@Override
public void parseIMCMessage(IMCMessage message) {
if (!DEFAULT_ROOT_ELEMENT.equalsIgnoreCase(message.getAbbrev())) return;
pt.lsts.imc.Elevator elev = null;
try {
elev = pt.lsts.imc.Elevator.clone(message);
} catch (Exception e) {
e.printStackTrace();
return;
}
setMaxTime(elev.getTimeout());
ManeuverLocation loc = new ManeuverLocation();
loc.setLatitudeRads(elev.getLat());
loc.setLongitudeRads(elev.getLon());
loc.setZ(elev.getEndZ());
NeptusLog.pub().info("<###> " + elev.getEndZUnits());
//
// loc.setZUnits(pt.lsts.neptus.mp.ManeuverLocation.Z_UNITS.valueOf(elev.getEndZUnits().toString()));
loc.setZUnits(ManeuverLocation.Z_UNITS.valueOf(message.getString("end_z_units").toString()));
setManeuverLocation(loc);
startZ = (float) elev.getStartZ();
startZUnits = ManeuverLocation.Z_UNITS.valueOf(message.getString("start_z_units").toString());
setRadius((float) elev.getRadius());
setSpeed(elev.getSpeed());
setStartFromCurrentPosition((elev.getFlags() & pt.lsts.imc.Elevator.FLG_CURR_POS) != 0);
setCustomSettings(elev.getCustom());
switch (elev.getSpeedUnits()) {
case RPM:
speedUnits = "RPM";
break;
case METERS_PS:
speedUnits = "m/s";
break;
case PERCENTAGE:
speedUnits = "%";
break;
default:
break;
}
}
@Override
public IMCMessage serializeToIMC() {
getManeuverLocation().convertToAbsoluteLatLonDepth();
pt.lsts.imc.Elevator elevator = new pt.lsts.imc.Elevator();
elevator.setTimeout(getMaxTime());
elevator.setLat(getManeuverLocation().getLatitudeRads());
elevator.setLon(getManeuverLocation().getLongitudeRads());
elevator.setStartZ(startZ);
elevator.setStartZUnits(startZUnits.toString());
elevator.setEndZ(getManeuverLocation().getZ());
elevator.setEndZUnits(getManeuverLocation().getZUnits().toString());
elevator.setRadius(getRadius());
elevator.setSpeed(getSpeed());
elevator.setCustom(getCustomSettings());
switch (getSpeedUnits()) {
case "m/s":
elevator.setSpeedUnits(pt.lsts.imc.Elevator.SPEED_UNITS.METERS_PS);
break;
case "RPM":
elevator.setSpeedUnits(pt.lsts.imc.Elevator.SPEED_UNITS.RPM);
break;
default:
elevator.setSpeedUnits(pt.lsts.imc.Elevator.SPEED_UNITS.PERCENTAGE);
break;
}
if (isStartFromCurrentPosition()) elevator.setFlags(pt.lsts.imc.Elevator.FLG_CURR_POS);
else elevator.setFlags((short) 0);
return elevator;
}
