package com.ard.sample.manage.model.receiver;
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import com.ard.sample.manage.model.dto.BasicDeviceProperty;
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import com.ard.sample.manage.model.enums.StateSwitchEnum;
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import com.fasterxml.jackson.annotation.JsonProperty;
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import lombok.Data;
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import lombok.EqualsAndHashCode;
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import java.util.Objects;
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/**
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* 飞行器避障状态
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* @author sean
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* @version 1.3
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* @date 2022/10/27
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*/
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@EqualsAndHashCode(callSuper = true)
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@Data
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public class ObstacleAvoidanceReceiver extends BasicDeviceProperty {
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/**
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* 水平避障状态 enum_int {"0":"关闭","1":"开启"}
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* */
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@JsonProperty("horizon")
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private Integer horizon;
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/**
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* 上视避障状态 enum_int {"0":"关闭","1":"开启"}
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* */
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@JsonProperty("upside")
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private Integer upside;
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/**
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* 下视避障状态 enum_int {"0":"关闭","1":"开启"}
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* */
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@JsonProperty("downside")
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private Integer downside;
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@Override
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public boolean valid() {
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boolean valid = Objects.nonNull(this.horizon) || Objects.nonNull(this.upside) || Objects.nonNull(this.downside);
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if (Objects.nonNull(this.horizon)) {
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valid = StateSwitchEnum.find(horizon).isPresent();
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}
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if (Objects.nonNull(this.upside)) {
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valid &= StateSwitchEnum.find(upside).isPresent();
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}
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if (Objects.nonNull(this.downside)) {
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valid &= StateSwitchEnum.find(downside).isPresent();
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}
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return valid;
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}
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@Override
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public boolean canPublish(String fieldName, OsdSubDeviceReceiver osd) {
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ObstacleAvoidanceReceiver obstacleAvoidance = osd.getObstacleAvoidance();
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switch (fieldName) {
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case "horizon":
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return Objects.isNull(obstacleAvoidance.getHorizon()) ||
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Objects.nonNull(obstacleAvoidance.getHorizon()) &&
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obstacleAvoidance.getHorizon().intValue() != this.horizon;
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case "upside":
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return Objects.isNull(obstacleAvoidance.getUpside()) ||
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Objects.nonNull(obstacleAvoidance.getUpside()) &&
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obstacleAvoidance.getUpside().intValue() != this.upside;
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case "downside":
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return Objects.isNull(obstacleAvoidance.getDownside()) ||
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Objects.nonNull(obstacleAvoidance.getDownside()) &&
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obstacleAvoidance.getDownside().intValue() != this.downside;
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default:
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throw new RuntimeException("Property " + fieldName + " does not exist.");
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}
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}
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}
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