#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.");
}