SimsWorld/MessageBasic/motion_access.h

#pragma once
#include "messagebasic.h"

/// <summary>
/// ָ<><D6B8><EFBFBD><EFBFBD>·<EFBFBD><C2B7><EFBFBD><EFBFBD>ģʽ
/// </summary>
enum class NavigateDriveMode {
	Cruise,	// Ѳ<><D1B2>ģʽ<C4A3><CABD><EFBFBD><EFBFBD>;<EFBFBD><CDBE>Ϯģʽ
	FullSpeed,// ȫ<><C8AB>ģʽ<C4A3><CABD>ս<EFBFBD><D5BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	ReachStop,	// ͣפģʽ
};
/// <summary>
/// <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>·<EFBFBD><C2B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// </summary>
struct MESSAGEBASIC_EXPORT NavigateWithRoute : public AbstractMessage {
	QString _route_name;	// <20>滮<EFBFBD><E6BBAE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	NavigateDriveMode _drive_mode;	// <20><><EFBFBD><EFBFBD>ģʽ

	NavigateWithRoute();

	// Serializable
	std::shared_ptr<TopicData> newDefault() const override;
	void recoveryFrom(const QJsonObject& obj) override;
	void saveTo(QJsonObject& obj) const override;
};

/// <summary>
/// ƽ̨<C6BD><CCA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EEA3AC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪY<CEAA><59><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪX<CEAA><58><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪZ
/// </summary>
struct MESSAGEBASIC_EXPORT PlatformMotionCommand : public AbstractMessage {
	PlatformMotionCommand(const QString &nm);
	/// <summary>
	/// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼʱ<CABC><CAB1>
	/// </summary>
	/// <returns></returns>
	virtual double startTimepoint() const = 0;
	/// <summary>
	/// <20><><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1>
	/// </summary>
	/// <returns></returns>
	virtual double timeExpend() const = 0;
	/// <summary>
	/// ָ<><D6B8>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
	/// </summary>
	/// <param name="time"></param>
	/// <returns><3E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ</returns>
	virtual QVector3D posAtTimeSpan(double time) const = 0;
	/// <summary>
	/// ָ<><D6B8>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>ʸ<EFBFBD><CAB8>
	/// </summary>
	/// <param name="time"></param>
	/// <returns><3E><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ</returns>
	virtual QVector3D speedAtTimeSpan(double time) const = 0;
};

/// <summary>
/// <20><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
/// </summary>
struct MESSAGEBASIC_EXPORT MotionDeduceRequest : public AbstractMessage {
	double _target_time = 0;

	MotionDeduceRequest();

	// Serializable
	std::shared_ptr<TopicData> newDefault() const override;
	void recoveryFrom(const QJsonObject& obj) override;
	void saveTo(QJsonObject& obj) const override;
};

/// <summary>
/// <20>鿴ָ<E9BFB4><D6B8>Ŀ<EFBFBD><C4BF>ʵ<EFBFBD><CAB5><EFBFBD>Ļ<EFBFBD><C4BB><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// </summary>
struct MESSAGEBASIC_EXPORT MotionSequencePreviewGet : public AbstractMessage {
	MotionSequencePreviewGet();
	std::shared_ptr<TopicData> newDefault() const override;
};

/// <summary>
/// ƽ̨<C6BD><CCA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// </summary>
struct MESSAGEBASIC_EXPORT PlatformMotionSequence : public AbstractMessage {
	QList<std::shared_ptr<PlatformMotionCommand>> _cmd_sequence;

	PlatformMotionSequence();

	// Serializable
	std::shared_ptr<TopicData> newDefault() const override;
	void recoveryFrom(const QJsonObject& obj) override;
	void saveTo(QJsonObject& obj) const override;
};


// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5> =======================================================

/// <summary>
/// ֱ<>߻<EFBFBD><DFBB><EFBFBD>
/// </summary>
struct MESSAGEBASIC_EXPORT StrightLineMotion : public PlatformMotionCommand {
	/// <summary>
	/// <20><>ʼʱ<CABC><CAB1>
	/// </summary>
	double _start_time = 0;
	/// <summary>
	/// <20><><EFBFBD><EFBFBD><EFBFBD>ٶȣ<D9B6>m/s
	/// </summary>
	double _speed_motion = 0;
	/// <summary>
	/// <20><><EFBFBD>ٶȣ<D9B6>m/s^2
	/// </summary>
	double _accerlate_rates = 0;
	/// <summary>
	/// ·<><C2B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	/// </summary>
	double _length_total = 0;

	StrightLineMotion();

	double startTimepoint() const override;
	double timeExpend() const override;
	QVector3D posAtTimeSpan(double time) const override;
	QVector3D speedAtTimeSpan(double time) const override;

	std::shared_ptr<TopicData> newDefault() const override;
	void recoveryFrom(const QJsonObject& obj) override;
	void saveTo(QJsonObject& obj) const override;
};

#include <QVector3D>
/// <summary>
/// <20><><EFBFBD>ڻ<EFBFBD><DABB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5>ˮƽ<CBAE><C6BD>׼Բ<D7BC><D4B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// </summary>
struct MESSAGEBASIC_EXPORT HorizontalArcMotion : public PlatformMotionCommand {
	/// <summary>
	/// <20><>ʼʱ<CABC><CAB1>
	/// </summary>
	double _start_time = 0;
	/// <summary>
	/// ת<><D7AA>Բ<EFBFBD><D4B2>,<xpos, ypos, 0>
	/// </summary>
	QVector3D _center_point;
	/// <summary>
	/// <20><><EFBFBD><EFBFBD>ת<EFBFBD>ǣ<EFBFBD><C7A3><EFBFBD>
	/// </summary>
	double _rotate_deg = 0;
	/// <summary>
	/// <20><><EFBFBD><EFBFBD><EFBFBD>ٶȣ<D9B6>m/s
	/// </summary>
	double _speed_motion = 0;

	HorizontalArcMotion();

	double startTimepoint() const override;
	double timeExpend() const override;
	QVector3D posAtTimeSpan(double time) const override;
	QVector3D speedAtTimeSpan(double time) const override;

	std::shared_ptr<TopicData> newDefault() const override;
	void recoveryFrom(const QJsonObject& obj) override;
	void saveTo(QJsonObject& obj) const override;
};

/// <summary>
/// <20><><EFBFBD>ڻ<EFBFBD><DABB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>Ĵ<EFBFBD>ֱ<EFBFBD><D6B1>׼Բ<D7BC><D4B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/// </summary>
struct MESSAGEBASIC_EXPORT VerticalArcMotion : public PlatformMotionCommand {
	/// <summary>
	/// <20><>ʼʱ<CABC><CAB1>
	/// </summary>
	double _start_time = 0;
	/// <summary>
	/// ת<><D7AA>Բ<EFBFBD><D4B2>,<0, ypos, zpos>
	/// </summary>
	QVector3D _center_point;
	/// <summary>
	/// <20><><EFBFBD><EFBFBD>ת<EFBFBD>ǣ<EFBFBD><C7A3><EFBFBD>
	/// </summary>
	double _rotate_deg = 0;
	/// <summary>
	/// <20><><EFBFBD><EFBFBD><EFBFBD>ٶȣ<D9B6>m/s
	/// </summary>
	double _speed_motion = 0;

	VerticalArcMotion();

	double startTimepoint() const override;
	double timeExpend() const override;
	QVector3D posAtTimeSpan(double time) const override;
	QVector3D speedAtTimeSpan(double time) const override;

	std::shared_ptr<TopicData> newDefault() const override;
	void recoveryFrom(const QJsonObject& obj) override;
	void saveTo(QJsonObject& obj) const override;
};