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Add fence polygons #13

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Add fence polygons #13

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156 changes: 142 additions & 14 deletions app/static/DST/js/core.js
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Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,10 @@ $(function () { // init tool tips and only show on hover
const inclusion_circles = [];
// Array to store references to all exclusion circle fence primitives.
const exclusion_circles = [];
// Array to store references to all inclusion polygon fence primitives.
const inclusion_fences = [];
// Array to store references to all exclusion polygon fence primitives.
const exclusion_fences = [];
var home_alt_wgs84 = undefined;
var data_stream = {};
var flightmode = null;
Expand Down Expand Up @@ -120,6 +124,10 @@ $(function () { // init tool tips and only show on hover
draw_inclusion_circle(fence_item);
} else if (fence_item.command == CIRCLE_EXCLUSION) {
draw_exclusion_circle(fence_item);
} else if (fence_item.command == POLYGON_VERTEX_INCLUSION) {
parse_inclusion_vertex(fence_item);
} else if (fence_item.command == POLYGON_VERTEX_EXCLUSION) {
parse_exclusion_vertex(fence_item);
} else {
console.warn("MISSION_ITEM is not yet supported: ", fence_item)
}
Expand All @@ -128,28 +136,41 @@ $(function () { // init tool tips and only show on hover
}

function clear_fences() {

if (inclusion_circles.length === 0) {
console.warn("No inclusion circles to clear.");
return;
}
// Clear all internal fence state and remove all fence objects from the viewer.

// Remove all circle primitives from the scene
inclusion_circles.forEach(circlePrimitive => {
viewer.scene.primitives.remove(circlePrimitive);
// Remove all circle primitives from the scene.
inclusion_circles.forEach(primitive => {
viewer.scene.primitives.remove(primitive);
});

// Clear the array
inclusion_circles.length = 0;
exclusion_circles.forEach(primitive => {
viewer.scene.primitives.remove(primitive);
});
exclusion_circles.length = 0;

// Remove all polygon primitives from the scene.
inclusion_fences.forEach(primitive => {
viewer.scene.primitives.remove(primitive);
});
inclusion_fences.length = 0;
exclusion_fences.forEach(primitive => {
viewer.scene.primitives.remove(primitive);
});
exclusion_fences.length = 0;

// Reset the parser state.
inclusion_vertex_count = 0;
exclusion_vertex_count = 0;
fence_vertices.length = 0;

console.log("All inclusion circles cleared.");
console.log("Fences have been cleared.");
}

function toggle_fences() {
// Remove all circle primitives from the scene
inclusion_circles.forEach(circlePrimitive => {
circlePrimitive.show = !circlePrimitive.show;
});
// TODO
}

function draw_inclusion_circle(mission_item_circle) {
Expand All @@ -171,7 +192,7 @@ $(function () { // init tool tips and only show on hover
}
});

// Create the primitive
// Create the primitive
const circlePrimitive = new Cesium.GroundPrimitive({
geometryInstances: circleInstance
});
Expand Down Expand Up @@ -202,7 +223,7 @@ $(function () { // init tool tips and only show on hover
}
});

// Create the primitive
// Create the primitive
const circlePrimitive = new Cesium.GroundPrimitive({
geometryInstances: circleInstance
});
Expand All @@ -213,6 +234,113 @@ $(function () { // init tool tips and only show on hover
// Store the reference in the array
exclusion_circles.push(circlePrimitive);
}

var inclusion_vertex_count = 0;
var fence_vertices = [];
function parse_inclusion_vertex(mission_item) {
inclusion_vertex_count++;

fence_vertices.push(mission_item)
const expected_count = mission_item.param1;
if(expected_count == inclusion_vertex_count) {
console.log("Received the final item for the inclusion fence.")
draw_inclusion_fence(fence_vertices);
inclusion_vertex_count = 0;
fence_vertices.length = 0;
}
}

function draw_inclusion_fence(fence_vertices) {
// Given a mavlink MISSION_ITEM of
// type MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, draw it.

const polygon_coord_arr = [];

fence_vertices.forEach(function (vertex, index) {
polygon_coord_arr.push(vertex.y, vertex.x);
});

const polygon = new Cesium.PolygonGeometry({
polygonHierarchy : new Cesium.PolygonHierarchy(
Cesium.Cartesian3.fromDegreesArray(
polygon_coord_arr
)
)
});

// Create the GeometryInstance
const polygon_instance = new Cesium.GeometryInstance({
geometry: polygon,
id: `inclusionFence-${inclusion_fences.length}`,
attributes: {
color: new Cesium.ColorGeometryInstanceAttribute(0.0, 1.0, 0.0, 0.15)
}
});

// Create the GroundPrimitive
const polygon_primitive = new Cesium.GroundPrimitive({
geometryInstances: polygon_instance
});

// Add the primitive to the scene
viewer.scene.primitives.add(polygon_primitive);

// Store the reference in the array
inclusion_fences.push(polygon_primitive);
}

var exclusion_vertex_count = 0;
function parse_exclusion_vertex(mission_item) {
exclusion_vertex_count++;

fence_vertices.push(mission_item)
const expected_count = mission_item.param1;
if(expected_count == exclusion_vertex_count) {
console.log("Received the final item for the exclusion fence.")
draw_exclusion_fence(fence_vertices);
exclusion_vertex_count = 0;
fence_vertices.length = 0;
}
}

function draw_exclusion_fence(fence_vertices) {
// Given a mavlink MISSION_ITEM of
// type MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, draw it.

const polygon_coord_arr = [];

fence_vertices.forEach(function (vertex, index) {
polygon_coord_arr.push(vertex.y, vertex.x);
});

const polygon = new Cesium.PolygonGeometry({
polygonHierarchy : new Cesium.PolygonHierarchy(
Cesium.Cartesian3.fromDegreesArray(
polygon_coord_arr
)
)
});

// Create the GeometryInstance
const polygon_instance = new Cesium.GeometryInstance({
geometry: polygon,
id: `exclusionFence-${exclusion_fences.length}`,
attributes: {
color: new Cesium.ColorGeometryInstanceAttribute(1.0, 0.0, 0.0, 0.15)
}
});

// Create the GroundPrimitive
const polygon_primitive = new Cesium.GroundPrimitive({
geometryInstances: polygon_instance
});

// Add the primitive to the scene
viewer.scene.primitives.add(polygon_primitive);

// Store the reference in the array
exclusion_fences.push(polygon_primitive);
}

function update_mission_data(mision_data) {

Expand Down