class Walk2

# File high_skills/walk2.rb, line 15
def Walk2.angle_range from, to
(from/180.0*Math::PI)..(to/180.0*Math::PI)
end

# File high_skills/walk2.rb, line 25
def initialize target, kick_target, validity_proc 
  super()
  @agentInfo = Java::sk.fiit.jim.agent.AgentInfo.getInstance
  #@target = target
  @kick_target = kick_target
  @validity_proc = validity_proc || Proc.new{return true}
  @ending = false
  
  @target = @agentInfo.ballControlPosition()

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

# File high_skills/walk2.rb, line 203
def abs number
  Math.abs number
end

# File high_skills/walk2.rb, line 199
  def checkProgress
#    raise "Fallen!" if me.on_ground?
  end

# File high_skills/walk2.rb, line 171
def close_enough?
  @agentInfo.isBallMine()
end

# File high_skills/walk2.rb, line 195
def is_ball_mine?
      return @agentInfo.getIsBallMine
end

# File high_skills/walk2.rb, line 187
def left_and_distant?
  @@left_range.include? Angles.normalize(@target.getPhi())
end

# File high_skills/walk2.rb, line 175
def near_ball?
  @agentInfo.nearBall()
end

# File high_skills/walk2.rb, line 38
        def pickLowSkill
               is_still_valid = @validity_proc.call
            @ending = true if not is_still_valid
            return nil if not is_still_valid or @ending
            @agentInfo = Java::sk.fiit.jim.agent.AgentInfo.getInstance
            @target = @agentInfo.ballControlPosition()
            @target_position_phi = @target.getPhi()
            
            @kick_target_phi = @kick_target.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)

                if (me.on_ground? or me.lying_on_back? or me.lying_on_belly?) :
                return nil
        elsif (not see_ball?)
               return nil
                else # ak stoji a vie kde je lopta
                #     @agentInfo.loguj(@target.getR().to_s)
                        if(@target.getR() < @@close_distance) # je blizko lopty
                        #    @agentInfo.loguj("som pri lopte ")
                                
                                if(@target.getY > @@y1)
                                     if(@target.getX < -@@x2)
                                     @agentInfo.loguj("ZONA 3")
                                     @agentInfo.loguj("step_left")
                                     return get_skill("step_left")
                                     elsif(@target.getX > @@x2)
                                     @agentInfo.loguj("ZONA 2")
                                     @agentInfo.loguj("step_right")
                                             return get_skill("step_right")
                                     else
                                     @agentInfo.loguj("ZONA 1")
                                     @agentInfo.loguj("walk_slow")
                                     #return get_skill("ball_control3")#fast2")
                                     #return get_skill("walk_slow")
                                     return get_skill("walk_slow2")
                                     end
                            elsif(@target.getY > @@y2)
                                     if(@target.getX < -@@x2)
                                     @agentInfo.loguj("ZONA 3")
                                     @agentInfo.loguj("step_left")
                                     return get_skill("step_left")
                                     elsif(@target.getX > @@x2)
                                     @agentInfo.loguj("ZONA 2")
                                     @agentInfo.loguj("step_right")
                                     return get_skill("step_right")
                                     else 
                                #    log @target
                                #    @agentInfo.loguj("mozem kopat")                             
                                     return nil
                                     end
                            elsif(@target.getY < 0)
                                     if(@target.getX < -@@x2)
                                     @agentInfo.loguj("ZONA 4")
                                     @agentInfo.loguj("walk_back")
                                     return get_skill("walk_back")
                                     elsif(@target.getX > @@x2)
                                     @agentInfo.loguj("ZONA 5")
                                     @agentInfo.loguj("walk_back")
                                     return get_skill("walk_back")
                                     elsif(@target.getX > 0)
                                     @agentInfo.loguj("ZONA 7")
                                     @agentInfo.loguj("step_right")
                                     return get_skill("step_right")
                                     else
                                     @agentInfo.loguj("ZONA 8")
                                     @agentInfo.loguj("step_left")
                                     return get_skill("step_left")
                                     end
                            else
                                @agentInfo.loguj("ZONA 6")
                                @agentInfo.loguj("walk_back")
                                return get_skill("walk_back")
                              
                            end
                        #---------------------------------------------------------------------------------    
                        elsif (@target.getR() < @@medium_distance and @target.getR() > @@close_distance)
                                @agentInfo.loguj("medium distance")
                                if(straight?)
                                        @agentInfo.loguj("rovno")
                              get_skill("walk_forward") 
                              #_optimized2
                              #return get_skill("walk_fine_fast3")
                        elsif(right_and_distant?)
                              @agentInfo.loguj("vpravo")
                              return get_skill("step_circ_right_small")
                              #get_skill("turn_right_cont_10")
                      elsif(left_and_distant?)
                              @agentInfo.loguj("vlavo")
                                        return get_skill("step_circ_left_small")             
                              #get_skill("turn_left_cont_10")
                        else
                                     @agentInfo.loguj("olalaa")
                                     get_skill("rollback")
                                end    
                            
                        #------------------------------------------------------------------------------------    
                        else # je dalej od lopty
                        #    @agentInfo.loguj("som daleko od lopty ")
                                if(straight?)
                        #            @agentInfo.loguj("rovno")
                                        @agentInfo.loguj("walk_fast")                          
                              #get_skill("walk_fine_fast2_optimized3")
                              get_skill("walk_forward")
                               
                        elsif(right_and_distant?)
                              @agentInfo.loguj("vpravo_daleko ")
                              return get_skill("step_circ_right_small")
                              #return get_skill("turn_right_cont_20")                          
                      elsif(left_and_distant?)
                              @agentInfo.loguj("vlavo_daleko ")
                              return get_skill("step_circ_left_small")
                              #return get_skill("turn_left_cont_20")                                
                        else
                    #         @agentInfo.loguj("olalaa")
                              return get_skill("rollback")
                                end
                        end 
                end

  end

# File high_skills/walk2.rb, line 191
def right_and_distant?
  @@right_range.include? Angles.normalize(@target.getPhi())
end

# File high_skills/walk2.rb, line 179
def see_ball?
      ball.notSeenLongTime() < 5
end

# File high_skills/walk2.rb, line 183
def straight?
  (@@straight_range1.include?(@target_position_phi) or @@straight_range2.include?(@target_position_phi)) #and (@@straight_range1.include?(@kick_target_phi) or @@straight_range2.include?(@kick_target_phi))
end