1 package cz.cuni.amis.pogamut.usar2004.communication.messages.usarinfomessages;
2
3 import java.util.logging.Level;
4 import java.util.logging.Logger;
5 import cz.cuni.amis.pogamut.base.communication.worldview.event.*;
6 import cz.cuni.amis.pogamut.base.communication.translator.event.*;
7 import cz.cuni.amis.pogamut.usar2004.communication.messages.*;
8 import cz.cuni.amis.pogamut.usar2004.communication.messages.datatypes.*;
9 import java.util.List;
10
11 /**
12 *
13 * A Mission Package state message reports the mission package links current
14 * properties. Every mission package state includes a Name segment and several
15 * link segments.
16 *
17 * Corresponding GameBots message is MISSTA.
18 *
19 */
20 public class MissionPackageMessage extends GBEvent implements IWorldEvent, IWorldChangeEvent
21 {
22 /**
23 * Creates new instance of command MissionPackageMessage.
24 *
25 * @param Time Timestamp form the UT since server start in seconds.
26 * @param Name Name of the mission package
27 * @param Link This parameter gives the link number that will be described
28 * by the next two parameters (Value and Torque). Please note that you will
29 * have as many as these parameters as you have links.
30 *
31 * @param Value This parameter has two possible meanings. If the link being
32 * described is a prismatic joint, double gives the distance (in meters)
33 * from the original position of the link. If the link being described is a
34 * revolute joint, it gives a sector(probably).
35 *
36 * @param Torque The Torque parameter gives the current torque of the link
37 * being described.
38 */
39 public MissionPackageMessage(double Time, String Name, int Link, double Value, double Torque)
40 {
41 this.Time = Time;
42 this.Name = Name;
43 this.Links.add(Link, Value, Torque);
44 }
45
46 public MissionPackageMessage(double Time, String Name, LinkState LS)
47 {
48 this.Time = Time;
49 this.Name = Name;
50 this.Links.add(LS);
51 }
52 /**
53 * Example how the message looks like - used during parser tests.
54 */
55 public static final String PROTOTYPE = "MISSTA {Time 0} {Name text}";//{Value 0} {Torque 0}";
56 /////// Properties BEGIN
57 protected double Time = 0;
58
59 /**
60 * Timestamp form the UT since server start in seconds.
61 *
62 * @return Returns seconds elapsed from the start of the server.
63 */
64 public double getTime()
65 {
66 return Time;
67 }
68 protected String Name = null;
69
70 /**
71 * Name of the mission package
72 *
73 * @return; Returns the name of the mission package
74 */
75 public String getName()
76 {
77 return Name;
78 }
79 //LinkStateSet brings data of all links to one structure
80 protected LinkStateSet Links = new LinkStateSet();
81
82 /**
83 * This parameter gives the link number that will be described by the next
84 * two parameters (Value and Torque). Please note that you will have as many
85 * as these parameters as you have links.
86 *
87 * VALUE parameter has two possible meanings. If the link being described is
88 * a prismatic joint, double gives the distance (in meters) from the
89 * original position of the link. If the link being described is a revolute
90 * joint, it gives a sector(probably).
91 *
92 * The TORQUE parameter gives the current torque of the link being
93 * described. * All of the above are collected into one data structure below
94 * this text.
95 *
96 * @return Returns collection of Link States.
97 */
98 public List<LinkState> getLinkStateSet()
99 {
100 return Links.GetLinkStateList();
101 }
102
103 /**
104 * Cloning constructor.
105 */
106 public MissionPackageMessage(MissionPackageMessage original)
107 {
108 this.Time = original.Time;
109 this.Name = original.Name;
110 this.Links = original.Links;
111 }
112
113 /**
114 * Used by Yylex to create empty message then to fill it's protected fields
115 * (Yylex is in the same package).
116 */
117 public MissionPackageMessage()
118 {
119 }
120
121 @Override
122 public String toString()
123 {
124 StringBuilder buf = new StringBuilder();
125
126 buf.append(super.toString()).append(" | " + "Time = ").append(String.valueOf(Time)).append(" | " + "Name = ").append(String.valueOf(Name)).append(" | ");
127 if(!Links.isEmpty())
128 {
129
130 try
131 {
132 for(LinkState linkState : Links.GetLinkStateList())
133 {
134 buf.append("Link = " + String.valueOf(linkState.getLink()) + " | "
135 + "Value = "
136 + String.valueOf(linkState.getValue()) + " | "
137 + "Torque = "
138 + String.valueOf(linkState.getTorque()) + " | ");
139 }
140 }
141 catch(Exception ex)
142 {
143 Logger.getLogger(MissionPackageMessage.class.getName()).log(Level.SEVERE, null, ex);
144 }
145 }
146
147 return buf.toString();
148
149 }
150
151 /**
152 * Gets all properties and values to create a HTML formated string;
153 *
154 * @return Returns all properties in HTML format
155 */
156 public String toHtmlString()
157 {
158 StringBuilder buf = new StringBuilder();
159 buf.append(super.toString()).append("<b>Time</b> : ").append(String.valueOf(Time)).append(" <br/> " + "<b>Name</b> : ").append(String.valueOf(Name)).append(" <br/> ");
160 if(!Links.isEmpty())
161 {
162 try
163 {
164 for(LinkState linkState : Links.GetLinkStateList())
165 {
166 buf.append("<b>Link</b> : "
167 + String.valueOf(linkState.getLink())
168 + " <br/> "
169 + "<b>Value</b> : "
170 + String.valueOf(linkState.getValue())
171 + " <br/> "
172 + "<b>Torque</b> : "
173 + String.valueOf(linkState.getTorque())
174 + " <br/> ");
175
176 }
177 }
178 catch(Exception ex)
179 {
180 Logger.getLogger(MissionPackageMessage.class.getName()).log(Level.SEVERE, null, ex);
181 }
182 }
183 return buf.toString();
184
185 }
186 }