move_action.h

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// Copyright (c) 2018, Smart Projects Holdings Ltd
// All rights reserved.
// See LICENSE file for license details.

#ifndef _UGCS_VSM_MOVE_ACTION_H_
#define _UGCS_VSM_MOVE_ACTION_H_

#include <ugcs/vsm/action.h>
#include <ugcs/vsm/coordinates.h>
#include <ugcs/vsm/mavlink.h>
#include <ugcs/vsm/optional.h>
#include <ugcs/vsm/property.h>

namespace ugcs {
namespace vsm {

class Move_action: public Action {
    DEFINE_COMMON_CLASS(Move_action, Action)

public:
    typedef enum {
        TURN_TYPE_STOP_AND_TURN = 0,
        TURN_TYPE_STRAIGHT = 1,
        TURN_TYPE_SPLINE = 2,
        TURN_TYPE_BANK_TURN = 3,
    } Turn_type;

    Move_action(Wgs84_position position, double wait_time, double acceptance_radius,
            double loiter_orbit, double heading, double elevation) :
                Action(Type::MOVE),
                position(position),
                wait_time(wait_time),
                acceptance_radius(acceptance_radius),
                loiter_orbit(loiter_orbit),
                heading(heading),
                elevation(elevation),
                turn_type(TURN_TYPE_STRAIGHT)
            {}

    Move_action(const Property_list& p) :
        Action(Type::MOVE),
        position(Geodetic_tuple(0, 0, 0))
    {
        double lat = 0, lon = 0, alt = 0;
        auto pi = p.find("latitude");
        if (pi != p.end()) {
            pi->second->Get_value(lat);
        }
        pi = p.find("longitude");
        if (pi != p.end()) {
            pi->second->Get_value(lon);
        }
        pi = p.find("altitude_amsl");
        if (pi != p.end()) {
            pi->second->Get_value(alt);
        }
        position = Geodetic_tuple(lat, lon, alt);
        p.at("acceptance_radius")->Get_value(acceptance_radius);
        p.at("heading")->Get_value(heading);
        p.at("loiter_radius")->Get_value(loiter_orbit);
        p.at("wait_time")->Get_value(wait_time);
        p.at("ground_elevation")->Get_value(elevation);
        int t;
        p.at("turn_type")->Get_value(t);
        turn_type = static_cast<Turn_type>(t);
    }

    Wgs84_position position;

    double wait_time = 0;

    double acceptance_radius = 0;

    double loiter_orbit = 0;

    double heading = 0;

    double elevation = 0;

    Turn_type turn_type;
};

template<>
struct Action::Mapper<Action::Type::MOVE> {
    typedef Move_action type;
};

} /* namespace vsm */
} /* namespace ugcs */

#endif /* _UGCS_VSM_MOVE_ACTION_H_ */