import java.awt.*;
import robocode.HitRobotEvent;
import robocode.HitWallEvent;
import robocode.Robot;
import robocode.RobotStatus;
import robocode.ScannedRobotEvent;
import robocode.StatusEvent;

public class MyRobot extends Robot { //lub AdvancedRobot

    private RobotStatus robotstatus;

    private int X = 0;
    private int Y = 0;
    private double enX = 0;
    private double enY = 0;
    private int entX = 0, entY = 0;
    private boolean[][] board = new boolean[40][40];
    private boolean[][] me = new boolean[40][40];
    private boolean radar_dir = true;
    final private double radar_angle = 180;
    private int dx, dy;

    @Override
    public void run() {
    // ruch robota
        turnRadarLeft(90);

        dx = (int)getBattleFieldWidth()/40;
        dy = (int)getBattleFieldHeight()/40;

        while (true) {
            radar();

            me = new boolean[40][40];

            X = (int)robotstatus.getX();
            Y = (int)robotstatus.getY();
            me[X/dx][Y/dy] = true;

            switch((int)getHeading()) {
                case 0:
                    if(board[X/dx][Y/dy+1]) {
                        turnRight(90);
                    }
                    break;
                case 90:
                    if(board[X/dx+1][Y/dy]) {
                        turnRight(90);
                    }
                    break;
                case 180:
                    if(board[X/dx][Y/dy-1]) {
                        turnRight(90);
                    }
                    break;
                case 270:
                    if(board[X/dx-1][Y/dy]) {
                        turnRight(90);
                    }
                    break;
            }

            ahead(2*dx);
        }
    }

    @Override
    public void onStatus(StatusEvent event) {
        this.robotstatus = event.getStatus();
    }

    @Override
    public void onHitRobot(HitRobotEvent e) {
        turnRight(90);
    }

    @Override
    public void onHitWall(HitWallEvent e) {
        turnRight(90);
    }

    @Override
    public void onScannedRobot(ScannedRobotEvent e) {
        double enemy_ang = e.getBearing();
        double dist = e.getDistance();
        enX = (dist * Math.sin(Math.toRadians(robotstatus.getHeading() + enemy_ang)) + robotstatus.getX() - 20);
        enY = (dist * Math.cos(Math.toRadians(robotstatus.getHeading() + enemy_ang)) + robotstatus.getY() - 20);

        entX = (int)(enX/dx + 0.5d);
        entY = (int)(enY/dy + 0.5d);

        for(int i=0; i<2; i++) {
            for(int j=0; j<2; j++) {
                board[entX+i][entY+j] = true;
            }
        }
    }

    @Override
    public void onPaint(Graphics2D g) {
        for(int i=0; i<40; i++) {
            for(int j=0; j<40; j++) {
                if(!board[i][j]) {
                    g.setColor(Color.green);
                } else {
                    g.setColor(Color.red);
                }
                g.drawRect(i*dx, j*dy, dx, dy);

                if(me[i][j]) {
                    g.setColor(Color.blue);
                    g.drawRect(i*dx, i*dy, dx, dy);
                }
            }
        }
    }

    void radar() {
        if(radar_dir) turnRadarRight(radar_angle);
        else turnRadarLeft(radar_angle);
        radar_dir = !radar_dir;
    }
};