From 5b8ec0b8abe4a492750ec935afbd247cd7d867fb Mon Sep 17 00:00:00 2001
From: Stephen McQuay <stephen@mcquay.me>
Date: Sun, 12 Jan 2014 00:03:17 -0800
Subject: [PATCH] consider destination slightly before collision

also: added verbose blocks for logging
---
 robot.go | 52 ++++++++++++++++++++++++++++++++++++++++++----------
 1 file changed, 42 insertions(+), 10 deletions(-)

diff --git a/robot.go b/robot.go
index 667b5da..bd80980 100644
--- a/robot.go
+++ b/robot.go
@@ -44,7 +44,9 @@ type robot struct {
 }
 
 func (r *robot) negociate() (err error) {
-	log.Printf("%s: trying to connect to game '%s'", r.name, r.game.name)
+	if *verbose {
+		log.Printf("%s: trying to connect to game '%s'", r.name, r.game.name)
+	}
 	r.ws, err = connect(r.server, r.port)
 	if err != nil {
 		return errors.New(fmt.Sprintf("connection failure: %s", err))
@@ -67,7 +69,9 @@ func (r *robot) negociate() (err error) {
 	if err != nil || idreq.Type == "failure" {
 		return errors.New(fmt.Sprintf("failure: %+v", idreq))
 	}
-	log.Printf("%s: idreq: %+v", r.name, idreq)
+	if *verbose {
+		log.Printf("%s: idreq: %+v", r.name, idreq)
+	}
 
 	err = websocket.JSON.Send(r.ws, struct {
 		Type      string `json:"type"`
@@ -85,7 +89,9 @@ func (r *robot) negociate() (err error) {
 	if r.game.Type != "gameparam" {
 		return errors.New("didn't receive a good gameparam")
 	}
-	log.Printf("%s: game parameters: %+v", r.name, r.game)
+	if *verbose {
+		log.Printf("%s: game parameters: %+v", r.name, r.game)
+	}
 
 	conf := ClientConfig{
 		ID: r.game.name,
@@ -106,7 +112,9 @@ func (r *robot) negociate() (err error) {
 		return errors.New("failed to validate correct stats request")
 	}
 	r.playerId = handshake.Id
-	log.Printf("%s: handshake: %+v", r.name, handshake)
+	if *verbose {
+		log.Printf("%s: handshake: %+v", r.name, handshake)
+	}
 	return nil
 }
 
@@ -128,20 +136,25 @@ func (r *robot) play() {
 			log.Printf("%s: Connection lost", r.name)
 			return
 		}
-		if *verbose {
-			log.Printf("\n\n%#v\n\n", r.boardstate)
-		}
+		// if *verbose {
+		// 	log.Printf("\n\n%#v\n\n", r.boardstate)
+		// }
 
 		r.recon()
 
 		if len(r.boardstate.MyRobots) > 0 {
 			r.me = r.boardstate.MyRobots[0]
 		} else {
-			log.Println("continue")
 			continue
 		}
 
+		if *verbose {
+			log.Printf("%s before: %+v", r.name, r.moveto)
+		}
 		r.navigate()
+		if *verbose {
+			log.Printf("%s after: %+v", r.name, r.moveto)
+		}
 
 		instruction := map[string]Instruction{
 			r.me.Id: {
@@ -193,7 +206,8 @@ func (r *robot) selectDirection() *govector.Point2d {
 
 func (r *robot) probe(destination govector.Point2d) bool {
 	// XXX: make test for this
-	for i := 0; i < maxSearchIterations; i++ {
+	var i int
+	for i = 0; i < maxSearchIterations; i++ {
 		for _, v := range r.knownObstacles {
 			collided, _, _ := govector.RectIntersection(
 				v.Bounds,
@@ -205,6 +219,9 @@ func (r *robot) probe(destination govector.Point2d) bool {
 			}
 		}
 	}
+	if *verbose {
+		log.Printf("%s: iterations to find destination: %d", r.name, i)
+	}
 	return true
 }
 
@@ -216,21 +233,36 @@ func (r *robot) navigate() {
 	}
 
 	if r.moveto == nil {
+		if *verbose {
+			log.Printf("%s: nil", r.name)
+		}
 		r.moveto = r.selectDirection()
 	}
 
 	if r.me.Collision {
+		if *verbose {
+			log.Printf("%s apparent collision", r.name)
+		}
 		r.moveto = r.selectDirection()
 		r.speed = 0
 		return
 	}
 	togo := r.me.Position.Sub(*r.moveto).Mag()
-	if togo < safeDistance {
+	if togo < safeDistance+5 {
+		if *verbose {
+			log.Printf("%s got to destination", r.name)
+		}
 		r.moveto = r.selectDirection()
 	}
 	if !r.probe(r.me.Position.Add(r.me.Heading.Scale(safeDistance))) {
+		if *verbose {
+			log.Printf("%s going to run into something", r.name)
+		}
 		r.speed = 0
 		if !r.probe(*r.moveto) {
+			if *verbose {
+				log.Printf("%s unsafe to move, choose new direction", r.name)
+			}
 			r.moveto = r.selectDirection()
 		}
 	}