@Override
public void onStep(Controller controller, Snapshot snapshot) throws ConfusedException {
FieldObject target = getTarget(snapshot);
if ((snapshot == null) || (snapshot.getBalle().getPosition() == null) || (target == null))
return;
Orientation usToTar, midToTar, tarToGoal;
usToTar = target.getPosition().sub(snapshot.getBalle().getPosition()).getOrientation();
midToTar =
snapshot.getPitch().getPosition().sub(snapshot.getBalle().getPosition()).getOrientation();
tarToGoal =
snapshot.getOpponentsGoal().getPosition().sub(target.getPosition()).getOrientation();
if (midToTar.sub(midToTar).abs().degrees() > 90)
executorStrategy.updateTarget(target, midToTar);
else executorStrategy.updateTarget(target, usToTar);
// Draw the target
addDrawables(executorStrategy.getDrawables());
if (target.getPosition() != null) addDrawable(new Dot(target.getPosition(), getTargetColor()));
// If it says it is not finished, tell it to do something for a step.
if (!executorStrategy.isFinished(snapshot)) {
executorStrategy.step(controller, snapshot);
} else {
// Tell the strategy to stop doing whatever it was doing
executorStrategy.stop(controller);
}
}
@Override
public void stop(Controller controller) {
executorStrategy.stop(controller);
}