/*
 *  Simbad - Robot Simulator
 *  Copyright (C) 2004 Louis Hugues
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful, 
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 -----------------------------------------------------------------------------
 * $Author: sioulseuguh $ 
 * $Date: 2005/04/25 17:54:58 $
 * $Revision: 1.5 $
 * $Source: /cvsroot/simbad/src/simbad/sim/Device.java,v $
 */
package org.myrobotlab.mapper.sim;

import javax.swing.JPanel;

/**
 * A abstract device, base class for sensorDevice and ActuatorDevice. The class
 * manages an update rate which will be used by the simulator.
 */
public abstract class Device extends BaseObject {

  private SimpleAgent owner;
  private String name;
  private double updatePerSecond;
  private double elapsedSinceUpdate;
  private boolean firstUpdate;
  private boolean updateOnEachFrame;

  Device() {
    owner = null;
    name = "<name>";
    updatePerSecond = 1.0;
    elapsedSinceUpdate = 0.0;
    firstUpdate = true;
    updateOnEachFrame = false;
    ;
  }

  /**
   * Creates the panel associated to the device. This panel can be inserted in
   * the inspector window for monitoring.
   * 
   * @return the JPanel. null if no panel can be associated
   */
  public JPanel createInspectorPanel() {
    return null;
  }

  /**
   * @return device's name .
   */
  public String getName() {
    return name;
  }

  /** Get the agent owner of this device */
  protected SimpleAgent getOwner() {
    return this.owner;
  }

  /**
   * Returns the number of updates per second requested for this sensor.
   * 
   * @return requested number of update per second (in virtual time).
   */
  public double getUpdatePerSecond() {
    return updatePerSecond;
  }

  /** to be overriden */
  protected void reset() {
  }

  protected void setName(String name) {
    this.name = name;
  }

  /** Set the agent owner of this device */
  protected void setOwner(SimpleAgent agent) {
    this.owner = agent;
  }

  /** Sets if update happens on each frame . */
  public void setUpdateOnEachFrame(boolean on) {
    updateOnEachFrame = on;
  }

  /** Sets the number of update per seconds for this sensor. */
  public void setUpdatePerSecond(double ups) {
    updatePerSecond = ups;
  }

  /** to be overriden */
  protected void update() {
  }

  /** Called by the simulator loop */
  protected void update(double elapsedSeconds) {
    if (updateOnEachFrame) {
      update();
    } else {
      elapsedSinceUpdate += elapsedSeconds;
      double delta = 1.0 / updatePerSecond;
      if ((elapsedSinceUpdate > delta) || (firstUpdate)) {
        update();
        elapsedSinceUpdate -= delta;
        firstUpdate = false;
      }
    }
  }

}