class Walk

# File high_skills/walk.rb, line 7
def Walk.angle_range from, to
(from/180.0*Math::PI)..(to/180.0*Math::PI)
end

# File high_skills/walk.rb, line 45
def initialize target, validity_proc
  super()
  @agentInfo = Java::sk.fiit.jim.agent.AgentInfo.getInstance
  @target = target
  
  @validity_proc = validity_proc || Proc.new{return true}
  @ending = false
  
  @target_position = @agentInfo.ballControlPosition()

 # @target_phi = @target_position.getPhi() * 180.0 / Math::PI
end

# File high_skills/walk.rb, line 197
def abs number
  Math.abs number
end

# File high_skills/walk.rb, line 159
def back? target_position
  Angles.angle_diff(target_phi, Math::PI) < Math::PI / 6.0
end

# File high_skills/walk.rb, line 139
def back_and_close?
  @@back_range.include?(@target_position_phi) and (@target_position.getR <= @@strafe_distance)
end

# File high_skills/walk.rb, line 193
  def checkProgress
#    raise "Fallen!" if me.on_ground?
  end

# File high_skills/walk.rb, line 123
def close_enough?
  @agentInfo.isBallMine()
end

# File high_skills/walk.rb, line 189
def is_ball_mine?
      return @agentInfo.getIsBallMine
end

# File high_skills/walk.rb, line 118
def is_current_skill? possibilities
  current_skill_name = currentSkill.nil? ? "null" : currentSkill.name
  possibilities.member?(current_skill_name)
end

# File high_skills/walk.rb, line 143
def left_and_close?
  (@target_position.r <= @@strafe_distance) and @@left_strafe_range.include?(Angles.normalize(@target_position_phi))
end

# File high_skills/walk.rb, line 151
def left_and_distant?
  @@left_range.include? Angles.normalize(@target_position_phi)
end

# File high_skills/walk.rb, line 58
 def pickLowSkill
   #target_position = @agentInfo.ballControlPosition()
  # target_position = (ball relative position) if @target == :ball
 #  @target = @target.set_z(0.0) 
#   @agentInfo.loguj("phi" + @target_phi.to_s)
       is_still_valid = @validity_proc.call
   @ending = true if not is_still_valid
#   @agentInfo.loguj("end: "+@ending.to_s)
   return nil if not is_still_valid or @ending
    @agentInfo = Java::sk.fiit.jim.agent.AgentInfo.getInstance
    @target_position = @agentInfo.ballControlPosition()
    @target_position_phi = @target_position.getPhi()
    
    if @target_position_phi != nil
       @target_position_phi2 = @target_position_phi
    elsif @target_position_phi == nil and plan.see_ball?
       @target_position_phi = @target_position_phi2
    end
    
#    @agentInfo.loguj(@agentInfo.getIsBallMine().to_s)
#    @agentInfo.loguj("straight: "+straight?.to_s)
#    @agentInfo.loguj("isBallMine: "+@agentInfo.isBallMine().to_s)

   case
               when (me.on_ground? or me.lying_on_back? or me.lying_on_belly?) :
               return nil
      #        @plan << GetUp.new
       when (not see_ball?) :
             #        @agentInfo.loguj("nevidim loptu dlhsie ako 5s")
             #        return get_skill("turn_left_cont_20")
             return nil
     
       when (close_enough? and straight?)
                       return nil
    #  when back_and_very_close?:
    #          return get_skill("turn_left_90")
       #       return choose_turning_skill;
       when left_and_close?:
               return get_skill("step_left")
       when right_and_close?:
               return get_skill("step_right")
       when straight?:
               return get_skill("walk_forward")
       when back_and_close?:
               return get_skill("walk_back")
       when left_and_distant?:
               return get_skill("turn_left_cont_20")
       when right_and_distant?:
               return get_skill("turn_right_cont_20")
    #   else
    #          return get_skill("rollback")
   end   

               
   #   when back?(target_position)
   #           #@agentInfo.setState('som chrbtom')
   #           return # get_skill("turn_right_cont_20")

 end

# File high_skills/walk.rb, line 147
def right_and_close?
  (@target_position.r <= @@strafe_distance) and @@right_strafe_range.include?(Angles.normalize(@target_position_phi))
end

# File high_skills/walk.rb, line 155
def right_and_distant?
  @@right_range.include? Angles.normalize(@target_position.getPhi())
end

# File high_skills/walk.rb, line 131
def see_ball?
      ball.notSeenLongTime() < 5
end

# File high_skills/walk.rb, line 135
def straight?
  @@straight_range1.include?(@target_position_phi) or @@straight_range2.include?(@target_position_phi)
end