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.worldview.object.*;
   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.*;
   
  /**
   *
   * Response message reports the message that user's been asking for. Please note
   * that the robot Response message parameters depend on the type of robot that
   * you are driving. For example, a robot of type “GroundVehicle” will not have
   * the same Response message as a robot of type “AerialVehicle.” * Corresponding
   * GameBots message is RES.
   *
   *
   *
   * A response message is delivered to describe the status of a command that has
   * been sent to USARSim. Response messages are used so that users can tell
   * whether or not particular commands were successfully executed. There are
   * three different response messages. The first response message is issued after
   * a SET {Type Viewports} command. The second response messaged is issued after
   * a SET {Type Camera} command. The third response message is a generic message
   * used for sensors and effecters. After a SET {Type Viewports} command, the
   * response message will be issued.
   *
   */
  public class ResponseMessage extends GBEvent implements IWorldEvent, IWorldChangeEvent
  {
      public ResponseMessage(double Time, String Type, String Config, String Status)
      {
          this.Type = Type;
          this.Time = Time;
          this.Config = Config;
          if(Status != null)
          {
              this.Statuses.add(Status);
          }
      }
      /**
       * Example how the message looks like - used during parser tests.
       */
      public static final String PROTOTYPE = "RES {Time 0} {Type text} {Config text}";
      /////// Properties BEGIN
      //After a SET {Type Viewports} command - Time, Type, Config, Status, Viewport1, Status, Viewport2, Status, Viewport3, Status, Viewport4, Status
      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 String Type = null;
  
      /**
       * Type of the response will be one of the following: "ViewPorts”, “Camera”,
       * or some type of sensor or effecter.
       *
       * @return Returns Type of the response.
       */
      public String getType()
      {
          return Type;
      }
      // describes the current viewport configuration. This parameter will be either “SingleView” or “QuadView”
      protected String Config = null;
  
      /**
       * Describes the current viewport configuration. This parameter will be
       * either “SingleView” or “QuadView”
       *
       * @return Returns configuration of current viewport.
       */
      public String getConfig()
      {
          return Config;
      }
      //Note: First status is paird with config variable in this case, the others are linked with viewports!!
      protected List<String> Statuses = new ArrayList<String>();
  
      /**
       * Status of the viewport configuration after the SET command has been
       * issued. The status will be “OK” when the viewport configuration was
       * successfully changed. Otherwise, the status will be “Failed”.
       *
       * List of statuses is also used when setting cameras. Each value is then
       * the status for the camera’s field of view after the SET command has been
       * issued. The status will be “OK” when the camera’s field of view was
       * successfully changed. Otherwise, the status will be “Failed”.
       *
       * When responsing to SET command for sensor or effecter, single value
       * describing the status of the transaction will be present in the list.
       *
      * @return Returns List of status results.
      */
     public List<String> getStatuses()
     {
         return Statuses;
     }
     protected List<String> Viewports = new ArrayList<String>();
 
     /**
      * Each value is the name of the camera currently attached to viewportN,
      * where N is 1..4. If viewportN has been disabled, this parameter will be
      * “Disabled”. If viewportN has been attached to a non- existent camera,
      * this parameter will be “None”.
      *
      * @return Returns List of viewport values. Size of four.
      */
     public List<String> getViewports()
     {
         return Viewports;
     }
     //After a SET {Type Camera} command - Time, Type, Name, FOV, Status
     protected List<String> Names = new ArrayList<String>();
 
     /**
      * Name of the camera that will be described by the next two parameters: FOV
      * and Status.
      *
      * When responsing to SET command for sensor or effecter, single value will
      * be present in the list.
      *
      * @return Returns List of names of cameras.
      */
     public List<String> getNames()
     {
         return Names;
     }
     protected List<String> FOVs = new ArrayList<String>();
 
     /**
      * Each value is the current field of view of the camera being described, in
      * radians. The current field of view is the field of view after a SET {Type
      * Camera} has been issued.
      *
      * @return Returns List of fields of views of cameras.
      */
     public List<String> getFOVs()
     {
         return FOVs;
     }
     //The generic response message, issued for other sensors and effecters - Time, Type, Name, Status
 
     /**
      * Cloning constructor.
      */
     public ResponseMessage(ResponseMessage original)
     {
         this.Type = original.Type;
         this.Time = original.Time;
         this.Config = original.Config;
         this.FOVs.addAll(original.FOVs);
         this.Names.addAll(original.Names);
         this.Statuses.addAll(original.Statuses);
         this.Viewports.addAll(original.Viewports);
     }
 
     /**
      * Used by Yylex to create empty message then to fill it's protected fields
      * (Yylex is in the same package).
      */
     public ResponseMessage()
     {
     }
     /**
      * Here we save the original object for which this object is an update.
      */
     private IWorldObject orig = null;
 
     @Override
     public String toString()
     {
         StringBuilder buf = new StringBuilder();
 
         buf.append(super.toString() + " | "
                 + "Type = "
                 + String.valueOf(Type) + " | "
                 + "Time = "
                 + String.valueOf(Time) + " | "
                 + "Config = "
                 + String.valueOf(Config) + " | ");
 
         if(!Statuses.isEmpty())
         {
             for(String i : Statuses)
             {
                 buf.append("Status = ").append(i).append(" ");
             }
             buf.append(" | ");
         }
 
         if(!Viewports.isEmpty())
         {
             for(int i = 0; i < Viewports.size(); i++)
             {
                 buf.append("Viewport").append(i).append(" = ").append(Viewports.get(i)).append(" ");
             }
             buf.append(" | ");
         }
 
         if(!Names.isEmpty())
         {
             for(String i : Names)
             {
                 buf.append("Names = ").append(i).append(" ");
             }
             buf.append(" | ");
         }
 
         if(!FOVs.isEmpty())
         {
             for(String i : FOVs)
             {
                 buf.append("FOV = ").append(i).append(" ");
             }
             buf.append(" | ");
         }
 
 
         return buf.toString();
 
 
         /*
          * Statuses Viewports Names FOVs
          */
 
     }
 
     /**
      * 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>Config</b> : "
                 + String.valueOf(Config)
                 + " <br/> ");
 
         if(!Statuses.isEmpty())
         {
             for(String i : Statuses)
             {
                 buf.append("<b>Status</b> : ").append(i).append(" <br/> ");
             }
         }
         if(!Viewports.isEmpty())
         {
             for(int i = 0; i < Viewports.size(); i++)
             {
                 buf.append("<b>Viewport").append(i).append("</b> : ").append(Viewports.get(i)).append(" <br/> ");
             }
         }
         if(!Names.isEmpty())
         {
             for(String i : Names)
             {
                 buf.append("<b>Names</b> : ").append(i).append(" <br/> ");
             }
         }
         if(!FOVs.isEmpty())
         {
             for(String i : FOVs)
             {
                 buf.append("<b>FOV</b> : ").append(i).append(" <br/> ");
             }
         }
 
         return buf.toString();
     }
 }