R/makeTP.R

In uavRmp: UAV Mission Planner

if (!isGeneric('makeTP')) {
  setGeneric('makeTP', function(x, ...)
    standardGeneric('makeTP'))
}
#' Flight Track Planning tool 
#' @description  makeTP generates a flight track chaining up point objects with respect to a heterogenous surface and known obstacles as documented by an DSM for taking top down pictures. It creates a single control file for autonomous picture retrieval flights. 
#' @param projectDir `character` path to the main folder where several projects can be hosted, default is `tempdir()`
#' @param demFn  `character` filename of the used DSM data file, default is `NULL`
#' @param locationName `character` base name string of the mission, default is `"treePos"`
#' @param presetFlightTask `character` (DJI only EXPERIMENTAL). NOTE: it is strongly recommended to use the default `"remote"` \cr
#'  Further options are: \cr
#' `"simple_ortho"` takes one picture/waypoint,
#' `"multi_ortho"` takes 4 picture at a waypoint, two vertically down and two in forward and backward viewing direction and an angele of -60deg,
#' `"simple_pano"` takes a 360 deg panorama picture and 
#' `"remote"` which assumes that the camera is controlled by the remote control (RC)
#' @param flightAltitude `numeric` set the AGL flight altitude (AGL while the provided raster model represents this surface) of the mission, default is `100`
#' default is (`= 0.0`). If set to `-99` it will be 
#' calculated from the swath width of the pictures. NOTE: This makes only sense for 
#' `followingTerrain = TRUE` to smooth curves.
#' For `flightPlanMode = "waypoint"` camera actions (DJI only EXPERIMENTAL) are DISABLED during curve flights.
#' @param maxSpeed `numeric`  cruising speed, default is `25.0`
#' @param windCondition `numeric`options are 1= calm 2= light air 1-5km/h, 3= light breeze 6-11km/h, 4=gentle breeze 12-19km/h 5= moderate breeze 20-28km/h, default is `1`
#' @param uavType `character`  type of UAV. Currently "dji_csv" and "pixhawk" are supported, default is `"pixhawk"`
#' @param missionTrackList `character` filename of the mission tracklist (target positions), default is `NULL`
#' @param launchPos `list` launch position c(longitude,latitude), default is `c(8.772055,50.814689)`
#' @param climbDist `numeric` distance within the uav will climb on the caluclated save flight altitude in meter, default is `7.5`
#' @param aboveTreeAlt `numeric` minimum flight height above target trees in meter, default is `15.0`
#' @param circleRadius `numeric` radius to circle around above target trees in meter, default is `1.0`
#' @param takeOffAlt altitude `numeric` climb altitude of the uav at take off position in meter, default is `50.0`
#' @param altFilter `numeric` allowed altitude differences bewteen two waypoints in meter, default is `0.5`
#' @param launchAltitude `numeric` altitude of launch position. If set to `-9999` a DEM is required for extracting the MSL, default is `-9999`
#' @param followSurfaceRes `numeric`, default is `5` meter.
#' @param cameraType `character`, default is `"MAPIR2"`.
#' @param copy `boolean` copy used file to data folder default is `FALSE`
#' @param runDir `character` runtime folder 

#' @examples
#'\dontrun{
#' ## (1) get example DEM data
#' dsmFn <- system.file("extdata", "mrbiko.tif", package = "uavRmp")
#' ## (2) make position flight plan
#' makeTP  <-  makeTP(missionTrackList= tutorial_flightArea,
#'                   demFn = dsmFn,
#'                   uavType = "pixhawk",
#'                   launchPos = c(8.679,50.856))
#' }
#' @export makeTP 
#'               

makeTP <-  function(projectDir=tempdir(),
                    locationName="treePos",
                    missionTrackList=NULL,
                    launchPos=c(8.772055,50.814689),
                    demFn=NULL,
                    flightAltitude=100,
                    climbDist=7.5,
                    aboveTreeAlt=15,
                    circleRadius = 1.0,
                    takeOffAlt = 50.0,
                    presetFlightTask="remote",
                    maxSpeed=25.0,
                    followSurfaceRes=5,
                    altFilter=0.5,
                    windCondition=1,
                    launchAltitude=-9999,
                    uavType="pixhawk",
                    cameraType = "MAPIR2",
                    copy = FALSE,
                    runDir="") {
  # due to RMD Check Note
  task <- NULL
  demFn  <-  path.expand(demFn)
  locationName <- paste0(locationName,"_missions")
  surveyArea <- missionTrackList
  projstru <- setProjStructure (projectDir,
                                locationName, 
                                
                                flightAltitude,
                                uavType,
                                cameraType,
                                surveyArea,
                                demFn,
                                copy,
                                "P")
  dateString <- projstru[3]
  taskName <- projstru[2]
  csvFn <- projstru[1]
  projectDir<-projstru[4]
  
  runDir<-makeGlobalVar(name = "runDir",value = file.path(projectDir,"fp-data/run/"))
 
  logger <- log4r::create.logger(logfile = paste0(file.path(projectDir, "fp-data/log/"),strsplit(basename(taskName), "\\.")[[1]][1],'.log'))
  log4r::level(logger) <- "INFO"
  log4r::levellog(logger,'INFO',"--------------------- START RUNfile.path(runDir, ---------------------------")
  log4r::levellog(logger, 'INFO', paste("Working folder: ", file.path(projectDir)))
  # 
  # 
  # # create misson filename
  flightList <- readTreeTrack(missionTrackList)
  test <- try(readLaunchPos(launchPos))
  if (!methods::is(test, "try-error")){
    launchPos <- test
    flightArea <-  flightList+launchPos
  }
  else{
    log4r::levellog(logger, 'FATAL', "### can not find/read launchPosition")        
    stop("### could not read launchPosition")
  }
  #
  p <- list()
  p$launchLat <- launchPos@coords[2]
  p$launchLon <- launchPos@coords[1]
  p$locationName <- locationName
  p$missionTrackList <- missionTrackList
  p$demFn <- demFn
  p$flightAltitude <- flightAltitude
  p$presetFlightTask <- presetFlightTask
  p$maxSpeed <- maxSpeed
  p$followSurfaceRes <- followSurfaceRes
  p$windCondition <- windCondition
  p$uavType <- uavType
  p$curvesize <- 0
  p$rotationdir <- 0
  p$gimbalmode <- 0
  p$gimbalpitchangle <- -90
  p$launchAltitude <- launchAltitude
  p$aboveTreeAlt <- aboveTreeAlt
  p$altFilter <- altFilter
  p$projectDir <- projectDir
  p$climbDist <- climbDist
  p$task <-  fp_getPresetTask("treetop")
  
  fullTreeList <- makeFlightPathT3(flightList,
                                   p,
                                   uavType,
                                   task,
                                   demFn,
                                   logger,
                                   projectDir,
                                   locationName,
                                   circleRadius,
                                   flightArea,
                                   takeOffAlt,
                                   runDir)
  
  # write log file status and params
  log4r::levellog(logger, 'INFO', paste("taskName     : ", taskName))
  log4r::levellog(logger, 'INFO', paste("DEM filename    : ", demFn))
  log4r::levellog(logger, 'INFO', paste("launchAltitude  : ", launchAltitude))
  log4r::levellog(logger, 'INFO', paste("followSurface   : ", followSurfaceRes))
  log4r::levellog(logger, 'INFO', paste("altfilter       : ", altFilter))
  log4r::levellog(logger, 'INFO', paste("flightAltitude  : ", flightAltitude))
  log4r::levellog(logger, 'INFO', paste("flightAltitude  : ", aboveTreeAlt))  
  log4r::levellog(logger, 'INFO', paste("flightAltitude  : ", circleRadius))
  log4r::levellog(logger, 'INFO', paste("flightAltitude  : ", takeOffAlt))    
  log4r::levellog(logger, 'INFO', paste("presetFlightTask: ", presetFlightTask))
  
  if (uavType == "dji_csv"){
    log4r::levellog(logger, 'INFO', paste("curvesize       : ", p$curvesize))
    log4r::levellog(logger, 'INFO', paste("rotationdir     : ", p$rotationdir))
    log4r::levellog(logger, 'INFO', paste("gimbalmode      : ", p$gimbalmode))
    log4r::levellog(logger, 'INFO',paste("gimbalpitchangle: ", p$gimbalpitchangle))
  }
  
  log4r::levellog(logger,'INFO',paste("max flight speed   : ",round(maxSpeed, digits = 1),"  (km/h)      "))
  log4r::levellog(logger,'INFO',"--------------------- END RUN -----------------------------")
  
  note <- " Fly save and have Fun..." 
  dumpFile(paste0(file.path(projectDir,  "fp-data/log/"),strsplit(basename(taskName), "\\.")[[1]][1],'.log'))
  cat("\n NOTE: You will find all parameters in the logfile:\n",paste0(file.path(projectDir, "fp-data/log/"),strsplit(basename(taskName), "\\.")[[1]][1],'.log'),"","\n ",
      "\n Fly save and have Fun...")
  
}