/**
 * Copyright (c) 2001-2018 Mathew A. Nelson and Robocode contributors
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the Eclipse Public License v1.0
 * which accompanies this distribution, and is available at
 * http://robocode.sourceforge.net/license/epl-v10.html
 */
package robocode;


import static java.lang.Math.toRadians;
import static java.lang.Math.toDegrees;


/**
 * This advanced robot type allows you to set a rate for each of the robot's movements.
 * <p>
 * You can set the rate for:<ul>
 * <li>velocity - pixels per turn</li>
 * <li>robot turn - radians per turn</li>
 * <li>gun rotation - radians per turn</li>
 * <li>radar rotation - radians per turn</li>
 * </ul>
 * When you set a rate for one of the above movements, the movement will continue the move by
 * specified rate for ever, until the rate is changed. In order to move ahead or right, the
 * rate must be set to a positive value. If a negative value is used instead, the movement
 * will go back or to the left. In order to stop the movement, the rate must be
 * set to 0.
 * <p>
 * Note: When calling {@code setVelocityRate()}, {@code setTurnRate()}, {@code setGunRotationRate()},
 * {@code setRadarRotationRate()} and variants, Any previous calls to "movement" functions outside of
 * {@code RateControlRobot}, such as {@code setAhead()}, {@code setTurnLeft()},
 * {@code setTurnRadarRightRadians()} and similar will be overridden when calling the
 * {@link #execute() execute()} on this robot class.
 * <p>
 * Look into the source code for the {@code sample.VelociRobot} in order to see how to use this
 * robot type. 
 *
 * @see JuniorRobot
 * @see Robot
 * @see AdvancedRobot
 * @see TeamRobot
 * @see Droid
 * @see BorderSentry
 *
 * @author Joshua Galecki (original)
 * @author Flemming N. Larsen (contributor)
 *
 * @since 1.7.1.3
 */
public class RateControlRobot extends TeamRobot {

	private double velocityRate; // Pixels per turn
	private double turnRate; // Radians per turn
	private double gunRotationRate; // Radians per turn
	private double radarRotationRate; // Radians per turn

	/**
	 * Sets the speed the robot will move (forward), in pixels per turn.
	 * <p>
	 * This call returns immediately, and will not execute until you call
	 * execute() or take an action that executes.
	 * <p>
	 * Note that both positive and negative values can be given as input,
	 * where negative values means that the robot will move backwards
	 * <p>
	 * Example:
	 * <pre>
	 *   // Set the robot to move forward 2 pixels per turn
	 *   setVelocityRate(2);
	 *
	 *   // Set the robot to move backwards 8 pixels per turn
	 *   // (overrides the previous order)
	 *   setVelocityRate(-8);
	 *
	 *   ...
	 *   // Executes the last setVelocityRate()
	 *   execute();
	 * </pre>
	 *
	 * Note: This method overrules {@link robocode.AdvancedRobot#setAhead(double)} and
	 * {@link robocode.AdvancedRobot#setBack(double)}.
	 *
	 * @param velocityRate pixels per turn the robot will move.
	 * 
	 * @see #getVelocityRate()
	 * @see #setTurnRate(double)
	 * @see #setGunRotationRate(double)
	 * @see #setRadarRotationRate(double)
	 * @see AdvancedRobot#setAhead(double)
	 * @see AdvancedRobot#setBack(double)
	 */
	public void setVelocityRate(double velocityRate) {
		this.velocityRate = velocityRate;
	}
	
	/**
	 * Returns the speed the robot will move, in pixels per turn.
	 * Positive values means that the robot will move forward.
	 * Negative values means that the robot will move backwards.
	 * If the value is 0, the robot will stand still.
	 *
	 * @return The speed of the robot in pixels per turn
	 *
	 * @see #setVelocityRate(double)
	 */
	public double getVelocityRate() {
		return velocityRate;
	}
	
	/**
	 * Sets the robot's clockwise (right) rotation per turn, in degrees.
	 * <p>
	 * This call returns immediately, and will not execute until you call
	 * execute() or take an action that executes.
	 * <p>
	 * Note that both positive and negative values can be given as input,
	 * where negative values means that the robot turns counterclockwise (left)
	 * <p>
	 * Example:
	 * <pre>
	 *   // Set the robot to turn right 10 degrees per turn
	 *   setTurnRate(10);
	 *
	 *   // Set the robot to turn left 4 degrees per turn
	 *   // (overrides the previous order)
	 *   setTurnRate(-5);
	 *
	 *   ...
	 *   // Executes the last setTurnRate()
	 *   execute();
	 * </pre>
	 *
	 * @param turnRate angle of the clockwise rotation, in degrees.
	 *
	 * @see #getTurnRate()
	 * @see #setVelocityRate(double)
	 * @see #setGunRotationRate(double)
	 * @see #setRadarRotationRate(double)
	 * @see AdvancedRobot#setTurnRight(double)
	 * @see AdvancedRobot#setTurnLeft(double)
	 */
	public void setTurnRate(double turnRate) {
		this.turnRate = toRadians(turnRate);
	}
	
	/**
	 * Gets the robot's clockwise rotation per turn, in degrees.
	 * Positive values means that the robot will turn to the right.
	 * Negative values means that the robot will turn to the left.
	 * If the value is 0, the robot will not turn.
	 *
	 * @return Angle of the clockwise rotation, in degrees.
	 *
	 * @see #setTurnRate(double)
	 */
	public double getTurnRate() {
		return toDegrees(turnRate);
	}
	
	/**
	 * Sets the robot's clockwise (right) rotation per turn, in radians.
	 * <p>
	 * This call returns immediately, and will not execute until you call
	 * execute() or take an action that executes.
	 * <p>
	 * Note that both positive and negative values can be given as input,
	 * where negative values means that the robot turns counterclockwise (left)
	 * <p>
	 * Example:
	 * <pre>
	 *   // Set the robot to turn right pi / 32 radians per turn
	 *   setTurnRateRadians(Math.PI / 32);
	 *
	 *   // Set the robot to turn left pi / 20 radians per turn
	 *   // (overrides the previous order)
	 *   setTurnRateRadians(-Math.PI / 20);
	 *
	 *   ...
	 *   // Executes the last setTurnRateRadians()
	 *   execute();
	 * </pre>
	 * 
	 * @param turnRate angle of the clockwise rotation, in radians.
	 *
	 * @see #getTurnRateRadians()()
	 * @see #setVelocityRate(double)
	 * @see #setGunRotationRateRadians(double)
	 * @see #setRadarRotationRateRadians(double)
	 * @see AdvancedRobot#setTurnRightRadians(double)
	 * @see AdvancedRobot#setTurnLeftRadians(double)
	 */
	public void setTurnRateRadians(double turnRate) {
		this.turnRate = turnRate;
	}
	
	/**
	 * Gets the robot's clockwise rotation per turn, in radians.
	 * Positive values means that the robot will turn to the right.
	 * Negative values means that the robot will turn to the left.
	 * If the value is 0, the robot will not turn.
	 * 
	 * @return Angle of the clockwise rotation, in radians.
	 * 
	 * @see #getTurnRateRadians()
	 */
	public double getTurnRateRadians() {
		return turnRate;
	}
	
	/**
	 * Sets the gun's clockwise (right) rotation per turn, in degrees.
	 * <p>
	 * This call returns immediately, and will not execute until you call
	 * execute() or take an action that executes.
	 * <p>
	 * Note that both positive and negative values can be given as input,
	 * where negative values means that the gun turns counterclockwise (left)
	 * <p>
	 * Example:
	 * <pre>
	 *   // Set the gun to turn right 15 degrees per turn
	 *   setGunRotationRate(15);
	 *
	 *   // Set the gun to turn left 9 degrees per turn
	 *   // (overrides the previous order)
	 *   setGunRotationRate(-9);
	 *
	 *   ...
	 *   // Executes the last setGunRotationRate()
	 *   execute();
	 * </pre>
	 * 
	 * @param gunRotationRate angle of the clockwise rotation, in degrees.
	 *
	 * @see #getGunRotationRate()
	 * @see #setVelocityRate(double)
	 * @see #setTurnRate(double)
	 * @see #setRadarRotationRate(double)
	 * @see AdvancedRobot#setTurnGunRight(double)
	 * @see AdvancedRobot#setTurnGunLeft(double)
	 */
	public void setGunRotationRate(double gunRotationRate) {
		this.gunRotationRate = toRadians(gunRotationRate);
	}
	
	/**
	 * Gets the gun's clockwise rotation per turn, in degrees.
	 * Positive values means that the gun will turn to the right.
	 * Negative values means that the gun will turn to the left.
	 * If the value is 0, the gun will not turn.
	 * 
	 * @return Angle of the clockwise rotation, in degrees.
	 * 
	 * @see #setGunRotationRate(double)
	 */
	public double getGunRotationRate() {
		return toDegrees(gunRotationRate);
	}
	
	/**
	 * Sets the gun's clockwise (right) rotation per turn, in radians.
	 * <p>
	 * This call returns immediately, and will not execute until you call
	 * execute() or take an action that executes.
	 * <p>
	 * Note that both positive and negative values can be given as input,
	 * where negative values means that the gun turns counterclockwise (left)
	 * <p>
	 * Example:
	 * <pre>
	 *   // Set the gun to turn right pi / 16 radians per turn
	 *   setGunRotationRateRadians(Math.PI / 16);
	 *
	 *   // Set the gun to turn left pi / 12 radians per turn
	 *   // (overrides the previous order)
	 *   setGunRotationRateRadians(-Math.PI / 12);
	 *
	 *   ...
	 *   // Executes the last setGunRotationRateRadians()
	 *   execute();
	 * </pre>
	 * 
	 * @param gunRotationRate angle of the clockwise rotation, in radians.
	 *
	 * @see #getGunRotationRateRadians()
	 * @see #setVelocityRate(double)
	 * @see #setTurnRateRadians(double)
	 * @see #setRadarRotationRateRadians(double)
	 * @see AdvancedRobot#setTurnGunRightRadians(double)
	 * @see AdvancedRobot#setTurnGunLeftRadians(double)
	 */
	public void setGunRotationRateRadians(double gunRotationRate) {
		this.gunRotationRate = gunRotationRate;
	}
	
	/**
	 * Gets the gun's clockwise rotation per turn, in radians.
	 * Positive values means that the gun will turn to the right.
	 * Negative values means that the gun will turn to the left.
	 * If the value is 0, the gun will not turn.
	 * 
	 * @return Angle of the clockwise rotation, in radians.
	 * 
	 * @see #setGunRotationRateRadians(double)
	 */
	public double getGunRotationRateRadians() {
		return gunRotationRate;
	}
	
	/**
	 * Sets the radar's clockwise (right) rotation per turn, in degrees.
	 * <p>
	 * This call returns immediately, and will not execute until you call
	 * execute() or take an action that executes.
	 * <p>
	 * Note that both positive and negative values can be given as input,
	 * where negative values means that the radar turns counterclockwise (left)
	 * <p>
	 * Example:
	 * <pre>
	 *   // Set the radar to turn right 45 degrees per turn
	 *   setRadarRotationRate(45);
	 *
	 *   // Set the radar to turn left 15 degrees per turn
	 *   // (overrides the previous order)
	 *   setRadarRotationRate(-15);
	 *
	 *   ...
	 *   // Executes the last setRadarRotationRate()
	 *   execute();
	 * </pre>
	 * 
	 * @param radarRotationRate angle of the clockwise rotation, in degrees.
	 *
	 * @see #getRadarRotationRate()
	 * @see #setVelocityRate(double)
	 * @see #setTurnRate(double)
	 * @see #setGunRotationRate(double)
	 * @see AdvancedRobot#setTurnRadarRight(double)
	 * @see AdvancedRobot#setTurnRadarLeft(double)
	 */
	public void setRadarRotationRate(double radarRotationRate) {
		this.radarRotationRate = toRadians(radarRotationRate);
	}
	
	/**
	 * Gets the radar's clockwise rotation per turn, in degrees.
	 * Positive values means that the radar will turn to the right.
	 * Negative values means that the radar will turn to the left.
	 * If the value is 0, the radar will not turn.
	 * 
	 * @return Angle of the clockwise rotation, in degrees.
	 * 
	 * @see #setRadarRotationRate(double)
	 */
	public double getRadarRotationRate() {
		return toDegrees(radarRotationRate);
	}
	
	/**
	 * Sets the radar's clockwise (right) rotation per turn, in radians.
	 * <p>
	 * This call returns immediately, and will not execute until you call
	 * execute() or take an action that executes.
	 * <p>
	 * Note that both positive and negative values can be given as input,
	 * where negative values means that the radar turns counterclockwise (left)
	 * <p>
	 * Example:
	 * <pre>
	 *   // Set the radar to turn right pi / 4 radians per turn
	 *   setRadarRotationRateRadians(Math.PI / 4);
	 *
	 *   // Set the radar to turn left pi / 8 radians per turn
	 *   // (overrides the previous order)
	 *   setRadarRotationRateRadians(-Math.PI / 8);
	 *
	 *   ...
	 *   // Executes the last setRadarRotationRateRadians()
	 *   execute();
	 * </pre>
	 * 
	 * @param radarRotationRate angle of the clockwise rotation, in radians.
	 *
	 * @see #getRadarRotationRateRadians()
	 * @see #setVelocityRate(double)
	 * @see #setTurnRateRadians(double)
	 * @see #setGunRotationRateRadians(double)
	 * @see AdvancedRobot#setTurnRadarRightRadians(double)
	 * @see AdvancedRobot#setTurnRadarLeftRadians(double)
	 */
	public void setRadarRotationRateRadians(double radarRotationRate) {
		this.radarRotationRate = radarRotationRate;		
	}
	
	/**
	 * Gets the radar's clockwise rotation per turn, in radians.
	 * Positive values means that the radar will turn to the right.
	 * Negative values means that the radar will turn to the left.
	 * If the value is 0, the radar will not turn.
	 * 
	 * @return Angle of the clockwise rotation, in radians.
	 * 
	 * @see #setRadarRotationRateRadians(double)
	 */
	public double getRadarRotationRateRadians() {
		return radarRotationRate;
	}
	
	/**
	 * Executes any pending actions, or continues executing actions that are
	 * in process. This call returns after the actions have been started.
	 * <p>
	 * Note that advanced robots <em>must</em> call this function in order to
	 * execute pending set* calls like e.g. {@code setVelocityRate()}, {@code setFire()},
	 * {@code setTurnRate()} etc. Otherwise, these calls will never get executed.
	 * <p>
	 * Any previous calls to "movement" functions outside of {@code RateControlRobot},
	 * such as {@code setAhead()}, {@code setTurnLeft()}, {@code setTurnRadarLeftRadians()}
	 * etc. will be overridden when this method is called on this robot class.
	 * <p>
	 * In this example the robot will move while turning:
	 * <pre>
	 *   setVelocityRate(6);
	 *   setTurnRate(7);
	 *
	 *   while (true) {
	 *       execute();
	 *   }
	 * </pre>
	 */
	@Override
	public void execute() {
		setMaxVelocity(velocityRate);
		if (velocityRate > 0) {
			setAhead(Double.POSITIVE_INFINITY);
		} else if (velocityRate < 0) {
			setBack(Double.POSITIVE_INFINITY);
		} else {
			setAhead(0);
		}

		setTurnGunRightRadians(gunRotationRate); 			
		setTurnRadarRightRadians(radarRotationRate); 
		setTurnRightRadians(turnRate);

		super.execute();
	}
}
