package wjt;
import robocode.*;
import java.awt.Color;
import java.io.*;
/**
 * MyLeader - a sample team robot based on MyFirstLeader by Mathew Nelson
 * 
 * Looks around for enemies, and orders teammates to fire
 */
public class MyLeader extends TeamRobot
{
 String mates[];
 int rank = 1;
 /**
  * run: Leader's default behavior
  */
 public void run() {
  // After trying out your robot, try uncommenting the import at the top,
  // and the next line:
  setColors(Color.green,Color.green,Color.green);
  try {
   // Send RobotColors object to our entire team
   broadcastMessage(new RobotColors(Color.green,Color.white,Color.blue));
   mates = getTeammates();
   for (int x = 0; x < mates.length; x++)
   {
       sendMessage (mates[x], new Integer(x+2));
   }
  } catch (IOException e) {
  }
  // Normal behavior
  while(true) {
   setTurnRadarRight(Double.POSITIVE_INFINITY);
   execute();
  }
 }
 /**
  * onScannedRobot: What to do when you see another robot
  */
 public void onScannedRobot(ScannedRobotEvent e) {
  // Don't fire on teammates
  if (isTeammate(e.getName()))
  {
   return;
  }
  // Calculate enemy bearing
  double enemyBearing = this.getHeading() + e.getBearing();
  // Calculate enemy's position
  double enemyX = getX() + e.getDistance() * Math.sin(Math.toRadians(enemyBearing));
  double enemyY = getY() + e.getDistance() * Math.cos(Math.toRadians(enemyBearing));
  // System.out.println("Enemy position = " + enemyX + " , " + enemyY + ".\n");
  try {
   // Send enemy position to teammates
   broadcastMessage(new Point(enemyX,enemyY));
  } catch (IOException ex) {
   System.out.println("Unable to send order: " + ex);
  }
 }

 /**
  * onMessageReceived: What to do when our leader sends a message
  */
 public void onMessageReceived(MessageEvent e)
 {
  // Fire at a point
  if (e.getMessage() instanceof Point)
  {
   Point p = (Point)e.getMessage();
   // Calculate x and y to target
   double dx = p.getX() - this.getX();
   double dy = p.getY() - this.getY();
   // Calculate angle to target
   double theta = Math.toDegrees(Math.atan2(dx,dy));
   // Turn to target
   setTurnRight(normalRelativeAngle(theta - getGunHeading()));
   double dist = Math.sqrt ((dx*dx) + (dy*dy));
   setAhead (dist);
  }
  // Set our colors
  else if (e.getMessage() instanceof RobotColors)
  {
   RobotColors c = (RobotColors)e.getMessage();
   setColors(c.getBodyColor(),c.getGunColor(),c.getRadarColor());
  }
 }
 
 /**
  * normalRelativeAngle:  returns angle such that -180<angle<=180
  */ 
 public double normalRelativeAngle(double angle) {
  if (angle > -180 && angle <= 180)
   return angle;
  double fixedAngle = angle;
  while (fixedAngle <= -180)
   fixedAngle += 360;
  while (fixedAngle > 180)
   fixedAngle -= 360;
  return fixedAngle;
 }
}