// This is sample planner code.   For this to compile in the lab using JCreator,
// you must go to the Configure/Options menu and under JDK Profiles, select JDK version 1.7.0
// and press Edit... then ensure that at the botttom of the Classes tab you see these two archives
//    C:\JMF2.1.1e\bluecove-2.1.0.jar    and     C:\JMF2.1.1e\lib\jmf.jar
// Also, ensure that this path is at the bottom of the list as well:   C:\RobotTracker_v4.0\ClassFiles

public class SamplePlanner extends Planner {

	// .....
	// Add your instance variables here
	// .....

	// Constructor for the planner
	public SamplePlanner() {
		// userTitle is used for adding custom titles to the trace file
		setTraceFileUserHeaderData("field1, field2, field3");		// This appends labels to the header in the trace file

		Pose[] path = getUserDefinedPath();
		for (int i=0;i<path.length;i++) {
			System.out.println(path[i]);
		}
	}

	// Called when the planner receives a pose from the tracker
	public void receivedPoseFromTracker(Pose robotPose){
		System.out.println("Received Pose: (" + robotPose.x + "," + robotPose.y + "," + robotPose.angle + ")");
	}

	// Called when the planner receives data from the robot
	public void receivedDataFromRobot(int[] data) {
		System.out.println("Received Robot Data: " + data.length + " bytes.");
	}

	// Called when the planner receives data from another station
	public void receivedDataFromStation(int stationId, int[] data) {
		System.out.println("Received Station " + stationId + " Data: " + new String(stringData));
	}
}