Implement Waylines flight mode in flights with terrain following enab…

…led. (#411)

* flight mode enums

* updated drone_flightplan package

* implement waylines in terrain following as well

* upgrade drone_flightplan package

* remove: generate each points in waypoints generation

* feat: update waypint service to accept waypoint mode

* feat: add reducer state and action for waypoint mode value update

* feat: add constant waypoint options

* feat: fetch waypoint data as per selected waypoint mode

* style: download waypoints/waylines as per waypoint mode

---------

Co-authored-by: Sujit <sujitkarki703@gmail.com>
Co-authored-by: Sujit <suzeett10@gmail.com>

src/backend/app/models/enums.py

@@ -197,3 +197,15 @@ class EventType(str, Enum):
     UNLOCK = "unlock"
     IMAGE_UPLOAD = "image_upload"
     IMAGE_PROCESSING_START = "image_processing_start"
+
+
+class FlightMode(str, Enum):
+    """The flight mode of the drone.
+
+    The flight mode can be:
+    - ``waylines``
+    - ``waypoints``
+    """
+
+    waylines = "waylines"
+    waypoints = "waypoints"

src/backend/app/waypoints/waypoint_routes.py

@@ -10,10 +10,11 @@
     create_placemarks,
     calculate_parameters,
     add_elevation_from_dem,
+    terrain_following_waylines,
     wpml,
     waypoints,
 )
-from app.models.enums import HTTPStatus
+from app.models.enums import HTTPStatus, FlightMode
 from app.tasks.task_logic import (
     get_task_geojson,
     get_take_off_point_from_db,
@@ -48,6 +49,7 @@ async def get_task_waypoint(
     project_id: uuid.UUID,
     task_id: uuid.UUID,
     download: bool = True,
+    mode: FlightMode = FlightMode.waylines,
     take_off_point: waypoint_schemas.PointField = None,
 ):
     """
@@ -95,26 +97,13 @@ async def get_task_waypoint(
 
     forward_overlap = project.front_overlap if project.front_overlap else 70
     side_overlap = project.side_overlap if project.side_overlap else 70
-    generate_each_points = True if project.is_terrain_follow else False
     generate_3d = (
         False  # TODO: For 3d imageries drone_flightplan package needs to be updated.
     )
 
     gsd = project.gsd_cm_px
     altitude = project.altitude_from_ground
 
-    points = waypoints.create_waypoint(
-        project_area=task_geojson,
-        agl=altitude,
-        gsd=gsd,
-        forward_overlap=forward_overlap,
-        side_overlap=side_overlap,
-        rotation_angle=0,
-        generate_each_points=generate_each_points,
-        generate_3d=generate_3d,
-        take_off_point=take_off_point,
-    )
-
     parameters = calculate_parameters(
         forward_overlap,
         side_overlap,
@@ -123,8 +112,25 @@ async def get_task_waypoint(
         2,  # Image Interval is set to 2
     )
 
+    # Common parameters for create_waypoint
+    waypoint_params = {
+        "project_area": task_geojson,
+        "agl": altitude,
+        "gsd": gsd,
+        "forward_overlap": forward_overlap,
+        "side_overlap": side_overlap,
+        "rotation_angle": 0,
+        "generate_3d": generate_3d,
+        "take_off_point": take_off_point,
+    }
+
     if project.is_terrain_follow:
         dem_path = f"/tmp/{uuid.uuid4()}/dem.tif"
+
+        # Terrain follow uses waypoints mode, waylines are generated later
+        waypoint_params["mode"] = FlightMode.waypoints
+        points = waypoints.create_waypoint(**waypoint_params)
+
         try:
             get_file_from_bucket(
                 settings.S3_BUCKET_NAME,
@@ -142,8 +148,16 @@ async def get_task_waypoint(
             points_with_elevation = points
 
         placemarks = create_placemarks(geojson.loads(points_with_elevation), parameters)
+
+        # Create a flight plan with terrain follow in waylines mode
+        if mode == FlightMode.waylines:
+            placemarks = terrain_following_waylines.waypoints2waylines(placemarks, 5)
+
     else:
+        waypoint_params["mode"] = mode
+        points = waypoints.create_waypoint(**waypoint_params)
         placemarks = create_placemarks(geojson.loads(points), parameters)
+
     if download:
         outfile = outfile = f"/tmp/{uuid.uuid4()}"
         kmz_file = wpml.create_wpml(placemarks, outfile)

src/backend/pyproject.toml

@@ -33,7 +33,7 @@ dependencies = [
     "pyodm>=1.5.11",
     "asgiref>=3.8.1",
     "bcrypt>=4.2.1",
-    "drone-flightplan>=0.3.2",
+    "drone-flightplan>=0.3.4rc2",
     "Scrapy==2.12.0",
     "asgi-lifespan>=2.1.0",
 ]

src/frontend/src/api/tasks.ts

@@ -9,12 +9,13 @@ import { useQuery, UseQueryOptions } from '@tanstack/react-query';
 export const useGetTaskWaypointQuery = (
   projectId: string,
   taskId: string,
+  mode: string,
   queryOptions?: Partial<UseQueryOptions>,
 ) => {
   return useQuery({
-    queryKey: ['task-waypoints'],
+    queryKey: ['task-waypoints', mode],
     enabled: !!(projectId && taskId),
-    queryFn: () => getTaskWaypoint(projectId, taskId),
+    queryFn: () => getTaskWaypoint(projectId, taskId, mode),
     select: (res: any) => res.data,
     ...queryOptions,
   });

src/frontend/src/components/DroneOperatorTask/DescriptionSection/DescriptionBox/index.tsx

@@ -35,10 +35,14 @@ const DescriptionBox = () => {
   const uploadedImageType = useTypedSelector(
     state => state.droneOperatorTask.uploadedImagesType,
   );
+  const waypointMode = useTypedSelector(
+    state => state.droneOperatorTask.waypointMode,
+  );
 
   const { data: taskWayPoints }: any = useGetTaskWaypointQuery(
     projectId as string,
     taskId as string,
+    waypointMode as string,
     {
       select: (data: any) => {
         return data.data.features;
@@ -92,6 +96,7 @@ const DescriptionBox = () => {
   const { data: flightTimeData }: any = useGetTaskWaypointQuery(
     projectId as string,
     taskId as string,
+    waypointMode as string,
     {
       select: ({ data }: any) => data.flight_data,
     },

src/frontend/src/components/DroneOperatorTask/DescriptionSection/index.tsx

@@ -1,11 +1,12 @@
 /* eslint-disable no-nested-ternary */
+import { useState } from 'react';
+import { useParams } from 'react-router-dom';
+import { useTypedSelector } from '@Store/hooks';
+import { toast } from 'react-toastify';
 import { useGetIndividualTaskQuery, useGetTaskWaypointQuery } from '@Api/tasks';
 import { Button } from '@Components/RadixComponents/Button';
 import useWindowDimensions from '@Hooks/useWindowDimensions';
 import hasErrorBoundary from '@Utils/hasErrorBoundary';
-import { useState } from 'react';
-import { useParams } from 'react-router-dom';
-import { toast } from 'react-toastify';
 import MapSection from '../MapSection';
 import DescriptionBox from './DescriptionBox';
 
@@ -17,13 +18,17 @@ const DroneOperatorDescriptionBox = () => {
     useState<boolean>(false);
   const { width } = useWindowDimensions();
   const Token = localStorage.getItem('token');
+  const waypointMode = useTypedSelector(
+    state => state.droneOperatorTask.waypointMode,
+  );
 
   const { data: taskDescription }: Record<string, any> =
     useGetIndividualTaskQuery(taskId as string);
 
   const { data: taskWayPoints }: any = useGetTaskWaypointQuery(
     projectId as string,
     taskId as string,
+    waypointMode as string,
     {
       select: (data: any) => {
         return data.data?.results.features;
@@ -33,7 +38,7 @@ const DroneOperatorDescriptionBox = () => {
 
   const downloadFlightPlanKmz = () => {
     fetch(
-      `${BASE_URL}/waypoint/task/${taskId}/?project_id=${projectId}&download=true`,
+      `${BASE_URL}/waypoint/task/${taskId}/?project_id=${projectId}&download=true&mode=${waypointMode}`,
       { method: 'POST' },
     )
       .then(response => {
@@ -60,6 +65,7 @@ const DroneOperatorDescriptionBox = () => {
 
   const downloadFlightPlanGeojson = () => {
     if (!taskWayPoints) return;
+
     const waypointGeojson = {
       type: 'FeatureCollection',
       features: taskWayPoints,
@@ -70,7 +76,7 @@ const DroneOperatorDescriptionBox = () => {
     const url = window.URL.createObjectURL(fileBlob);
     const link = document.createElement('a');
     link.href = url;
-    link.download = 'waypoint.geojson';
+    link.download = `${waypointMode}.geojson`;
     document.body.appendChild(link);
     link.click();
     link.remove();

src/frontend/src/components/DroneOperatorTask/MapSection/index.tsx

@@ -23,6 +23,7 @@ import {
   setSelectedTakeOffPoint,
   setSelectedTakeOffPointOption,
   setSelectedTaskDetailToViewOrthophoto,
+  setWaypointMode,
 } from '@Store/actions/droneOperatorTask';
 import { useTypedSelector } from '@Store/hooks';
 import { useMutation, useQueryClient } from '@tanstack/react-query';
@@ -48,7 +49,9 @@ import { toast } from 'react-toastify';
 import { FlexColumn } from '@Components/common/Layouts';
 import RotatingCircle from '@Components/common/RotationCue';
 import { mapLayerIDs } from '@Constants/droneOperator';
+import SwitchTab from '@Components/common/SwitchTab';
 import { findNearestCoordinate, swapFirstAndLast } from '@Utils/index';
+import { waypointModeOptions } from '@Constants/taskDescription';
 import GetCoordinatesOnClick from './GetCoordinatesOnClick';
 import ShowInfo from './ShowInfo';
 
@@ -83,6 +86,9 @@ const MapSection = ({ className }: { className?: string }) => {
   const newTakeOffPoint = useTypedSelector(
     state => state.droneOperatorTask.selectedTakeOffPoint,
   );
+  const waypointMode = useTypedSelector(
+    state => state.droneOperatorTask.waypointMode,
+  );
 
   function setVisibilityOfLayers(layerIds: string[], visibility: string) {
     layerIds.forEach(layerId => {
@@ -125,6 +131,7 @@ const MapSection = ({ className }: { className?: string }) => {
   const { data: taskWayPointsData }: any = useGetTaskWaypointQuery(
     projectId as string,
     taskId as string,
+    waypointMode as string,
     {
       select: ({ data }: any) => {
         const modifiedTaskWayPointsData = {
@@ -830,6 +837,19 @@ const MapSection = ({ className }: { className?: string }) => {
             hideButton
             getCoordOnProperties
           />
+
+          <div className="naxatw-absolute naxatw-right-3 naxatw-top-3 naxatw-z-40 lg:naxatw-right-64">
+            <SwitchTab
+              activeClassName="naxatw-bg-red naxatw-text-white"
+              options={waypointModeOptions}
+              labelKey="label"
+              valueKey="value"
+              selectedValue={waypointMode}
+              onChange={(value: Record<string, any>) => {
+                dispatch(setWaypointMode(value.value));
+              }}
+            />
+          </div>
         </MapContainer>
       </div>
     </>

src/frontend/src/constants/taskDescription.ts

@@ -12,3 +12,8 @@ export const takeOffPointOptions = [
     name: 'take_off_point',
   },
 ];
+
+export const waypointModeOptions = [
+  { label: 'Waypoints', value: 'waypoints' },
+  { label: 'Waylines', value: 'waylines' },
+];

src/frontend/src/services/tasks.ts

@@ -1,8 +1,12 @@
 import { api, authenticated } from '.';
 
-export const getTaskWaypoint = (projectId: string, taskId: string) =>
+export const getTaskWaypoint = (
+  projectId: string,
+  taskId: string,
+  mode: string,
+) =>
   authenticated(api).post(
-    `/waypoint/task/${taskId}/?project_id=${projectId}&download=false`,
+    `/waypoint/task/${taskId}/?project_id=${projectId}&download=false&mode=${mode}`,
   );
 
 export const getIndividualTask = (taskId: string) =>

src/frontend/src/store/actions/droneOperatorTask.ts

@@ -16,4 +16,5 @@ export const {
   setSelectedTaskDetailToViewOrthophoto,
   setFilesExifData,
   resetFilesExifData,
+  setWaypointMode,
 } = droneOperatorTaskSlice.actions;

src/frontend/src/store/slices/droneOperartorTask.ts

@@ -18,6 +18,7 @@ export interface IDroneOperatorTaskState {
   uploadedImagesType: 'add' | 'replace';
   selectedTaskDetailToViewOrthophoto: any;
   filesExifData: IFilesExifData[];
+  waypointMode: 'waypoints' | 'waylines';
 }
 
 const initialState: IDroneOperatorTaskState = {
@@ -32,6 +33,7 @@ const initialState: IDroneOperatorTaskState = {
   uploadedImagesType: 'add',
   selectedTaskDetailToViewOrthophoto: null,
   filesExifData: [],
+  waypointMode: 'waypoints',
 };
 
 export const droneOperatorTaskSlice = createSlice({
@@ -90,6 +92,9 @@ export const droneOperatorTaskSlice = createSlice({
     resetFilesExifData: state => {
       state.filesExifData = [];
     },
+    setWaypointMode: (state, action) => {
+      state.waypointMode = action.payload;
+    },
   },
 });