package equips;

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

public class javajess extends ControlSystemSS
	{
	 FileInputStream clp;
	 int primeravez = 1;
	 Rete jess_engine;
	 Jesp parser;
	 NullDisplay nd;

	 public void Configure()
		{
		 try
			{
		      clp=new FileInputStream("decisio.clp");
	   	      nd = new NullDisplay(); 

			jess_engine=new Rete(nd);
			parser=new Jesp(clp,jess_engine);				
			}
	       catch (FileNotFoundException fnf) 
                 {
                  System.out.println("error fitxer no trobat");
                 }
		 catch (IOException ioe) 
                 {
                  System.out.println("error excepcio");
                 } 
		}
		
	public int TakeStep()
		{
		 Vec2	result,ball,jug0=new Vec2(0,0),jug1=new Vec2();
		 Vec2 array[];
		 long	curr_time = abstract_robot.getTime();
		 
		 // 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 
                 { 		     		     
			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));    

			if(primeravez==1)
				{
				do 
		            	{             
	      		      parser.parse(false); 
      	     		 	} 
				while (clp.available()>0); 		
				primeravez = 0;
				}
			else
				{
				jess_engine.executeCommand("(reset)");			
				jess_engine.executeCommand("(assert (fet obtenir_posicions))");
				jess_engine.executeCommand("(run)");
				}

			Value v=jess_engine.fetch("ir");
			if (v.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()); 
                 }
		 catch (IOException ioe) 
                 {
                  System.out.println("error excepcio a takestep");
                 }
		 // tell the parent we're OK
		 return(CSSTAT_OK);
		}
	}