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.*;
   
   /**
    *
    * Drive command specified for a sub or a boat.
    *
   * Corresponding GameBots command is DRIVE.
   *
   */
  public class DriveNautic extends CommandMessage
  {
      //constructor for the third type
      public DriveNautic(double Propeller, double Rudder, double SternPlane, boolean Normalized, boolean Light)
      {
          this.Propeller = Propeller;
          this.Rudder = Rudder;
          this.SternPlane = SternPlane;
          this.Normalized = Normalized;
          this.Light = Light;
      }
  
      /**
       * <p></p>WARNING: this is empty-command constructor, you have to use
       * setters to fill it up!
       */
      public DriveNautic()
      {
      }
      /////// Properties BEGIN
      //third type - Propeller, Rudder, SternPlane, Normalized, Light
      /*
       * the spin speed for the propellers. If we use normalized values, the value
       * range is –100 to 100 and corresponds to the propeller’s minimum and
       * maximum spin speed, respectively. Otherwise, the value is the absolute
       * propeller’s spin speed, in radians per second.
       */
      protected double Propeller = 0;
  
      public double getPropeller()
      {
          return Propeller;
      }
  
      public DriveNautic setPropeller(double Propeller)
      {
          this.Propeller = Propeller;
          return this;
      }
      /*
       * specifies the angle of the robot’s rudders. If we use normalized values,
       * the value range is -100 to 100 and corresponds to the rudders’ minimum
       * and maximum steer angle, respectively. Otherwise, the value is the
       * absolute rudder angle, in radians.
       */
      protected double Rudder = 0;
  
      public double getRudder()
      {
          return Rudder;
      }
  
      public DriveNautic setRudder(double Rudder)
      {
          this.Rudder = Rudder;
          return this;
      }
      /*
       * specifies the angle of the robot’s stern planes. If we use normalized
       * values, the value range is -100 to 100 and corresponds to the stern
       * planes’ minimum and maximum angle, respectively. Otherwise, the value is
       * the absolute stern plane angle, in radians.
       */
      protected double SternPlane = 0;
  
      public double getSternPlane()
      {
          return SternPlane;
      }
  
      public DriveNautic setSternPlane(double SternPlane)
      {
          this.SternPlane = SternPlane;
          return this;
      }
      /*
       * Indicates whether we are using normalized values or ´ * not. The default
       * value is ‘False’ which means absolute values are used to control wheel
       * spin speed.
       */
      protected boolean Normalized = false;
  
      public boolean isNormalized()
      {
          return Normalized;
      }
  
     public DriveNautic setNormalized(boolean Normalized)
     {
         this.Normalized = Normalized;
         return this;
     }
     //Indicates whether to turn the headlight on or off
     protected boolean Light = false;
 
     public boolean isLight()
     {
         return Light;
     }
 
     public DriveNautic setLight(boolean Light)
     {
         this.Light = Light;
         return this;
     }
 
     /*
      * Example: Drive {Propeller 1.0} will Drive the robot forward with a
      * propeller’s spin speed of 1 rad/sec. Drive {Propeller 1.0} {Rudder
      * 0.523599} will Drive the robot 30° forward and to the right with a spin
      * speed of 1 rad/sec. Drive {Speed 1.0} {FrontSteer -0.523599} will Drive
      * the robot 30° forward and to the left with a spin speed of 1 rad/sec.
      * Drive {Light true} will turn on the robot’s headlights.
      */
     /////// 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 DriveNautic(DriveNautic original)
     {
         this.Normalized = original.Normalized;
         this.Light = original.Light;
         this.Propeller = original.Propeller;
         this.Rudder = original.Rudder;
         this.SternPlane = original.SternPlane;
     }
 
     @Override
     public String toString()
     {
         return toMessage();
     }
 
     public String toHtmlString()
     {
         return super.toString()
                 + "<b>Normalized</b> : "
                 + String.valueOf(Normalized)
                 + " <br/> "
                 + "<b>Light</b> : "
                 + String.valueOf(Light)
                 + " <br/> "
                 + "<b>Propeller</b> : "
                 + String.valueOf(Propeller)
                 + " <br/> "
                 + "<b>Rudder</b> : "
                 + String.valueOf(Rudder)
                 + " <br/> "
                 + "<b>SternPlane</b> : "
                 + String.valueOf(SternPlane)
                 + " <br/> "
                 + "";
     }
 
     public String toMessage()
     {
         StringBuilder buf = new StringBuilder();
         buf.append("DRIVE");
         buf.append(" {Normalized ").append(Normalized).append("}");
         buf.append(" {Light ").append(Light).append("}");
         buf.append(" {Propeller ").append(Propeller).append("}");
         buf.append(" {Rudder ").append(Rudder).append("}");
         buf.append(" {SternPlane ").append(SternPlane).append("}");
 
         return buf.toString();
     }
 }