diff --git a/js/geozone.js b/js/geozone.js
index ee6e90d04..1f9d006f8 100644
--- a/js/geozone.js
+++ b/js/geozone.js
@@ -1,5 +1,7 @@
'use strict'
+const { Shape } = require("three");
+
const GeozoneType = Object.freeze({
EXCULSIVE: 0,
INCLUSIVE: 1,
@@ -176,6 +178,71 @@ let Geozone = function (type, shape, minAltitude, maxAltitude, sealevelRef, radi
vertices = [];
}
+ self.isCounterClockwise = () => {
+
+ if (shape == GeozoneShapes.CIRCULAR) {
+ return true;
+ }
+
+ let area = 0;
+ for (let i = 0; i < vertices.length; i++) {
+ const x1 = vertices[i].getLat();
+ const y1 = vertices[i].getLon();
+ const next = vertices[(i + 1) % vertices.length];
+ const x2 = next.getLat();
+ const y2 = next.getLon();
+ area += x1 * y2 - y1 * x2;
+ }
+ return area < 0;
+ }
+
+ self.isComplex = () => {
+ if (shape == GeozoneShapes.CIRCULAR) {
+ return false;
+ }
+
+ // Intersection of two lines https://en.wikipedia.org/wiki/Line-line_intersection
+ function doLinesIntersect(line1Start, line1End, line2Start, line2End)
+ {
+ const s1 = line1End.x - line1Start.x;
+ const t1 = -(line2End.x - line2Start.x);
+ const r1 = line2Start.x - line1Start.x;
+
+ const s2 = line1End.y - line1Start.y;
+ const t2 = -(line2End.y - line2Start.y);
+ const r2 = line2Start.y - line1Start.y;
+
+ // Use Cramer's rule for the solution of the system of linear equations
+ const determ = s1 * t2 - t1 * s2;
+ if (determ == 0) { // No solution
+ return false;
+ }
+
+ const s0 = (r1 * t2 - t1 * r2) / determ;
+ const t0 = (s1 * r2 - r1 * s2) / determ;
+
+ if (s0 == 0 && t0 == 0) {
+ return false;
+ }
+ return !(s0 <= 0 || s0 >= 1 || t0 <= 0 || t0 >= 1)
+ }
+
+ for (var i = 0; i < vertices.length; i++) {
+ const a = {x: vertices[i].getLat(), y: vertices[i].getLon()};
+ const next = vertices[(i + 1) % vertices.length];
+ const b = {x: next.getLat(), y: next.getLon()};
+ for (var j = i + 2; j < vertices.length; j++) {
+ const c = {x: vertices[j].getLat(), y: vertices[j].getLon()};;
+ const next2 = vertices[(j + 1) % vertices.length];
+ const d = {x: next2.getLat(), y: next2.getLon()};
+ if (doLinesIntersect(a, b, c, d)) {
+ return true;
+ }
+ }
+ }
+ return false;
+ }
+
self.getElevationFromServer = async function (lon, lat, globalSettings) {
let elevation = "N/A";
if (globalSettings.mapProviderType == 'bing') {
diff --git a/js/geozoneCollection.js b/js/geozoneCollection.js
index 66b5e666a..1754b966b 100644
--- a/js/geozoneCollection.js
+++ b/js/geozoneCollection.js
@@ -140,7 +140,7 @@ let GeozoneCollection = function() {
buffer.push(zone.getVerticesCount());
}
} else {
- buffer = [id, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ];
+ buffer = [id, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
}
return buffer;
diff --git a/locale/en/messages.json b/locale/en/messages.json
index bdddc9834..f5841778e 100644
--- a/locale/en/messages.json
+++ b/locale/en/messages.json
@@ -4772,6 +4772,9 @@
"featureGEOZONE": {
"message": "Geozone"
},
+ "geozone": {
+ "message": "Geozone"
+ },
"featureGEOZONETip": {
"message": "Virtual perimeters for geographical areas (also called geofence) with automatically triggered actions when the perimeters are violated."
},
@@ -4829,6 +4832,21 @@
"missionGeozoneAvailableVertices": {
"message": "Available Vertices:"
},
+ "geozoneInvalidzone": {
+ "message": "Invalid Geozone(s) detected:"
+ },
+ "gezoneInvalidReasonNotCC": {
+ "message": "Not counter clockwise"
+ },
+ "gezoneInvalidReasonComplex": {
+ "message": "Complex"
+ },
+ "gezoneInvalidReasonMinMaxAlt": {
+ "message": "Max. Alt <= Min. Alt"
+ },
+ "geozoneUnableToSave": {
+ "message": "Unable to save geozones: Invalid zones"
+ },
"missionMultiMissionHead": {
"message": "Multi Missions"
},
diff --git a/tabs/mission_control.html b/tabs/mission_control.html
index 41341702b..e6f8643d0 100644
--- a/tabs/mission_control.html
+++ b/tabs/mission_control.html
@@ -66,6 +66,11 @@
+
diff --git a/tabs/mission_control.js b/tabs/mission_control.js
index 0aa4d62f6..6aa3eb879 100644
--- a/tabs/mission_control.js
+++ b/tabs/mission_control.js
@@ -76,6 +76,7 @@ TABS.mission_control.initialize = function (callback) {
let $waypointOptionsTableBody;
let selectedGeozone;
let $geozoneContent;
+ let invalidGeoZones = false;
let isGeozoneEnabeld = false;
let settings = {speed: 0, alt: 5000, safeRadiusSH: 50, fwApproachAlt: 60, fwLandAlt: 5, maxDistSH: 0, fwApproachLength: 0, fwLoiterRadius: 0, bingDemModel: false};
@@ -152,6 +153,7 @@ TABS.mission_control.initialize = function (callback) {
}
$('#infoGeozoneMissionWarning').hide();
+ $('#infoGeozoneInvalid').hide();
$safehomeContentBox = $('#SafehomeContentBox');
$waypointOptionsTableBody = $('#waypointOptionsTableBody');
$geozoneContent = $('#geozoneContent');
@@ -919,7 +921,7 @@ TABS.mission_control.initialize = function (callback) {
cleanGeozoneLayers();
if (!selectedGeozone) {
cleanGeozoneLines();
- geozoneMissionWarning();
+ geozoneWarning();
return;
}
@@ -931,7 +933,7 @@ TABS.mission_control.initialize = function (callback) {
});
}
});
- geozoneMissionWarning();
+ geozoneWarning();
}
function cleanGeozoneLines() {
@@ -949,13 +951,45 @@ TABS.mission_control.initialize = function (callback) {
geozoneMarkers = [];
}
- function geozoneMissionWarning() {
+ function geozoneWarning() {
if (markers.length >= 1 && geozoneMarkers.length >= 1) {
$('#infoGeozoneMissionWarning').show();
} else {
$('#infoGeozoneMissionWarning').hide();
}
+
+ $('#geozoneInvalidContent').empty();
+ invalidGeoZones = false;
+ for (var i = 0; i < FC.GEOZONES.geozoneCount(); i++) {
+ const zone = FC.GEOZONES.at(i);
+
+ var reasons = []
+ if (!zone.isCounterClockwise()) {
+ reasons.push(i18n.getMessage("gezoneInvalidReasonNotCC"));
+ }
+
+ if (zone.isComplex()) {
+ reasons.push(i18n.getMessage("gezoneInvalidReasonComplex"));
+ }
+
+ if (zone.getMaxAltitude() <= zone.getMinAltitude()) {
+ reasons.push(i18n.getMessage("gezoneInvalidReasonMinMaxAlt"));
+ }
+
+
+
+ if (reasons.length > 0) {
+ $('#geozoneInvalidContent').append(`${i18n.getMessage("geozone")} ${zone.getNumber() + 1}: ${reasons.join(", ")}
`);
+ invalidGeoZones = true;
+ }
+ }
+
+ if (invalidGeoZones) {
+ $('#infoGeozoneInvalid').show();
+ } else {
+ $('#infoGeozoneInvalid').hide();
+ }
}
function updateGeozoneInfo() {
@@ -1621,7 +1655,7 @@ TABS.mission_control.initialize = function (callback) {
});
}
- geozoneMissionWarning();
+ geozoneWarning();
}
function redrawLayer() {
@@ -1734,7 +1768,7 @@ TABS.mission_control.initialize = function (callback) {
}
});
});
-
+ geozoneWarning();
} else {
$('#geozoneContentBox').hide();
}
@@ -1992,6 +2026,9 @@ TABS.mission_control.initialize = function (callback) {
var handleShowGeozoneSettings = function () {
$('#missionPlannerGeozones').fadeIn(300);
+ if (!selectedGeozone) {
+ selectedGeozone = FC.GEOZONES.first();
+ }
renderGeozoneOptions();
renderGeozonesOnMap();
};
@@ -3363,6 +3400,12 @@ TABS.mission_control.initialize = function (callback) {
});
$('#saveEepromGeozoneButton').on('click', event => {
+
+ if (invalidGeoZones) {
+ GUI.alert(i18n.getMessage("geozoneUnableToSave"));
+ return;
+ }
+
if (confirm(i18n.getMessage("missionGeozoneReboot"))) {
$(event.currentTarget).addClass('disabled');
GUI.log('Start of sending Geozones');