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 joint.
    *
   * Corresponding GameBots command is DRIVE.
   *
   */
  public class DriveJoint extends CommandMessage
  {
      //constructor for the sixth type
      public DriveJoint(String Name, int Steer, int Order, double Value)
      {
          this.Name = Name;
          this.Steer = Steer;
          this.Order = Order;
          this.Value = Value;
      }
  
      /**
       * <p></p>WARNING: this is empty-command constructor, you have to use
       * setters to fill it up!
       */
      public DriveJoint()
      {
      }
      /////// Properties BEGIN
      //sixth type - Name, Steer, Order, Vlaue
      //the joint name
      protected String Name = null;
  
      public String getName()
      {
          return Name;
      }
  
      public DriveJoint setName(String Name)
      {
          this.Name = Name;
          return this;
      }
      //the steer angle of the joint
      protected int Steer = 0;
  
      public int getSteer()
      {
          return Steer;
      }
  
      public DriveJoint setSteer(int Steer)
      {
          this.Steer = Steer;
          return this;
      }
      /*
       * the control mode. It can be 0-2. 0: zero-order control. It controls
       * rotation angle. 1: first-order control. It controls spin speed. 2:
       * second-order control. It controls torque.
       */
      protected int Order = 0;
  
      public int getOrder()
      {
          return Order;
      }
  
      public DriveJoint setOrder(int Order)
      {
          this.Order = Order;
          return this;
      }
      /*
       * the control value. For zero-order control, it’s the rotation angle in
       * radians. For first-order control, it’s the spin speed in radians/second.
       * For second-order control, it’s the torque.
       */
      protected double Value = 0;
  
      public double getValue()
      {
          return Value;
      }
  
      public DriveJoint setValue(double Value)
      {
          this.Value = Value;
          return this;
      }
  
      /*
       * Example: DRIVE {Name LeftFWheel} {Steer 1.57} will steer the left front
       * wheel 90 degrees. DRIVE {Name LeftFWheel} {Order 1} {Value 0.175} will
       * make the left front wheel spin at 0.175 radians/second, i.e. 10
       * degrees/second
       */
     /////// 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 DriveJoint(DriveJoint original)
     {
         this.Name = original.Name;
         this.Steer = original.Steer;
         this.Order = original.Order;
         this.Value = original.Value;
     }
 
     @Override
     public String toString()
     {
         return toMessage();
     }
 
     public String toHtmlString()
     {
         return super.toString()
                 + "<b>Name</b> : "
                 + String.valueOf(Name)
                 + " <br/> "
                 + "<b>Steer</b> : "
                 + String.valueOf(Steer)
                 + " <br/> "
                 + "<b>Order</b> : "
                 + String.valueOf(Order)
                 + " <br/> "
                 + "<b>Value</b> : "
                 + String.valueOf(Value)
                 + " <br/> "
                 + "";
     }
 
     public String toMessage()
     {
 
         StringBuilder buf = new StringBuilder();
         buf.append("DRIVE");
 
         if(Name != null)
         {
             buf.append(" {Name ").append(Name).append("}");
         }
         buf.append(" {Steer ").append(Steer).append("}");
         buf.append(" {Order ").append(Order).append("}");
         buf.append(" {Value ").append(Value).append("}");
 
         return buf.toString();
     }
 }