package cz.cuni.amis.pogamut.usar2004.communication.messages.usarcommands;
   
   import java.util.*;
   import cz.cuni.amis.pogamut.base.communication.messages.*;
   import cz.cuni.amis.pogamut.usar2004.communication.messages.datatypes.CustomTypes.*;
   
   /**
    *
    * A mission package is constructed of a series of connected elements. Of
   * course, we can control the joints one by one to set the mission package’s
   * pose. Here, we provide another command to directly set the package’s terminal
   * pose and let USARSim control every element’s joint for us. If a camera is
   * mounted on a pan/tilt mission package, we can use this command to control the
   * camera’s pose. Using mission package control commands, we can have multiple
   * cameras and control them separately.
   *
   * Corresponding GameBots command is MISPGK.
   *
   * TIPS: Pan/tilt mission packages enable the use of multiple cameras with
   * independent control on each of them.
   */
  public class MissionPackage extends CommandMessage
  {
      public MissionPackage(String Name, int[] Links, double[] Values, int[] Orders)
      {
  
          this.Name = Name;
  
          if((Links.length == Values.length) && (Links.length == Orders.length))
          {
              for(int i = 0; i < Links.length; i++)
              {
                  this.Links.add(Links[i]);
                  this.Values.add(Values[i]);
                  this.Orders.add(Orders[i]);
              }
          }
      }
  
      public MissionPackage(String Name, int Link, double Value, int Order)
      {
          this.Name = Name;
          this.Links.add(Link);
          this.Orders.add(Order);
          this.Values.add(Value);
      }
  
      public MissionPackage(String Name, int Link, double Value)
      {
          this.Name = Name;
          this.Links.add(Link);
          this.Orders.add(0);
          this.Values.add(Value);
      }
  
      /**
       * <p></p>WARNING: this is empty-command constructor, you have to use
       * setters to fill it up!
       */
      public MissionPackage()
      {
      }
      /////// Properties BEGIN
      //the joint name
      protected String Name = null;
  
      public String getName()
      {
          return Name;
      }
  
      public MissionPackage setName(String Name)
      {
          this.Name = Name;
          return this;
      }
      //the link number that will be moved using the next parameters
      protected List<Integer> Links = new ArrayList<Integer>();
  
      public List<Integer> getLinks()
      {
          return Links;
      }
  
      public void addLink(int link)
      {
          this.Links.add(link);
      }
  
      public void addLink(int[] links)
      {
          for(int f : links)
          {
              this.Links.add(f);
          }
      }
      /*
       * value used to move the link. What this parameter describes depends on the
       * order given. If the order is 0, ‘double’ is the absolute angle, in
      * radians, for a revolute joint or the distance, in meters, for a prismatic
      * joint. If the order is 1, ‘double’ is the velocity, in m/s. If the order
      * is 2, ‘double’ is the torque.
      */
     protected List<Double> Values = new ArrayList<Double>();
 
     public List<Double> getValues()
     {
         return Values;
     }
 
     public void addValue(double value)
     {
         this.Values.add(value);
     }
 
     public void addValue(double[] values)
     {
         for(double f : values)
         {
             this.Values.add(f);
         }
     }
     /*
      * optional (0 by default) and indicates the control mode. ‘0’ means angle
      * control, ‘1’ means speed control, and ‘2’ means torque control.
      */
     protected List<Integer> Orders = new ArrayList<Integer>();
 
     //{Order int} ‘int’ is optional (0 by default) and indicates the control mode. ‘0’ means angle control, ‘1’ means speed control, and ‘2’ means torque control. 
     public List<Integer> getOrders()
     {
         return Orders;
     }
 
     public void addOrder(int order)
     {
         this.Orders.add(order);
     }
 
     public void addOrder(int[] orders)
     {
         for(int f : orders)
         {
             this.Orders.add(f);
         }
     }
 
     /*
      * Example: MISPKG {Name CameraPanTilt} {Link 1} {Value 1.5} {Link 2} {Value
      * 0} MISPKG {Name TalonArm} {Link 1} {Value 0.70} {Link 3} {Value 0.1}
      * {Order 1}
      */
     /////// 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 MissionPackage(MissionPackage original)
     {
         this.Name = original.Name;
         this.Links.addAll(original.Links);
         this.Values.addAll(original.Values);
         this.Orders.addAll(original.Orders);
     }
 
     @Override
     public String toString()
     {
         return toMessage();
     }
 
     public String toHtmlString()
     {
 
         StringBuilder buf = new StringBuilder();
         buf.append(super.toString());
 
 
 
         buf.append("<b>Name</b> : ").append(String.valueOf(Name)).append(" <br/> ");
 
         if((!Links.isEmpty()) && (Links.size() == Values.size()) && (Links.size() == Orders.size()))
         {
             for(int i = 0; i < Links.size(); i++)
             {
 
                 buf.append("<b>Link</b> : "
                         + String.valueOf(Links.get(i))
                         + " <br/> "
                         + "<b>Value</b> : "
                         + String.valueOf(Values.get(i))
                         + " <br/> "
                         + "<b>Order</b> : "
                         + String.valueOf(Orders.get(i))
                         + " <br/> ");
             }
         }
 
         return buf.toString();
     }
 
     public String toMessage()
     {
         StringBuilder buf = new StringBuilder();
         buf.append("MISPKG");
 
         if(Name != null)
         {
             buf.append(" {Name ").append(Name).append("}");
         }
 
         if((!Links.isEmpty()) && (Links.size() == Values.size()) && (Links.size() == Orders.size()))
         {
             for(int i = 0; i < Links.size(); i++)
             {
                 buf.append(" {Link ").append(Links.get(i)).append("}");
                 buf.append(" {Value ").append(Values.get(i)).append("}");
                 buf.append(" {Order ").append(Orders.get(i)).append("}");
             }
         }
 
         return buf.toString();
     }
 }