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codeboss 2025-06-15 00:05:57 +08:00
parent 819bd70426
commit 300b31a578
8 changed files with 273 additions and 0 deletions
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2
ComponentBasic/ComponentBasic.vcxproj
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@ -105,12 +105,14 @@
<ClCompile Include="DeduceFramework.cpp" />
<ClCompile Include="InvisibleComponent.cpp" />
<ClCompile Include="RouteManage.cpp" />
<ClCompile Include="SurfaceMotionPlugin.cpp" />
<ClCompile Include="VisibleCube.cpp" />
<ClInclude Include="componentbasic_global.h" />
<ClInclude Include="componentbasic.h" />
<QtMoc Include="DeduceFramework.h" />
<ClInclude Include="InvisibleComponent.h" />
<ClInclude Include="RouteManage.h" />
<ClInclude Include="SurfaceMotionPlugin.h" />
<ClInclude Include="VisibleCube.h" />
</ItemGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />

6
ComponentBasic/ComponentBasic.vcxproj.filters
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@ -38,6 +38,9 @@
<ClInclude Include="InvisibleComponent.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="SurfaceMotionPlugin.h">
<Filter>Header Files</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<ClCompile Include="VisibleCube.cpp">
@ -55,6 +58,9 @@
<ClCompile Include="InvisibleComponent.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="SurfaceMotionPlugin.cpp">
<Filter>Source Files</Filter>
</ClCompile>
</ItemGroup>
<ItemGroup>
<QtMoc Include="DeduceFramework.h">

1
ComponentBasic/SurfaceMotionPlugin.cpp Normal file
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@ -0,0 +1 @@
#include "SurfaceMotionPlugin.h"

10
ComponentBasic/SurfaceMotionPlugin.h Normal file
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@ -0,0 +1,10 @@
#pragma once
/// <summary>
/// 水面平台机动组件
/// </summary>
class SurfaceMotionControlPlugin : public ProcList<
>{
};

2
MessageBasic/MessageBasic.vcxproj
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@ -100,10 +100,12 @@
</Link>
</ItemDefinitionGroup>
<ItemGroup>
<ClCompile Include="motion_access.cpp" />
<ClCompile Include="route_access.cpp" />
<ClInclude Include="messagebasic_global.h" />
<ClInclude Include="messagebasic.h" />
<ClCompile Include="messagebasic.cpp" />
<ClInclude Include="motion_access.h" />
<ClInclude Include="route_access.h" />
</ItemGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />

6
MessageBasic/MessageBasic.vcxproj.filters
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@ -35,10 +35,16 @@
<ClInclude Include="route_access.h">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="motion_access.h">
<Filter>Header Files</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<ClCompile Include="route_access.cpp">
<Filter>Source Files</Filter>
</ClCompile>
<ClCompile Include="motion_access.cpp">
<Filter>Source Files</Filter>
</ClCompile>
</ItemGroup>
</Project>

115
MessageBasic/motion_access.cpp Normal file
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@ -0,0 +1,115 @@
#include "motion_access.h"
#include <QVariant>
NavigateWithRoute::NavigateWithRoute()
:AbstractMessage(NAME(NavigateWithRoute)) {
}
void NavigateWithRoute::recoveryFrom(const QJsonObject& obj)
{
AbstractMessage::recoveryFrom(obj);
STRING_PEAK(_route_name);
}
void NavigateWithRoute::saveTo(QJsonObject& obj) const
{
AbstractMessage::saveTo(obj);
STRING_SAVE(_route_name);
}
PlatformMotionCommand::PlatformMotionCommand()
:AbstractMessage(NAME(PlatformMotionCommand))
{
}
#include <QJsonArray>
#include <QJsonObject>
void PlatformMotionCommand::recoveryFrom(const QJsonObject& obj)
{
AbstractMessage::recoveryFrom(obj);
DOUBLE_PEAK(_arrived_time);
DOUBLE_PEAK(_start_time);
auto cmd_array = obj["array"].toArray();
for (auto idx = 0; idx < cmd_array.size(); ++idx) {
auto cmd_obj = cmd_array.at(idx).toObject();
}
}
void PlatformMotionCommand::saveTo(QJsonObject& obj) const
{
AbstractMessage::saveTo(obj);
DOUBLE_SAVE(_arrived_time);
DOUBLE_SAVE(_start_time);
QJsonArray cmd_array;
for (auto k : this->_motion_set.keys()) {
QJsonObject cmd;
cmd["type"] = (int)k;
QJsonObject objx;
this->_motion_set[k]->saveTo(objx);
cmd["content"] = objx;
cmd_array.append(cmd);
}
obj["array"] = cmd_array;
}
MotionSequencePreviewGet::MotionSequencePreviewGet()
:AbstractMessage(NAME(MotionSequencePreviewGet)) {
}
PlatformMotionSequence::PlatformMotionSequence()
:AbstractMessage(NAME(PlatformMotionSequence))
{
}
void PlatformMotionSequence::recoveryFrom(const QJsonObject& obj)
{
this->_cmd_sequence.clear();
AbstractMessage::recoveryFrom(obj);
auto cmd_array = obj["cmd_array"].toArray();
for (auto idx = 0; idx < cmd_array.size(); idx++) {
auto cmd_object = cmd_array.at(idx).toObject();
auto ptr = std::make_shared<PlatformMotionCommand>();
ptr->recoveryFrom(cmd_object);
this->_cmd_sequence.append(ptr);
}
}
void PlatformMotionSequence::saveTo(QJsonObject& obj) const
{
AbstractMessage::saveTo(obj);
QJsonArray cmd_array;
for (auto info : _cmd_sequence) {
QJsonObject cmd_object;
info->saveTo(cmd_object);
cmd_array.append(cmd_object);
}
obj["cmd_array"] = cmd_array;
}
HorizontalLineMotionCmd::HorizontalLineMotionCmd(){}
MotionRotate HorizontalLineMotionCmd::rotateType() const
{
MotionRotate::Horizontal;
}
MotionType HorizontalLineMotionCmd::motionType() const
{
MotionType::ParabolaLine;
}
LonLatAltPos HorizontalLineMotionCmd::posAtPercent(double percent)
{
throw std::logic_error("The method or operation is not implemented.");
}

131
MessageBasic/motion_access.h Normal file
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@ -0,0 +1,131 @@
#pragma once
#include "messagebasic.h"
/// <summary>
/// 依照指定名称路径机动
/// </summary>
struct MESSAGEBASIC_EXPORT NavigateWithRoute : public AbstractMessage {
QString _route_name;
NavigateWithRoute();
// Serializable
void recoveryFrom(const QJsonObject& obj) override;
void saveTo(QJsonObject& obj) const override;
};
/// <summary>
/// 机动类型
/// </summary>
enum MotionType {
None, // 没有
StraightLine,// 直线机动
StandardArc, // 标准圆弧
ParabolaLine,// 抛物线
Bezier2tArc, // 二次贝塞尔曲线
Bezier3tArc, // 三次贝塞尔曲线
};
/// <summary>
/// 机动角度方向
/// </summary>
enum class MotionRotate {
Horizontal, Vertical
};
/// <summary>
/// 正交机动命令抽象接口
/// </summary>
struct OrthogonalMotionCommand : public Serializable {
/// <summary>
/// 机动平面方向
/// </summary>
/// <returns></returns>
virtual MotionRotate rotateType() const = 0;
/// <summary>
/// 机动类型
/// </summary>
/// <returns></returns>
virtual MotionType motionType() const = 0;
/// <summary>
/// 计算指定百分比位置
/// </summary>
/// <param name="percent"></param>
/// <returns></returns>
virtual LonLatAltPos posAtPercent(double percent) = 0;
/// <summary>
/// 指定百分比位置的速度
/// </summary>
/// <param name="percent"></param>
/// <returns></returns>
virtual double speedAtPercent(double percent) = 0;
/// <summary>
/// 指定百分比位置速度方向
/// </summary>
/// <param name="percent"></param>
/// <returns></returns>
virtual QVector2D speedVectorAtPercent(double percent) = 0;
};
/// <summary>
/// 平台机动命令
/// </summary>
struct PlatformMotionCommand : public AbstractMessage {
QHash<MotionRotate, std::shared_ptr<OrthogonalMotionCommand>> _motion_set; //合成机动命令
double _arrived_time = 0; // 抵达终点时间
double _start_time = 0;
PlatformMotionCommand();
// Serializable
void recoveryFrom(const QJsonObject& obj) override;
void saveTo(QJsonObject& obj) const override;
};
/// <summary>
/// 查看指定目标实体的机动指令序列
/// </summary>
struct MESSAGEBASIC_EXPORT MotionSequencePreviewGet : public AbstractMessage {
MotionSequencePreviewGet();
};
/// <summary>
/// 平台机动命令序列
/// </summary>
struct MESSAGEBASIC_EXPORT PlatformMotionSequence : public AbstractMessage {
QList<std::shared_ptr<PlatformMotionCommand>> _cmd_sequence;
PlatformMotionSequence();
// Serializable
void recoveryFrom(const QJsonObject& obj) override;
void saveTo(QJsonObject& obj) const override;
};
// 正交机动命令实现 =======================================================
/// <summary>
/// 水平直线机动
/// </summary>
struct MESSAGEBASIC_EXPORT HorizontalLineMotionCmd : public OrthogonalMotionCommand {
LonLatPos _lonlat_anchor;// 起始点
double _azimuth_deg = 0; // 起始方位角
double _speed_value = 0;// 起始速度
double _accerlate_rate = 0;// 加速度
HorizontalLineMotionCmd();
// Serializable
void recoveryFrom(const QJsonObject& obj) override;
void saveTo(QJsonObject& obj) const override;
MotionRotate rotateType() const override;
MotionType motionType() const override;
LonLatAltPos posAtPercent(double percent) override;
};
struct MESSAGEBASIC_EXPORT VerticalLineMotionCmd : public OrthogonalMotionCommand {
};