USARBot.LeggedRobot

/*
NOTE: The messages still need to be developed!
*/

class LeggedRobot extends KRobot config(USARBot);

function ProcessCarInput()
{
    Super.ProcessCarInput();

    // Return robot GEO information
    if(USARRemoteBot(Controller).GeoType == "Robot")
        USARRemoteBot(Controller).myConnection.SendLine(getRobotGeo());

    // Return robot CONF Information
    if(USARRemoteBot(Controller).ConfType == "Robot")
        USARRemoteBot(Controller).myConnection.SendLine(getRobotConf());
}

function timer()
{
    local string outstring;
    local vector loc,vel;
    local float time;

    Super.timer();

    time = Level.TimeSeconds;

    // Robot State Message
    if (bGroundTruth) {
    loc = Location;
    vel = (loc-lastLocation)/(time-lastTime);

    outstring = "STA {Type LeggedRobot} {Time "$time$"}"$
                " {Location "$Converter.Str_LengthVectorFromUU(loc)$"}"$
                " {Orientation "$Converter.Str_RotatorFromUU(Rotation)$"}"$
                " {Velocity "$Converter.Str_VelocityVectorFromUU(vel)$"}"$
                //" {CameraFov "$Converter.Str_AngleFromDeg(CameraZoom)$"}"$
                " {LightToggle "$bHeadlightOn$"}"$
                " {LightIntensity "$HeadlightItensity$"}"$
                " {Battery "$(batteryLife-myLife)$"}"$
                " {View "$ViewNum$"}";
        lastTime = time;
        lastLocation = loc;
    } else {
        outstring = "STA {Type LeggedRobot} {Time "$time$"}"$
                " {Location 0,0,0}"$
                " {Orientation 0,0,0}"$
                " {Velocity 0,0,0}"$
                //" {CameraFov "$Converter.Str_AngleFromDeg(CameraZoom)$"}"$
                " {LightToggle "$bHeadlightOn$"}"$
                " {LightIntensity "$HeadlightItensity$"}"$
                " {Battery "$(batteryLife-myLife)$"}"$
                " {View "$ViewNum$"}";
    }
    USARRemoteBot(Controller).myConnection.SendLine(outstring);
}

function string getRobotGeo()
{
    local string tmpStr;

    // This is all the information that we need to send out
    local string geoType;
    local string geoName;
    local string geoDimensions;
    local string geoCOG;

    geoType = "LeggedRobot";
    Divide(string(self.class), ".", tmpStr, geoName);
    geoDimensions = converter.FloatString(Dimensions.X) $ "," $ converter.FloatString(Dimensions.Y) $ "," $ converter.FloatString(Dimensions.Z);
    geoCOG = converter.Str_LengthFromUU(KarmaParamsRBFull(KParams).KCOMOffset.X * 50) $ "," $ converter.Str_LengthFromUU(KarmaParamsRBFull(KParams).KCOMOffset.Y * 50) $ "," $ converter.Str_LengthFromUU(KarmaParamsRBFull(KParams).KCOMOffset.Z * 50);

    return "GEO {Type " $ geoType $ "} {Name " $ geoName $ "} {Dimensions " $ geoDimensions $ "} {COG " $ geoCOG $ "}";
}

function string getRobotConf()
{
    local string tmpStr;

    // This is all the information that we need to send out
    local string confType;
    local string confName;
    local string confMass;

    confType = "LeggedRobot";
    Divide(string(self.class), ".", tmpStr, confName);
    confMass = converter.FloatString(Weight);

    return "CONF {Type " $ confType $ "} {Name " $ confName $ "} {Mass " $ confMass $ "}";
}