#!/bin/gawk -f

BEGIN {
#	print "The US Women's Soccer Team is now playing!!!!!!!!"
	MAX_MOVEMENT = 15  
	BALL_SPEED_FACTOR = 2

#	print "what color are we?"
	getline myColor; 
#	print "we are the " myColor " team"

  aloft=0
	ballFound=0
	i=0

	#"egrep -cv \"\w\W\w+\W\w+\W\w+\W100\" pos" | getline result
        "egrep -cv \"100\" pos" | getline result
        close ("egrep -cv \"100\" pos")
	#if (result == 0) print "" > "currentPlays"

	while (getline < "pos" > 0) {
  	color[$1] = $2
    row[$1] = $3
    col[$1] = $4
    energy[$1] = $5
    if ($0 ~ /aloft/) aloft=1
		if ($1 != 0) { players[i]=$1; i++ }
  }
	close("pos")
	ball_row = row["0"];
	ball_col = col["0"]

#	for(i=i-1; i>=0; i--) {
#		xVal=ball_row-row[players[i]]
#		yVal=ball_col-col[players[i]]
#		print sqrt(xVal*xVal+yVal*yVal) "\t" players[i] >> "distToBall"
#	}

	#system("sort -g  distToBall > distancesSorted")
	#system("rm -f distToBall");

  while (getline < "dirs" > 0) {
  	row_movement[$1] = x_scale($3, $4, MAX_MOVEMENT)
   	col_movement[$1] = y_scale($3, $4, MAX_MOVEMENT)

    row_kick[$1] = x_scale($6, $7, 2*MAX_MOVEMENT)
    col_kick[$1] = y_scale($6, $7, 2*MAX_MOVEMENT)
  }
	close("dirs")
  ball_row_movement = row_movement["0"]
  ball_col_movement = col_movement["0"]

#	addNewPlay("cherryPick")
	readPlays()
	roles["1x0"]="receiver"
	roles["1x1"]=500
	roles["1x2"]=200

	if (myColor == "red") {
		player[0]="a"; player[1]="b"; player[2]="c"; player[3]="d";
		player[4]="e"; player[5]="f"; player[6]="g";
		otherPlayer[0]="A"; otherPlayer[1]="B";otherPlayer[2]="C";	
		otherPlayer[3]="D"; otherPlayer[4]="E";otherPlayer[5]="F";
		otherPlayer[6]="G";
	}

	else if (myColor == "green") {
		player[0]="A"; player[1]="B"; player[2]="C"; player[3]="D";
    player[4]="E"; player[5]="F"; player[6]="G";
		otherPlayer[0]="a"; otherPlayer[1]="b";otherPlayer[2]="c";	
		otherPlayer[3]="d"; otherPlayer[4]="e";otherPlayer[5]="f";
		otherPlayer[6]="g";
	}

	determinePlays()

	i=0
	while(1) {
		if(plays[i "x" 0] == "cherryPick") {
#			print "cherryPicking...."
			# DO THE CHERRY PICK THING
			j=0
			while(1) {
				if(roles[j "x" 0] == "receiver") {
					new_row_movement[player[j]] = roles[j "x" 2] - row[player[j]]
					new_col_movement[player[j]] = roles[j "x" 1] - col[player[j]]
					newRoles[j "x" 0] = "receiver"
					newRoles[j "x" 1] = roles[j "x" 1]
					newRoles[j "x" 2] = roles[j "x" 2]
					break;
				}
				j++
			}
			#addNewPlay("cherryPick")
		}
		else if(plays[i "x" 0] == "StandardDefend") {
			print "defend"
			standardDefense(3,4)
		}
		else if(plays[i "x" 0] == "goalie") {
			goalie(0)
		}
		else if(plays[i "x" 0] == "") break;
		i++
	}

	#writePlays()

	for(i=0;i<7;i++) {
		plyr = player[i]
		#if (plyr=="a" || plyr=="b" || plyr =="A" || plyr=="B")
			outputAction(plyr, new_col_movement[plyr], new_row_movement[plyr], new_kick_val[plyr], new_col_kick[plyr], new_row_kick[plyr])
		#else outputAction(plyr, 0, 0)
	}
  
	#outputAction("a", 0, 0)
  #outputAction("b", 6, 10)
  #outputAction("c", 3, -15)
  #outputAction("d", 0, 15)
  #outputAction("e", 0, 0)
  #outputAction("f", 9, 5)
  #outputAction("g", 0, 0)
}

# scales the x value of a  vector if it is over length MAX_MOVEMENT or MAX_MOVEMENT*2
function x_scale(x, y, scalar){
  if (scalar==0)
	scalar=MAX_MOVEMENT
  dist = sqrt(x*x+y*y)
	if (dist > scalar) return x*scalar/dist
  return x
}

# same for y value
function y_scale(x, y, scalar){
  if (scalar==0)
	scalar=MAX_MOVEMENT
  dist = sqrt(x*x+y*y)
	if (dist > scalar) return y*scalar/dist
  return y
}

function abs(num) {
	if (num < 0) return -1*num;
	return num;
}

function sign(num) {
	if (num == 0) return 0
	return num / abs(num)
}

function outputAction(player, deltaX, deltaY, kick, kickX, kickY){
        #kick is 0 for no kick, 1 for standard kick, and 2 for aloft kick
        s = ""
	newXPos = col[player] + x_scale(deltaX, deltaY)
	newYPos = row[player] + y_scale(deltaX, deltaY)
	if (sqrt(((newYPos-ball_row)*(newYPos-ball_row))+((newXPos-ball_col)*(newXPos-ball_col)))<6){
		if(kick==1)
                	s = "kick " kickY " " kickX
        	else if(kick ==2)
                	s = "kick.aloft " kickY " " kickX
	}        
        print player, myColor, deltaY, deltaX, s
}

function writePlays(){
  #assume 2 arrays: newroles, and newplays
 # system("echo > currentPlays")
  
	#for(i=0;i<7;i++){
  #  s = ""
  #  j = 0
  #  while(newroles[i "x" j] != ""){
  #    s = s newroles[i "x" j] " "
  #    j++
  #  }
  #  system("echo " s " >> currentPlays")
  #}
  #i = 0
  #while(newplays[i "x" 0] != ""){
  #  s = ""
  #  j = 0
  #  while(newplays[i "x" j] != ""){
  #    s = s newplays[i "x" j] " "
  #    j++
  #  }
  #  system("echo " s " >> currentPlays")
  #  i++
  #}
	#close("currentPlays")
}

function readPlays(){
  #reads in the current plays file and stores it to the arrays roles and plays
  #c = 0
  #while (getline < "currentPlays" > 0){
  #  if(c < 7)
  #    for(i = 1;i<=NF;i++)
  #      roles[c "x" i-1] = $i
  #  else
  #    for(i=1;i<=NF;i++)
  #      plays[c-7 "x" i-1] = $i
  #  c++
  #}
	#close("currentPlays")
}

function addNewPlay(string){
  i = 0
  while(newplays[i "x" 0] != ""){
    i++
  }
  newplays[i "x" 0] = string
}

function goalie(playerID){
        #print "in goalie method"
        Y_GOAL_BOX = 32
        X_GOAL_BOX = 8
        MAX_DIST = 8
        myGoalX = 600*(myColor=="green")
        myGoalY = 150
        ballToGoalX = myGoalX - ball_col
        ballToGoalY = myGoalY - ball_row
        if (abs(ballToGoalX)>X_GOAL_BOX || abs(ballToGoalY)>Y_GOAL_BOX/2){
                #outside goal box
                if (abs(ballToGoalX)>BALL_SPEED_FACTOR*MAX_DIST)
                        goaliePosX = myGoalX-sign(ballToGoalX)*MAX_DIST
                else
                        goaliePosX = (myGoalX*BALL_SPEED_FACTOR+ball_col)/(BALL_SPEED_FACTOR+1)
                if (ballToGoalX == 0) 
                        goaliePosY = myGoalY
                else
                        goaliePosY = myGoalY-ballToGoalY*(myGoalX-goaliePosX)/ballToGoalX
                new_row_movement[player[playerID]] = goaliePosY - row[player[playerID]]
                new_col_movement[player[playerID]] = goaliePosX - col[player[playerID]]
        } else {
                #inside goal box
                goaliePosX = ball_col
                goaliePosY = ball_row
                new_row_movement[player[playerID]] = goaliePosY - row[player[playerID]]
                new_col_movement[player[playerID]] = goaliePosX - col[player[playerID]]
                new_kick_val[player[playerID]] = 2
		new_col_kick[player[playerID]] = 300 - ball_col
		new_row_kick[player[playerID]] = 150 - ball_row
		#########
                #   ADD CODE TO KICK THE BALL HERE
                #########
       } 
	print "ballToGoalX: " ballToGoalX " ballToGoalY: "ballToGoalY
	roles[playerID "x" 0] = "goalie"  
        print "goalie pos Y: " row[player[playerID]] " and x: " col[player[playerID]]
        print "goalie move Y: " goaliePosY " and x: " goaliePosX
}


function determinePlays() {
  # some useful arrays/ booleans
  i=0;
  #while (getline < "distancesSorted" > 0) {
  #  distances[i]=$1
  #  closestPlayers[i]=$2
  #  i++
  #}
  #if ((closestPlayers[i] ~ /^[A-Z]$/ && myColor == "red") || (closestPlayers[i] ~/^[a-z]$/ && myColor == "green")) theyAreCloser=1
  #else theyAreCloser=0

  # now we will decide which plays to try to implement
  #if(theyAreCloser && ball_col <= 300) addNewPlay("getOffenseOpen")
	#addNewPlay("goalie")
	#addNewPlay("StandardDefend")
	
	defense(3,4)
	goalie(0)
	
	basicOffense()

}

function defense(p1,p2) {
  myGoal=600*(myColor == "green")
  distFromGoal = abs(ball_col - myGoal)
  if (distFromGoal <= 200){
		defenseDefense(p1,p2)
		defenseOffense()
	}
  else offenseDefense(p1,p2)
}


function defenseDefense(playerID1, playerID2){
        myGoalX = 600*(myColor=="green")
        theirGoalX = 600*(myColor=="red")
        myGoalY = 150
        ballToGoalX = myGoalX - ball_col
        ballToGoalY = myGoalY - ball_row
  #calc distances to the ball for each player
  player1dist = sqrt((ball_row - row[player[playerID1]])*(ball_row - row[player[playerID1]])+(ball_col - col[player[playerID1]])*(ball_col - col[player[playerID1]]))
  player2dist = sqrt((ball_row - row[player[playerID2]])*(ball_row - row[player[playerID2]])+(ball_col - col[player[playerID2]])*(ball_col - col[player[playerID2]]))
  #sort so that player1 is closer than player2
  if (player2dist < player1dist){
    temp = playerID1
    playerID1 = playerID2
    playerID2 = temp
    temp = player1dist
    player1dist = player2dist
    player2dist = temp
  }
  #closest player: go after the ball and kick it to opposite goal
  player1PosX = ball_col
  player1PosY = ball_row
        new_row_movement[player[playerID1]] = player1PosY - row[player[playerID1]]
        new_col_movement[player[playerID1]] = player1PosX - col[player[playerID1]]
  new_kick_val[player[playerID1]] = 2
  new_col_kick[player[playerID1]] = theirGoalX - ball_col
        new_row_kick[player[playerID1]] = myGoalY - ball_row
  #farther player: position self between ball and goal
  player2PosX = (ball_col + myGoalX) / 2
  player2PosY = (ball_row + myGoalY) / 2
        new_row_movement[player[playerID2]] = player2PosY - row[player[playerID2]]
        new_col_movement[player[playerID2]] = player2PosX - col[player[playerID2]]
        print "near pos Y: " row[player[playerID1]] " and x: " col[player[playerID1]]
        print "near move Y: " player1PosY " and x: " player1PosX
        print "far pos Y: " row[player[playerID2]] " and x: " col[player[playerID2]]
        print "far move Y: " player2PosY " and x: " player2PosX
}


function offenseDefense(playerID1, playerID2){
        myGoalX = 600*(myColor=="green")
        theirGoalX = 600*(myColor=="red")
  #sort so that player1 has small yPos than player2
  if (row[player[playerID1]] > row[player[playerID2]]){
    temp = playerID1
    playerID1 = playerID2
    playerID2 = temp
    temp = player1dist
    player1dist = player2dist
    player2dist = temp
  }
  XPos = (myColor=="red")?(200):(400)
  player1PosY = 100-(100-ball_row)*200/abs(myGoalX-ball_col)
  player2PosY = 200-(200-ball_row)*200/abs(myGoalX-ball_col)
        new_row_movement[player[playerID1]] = player1PosY - row[player[playerID1]]
        new_col_movement[player[playerID1]] = XPos - col[player[playerID1]]
        new_row_movement[player[playerID2]] = player2PosY - row[player[playerID2]]
        new_col_movement[player[playerID2]] = XPos - col[player[playerID2]]
	print "new Y1: " player1PosY " and y2: " player2PosY
}



function basicOffense(){
  #finds the closest player, and moves that player toward the ball and kicks the ball at the goal
	myGoalX = 600*(myColor=="green")
  theirGoalX = 600*(myColor=="red")
  myGoalY = 150

  cp = findClosestPlayer()
	if (cp == 0) return;
  new_row_movement[player[cp]] = ball_row - row[player[cp]]
  new_col_movement[player[cp]] = ball_col - col[player[cp]]

  new_kick_val[player[cp]] = 2
  new_col_kick[player[cp]] = theirGoalX - ball_col
  new_row_kick[player[cp]] = myGoalY - ball_row
}

function findClosestPlayer(){
  #returns our closest player to the ball whose energy is above 40
  c = 0
  i = 0
  min_d = sqrt((col[player[i]] - ball_col) * (col[player[i]] - ball_col) +  (row[player[i]] - ball_row) * (row[player[i]] - ball_row))
  for(i=0;i<7;i++){
  	d = sqrt((col[player[i]] - ball_col) * (col[player[i]] - ball_col) +  (row[player[i]] - ball_row) * (row[player[i]] - ball_row))
    if(min_d > d && energy[player[i]] > 40){
      min_d = d
      c = i
    }
  }
  return c
}

function isClearPath(x1, y1, x2, y2, e1, e2){
  #returns 1 if there is a clear path from pont 1 to point 2
  #excludes the players e1 and e2 if they are provided
  #e1 and e2 should be players on our team. 1 corresponds to a.
  print x1, y1, x2, y2
  dist = sqrt((x2-x1)*(x2-x1)+(y2-y1)*(y2-y1))
  minD = 12
  for(i = 0;i<7;i++){
    if(i == e1 - 1 || i == e2 - 1) continue
    x3 = col[player[i]]
    y3 = row[player[i]]
    d = ((x2-x1)*(y1-y3) - (x1-x3)*(y2-y1)) / dist
#   print ("d = " d " i = " i);
    if(abs(d) < minD)
      return 0;
  }
  for(i = 0;i<7;i++){
    x3 = col[otherPlayer[i]]
    y3 = row[otherPlayer[i]]
    d = ((x2-x1)*(y1-y3) - (x1-x3)*(y2-y1)) / dist
#   print ("d = " d " i = " i " x3 = " x3 " y3 = " y3);
    if(abs(d) < minD)
      return 0;
  }
  return 1;
}

function getOpenInRegion(cp, xmin, xmax, ymin, ymax){
  #if player is not already open:
  #if(!isClearPath(col[player[cp]], row[player[cp]], ball_col, ball_row,cp,cp)){
    for(i=xmin ; i <= xmax ; i= i +25){
      for(j=ymin ; j < ymax; j = j + 15){
   #     if(isClearPath(i, j, ball_col, ball_row,cp,cp)){
          new_col_movement[player[cp]] = i - col[player[cp]]
   	      new_row_movement[player[cp]] = j - row[player[cp]]
          i=xmax+1;j=ymax+1
   #     }
      }
    }
  #}
}

function defenseOffense(){
  #play that tries to get the offensive players open when our defensive players have the ball or their offense has the ball
  #handles movements for the players f c and g  (5 2 and 6)
  newroles["2x0"] = "getopen"
  newroles["5x0"] = "getopen"
  newroles["6x0"] = "getopen"
  addNewPlay("getoffenseopen")
  #player 2 tries to get as open as possible in the region from x=275 to x=325 and y=100 to y = 200
  myGoal = 600 * (mycolor == "green")
	
 	new_col_movement["f"] = abs(myGoal-425) - col["f"]
  new_row_movement["f"] = 175 - row["f"]
	#getOpenInRegion(5, abs(myGoal-425), abs(600-475), 150, 200)
  #getOpenInRegion(2, 275, 325, 100, 200)
  #getOpenInRegion(6, abs(600-425), abs(600-475), 100, 150)
  new_col_movement["g"] = abs(myGoal-425) - col["g"]
  new_row_movement["g"] = 125 - row["g"]
}