionPoint);
 
#if 0
    // Splitting polygons is not supported since this code would get stuck in a infinite loop
    // Code is left here in case someone wants to try to resurrect it
 
    void _rebuildTransectsPhase1WorkerSplitPolygons(bool refly);
 
    // Decompose polygon into list of convex sub polygons
    void _PolygonDecomposeConvex(const QPolygonF& polygon, QList<QPolygonF>& decomposedPolygons);
    // return true if vertex a can see vertex b
    bool _VertexCanSeeOther(const QPolygonF& polygon, const QPointF* vertexA, const QPointF* vertexB);
    bool _VertexIsReflex(const QPolygonF& polygon, QList<QPointF>::const_iterator& vertexIter);
#endif
 
    QMap<QString, FactMetaData*> _metaDataMap;
 
    SettingsFact    _gridAngleFact;
    SettingsFact    _flyAlternateTransectsFact;
    SettingsFact    _splitConcavePolygonsFact;
    int             _entryPoint;
 
    static constexpr const char* _jsonGridAngleKey =          "angle";
    static constexpr const char* _jsonEntryPointKey =         "entryLocation";
 
    static constexpr const char* _jsonV3GridObjectKey =                   "grid";
    static constexpr const char* _jsonV3GridAltitudeKey =                 "altitude";
    static constexpr const char* _jsonV3GridAltitudeRelativeKey =         "relativeAltitude";
    static constexpr const char* _jsonV3GridAngleKey =                    "angle";
    static constexpr const char* _jsonV3GridSpacingKey =                  "spacing";
    static constexpr const char* _jsonV3EntryPointKey =                   "entryLocation";
    static constexpr const char* _jsonV3TurnaroundDistKey =               "turnAroundDistance";
    static constexpr const char* _jsonV3CameraTriggerDistanceKey =        "cameraTriggerDistance";
    static constexpr const char* _jsonV3CameraTriggerInTurnaroundKey =    "cameraTriggerInTurnaround";
    static constexpr const char* _jsonV3HoverAndCaptureKey =              "hoverAndCapture";
    static constexpr const char* _jsonV3GroundResolutionKey =             "groundResolution";
    static constexpr const char* _jsonV3FrontalOverlapKey =               "imageFrontalOverlap";
    static constexpr const char* _jsonV3SideOverlapKey =                  "imageSideOverlap";
    static constexpr const char* _jsonV3CameraSensorWidthKey =            "sensorWidth";
    static constexpr const char* _jsonV3CameraSensorHeightKey =           "sensorHeight";
    static constexpr const char* _jsonV3CameraResolutionWidthKey =        "resolutionWidth";
    static constexpr const char* _jsonV3CameraResolutionHeightKey =       "resolutionHeight";
    static constexpr const char* _jsonV3CameraFocalLengthKey =            "focalLength";
    static constexpr const char* _jsonV3CameraMinTriggerIntervalKey =     "minTriggerInterval";
    static constexpr const char* _jsonV3CameraObjectKey =                 "camera";
    static constexpr const char* _jsonV3CameraNameKey =                   "name";
    static constexpr const char* _jsonV3ManualGridKey =                   "manualGrid";
    static constexpr const char* _jsonV3CameraOrientationLandscapeKey =   "orientationLandscape";
    static constexpr const char* _jsonV3FixedValueIsAltitudeKey =         "fixedValueIsAltitude";
    static constexpr const char* _jsonV3Refly90DegreesKey =               "refly90Degrees";
    static constexpr const char* _jsonFlyAlternateTransectsKey =          "flyAlternateTransects";
    static constexpr const char* _jsonSplitConcavePolygonsKey =           "splitConcavePolygons";
};