test robot

michaeltest

class Michael < RTanque::Bot::Brain
  extend Forwardable

  attr_accessor :next_radar_heading, :samples, :current_target, :current_search_area

  def_delegator :sensors, :heading , :current_heading
  def_delegator :sensors, :radar , :radar

  NAME = 'Michael'
  include RTanque::Bot::BrainHelper

  def spin_sample
    increment_heading
    sample
  end

  def increment_heading
    @next_radar_heading += (Math::PI / 20.0)
    command.radar_heading = next_radar_heading
  end

  def tick!
    @samples ||= {}
    @next_radar_heading ||= sensors.radar_heading

    if !current_search_area
      spin_sample
    elsif !current_target
      get_target
    else
      hunt_target
    end
  end

  def hunt_target
    move(MAX_BOT_SPEED, current_target)
    command.turret_heading = current_target
    command.fire(MIN_FIRE_POWER)
  end

  def sample
    current_heading = sensors.radar_heading.to_degrees

    if @samples.has_key? current_heading
      deg, c = best_search_area
      if c > 0
        self.current_search_area = heading_from_degrees(deg)
        command.radar_heading = current_search_area
      else
        move(20, current_heading)
      end
      @samples = {}
    end

    move(MAX_BOT_SPEED, RTanque::Heading::NORTH)

    @samples[current_heading] = sensors.radar.count
  end

  def get_target
    closest = find_closest
    if closest
      self.current_target = closest.heading
    else
      sample
    end
  end

  def best_search_area
    samples.max_by { |k, v| v }
  end

  def find_closest
    radar.min_by { |reflection| reflection.distance }
  end

  def move_toward_sample(degrees, count)
    if count == 0
      move(MAX_BOT_SPEED, current_heading)
    else
      hunt_heading(heading_from_degrees(degrees))
    end
  end

  def move(speed, direction)
    command.speed = speed
    command.heading = direction
  end

  def hunt_heading(heading)
    move(MAX_BOT_SPEED, heading)
  end

  def heading_from_degrees(degrees)
    RTanque::Heading.new_from_degrees(degrees)
  end
end