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.*;
   
   /**
    *
    * This command is used to drive a joint.
    *
   *
   *
   * Corresponding GameBots command is SET.
   *
   */
  public class SetJoint extends CommandMessage
  {
      //constructor for the joints
      public SetJoint(String Type, String Name, String Opcode, double param1, double param2)
      {
          this.Type = Type;
          this.Name = Name;
          this.Opcode = Opcode;
          this.Param1 = param1;
          this.Param2 = param2;
      }
  
      /**
       * <p></p>WARNING: this is empty-command constructor, you have to use
       * Setters to fill it up!
       */
      public SetJoint()
      {
      }
      /////// Properties BEGIN
      protected String Type = "Joint";
  
      public String getType()
      {
          return Type;
      }
      protected String Name = null;
  
      public String getName()
      {
          return Name;
      }
  
      public SetJoint setName(String Name)
      {
          this.Name = Name;
          return this;
      }
      /*
       * the operation code. The available codes are: ‘Angle’ or ‘0’: set the
       * extra angle in radian the joint will move. ‘Velocity’ or ‘1’: set the
       * spin speed in radian per second for the joint. ‘Torque’ or ‘2’: set the
       * torque applied on the joint.
       */
      protected String Opcode = null;
  
      public String getOpcode()
      {
          return Opcode;
      }
  
      public SetJoint setOpcode(String Opcode)
      {
          this.Opcode = Opcode;
          return this;
      }
      //Corresponds with the Opcode
      protected double Param1 = 0;
  
      public double getParam1()
      {
          return Param1;
      }
  
      public SetJoint setParam1(double Param1)
      {
          this.Param1 = Param1;
          return this;
      }
      //Optional parameter, only uses for the KCarWheelJoint to set the steer angle
      protected double Param2 = 0;
  
      public double getParam2()
      {
          return Param2;
      }
  
      public SetJoint setParam2(double Param2)
      {
          this.Param2 = Param2;
          return this;
      }
  
      /*
       * Example 1: SET {Type Joint} {Name UpperArm} {Opcode Angle} {Params 1.25}
      * Example 2: SET {Type Gripper} {Name Gripper} {Opcode Open} {Params 0.8}
      */
     /////// 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 SetJoint(SetJoint original)
     {
         this.Name = original.Name;
         this.Opcode = original.Opcode;
         this.Param1 = original.Param1;
         this.Param2 = original.Param2;
     }
 
     @Override
     public String toString()
     {
         return toMessage();
     }
 
     public String toHtmlString()
     {
         return super.toString()
                 + "<b>Type</b> : "
                 + String.valueOf(Type)
                 + " <br/> "
                 + "<b>Name</b> : "
                 + String.valueOf(Name)
                 + " <br/> "
                 + "<b>Opcode</b> : "
                 + String.valueOf(Opcode)
                 + " <br/> "
                 + "<b>Param1</b> : "
                 + String.valueOf(Param1)
                 + " <br/> "
                 + "<b>Param2</b> : "
                 + String.valueOf(Param2)
                 + " <br/> "
                 + "";
 
     }
 
     public String toMessage()
     {
 
         StringBuilder buf = new StringBuilder();
         buf.append("SET");
 
         if(Type != null)
         {
             buf.append(" {Type ").append(Type).append("}");
         }
 
         if(Name != null)
         {
             buf.append(" {Name ").append(Name).append("}");
         }
 
         if(Opcode != null)
         {
             buf.append(" {Opcode ").append(Opcode).append("}");
         }
 
         if(Opcode != null)
         {
             buf.append(" {Params ").append(Param1).append(",").append(Param2).append("}");
         }
 
 
         return buf.toString();
     }
 }