; Name: defendbot.lap
; Derived from: bodbotattack.lap by Sam Partington (see plan archive directory)
; Created: 20/08/2005 by Stephen Couzens


(
  (C wander-around (minutes 10) (goal((reachable_nav_point))) ;goal was see_player
    (elements
      ((stuck (trigger ((is_stuck))) avoid))
      ((walk-around (trigger ((is_rotating 0))) walk))
    )
  )
  
  (AP avoid (minutes 5) (stop_bot rotate then-walk))

  (C then-walk (minutes 10) (goal((is_walking)))
    (elements
      ((try-walk (trigger ((is_rotating 0))) walk))
    )
  )
  
  (C get-to-enemy-base (minutes 10) (goal ((at_enemy_base)))
    (elements
      (
        (check-immediate-vicinity (trigger((too_close_for_path))) big_rotate 2)
        (run-to-base (trigger((know_enemy_base_pos))) to_enemy_base)
        (find-base (trigger((reachable_nav_point))) walk_to_nav_point)
        (find-nav-point (trigger((succeed))) rotate 10)
        (wander-base (trigger((succeed))) wander-around)
      )
    )
  )
  
  (C go-to-own-base (minutes 10) (goal ((at_own_base)))
    (elements
      (
        (check-immediate-vicinity (trigger((too_close_for_path))) big_rotate 2)
        (run-to-own-flag (trigger((our_flag_reachable))) to_own_flag)
        (run-to-own-base (trigger((know_own_base_pos))) to_own_base)
        (find-base (trigger((reachable_nav_point))) walk_to_nav_point)
        (find-nav-point (trigger((succeed))) rotate 10)
        (wander-base (trigger((succeed))) wander-around)
      )
    )
  )
        
  
  (AP go-to-own-flag (minutes 10) (to_own_flag))
  (AP go-to-enemy-flag (minutes 10) (to_enemy_flag))
  
  ; may need a better goal, but timeout should do it for now
  (C respond-to-attack (seconds 10) (goal ((fail)))
    (elements
      (
        (attack-visible-attacker (trigger ((taken_damage_from_specific_player))) respond-to-visible-attacker)
        (find-attacker (trigger ((succeed))) try-to-find-attacker)
      )
    )
  )
  
  (AP respond-to-visible-attacker (seconds 4) (set_attacker face_attacker shoot_attacker))
  
  ; may need a better goal, but timeout should do it for now
  (C try-to-find-attacker (seconds 3) (goal ((fail)))
    (elements
      (
        (found-attacker (trigger ((see_enemy))) respond-to-visible-attacker)
        (spin (trigger ((succeed))) big_rotate 1)
      )
    )
  )
  
  (AP attack-enemy-carrying-our-flag (minutes 20) (shoot_enemy_carrying_our_flag run_to_enemy_carrying_our_flag)) ;not sure which ordering here is best
  (AP get-medkit (minutes 1) (runto_medical_kit))
  (AP get-weapon (minutes 1) (runto_weapon))
  
  (RDC life (goal ((fail)))
      (drives        
        ((pickup-our-flag-from-ground (trigger ((our_flag_on_ground))) go-to-own-flag)) ;(our_flag_reachable) was in the trigger but it never seemed to fire
        ((pickup-enemy-flag-from-ground (trigger ((enemy_flag_on_ground)(have_enemy_flag 0))) go-to-enemy-flag)) ;need to do something with (enemy_flag_reachable)
        ((pickup-medkit-as-health-low (trigger ((see_reachable_medical_kit) (own_health_level 30 <))) get-medkit))
        ((pickup-weapon-as-unarmed (trigger  ((see_reachable_weapon) (are_armed 0))) get-weapon))
        
        ((respond-to-attack-since-health-low (trigger ((taken_damage) (own_health_level 30 <) (armed_and_ammo))) respond-to-attack)) 
        ((attack-enemy-with-our-flag (trigger ((see_enemy_with_our_flag))) attack-enemy-carrying-our-flag))
        ((take-enemy-flag-from-base (trigger((enemy_flag_reachable)(have_enemy_flag 0))) go-to-enemy-flag)) 
        ((respond-to-attack-health-not-low (trigger ((taken_damage) (armed_and_ammo) (is_responding_to_attack 0))) respond-to-attack))
        ((hit (trigger((hit_object)(is_rotating 0))) avoid)) ; was in first place
        ((go-home (trigger((have_enemy_flag))) go-to-own-base))
        ((get-yourself-to-enemy-base (trigger((succeed))) get-to-enemy-base))
      )
  )
)