import time

class BaseMsg:
    def __init__(self, ctrl, msg):
        self.ctrl = ctrl
        self.msg = msg

    def stop_force(self):
        self.msg.mode = 0
        self.msg.gait_id = 0
        self.msg.duration = 0
        self.msg.life_count += 1
        self.ctrl.Send_cmd(self.msg)
        self.ctrl.Wait_finish(0, 0)

    def stop(self, wait_time=1):
        self.msg.mode = 11
        self.msg.gait_id = 26
        self.msg.vel_des = [0, 0, 0]
        self.msg.duration = wait_time * 1000
        self.msg.life_count += 1
        self.ctrl.Send_cmd(self.msg)
        if wait_time:
            time.sleep(wait_time)