public ProjectKmlReadUtility(XmlTextReader tr, ref COVERAGE_TYPE coverageTypeFromKML)
{
//FlightPlanFolder folder containing the mission plans -- hardwired to: @"C:\_Waldo_FCS\";
//ProjectName name of the project that was selected by the user: flight plan kml filename
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//the above structures are filled when a mission is selected from the initial Waldo_FCS screen
//Mission data folders are set up for each mission under the polygon (project) name folder
//as a mission is flown (sim or actual), the .imu, .gps, .trg files are prepared with Waldo_FCS along with a new file
//saving endpoints of flown flight lines.
//the flightline files will be denoted as being either from a sim or an actual mission (.fla or .fls)
//The .fla/.fls files will normally have the identical endpoints as the plan -- when flight lines are completed.
//but they may also have a truncated flight line if the system was shutdown in the middle of the flight line.
//When Waldo_FCS is started/restarted, and a mission is selected, the .fla or fls file will be accessed.
//Only.fls or only .fla files will be access depending on if the Waldo_FCS was started in sim or actual (non-sim).
// the procedure performed in this utility is:
// read the kml file abd get the FlightLineOriginalPlan List
// read ALL the appropriate .fla or .fls files and compile the FlightLinesFlown List
// define the FlightLinesCurrentPlan List as the remaining flight lines to be flown
//Waldo_FCS must compute (and write) the flight endpoints (as the images are triggered) so that these endpoints fall on a grid.
//This grid is spaced laterally by the flight line spacing (set in FlightLinesOriginalPlan) and the downrangeTriggerSpacingMeters.
//Nominally, the endpoints will identically match the plan endpoints.
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//The Waldo_FCS Hard Drive will have a top-level folder called _FlightPlans
//The _FlightPlans folder will contain sub-folders that represent "Jobs" -- a Job would be considered "GoogleCities"
//beneath the jobs Folder will be Project Folders; e.g., Perth, Melbourne, Brisbane, ... will be called "Projects"
//within each Project Folder will be a .kml that contains a polygon defining the coverage area defined by the client
// The pilot will select a Job on the first Waldo_FCS Screen, and then will select a Project.
//The pilot will be presented with the Project polygon outline showing how the polygon is broken into groups of flight lines.
//An individual group of flight lines will be called a "Mission" -- usually, a Mission will be completed in a single takeoff and landing
//in the below utility, we first read in all the data for all the missions for the Project.
//The to-be-flown-mission will be selected by the user using mission polygons as hotspots
//user clicks inside the polygon to select the mission (flightlines)
//this is not required for a "Linear feature" flight plan
coverageTypeFromKML = COVERAGE_TYPE.notSet;
//first interogate the kml header information for several information tags
//the mission planner software places "Waldo_FCS Mission Plan" into the document name tag
bool completedReadingKMLheader = false;
while (tr.Read() && !completedReadingKMLheader)
{
if (tr.IsStartElement() && tr.Name == "coverageType")
{
tr.Read();
String coverageType = tr.Value;
if (coverageType == "Polygon")
{
coverageTypeFromKML = COVERAGE_TYPE.polygon;
}
else if (coverageType == "LinearFeature")
coverageTypeFromKML = COVERAGE_TYPE.linearFeature;
else
{
return; // we will check on the coverage type in the calling program
}
//header contains two tags that are checked: name and CoverageType
completedReadingKMLheader = true;
}
if (tr.IsStartElement() && tr.Name == "name")
{
tr.Read();
String documentName = tr.Value;
if (documentName != "Waldo_FCS Mission Plan")
{
//need to rethink this ...
MessageBox.Show("The selected Project KML \n does not have the correct format");
return; //we will detect this in the callin gprogram cause the coverage type is not set
}
}
}
}
//constructor for the linearFeature coverage form
public Mission(String _FlightPlanFolder, String _MissionDataFolder, String MissionDateStringNameIn, int _missionNumber,
linearFeatureCoverageSummary _LFSum, LogFile _logFile,
NavInterfaceMBed navIF_In, SDKHandler cameraIn, bool simulatedMission_, bool hardwareAttached_, Image _projectImage)
{
InitializeComponent();
coverageType = COVERAGE_TYPE.linearFeature;
this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.None;
posVel_ = new PosVel();
//set the mission image
this.Width = (int)(mapScaleFactor * mapWidth);
this.Height = (int)(mapScaleFactor * mapHeight);
//this.Width = 640; //pixel height of the form
//this.Height = 480; //pixel width of the form
//retrieve local variables from the arguments
missionNumber = _missionNumber;
LFSum = _LFSum;
MissionDataFolder = _MissionDataFolder;
FlightPlanFolder = _FlightPlanFolder;
navIF_ = navIF_In;
camera = cameraIn;
logFile = _logFile;
MissionDateStringName = MissionDateStringNameIn;
projectImage = _projectImage;
//NOTE: if the simulatedMission=true, we will always generate the platform state from the software
// If hardwareAttached=true, we will collect the IMU and GPS
simulatedMission = simulatedMission_;
hardwareAttached = hardwareAttached_;
//st up the form to allow keydown events only in the simulation
if (simulatedMission)
{
this.KeyPreview = true;
}
timeFromTrigger = new Stopwatch();
//showMessage = new Stopwatch();
elapsedTime = new Stopwatch();
getPosVelTimer = new Stopwatch();
//placeholder for the first of the path image bounds
ib = LFSum.paths[0].imageBounds[0]; //placeholder for the project image bounds
//multiplier used for pix-to-geodetic conversion for the project map -- scales lat/lon to pixels
//NOTE -- we do the drawing on top of a bitmap sized to the mapWidth, mapHeight -- then stretch to fit the actual screen
lon2PixMultiplier = mapWidth / (ib.eastDeg - ib.westDeg);
lat2PixMultiplier = -mapHeight / (ib.northDeg - ib.southDeg); //"-" cause vertical map direction is positive towards the south
//lon2PixMultiplier = mapWidth / (ib.eastDeg - ib.westDeg);
//lat2PixMultiplier = -mapHeight / (ib.northDeg - ib.southDeg); //"-" cause vertical map direction is positive towards the south
platFormPosVel = new PosVel();
platFormPosVel.GeodeticPos = new PointD(0.0, 0.0);
platFormPosVel.UTMPos = new PointD(0.0, 0.0);
//this will hold the locations of the aircraft over a period of time
crumbTrail = new Point[numberCrumbTrailPoints];
labelPilotMessage.Visible = false;
//form the along-Path distance at each point (vertex)
//will be used for interpolating the commanded altitude along the path
for (int j = 0; j < LFSum.paths.Count; j++ )
{
LFSum.paths[j].alongPathDistanceAtVertex = new List<double>();
double cumulativeDistance = 0;
for (int i=0; i<LFSum.paths[j].pathUTM.Count; i++)
if (i == 0) LFSum.paths[j].alongPathDistanceAtVertex.Add(0.0);
else
{
double delX = LFSum.paths[j].pathUTM[i].X - LFSum.paths[j].pathUTM[i - 1].X;
double delY = LFSum.paths[j].pathUTM[i].Y - LFSum.paths[j].pathUTM[i - 1].Y;
cumulativeDistance += Math.Sqrt(delX * delX + delY * delY);
LFSum.paths[j].alongPathDistanceAtVertex.Add(cumulativeDistance);
}
}
}
//constructor for MissionSelection Form for polygon mission
public MissionSelection(ProjectSummary _ps, String _FlightPlanFolder, LogFile _logFile,
NavInterfaceMBed navIF_In, SDKHandler cameraIn, bool hardwareAttached_, SettingsManager _settings, String _MissionDateString)
{
InitializeComponent();
posVel_ = new PosVel();
//set the flight plans folder and the Project Summary structure from the prior Project Selection
FlightPlanFolder = _FlightPlanFolder;
ps = _ps;
navIF_ = navIF_In;
camera = cameraIn;
hardwareAttached = hardwareAttached_;
settings = _settings;
MissionDateString = _MissionDateString;
logFile = _logFile;
projectName = ps.ProjectName;
//there is a separate constructor for the linearFeature coverage type
coverageType = COVERAGE_TYPE.polygon;
//getPosVelTimer = new Stopwatch();
utm = new UTM2Geodetic();
/////////////////////////////////////////////////////////////////////////////////////
//set up the project polygon and the individual Mission polygons in pixel units
/////////////////////////////////////////////////////////////////////////////////////
//set of points in Pixels that we use to draw the project polygon onto the project map
//creats space for an array of Point structures tha will hold the project polygon
projectPolyPointsPix = new Point[ps.ProjectPolygon.Count];
//lat/lon image bounds from the mission plan
ib = ps.ProjectImage; //placeholder for the project image bounds NOTE: this is also used elsewhere
//multiplier used for pix-to-geodetic conversion for the project map -- scales lat/lon to pixels
// TODO: ugly --- cant we do this exactly???
//lon2PixMultiplier = mapScaleFactor * mapWidth / (ib.eastDeg - ib.westDeg);
//lat2PixMultiplier = -mapScaleFactor * mapHeight / (ib.northDeg - ib.southDeg); //"-" cause vertical map direction is positive towards the south
lon2PixMultiplier = mapWidth / (ib.eastDeg - ib.westDeg);
lat2PixMultiplier = -mapHeight / (ib.northDeg - ib.southDeg); //"-" cause vertical map direction is positive towards the south
//create the project polygon in pixel units -- once
for (int i = 0; i < ps.ProjectPolygon.Count; i++)
projectPolyPointsPix[i] = GeoToPix(ps.ProjectPolygon[i]); //just uses a linear scaling
//create the mission polygons (one per mission) in pixel units
//used to form the clickable region on the project map
missionPolysInPix = new List<Point[]>();
for (int i = 0; i < ps.msnSum.Count; i++)
{
Point [] pts = new Point[ps.msnSum[i].missionGeodeticPolygon.Count];
for (int j = 0; j < ps.msnSum[i].missionGeodeticPolygon.Count; j++)
pts[j] = GeoToPix(ps.msnSum[i].missionGeodeticPolygon[j]);
missionPolysInPix.Add(pts);
}
}
//constructor for the polygon coverage form
public Mission(String _FlightPlanFolder, String _MissionDataFolder, String MissionDateStringNameIn, int _missionNumber,
ProjectSummary _ps, bool[] _priorFlownFLs, LogFile _logFile,
NavInterfaceMBed navIF_In, SDKHandler cameraIn, bool _simulatedMission, bool _hardwareAttached, StreamWriter _reflyFile, Image _projectImage)
{
InitializeComponent();
coverageType = COVERAGE_TYPE.polygon; //we use a separate constructor for the linearFeature mission
this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.None;
//set the mission image -- mapWidth & mapHeight = 640 X 480 based on the Google Earth map download limits
this.Width = (int)(mapScaleFactor * mapWidth); //mapscaleFactor scales the map to fit a screen size of 1024 X 768
this.Height = (int)(mapScaleFactor * mapHeight);
//this.Width = 640; //pixel height of the form
//this.Height = 480; //pixel width of the form
posVel_ = new PosVel();
//retrieve local variables from the arguments
missionNumber = _missionNumber;
ps = _ps;
MissionDataFolder = _MissionDataFolder;
FlightPlanFolder = _FlightPlanFolder;
priorFlownFLs = _priorFlownFLs; //this contains the completed flight lines so they arent reflown
reflyFile = _reflyFile; //write the completed flight line indices to this file
projectImage = _projectImage; //contains the complete project image in case the display runs off the smaller maps
navIF_ = navIF_In;
camera = cameraIn;
logFile = _logFile;
MissionDateStringName = MissionDateStringNameIn;
//NOTE: if the simulatedMission=true, we will always generate the platform state from the software
// If hardwareAttached=true, we will collect the IMU and GPS
simulatedMission = _simulatedMission;
hardwareAttached = _hardwareAttached;
timeFromTrigger = new Stopwatch();
elapsedTime = new Stopwatch();
getPosVelTimer = new Stopwatch();
timePastEndfFlightline = new Stopwatch();
////ib is used internally to the GeoToPix procedures
////we will need to reset the ib & PixMultipliers if we have to use the Project map (plane exits mission map)
//ib = ps.msnSum[missionNumber].MissionImage; //placeholder for the Mission image bounds
////multiplier used for pix-to-geodetic conversion for the project map -- scales lat/lon to pixels
////NOTE -- we do the drawing on top of a bitmap sized to the mapWidth, mapHeight -- then stretch to fit the actual screen
//lon2PixMultiplier = mapWidth / (ib.eastDeg - ib.westDeg);
//lat2PixMultiplier = -mapHeight / (ib.northDeg - ib.southDeg); //"-" cause vertical map direction is positive towards the south
platFormPosVel = new PosVel();
platFormPosVel.GeodeticPos = new PointD(0.0, 0.0);
platFormPosVel.UTMPos = new PointD(0.0, 0.0);
//this will hold the locations of the aircraft over a period of time
crumbTrail = new Point[numberCrumbTrailPoints];
//shows the "waiting sats" message
labelPilotMessage.Visible = false;
//get the max flight line length for this mission -- should come from the missionPlan
//used to establish a region before and after the flightlines where flightlinecapture is allowed
for (int i = 0; i < ps.msnSum[missionNumber].FlightLinesCurrentPlan.Count; i++)
{
if (ps.msnSum[missionNumber].FlightLinesCurrentPlan[i].FLLengthMeters > maxFlightLineLength)
maxFlightLineLength = ps.msnSum[missionNumber].FlightLinesCurrentPlan[i].FLLengthMeters;
}
}
//constructor for MissionSelection Form Linear Feature mission
public MissionSelection(linearFeatureCoverageSummary _LFSum, String _FlightPlanFolder, LogFile _logFile,
NavInterfaceMBed navIF_In, SDKHandler cameraIn, bool hardwareAttached_, SettingsManager _settings, String _MissionDateString)
{
InitializeComponent();
posVel_ = new PosVel();
//set the flight plans folder and the Project Summary structure from the prior Project Selection
FlightPlanFolder = _FlightPlanFolder;
LFSum = _LFSum;
navIF_ = navIF_In;
camera = cameraIn;
hardwareAttached = hardwareAttached_;
settings = _settings;
MissionDateString = _MissionDateString;
logFile = _logFile;
projectName = LFSum.ProjectName;
//this is a specific constructor for the linear feature coverage type
coverageType = COVERAGE_TYPE.linearFeature;
getPosVelTimer = new Stopwatch();
utm = new UTM2Geodetic();
//lat/lon image bounds from the mission plan
ib = LFSum.ProjectImage; //placeholder for the project image bounds NOTE: this is also used elsewhere
//multiplier used for pix-to-geodetic conversion for the project map -- scales lat/lon to pixels
// TODO: ugly --- cant we do this exactly???
//lon2PixMultiplier = mapScaleFactor * mapWidth / (ib.eastDeg - ib.westDeg);
//lat2PixMultiplier = -mapScaleFactor * mapHeight / (ib.northDeg - ib.southDeg); //"-" cause vertical map direction is positive towards the south
lon2PixMultiplier = mapWidth / (ib.eastDeg - ib.westDeg);
lat2PixMultiplier = -mapHeight / (ib.northDeg - ib.southDeg); //"-" cause vertical map direction is positive towards the south
}
