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

import com.dji.sample.patches.xml.mode.MissionConfig;
import com.dji.sample.patches.xml.mode.share.DroneInfo;
import com.dji.sample.patches.xml.mode.share.PayloadInfo;

/**
 * @PROJECT_NAME: drone
 * @DESCRIPTION: 设置任务信息
 * @USER: aix
 * @DATE: 2024/3/29 11:10
 */
public class MissionConfigUtils {

    public static MissionConfig setMissionConfig(String xyz) {
        MissionConfig mc = MissionConfig.builder()
                .flyToWaylineMode("safely")//安全模式
                .finishAction("goHome")
                .exitOnRCLost("executeLostAction")//退出航线，执行失控动作
                .executeRCLostAction("goBack")
                .takeOffSecurityHeight(20D)//安全起飞高度
                .globalTransitionalSpeed(10D)
                .globalRTHHeight(100D)
                .takeOffRefPoint(xyz)
                .takeOffRefPointAGLHeight(0D)
                .droneInfo(new DroneInfo())
                .payloadInfo(new PayloadInfo())
                .build();

        return mc;
    }

    public static MissionConfig setMissionConfigByPolygon(String xyz,double speed,DroneInfo droneInfo,PayloadInfo payloadInfo) {

        MissionConfig mc = MissionConfig.builder()
                .flyToWaylineMode("safely")//安全模式
                .finishAction("goHome")
                .exitOnRCLost("goContinue")//继续执行航线
                .executeRCLostAction("goBack")
                .takeOffSecurityHeight(20D)//安全起飞高度
                .globalTransitionalSpeed(speed)
                .globalRTHHeight(100D)
                .takeOffRefPoint(xyz)
                .takeOffRefPointAGLHeight(0D)
                .droneInfo(droneInfo)
                .payloadInfo(payloadInfo)
                .build();

        return mc;
    }

}