mission-planning: Add survey generation functionality

src/libs/utils-map.ts

@@ -1,3 +1,7 @@
+import * as turf from '@turf/turf'
+import type { Feature, Polygon } from 'geojson'
+import * as L from 'leaflet'
+
 import type { WaypointCoordinates } from '@/types/mission'
 
 /**
@@ -158,3 +162,124 @@ export class TargetFollower {
     this.onTargetChange(this.target)
   }
 }
+
+/**
+ * Generates a survey path based on the given polygon and parameters.
+ * @param {L.LatLng[]} polygonPoints - The points of the polygon.
+ * @param {number} distanceBetweenLines - The distance between survey lines in meters.
+ * @param {number} linesAngle - The angle of the survey lines in degrees.
+ * @returns {L.LatLng[]} The generated survey path.
+ */
+export const generateSurveyPath = (
+  polygonPoints: L.LatLng[],
+  distanceBetweenLines: number,
+  linesAngle: number
+): L.LatLng[] => {
+  if (polygonPoints.length < 4) return []
+
+  const polygonCoords = polygonPoints.map((p) => [p.lng, p.lat])
+  if (
+    polygonCoords[0][0] !== polygonCoords[polygonCoords.length - 1][0] ||
+    polygonCoords[0][1] !== polygonCoords[polygonCoords.length - 1][1]
+  ) {
+    polygonCoords.push(polygonCoords[0])
+  }
+
+  try {
+    const poly = turf.polygon([polygonCoords])
+    const bbox = turf.bbox(poly)
+    const [minX, minY, maxX, maxY] = bbox
+    const diagonal = Math.sqrt(Math.pow(maxX - minX, 2) + Math.pow(maxY - minY, 2))
+
+    const adjustedAngle = linesAngle + 90
+    const angleRad = (adjustedAngle * Math.PI) / 180
+
+    const continuousPath: L.LatLng[] = []
+    let d = -diagonal
+    let isReverse = false
+
+    while (d <= diagonal * 2) {
+      const lineStart = [
+        minX + d * Math.cos(angleRad) - diagonal * Math.sin(angleRad),
+        minY + d * Math.sin(angleRad) + diagonal * Math.cos(angleRad),
+      ]
+      const lineEnd = [
+        minX + d * Math.cos(angleRad) + diagonal * Math.sin(angleRad),
+        minY + d * Math.sin(angleRad) - diagonal * Math.cos(angleRad),
+      ]
+
+      const line = turf.lineString([lineStart, lineEnd])
+      const clipped = turf.lineIntersect(poly, line)
+
+      if (clipped.features.length >= 2) {
+        const coords = clipped.features.map((f) => f.geometry.coordinates)
+        if (isReverse) coords.reverse()
+
+        const linePoints = coords.map((c) => L.latLng(c[1], c[0]))
+
+        if (continuousPath.length > 0) {
+          const lastPoint = continuousPath[continuousPath.length - 1]
+          const edgePath = moveAlongEdge(poly, lastPoint, linePoints[0], distanceBetweenLines / 111000)
+          continuousPath.push(...edgePath)
+        }
+
+        continuousPath.push(...linePoints)
+        isReverse = !isReverse
+      }
+
+      d += distanceBetweenLines / 111000
+    }
+
+    return continuousPath
+  } catch (error) {
+    console.error('Error in generateSurveyPath:', error)
+    return []
+  }
+}
+
+/**
+ * Moves along the edge of a polygon from start to end point.
+ * @param {Feature<Polygon>} polygon - The polygon to move along.
+ * @param {L.LatLng} start - The starting point.
+ * @param {L.LatLng} end - The ending point.
+ * @param {number} maxDistance - The maximum distance to move.
+ * @returns {L.LatLng[]} The path along the edge.
+ */
+export const moveAlongEdge = (
+  polygon: Feature<Polygon>,
+  start: L.LatLng,
+  end: L.LatLng,
+  maxDistance: number
+): L.LatLng[] => {
+  const coords = polygon.geometry.coordinates[0]
+  const path: L.LatLng[] = []
+  let remainingDistance = maxDistance
+  let currentPoint = turf.point([start.lng, start.lat])
+
+  for (let i = 0; i < coords.length; i++) {
+    const nextPoint = turf.point(coords[(i + 1) % coords.length])
+    const edgeLine = turf.lineString([coords[i], coords[(i + 1) % coords.length]])
+
+    if (turf.booleanPointOnLine(currentPoint, edgeLine)) {
+      while (remainingDistance > 0) {
+        const distance = turf.distance(currentPoint, nextPoint)
+        if (distance <= remainingDistance) {
+          path.push(L.latLng(nextPoint.geometry.coordinates[1], nextPoint.geometry.coordinates[0]))
+          remainingDistance -= distance
+          currentPoint = nextPoint
+          break
+        } else {
+          const move = turf.along(edgeLine, remainingDistance, { units: 'kilometers' })
+          path.push(L.latLng(move.geometry.coordinates[1], move.geometry.coordinates[0]))
+          break
+        }
+      }
+    }
+
+    if (turf.booleanPointOnLine(turf.point([end.lng, end.lat]), edgeLine)) {
+      break
+    }
+  }
+
+  return path
+}