panorama_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_PANORAMA_ACTION_H_
#define _UGCS_VSM_PANORAMA_ACTION_H_

#include <ugcs/vsm/action.h>
#include <ugcs/vsm/mavlink.h>
#include <chrono>

namespace ugcs {
namespace vsm {

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

public:
    Panorama_action(proto::Panorama_mode trigger_state, double angle, double step,
                    std::chrono::milliseconds delay, double speed):
        Action(Type::PANORAMA), trigger_state(trigger_state),
        angle(angle), step(step), delay(delay), speed(speed)
        {}

    Panorama_action(const Property_list& p) :
        Action(Type::PANORAMA)
    {
        int tmp;
        float time;
        p.at("mode")->Get_value(tmp);
        trigger_state = static_cast<proto::Panorama_mode>(tmp);
        p.at("angle")->Get_value(angle);
        p.at("step")->Get_value(step);
        p.at("delay")->Get_value(time);
        tmp = time * 1000;
        delay = std::chrono::milliseconds(tmp);
        p.at("speed")->Get_value(speed);
    }

    proto::Panorama_mode trigger_state;

    double angle;

    double step;

    std::chrono::milliseconds delay;

    double speed;
};

template<>
struct Action::Mapper<Action::Type::PANORAMA> {
    typedef Panorama_action type;
};

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

#endif /* _UGCS_VSM_PANORAMA_ACTION_H_ */