//////////////////////////////////////
//all the action occurs here
//////////////////////////////////////
private void prepareKML()
{
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// this procedure is called immediately after we have clicked the BROWSE button and selected the input file
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//filestream to create the files where we will write some summary output (debug: KMLDebugFile)
FileStream fs1;
try
{
//debug output data
fs1 = new FileStream(datasetFolder + "\\KMLDebugFile.txt", FileMode.Create, FileAccess.Write, FileShare.None);
outfile = new StreamWriter(fs1);
outfile.AutoFlush = true;
}
catch { MessageBox.Show("Cant open the KMLDebugFile file "); }
//Constants.Log -- writes the the RTF on the main page of the GUI
Constants.Log("File opened for writing log information: \n" + datasetFolder + "\\KMLDebugFile.txt");
//First determine whether the mission is a linear or area mission
//In Google Earth -- use the Polygon tool for the polygon and the Path tool for the linear feature
//can detect these by inspecting the input KML
//Path has only a LineString tag and coordonate tag
//Polygon has a Polygon tag, OuterBoundaryIs tag, linearRing tag, coordinates tag
//get the lat/lon client data and other info from the input kml file
InspectKMLforMissions kml = new InspectKMLforMissions(kmlInputFilename, datasetFolder, outfile);
//generate polygon or linearFeature geometry information and further populate the job definition structure
//convert geodetic to UTM coordinates, compute area, bounding box, etc ...
COVERAGE_TYPE polyCoverageType_polygonOrLinear = kml.polygonGeometry();
//expand the poly boundary for insurance -- destroying the original polygon
if (polyCoverageType_polygonOrLinear == COVERAGE_TYPE.polygon)
{
//original lat-lon poonts saved in originalLatitudeDeg, originalLongitudeDeg within poly description
double borderWidth = 10; //probably should be adaptive to 1/2 the swath width !!
kml.expandPolygonVertices(borderWidth); //expand the client poly vertices with a border for insurance
}
//get the airports that are close to the Job polygons
kml.getAirports();
////////////////////////////////////////////////////////////////////////////////////////////////////////////
//We plan to allow three levels of naming: job, project, polygon
//the original idea was that job = the overall job containing projects and individual polygons in a job
//an example would be
//job: agricultureFieldsForDate
//Project: FarmerJohn, FarmerJoe
//polygon: field#1, field#2, etc
//However, the current setup is that we have a single polygon in the input kml file
//we will use the polygon.name for the output kml file --- that becomes the flight plan for the flight computer
/////////////////////////////////////////////////////////////////////////////////////////////////////////////
//retrieve a local copy of the Project Polygons from the client-input kml
//shared for the polygon and linear feature coverage
polys = new List<Polygon>(); //do we need this statement ???
polys = kml.getPolygonsFromKML();
//must see if the input kml file and the polygon.name are the same.
//if polygon name and inut polygon name are the same, the input file will be deastroyed (over-written)
//if names are the same: add "_input" to the original name
DirectoryInfo kmlInfo = new DirectoryInfo(kmlInputFilename);
String inputFilenameWOextension = Path.GetFileNameWithoutExtension(kmlInputFilename);
if (inputFilenameWOextension == polys[0].PolygonName)
{
MessageBox.Show("Google Earth placemark name same as input kml filename. \n" +
"Input kml name changed by appending _input at the end");
String newName = Path.GetDirectoryName(kmlInputFilename) + "\\" + inputFilenameWOextension + "_input.kml";
System.IO.File.Move(kmlInputFilename, newName);
Constants.Log("");
Constants.Log("The input kml fileName and the Google Earth Placemark name are the same");
Constants.Log("The input kml filename has been changed by adding _input to its fileName");
Constants.Log("The prepared mission plan will have the name of the original kml file");
Constants.Log("Use the new kml filename (with _input) on any new flight planning exercise");
}
////////////////////////////////////////////////////////////////////////////////////
//at this point, we have the polygon selected as well as the nearby airports
////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////
//Cycle through all the Project Polygons
// for now -- we only allow a single poly at a time
//however, the kml read program allows mpre than one at a time
//this would be useful for clients with a lot of polygon areas
////////////////////////////////////////////////////////////////
//for (int totIt=0; totIt<4; totIt++)
{
//disable the browse button after the input kml selection has been completed
button1.Visible = false;
button1.Enabled = false;
Polygon p = polys[0];
//we need to display the airports and allow the user to select a project airport.
//show the airport list in a datGridView and wait for the user to select the correct airport.
foreach (airport apt in p.airports) this.dataGridView1.Rows.Add(apt.name, apt.distanceToPolyCenterMi.ToString("F1"));
Constants.Log(" ");
Constants.Log("Please select a takeoff airport from the dropdown list ");
this.dataGridView1.Enabled = true;
this.dataGridView1.Visible = true;
this.dataGridView1.CurrentCell.Selected = false;
this.label2.Enabled = true;
this.label2.Visible = true;
//wait here while the user selects the takeoff airport
//the selected airport is given: selectedAirportIndex
while (!airportSelected)
{
Application.DoEvents();
}
Constants.Log("Selected airport: " + p.airports[selectedAirportIndex].name);
Constants.Log(" ");
Constants.Log("Please select a camera .... ");
this.listBox2.Enabled = true;
this.listBox2.Visible = true;
this.label1.Enabled = true;
this.label1.Visible = true;
//wait here for the user to select a camera
while (!cameraSelected)
{
Application.DoEvents(); //wait for user inputs
}
String cameraType = this.listBox2.SelectedItem.ToString();
Constants.Log(" ");
Constants.Log("Please select a resolution (cm) .... ");
this.listBox3.Enabled = true;
this.listBox3.Visible = true;
this.label3.Enabled = true;
this.label3.Visible = true;
//wait here for the user to select a resolution
while (!ResolutionSelected)
{
Application.DoEvents(); //wait for user inputs
}
//no need to select max flight line for a linear feature path coverage
if (p.polyCoverageType == COVERAGE_TYPE.polygon)
{
Constants.Log(" ");
Constants.Log("Please select a max Flightline Length (nm) .... ");
this.listBox4.Enabled = true;
this.listBox4.Visible = true;
this.label4.Enabled = true;
this.label4.Visible = true;
//wait here for the user to select a max flight line length
while (!maxFLSelected)
{
Application.DoEvents(); //wait for user inputs
}
//no need to select max mission time for a linear feature path coverage
//assume the user will make the linear features of flyable lengths
Constants.Log(" ");
Constants.Log("Large coverages may require multiple flight missions. ");
Constants.Log("Please select a maximum per-mission ferry+overtarget flight time (hrs) .... ");
this.listBox6.Enabled = true;
this.listBox6.Visible = true;
this.label6.Enabled = true;
this.label6.Visible = true;
//wait here for the user to select a max mission time
while (!maxMissionTimeSelected)
{
Application.DoEvents(); //wait for user inputs
}
}
else
{
this.panel1.Enabled = true;
this.panel1.Visible = true;
radioButton1.Checked = false;
radioButton2.Checked = false;
radioButton3.Checked = false;
//wait here for the user to select the number of prlallel paths
while (!linearFeaturePathsSelected ||
(radioButton1.Checked == false &&
radioButton2.Checked == false &&
radioButton3.Checked == false) )
{
Application.DoEvents(); //wait for user inputs
}
if (radioButton1.Checked == true) {linearPathCentering = LINEAR_PATH_CENTERING.centeredOnInputPath; }
else if (radioButton2.Checked == true) {linearPathCentering = LINEAR_PATH_CENTERING.offsetToLeftOfInputPath; }
else if (radioButton3.Checked == true) {linearPathCentering = LINEAR_PATH_CENTERING.offsetToRightOfInputPath; }
}
Constants.Log(" ");
Constants.Log("Please select a nominal aircraft speed (knots) .... ");
this.listBox5.Enabled = true;
this.listBox5.Visible = true;
this.label5.Enabled = true;
this.label5.Visible = true;
//wait here for the user to select a aircraft speed
while (!nominalSpeedSelected)
{
Application.DoEvents(); //wait for user inputs
}
p.selectedAirportIndex = selectedAirportIndex;
//////////////////////////////////////////////////////////////////////////
//at this point, we have completed all the user's initial inputs.
//next we compute the performance for the three coverage types
////////////////SETUP PARAMETERS///////////////////////////////////////////////////////////////////
/// specific setup for the Canon 5D rotated 90 deg (long side downrange)
//double flightAlt = 3500.0; //5,000 provides about 6" resolution -- !!!!!!!!!!this is assumed to be agl!!!!!!!!!!!
//compute the flight line spacing from the camera FOV and altitude
double CRFOV = 27.5; //degrees crossrange FOV (rotated 5D with 50m lenses -- GeoPod)
double DRFOV = 39.0; //degrees downrange FOV (rotated 5D with 50mm lens)
double downlap = 60; //percent downlap X 100 -- 60
double sideLap = 30.0; //percent sidelap X 100
int cameraPixels = 3744; //pixels in crossrange (rotated canon 5D)
//max FL length is in nautical miles
double maxFLLengthMi = maxFLLengthNM * 1.15078; //convert nautical miles to statute miles
double timeToTurn = 1.0 / 60.0; //hours -- about 2 min -- this is conservative 1.5 is typical
double aircraftSpeedKnots = nominalSpeed; // 100.0;
double takeoffTime = 5.0 / 60.0; //time to roll/run-up on the runway turing the takeoff event -- added to the ferry time
double landingTime = 5.0 / 60.0; //time in pattern & taxi roll on the runway turing the landing event -- added to the ferry time
//we attempt to merge small lines (below minLineLength) with prior lines
double minLineLength = 8.0; //minimum length of a flight line segment (units km)
///////////////////////////////////////////////////////////////////////////////////////////////////////////
//derived setup parameters/////////////////////////////////////////////////////////////////////////////////////////////////
//double swathWidth = 2.0 * Math.Tan(CRFOV * Constants.Deg2Rad / 2.0) * flightAlt; //in feet
//double GSD = swathWidth / cameraPixels * 0.3048; //GSD im meters
double swathWidthMeters = resolutionCm * cameraPixels / 100.0;
double flightAlt = swathWidthMeters / (2.0 * Math.Tan(CRFOV * Constants.Deg2Rad / 2.0)) / 0.3048;
double swathWidthWithSidelap = (1.0 - sideLap / 100.0) * swathWidthMeters; //in meters
double swathWidthKm = swathWidthWithSidelap / 1000.0; //Km
//set the max flight line length
double maxFLLengthKm = maxFLLengthMi * 5280.0 * 0.3048 / 1000.0;
outfile.WriteLine();
outfile.WriteLine("Input flight line length is: " + maxFLLengthMi.ToString("F1") + " (mi) " + maxFLLengthKm.ToString("F1") + "( km)" );
//downrange image spacing including downlap
//below used to compute the number of images per flight line
double DRImageHeightWithDownlap = (1.0 - downlap / 100.0) * 2.0 * Math.Tan(DRFOV * Constants.Deg2Rad / 2.0) * flightAlt; //in feet
//same as above but in km -- distance downrange between each image trigger
double DRImageHeightKm = DRImageHeightWithDownlap * 0.3048 / 1000.0; //Km
double aircraftSpeedKPH = aircraftSpeedKnots * 0.514 / 1000 * 3600.0; //0.514 m/sec per knot -- 100 knots = 51.4 m/s
double forwardSpeedInClimb = 0.70 * aircraftSpeedKPH; //limit the forward speed when the aircraft is climbing to altitude
double avgClimbRate = 500.0; //ft per minute -- climb rate
double minimumFerryTime = (flightAlt / avgClimbRate) / 60.0; //time to climb to altitude
double distanceDuringClimb = forwardSpeedInClimb * minimumFerryTime; //horizontal distance traveled during the climb to altitude
//note -- this can make a flight line exceed the max length -- but not by too much.
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
//at this point, we have the camera parameters
//and all the coordinates of the polygon or linear path
///////////////////////////////////////////////////////////////////////////////
//compute the LinearFeature coverage --- The below procedure will terminate the Planner
if (p.polyCoverageType == COVERAGE_TYPE.linearFeature)
{
LinearFeaturePlanner(p, flightAlt, swathWidthKm, aircraftSpeedKnots, aircraftSpeedKPH, DRImageHeightKm);
}
//////////////////////////////////////////////////////////////////////////
//we will get to the below functionality only for the polygon planner
//////////////////////////////////////////////////////////////////////////
//now determine if we prefere a NS or EW mission plan
//compute the north-to-south distance wherein we will space the flightlines
double NSDstanceKm = (p.maxNorthing - p.minNorthing) / 1000.0;
double EWDstanceKm = (p.maxEasting - p.minEasting) / 1000.0;
double NSDstanceMi = (p.maxNorthing - p.minNorthing) / 0.3048 / 5280.0;
double EWDstanceMi = (p.maxEasting - p.minEasting) / 0.3048 / 5280.0;
btnNS_EW.Visible = true;
btnNS_EW.Enabled = true;
int numSets = 0;
int numFlightLines = 0;
int maxSets = 20;
int maxFlightLines = 200;
double[, ,] XAllSets = new double[2, maxSets, maxFlightLines];
double[, ,] YAllSets = new double[2, maxSets, maxFlightLines];
///////////////////////////////////////////////////////////////////////////////////////////
//get the polygon coverage for three types of coverage and present the results to the user
///////////////////////////////////////////////////////////////////////////////////////////
COVERAGE_SUMMARY covSummary1 =
getPolygonFlightPathCoverage(0.0, //North-South case
p, swathWidthKm, maxFLLengthKm, minLineLength, DRImageHeightKm,
ref numSets, ref numFlightLines, ref XAllSets, ref YAllSets);
COVERAGE_SUMMARY covSummary2 =
getPolygonFlightPathCoverage(90.0 * Constants.Deg2Rad, //East-West case
p, swathWidthKm, maxFLLengthKm, minLineLength, DRImageHeightKm,
ref numSets, ref numFlightLines, ref XAllSets, ref YAllSets);
COVERAGE_SUMMARY covSummary3 = //principal axis case
getPolygonFlightPathCoverage((180.0-p.rotationAngleDeg) * Constants.Deg2Rad,
p, swathWidthKm, maxFLLengthKm, minLineLength, DRImageHeightKm,
ref numSets, ref numFlightLines, ref XAllSets, ref YAllSets);
double flightTime1 = covSummary1.totalFlightLineLength / aircraftSpeedKPH + (covSummary1.numTotalFlightLines - 1) * timeToTurn;
double flightTime2 = covSummary2.totalFlightLineLength / aircraftSpeedKPH + (covSummary2.numTotalFlightLines - 1) * timeToTurn;
double flightTime3 = covSummary3.totalFlightLineLength / aircraftSpeedKPH + (covSummary3.numTotalFlightLines - 1) * timeToTurn;
//display the results to the user and allow user to select from among the types of coverage
Constants.Log("");
Constants.Log(" Coverage Options: ");
Constants.Log(" Type #FL AvgFL (km) TotalLength (km) Time (hrs) ");
String fmt1 = String.Format("NorthSouth \t{0,5} \t{1,8:##.00} \t{2,10:###.00} \t{3,6:#.00}",
covSummary1.numTotalFlightLines, covSummary1.averageFlightLineLength, covSummary1.totalFlightLineLength, flightTime1);
Constants.Log(fmt1);
String fmt2 = String.Format("EastWest \t{0,5} \t{1,8:##.00} \t{2,10:###.00} \t{3,6:#.00}",
covSummary2.numTotalFlightLines, covSummary2.averageFlightLineLength, covSummary2.totalFlightLineLength, flightTime2);
Constants.Log(fmt2);
String fmt3 = String.Format("PrincipalAxis \t{0,5} \t{1,8:##.00} \t{2,10:###.00} \t{3,6:#.00}",
covSummary3.numTotalFlightLines, covSummary3.averageFlightLineLength, covSummary3.totalFlightLineLength, flightTime3);
Constants.Log(fmt3);
outfile.WriteLine();
outfile.WriteLine("Results of three types of coverage ");
outfile.WriteLine(fmt1);
outfile.WriteLine(fmt2);
outfile.WriteLine(fmt3);
//select the recommended coverage option from the three candidates
if (flightTime1 < flightTime2 && flightTime1 < flightTime3)
{ btnNS_EW.Text = "North-South"; polyCoverageType = PolygonCoverageType.South2North; };
if (flightTime2 < flightTime1 && flightTime2 < flightTime3)
{ btnNS_EW.Text = "East-West"; polyCoverageType = PolygonCoverageType.East2West; };
if (flightTime3 < flightTime1 && flightTime3 < flightTime2)
{ btnNS_EW.Text = "PrincipleAxis"; polyCoverageType = PolygonCoverageType.PrincipalAxis; };
//enable the missionPlan startup button.
button3.Visible = true;
button3.Enabled = true;
///////////////////////////////////////////////////////////////////////////////////
// wait here til user clicks considers the coverage options and clicks: "PLAN"
///////////////////////////////////////////////////////////////////////////////////
while (!MissionPlanningInitiated)
{
Application.DoEvents(); //wait for user inputs
}
//redo the polygon coverage based on the user selection --
//need to save the old plans so we dont have to redo!!
if ( polyCoverageType == PolygonCoverageType.South2North)
getPolygonFlightPathCoverage(0.0, //North-South case
p, swathWidthKm, maxFLLengthKm, minLineLength, DRImageHeightKm,
ref numSets, ref numFlightLines, ref XAllSets, ref YAllSets);
else if (polyCoverageType == PolygonCoverageType.East2West)
getPolygonFlightPathCoverage(90.0 * Constants.Deg2Rad, //East-West case
p, swathWidthKm, maxFLLengthKm, minLineLength, DRImageHeightKm,
ref numSets, ref numFlightLines, ref XAllSets, ref YAllSets);
else if (polyCoverageType == PolygonCoverageType.PrincipalAxis)
getPolygonFlightPathCoverage((180.0-p.rotationAngleDeg) * Constants.Deg2Rad,
p, swathWidthKm, maxFLLengthKm, minLineLength, DRImageHeightKm,
ref numSets, ref numFlightLines, ref XAllSets, ref YAllSets);
//this is placed here just in case the user has changed his mind and re-clicked a different airport
p.selectedAirportIndex = selectedAirportIndex;
GoogleMaps gglmaps = new GoogleMaps(datasetFolder, p.PolygonName);
gglmaps.getGoogleMapToCoverProject(ref p, downloadMap); //insert the Google map from the web into this polygon
/////////////////////////////////////////////////////////////////////////////////
bool replannerTool = false; //set true for a replanner tool
/////////////////////////////////////////////////////////////////////////////////
//this is for a replanner tool
// what does this do ?????
//supposed to allow visual editing of the Quick-Look and replanning the mission to cover clouds & shadows
List<endPoints> reflyLines = null;
ReflyPlanner refly;
if (replannerTool)
{
refly = new ReflyPlanner(@"E:\Melbourne\Melbourne_NEW_005\QLData\refly_005.kml", p);
MessageBox.Show("refly tool is in effect");
//should have a way to indicate which photocenters are to be reflown
reflyLines = refly.getReflySegments();
}
/////////////////////////////////////////////////////////////////////////////////
//open the file to write the kml Project results
kmlOutputFilename = datasetFolder + "\\" + p.PolygonName + ".kml";
//NOTE: this will fail if the input client polygon (.kml) is the same as the desired output kml
FileStream fs2 = null;
try
{
fs2 = new FileStream(kmlOutputFilename, FileMode.Create, FileAccess.Write, FileShare.None);
}
catch
{
MessageBox.Show("cant open the kml Project results file -- input file cannot be same as output file ");
}
kmlFlightLines = new StreamWriter(fs2); //kml file where we will write
kmlFlightLines.AutoFlush = true;
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//at this point, we have a 2D table YAllSets[numsets][numFlightLines] that describes the intended flightlines and lengths
//however, some of these have zero length because of the irregular shape of the polygon
//Moreover, we have not considered the max endurance -- so we must collect sequentual flightlines into flyable missions
//Below we convert the 2D structure to a 1D structure containing only flightlines to be flown
//we also assign the flightlines to individual missions
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
outfile.WriteLine();
outfile.WriteLine("Now have the set of flight lines by set");
outfile.WriteLine("Next break up these flight lines into time-constrained groupings to get a mission");
outfile.WriteLine();
Constants.Log("Accumulate flight lines into missions based on max mission length");
//go through the flightlines for a set and determine the total time-over-the-covered area for the complete Set
//If this is > 2 hrs, then break the set into ~equal Area Of Interest (AOI) flight sessions "AOITimeMax".
//find the start-end flightline for AOIs so the accumulated AOITime < AOITimeMax -- except the last AOI may be larger
List<MissionSummary> MissionSumA = new List<MissionSummary>();
//set up for the polygon math
polygonMath polyMath = new polygonMath(p.Easting, p.Northing, datasetFolder);
double totalFlightlineDistance = 0;
double flightlineDistanceThisMission = 0;
int missionNumber = 0;
int totalImages = 0;
int totalImagesThisMission = 0;
int startFlightlineThisMission = 0;
double sumMissionLat = 0.0; //used to compute the average mission center (average lat/lon)
double sumMissionLon = 0.0;
double totalFerryTime = 0.0;
double totalTimeToTurn = 0.0;
double totalTimeOverTarget = 0.0;
double latStart = 0, lonStart = 0;
double latEnd = 0, lonEnd = 0;
int jApt = 0; //airport counter
double ferryTime = 0.0;
double oldFerryTime = 0.0;
int numberFlightlines = 0;
outfile.Flush();
double avgMissionLat=0.0; double avgMissionLon=0.0;
int numFL = 0; //numFL becomes the sequential flight line counter for the 1D array that will persist across the project
for (int i = 0; i < numSets; i++)
{
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//compute the max allowable AOITime for this Set
double maxAOITime = maxMissionTimeHrs; //maxAOITimeGlobal;
outfile.WriteLine("Input Maximum Mission time is set to " + maxMissionTimeHrs.ToString());
double totalFlightlineDistancePerSet = 0; int numFLthisSet=0;
int lastNonZeroFLThisSet = 0;
//precompute the total time to cover the flight lines in this set
for (int j = 0; j < numFlightLines; j++)
{
double FLLength = 0;
double delEasting = XAllSets[1, i, j] - XAllSets[0, i, j];
double delNorthing = YAllSets[1, i, j] - YAllSets[0, i, j];
FLLength = Math.Sqrt(delEasting*delEasting + delNorthing * delNorthing);
if (FLLength > 0)
{
numFLthisSet++;
totalFlightlineDistancePerSet += FLLength;
lastNonZeroFLThisSet = j;
}
}
//total time for this set
double totalAOITime = (totalFlightlineDistancePerSet / 1000.0) / aircraftSpeedKPH + (numFLthisSet - 1) * timeToTurn;
double numberOfAOIsThisSet = Math.Floor(totalAOITime / maxAOITime) + 1.0;
//adjust the maxAOITime so that it is <= to the input maxAOITime but equal for all missions within this set
maxAOITime = totalAOITime / numberOfAOIsThisSet;
outfile.WriteLine();
outfile.WriteLine("Number of missions this set = " + numberOfAOIsThisSet.ToString());
outfile.WriteLine("Adjusted Maximum Mission time to enforce equal-size missions this set " + maxAOITime.ToString("F1"));
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//max allowable is now <= the initial max allowable -- reduced to have neary equal sized AOIs within the set.
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int AOIsThisSet = 0;
////////////////////////////////////////////////////////////////////////////////////
//now go back through the flight lines and break into groupings of flight lines
//this will define the flyable missions with a prescribed time-over-target threshold
////////////////////////////////////////////////////////////////////////////////////
for (int j = 0; j < numFlightLines; j++)
{
//compute the flight line length using the north and south intersection extents
//YAllSets[1, i, j] is the flight line "end" -- the larger Northing value (i.e., northmost end)
double flightLineDistanceKm = 0;
double delEasting = XAllSets[1, i, j] - XAllSets[0, i, j];
double delNorthing = YAllSets[1, i, j] - YAllSets[0, i, j];
flightLineDistanceKm = Math.Sqrt(delEasting * delEasting + delNorthing * delNorthing) / 1000.0;
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
if (flightLineDistanceKm == 0 ) continue; //skip the below computations id the terminated flight line has zero length
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//number of flightlines this mission is current flight line (numFL) minus start flight line
numberFlightlines = numFL - startFlightlineThisMission + 1; //num of flight lines this mission
//sum the total flight line distances
//images this flight line based on the downrange image extent
int imagesThisFlightline = Convert.ToInt32(Math.Floor(flightLineDistanceKm / DRImageHeightKm) + 1.0);
//per-mission and total travel distances and num of images
totalFlightlineDistance += flightLineDistanceKm;
flightlineDistanceThisMission += flightLineDistanceKm;
totalImages += imagesThisFlightline;
totalImagesThisMission += imagesThisFlightline;
//transfer the start/end UTM coordinates back to the LatLon for use in the kml file
//Y is northing and X is easting
utm.UTMtoLL(YAllSets[0, i, j], XAllSets[0, i, j], p.UTMZone, ref latStart, ref lonStart);
utm.UTMtoLL(YAllSets[1, i, j], XAllSets[1, i, j], p.UTMZone, ref latEnd, ref lonEnd);
FLSum[numFL].planned.startUTMX = XAllSets[0, i, j];
FLSum[numFL].planned.startUTMY = YAllSets[0, i, j];
FLSum[numFL].planned.endUTMX = XAllSets[1, i, j];
FLSum[numFL].planned.endUTMY = YAllSets[1, i, j];
//fill the flightline summary structure
FLSum[numFL].planned.startLat = latStart;
FLSum[numFL].planned.startLon = lonStart;
FLSum[numFL].planned.endLat = latEnd;
FLSum[numFL].planned.endLon = lonEnd;
FLSum[numFL].numImages = imagesThisFlightline;
FLSum[numFL].lineNumberInPolygon = numFL;
FLSum[numFL].flightlineLengthMi = flightLineDistanceKm * 1000.0 / 0.3048 / 5280.0;
FLSum[numFL].FLstat = fightlineStatus.plan;
//sums to be used to compute the average mission center
sumMissionLat += (FLSum[numFL].planned.startLat + FLSum[numFL].planned.endLat) / 2.0;
sumMissionLon += (FLSum[numFL].planned.startLon + FLSum[numFL].planned.endLon) / 2.0;
///////////////////////////////Closest Airport///////////////////////////////////////////////////////////////////
//average mission lat/lon for use in getting the ferry distance
//we keep a running sum to get the avg as we add flight lines to the mission
avgMissionLat = sumMissionLat / numberFlightlines;
avgMissionLon = sumMissionLon / numberFlightlines;
/*
//closest airport and ferry time to average mission location
//test all candidate airports and use the closest to the mission center
double minAptDistance = 99999999999999.0;
for (int jA = 0; jA < p.airports.Count; jA++)
{
double delLat = p.airports[jA].lat - avgMissionLat;
double delLon = p.airports[jA].lon - avgMissionLon;
double dist = Math.Sqrt(delLat * delLat + delLon * delLon);
if (dist < minAptDistance) { minAptDistance = dist; jApt = jA; } //store the index of the closest airport
}
*/
double aptNorthing = 0.0, aptEasting = 000, avgNorthing = 0.0, avgEasting = 0.0;
//convert the airport lat/Long (LL) coordinates to UTM for distance measurement
utm.LLtoUTM(p.airports[p.selectedAirportIndex].lat * Constants.Deg2Rad, p.airports[p.selectedAirportIndex].lon * Constants.Deg2Rad,
ref aptNorthing, ref aptEasting, ref p.UTMZone, true);
utm.LLtoUTM(avgMissionLat * Constants.Deg2Rad, avgMissionLon * Constants.Deg2Rad, ref avgNorthing, ref avgEasting, ref p.UTMZone, true);
//delta N and E distances in Miles
double dn = (aptNorthing - avgNorthing) / 1000.0;
double de = (aptEasting - avgEasting) / 1000.0;
//ferry distance one-way -- approximation cause the ferry time really to the start of the first line of this mission
double ferryDistanceKm = Math.Sqrt(dn * dn + de * de);
oldFerryTime = ferryTime; // save the last ferry time --- new ferry time assuming we keep the current mission is below
if (ferryDistanceKm > distanceDuringClimb) //account for the travel portion while climbing to altitude
ferryTime = minimumFerryTime + (ferryDistanceKm - distanceDuringClimb) / aircraftSpeedKPH +
ferryDistanceKm / aircraftSpeedKPH + takeoffTime + landingTime;
else //closest airport is inside the mission area -- climb time is purely addidive to the flight time
ferryTime = minimumFerryTime + ferryDistanceKm / aircraftSpeedKPH + takeoffTime + landingTime;
/////////////////////////////////Closest AIRPORT////////////////////////////////////////////////////////////////
numFL++; //number of flight lines that have been investigated
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//separate the flight lines into multiple missions by asking: If we add this flight line do we exceed the aircraft endurance?
//also do this for the last flightline in each Set -- and the very last flight line.
//note -- on the first entry, we havent computed a ferry time (its zero) but its computed below
double expectedAOITime = (flightlineDistanceThisMission) / aircraftSpeedKPH + (numberFlightlines - 1) * timeToTurn;
outfile.WriteLine(String.Format(" New flightline: {0,2} length {1,10:#.00} (mi) accumulated Time = {2,10:#.00}",
numFL, flightLineDistanceKm * 1000.0 / 0.3048 / 5280.0, expectedAOITime));
outfile.Flush();
//NOTE: expectedAOITime includes the current line being tested
//will we allow each AOI to be slightly larger than maxAOITime (by one flight line) or force each AOI to be smaller by one flight line?
//for the first case, we will end up with a short AOI at the end -- for the second case, we end up with a long AOI at the end.
//at the very end, we always want to set the prior lines in this Set as an AOI
//first part of the "if" test tests to see if adding this flight line exceeds the maxAOITime.
//note that this test is removed if we are at the last AOI within a set. This allows the last AOI to be established
//even though the AOITime is below the maxAOITime. The second part of the "if" test triggers the AOI at the very last nonzero flightline.
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
if ((expectedAOITime > maxAOITime && AOIsThisSet != (numberOfAOIsThisSet-1) ) || (j == lastNonZeroFLThisSet))
{
AOIsThisSet++;
//numFL is the total number of flight lines that have been processed below
//numFL-1 is the flightline ID of the last fight line that was processed
//numFL will be the next flight line process so is the start line of the next mission
//below logic accounts for the potential staggered start and ends of flight lines
//these computations assume you start at the west headed north and turn back south after each north-going line, alternating north/south directions
double extendedTravelToNextLine = 0; // accounts for the distance to travel to the start of the next flight line
for (int k = startFlightlineThisMission; k < (numFL-2) ; k += 2)
{
//account for extended line going north and turning south (end is at the north)
extendedTravelToNextLine += Math.Abs(FLSum[k].planned.endUTMX - FLSum[k + 1].planned.endUTMX) / 1000.0;
//account for extended line going south and turning north (start is at the south)
extendedTravelToNextLine += Math.Abs(FLSum[k + 1].planned.startUTMX - FLSum[k + 2].planned.startUTMX) / 1000.0;
}
flightlineDistanceThisMission += extendedTravelToNextLine;
totalTimeToTurn += (numberFlightlines - 1) * timeToTurn;
//Store the mission summary data into a structure and add to the ArrayList Collection
MissionSummary missionSum = new MissionSummary();
missionSum.missionPolygon = new List<PointD>(); // this is a geodetic polygon formed from the flight line endpoints
missionSum.missionNumber = missionNumber; //incremental index of the missions
missionSum.startFlightLine = startFlightlineThisMission; //starting flight line for this mission
missionSum.FerryTime = ferryTime; //two-way ferry --- computed below
missionSum.LengthMi = flightlineDistanceThisMission * 1000.0 / 0.3048 / 5280.0;
missionSum.numberFlightlines = numberFlightlines; //
missionSum.TimeOverTarget = flightlineDistanceThisMission / aircraftSpeedKPH + (numberFlightlines - 1) * timeToTurn;
totalTimeOverTarget += missionSum.TimeOverTarget;
missionSum.MissionStat = MissionStatus.plan;
missionSum.takeoffAirport = p.airports[jApt];
missionSum.totalImages = totalImagesThisMission;
missionSum.backgroundImageNWCorner = new PointD(0.0, 0.0);
missionSum.backgroundImageSECorner = new PointD(0.0, 0.0);
outfile.WriteLine(String.Format(" new misson: {0,2} startFlightLine {1,3} numFlightLines {2,3} flightlineDistance {3,10:#.00} (Mi) ferryTime {4,5:#.00} (hr) ",
missionSum.missionNumber, missionSum.startFlightLine, missionSum.numberFlightlines, missionSum.LengthMi, missionSum.FerryTime));
missionSum.backgroundImageFilename = "NA";
missionSum.setNumber = i;
if (!replannerTool)
{
//form a polygon of the mission envelope based upon the flight line endpoints.
//I dont see where these UTM endpoints are used!!!
List<double> EastingMsn = new List<double>(); List<double> NorthingMsn = new List<double>();
//go around the flight line endpoints beginning at the south ends and moving counterclockwise
for (int ifl = startFlightlineThisMission; ifl < (startFlightlineThisMission + numberFlightlines); ifl++)
{
EastingMsn.Add(FLSum[ifl].planned.startUTMX);
NorthingMsn.Add(FLSum[ifl].planned.startUTMY);
missionSum.missionPolygon.Add(new PointD(FLSum[ifl].planned.startLon, FLSum[ifl].planned.startLat));
}
//add the north ends starting at the westmost lines so the poly forms a sequential set of points counterclockwise
for (int ifl = (startFlightlineThisMission + numberFlightlines - 1); ifl > startFlightlineThisMission - 1; ifl--)
{
EastingMsn.Add(FLSum[ifl].planned.endUTMX);
NorthingMsn.Add(FLSum[ifl].planned.endUTMY);
missionSum.missionPolygon.Add(new PointD(FLSum[ifl].planned.endLon, FLSum[ifl].planned.endLat));
}
//add one more point back at the start to create a linesegment to close the polygon
missionSum.missionPolygon.Add(new PointD(FLSum[startFlightlineThisMission].planned.startLon, FLSum[startFlightlineThisMission].planned.startLat));
}
else
{
//form the mission polygon from the flight line bounding boxes
double maxLat = -99999.0, maxLon = -99999.0;
double minLat = 99999.0, minLon = 99999.0;
foreach (endPoints ep in reflyLines)
{
if (ep.startLat > maxLat) maxLat = ep.startLat;
if (ep.endLat > maxLat) maxLat = ep.endLat;
if (ep.startLon > maxLon) maxLon = ep.startLon;
if (ep.endLon > maxLon) maxLon = ep.endLon;
if (ep.startLat < minLat) minLat = ep.startLat;
if (ep.endLat < minLat) minLat = ep.endLat;
if (ep.startLon < minLon) minLon = ep.startLon;
if (ep.endLon < minLon) minLon = ep.endLon;
}
missionSum.missionPolygon.Add(new PointD(minLon-0.01, maxLat+0.01));
missionSum.missionPolygon.Add(new PointD(maxLon+0.01, maxLat+0.01));
missionSum.missionPolygon.Add(new PointD(maxLon+0.01, minLat-0.01));
missionSum.missionPolygon.Add(new PointD(minLon-0.01, minLat-0.01));
missionSum.missionPolygon.Add(new PointD(minLon-0.01, maxLat+0.01));
}
//mission center/average lat/lon is computed below this statement
missionSum.missionCenter = new PointD(avgMissionLat, avgMissionLon);
outfile.Flush();
//////////// add mission summary to the ArrayList collection of missions///////////////////////////////
MissionSumA.Add(missionSum);
totalFerryTime += ferryTime; //total ferry times across the complete project -- used for the average ferry per mission
flightlineDistanceThisMission = 0; //reset the mission distance summation
totalImagesThisMission = 0; //reset the total images this mission
missionNumber++; //increment the mission couinter
startFlightlineThisMission = numFL; //set the start flight line for the next mission
sumMissionLat = 0.0; //reset the sums used for the current mission lat/lon average
sumMissionLon = 0.0;
}
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//cycle back through the missions and get the maps and the average altitude
//do this in a batch rather than in the per-mission segment above
//in order to better batch-submit requests to the Google Maps API
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
List<PointD> totalPointsInPoly = new List<PointD>(); //a list of Npts points randomly spaced withi each polygon;
int Npts = 100; //number of random-spaced points from each mission polygon used to form the average elevation in the mission polygon
// MissionSumA is the collection of all missions -- this includes the mission polygon that is determined above
for (int i = 0; i < MissionSumA.Count; i++)
{
////////////////////////////////////////////////////////////
// not quite sure why we do the intermediate storage !!!
////////////////////////////////////////////////////////////
MissionSummary missionSum = MissionSumA[i];
//get the map of the mission area
gglmaps.createBackgroundMaps(ref missionSum, FLSum, p.UTMZone, downloadMap);
MissionSumA[i] = missionSum;
//get a list of all the accumulated Npts points used for all the averages
//this is done so we can request the elevation using Google Maps API with a minimum of requests
// getPointsInPoly returns a list of Npts PointD points -- so the below call adds Npts on each call ???
for (int ips = 0; ips < Npts; ips++)
{
totalPointsInPoly.Add(polyMath.getPointsInPoly(Npts, missionSum.missionPolygon)[ips]);
}
}
//this procedure gets the elevations for the totalPointsInPoly using the Google Elevation API
//the points are requested using the polyline request method to minimize the number of requests.
//we pack as many elevation points into each request as possible within the constraints of the URL length
//The elevation API limits requests to 2500/day and a total of 25000 elevation points per day.
//so 2500 requests with 100 points per request will hit the limit.
List<double> heights = polyMath.getTerrainHeightsFromPointList(totalPointsInPoly);
//go back through the total list of elevations and break the list into missions and get the elevation stats per mission
for (int i = 0; i < MissionSumA.Count; i++)
{
MissionSummary missionSum = MissionSumA[i];
List<double> heightsThisMission = new List<double>();
for (int ips = i * Npts; ips < (i + 1) * Npts; ips++) heightsThisMission.Add(heights[ips]);
heightsThisMission.Sort(); //used to get the 90 percentile height
missionSum.ts.avgTerrainHeight = heightsThisMission.Average();
missionSum.ts.terrain90percentileHeight = heightsThisMission[Convert.ToInt32(0.90 * Npts)];
missionSum.ts.maxTerrainHeight = heightsThisMission.Max();
missionSum.ts.minTerrainHeight = heightsThisMission.Min();
////flight altitude in feet for the pilot display
missionSum.FlightAltMSLft = flightAlt + missionSum.ts.terrain90percentileHeight / 0.3048; //flightAlt is AGL in ft;
////round to the nearest 100 ft
missionSum.FlightAltMSLft = (int)(missionSum.FlightAltMSLft / 100.0 + 0.50) * 100.00;
MissionSumA[i] = missionSum;
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//now we have all the data for the missions.
//we need to write out the xml text lines that will be inserted into the original kml file.
//we insert beneath the original Placemark element (after the <Placemark> and form a <Folder> kml structure
//each element in the folders will contain one mission
//also each mission folder will contain multiple Placemark elements that represent the flightlines
//note the <description> <!CDATA[ ..... ]]> .... this is inserted HTML code to format the presentation
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Constants.Log(" Write the mission plan .kml");
////////////////////////////////
//write the kml file
////////////////////////////////
writeKmlPolygonMissonPlan(p,
DRImageHeightKm, missionNumber, flightAlt, swathWidthKm,
totalFlightlineDistance, totalFerryTime, aircraftSpeedKPH,
totalTimeOverTarget, numFL, totalImages, MissionSumA);
///////////////////////////////////////////////////////////////
//the above comprises a complete closed set of .kml elements
///////////////////////////////////////////////////////////////
kmlFlightLines.Flush();
Constants.Log("");
Constants.Log("");
Constants.Log("Normal Termination ");
Constants.Log("");
//////////////////////////////////////////////
//show the END button
button2.Visible = true;
button2.Enabled = true;
//////////////////////////////////////////////
}
//Application.Exit();
}
void LinearFeaturePlanner(Polygon p, double flightAlt, double swathWidthKm,
double aircraftSpeedKnots, double aircraftSpeedKPH, double DRImageHeightKm)
{
//if (p.polyCoverageType == COVERAGE_TYPE.linearFeature)
//{
//show the "PLAN" button
button3.Visible = true;
button3.Enabled = true;
///////////////////////////////////////////////////////////////////////////////////
// wait here til user clicks considers the coverage options and clicks: "PLAN"
///////////////////////////////////////////////////////////////////////////////////
while (!MissionPlanningInitiated)
{
Application.DoEvents(); //wait for user inputs
}
//TODO
//get the flyable aircraft paths that will cover the input linear feature path
//there will be one linearFeature object for each of the parallel paths
List<LINEAR_FEATURE> linearFeatures =
linearFeatureCoverage(numParallelPaths, linearPathCentering,
flightAlt, swathWidthKm * 1000.0, aircraftSpeedKnots * 0.514);
//the above procedure writes kml files for forward, backward, & smoothed trajectory
//also writes out the image boresight projection and the image endpoints as kml files
GoogleMaps ggl = new GoogleMaps(datasetFolder, p.PolygonName);
//get the project map for the path -- shows complete extent of the path and takeoff airport
ggl.getGoogleMapToCoverProject(ref p, downloadMap);
//get the path-segment maps that will be used to form a aircraft-centered sliding window map
//get rectangular maps sized 10mi x 10mi at 5mi intervals along the path
ggl.createBackgroundMapsForLinearFeature(linearFeatures, p.UTMZone, downloadMap);
double totalPathDistance = 0.0;
polygonMath polymath = new polygonMath(linearFeatures[0].EastingProNavS, linearFeatures[0].NorthingProNavS, datasetFolder);
//get the along-path altitudes
for (int iLF = 0; iLF < linearFeatures.Count; iLF++)
{
totalPathDistance += linearFeatures[iLF].pathLength;
List<PointD> pointsAlongPath = new List<PointD>();
UTM2Geodetic utm = new UTM2Geodetic();
//create a sequence of points along path based on the smoothed trajectory
for (int i = 0; i < linearFeatures[iLF].NorthingProNavS.Count; i++)
{
double lat = 0.0, lon = 0.0;
utm.UTMtoLL(linearFeatures[iLF].NorthingProNavS[i], linearFeatures[iLF].EastingProNavS[i], p.UTMZone, ref lat, ref lon);
pointsAlongPath.Add(new PointD(lon, lat));
}
//get the terrain heights using the Google Elevation API
linearFeatures[iLF].alongPathAltitude = polymath.getTerrainHeightsFromPointList(pointsAlongPath);
//number of triggered images along the path
linearFeatures[iLF].numImages = (int)(linearFeatures[iLF].pathLength / (DRImageHeightKm * 1000.0));
//get stats of the along-path altitudes
double maxAlt = -99999.0, minAlt = 99999.0, meanAlt = 0.0;
foreach (double alt in linearFeatures[iLF].alongPathAltitude)
{
if (alt > maxAlt) maxAlt = alt;
if (alt < minAlt) minAlt = alt;
meanAlt += alt;
}
meanAlt /= linearFeatures[iLF].alongPathAltitude.Count;
linearFeatures[iLF].maxAltitude = maxAlt;
linearFeatures[iLF].minAltitude = minAlt;
linearFeatures[iLF].meanAltitude = meanAlt;
linearFeatures[iLF].pathNumber = iLF;
}
//get the 2way ferry distance
double total2WayFerryDistance = 0.0;
//start: always start for 0th path to the selected airport
//distance from selected airport to start of first line
double delNS = linearFeatures[0].NorthingProNavS[0] - p.airports[selectedAirportIndex].northing;
double delES = linearFeatures[0].EastingProNavS[0] - p.airports[selectedAirportIndex].easting;
double distanceToAptS = Math.Sqrt(delNS * delNS + delES * delES);
total2WayFerryDistance += distanceToAptS;
//always return to the airport from the end of the last path
int endIndex = linearFeatures[linearFeatures.Count - 1].NorthingProNavS.Count - 1;
//distance from selected airport to start of first line
delNS = linearFeatures[linearFeatures.Count - 1].NorthingProNavS[endIndex] - p.airports[selectedAirportIndex].northing;
delES = linearFeatures[linearFeatures.Count - 1].EastingProNavS[endIndex] - p.airports[selectedAirportIndex].easting;
distanceToAptS = Math.Sqrt(delNS * delNS + delES * delES);
//final 2-way ferry distance is the sum of the to- and from- ferry distances
total2WayFerryDistance += distanceToAptS;
double totalPathTime = totalPathDistance / (aircraftSpeedKPH * 1000.0);
int totalLFImages = (int)(totalPathDistance / (DRImageHeightKm * 1000.0));
writeKmlLinearFeatureMissonPlan(p,
DRImageHeightKm, numParallelPaths, flightAlt, swathWidthKm,
totalPathDistance, total2WayFerryDistance, aircraftSpeedKPH,
totalPathTime, totalLFImages, linearFeatures);
//////////////////////////////////////////////
//show the END button
button2.Visible = true;
button2.Enabled = true;
//////////////////////////////////////////////
//wait here to see if the user clicks the "END" button
while (true)
{
Application.DoEvents();
}
//Environment.Exit(-1);
//}
//////////////////////// end of linear feature Planner //////////////////
}