package com.dji.sample.patches.xml.mode.share.action.utils;

import com.dji.sample.patches.xml.mode.Folder;
import com.dji.sample.patches.xml.mode.WaylineCoordinateSysParam;
import com.dji.sample.patches.xml.mode.share.GlobalWaypointHeadingParam;

/**
 * @PROJECT_NAME: drone
 * @DESCRIPTION: 设置模板信息
 * @USER: aix
 * @DATE: 2024/3/29 10:25
 */
public class FolderUtils {

    public static Folder setFloder() {
        Folder folder = new Folder();
        folder.setPayloadParam(PayloadParamUtils.setPayloadParam());
        folder.setWaylineCoordinateSysParam(new WaylineCoordinateSysParam());
        folder.setTemplateType("waypoint");//航点模式
        folder.setTemplateId("0");

        WaylineCoordinateSysParam wcs = new WaylineCoordinateSysParam();
        wcs.setCoordinateMode("WGS84");
        wcs.setHeightMode("relativeToStartPoint");

        folder.setWaylineCoordinateSysParam(wcs);
        folder.setAutoFlightSpeed(10D);//全局航线飞行速度
        folder.setGlobalHeight(100D); //全局航线高度（相对起飞点高度）
        folder.setCaliFlightEnable(0);// 是否开启标定飞行
        folder.setGimbalPitchMode("manual");//云台俯仰角控制模式manual：手动控制。飞行器从一个航点飞向下一个航点的过程中，支持用户手动控制云台的俯仰角度。若无用户控制，则保持飞离航点时的云台俯仰角度。 usePointSetting：依照每个航点设置。飞行器从一个航点飞向下一个航点的过程中，云台俯仰角均匀过渡至下一个航点的俯仰角。

        //
        GlobalWaypointHeadingParam gwhp = new GlobalWaypointHeadingParam();
        gwhp.setWaypointHeadingMode("followWayline");
        gwhp.setWaypointHeadingAngle(0);
        gwhp.setWaypointPoiPoint("0.000000,0.000000,0.000000");
        gwhp.setWaypointHeadingPathMode("followBadArc");
        gwhp.setWaypointHeadingPoiIndex("0");

        folder.setGlobalWaypointHeadingParam(gwhp);
        folder.setGlobalWaypointTurnMode("toPointAndStopWithDiscontinuityCurvature");
        folder.setGlobalUseStraightLine(1);

        return folder;
    }

    public static Folder setFloder(String templateType, double autoFlightSpeed) {
        Folder folder = new Folder();
        folder.setPayloadParam(PayloadParamUtils.setPayloadParam());
        folder.setWaylineCoordinateSysParam(new WaylineCoordinateSysParam());
        folder.setTemplateType(templateType);//航点模式
        folder.setTemplateId("0");

        folder.setAutoFlightSpeed(autoFlightSpeed);//全局航线飞行速度
        folder.setGlobalHeight(100D); //全局航线高度（相对起飞点高度）
        folder.setCaliFlightEnable(0);// 是否开启标定飞行
        folder.setGimbalPitchMode("manual");//云台俯仰角控制模式manual：手动控制。飞行器从一个航点飞向下一个航点的过程中，支持用户手动控制云台的俯仰角度。若无用户控制，则保持飞离航点时的云台俯仰角度。 usePointSetting：依照每个航点设置。飞行器从一个航点飞向下一个航点的过程中，云台俯仰角均匀过渡至下一个航点的俯仰角。

        //
        GlobalWaypointHeadingParam gwhp = new GlobalWaypointHeadingParam();
        gwhp.setWaypointHeadingMode("followWayline");
        gwhp.setWaypointHeadingAngle(0);
        gwhp.setWaypointPoiPoint("0.000000,0.000000,0.000000");
        gwhp.setWaypointHeadingPathMode("followBadArc");
        gwhp.setWaypointHeadingPoiIndex("0");

        folder.setGlobalWaypointHeadingParam(gwhp);
        folder.setGlobalWaypointTurnMode("coordinateTurn");
        folder.setGlobalUseStraightLine(10);

        return folder;
    }

}