Drone_project/Src/models/dronedata.cpp

#include "dronedata.h"
#include <QRandomGenerator>
#include <QDebug>
#include <QtMath>

/**
 * 无人机数据模型实现
 * 管理单架无人机的状态信息和数据更新
 */

DroneData::DroneData(const QString& id, const QString& name, QObject* parent)
    : QObject(parent)
    , id_(id)
    , name_(name)
    , connected_(false)
    , position_(0, 0, 0)
    , expectedPosition_(0, 0, 0)
    , velocity_(0, 0, 0)
    , expectedVelocity_(0, 0, 0)
    , attitude_(0, 0, 0)
    , simulationTimer_(new QTimer(this))
    , simulationStep_(0)
{
    // 设置模拟数据更新定时器
    simulationTimer_->setInterval(100); // 100ms更新一次
    connect(simulationTimer_, &QTimer::timeout, this, &DroneData::updateSimulationData);
}

void DroneData::setConnected(bool connected) {
    if (connected_ != connected) {
        connected_ = connected;
        emit connectionChanged(connected);
        emit dataChanged();
    }
}

void DroneData::setPosition(const QVector3D& pos) {
    if (position_ != pos) {
        position_ = pos;
        emit dataChanged();
    }
}

void DroneData::setExpectedPosition(const QVector3D& pos) {
    if (expectedPosition_ != pos) {
        expectedPosition_ = pos;
        emit dataChanged();
    }
}

void DroneData::setVelocity(const QVector3D& vel) {
    if (velocity_ != vel) {
        velocity_ = vel;
        emit dataChanged();
    }
}

void DroneData::setExpectedVelocity(const QVector3D& vel) {
    if (expectedVelocity_ != vel) {
        expectedVelocity_ = vel;
        emit dataChanged();
    }
}

void DroneData::setAttitude(const QVector3D& att) {
    if (attitude_ != att) {
        attitude_ = att;
        emit dataChanged();
    }
}

void DroneData::startSimulation() {
    if (!simulationTimer_->isActive()) {
        simulationTimer_->start();
        qDebug() << "开始模拟无人机" << name_ << "的数据更新";
    }
}

void DroneData::stopSimulation() {
    if (simulationTimer_->isActive()) {
        simulationTimer_->stop();
        qDebug() << "停止模拟无人机" << name_ << "的数据更新";
    }
}

void DroneData::updateSimulationData() {
    if (!connected_) return;
    
    simulationStep_++;
    
    // 模拟位置变化（简单的正弦波运动）
    float t = simulationStep_ * 0.01f;
    float x = 10.0f * qSin(t) + 50.0f;
    float y = 10.0f * qCos(t) + 50.0f;
    float z = 5.0f * qSin(t * 0.5f) + 30.0f;
    
    setPosition(QVector3D(x, y, z));
    
    // 模拟速度变化
    float vx = 10.0f * qCos(t);
    float vy = -10.0f * qSin(t);
    float vz = 5.0f * qCos(t * 0.5f) * 0.5f;
    
    setVelocity(QVector3D(vx, vy, vz));
    
    // 模拟姿态变化
    float roll = 5.0f * qSin(t * 0.3f);
    float pitch = 3.0f * qCos(t * 0.4f);
    float yaw = t * 10.0f;
    
    setAttitude(QVector3D(roll, pitch, yaw));
    
    // 期望位置稍微滞后于实际位置
    setExpectedPosition(QVector3D(x + 2.0f, y + 1.0f, z + 0.5f));
    setExpectedVelocity(QVector3D(vx * 0.9f, vy * 0.9f, vz * 0.9f));
}

/**
 * 无人机管理器实现
 * 管理多架无人机的创建、删除和切换
 */

DroneManager::DroneManager(QObject* parent)
    : QObject(parent)
    , currentDroneId_("")
{
}

DroneManager::~DroneManager() {
    qDeleteAll(drones_);
}

void DroneManager::addDrone(const QString& id, const QString& name) {
    // 检查是否已存在
    for (auto* drone : drones_) {
        if (drone->getId() == id) {
            qDebug() << "无人机" << id << "已存在";
            return;
        }
    }
    
    // 创建新无人机
    auto* drone = new DroneData(id, name, this);
    drones_.append(drone);
    
    // 如果是第一架无人机，设为当前选中
    if (currentDroneId_.isEmpty()) {
        setCurrentDrone(id);
    }
    
    // 开始模拟数据更新
    drone->setConnected(true);
    drone->startSimulation();
    
    emit droneAdded(id);
    qDebug() << "添加无人机:" << id << name;
}

void DroneManager::removeDrone(const QString& id) {
    for (int i = 0; i < drones_.size(); ++i) {
        if (drones_[i]->getId() == id) {
            auto* drone = drones_[i];
            drone->stopSimulation();
            drone->deleteLater();
            drones_.removeAt(i);
            
            // 如果删除的是当前选中的无人机，切换到其他无人机
            if (currentDroneId_ == id) {
                if (!drones_.isEmpty()) {
                    setCurrentDrone(drones_[0]->getId());
                } else {
                    currentDroneId_ = "";
                    emit currentDroneChanged("");
                }
            }
            
            emit droneRemoved(id);
            qDebug() << "删除无人机:" << id;
            return;
        }
    }
}

DroneData* DroneManager::getDrone(const QString& id) const {
    for (auto* drone : drones_) {
        if (drone->getId() == id) {
            return drone;
        }
    }
    return nullptr;
}

DroneData* DroneManager::getCurrentDrone() const {
    return getDrone(currentDroneId_);
}

QVector<DroneData*> DroneManager::getAllDrones() const {
    return drones_;
}

void DroneManager::setCurrentDrone(const QString& id) {
    if (currentDroneId_ != id && getDrone(id) != nullptr) {
        currentDroneId_ = id;
        emit currentDroneChanged(id);
        qDebug() << "切换当前无人机到:" << id;
    }
}

QStringList DroneManager::getDroneIds() const {
    QStringList ids;
    for (auto* drone : drones_) {
        ids.append(drone->getId());
    }
    return ids;
}