2025-06-14 16:05:57 +00:00
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#pragma once
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2025-06-21 07:56:59 +00:00
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#include <motion_access.h>
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#include "componentbasic.h"
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2025-06-14 16:05:57 +00:00
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/// <summary>
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/// ˮ<><CBAE>ƽ̨<C6BD><CCA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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/// </summary>
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class SurfaceMotionControlPlugin : public ProcList<
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WsRespond<HorizontalArcMotion, RespondDefault>,
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WsRespond<StrightLineMotion, RespondDefault>,
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WsRespond<MotionDeduceRequest, RespondDefault>,
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WsRespond<SyncRequest, RespondDefault>
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>{
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2025-06-21 07:56:59 +00:00
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private:
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std::weak_ptr<WsEntity> _bind_entity;
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std::shared_ptr<const PlatformMotionCommand> _current_cmd = nullptr;
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LonLatAlt _start_lla;
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Posture _start_posture;
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public:
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SurfaceMotionControlPlugin();
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// ͨ<><CDA8> ProcList <20>̳<EFBFBD>
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void execute(std::shared_ptr<Immediate> map, std::shared_ptr<const HorizontalArcMotion> in, QList<std::shared_ptr<RespondDefault>>& out) override;
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void execute(std::shared_ptr<Immediate> map, std::shared_ptr<const StrightLineMotion> in, QList<std::shared_ptr<RespondDefault>>& out) override;
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void execute(std::shared_ptr<Immediate> map, std::shared_ptr<const MotionDeduceRequest> in, QList<std::shared_ptr<RespondDefault>>& out) override;
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void execute(std::shared_ptr<Immediate> map, std::shared_ptr<const SyncRequest> in, QList<std::shared_ptr<RespondDefault>>& out) override;
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std::shared_ptr<WsComponent> defaultNew() const override;
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void bindEntity(std::weak_ptr<WsEntity> host) override;
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QString name() const override;
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void recoveryFrom(const QJsonObject& obj) override;
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void saveTo(QJsonObject& obj) const override;
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2025-06-14 16:05:57 +00:00
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};
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