package cz.cuni.amis.pogamut.usar2004.communication.messages.usarinfomessages;
   
   import java.util.*;
   import cz.cuni.amis.pogamut.base.communication.worldview.event.*;
   import cz.cuni.amis.pogamut.base.communication.translator.event.*;
   import cz.cuni.amis.pogamut.usar2004.communication.messages.*;
   import cz.cuni.amis.pogamut.usar2004.communication.messages.datatypes.CustomTypes.*;
   
   /**
   *
   * Configuration message occurs after user has sent a command GetConf. Please
   * note that the robot Configuration message parameters depend on the type of
   * robot that you are driving. For example, a robot of type “GroundVehicle” will
   * not have the same Configuration message as a robot of type “AerialVehicle.” *
   * Corresponding GameBots message is CONF.
   *
   */
  public class ConfigurationMessage extends GBEvent implements IWorldEvent, IWorldChangeEvent
  {
      public ConfigurationMessage(String Type, double MaxFrontSteer, double MaxRearSteer, double Mass, String SteeringType)
      {
          this.Type = Type;
          this.Mass = Mass;
          this.MaxFrontSteer = MaxFrontSteer;
          this.MaxRearSteer = MaxRearSteer;
          this.SteeringType = SteeringType;
      }
      /**
       * Example how the message looks like - used during parser tests.
       */
      public static final String PROTOTYPE = "CONF {Type text} {Mass 0} {MaxFrontSteer 0} {MaxRearSteer 0} {SteeringType text}";
      protected String Type = null;
  
      /**
       * Type describes the vehicle type. It will be one of the following values:
       * "GroundVehicle”, “LeggedRobot”, “NauticVehicle”, or “AerialVehicle” of
       * "Camera" or some kind of sensor or effecter or "MisPkg".
       *
       * @return Returns type of the geometry message.
       */
      public String getType()
      {
          return Type;
      }
      //Ground Vehicle - Type, Name, SteeringType, Mass, MaxSpeed, MaxTorque, MaxFrontSteer, MaxRearSteer
      //Name value of ground, nautic, aerial...vehicles is present in the Map (pairs) Name/Value for sensor messages.
      protected String Name = null;
  
      /**
       * Name of the subject that this geometry message concerns.
       *
       * @return Returns the name of the Geometry item.
       */
      public String getName()
      {
          return Name;
      }
      protected String SteeringType = null;
  
      /**
       * Value should be one of the following: “AckermanSteered” or “SkidSteered”
       * or “OmniDrive”, as dictated by the steering type of the robot.
       *
       * @return Returns steering type of the robot.
       */
      public String getSteeringType()
      {
          return SteeringType;
      }
      protected double Mass = 0;
  
      /**
       * It is the robot's mass in kg.
       *
       * @return Returns mass of the robot.
       */
      public double getMass()
      {
          return Mass;
      }
      //these are represented by the lists down in mission package block
  //        protected double MaxSpeed = 0;
  //
  //        public double getMaxSpeed() {
  //            return MaxSpeed;
  //        }
  //        
  //        protected double MaxTorque = 0;
  //
  //        public double getMaxTorque() {
  //            return MaxTorque;
  //        }
      protected double MaxFrontSteer = 0;
  
      /**
       * The maximum steering angle for robot’s front wheels, in radians. Please
       * note that this value will be 0 for skid steered vehicles.
       *
       * @return Returns maximum front steer.
      */
     public double getMaxFrontSteer()
     {
         return MaxFrontSteer;
     }
     protected double MaxRearSteer = 0;
 
     /**
      * The maximum steering angle for robot’s rear wheels, in radians. Please
      * note that this value will be 0 for skid steered vehicles.
      *
      * @return Returns maximum rear steer.
      */
     public double getMaxRearSteer()
     {
         return MaxRearSteer;
     }
     //Legged Robot - Type, Name, SteeringType, Mass
     //Nautic Vehicle - Type, Name, Dimensions, COG
     //Aerial Vehicle - Type, Name, Dimensions, COG
     //Sensor/effecter - Type, Name/Value..., Opcode..., MaxVal..., MinVal... 
     protected Map<String, String> Features = new HashMap<String, String>();
 
     /**
      * For a camera, sensor or effecter, a configuration message conatins a pair
      * ‘{Name Value}’ that describes the feature of this sensor type. Different
      * sensor types have different name value pairs. For detailed information,
      * please refer to section 10 of USARSim manual v3.1.3 about how to
      * configure the sensor.
      *
      * Example: CONF {Type Camera} {CameraDefFov 0.8727} {CameraMinFov 0.3491}
      * {CameraMaxFov 2.0943} {CameraFov 0.8726}
      *
      * @return Returns Map of features.
      */
     public Map<String, String> getFeatures()
     {
         return Features;
     }
     protected List<String> Names = new ArrayList<String>();
 
     /**
      * For an effector, the configuration message can contain multiple names.
      *
      * NOTE: An effecter can implement more than one opcode and the CONF message
      * returns the configuration information for all effecters on the robotic
      * platform. Therefore the segment with the name value pair indicates a new
      * effecter and the opcode name value pair indicates the opcode the effecter
      * specified in by name implements.
      *
      * @return Returns list of names.
      */
     public List<String> getNames()
     {
         return Names;
     }
     protected List<String> Opcodes = new ArrayList<String>();
 
     /**
      * For an effector, the configuration message can contain multiple OpCodes.
      * Opcode value is the name of the opcode that the effecter implements.
      * Refer to Section 8 of USARSim Manual v3.1.3 for a list of the opcodes.
      *
      * NOTE: An effecter can implement more than one opcode and the CONF message
      * returns the configuration information for all effecters on the robotic
      * platform. Therefore the segment with the name value pair indicates a new
      * effecter and the opcode name value pair indicates the opcode the effecter
      * specified in by name implements.
      *
      * @return Returns list of Operation Codes.
      */
     public List<String> getOpcodes()
     {
         return Opcodes;
     }
     protected List<Double> MaxVals = new ArrayList<Double>();
 
     /**
      * It is value that indicates the upper bound for the value that is accepted
      * by the effecter.
      *
      * @return Returns list of max values for effecters.
      */
     public List<Double> getMaxVals()
     {
         return MaxVals;
     }
     protected List<Double> MinVals = new ArrayList<Double>();
 
     /**
      * It is value that indicates the lower bound for the value that is accepted
      * by the effecter.
      *
      * @return Returns list of min values for effecters.
      */
     public List<Double> getMinVals()
     {
         return MinVals;
     }
     //Mission Package - Type, Name, Link..., JointType..., MaxSpeed..., MaxTorque..., MinRange..., MaxRange...
     //NOTE: For revolute joints, if the MinRange parameter is greater than the MaxRange 
     //parameter, the joint does not have any constraints.  
     protected List<Integer> Links = new ArrayList<Integer>();
 
     /**
      * Each value is the mission package’s link number(or index) that is
      * described further by JoinType, Max/Min Torque, Max/Min Speed and Max/Min
      * Range.
      *
      * @return Returns list of links.
      */
     public List<Integer> getLinks()
     {
         return Links;
     }
     protected List<String> JointTypes = new ArrayList<String>();
 
     /**
      * Each value can either be “Revolute” or “Prismatic”, as determined by the
      * type of joint being described.
      *
      * @return Returns list of joint types.
      */
     public List<String> getJointTypes()
     {
         return JointTypes;
     }
     protected List<Double> MaxSpeeds = new ArrayList<Double>();
 
     /**
      * Each value describes the joint’s maximum speed, in rad/s.
      *
      * @return Returns list of maximum speeds.
      */
     public List<Double> getMaxSpeeds()
     {
         return MaxSpeeds;
     }
     protected List<Double> MaxTorques = new ArrayList<Double>();
 
     /**
      * Each value describes the joint’s maximum torque.
      *
      * @return Returns list of maximum torques.
      */
     public List<Double> getMaxTorques()
     {
         return MaxTorques;
     }
     protected List<Double> MaxRanges = new ArrayList<Double>();
 
     /**
      * For a revolute joint, Each value is the maximum absolute angle that the
      * joint can rotate to. For a prismatic joint, Each value is the maximum
      * distance that the joint can move to.
      *
      * @return Returns list of maximum ranges.
      */
     public List<Double> getMaxRanges()
     {
         return MaxRanges;
     }
     protected List<Double> MinRanges = new ArrayList<Double>();
 
     /**
      * For a revolute joint, Each value is the minimum absolute angle that the
      * joint can rotate to. For a prismatic joint, Each value is the minimum
      * distance that the joint can move to.
      *
      * @return Returns list of minimal ranges.
      */
     public List<Double> getMinRanges()
     {
         return MinRanges;
     }
 
     /**
      * Cloning constructor.
      */
     public ConfigurationMessage(ConfigurationMessage original)
     {
         this.Type = original.Type;
         this.Mass = original.Mass;
         this.MaxFrontSteer = original.MaxFrontSteer;
         this.MaxRearSteer = original.MaxRearSteer;
         this.SteeringType = original.SteeringType;
         this.JointTypes.addAll(original.JointTypes);
         this.Links.addAll(original.Links);
         this.MaxRanges.addAll(original.MaxRanges);
         this.MaxSpeeds.addAll(original.MaxSpeeds);
         this.MaxTorques.addAll(original.MaxTorques);
         this.MaxVals.addAll(original.MaxVals);
         this.Features.putAll(original.Features);
         this.Names.addAll(original.Names);
         this.Opcodes.addAll(original.Opcodes);
         this.MinVals.addAll(original.MinVals);
         this.MinRanges.addAll(original.MinRanges);
         this.Name = original.Name;
     }
 
     /**
      * Used by Yylex to create empty message then to fill it's protected fields
      * (Yylex is in the same package).
      */
     public ConfigurationMessage()
     {
     }
 
     @Override
     public String toString()
     {
         StringBuilder buf = new StringBuilder();
         buf.append(super.toString() + " | "
                 + "Type = "
                 + String.valueOf(Type) + " | "
                 + "MaxFrontSteer = "
                 + String.valueOf(MaxFrontSteer) + " | "
                 + "MaxRearSteer = "
                 + String.valueOf(MaxRearSteer) + " | "
                 + "Mass = "
                 + String.valueOf(Mass) + " | ");
 
         if(SteeringType != null)
         {
             buf.append("SteeringType = ").append(String.valueOf(SteeringType)).append(" | ");
         }
 
         if(!JointTypes.isEmpty())
         {
             for(String i : JointTypes)
             {
                 buf.append("JointType = ").append(i).append(" ");
             }
             buf.append(" | ");
         }
 
 
 
         if(!Links.isEmpty())
         {
             for(Integer i : Links)
             {
                 buf.append("Link = ").append(i.toString()).append(" ");
             }
             buf.append(" | ");
         }
 
 
         if(!MaxRanges.isEmpty())
         {
             for(Double i : MaxRanges)
             {
                 buf.append("MaxRange = ").append(i.toString()).append(" ");
             }
             buf.append(" | ");
         }
 
 
         if(!MaxSpeeds.isEmpty())
         {
             for(Double i : MaxSpeeds)
             {
                 buf.append("MaxSpeed = ").append(i.toString()).append(" ");
             }
             buf.append(" | ");
         }
 
 
         if(!MaxTorques.isEmpty())
         {
             for(Double i : MaxTorques)
             {
                 buf.append("MaxTorque = ").append(i.toString()).append(" ");
             }
             buf.append(" | ");
         }
 
 
         if(!MaxVals.isEmpty())
         {
             for(Double i : MaxVals)
             {
                 buf.append("MaxVal = ").append(i.toString()).append(" ");
             }
             buf.append(" | ");
         }
 
 
         if(!Names.isEmpty())
         {
             for(String i : Names)
             {
                 buf.append("Name = ").append(i.toString()).append(" ");
             }
             buf.append(" | ");
         }
 
 
         if(!Opcodes.isEmpty())
         {
             for(String i : Opcodes)
             {
                 buf.append("Opcode = ").append(i.toString()).append(" ");
             }
             buf.append(" | ");
         }
 
 
 
         if(!MinVals.isEmpty())
         {
             for(Double i : MinVals)
             {
                 buf.append("MinVal = ").append(i.toString()).append(" ");
             }
             buf.append(" | ");
         }
 
 
         if(!MinRanges.isEmpty())
         {
             for(Double i : MinRanges)
             {
                 buf.append("MinRange = ").append(i.toString()).append(" ");
             }
             buf.append(" | ");
         }
 
         if(Name != null)
         {
             buf.append("Name = ").append(Name).append(" ");
             buf.append(" | ");
         }
 
 
 
         if(!Features.isEmpty())
         {
             Iterator it = Features.entrySet().iterator();
             while(it.hasNext())
             {
                 Map.Entry en = (Map.Entry) it.next();
                 buf.append(" ").append(en.getKey()).append(" ").append(en.getValue()).append(",");
             }
             buf.append(" | ");
         }
 
         return buf.toString();
     }
 
     /**
      * Gets all properties and values to create a HTML formated string;
      *
      * @return Returns all properties in HTML format
      */
     public String toHtmlString()
     {
         StringBuilder buf = new StringBuilder();
         buf.append(super.toString()
                 + "<b>Type</b> : "
                 + String.valueOf(Type)
                 + " <br/> "
                 + "<b>Mass</b> : "
                 + String.valueOf(Mass)
                 + " <br/> "
                 + "<b>MaxFrontSteer</b> : "
                 + String.valueOf(MaxFrontSteer)
                 + " <br/> "
                 + "<b>MaxRearSteer</b> : "
                 + String.valueOf(MaxRearSteer)
                 + " <br/> "
                 + "<b>SteeringType</b> : "
                 + String.valueOf(SteeringType)
                 + " <br/> ");
 
         if(!JointTypes.isEmpty())
         {
             for(String i : JointTypes)
             {
                 buf.append("<b>JointType</b> : ").append(i).append(" ");
             }
         }
 
         buf.append(" <br/> ");
 
 
         if(!Links.isEmpty())
         {
             for(Integer i : Links)
             {
                 buf.append("<b>Link</b> : ").append(i.toString()).append(" ");
             }
         }
 
         buf.append(" <br/> ");
 
         if(!MaxRanges.isEmpty())
         {
             for(Double i : MaxRanges)
             {
                 buf.append("<b>MaxRange</b> : ").append(i.toString()).append(" ");
             }
         }
 
         buf.append(" <br/> ");
 
         if(!MaxSpeeds.isEmpty())
         {
             for(Double i : MaxSpeeds)
             {
                 buf.append("<b>MaxSpeed</b> : ").append(i.toString()).append(" ");
             }
         }
 
         buf.append(" <br/> ");
 
         if(!MaxTorques.isEmpty())
         {
             for(Double i : MaxTorques)
             {
                 buf.append("<b>MaxTorque</b> : ").append(i.toString()).append(" ");
             }
         }
 
         buf.append(" <br/> ");
 
         if(!MaxVals.isEmpty())
         {
             for(Double i : MaxVals)
             {
                 buf.append("<b>MaxVal</b> : ").append(i.toString()).append(" ");
             }
         }
 
         buf.append(" <br/> ");
 
         if(!Names.isEmpty())
         {
             for(String i : Names)
             {
                 buf.append("<b>Name</b> : ").append(i.toString()).append(" ");
             }
         }
 
         buf.append(" <br/> ");
 
         if(!Opcodes.isEmpty())
         {
             for(String i : Opcodes)
             {
                 buf.append("<b>Opcode</b> : ").append(i.toString()).append(" ");
             }
         }
 
 
         buf.append(" <br/> ");
 
         if(!MinVals.isEmpty())
         {
             for(Double i : MinVals)
             {
                 buf.append("<b>MinVal</b> : ").append(i.toString()).append(" ");
             }
         }
 
         buf.append(" <br/> ");
 
         if(!MinRanges.isEmpty())
         {
             for(Double i : MinRanges)
             {
                 buf.append("<b>MinRange</b> : ").append(i.toString()).append(" ");
             }
         }
         buf.append(" <br/> ");
 
         if(Name != null)
         {
             buf.append("<b>Name</b> : ").append(Name).append(" ");
         }
 
         buf.append(" <br/> ");
 
 
         if(!Features.isEmpty())
         {
             Iterator it = Features.entrySet().iterator();
             while(it.hasNext())
             {
                 Map.Entry en = (Map.Entry) it.next();
                 buf.append("<b>").append(en.getKey()).append("</b> : ").append(en.getValue()).append(",");
             }
         }
 
         buf.append(" <br/> ");
         return buf.toString();
     }
 }