update

ComponentBasic/ComponentBasic.vcxproj

@@ -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" />

ComponentBasic/ComponentBasic.vcxproj.filters

@@ -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">

ComponentBasic/SurfaceMotionPlugin.cpp

@@ -0,0 +1 @@
+#include "SurfaceMotionPlugin.h"

ComponentBasic/SurfaceMotionPlugin.h

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

MessageBasic/MessageBasic.vcxproj

@@ -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" />

MessageBasic/MessageBasic.vcxproj.filters

@@ -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>

MessageBasic/motion_access.cpp

@@ -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.");
+}

MessageBasic/motion_access.h

@@ -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 {
+
+};