#! /pkg/gnu/bin/gawk -f
BEGIN {
  srand()

  lmargin = 10
  tmargin = 10
  height = 300
  width = 600
  halfemh = 18
  halfemw = 12

  MAXDEVP = 20

  TRAILS = 1

  redrgoal = height/2
  redcgoal = 0
  greenrgoal = height/2
  greencgoal = width
  largestKick = 2.5*MAXDEVP
  getline whoami
  # print "i am "whoami

  while (getline < "pos" > 0) {
    if ($1 ~ /^[a-zA-Z0]$/) {
      dat[$1] = $0
      color[$1] = $2
      rdat[$1] = $3
      cdat[$1] = $4
      edat[$1] = $5
      if ($1 == "0") {
        rball = rdat["0"]
        cball = cdat["0"]
        if ($0 ~ /aloft/) notes["0"] = "aloft"
        if (match($0,/static[0-9]*/)) static["0"] = substr($0,RSTART+6,RLENGTH)
      }
    }
  }
  close("pos")

#  while (getline < "dirs" > 0) {
#    if ($1 ~ /^[a-zA-Z0]$/) {
#     dirdat[$1] = $0
#     rdev[$1] = $3
#     cdev[$1] = $4
#      if ($1 == "0") {
#        rrdev[$1] = rdev[$1]
#        ccdev[$1] = cdev[$1]
#      } else {
#        rrdev[$1] = maxdev(rdev[$1])
#        ccdev[$1] = maxdev(cdev[$1])
#      }
#      rkick[$1] = maxkick($6)
#      ckick[$1] = maxkick($7)
#      kick[$1] = $5" "$6" "$7
#    }
#  }
#  close("dirs")

  makedirs()

  for (j in dat)  {#(i in rrdev)
#	for (j in rrdev)
    if (color[j] == whoami) print j, color[j], rdev[j], cdev[j], kick[j]
  }

  while (getline < "pos" > 0) {
    if ($1 ~ /^[a-zA-Z0]$/) {
      dat[$1] = $0
      color[$1] = $2
      rdat[$1] = $3
      cdat[$1] = $4
      edat[$1] = $5
      if ($1 == "0") {
        rball = rdat["0"]
        cball = cdat["0"]
        if ($0 ~ /aloft/) notes["0"] = "aloft"
        if (match($0,/static[0-9]*/)) static["0"] = substr($0,RSTART+6,RLENGTH)
      }
    }
  }
  close("pos")
  print "player C is at "rdat["C"]","cdat["C"]

}

func rok(x) {
  x = int(.5+x)
  if (x < 0) return 0
  if (x > height) return height
  return x
}

func cok(x) {
  x = int(.5+x)
  if (x < 0) return 0
  if (x > width) return width
  return x
}

func eok(x) {
  x = int(.5+x)
  if (x < 0) return 0
  if (x > 100) return 100
  return x
}

func sgn(x) {
  if (x < 0) return -1
  if (x > 0) return 1
  return 0
}

func abs(x) {
  if (x < 0) return -x
  return x
}

func makedirs() {

  while (getline < "init") {
    rinit[$1] = $3
    cinit[$1] = $4
  }
  close("init")

  # to do:  vision based on direction, speed, ball, player
  # to do:  call each program
  for (i in dat) {
   
		if (color[i] != whoami) continue
		kick[i]=""
		rdev[i]=0
		cdev[i]=0

    key = index("aAbBcCdDeEfFgG",i)

#b and d are fullbacks
#e and g are halfbacks
#f and c are forwards

	
	print "person closest to ball " closestToBall()
	if(i == "b" || i== "B" || i=="d" || i=="D" || i=="e" || i=="E" || i=="g" || i=="G"){
			if(closestToBall() != i){
				goHome(i)
			}  
			else{
				print i " is chasing the ball"
			  chaseBall(i)			
			}
	} 

		#goalie
    else if (i=="a" || i=="A"){
			if(rdat["0"] > 158){
	    	moveGoalieLow();
			}
			else if(rdat["0"] < 142){
	    	moveGoalieHigh();
			}
			else moveGoalieBall();
			print "goalie's pos: ("rdat[i]","cdat[i]") color: "color[i]
			print "dist from goalie " i" to ball: "abs(cDist(i, cdat["0"]))
			if (abs(cDist(i, cdat["0"]))<20){
				if (whoami=="green")
					kick[i]="kick.aloft 0, -1000"
				else
					kick[i]="kick.aloft 0, 1000"
			}	
				


    }

		else{#forwards
			if(closestToBall()!=i){
					if(onDefense()){
						goHome(i)
					}
					else attackPos(i)
			}
			else{
					print i " is chasing the ball"
					chaseBall(i)
			}
		}

	}
}
		
		#closestToBall(player)
		func closestToBall(dist,closestPlayer, i){
				dist = 100000
				
  		for (i in dat) {
    		if (color[i] != whoami || i=="a" || i=="A") continue
			
				if(sqrt((cdat["0"]-cdat[i])^2 + (rdat["0"]-rdat[i])^2) < dist){
						dist = sqrt((cdat["0"]-cdat[i])^2 + (rdat["0"]-rdat[i])^2)
						closestPlayer = i
				}
			}
			return closestPlayer
		}

		#chaseBall(i)
		func chaseBall(player, receiver){
			print "player " i" is at ("rdat[player]","cdat[player]")"	
			print "ball is at ("rdat["0"]","cdat["0"]")"
			rdev[player]=rDist(player, rdat["0"])
			cdev[player]=cDist(player, cdat["0"])
		
			receiver = playersAhead(player)
		  if (receiver!=-1){
				passBall(player, receiver)			#ball is being passed to receiver
			}
			else shootBall(player)	#ball is being shot from player to goal	
		}

		func playersAhead(player, bestdist, bestplayer, i){
			bestdist = 100000
			bestplayer = -1
			for (i in dat){
				if (whoami == "red") {
					if (cdat[player]<cdat[i] && color[i]!="green" && i!="0"){
						if (distFormula(player, i)<bestdist){
							bestdist = distFormula(player, i)
							bestplayer = i
						}	
					}
						
				}
				else {
					if (cdat[player]>cdat[i] && color[i]!="red" && i!="0"){
						if (distFormula(player, i)<bestdist){
              bestdist = distFormula(player, i)
              bestplayer = i
            }
					}
				} 					
			}
			return bestplayer
		}

		func distFormula(loc1, loc2){
			print "The dist from ("rdat[loc1]","cdat[loc1]") to ("rdat[loc2]","cdat[loc2]") is "sqrt((rdat[loc1]-rdat[loc2])^2+(cdat[loc1]-cdat[loc2])^2)
			return (sqrt((rdat[loc1]-rdat[loc2])^2+(cdat[loc1]-cdat[loc2])^2))	
		}
	
		#may want to check if opposing player is in the way
		func passBall(player, receiver){
			#receiver = playersAhead()
			#leave ball on ground to pass
			print "player: " player " is passing to receiver " receiver
			if (distFormula(player, receiver)>largestKick){
				if (whoami=="red")
					kick[player]="kick 0 " largestKick
				else
					kick[player]="kick 0 -" largestKick
			}
			else
				kick[player]= "kick " rDist(player,rdat[receiver]) " " cDist(player,cdat[receiver]) 
		}

		func shootBall(player){
			print "player "player" is shooting"
			if (distToGoal(player)<50){
				if (whoami=="red")
					kick[player]= "kick.aloft " rDist(player,greenrgoal) " " cDist(player,greencgoal)
				else
					kick[player]= "kick.aloft " rDist(player,redrgoal) " " cDist(player,redcgoal)
			}
			else{
				if (whoami=="red")
					kick [player]="kick.aloft " maxkick(rDist(player, greenrgoal))" " maxkick(cDist(player,greencgoal))
				else kick[player]= "kick.aloft " maxkick(rDist(player, redrgoal))" " maxkick(cDist(player,redcgoal))
			}		
		}
	
		func distToGoal(player){
			if (whoami=="red")
				return sqrt((cdat[player]-greencgoal)^2+(rdat[player]-greenrgoal)^2)
			return sqrt((cdat[player]-redcgoal)^2+(rdat[player]-redrgoal)^2)
		}

		#onDefense()
		func onDefense(){
			if (whoami=="red"){
				return cdat["0"]<300
			}
			else return cdat["0"]>300
		}

		#goHome(i)
		func goHome(player){
				print "player "i" is at ("rdat[player]","cdat[player]")"
				#Fullbacks
				if(player =="d"){
					if(rdat[player] != 75)
						rdev[player]=rDist(player, 75)
					else rdev[player]=0
					if(cdat[player] != 100)
						cdev[player]=cDist(player,100)
					else cdev[player] = 0
				}
				else if (player =="D"){
					print "D is moving to (75,500)"	
					rdev[player]=rDist(player, 75)
					cdev[player]=cDist(player, 500)
				}
				else if (player == "b"){
					rdev[player]=rDist(player,225)
					cdev[player]=cDist(player,100)
				}
				else if (player == "B"){
					rdev[player]=rDist(player, 225)
          cdev[player]=cDist(player, 500)
        }

		 	#Halfbacks
        else if (player == "e" || player =="E"){
          rdev[player]=rDist(player, 75)
          cdev[player]=cDist(player, 300)
        }
       
        else if (player == "g"|| player == "G"){
          rdev[player]=rDist(player, 225)
          cdev[player]=cDist(player,300)
        }

				#Forwards
        else if (player == "f"){
          rdev[player]=rDist(player, 75)
          cdev[player]=cDist(player, 400)
        }
				else if (player == "F"){
          rdev[player]=rDist(player, 75)
          cdev[player]=cDist(player,200)
        }
        else if (player == "c"){
          rdev[player]=rDist(player, 225)
          cdev[player]=cDist(player,400)
        }
        else if (player == "C"){
          rdev[player]=rDist(player, 225)
          cdev[player]=cDist(player,200)
        }				
		}

		func rDist(player, rLoc){
			print "rDist is returning " rLoc-rdat[player] " for player " player
			return rLoc-rdat[player]
		}	

		func cDist(player, cLoc){
			print "cDist is returning " cLoc-cdat[player] " for player " player
			return cLoc-cdat[player]

		}
	
		func maxMove(player, r,c,rOrig, cOrig){
			if (sqrt(r^2+c^2)>MAXDEVP){
				if (sgn(r)==1)
					r=14 
				else
					r=-14
				if (sgn(c)==1)
					c=14
				else
					c=-14
			}
			rdev[player]=r
			cdev[player]=c
		}

		#attackPos(i)	
		func attackPos(player){
			#forwards
			if (player == "f"){
          maxMove(player, rDist(player, 125), cDist(player, 500))						
        }
        else if (player == "F"){
					maxMove(player, rDist(player, 125),cDist(player,100))
        }
        else if (player == "c"){
          maxMove(player, rDist(player, 175), cDist(player, 500))
        }
        else if (player == "C"){
					maxMove(player, rDist(player, 175), cDist(player,100))
        }

			#fullbacks
        if(player =="b"){
					maxMove(player, rDist(player, 75), cDist(player,200))
        }
        else if (player =="B"){
					maxMove(player, rDist(player, 75), cDist(player, 400))
        }
        else if (player == "d"){
					maxMove(player, rDist(player,225), cDist(player,200))
        }
        else if (player == "D"){
					maxMove(player, rDist(player, 225), cDist(player, 400))
        }
		}

			
    #moveGoalieLow()
		func moveGoalieLow(){
			if (whoami=="green")
				rdev["A"]=maxdev(rDist("A",158))
			else
				rdev["a"]=maxdev(rDist("a",158))			
		}

		#moveGoalieHigh()
    func moveGoalieHigh(){
      if (whoami=="green")
        rdev["A"]=maxdev(rDist("A",142))
      else
        rdev["a"]=maxdev(rDist("a",142))
    }

		#moveGoalieBall()
    func moveGoalieBall(){
      if (whoami=="green")
        rdev["A"]=maxdev(rDist("A",rdat["0"]))
      else
        rdev["a"]=maxdev(rDist("a",rdat["0"]))
    }





func maxkick(x) {
  if (x > 2*MAXDEVP) return 2*MAXDEVP
  if (x < -2*MAXDEVP) return -2*MAXDEVP
  return x
}

func maxdev(x) {
  if (x > MAXDEVP) return MAXDEVP
  if (x < -1*MAXDEVP) return -1*MAXDEVP
	return x
}