package equips;

import java.io.*;
import	EDU.gatech.cc.is.util.Vec2;
import	EDU.gatech.cc.is.abstractrobot.*;
import      jess.*;

public class javajess2 extends ControlSystemSS
	{
	public void Configure()
		{
		}
		
	public int TakeStep()
		{
		 Vec2	result,ball,jug0=new Vec2(0,0),jug1=new Vec2();
		 Vec2 array[];
		 long	curr_time = abstract_robot.getTime();
		 NullDisplay nd = new NullDisplay(); 
		 
		 // posicio de la pilota
		 ball = abstract_robot.getBall(curr_time);
		 // posicio dels jugadors
		 array=abstract_robot.getTeammates(curr_time);
		 if (array.length>0) jug1=array[0];
				 
		 try 
                 { 		
     		      Rete jess_engine=new Rete(nd); 
						
			// passo les dades
			jess_engine.store("pilotax",new Value(ball.x, RU.FLOAT));
			jess_engine.store("pilotay",new Value(ball.y, RU.FLOAT));
			jess_engine.store("jugador0x",new Value(jug0.x,RU.FLOAT));
			jess_engine.store("jugador0y",new Value(jug0.y,RU.FLOAT));
			jess_engine.store("jugador1x",new Value(jug1.x,RU.FLOAT));
			jess_engine.store("jugador1y",new Value(jug1.y,RU.FLOAT));
		     
    			jess_engine.executeCommand("(defrule startup" +
                            	" =>" +
                            	" (assert (x0 (fetch jugador0x)))" +
    					" (assert (y0 (fetch jugador0y)))" +
    					" (assert (x1 (fetch jugador1x)))" +
    					" (assert (y1 (fetch jugador1y)))" +
    					" (assert (px (fetch pilotax)))" +
    					" (assert (py (fetch pilotay))))");
	
    			jess_engine.executeCommand("(defrule calculadist" +
   					" ?a<-(x0 ?x0)" +
   					" ?b<-(y0 ?y0)" +
				   	" ?c<-(x1 ?x1)" +
   					" ?d<-(y1 ?y1)" +
   					" ?e<-(px ?px)" +
   					" ?f<-(py ?py)" +
					" =>" +
    					" (bind ?dist0 (+ (* (- ?x0 ?px) (- ?x0 ?px)) (*(- ?y0 ?py) (- ?y0 ?py))))" + 
    					" (bind ?dist1 (+ (* (- ?x1 ?px) (- ?x1 ?px)) (*(- ?y1 ?py) (- ?y1 ?py))))" +
    					" (retract ?a ?b ?c ?d ?e ?f)" +
    					" (assert (dist0 ?dist0))" +
    					" (assert (dist1 ?dist1)))");
				
        		jess_engine.executeCommand("(defrule si_jug0" +
  					" ?a<-(dist0 ?d0)" +
  					" ?b<-(dist1 ?d1&:(> ?d1 ?d0))" +
					" =>" +  
					" (retract ?a ?b)" + 
					" (store ir 0))");

        		jess_engine.executeCommand("(defrule si_jug1" +
	  				" ?a<-(dist0 ?d0)" + 
					" ?b<-(dist1 ?d1&:(<= ?d1 ?d0))" + 
					" =>" +
    					" (retract ?a ?b)" +
    					" (store ir 1))");

        		jess_engine.reset();
        		jess_engine.run();
        


			// segons la decisio presa executo una accio o altra
			if (jess_engine.fetch("ir").intValue()==0)
				{
			       // fem que el robot apunti a la pilota
				 abstract_robot.setSteerHeading(curr_time, ball.t);
 	
				 // que vagi corren
				 abstract_robot.setSpeed(curr_time, 1.0);
		
				 // que xuti si pot
				 if (abstract_robot.canKick(curr_time))
 				 abstract_robot.kick(curr_time);
				}
			else {
			       // fem que el robot apunti a la porteria
				 abstract_robot.setSteerHeading(curr_time, abstract_robot.getOurGoal(curr_time).t);
 	
				 // que vagi corren
				 abstract_robot.setSpeed(curr_time, 1.0);		
				}
		     }
		 catch (ReteException re) 
                 { 
                  re.printStackTrace(nd.stderr()); 
                 }

		 // tell the parent we're OK
		 return(CSSTAT_OK);
		}
	}