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#include "drone_controller.hh"
#include <QJsonArray>
#include <QDebug>
Waypoint::Waypoint(unsigned frame, QVector3D pos)
:frame(frame),
pos(pos) {}
Waypoint::Waypoint(const QJsonObject &json)
:Waypoint(json["frame"].toInt(),
QVector3D(json["position"]["lng_X"].toInt(),
json["position"]["alt_Y"].toInt(),
json["position"]["lat_Z"].toInt())) {}
Drone::Drone(const QJsonObject &json) {
QJsonArray ja = json["waypoints"].toArray();
waypoints.reserve(ja.size());
for (const QJsonValue &o : ja) {
waypoints.append(Waypoint(o.toObject()));
}
}
const QVector<Waypoint> Drone::getWaypoints() const {
return waypoints;
}
DroneController::DroneController(const QJsonObject &json)
:framerate(json["framerate"].toInt()) {
// TODO: REMOVE!!
framerate = 1;
QJsonArray ja = json["drones"].toArray();
drones.reserve(ja.size());
for (const QJsonValue &o : ja) {
drones.append(Drone(o.toObject()));
}
for (const Drone &d : drones) {
for (const Waypoint &wp : d.getWaypoints()) {
if (wp.frame > duration) duration = wp.frame;
}
}
connect(&timer, &QTimer::timeout, this, &DroneController::step);
pause();
}
DroneController::~DroneController() {
}
int DroneController::getDuration() const {
return duration;
}
void DroneController::step() {
qDebug() << "frame " << frame << "/" << duration
<< " (" << (double) frame / duration * 100 << "%)";
emit frameChanged(frame);
frame++;
}
void DroneController::play() {
paused = false;
timer.start(1000. / framerate);
qDebug() << "playing";
}
void DroneController::pause() {
paused = true;
timer.stop();
qDebug() << "pausing";
}
void DroneController::suspend() {
bool old_paused = paused;
pause();
paused = old_paused;
}
void DroneController::resume() {
if (!paused) play();
}
void DroneController::seek(int frame) {
if (this->frame == frame) return;
this->frame = frame;
step();
}
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