public ReferenceWaypoint(Reference ref) {
try {
this.reference = Reference.clone(ref);
} catch (Exception e) {
e.printStackTrace();
}
loc = new ManeuverLocation();
loc.setLatitudeRads(ref.getLat());
loc.setLongitudeRads(ref.getLon());
if (ref.getZ() != null) {
loc.setZ(ref.getZ().getValue());
loc.setZUnits(ManeuverLocation.Z_UNITS.valueOf(ref.getZ().getZUnits().name()));
}
boolean defineZ = (ref.getFlags() & Reference.FLAG_Z) != 0;
if (!defineZ) loc.setZUnits(ManeuverLocation.Z_UNITS.NONE);
loiter = (ref.getFlags() & Reference.FLAG_RADIUS) != 0;
this.loiterRadius = ref.getRadius();
this.latitude = loc.getLatitudeAsDoubleValue();
this.longitude = loc.getLongitudeAsDoubleValue();
this.z = loc.getZ();
this.zUnits = loc.getZUnits();
if (ref.getSpeed() != null) {
this.speedUnits = ref.getSpeed().getSpeedUnits();
this.speed = ref.getSpeed().getValue();
}
defineSpeed = (ref.getFlags() & Reference.FLAG_SPEED) != 0;
}
@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;
}
}
