#! /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

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

}

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")
  if (rand() < .9) chaser["f"] = 1
  if (rand() < .9) chaser["g"] = 1
  if (rand() < .7) chaser["F"] = 1
  if (rand() < .7) chaser["G"] = 1
  if (rand() < .4) chaser["c"] = 1
  if (rand() < .4) chaser["C"] = 1
  if (rand() < .4) chaser["b"] = 1
  if (rand() < .4) chaser["B"] = 1
	offense = 1

  # to do:  vision based on direction, speed, ball, player
  # to do:  call each program
  for (i in dat) {
    if (color[i] != whoami) continue
    key = index("aAbBcCdDeEfFgG",i)
    if(i == "a" || i == "A") {
				#if ball is in box... go after it (and kick it..bottom of code)
				if((rdat["0"] > 130) && (rdat["0"] < 170) && (cdat["0"]< 10)){
				 	rdev[i] = maxdev((rdat["0"] - rdat[i]) / 2)
					cdev[i] = maxdev((cdat["0"] - cdat[i]) / 2)		
				}
				else{  #defend the net
					if((rdat["0"] < 130)&&(rdat[i]!=142)) {
						rdev[i] = maxdev((142-rdat[i]) /2)
						cdev[i] = maxdev((0-cdat[i])/2)
					}
					else if((rdat["0"] > 170)&& (rdat[i]!=158)) {
						rdev[i] = maxdev((158-rdat[i]) /2)
					  cdev[i] = maxdev((0-cdat[i])/2)
					}
	  			else if((rdat["0"] <= 170) && (rdat["0"] > 160) && (rdat[i]!= 154)) {
			 	  	rdev[i] = maxdev((154-rdat[i]) /2)
						cdev[i] = maxdev((0-cdat[i]) /2)
					}
					else if((rdat["0"] <= 160) && (rdat["0"] >= 140) && (rdat[i]!= 150)){
         		 rdev[i] = maxdev((150-rdat[i]) /2)
						 cdev[i] = maxdev((0-cdat[i])/2)
					}
					else if((rdat["0"] < 140) && (rdat["0"] >= 130) && (rdat[i] != 146)){
						rdev[i] = maxdev((146-rdat[i]) /2)
						cdev[i] = maxdev((0-cdat[i]) /2)
					}
				}
		}
		if((color[i] ~ /red/ && ((cdat["0"] < cdat["b"] && cdat["0"] < cdat["c"] && cdat["0"] < cdat["d"] && cdat["0"] < cdat["e"] && cdat["0"] < cdat["f"] && cdat["0"] < cdat["g"]) || (cdat["0"] < 300))) || (color[i] ~ /green/ && ((cdat["0"] > cdat["B"] && cdat["0"] > cdat["C"] && cdat["0"] > cdat["D"] && cdat["0"] > cdat["E"] && cdat["0"] > cdat["F"] && cdat["0"] > cdat["G"]) || (cdat["0"] > 300)))) {offense = 0}
#if ball behind all players, or ball in defensive side of field... go to defensive positions, OTHERWISE OFFFENSE BABY!
		if(i == "b" || i == "B") {
			if(abs(cdat["0"] - cdat[i]) < 50 && abs(rdat["0"] - rdat[i]) < 50) {
				cdev[i] = maxdev((cdat["0"] - cdat[i]) / 2)
				rdev[i] = maxdev((rdat["0"] - rdat[i]) / 2) 
			}
			else if(offense == 1) {
				if(i == "b" && cdat[i] != 500) {cdev[i] = maxdev((500 - cdat[i]) / 2)}
				if(i == "B" && cdat[i] != 100) {cdev[i] = maxdev((100 - cdat[i]) / 2)}
				if(rdat[i] != 100) {rdev[i] = maxdev((100 - rdat[i]) / 2)}
			}
			else if(offense == 0) {
				if(i == "b" && cdat[i] != 100) {cdev[i] = maxdev((100 - cdat[i]) / 2)}
				if(i == "B" && cdat[i] != 500) {cdev[i] = maxdev((500 - cdat[i]) / 2)}
				if(rdat[i] != 150) {rdev[i] = maxdev((150 - rdat[i]) / 2)}
			}
		}
		if(i == "c" || i == "C") {
			if(abs(cdat["0"] - cdat[i]) < 50 && abs(rdat["0"] - rdat[i]) < 50) {
				cdev[i] = maxdev((cdat["0"] - cdat[i]) / 2)
				rdev[i] = maxdev((rdat["0"] - rdat[i]) / 2) 
			}
			else if(offense == 1) {
				if(i == "c" && cdat[i] != 550) {cdev[i] = maxdev((550 - cdat[i]) / 2)}
				if(i == "C" && cdat[i] != 50) {cdev[i] = maxdev((50 - cdat[i]) / 2)}
				if(rdat[i] != 150) {rdev[i] = maxdev((150 - rdat[i]) / 2)}
			}
			else if(offense == 0) {
				if(i == "c" && cdat[i] != 200) {cdev[i] = maxdev((200 - cdat[i]) / 2)}
				if(i == "C" && cdat[i] != 400) {cdev[i] = maxdev((400 - cdat[i]) / 2)}
				if(rdat[i] != 150) {rdev[i] = maxdev((150 - rdat[i]) / 2)}
			}
		}
		if(i == "d" || i == "D") {
			if(abs(cdat["0"] - cdat[i]) < 50 && abs(rdat["0"] - rdat[i]) < 50) {
				cdev[i] = maxdev((cdat["0"] - cdat[i]) / 2)
				rdev[i] = maxdev((rdat["0"] - rdat[i]) / 2) 
			}
			else if(offense == 1) {
				if(i == "d" && cdat[i] != 450) {cdev[i] = maxdev((450 - cdat[i]) / 2)}
				if(i == "D" && cdat[i] != 150) {cdev[i] = maxdev((150 - cdat[i]) / 2)}
				if(rdat[i] != 75) {rdev[i] = maxdev((75 - rdat[i]) / 2)}
			}
			else if(offense == 0) {
				if(i == "d" && cdat[i] != 50) {cdev[i] = maxdev((50 - cdat[i]) / 2)}
				if(i == "D" && cdat[i] != 550) {cdev[i] = maxdev((550 - cdat[i]) / 2)}
				if(rdat[i] != 100) {rdev[i] = maxdev((100 - rdat[i]) / 2)}
			}
		}
		if(i == "e" || i == "E") {
			if(abs(cdat["0"] - cdat[i]) < 50 && abs(rdat["0"] - rdat[i]) < 50) {
				cdev[i] = maxdev((cdat["0"] - cdat[i]) / 2)
				rdev[i] = maxdev((rdat["0"] - rdat[i]) / 2) 
			}
			else if(offense == 1) {
				if(i == "e" && cdat[i] != 450) {cdev[i] = maxdev((450 - cdat[i]) / 2)}
				if(i == "E" && cdat[i] != 150) {cdev[i] = maxdev((150 - cdat[i]) / 2)}
				if(rdat[i] != 225) {rdev[i] = maxdev((225 - rdat[i]) / 2)}			
			}
			else if(offense == 0) {
				if(i == "e" && cdat[i] != 50) {cdev[i] = maxdev((50 - cdat[i]) / 2)}
				if(i == "E" && cdat[i] != 550) {cdev[i] = maxdev((550 - cdat[i]) / 2)}
				if(rdat[i] != 200) {rdev[i] = maxdev((200 - rdat[i]) / 2)}			
			}
		}
		if(i == "f" || i == "F") {
			if(abs(cdat["0"] - cdat[i]) < 50 && abs(rdat["0"] - rdat[i]) < 50) {
				cdev[i] = maxdev((cdat["0"] - cdat[i]) / 2)
				rdev[i] = maxdev((rdat["0"] - rdat[i]) / 2) 
			}
		  else if(offense == 1) {
				if(i == "f" && cdat[i] != 525) {cdev[i] = maxdev((525 - cdat[i]) / 2)}
				if(i == "F" && cdat[i] != 75) {cdev[i] = maxdev((75 - cdat[i]) / 2)}
				if(rdat[i] != 100) {rdev[i] = maxdev((100 - rdat[i]) / 2)}
			}
			else if(offense == 0) {
				if(i == "f" && cdat[i] != 150) {cdev[i] = maxdev((150 - cdat[i]) / 2)}
				if(i == "F" && cdat[i] != 450) {cdev[i] = maxdev((450 - cdat[i]) / 2)}
				if(rdat[i] != 50) {rdev[i] = maxdev((50 - rdat[i]) / 2)}
			}
		}
		if(i == "g" || i == "G") {
			if(abs(cdat["0"] - cdat[i]) < 50 && abs(rdat["0"] - rdat[i]) < 50) {
				cdev[i] = maxdev((cdat["0"] - cdat[i]) / 2)
				rdev[i] = maxdev((rdat["0"] - rdat[i]) / 2) 
			}
		  else if(offense == 1) {
				if(i == "g" && cdat[i] != 525) {cdev[i] = maxdev((525 - cdat[i]) / 2)}
				if(i == "G" && cdat[i] != 75) {cdev[i] = maxdev((75 - cdat[i]) / 2)}
				if(rdat[i] != 200) {rdev[i] = maxdev((200 - rdat[i]) / 2)}
			}
			else if(offense == 0) {
				if(i == "g" && cdat[i] != 150) {cdev[i] = maxdev((150 - cdat[i]) / 2)}
				if(i == "G" && cdat[i] != 450) {cdev[i] = maxdev((450 - cdat[i]) / 2)}
				if(rdat[i] != 250) {rdev[i] = maxdev((250 - rdat[i]) / 2)}
			}
		}
		if(abs(rdat["0"] - rdat[i]) <= 2 && abs(cdat["0"] - cdat[i]) <= 2){
		  if(i == "f" || i == "g" || i == "a") {
				kick[i] = "kick.aloft " maxkick(greenrgoal - rdat[i]) " " maxkick(greencgoal - cdat[i])
			}
			else if(i == "F" || i == "G" || i == "A") {
				kick[i] = "kick.aloft " maxkick(redrgoal - rdat[i]) " " maxkick(redcgoal - cdat[i])
			}
			else if(color[i] ~ /red/) {
				kick[i] = "kick " maxkick(greenrgoal - rdat[i]) " " maxkick(greencgoal - cdat[i])
			}
			else if(color[i] ~ /green/) {
				kick[i] = "kick " maxkick(redrgoal - rdat[i]) " " maxkick(redcgoal - cdat[i])
			}
		}
		else {
			kick[i] = ""
		}
  }
}

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
}