131 lines
3.1 KiB
C
131 lines
3.1 KiB
C
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#pragma once
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#include "messagebasic.h"
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/// <summary>
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/// <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><C2B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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/// </summary>
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struct MESSAGEBASIC_EXPORT NavigateWithRoute : public AbstractMessage {
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QString _route_name;
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NavigateWithRoute();
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// Serializable
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void recoveryFrom(const QJsonObject& obj) override;
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void saveTo(QJsonObject& obj) const override;
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};
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/// <summary>
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/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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/// </summary>
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enum MotionType {
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None, // û<><C3BB>
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StraightLine,// ֱ<><EFBFBD><DFBB><EFBFBD>
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StandardArc, // <20><>Բ<D7BC><D4B2>
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ParabolaLine,// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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Bezier2tArc, // <20><><EFBFBD>α<EFBFBD><CEB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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Bezier3tArc, // <20><><EFBFBD>α<EFBFBD><CEB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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};
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/// <summary>
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/// <20><><EFBFBD><EFBFBD><EFBFBD>Ƕȷ<C7B6><C8B7><EFBFBD>
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/// </summary>
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enum class MotionRotate {
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Horizontal, Vertical
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};
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/// <summary>
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/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>
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/// </summary>
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struct OrthogonalMotionCommand : public Serializable {
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/// <summary>
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/// <20><><EFBFBD><EFBFBD>ƽ<EFBFBD>淽<EFBFBD><E6B7BD>
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/// </summary>
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/// <returns></returns>
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virtual MotionRotate rotateType() const = 0;
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/// <summary>
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/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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/// </summary>
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/// <returns></returns>
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virtual MotionType motionType() const = 0;
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/// <summary>
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/// <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD>ٷֱ<D9B7>λ<EFBFBD><CEBB>
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/// </summary>
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/// <param name="percent"></param>
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/// <returns></returns>
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virtual LonLatAltPos posAtPercent(double percent) = 0;
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/// <summary>
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/// ָ<><D6B8><EFBFBD>ٷֱ<D9B7>λ<EFBFBD>õ<EFBFBD><C3B5>ٶ<EFBFBD>
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/// </summary>
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/// <param name="percent"></param>
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/// <returns></returns>
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virtual double speedAtPercent(double percent) = 0;
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/// <summary>
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/// ָ<><D6B8><EFBFBD>ٷֱ<D9B7>λ<EFBFBD><CEBB><EFBFBD>ٶȷ<D9B6><C8B7><EFBFBD>
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/// </summary>
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/// <param name="percent"></param>
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/// <returns></returns>
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virtual QVector2D speedVectorAtPercent(double percent) = 0;
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};
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/// <summary>
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/// ƽ̨<C6BD><CCA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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/// </summary>
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struct PlatformMotionCommand : public AbstractMessage {
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QHash<MotionRotate, std::shared_ptr<OrthogonalMotionCommand>> _motion_set; //<2F>ϳɻ<CFB3><C9BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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double _arrived_time = 0; // <20>ִ<EFBFBD><D6B4>յ<EFBFBD>ʱ<EFBFBD><CAB1>
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double _start_time = 0;
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PlatformMotionCommand();
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// Serializable
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void recoveryFrom(const QJsonObject& obj) override;
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void saveTo(QJsonObject& obj) const override;
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};
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/// <summary>
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/// <20>鿴ָ<E9BFB4><D6B8>Ŀ<EFBFBD><C4BF>ʵ<EFBFBD><CAB5><EFBFBD>Ļ<EFBFBD><C4BB><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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/// </summary>
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struct MESSAGEBASIC_EXPORT MotionSequencePreviewGet : public AbstractMessage {
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MotionSequencePreviewGet();
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};
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/// <summary>
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/// ƽ̨<C6BD><CCA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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/// </summary>
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struct MESSAGEBASIC_EXPORT PlatformMotionSequence : public AbstractMessage {
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QList<std::shared_ptr<PlatformMotionCommand>> _cmd_sequence;
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PlatformMotionSequence();
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// Serializable
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void recoveryFrom(const QJsonObject& obj) override;
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void saveTo(QJsonObject& obj) const override;
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};
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5> =======================================================
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/// <summary>
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/// ˮƽֱ<C6BD><EFBFBD><DFBB><EFBFBD>
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/// </summary>
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struct MESSAGEBASIC_EXPORT HorizontalLineMotionCmd : public OrthogonalMotionCommand {
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LonLatPos _lonlat_anchor;// <20><>ʼ<EFBFBD><CABC>
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double _azimuth_deg = 0; // <20><>ʼ<EFBFBD><CABC>λ<EFBFBD><CEBB>
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double _speed_value = 0;// <20><>ʼ<EFBFBD>ٶ<EFBFBD>
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double _accerlate_rate = 0;// <20><><EFBFBD>ٶ<EFBFBD>
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HorizontalLineMotionCmd();
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// Serializable
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void recoveryFrom(const QJsonObject& obj) override;
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void saveTo(QJsonObject& obj) const override;
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MotionRotate rotateType() const override;
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MotionType motionType() const override;
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LonLatAltPos posAtPercent(double percent) override;
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};
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struct MESSAGEBASIC_EXPORT VerticalLineMotionCmd : public OrthogonalMotionCommand {
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};
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