#pragma once
#include "messagebasic.h"

/// <summary>
/// 指定航路机动模式
/// </summary>
enum class NavigateDriveMode {
	Cruise,	// 巡航模式，长途奔袭模式
	FullSpeed,// 全速模式，战斗机动
	ReachStop,	// 停驻模式
};
/// <summary>
/// 依照指定名称路径机动
/// </summary>
struct MESSAGEBASIC_EXPORT NavigateWithRoute : public AbstractMessage {
	QString _route_name;	// 规划航线名称
	NavigateDriveMode _drive_mode;	// 驱动模式

	NavigateWithRoute();

	// Serializable
	void recoveryFrom(const QJsonObject& obj) override;
	void saveTo(QJsonObject& obj) const override;
};

/// <summary>
/// 平台机动命令，机体坐标系：主轴为Y，向右为X，向上为Z
/// </summary>
struct MESSAGEBASIC_EXPORT PlatformMotionCommand : public AbstractMessage {
	PlatformMotionCommand(const QString &nm);
	/// <summary>
	/// 机动起始时间
	/// </summary>
	/// <returns></returns>
	virtual double startTimepoint() const = 0;
	/// <summary>
	/// 消耗时间
	/// </summary>
	/// <returns></returns>
	virtual double timeExpend() const = 0;
	/// <summary>
	/// 指定时间点的相对位置
	/// </summary>
	/// <param name="time"></param>
	/// <returns>机体坐标系</returns>
	virtual QVector3D posAtTimespan(double time) const = 0;
	/// <summary>
	/// 指定时间点的速度矢量
	/// </summary>
	/// <param name="time"></param>
	/// <returns>机体坐标系</returns>
	virtual QVector3D speedAtTimespan(double time) const = 0;
};

/// <summary>
/// 推演指定时间点机动状态
/// </summary>
struct MESSAGEBASIC_EXPORT MotionDeduceRequest : public AbstractMessage {
	double _target_time = 0;

	MotionDeduceRequest();

	// 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;
};


// 机动命令实现 =======================================================

/// <summary>
/// 直线机动
/// </summary>
struct MESSAGEBASIC_EXPORT StrightLineMotion : public PlatformMotionCommand {
	/// <summary>
	/// 起始时间
	/// </summary>
	double _start_time = 0;
	/// <summary>
	/// 机动速度，m/s
	/// </summary>
	double _speed_motion = 0;
	/// <summary>
	/// 加速度，m/s^2
	/// </summary>
	double _accerlate_rates = 0;
	/// <summary>
	/// 路径长度
	/// </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;

	void recoveryFrom(const QJsonObject& obj) override;
	void saveTo(QJsonObject& obj) const override;
};

#include <QVector3D>
/// <summary>
/// 基于机体坐标系的水平标准圆弧机动
/// </summary>
struct MESSAGEBASIC_EXPORT HorizontalArcMotion : public PlatformMotionCommand {
	/// <summary>
	/// 起始时间
	/// </summary>
	double _start_time = 0;
	/// <summary>
	/// 转弯圆心,<xpos, ypos, 0>
	/// </summary>
	QVector3D _center_point;
	/// <summary>
	/// 弧线转角，°
	/// </summary>
	double _rotate_deg = 0;
	/// <summary>
	/// 机动速度，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;

	void recoveryFrom(const QJsonObject& obj) override;
	void saveTo(QJsonObject& obj) const override;
};

/// <summary>
/// 基于机体坐标系的垂直标准圆弧机动
/// </summary>
struct MESSAGEBASIC_EXPORT VerticalArcMotion : public PlatformMotionCommand {
	/// <summary>
	/// 起始时间
	/// </summary>
	double _start_time = 0;
	/// <summary>
	/// 转弯圆心,<0, ypos, zpos>
	/// </summary>
	QVector3D _center_point;
	/// <summary>
	/// 弧线转角，°
	/// </summary>
	double _rotate_deg = 0;
	/// <summary>
	/// 机动速度，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;

	void recoveryFrom(const QJsonObject& obj) override;
	void saveTo(QJsonObject& obj) const override;
};