#include "platform.h"

Platform::Platform(QObject *parent, uint32_t ID, QString Name,
                   double initlon, double initlat, double inith,
                   double vx, double vy, double vz,
                   double ax,double ay, double az) : QObject(parent)
{
    this->ID = ID;
    this->Name = Name;
    lon = initlon;
    lat = initlat;
    h = inith;
    x = new double();
    y = new double();
    z = new double();
    blh2xyz(initlat,initlon,inith,x,y,z);
    this->vx = vx;
    this->vy = vy;
    this->vz = vz;
    this->ax = ax;
    this->ay = ay;
    this->az = az;
    TimerUpdatePos = startTimer(1000);
}

void Platform::UpdateAcc(double ax, double ay, double az)
{
    this->ax = ax;
    this->ay = ay;
    this->az = az;
}

void Platform::UpdateVel(double vx, double vy, double vz)
{
    this->vx = vx;
    this->vy = vy;
    this->vz = vz;
}

void Platform::timerEvent(QTimerEvent *event)
{
    if (event->timerId() == TimerUpdatePos)
    {
        vx = vx + ax;
        vy = vy + ay;
        vz = vz + az;

        double vel = vx*vx + vy*vy +vz*vz;
        if (vel > 1e-5)
        {
            *x = *x + vx;
            *y = *y + vy;
            *z = *z + vz;

            double pos[3] = {*x,*y,*z};
            XYZ2ELL(pos,&lat,&lon,&h);
            qDebug() << this->Name << QString::fromLocal8Bit("位置更新");
        }
    }
}