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 ground vehicle with no steering.
    *
   * Corresponding GameBots command is DRIVE.
   *
   */
  public class DriveSkid extends CommandMessage
  {
      //constructor for the first type
      public DriveSkid(double Left, double Right, boolean Normalized, boolean Light, boolean Flip)
      {
          this.Left = Left;
          this.Right = Right;
          this.Normalized = Normalized;
          this.Light = Light;
          this.Flip = Flip;
      }
  
      /**
       * <p></p>WARNING: this is empty-command constructor, you have to use
       * setters to fill it up!
       */
      public DriveSkid()
      {
      }
      /////// Properties BEGIN
      //first type - Left, Right, Normalized, Light, Flip
      /*
       * spin speed for the left side wheels. If we are using normalized values,
       * the value range is –100 to 100 and corresponds to the robot’s minimum and
       * maximum spin speed. If we use absolute values, the value will be the real
       * spin speed in radians per second.
       */
      protected double Left = 0;
  
      public double getLeft()
      {
          return Left;
      }
  
      public DriveSkid setLeft(double Left)
      {
          this.Left = Left;
          return this;
      }
      //Same as Left but for the Right side
      protected double Right = 0;
  
      public double getRight()
      {
          return Right;
      }
  
      public DriveSkid setRight(double Right)
      {
          this.Right = Right;
          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 DriveSkid 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 DriveSkid setLight(boolean Light)
      {
          this.Light = Light;
          return this;
      }
      //Flip will flip the robot on its wheels if its rolled over
      protected boolean Flip = false;
  
      public boolean isFlip()
      {
         return Flip;
     }
 
     public DriveSkid setFlip(boolean Flip)
     {
         this.Flip = Flip;
         return this;
     }
 
     /*
      * Example: DRIVE {Left 1.0} {Right 1.0} will drive the robot moving forward
      * with spin seed 1 radian per second. DRIVE {Left -1.0} {Right 1.0} will
      * turn the robot to left side. DRIVE {Light true} will turn on the
      * headlight. DRIVE {Flip true} will flip the robot.
      */
     /////// 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 DriveSkid(DriveSkid original)
     {
         this.Left = original.Left;
         this.Right = original.Right;
         this.Normalized = original.Normalized;
         this.Flip = original.Flip;
         this.Light = original.Light;
     }
 
     @Override
     public String toString()
     {
         return toMessage();
     }
 
     public String toHtmlString()
     {
         return super.toString()
                 + "<b>Left</b> : "
                 + String.valueOf(Left)
                 + " <br/> "
                 + "<b>Right</b> : "
                 + String.valueOf(Right)
                 + " <br/> "
                 + "<b>Normalized</b> : "
                 + String.valueOf(Normalized)
                 + " <br/> "
                 + "<b>Flip</b> : "
                 + String.valueOf(Flip)
                 + " <br/> "
                 + "<b>Light</b> : "
                 + String.valueOf(Light)
                 + " <br/> "
                 + "";
     }
 
     public String toMessage()
     {
         StringBuilder buf = new StringBuilder();
         buf.append("DRIVE");
         buf.append(" {Left ").append(Left).append("}");
         buf.append(" {Right ").append(Right).append("}");
         buf.append(" {Normalized ").append(Normalized).append("}");
         buf.append(" {Light ").append(Light).append("}");
         buf.append(" {Flip ").append(Flip).append("}");
 
         return buf.toString();
     }
 }