class Walk2Ball

# File high_skills/walk2Ball.rb, line 15
def Walk2Ball.angle_range from, to
(from/180.0*Math::PI)..(to/180.0*Math::PI)
end

# File high_skills/walk2Ball.rb, line 29
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 = @agentInfo.ballControlPosition()

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

# File high_skills/walk2Ball.rb, line 195
def abs number
  Math.abs number
end

# File high_skills/walk2Ball.rb, line 191
def checkProgress
  #raise "Fallen!" if me.on_ground?
end

# File high_skills/walk2Ball.rb, line 149
def close_enough?
  @agentInfo.isBallMine()
end

# File high_skills/walk2Ball.rb, line 187
def is_ball_mine?
      return @agentInfo.getIsBallMine
end

# File high_skills/walk2Ball.rb, line 165
def left_and_distant?
  @@left_range.include? Angles.normalize(@target.getPhi())
end

# File high_skills/walk2Ball.rb, line 173
def left_and_distant_bit?
  @@left_range3.include? Angles.normalize(@target.getPhi())
end

# File high_skills/walk2Ball.rb, line 169
def left_and_distant_less?
  @@left_range2.include? Angles.normalize(@target.getPhi())
end

# File high_skills/walk2Ball.rb, line 153
def near_ball?
  @agentInfo.nearBall()
end

# File high_skills/walk2Ball.rb, line 42
      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()
   
      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")
                                   return get_skill("step_left")
                                   elsif(@target.getX > @@x2)
                                   #@agentInfo.loguj("ZONA 2")
                                           return get_skill("step_right")
                                   else
                                   #@agentInfo.loguj("ZONA 1")
                                   return get_skill("walk_slow")
                                   end
                          elsif(@target.getY > @@y2)
                                   if(@target.getX < -@@x2)
                                   #@agentInfo.loguj("ZONA 3")
                                   return get_skill("step_left")
                                   elsif(@target.getX > @@x2)
                                   #@agentInfo.loguj("ZONA 2")
                                   return get_skill("step_right")
                                   else
                              #    log @target
                                   #@agentInfo.loguj("mozem kopat")
                                   return nil #get_skill("kick_right_faster")
                                   end
                          elsif(@target.getY < 0)
                                   if(@target.getX < -@@x2)
                                   #@agentInfo.loguj("ZONA 4")
                                   return get_skill("walk_back")
                                   elsif(@target.getX > @@x2)
                                   #@agentInfo.loguj("ZONA 5")
                                   return get_skill("walk_back")
                                   elsif(@target.getX > 0)
                                   #@agentInfo.loguj("ZONA 7")
                                   return get_skill("step_right")
                                   else
                                   #@agentInfo.loguj("ZONA 8")
                                   return get_skill("step_left")
                                   end
                          else
                              #@agentInfo.loguj("ZONA 6")
                              return get_skill("walk_back")
                            
                          end
                      
                      else # je dalej od lopty
                              #@agentInfo.loguj("som daleako2 od lopty ")
                              if(straight?)
                                      #@agentInfo.loguj("rovno")
                            return get_skill("walk_forward") #_optimized2
                              elsif(right_and_distant?)
                                      #@agentInfo.loguj("vpravo")
                                      #return get_skill("turn_right_cont_4.5")
                                      return get_skill("turn_right_45")            
                              elsif(right_and_distant_less?)
                                      #@agentInfo.loguj("vpravo MENEJ")
                                      return get_skill("turn_right_cont_20")
                              elsif(right_and_distant_bit?)
                                      #@agentInfo.loguj("vpravo Malicko")
                                      return get_skill("turn_right_cont_20")
                              elsif(left_and_distant?)
                                      #@agentInfo.loguj("vlavo")
                                      #return get_skill("turn_left_cont_4.5")
                                      return get_skill("turn_left_45")               
                              elsif(left_and_distant_less?)
                                      #@agentInfo.loguj("vlavo MENEJ")
                                      #return get_skill("turn_left_cont_4.5")
                                      return get_skill("turn_left_cont_20")
                              elsif(left_and_distant_bit?)
                                      #@agentInfo.loguj("vlavo Malicko")
                                      #return get_skill("turn_left_cont_4.5")
                                      return get_skill("turn_left_cont_20")
                              else
                                      @agentInfo.loguj("olalaa")
                                      return get_skill("rollback")
                              end
                      end 
              end

end

# File high_skills/walk2Ball.rb, line 177
def right_and_distant?
  @@right_range.include? Angles.normalize(@target.getPhi())
end

# File high_skills/walk2Ball.rb, line 184
def right_and_distant_bit?
  @@right_range3.include? Angles.normalize(@target.getPhi())
end

# File high_skills/walk2Ball.rb, line 181
def right_and_distant_less?
  @@right_range2.include? Angles.normalize(@target.getPhi())
end

# File high_skills/walk2Ball.rb, line 157
def see_ball?
      ball.notSeenLongTime() < 5
end

# File high_skills/walk2Ball.rb, line 161
def straight?
  @@straight_range1.include?(@target_position_phi) or @@straight_range2.include?(@target_position_phi)
end