#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 {

};