class PlanTactic

# File plan/planTactic.rb, line 7
  def replan
    @plan.clear
    @agentInfo.whereIsBall();
    @agentInfo.isBallMine();
    @agentInfo.nearBall();
    @agentInfo.ballControlPosition();
        
    @target_position      = @agentInfo.ballControlPosition()     #pozicia lopty
    @target_position_phi  = @target_position.getPhi()        #pozicia lopty phi
    @kick_target          = @agentInfo.kickTarget()                  #ciel kopu
    @kick_target_phi      = @kick_target.getPhi()               #ciel kopu phi
    
    @is_ball_nearest_to_me_in_my_team = @tacticalInfo.bIsBallNearestToMeInMyTeam()
        @is_ball_owned_by_them            = @tacticalInfo.isBallOwnedByThem()
    @is_ball_owned_by_us              = @tacticalInfo.isBallOwnedByUs()
    
    @chance_to_get_ball = @tacticalInfo.chanceToGetBall()
    
    @agentInfo          = Java::sk.fiit.jim.agent.AgentInfo.getInstance
        @mathModel          = Java::sk.fiit.robocup.library.geometry.Vector3D.clone
    #@fixedObject       = Java::sk.fiit.jim.agent.models.FixedObject.????
        #@their_goal        = @fixedObject.theirPostMiddle()                                        #pozicia superovej brany
        @ball_pos           = @agentInfo.ballControlPosition()
        @their_goal         = @mathModel.cartesian(10,0.0,0.0)
        @ball_to_their_goal = @agentInfo.calculateDistance(@ball_pos, @their_goal) #vzdialenost lopty a superovej brany
        #puts @ball_to_their_goal 

    if EnvironmentModel.beamablePlayMode
        @agentInfo.loguj('Beam');
        @plan << Beam.new(@formationPosition)
        @beamed = true
    elsif (me.on_ground? or me.is_lying_on_back? or me.is_lying_on_belly?)
        @agentInfo.loguj('GetUp');
        @plan << GetUp.new(Proc.new{me.on_ground?})
    elsif (not see_ball?) 
                @agentInfo.loguj('Localize');
        @plan << Localize.new(Proc.new{(not see_ball?)})
        
        ### 1. Ak nikto nevlastni loptu ###

    ### ak nema nikto loptu + som najblizsie k lopte 
    elsif (not is_ball_mine? and not @is_ball_owned_by_us and not @is_ball_owned_by_them and @is_ball_nearest_to_me_in_my_team)          
        @agentInfo.loguj('1/Walk to ball');
        @plan << Walk2Ball.new(:ball, Proc.new{not @is_ball_owned_by_us and not @is_ball_owned_by_them and @is_ball_nearest_to_me_in_my_team})

        ### ak nema nikto loptu + nie som najblizsie k lopte
    elsif (not is_ball_mine? and not @is_ball_owned_by_us and not @is_ball_owned_by_them and not @is_ball_nearest_to_me_in_my_team)          
        @tacticalInfo.setMyFormPosition
        if (@tacticalInfo.isInPositionArea)
                @agentInfo.loguj('1/On position');
                        @plan << LowSkill.new("rollback")
                else
                @agentInfo.loguj('1/Go to formation');
                @plan << FormationHelper.getHighSkillToGoToFormation(Proc.new{see_ball? and not is_ball_mine? and not @is_ball_owned_by_us and not @is_ball_owned_by_them and not @is_ball_nearest_to_me_in_my_team})
        end
        
    ### ak nema nikto loptu + mam sancu dostat sa k lopte >= 80% 
    elsif (not is_ball_mine? and not @is_ball_owned_by_us and not @is_ball_owned_by_them and @chance_to_get_ball >= 0.8)          
        @tacticalInfo.chanceToGetBallString();
        @agentInfo.loguj('1/Walk to ball');
        @plan << Walk2Ball.new(:ball, Proc.new{not @is_ball_owned_by_us and not @is_ball_owned_by_them})

        ### ak nema nikto loptu + mam sancu dostat sa k lopte < 80%
    elsif (not is_ball_mine? and not @is_ball_owned_by_us and not @is_ball_owned_by_them and @chance_to_get_ball < 0.8)          
        @tacticalInfo.setMyFormPosition
        if (@tacticalInfo.isInPositionArea)
                @agentInfo.loguj('1/On position');
                        @plan << LowSkill.new("rollback")
                else
               @tacticalInfo.chanceToGetBallString();
               @agentInfo.loguj('1/Go to formation');
               @plan << FormationHelper.getHighSkillToGoToFormation(Proc.new{see_ball? and not is_ball_mine? and not @is_ball_owned_by_us and not @is_ball_owned_by_them and @chance_to_get_ball < 0.8})
            end
        
        ### 2. Ak super vlastni loptu ###
        
        ### ak ma loptu super + som najblizsie k lopte 
    elsif (not is_ball_mine? and @is_ball_owned_by_them and @is_ball_nearest_to_me_in_my_team)         
        @agentInfo.loguj('2/Walk to ball');
        @plan << Walk2Ball.new(:ball, Proc.new{@is_ball_owned_by_them and @is_ball_nearest_to_me_in_my_team}) 

    ### ak ma loptu super + nie som najblizsie k lopte
    elsif (not is_ball_mine? and @is_ball_owned_by_them and not @is_ball_nearest_to_me_in_my_team)          
        @tacticalInfo.setMyFormPosition
        if (@tacticalInfo.isInPositionArea)
                @agentInfo.loguj('2/On position');
                        @plan << LowSkill.new("rollback")
                else
                @agentInfo.loguj('2/Go to formation');
                @plan << FormationHelper.getHighSkillToGoToFormation(Proc.new{see_ball? and not is_ball_mine? and @is_ball_owned_by_them and not @is_ball_nearest_to_me_in_my_team})
        end
        
    ### 3. Ak my vlastnime loptu ###
    
        ### ak mame loptu my + nemam loptu ja
    elsif (not is_ball_mine? and @is_ball_owned_by_us)   
        @tacticalInfo.setMyFormPosition
        if (@tacticalInfo.isInPositionArea)
                @agentInfo.loguj('3/On position');
                        @plan << LowSkill.new("rollback")
                else    
               @agentInfo.loguj('3/Go to formation');
               @plan << FormationHelper.getHighSkillToGoToFormation(Proc.new{see_ball? and not is_ball_mine? and @is_ball_owned_by_us})
            end
            
    ### ak mam loptu ja + nie som natoceny na loptu
    elsif (is_ball_mine? and not straight?)         
        @agentInfo.loguj('3/Walk to straight');
                @plan << Walk2Ball.new(:ball, Proc.new{is_ball_mine? and not straight?}) 

        ### ak mam loptu ja + nie som natoceny na branu
    elsif (is_ball_mine? and not turned_to_goal?)         
        @agentInfo.loguj('3/Turn to goal');
                @plan << Turn.new(@kick_target, Proc.new{is_ball_mine? and not turned_to_goal?})
                
        ### ak mam loptu ja + som natoceny na loptu + som natoceny na branu
    elsif (is_ball_mine? and straight? and turned_to_goal?)         
        @agentInfo.loguj('3/Kick');
        @plan << Kick.new(@kick_target)
  
    ### ak mam loptu ja + som natoceny na loptu + som natoceny na branu
    elsif ((is_ball_mine? and straight? and turned_to_goal? and @ball_to_their_goal > 3))         
        @agentInfo.loguj('3/Walk to ball');
                @plan << Walk2Ball.new(:ball, Proc.new{is_ball_mine? and straight? and turned_to_goal?}) 

    ### ak mam loptu ja + som natoceny na loptu + som natoceny na branu
    elsif ((is_ball_mine? and straight? and turned_to_goal? and @ball_to_their_goal <= 3))         
        @agentInfo.loguj('3/Kick');
        @plan << Kick.new(@kick_target)
    
    ### Ak nastane neosetreny pripad ###
    else
        @agentInfo.loguj('???');
        @plan << GetUp.new(Proc.new{me.on_ground?})

    end
  end