Boundary menu: + Polygon draws an obstacle (from #624)

Checklists/05-boundary-headland.md

@@ -17,5 +17,6 @@
 | 5.10 | Section control at the headland line | | | |
 | 5.11 | **Boundary imagery**: capture, the on/off toggle, a fallback zoom where tiles are missing | | | |
 | 5.12 | A boundary from an AgOpenGPS field comes across with its inner boundaries and headland | | | |
+| 5.13 | **+ Polygon**: an obstacle drawn by tapping its corners on the map (Undo, Finish, Cancel on the toolbar) is a Hard U-turn obstacle, saved and selected in the list; a corner outside the field is refused | | | |
 
 **Signed off:** _ (name, date)

Shared/AgOpenWeb.RemoteServer/wwwroot/i18n/en.json

@@ -11,6 +11,7 @@
   "({n} sats)": "({n} sats)",
   "(− out / + in)": "(− out / + in)",
   "+ Circles": "+ Circles",
+  "+ Polygon": "+ Polygon",
   "1 cm per click": "1 cm per click",
   "1 tool width": "1 tool width",
   "100 = neutral": "100 = neutral",
@@ -89,6 +90,7 @@
   "All Edges": "All Edges",
   "Allow steering while reversing": "Allow steering while reversing",
   "Altitude": "Altitude",
+  "An obstacle needs at least three corners": "An obstacle needs at least three corners",
   "An slcan adapter (CANable) on the implement bus, 250 kbit/s.": "An slcan adapter (CANable) on the implement bus, 250 kbit/s.",
   "Another web card": "Another web card",
   "Antenna": "Antenna",
@@ -298,6 +300,7 @@
   "Download Selected": "Download Selected",
   "Drag the track points, then Save": "Drag the track points, then Save",
   "Drag the two endpoints (snap to boundary), then Save": "Drag the two endpoints (snap to boundary), then Save",
+  "Draw an obstacle: tap its corners on the map, then Finish": "Draw an obstacle: tap its corners on the map, then Finish",
   "Draw boundary on satellite imagery": "Draw boundary on satellite imagery",
   "Draw on Map": "Draw on Map",
   "Draw on Map — one line per edge; where they cross encloses the headland": "Draw on Map — one line per edge; where they cross encloses the headland",
@@ -737,6 +740,8 @@
   "Observer": "Observer",
   "observing": "observing",
   "Observing — take control to use hotkeys": "Observing — take control to use hotkeys",
+  "Obstacle: 1 corner — Finish when done": "Obstacle: 1 corner — Finish when done",
+  "Obstacle: {n} corners — Finish when done": "Obstacle: {n} corners — Finish when done",
   "Off": "Off",
   "Off in headland": "Off in headland",
   "Off outside boundary": "Off outside boundary",
@@ -1054,6 +1059,7 @@
   "Tap points ({n}) — Finish when done": "Tap points ({n}) — Finish when done",
   "Tap points on the map for a curve, then Finish": "Tap points on the map for a curve, then Finish",
   "Tap the centre of each tree. Tap \"+ Circles\" again to stop.": "Tap the centre of each tree. Tap \"+ Circles\" again to stop.",
+  "Tap the corners of the obstacle — Finish when done": "Tap the corners of the obstacle — Finish when done",
   "Tap the end of the edge": "Tap the end of the edge",
   "Tap the field corners on the imagery — Finish when done": "Tap the field corners on the imagery — Finish when done",
   "Tap the map": "Tap the map",

Shared/AgOpenWeb.RemoteServer/wwwroot/index.html

@@ -1529,6 +1529,7 @@
       <button id="bm-circ-size" class="bm-cbtn" title="Give every circle up to a tree's size the diameter in the box">Size all</button>
       <span class="bm-brk"></span>
       <button id="bm-circ-add" class="bm-cbtn" title="Add circles: tap the centre of each tree on the map">+ Circles</button>
+      <button id="bm-poly-add" class="bm-cbtn" title="Draw an obstacle: tap its corners on the map, then Finish">+ Polygon</button>
       <button id="bm-circ-move" class="bm-cbtn" title="Tap the map at the selected circle's new centre">Move</button>
       <button id="bm-circ-round" class="bm-cbtn" title="Make the selected obstacle round: the smallest circle that holds it">Round</button>
       <button id="bm-circ-all" class="bm-cbtn" title="Make every obstacle up to a tree's size round">Round all</button>

Shared/AgOpenWeb.RemoteServer/wwwroot/js/frame.js

@@ -52,6 +52,7 @@ function renderSkia(canvas, rp) {
   drawRecordingMarkersSk(canvas); // live recorded-path dots (independent of the Scene)
   drawBoundaryRecordingSk(canvas); // live drive-around boundary line + dots
   drawSatBoundarySk(canvas); // live boundary-on-satellite polygon being drawn
+  drawPolyObstacleSk(canvas); // live obstacle polygon being drawn
   drawAbDrawPreviewSk(canvas); // #40 — A/B (orange/blue) dots for the AB/curve being drawn
   drawCurveMarksSk(canvas); // record-curve path dots (Set Point A → B)
   drawBoundaryCurvePreviewSk(canvas); // Bnd. Curve: the chosen way round (#450)

Shared/AgOpenWeb.RemoteServer/wwwroot/js/hud-tools.js

@@ -454,6 +454,37 @@ document.getElementById('bm-circ-add').addEventListener('pointerdown', ev => {
   });
   renderCircleBar();
 });
+// A drawn obstacle ("+ Polygon"): like the boundary drawn on the imagery, the corners are
+// tapped on the map and shown as they go; Finish on the draw toolbar sends them, the host adds
+// the obstacle (Hard, U-turn) and selects its row. Client-side point buffer for the preview
+// only; no geometry in JS.
+let polyDraw = false;    // drawing an obstacle on the map
+let polyPts = [];        // [{e,n}] corners tapped so far (preview only)
+function startPolyDraw() {
+  polyDraw = true; polyPts = [];
+  lnCloseAll();                           // close the boundary menu
+  showAbBar(false, true, true);           // Undo + Finish + Cancel
+  startMapTap({ hint: tr('Tap the corners of the obstacle — Finish when done'), onTap: polyTap });
+}
+function polyTap(e, n) { polyPts.push({ e, n }); setPolyHint(); }
+function setPolyHint() { hintEl.textContent = polyPts.length === 1 ? tr('Obstacle: 1 corner — Finish when done') : tr('Obstacle: {n} corners — Finish when done', { n: polyPts.length }); }
+function polyUndo() { if (polyPts.length) { polyPts.pop(); setPolyHint(); } }
+function polyFinish() {
+  if (polyPts.length >= 3)
+    transport.send('boundary.obstacle.fromMapPoints|' + polyPts.map(p => p.e.toFixed(3) + ',' + p.n.toFixed(3)).join(';'));
+  else showToast(tr('An obstacle needs at least three corners'));
+  endPolyDraw();
+}
+function polyCancel() { endPolyDraw(); }
+function endPolyDraw() {
+  polyDraw = false; polyPts = [];
+  drawBar.classList.remove('show'); endMapTap(); hintEl.classList.remove('show');
+}
+document.getElementById('bm-poly-add').addEventListener('pointerdown', ev => {
+  ev.stopPropagation();
+  if (mapTap) endMapTap();
+  startPolyDraw();
+});
 document.getElementById('bm-circ-move').addEventListener('pointerdown', ev => {
   ev.stopPropagation();
   const it = bmSelItem();

Shared/AgOpenWeb.RemoteServer/wwwroot/js/map-draw.js

@@ -341,6 +341,20 @@ function drawSatBoundarySk(canvas) {
     canvas.drawCircle(xy[0], xy[1], rad, SKP.flagOutline);
   }
 }
+// Live obstacle draw-on-map preview: the corners tapped so far, in the U-turn obstacle's
+// yellow (what a drawn obstacle becomes), closed from three corners on; client-side only.
+function drawPolyObstacleSk(canvas) {
+  if (!polyDraw || !polyPts.length) return;
+  if (polyPts.length >= 2) strokePtsSk(canvas, polyPts, polyPts.length >= 3, SKP.boundaryInner);
+  const rad = Math.max(4, 0.5 * pxPerM);
+  SKP.flagFill.setColor(ckColor('#FFFFFF'));
+  for (const p of polyPts) {
+    if ((pw(p.e, p.n)) < 1.0) continue;
+    const xy = w2s(p.e, p.n);
+    canvas.drawCircle(xy[0], xy[1], rad, SKP.flagFill);
+    canvas.drawCircle(xy[0], xy[1], rad, SKP.flagOutline);
+  }
+}
 // #40: preview the AB/curve points being drawn as dots — orange A (first),
 // blue B (last), white interior — so the placed A point is visible before B is set. The
 // host holds the real point list; drawPts is the client's tap echo (preview only).

Shared/AgOpenWeb.RemoteServer/wwwroot/js/map-input.js

@@ -196,6 +196,7 @@ function isTyping() {
 }
 addEventListener('keydown', e => {
   if (e.key === 'Escape' && satBnd) { satCancel(); return; }  // cancel boundary draw-on-map
+  if (e.key === 'Escape' && polyDraw) { polyCancel(); return; } // cancel obstacle draw-on-map
   if (e.key === 'Escape' && abFlow) { abCancel(); return; }   // cancel AB-line creation (tells host)
   if (e.key === 'Escape' && hlFlow) { endHeadlandDraw(); return; } // cancel headland draw
   if (e.key === 'Escape' && editSession) { endEdit(); return; }    // cancel on-map edit

Shared/AgOpenWeb.RemoteServer/wwwroot/js/tracks.js

@@ -606,9 +606,9 @@ document.getElementById('fb-hl-edit').addEventListener('pointerdown', e => { e.s
 // Draw toolbar serves whichever map-draw flow is active (AB line / boundary-on-map / headland).
 drawBar.addEventListener('pointerdown', e => e.stopPropagation()); // don't pan / not a map tap
 document.getElementById('draw-setpoint').addEventListener('pointerdown', e => { e.preventDefault(); e.stopPropagation(); abSetPoint(); });
-document.getElementById('draw-undo').addEventListener('pointerdown', e => { e.preventDefault(); e.stopPropagation(); hlFlow ? hlUndo() : satBnd ? satUndo() : abUndo(); });
-document.getElementById('draw-finish').addEventListener('pointerdown', e => { e.preventDefault(); e.stopPropagation(); editSession ? saveEdit() : hlFlow ? endHeadlandDraw() : satBnd ? satFinish() : abFinish(); });
-document.getElementById('draw-cancel').addEventListener('pointerdown', e => { e.preventDefault(); e.stopPropagation(); editSession ? endEdit() : hlFlow ? endHeadlandDraw() : satBnd ? satCancel() : abCancel(); });
+document.getElementById('draw-undo').addEventListener('pointerdown', e => { e.preventDefault(); e.stopPropagation(); hlFlow ? hlUndo() : satBnd ? satUndo() : polyDraw ? polyUndo() : abUndo(); });
+document.getElementById('draw-finish').addEventListener('pointerdown', e => { e.preventDefault(); e.stopPropagation(); editSession ? saveEdit() : hlFlow ? endHeadlandDraw() : satBnd ? satFinish() : polyDraw ? polyFinish() : abFinish(); });
+document.getElementById('draw-cancel').addEventListener('pointerdown', e => { e.preventDefault(); e.stopPropagation(); editSession ? endEdit() : hlFlow ? endHeadlandDraw() : satBnd ? satCancel() : polyDraw ? polyCancel() : abCancel(); });
 // Touch cancel for bare map-tap flows (flag). stopPropagation so the pill isn't taken as a map tap.
 document.getElementById('maptap-cancel').addEventListener('pointerdown', e => { e.preventDefault(); e.stopPropagation(); if (mapTap && mapTap.onCancel) mapTap.onCancel(); else endMapTap(); });
 

Shared/AgOpenWeb.RemoteWiring/RemoteServerWiring.cs

@@ -331,6 +331,20 @@ void CaptureBoundaryImagery(System.Collections.Generic.IReadOnlyList<(double E,
                                         vm.RemoteAddObstacleCircle(bce, bcn, bcd);
                                     return;
                                 }
+                                case "boundary.obstacle.fromMapPoints": // arg = "e,n;e,n;…": an obstacle drawn
+                                {                                       // on the map, its corners in order
+                                    var bop = new System.Collections.Generic.List<(double, double)>();
+                                    foreach (var pair in arg.Split(';'))
+                                    {
+                                        var en = pair.Split(',');
+                                        if (en.Length == 2
+                                            && double.TryParse(en[0], num, inv, out var pe)
+                                            && double.TryParse(en[1], num, inv, out var pn))
+                                            bop.Add((pe, pn));
+                                    }
+                                    vm.RemoteAddObstacleFromMapPoints(bop);
+                                    return;
+                                }
                                 case "boundary.circle.diameter": // arg = "row:d": that obstacle becomes a
                                 {                                // circle d metres across
                                     var bcc = arg.IndexOf(':');

Shared/AgOpenWeb.ViewModels/MainViewModel.ObstacleDraw.Remote.cs

@@ -0,0 +1,60 @@
+// AgOpenWeb
+// Copyright (C) 2024-2026 AgOpenWeb Contributors
+// SPDX-License-Identifier: Apache-2.0
+
+using System;
+using System.Collections.Generic;
+using AgOpenWeb.Models;
+
+namespace AgOpenWeb.ViewModels;
+
+public partial class MainViewModel
+{
+    // Two taps closer than this are one corner (a double tap on the touch screen).
+    private const double DrawnCornerMinSpacing = 0.2;
+
+    /// <summary>
+    /// A new obstacle drawn on the map ("+ Polygon" in the boundary menu): its corners in the
+    /// order tapped, field metres. Every corner must be inside the field; a repeated tap on a
+    /// corner is one corner. Its choice is U-turn (what is drawn by hand is a ditch, a pond or a
+    /// patch, not a tree) and it is Hard: the implement is kept out of it. Its row is selected.
+    /// </summary>
+    public void RemoteAddObstacleFromMapPoints(IReadOnlyList<(double E, double N)> points)
+    {
+        if (!TryLoadBoundaryForEdit(out var boundary, out var fieldPath)) return;
+
+        var corners = new List<(double E, double N)>();
+        foreach (var p in points)
+            if (corners.Count == 0 || Distance(corners[^1], p) >= DrawnCornerMinSpacing) corners.Add(p);
+        if (corners.Count > 1 && Distance(corners[0], corners[^1]) < DrawnCornerMinSpacing) corners.RemoveAt(corners.Count - 1);
+        if (corners.Count < 3)
+        {
+            ReportFailure("An obstacle needs at least three corners");
+            return;
+        }
+        if (boundary.OuterBoundary is { IsValid: true } outer)
+            foreach (var (e, n) in corners)
+                if (!outer.IsPointInside(e, n))
+                {
+                    ReportFailure("Every corner of an obstacle must be inside the field");
+                    return;
+                }
+
+        var polygon = new BoundaryPolygon { AtObstacle = ObstacleAction.Turn };
+        foreach (var (e, n) in corners) polygon.Points.Add(new BoundaryPoint(e, n, 0));
+        polygon.UpdateBounds();
+        if (polygon.AreaSquareMeters < 1.0)
+        {
+            ReportFailure("The corners drawn enclose no area");
+            return;
+        }
+
+        boundary.AddNewObstacle(polygon);
+        int inner = boundary.InnerBoundaries.Count - 1;
+        SaveObstacleChoice(boundary, fieldPath, ListRowOfInner(boundary, inner));
+        StatusMessage = $"Inner {inner + 1}: drawn with {corners.Count} corners";
+    }
+
+    private static double Distance((double E, double N) a, (double E, double N) b) =>
+        Math.Sqrt((a.E - b.E) * (a.E - b.E) + (a.N - b.N) * (a.N - b.N));
+}

Tests/AgOpenWeb.ViewModels.Tests/ObstacleCircleTests.cs

@@ -276,4 +276,39 @@ public async Task TheFile_HoldsCentreAndDiameter_AndAPolygonEditedElsewhereLoses
         Assert.That(inner.Circle, Is.Null, "no longer the circle's polygon");
         Assert.That(inner.Points, Has.Count.EqualTo(ObstacleCircle.Segments), "its shape is kept");
     }
+
+    [Test]
+    public async Task AnObstacle_DrawnOnTheMap_IsAHardUTurnObstacle_SavedAndSelected()
+    {
+        var vm = await Open();
+
+        // Five taps: a double tap on the second corner and the first corner tapped again to close.
+        vm.RemoteAddObstacleFromMapPoints(new[] { (20.0, 160.0), (40.0, 160.0), (40.05, 160.05), (40.0, 180.0), (20.0, 180.0), (20.1, 160.0) });
+
+        var inner = OnDisk(_dir).InnerBoundaries;
+        Assert.That(inner, Has.Count.EqualTo(4));
+        Assert.That(inner[3].Points, Has.Count.EqualTo(4), "a repeated corner and the closing tap are dropped");
+        Assert.That(inner[3].AtObstacle, Is.EqualTo(ObstacleAction.Turn), "what is drawn by hand gets a U-turn");
+        Assert.That(inner[3].IsHard, Is.True, "a new obstacle is Hard");
+        Assert.That(inner[3].Circle, Is.Null);
+        Assert.That(inner[3].IsPointInside(30, 170), Is.True);
+        Assert.That(vm.State.Field.CurrentBoundary!.InnerBoundaries, Has.Count.EqualTo(4), "in the live boundary");
+        Assert.That(vm.SelectedBoundaryIndex, Is.EqualTo(4), "its row is selected");
+        Assert.That(vm.StatusMessage, Does.Contain("4 corners"));
+    }
+
+    [Test]
+    public async Task AnObstacle_DrawnOutsideTheField_OrTooSmall_IsRefused()
+    {
+        var vm = await Open();
+
+        vm.RemoteAddObstacleFromMapPoints(new[] { (190.0, 100.0), (210.0, 100.0), (200.0, 120.0) });
+        Assert.That(vm.StatusMessage, Does.Contain("inside the field"));
+        vm.RemoteAddObstacleFromMapPoints(new[] { (100.0, 100.0), (100.05, 100.05), (100.1, 100.0) });
+        Assert.That(vm.StatusMessage, Does.Contain("three corners"));
+        vm.RemoteAddObstacleFromMapPoints(new[] { (100.0, 100.0), (100.5, 100.0), (101.0, 100.0) });
+        Assert.That(vm.StatusMessage, Does.Contain("no area"));
+
+        Assert.That(OnDisk(_dir).InnerBoundaries, Has.Count.EqualTo(3));
+    }
 }