package cz.cuni.amis.pogamut.usar2004.communication.messages.usarcommands;
   
   import cz.cuni.amis.pogamut.base.communication.messages.*;
   import cz.cuni.amis.pogamut.usar2004.communication.messages.datatypes.CustomTypes.*;
   
   /**
    *
    * Drive command specified for a ground vehicle capable of stearing.
    *
   * Corresponding GameBots command is DRIVE.
   *
   */
  public class DriveAckerman extends CommandMessage
  {
      //constructor for the second type
      public DriveAckerman(double Speed, double FrontSteer, double RearSteer, boolean Normalized, boolean Light, boolean Flip)
      {
          this.Speed = Speed;
          this.FrontSteer = FrontSteer;
          this.RearSteer = RearSteer;
          this.Normalized = Normalized;
          this.Light = Light;
          this.Flip = Flip;
      }
  
      /**
       * <p></p>WARNING: this is empty-command constructor, you have to use
       * setters to fill it up!
       */
      public DriveAckerman()
      {
      }
      /////// Properties BEGIN
      //second type - Speed, FrontSteer, RearSteer, Normalized, Light, Flip
      /*
       * the spin speed for the wheels that are powered. If we use normalized
       * values, the value range is –100 to 100 and corresponds to the robot’s
       * minimum and maximum spin speed, respectively. Otherwise, the value is the
       * absolute spin speed, in radians per second.
       */
      protected double Speed = 0;
  
      public double getSpeed()
      {
          return Speed;
      }
  
      public DriveAckerman setSpeed(double Speed)
      {
          this.Speed = Speed;
          return this;
      }
      /*
       * the spin speed for the wheels that are powered. If we use normalized
       * values, the value range is –100 to 100 and corresponds to the robot’s
       * minimum and maximum spin speed, respectively. Otherwise, the value is the
       * absolute spin speed, in radians per second.
       */
      protected double FrontSteer = 0;
  
      public double getFrontSteer()
      {
          return FrontSteer;
      }
  
      public DriveAckerman setFrontSteer(double FrontSteer)
      {
          this.FrontSteer = FrontSteer;
          return this;
      }
      //Same as FrontSteer but for rear set of wheels.
      protected double RearSteer = 0;
  
      public double getRearSteer()
      {
          return RearSteer;
      }
  
      public DriveAckerman setRearSteer(double RearSteer)
      {
          this.RearSteer = RearSteer;
          return this;
      }
      /*
       * Indicates whether we are using normalized values or ´ * not. The default
       * value is ‘False’ which means absolute values are used to control wheel
       * spin speed.
       */
      protected boolean Normalized = false;
  
      public boolean isNormalized()
      {
          return Normalized;
      }
  
      public DriveAckerman setNormalized(boolean Normalized)
      {
          this.Normalized = Normalized;
          return this;
     }
     //Indicates whether to turn the headlight on or off
     protected boolean Light = false;
 
     public boolean isLight()
     {
         return Light;
     }
 
     public DriveAckerman setLight(boolean Light)
     {
         this.Light = Light;
         return this;
     }
     //Flip will flip the robot on its wheels if its rolled over
     protected boolean Flip = false;
 
     public boolean isFlip()
     {
         return Flip;
     }
 
     public DriveAckerman setFlip(boolean Flip)
     {
         this.Flip = Flip;
         return this;
     }
 
     /*
      * Example: DRIVE {Speed -1.0} will drive the robot backward with a spin
      * speed of 1 rad/sec. DRIVE {Speed 1.0} {FrontSteer 0.523599} will drive
      * the robot 30° forward and to the left with a spin speed of 1 rad/sec.
      * DRIVE {Speed 1.0} {FrontSteer -0.523599} will drive the robot 30° forward
      * and to the right with a spin speed of 1 rad/sec.
      */
     /////// Properties END
     /////// Extra Java code BEGIN
     /////// Additional code from xslt BEGIN
     /////// Additional code from xslt END
     /////// Extra Java from XML BEGIN
     /////// Extra Java from XML END
     /////// Extra Java code END
     /**
      * Cloning constructor.
      */
     public DriveAckerman(DriveAckerman original)
     {
         this.FrontSteer = original.FrontSteer;
         this.RearSteer = original.RearSteer;
         this.Speed = original.Speed;
         this.Normalized = original.Normalized;
         this.Flip = original.Flip;
         this.Light = original.Light;
     }
 
     @Override
     public String toString()
     {
         return toMessage();
     }
 
     public String toHtmlString()
     {
         return super.toString()
                 + "<b>FrontSteer</b> : "
                 + String.valueOf(FrontSteer)
                 + " <br/> "
                 + "<b>RearSteer</b> : "
                 + String.valueOf(RearSteer)
                 + " <br/> "
                 + "<b>Speed</b> : "
                 + String.valueOf(Speed)
                 + " <br/> "
                 + "<b>Normalized</b> : "
                 + String.valueOf(Normalized)
                 + " <br/> "
                 + "<b>Light</b> : "
                 + String.valueOf(Light)
                 + " <br/> "
                 + "<b>Flip</b> : "
                 + String.valueOf(Flip)
                 + " <br/> "
                 + "";
     }
 
     public String toMessage()
     {
 
         StringBuilder buf = new StringBuilder();
         buf.append("DRIVE");
         buf.append(" {FrontSteer ").append(FrontSteer).append("}");
         buf.append(" {RearSteer ").append(RearSteer).append("}");
         buf.append(" {Speed ").append(Speed).append("}");
         buf.append(" {Normalized ").append(Normalized).append("}");
         buf.append(" {Light ").append(Light).append("}");
         buf.append(" {Flip ").append(Flip).append("}");
 
         return buf.toString();
     }
 }