From c7d5e4be87a4f100b7aaef7fc1075b5b0a93e74d Mon Sep 17 00:00:00 2001
From: Fraser Graham <frasergraham@me.com>
Date: Mon, 11 Nov 2013 21:36:11 -0800
Subject: [PATCH] support setting heading in instructions

---
 player.go   |  3 +++
 protocol.go |  2 ++
 robot.go    | 61 +++++++++++++++++++++++++++++------------------------
 3 files changed, 39 insertions(+), 27 deletions(-)

diff --git a/player.go b/player.go
index a8dfc29..f11a6ce 100644
--- a/player.go
+++ b/player.go
@@ -69,6 +69,9 @@ func (p *player) recv() {
 				if msg.MoveTo != nil {
 					r.MoveTo = msg.MoveTo
 				}
+				if msg.Heading != nil {
+					r.DesiredHeading = msg.Heading
+				}
 				if msg.FireAt != nil {
 					r.FireAt = msg.FireAt
 				}
diff --git a/protocol.go b/protocol.go
index c19ae7e..036906f 100644
--- a/protocol.go
+++ b/protocol.go
@@ -1,6 +1,7 @@
 package main
 
 import (
+	v "bitbucket.org/hackerbots/vector"
 	"code.google.com/p/go.net/websocket"
 	"log"
 )
@@ -203,6 +204,7 @@ func addPlayer(ws *websocket.Conn) {
 				Id:       idg.Hash(),
 				Name:     name,
 				Health:   10,
+				Heading:  v.Vector2d{1, 0},
 				Scanners: make([]Scanner, 0)}
 			r.Health = r.Stats.Hp
 			log.Printf("Adding Robot: %v", r)
diff --git a/robot.go b/robot.go
index 465bd97..189222a 100644
--- a/robot.go
+++ b/robot.go
@@ -8,26 +8,27 @@ import (
 )
 
 type Robot struct {
-	Id            string     `json:"id"`
-	Name          string     `json:"name"`
-	Message       string     `json:"-"`
-	Stats         Stats      `json:"-"`
-	TargetSpeed   float32    `json:"-"`
-	Speed         float32    `json:"speed"`
-	Health        int        `json:"health"`
-	RepairCounter float32    `json:"repair"`
-	ScanCounter   float32    `json:"scan_bonus"`
-	ActiveScan    bool       `json:"-"`
-	Position      v.Point2d  `json:"position"`
-	Heading       v.Vector2d `json:"heading"`
-	MoveTo        *v.Point2d `json:"-"`
-	FireAt        *v.Point2d `json:"-"`
-	Scanners      []Scanner  `json:"scanners"`
-	LastFired     int        `json:"-"`
-	Collision     bool       `json:"collision"`
-	Hit           bool       `json:"hit"`
-	Probe         *v.Point2d `json:"probe"`
-	ProbeResult   *v.Point2d `json:"probe_result"`
+	Id             string      `json:"id"`
+	Name           string      `json:"name"`
+	Message        string      `json:"-"`
+	Stats          Stats       `json:"-"`
+	TargetSpeed    float32     `json:"-"`
+	Speed          float32     `json:"speed"`
+	Health         int         `json:"health"`
+	RepairCounter  float32     `json:"repair"`
+	ScanCounter    float32     `json:"scan_bonus"`
+	ActiveScan     bool        `json:"-"`
+	Position       v.Point2d   `json:"position"`
+	Heading        v.Vector2d  `json:"heading"`
+	DesiredHeading *v.Vector2d `json:"-"`
+	MoveTo         *v.Point2d  `json:"-"`
+	FireAt         *v.Point2d  `json:"-"`
+	Scanners       []Scanner   `json:"scanners"`
+	LastFired      int         `json:"-"`
+	Collision      bool        `json:"collision"`
+	Hit            bool        `json:"hit"`
+	Probe          *v.Point2d  `json:"probe"`
+	ProbeResult    *v.Point2d  `json:"probe_result"`
 }
 
 // This is the subset of data we send to players about robots
@@ -153,13 +154,14 @@ func DeriveStats(request StatsRequest) Stats {
 }
 
 type Instruction struct {
-	Message     *string    `json:"message,omitempty"`
-	MoveTo      *v.Point2d `json:"move_to,omitempty"`
-	FireAt      *v.Point2d `json:"fire_at,omitempty"`
-	Probe       *v.Point2d `json:"probe,omitempty"`
-	TargetSpeed *float32   `json:"target_speed,omitempty"`
-	Repair      *bool      `json:"repair,omitempty"`
-	Scan        *bool      `json:"scan,omitempty"`
+	Message     *string     `json:"message,omitempty"`
+	MoveTo      *v.Point2d  `json:"move_to,omitempty"`
+	Heading     *v.Vector2d `json:"heading,omitempty"`
+	FireAt      *v.Point2d  `json:"fire_at,omitempty"`
+	Probe       *v.Point2d  `json:"probe,omitempty"`
+	TargetSpeed *float32    `json:"target_speed,omitempty"`
+	Repair      *bool       `json:"repair,omitempty"`
+	Scan        *bool       `json:"scan,omitempty"`
 }
 
 func (r *Robot) checkCollisions(g *game, move_vector v.Vector2d) (bool, v.Point2d, *Robot) {
@@ -229,6 +231,11 @@ func (r *Robot) Tick(g *game) {
 		new_heading = r.MoveTo.Sub(r.Position).Normalize()
 	}
 
+	if r.DesiredHeading != nil {
+		// Where do we WANT to be heading?
+		new_heading = r.DesiredHeading.Normalize()
+	}
+
 	if new_heading.Mag() > 0 {
 		// Is our direction change too much? Hard coding to 5 degrees/s for now
 		angle := v.Angle(current_heading, new_heading) * v.Rad2deg