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.*;
   
   /**
   *
   * A State message is the message class that reports the robot or mission
   * package’s state. State message reports the robot's actual state. Please note
   * that the robot state message parameters depend on the type of robot that you
   * are driving. For example, a robot of type “GroundVehicle” will not have the
   * same state message as a robot of type “AerialVehicle.” A robot state message
   * looks like (for a ground vehicle): STA {Type string} {Time float} {FrontSteer
   * float} {RearSteer float}{LightToggle bool} {LightIntensity int} {Battery int}
   *
   * Corresponding GameBots message is STA.
   *
   */
  public class StateMessage extends GBEvent implements IWorldEvent, IWorldChangeEvent
  {
      public StateMessage(String Type, double Time, double FrontSteer, double RearSteer, double SternPlaneAngle, double RudderAngle, boolean LightToggle, int LightIntensity, int Battery)
      {
          this.Type = Type;
          this.Time = Time;
          this.FrontSteer = FrontSteer;
          this.RearSteer = RearSteer;
          this.SternPlaneAngle = SternPlaneAngle;
          this.RudderAngle = RudderAngle;
          this.LightToggle = LightToggle;
          this.LightIntensity = LightIntensity;
          this.Battery = Battery;
      }
      /**
       * Example how the message looks like - used during parser tests.
       */
      public static final String PROTOTYPE = "STA {Type text} {Time 0} {FrontSteer 0} {RearSteer 0} {SternPlaneAngle 0,0,0} {RudderAngle 0} {LightToggle False} {LightIntensity 0} {Battery 0}";
      /////// Properties BEGIN
      /**
       *
       * Type describes the vehicle type. It will be one of the following values:
       * "GroundVehicle”, “LeggedRobot”, “NauticVehicle”, or “AerialVehicle”.
       */
      protected String Type = null;
  
      /**
       * Type will be one of the following values: "GroundVehicle”, “LeggedRobot”,
       * “NauticVehicle”, or “AerialVehicle”.
       *
       * @return Returns Type of the vehicle.
       */
      public String getType()
      {
          return Type;
      }
      /**
       * Timestamp form the UT since server start in seconds.
       */
      protected double Time = 0;
  
      /**
       * Timestamp form the UT since server start in seconds.
       *
       * @return Returns seconds elapsed from the start of the server.
       */
      public double getTime()
      {
          return Time;
      }
      protected double FrontSteer = 0;
  
      /**
       * Note: parameter only available for robots of “GroundVehicle” type.
       * Current front steer angle of the robot, in radians.
       *
       * @return Returns front steer angle value
       */
      public double getFrontSteer()
      {
          return FrontSteer;
      }
      protected double RearSteer = 0;
  
      /**
       * Note: parameter only available for robots of “GroundVehicle” type.
       * Current rear steer angle of the robot, in radians.
       *
       * @return Returns rear steer angle value.
       */
      public double getRearSteer()
      {
          return RearSteer;
      }
      //protected Location SternPlaneAngle = null;
      protected double SternPlaneAngle = 0;
  
      /**
      * Note: parameter only available for robots of “NauticVehicle” type.
      * Current stern plane angle of the robot, in radians.
      *
      * @return Returns sern plane angle.
      */
     public double getSternPlaneAngle()
     {
         return SternPlaneAngle;
     }
     protected double RudderAngle = 0;
 
     /**
      * Note: parameter only available for robots of “NauticVehicle” type.
      * Current rudder angle of the robot, in radians.
      *
      * @return Returns rudder angle.
      */
     public double getRudderAngle()
     {
         return RudderAngle;
     }
     protected boolean LightToggle = false;
 
     /**
      * Indicate whether the headlight has been turned on.
      *
      * @return Returns wether the Headlight is on or not.
      */
     public boolean isLightToggle()
     {
         return LightToggle;
     }
     protected int LightIntensity = 0;
 
     /**
      * Light intensity of the headlight. Right now, it always is 100.
      *
      * @return Returns the intensity of the Headlight.
      */
     public int getLightIntensity()
     {
         return LightIntensity;
     }
     protected int Battery = 0;
 
     /**
      * Power state of the battery. It is the battery lifetime in second. It’s
      * the total time remaining for the robot to run.
      *
      * @return Returns remaining battery life.
      */
     public int getBattery()
     {
         return Battery;
     }
     //added-UT2004 aerial vehicle
     protected int View = 0;
 
     /**
      * This was added for UT2004 version. Represents number of views when
      * Multiview(Multiple Cameras) is used.
      *
      * @return Returns number of views if MultiView used, else -1;
      */
     public int getView()
     {
         return View;
     }
     //added-UT2004 kenaf
     protected Map<String, String> PartsValues = new HashMap<String, String>();
 
     /**
      * Kenaf robot uses these to describe state of its Flippers.
      *
      * @return Returns a map containing data about Kenafs flippers.
      */
     public Map<String, String> getPartsValues()
     {
         return PartsValues;
     }
 
     /**
      * Cloning constructor.
      */
     public StateMessage(StateMessage original)
     {
         this.Type = original.Type;
         this.Time = original.Time;
         this.FrontSteer = original.FrontSteer;
         this.RearSteer = original.RearSteer;
         this.SternPlaneAngle = original.SternPlaneAngle;
         this.RudderAngle = original.RudderAngle;
         this.LightToggle = original.LightToggle;
         this.LightIntensity = original.LightIntensity;
         this.Battery = original.Battery;
         this.View = original.View;
         this.PartsValues.putAll(original.PartsValues);
     }
 
     /**
      * Used by Yylex to create empty message then to fill it's protected fields
      * (Yylex is in the same package).
      */
     public StateMessage()
     {
     }
 
     @Override
     public String toString()
     {
         StringBuilder buf = new StringBuilder();
         buf.append(super.toString() + " | "
                 + "Type = "
                 + String.valueOf(Type) + " | "
                 + "Time = "
                 + String.valueOf(Time) + " | "
                 + "FrontSteer = "
                 + String.valueOf(FrontSteer) + " | "
                 + "RearSteer = "
                 + String.valueOf(RearSteer) + " | "
                 + "SternPlaneAngle = "
                 + String.valueOf(SternPlaneAngle) + " | "
                 + "RudderAngle = "
                 + String.valueOf(RudderAngle) + " | "
                 + "LightToggle = "
                 + String.valueOf(LightToggle) + " | "
                 + "LightIntensity = "
                 + String.valueOf(LightIntensity) + " | "
                 + "Battery = "
                 + String.valueOf(Battery) + " | "
                 + "View = "
                 + String.valueOf(View) + " | "
                 + "");
         if(!PartsValues.isEmpty())
         {
             Iterator it = PartsValues.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>Time</b> : "
                 + String.valueOf(Time)
                 + " <br/> "
                 + "<b>FrontSteer</b> : "
                 + String.valueOf(FrontSteer)
                 + " <br/> "
                 + "<b>RearSteer</b> : "
                 + String.valueOf(RearSteer)
                 + " <br/> "
                 + "<b>SternPlaneAngle</b> : "
                 + String.valueOf(SternPlaneAngle)
                 + " <br/> "
                 + "<b>RudderAngle</b> : "
                 + String.valueOf(RudderAngle)
                 + " <br/> "
                 + "<b>LightToggle</b> : "
                 + String.valueOf(LightToggle)
                 + " <br/> "
                 + "<b>LightIntensity</b> : "
                 + String.valueOf(LightIntensity)
                 + " <br/> "
                 + "<b>Battery</b> : "
                 + String.valueOf(Battery)
                 + " <br/> "
                 + "<b>View</b> : "
                 + String.valueOf(View)
                 + " <br/> "
                 + "");
 
         if(!PartsValues.isEmpty())
         {
             Iterator it = PartsValues.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();
     }
 }