#include "class_model/mission.h"


MissionClass::MissionClass() : node_handle_(""){
    

}

MissionClass::~MissionClass() { ros::shutdown(); }

void MissionClass::fly2target(float x,float y){
    select_formation.protect_formation(x,y); 
    sleep(1);
    select_formation.protect_formation(-x,-y);
    // select_formation.stop();
    ROS_INFO("-----------------------");
}

void MissionClass::cruise(float x, float y){
    
    // select_formation.protect_formation(0,y);
    // sleep(1);
    // select_formation.protect_formation(-x,0);
    // sleep(1);
    // select_formation.protect_formation(0,-y);
    // sleep(1);
    // select_formation.protect_formation(x,0);
    // sleep(1);
    
    select_formation.init_formation(0,y);
    sleep(1);
    select_formation.init_formation(-x,0);
    sleep(1);
    select_formation.init_formation(0,-y);
    sleep(1);
    select_formation.init_formation(x,0);
    sleep(1);
}

void MissionClass::snake(float x, float y){
       
    select_formation.line_formation(0,y);
    sleep(1);
    select_formation.line_formation(-x,0);
    sleep(1);
    select_formation.line_formation(0,-y);
    sleep(1);
    select_formation.line_formation(x,0);
    sleep(1);
}

void MissionClass::start(){
       
    select_formation.start_formation();

}