Flower is my first very involved side. Its gone through a lot of changes, and is where I learned a lot about grobots. Its not very competitive, but it has the distinct of being of the first (and so far only) side to use sub-formations. I think there are a lot of good ideas to plumb here.

(:source lang=grobocode:)

1. side Flower
2. author Tyson Hoffman < Tilendor@tiltech.net >
3. color E01D97?
4. date Begun on 2/15/06

;<-------------------------------- Concept --------------------------------> ;Experimental side using colonies, solar collectors, gatherers, and defensive fighters. ;A Big focus of this side is side is its colony. It forms rings, which grow from the center ;this means the outside can be damaged, but still have a viable center. Doing the math, and then coding it for this ;was challenging.

;Side note, which sides aren't experimental?

;Major observation - Big cells are not worth it. Don't use them. They are silly

;TODO ; Problem made apparent by Statistics window: Overflow energy generally ranges from 1 to 4 percent, its a shame to waste. ; Solutions: Have Worker Bees distribute when necessary. Or as inspired by Warren, give solar cells a small constructor ; to utilize extra power.

;<-------------------------------- Changes --------------------------------> ;[02-20-06] Removed Mine-layer type ;[03-02-06] Attempted to make Buds Formate as well. Changed Pollen patrol patterns. ;[03-06-06] Began Big Refactoring, in order to take out Bud. ;[04-08-06] Bud is gone, changing mini-missiles to fighters ;[04-16-06] Removed Blaster from Pollen ;<-------------------------------- Reference --------------------------------> ;Shared Memory ; 1 - # of Petals produced ; 2 - # of Pollens produced ; 3 - # of Worker-Bees produced ; 4 - # of Leaves produced

; 6 - Start angle for protective perimeter ; 7 - angle span

; 11 - # of Petals to build ; 12 - # of Pollens to build ; 13 - # of Worker-Bees to build ; 14 - # of Leaves to build ; 17 - Current Build Phase ; 18 - Current Building Stage

; 20 - Message Count for Channel 3 ; 21 - Processed messages on Channel 3

; 50 - # of Rings ; 51+ - Radius for each ring.

; 98 - Width of Petal Formation ; 99,100 - Flower home ; 201+ - Actual x,y pairs for successive Petals ; 601+ - Timestamps for cell life.

;Message Channels: ; 1 - Danger Angle, used to shift Pollens to where enemies are ; 2 - Food Requests from injured Pollens. ; 3 - Robot Warnings - Bogies to try to avoid

1. seed 1 2 3 4 4 4 4

;<----------------------------COMMON---------------------------->

1. code
2. const Petal 1
3. const Pollen 2
4. const WorkerBee? 3
5. const Leaf 4

6. var TypeID?
7. const Border 10

8. var x
9. var y

In-World:

	y! x!
	x 1 < if 0 return then
	x world-width 1 - > if 0 return then
	y 1 < if 0 return then
	y world-width 1 - > if 0 return then
	1 return

;<----------------------------PETAL---------------------------->

1. type Petal
2. color FFFF00?

; The Petal is Small, but pretty to look at. It likes circles. Its really productive ; Has slight solar-cells to allow operation without any energy sources. ; Behaviors: ; Circles - Each new petal starts at the very center of the formation. As new petals are built, they push older ; Petals outwards ; Communication - Broadcasts its X,Y position as well as each frame of execution, used to determine if it was killed. ; Hurt - If hurt, the Petal moves the formation away from where it got hurt. ; This sometimes leads to a tennis ball effect: bouncing between two enemies ; Building - Cooperatively decides what to build, according to my master plans!!!! ; Flag - Indicates if hungry. Almost always is. ; Hugs Wall - Always moves to the closest wall, then makes room as formation grows ; Listens to Enemy Locations - Channel 3 tells where fighters are, scoots formation the other way.

;TODO: ; Give Robot and or Shot Sensors.

1. hardware

processor 30 engine .05 constructor 3.2 energy 700 5 armor 100 solar-cells .02 repair-rate .2

1. code

2. var build 0
3. var CellAngle? 0
4. var SpacingAngle? 0
5. var SpacingDist? 3
6. var Range 0
7. var a
8. var b
9. vector temp 0 0
10. var DistTop?
11. var DistBottom?
12. var DistLeft?
13. var DistRight?
14. var MemOffset?
15. var LastPopulation? 0
16. vector vdest
17. var Padding 6
18. var Ring
19. var RingStart?
20. var RingEnd?
21. var C2R? ;# of cells to radius conversion
22. var R2C? ;Radius to # of cells conversion
23. var OldArmor?

24. start init

init:

	Petal read 1 + dup Petal write TypeID?! ;Count which Petal I am
	TypeID? 2 * 199 + MemOffset?!
	parent-id nif
		1 18 write
		0 98 write
		position 99 vwrite 
		1 50 write
	then
	Padding 2pi / dup C2R?! reciprocal R2C?!
	Set-Home^
	Ring-Math^
	time MemOffset? 400 + write
	Set-Defensive-Perimeter^
	51 read 98 write
	armor OldArmor?!

;<(MAIN)> Main:

	time MemOffset? 400 + write
	max-energy .8 * energy > flag!
	Formate^
	Produce^
	Am-I-Hurt^
	sync
	Check-Comms^
	Main& jump

;<(END MAIN)>

Check-Comms:

	3 messages nifr
	3 messages 20 vread - - 3 skip-messages
	do
		3 messages
	while
		3 receive drop 21 write 2dup ;Increments message count and duplicates bogies' location
		99 vread 51 read 15 + in-range 2 .5 ifev ;Distance to move based on closeness to colony  X,Y,Range
		rrot 99 vread v- angle pi + reorient polar-to-rect 99 vread v+ 99 vwrite ;Moves colony away from dangerous cell
		Set-Home^
		Set-Defensive-Perimeter^
	loop
	return

Determine-Construction:

	18 read 1 = if
		BuildStage1?& 17 read 10 * + jump
	else 18 read 2 = if
		BuildStage2?& 17 read 10 * + jump
	celse 18 read 3 = if
		BuildStage3?& jump
	celse
	then

BuildStage1?: ; ; 3 4 2 1 Build Order ; Pe Po W L Types ;First column indicates if final phase 0 1 1 0 3 Announce-Construct& jump nop nop nop 0 0 1 0 2 Announce-Construct& jump nop nop nop 0 0 0 1 2 Announce-Construct& jump nop nop nop 0 1 1 0 4 Announce-Construct& jump nop nop nop 0 0 5 0 4 Announce-Construct& jump nop nop nop 0 1 1 2 2 Announce-Construct& jump nop nop nop 1 2 4 1 6 Announce-Construct& jump nop nop nop

BuildStage2?: 0 3 10 2 12 Announce-Construct& jump nop nop nop 1 2 10 1 18 Announce-Construct& jump nop nop nop

BuildStage3?: 0 1 3 1 6

Announce-Construct:

	Leaf 10 + write ; Leaf
	WorkerBee? type-population 0 = 1 rot ifev WorkerBee? 10 + write ; WorkerBee?
	Pollen 10 + write ; Pollen
	Petal 10 + write ; Petal

	if
		18 read 1 + 18 write
		0 17 write
	else
		17 read 1 + 17 write
	then

	return

Am-I-Hurt:

	max-armor armor > if
		armor OldArmor? < if
			CellAngle? 1 1 send	
			5 CellAngle? pi + reorient polar-to-rect 99 vread v+ 99 vwrite
			Set-Home^
			Set-Defensive-Perimeter^
			armor OldArmor?!
		then
		0 constructor-rate!
		max-repair-rate repair-rate!
	else
		constructor-max-rate constructor-rate!
		0 repair-rate!
	then
	return

Produce:

	energy 10 > constructor-max-rate 0 ifev constructor-rate!
	constructor-remaining ifr
	Leaf build!

Produce-check:

	build 10 + read 0 > if
		build constructor-type!
		constructor-max-rate constructor-rate!
		build 10 + read 1 - build 10 + write
		return
	then
	build Pollen = if Determine-Construction^ return then ;No build instructions, announce next phase.
	build Petal = if Pollen build! then
	build WorkerBee? = if Petal build! then
	build Leaf = if WorkerBee? build! then
	Produce-check& jump
	;build order = Leaf, WorkerBee?, Petal, Pollen
	return

Ring-Math:

	50 read a!
	50 a + read b!
	b Padding > if
		50 read 1 + 50 write
		a 1 + a!
		C2R? 50 a + write
		return
	then
	50 read b! ;Rings
	1 a!
	do
		a b <
	while
		50 a + vread Padding + < if
			50 a + read C2R? + 50 a + write
			return
		then
		a 1 + a!
	loop
	50 a + read C2R? + 50 a + write
	return

Formate:

	Petal read LastPopulation? = nif ;Change formation is a Petal is built
		sync sync sync
		Petal read LastPopulation?!
		0 Ring!
		0 RingEnd?!
		do
			RingEnd? RingStart?!
			Ring 1 + Ring!
			50 Ring + read R2C? * round RingEnd? + RingEnd?!
			TypeID? RingStart? > TypeID? RingEnd? <= and
		until-loop	



	then

	2pi RingEnd? RingStart? - / reorient SpacingAngle?!
	TypeID? RingStart? 1 + - SpacingAngle? * reorient CellAngle?!
	50 Ring + read CellAngle? polar-to-rect 99 vread v+ vdest!

	vdest seek-location
	position MemOffset? vwrite ; Announce actual location
	return

Set-Defensive-Perimeter:

	99 vread y! x!
	pi 6 * 4 / 7 write
	world-size 2 vs/ 99 vread v- angle pi 5 * 8 / - 6 write

	return 

Set-Home:

	99 vread DistBottom?! DistLeft?!
	world-size 99 vread v- DistTop?! DistRight?!
	DistRight? DistLeft? < if
		DistTop? DistBottom? < if
			DistRight? DistTop? < if
				world-width 10 - 98 read - 99 write
			else
				world-height 10 - 98 read - 100 write
			then
		else
			DistRight? DistBottom? < if
				world-width 10 - 98 read - 99 write
			else
				0 6 write
				10 98 read + 100 write
			then
		then
	else
		DistTop? DistBottom? < if
			DistLeft? DistTop? < if
				10 98 read + 99 write
			else
				world-height 10 - 98 read - 100 write
			then
		else
			DistLeft? DistBottom? < if
				10 98 read + 99 write
			else
				10 98 read + 100 write
			then
		then
	then
	;This codes stays 10 + the inner circle radius from wall
	return

;<----------------------------POLLEN---------------------------->

1. type Pollen
2. color FF0000?
3. decoration FFFF00? triangle

; Keep your distance. ; Message Channel 1 - Danger angle

; Changed from a mini-bomb to a defensive picket ; Forms a ring outside the main colony. ; Grenades are for defense outside the colony. ; Flag - Indicates when hungry ; 3 Tiered defense: ; Border - Standard Defensive Posture ; Resort - Move inward when damaged to allow room for others and get out of line of fire ; Retreat - Go within colony border to repair and ask for energy ; If shots are detected, it will weave in the direction of the circle and radially to make it a harder target. ; If damaged, it lets other Pollens know where it got hurt at. Pollens will then gravitate in that direction ; bringing the firepower where it is needed. Pollen will slowly gravitate to assigned spots if no one is being hurt.

; TODO: ; Make firing more intelligent ; Intelligent Missle defense ; Work with value of gravitation based on number of pollens

1. hardware

processor 15 solar-cells .15 robot-sensor 10 1 shot-sensor 5 energy 100 30 engine .03 armor 150 repair-rate .25 grenades 22.5 10 15

1. code

2. vector vDest
3. vector vFoeLoc
4. vector vFoeVel
5. vector vFoeFuture

6. const DefendingColony? 1
7. const DefendingBorder? 2
8. const Retreating 3
9. const Hunting 4
10. const Resorting 5
11. const Avoiding 6
12. var Stage 0

13. var MyAngle?
14. var AngleTweak?
15. var AngleStep? .1
16. var WeaveAngle?
17. var WeaveRadius? 2
18. var RadiusTweak? 0
19. var PercentLocation?
20. var OldPop? 0
21. var LastArmor?
22. var LastRequest?
23. start init

init:

	parent-id nif
		1 Pollen write
	then
	0 robot-sensor-sees-friends!
	1 robot-sensor-sees-enemies!
	Pollen read 1 + dup Pollen write TypeID?! ;Count which Pollen I am
	max-armor LastArmor?!

	pi 9 / WeaveAngle?!
	Location^

Defend-Border:

	15 periodic-robot-sensor if
		robot-found Fire& ifc
	then
	20 periodic-shot-sensor if
		shot-found if
			WeaveRadius? RadiusTweak? + RadiusTweak?!
			WeaveRadius? negate WeaveRadius?!
			WeaveAngle? AngleTweak? + AngleTweak?!
			WeaveAngle? negate WeaveAngle?!
		then
	then
	Location^
	Stage Retreating = if energy 30 < and-if
		time LastRequest? 20 + > if
			position 2 2 send
			time LastRequest?!
		then
	else
		energy 5 < if
			-9.5 RadiusTweak?!
			Retreating Stage!
			Defend-Border& jump
		then
	then

	vDest seek-location
	Armor-Management^
	Check-Comms^
	AngleTweak? dup signum .03 * - AngleTweak?!
	max-energy .6 * energy > flag!
	Defend-Border& jump

Avoid:

	5 periodic-robot-sensor if
		robot-found nifr
	then
	robot-distance 3 >= ifr
	2 robot-direction pi + reorient polar-to-rect position v+ vdest!
	vdest seek-location
	Fire^
	Avoid& jump

Check-Comms:

	do
		1 messages
	while
		1 receive drop 2pi + AngleTweak? MyAngle? + 2pi + - 0 < if
			AngleTweak? AngleStep? - AngleTweak?!
		else
			AngleTweak? AngleStep? + AngleTweak?!
		then
	loop
	return

Armor-Management:

	Repair^
	armor LastArmor? < if
		MyAngle? 1 1 send
		armor LastArmor?!
		armor max-armor .3 * < if
			Stage Retreating <> if
				Retreating Stage!
				-9.5 RadiusTweak?!
				return
			then
			return
		then
		armor max-armor .6 * < if
			Stage Resorting <> if
				Resorting Stage!
				-5 RadiusTweak?!
				return
			then
			return
		then
		armor max-armor .8 * < if
			Stage DefendingBorder? <> if
				0 RadiusTweak?!
				DefendingBorder? Stage!
				return
			then
			return
		then
		return
	then
	armor LastArmor? > if
		armor LastArmor?!
	then
	armor max-armor = if
		Stage DefendingBorder? <> if
			0 RadiusTweak?!
			DefendingBorder? Stage!
		then
	then
	return

Repair:

	energy 5 > if
		armor max-armor < if
			max-repair-rate repair-rate!
		then
	else
		0 repair-rate!
	then
	armor max-armor = if
		0 repair-rate!
	then
	return;

Fire:

1. var distance

; do

		robot-position vFoeLoc!
		robot-velocity vFoeVel!
		robot-reloading robot-bomb or if
			robot-position 20 read 1 + dup 20 write 3 3 send
		then
		Stage Avoiding <> if robot-distance 3 <= and-if
			Stage Avoiding Stage! Avoid^ Stage!
		then
		grenades-cooldown nif
			vFoeVel vFoeLoc position dist grenades-speed /  vs* vFoeLoc v+ vFoeFuture!
			99 vread vFoeFuture dist 51 read 3 + >= if vFoeFuture position grenades-radius .75 * in-range not and-if
				vFoeLoc vFoeVel lead-grenade
				return
			then
		then

; next-robot ; while-loop

	return

Close-Combat:

	vFoeLoc vFoeVel seek-moving-location
	10 periodic-robot-sensor if
		robot-found nifr
		Fire^
	then
	51 read 5 + position 99 vread dist < ifr
	Close-Combat& jump	

Location:

	Pollen type-population dup OldPop? <> if
		OldPop?!
		TypeID? OldPop? mod OldPop? / PercentLocation?!
	else
		drop
	then
	Pollen type-population 1 = if
		.5 PercentLocation?!
	then
	7 read PercentLocation? * 6 read + MyAngle?!
	RadiusTweak? Border + 51 read + MyAngle? AngleTweak? + polar-to-rect 99 vread v+ vDest!
	return

;<----------------------------WORKER BEE---------------------------->

1. type WorkerBee?
2. color 00FF00
3. decoration 00FF00 x

; Industrious member, tries to feed everyone else. Cooperates a lot with others

; This type is a necessity. Without the Bee, growth in the begining is slow, the defenders get hungry, ; other eaters invade the colony, and other bad mojo. Petals cannot perform to capacity without the Worker Bee

;Behaviours: ; Gathers food, when full, searches for anyone with a flag to give food to. ; Avoids fighting over food in a simple manner. If there is a WorkerBee? closer to the food than I am, go elsewhere. ; If shot at, dodges perpendicular to the shot to minimize hits. ; Runs away from cells that are cooling down or are bombs. ; Uses flag to ask for food if low. Doesn't act the best when empty.

;[2-17-05] Concept Change: Bees do not try to daisy-chain resources to Bud ;[4-09-06] The Bee would retreat home when hurt to repair in safety. Mostly this brought aggresive fighters to my ; Flower, which ends up killing me. Now repairs in place.

;TODO ; When being fired on, Should decided whether to retreat to colony. Run into an empty area, or find a non-aggresive ; cell of a different side to run towards, hopefully loosing its pursuer ; Don't Fire food sensor while eating ; Accept Multiple Food sensor resuls and give preference to closer ones.

1. hardware

engine .15 processor 20 solar-cells .04 energy 400 20 robot-sensor 10 6 syphon 5 8 food-sensor 12 shot-sensor 6 armor 80 eater 3 radio read repair-rate .25

1. code
2. var GoAngle? 0
3. vector vDest 0 0

4. var Action 0
5. var PrevAct?
6. const ActNone? 0
7. const ActGiveEnergy? 1
8. const ActFindFriend? 2
9. const ActRunAway? 3
10. const ActRepair? 4

11. var EnemyNear? 0
12. vector SyphonTarget? 0 0
13. var range 0
14. var r
15. var i

16. start init

init:

	1 robot-sensor-sees-friends!
	0 robot-sensor-sees-enemies!
	WorkerBee? read 1 + dup WorkerBee? write TypeID?! ;Count which WorkerBee? I am
	pi 5 * 6 / TypeID? * 2pi mod GoAngle?! ; Angle to search for food
	30 GoAngle? polar-to-rect 99 vread v+ vDest! ; distance to search

;<(MAIN)> Main:

	;Check-Comms^
	Resource-Management^
	Run-From-Danger^
	Am-I-Hurt^
	Navigate^
	Main& jump	

;<(END MAIN)>

Am-I-Hurt:

	max-armor armor > if
	max-energy .3 * energy > EnemyNear? not and
	max-energy .3 * energy < 
	or and-if
		0 syphon-rate!
		max-repair-rate repair-rate!
		EnemyNear? Action ActRepair? ifev Action!
		max-energy .25 * energy > flag!
	else
		0 repair-rate!
		0 flag!
		ActRepair? Action = if ActNone? Action! then	
	then
	return

Navigate:

	energy 1 < if 0 engine-power! sync sync sync sync ActNone? Action! return then
	Action not .1 9 ifev range!
	Action ActRepair? = if 8 range! then
	Action ActRunAway? = if .5 range! then
	vdest In-World^ nif
		world-width 10 / dup world-width swap - random-int
		world-height 10 / dup world-height swap - random-int
		vdest!
		GoAngle? pi 2 / + GoAngle?!
	then
	vdest position range in-range nif
		vdest seek-location
	else
		position seek-location
	then
	return

Locate-Candidate:

	0 robot-sensor-sees-enemies!
	1 robot-sensor-sees-friends!

	99 vread 2dup seek-location vDest!
	fire-robot-sensor sync
	robot-found nifr

	do
		robot-flag LC-Success& ifg
	next-robot
	while-loop
	return

LC-Success:

	0 engine-power!
	position vdest!
	robot-position SyphonTarget?!
	ActGiveEnergy? Action!
	return

Give-Energy: ; Action ActRunAway? = Action ActRepair? or ifr

	SyphonTarget? position v- rect-to-polar syphon-direction! syphon-distance!
	syphon-max-rate negate syphon-rate!
	sync
	syphoned negate syphon-max-rate < if ActFindFriend? Action! then
	energy 40 <= if 0 syphon-rate! ActNone? Action! then
	return

Find-Food:

	Action ActRunAway? = Action ActRepair? = or ifr
	max-energy .9 * energy < if ActFindFriend? Action! return then 
	food-sensor-firing-cost robot-sensor-firing-cost + 2 * energy > ifr
	0 robot-sensor-sees-enemies!
	1 robot-sensor-sees-friends!		
	fire-food-sensor 
	fire-robot-sensor sync 

	food-found nif Set-Search-Dest^ return then
	robot-found nif food-position vdest! return then
	food-position position dist range!
	do
		robot-type WorkerBee? = FF-Next-Result& nifg
		robot-position food-position dist range < if
			Set-Search-Dest^ return
		then

FF-Next-Result:

		next-robot
	while-loop
	food-position vdest!
	return

Resource-Management:

	energy 10 < flag!
	Action ActRepair? = ifr
	Action ActRunAway? = ifr
	Action ActFindFriend? = Locate-Candidate& ifc
	Action ActGiveEnergy? = Give-Energy& ifc
	Action ActNone? = Find-Food& ifc	
	return

Run-From-Danger:

	energy 10 < ifr
	time shot-sensor-time 3 + <= ifr
	1 robot-sensor-sees-enemies!
	0 robot-sensor-sees-friends!
	fire-robot-sensor fire-shot-sensor sync
	shot-found 0 = if 
		robot-found 0 = if
			0 EnemyNear?!
			Action ActRunAway? = PrevAct? Action ifev Action!
			return
		then
	then
	ActRunAway? Action = nif Action PrevAct?! then
	shot-found if shot-type 2 shot-type 4 = or <= and-if
		1 EnemyNear?!
		3 shot-position position v- angle pi + 2pi mod polar-to-rect position v+ vdest!
		ActRunAway? Action!
		return
	then
	robot-found if
		do
			robot-reloading robot-bomb or if
				1 EnemyNear?!
				robot-position 20 read 1 + dup 20 write 3 3 send
				3 robot-position position v- angle pi 5 * 4 / + 2pi mod polar-to-rect position v+ vdest!
				ActRunAway? Action!
				return
			then
			next-robot
		while-loop
	then
	PrevAct? Action!
	return

Set-Search-Dest:

	5 GoAngle? polar-to-rect position v+ vdest!
	return

;<----------------------------LEAF---------------------------->

1. type Leaf
2. color F2B1FC?
3. decoration F2B1FC? dot

;Likes basking in the sun ;Type is simple so far

; Forms a ring of six Leaves to every Petal using simple Mod math, and a Type-Count (Something I use for all my Types) ; Checks a time indicator in shared memory to be sure the Petal it is suppose to feed is still alive. ; Changes TypeID?, and therefore petal to feed if it dies.

; Looks for food requests from Pollens, to help them repair faster when Retreating.

1. hardware

engine .05 processor 20 radio read solar-cells .4 syphon .55 2 armor 10 energy 100 0

1. code
2. var SpacingAngle? 0
3. var SpacingDist? 1.9
4. var FeedPollen? 0
5. vector vPollen
6. var PetalToFeed?
7. var Point
8. vector Home 0 0

9. start init

init:

	Leaf read 1 + dup Leaf write TypeID?! ;Count which Leaf I am
	do
		TypeID? 6 / floor 2 * 201 + PetalToFeed?! sync
		TypeID? 6 / floor 1 + Petal read >
	while-loop
	TypeID? 1 - 6 mod Point!
	2pi 6 / Point * SpacingAngle?!
	syphon-max-rate negate syphon-rate!

;<(MAIN)> Main:

	Formate^
	Check-Comm^
	Aim-Syphon^
	time PetalToFeed? 400 + read 40 + > init& ifg
	Main& jump	

;<(END MAIN)>

Check-Comm:

	do
		2 messages
	while
		2 receive drop 2dup vPollen!
		position 2.4 in-range if
			time 20 + FeedPollen?!
			return
		then
	loop
	return

Aim-Syphon:

	time FeedPollen? < if
		vPollen position v- rect-to-polar syphon-direction! syphon-distance!
	else
		PetalToFeed? vread position v- rect-to-polar syphon-direction! syphon-distance!
	then
	return

Formate:

	SpacingDist? SpacingAngle? polar-to-rect PetalToFeed? vread v+ Home!
	Home seek-location
	return

1. end

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Flower is my first very involved side. Its gone through a lot of changes, and is where I learned a lot about grobots. Its not very competitive, but it has the distinct of being of the first (and so far only) side to use sub-formations. I think there are a lot of good ideas to plumb here.

#side Flower
#author Tyson Hoffman < Tilendor@tiltech.net >
#color E01D97
#date Begun on 2/15/06




;<-------------------------------- Concept -------------------------------->
;Experimental side using colonies, solar collectors, gatherers, and defensive fighters.
;A Big focus of this side is side is its colony.  It forms rings, which grow from the center
;this means the outside can be damaged, but still have a viable center.  Doing the math, and then coding it for this
;was challenging.


;Side note, which sides aren't experimental?

;Major observation - Big cells are not worth it.  Don't use them.  They are silly

;TODO
; Problem made apparent by Statistics window: Overflow energy generally ranges from 1 to 4 percent, its a shame to waste.
; Solutions: Have Worker Bees distribute when necessary.  Or as inspired by Warren, give solar cells a small constructor
;    to utilize extra power.

;<-------------------------------- Changes -------------------------------->
;[02-20-06] Removed Mine-layer type
;[03-02-06] Attempted to make Buds Formate as well. Changed Pollen patrol patterns.
;[03-06-06] Began Big Refactoring, in order to take out Bud.
;[04-08-06] Bud is gone, changing mini-missiles to fighters
;[04-16-06] Removed Blaster from Pollen
;<-------------------------------- Reference -------------------------------->
;Shared Memory
; 1 - # of Petals produced
; 2 - # of Pollens produced
; 3 - # of Worker-Bees produced
; 4 - # of Leaves produced

; 6 - Start angle for protective perimeter
; 7 - angle span

; 11 - # of Petals to build
; 12 - # of Pollens to build
; 13 - # of Worker-Bees to build
; 14 - # of Leaves to build
; 17 - Current Build Phase
; 18 - Current Building Stage

; 20 - Message Count for Channel 3
; 21 - Processed messages on Channel 3

; 50 - # of Rings
; 51+ - Radius for each ring.

; 98 - Width of Petal Formation
; 99,100 - Flower home
; 201+ - Actual x,y pairs for successive Petals
; 601+ - Timestamps for cell life.

;Message Channels:
; 1 - Danger Angle, used to shift Pollens to where enemies are
; 2 - Food Requests from injured Pollens.
; 3 - Robot Warnings - Bogies to try to avoid


#seed 1 2 3 4 4 4 4


;<----------------------------COMMON---------------------------->
#code
#const Petal 1
#const Pollen 2
#const WorkerBee 3
#const Leaf 4

#var TypeID
#const Border 10

#var x
#var y
In-World:
    y! x!
    x 1 < if 0 return then
    x world-width 1 - > if 0 return then
    y 1 < if 0 return then
    y world-width 1 - > if 0 return then
    1 return




;<----------------------------PETAL---------------------------->
#type Petal
#color FFFF00

; The Petal is Small, but pretty to look at.  It likes circles.  Its really productive
; Has slight solar-cells to allow operation without any energy sources.
; Behaviors:
;    Circles - Each new petal starts at the very center of the formation.  As new petals are built, they push older
;        Petals outwards
;    Communication - Broadcasts its X,Y position as well as each frame of execution, used to determine if it was killed.
;    Hurt - If hurt, the Petal moves the formation away from where it got hurt.
;        This sometimes leads to a tennis ball effect: bouncing between two enemies
;  Building - Cooperatively decides what to build, according to my master plans!!!!
;  Flag - Indicates if hungry.  Almost always is.
;  Hugs Wall - Always moves to the closest wall, then makes room as formation grows
;  Listens to Enemy Locations - Channel 3 tells where fighters are, scoots formation the other way.

;TODO:
;    Give Robot and or Shot Sensors.

#hardware
processor 30
engine .05
constructor 3.2
energy 700 5
armor 100
solar-cells .02
repair-rate .2

#code

#var build 0
#var CellAngle 0
#var SpacingAngle 0
#var SpacingDist 3
#var Range 0
#var a
#var b
#vector temp 0 0
#var DistTop
#var DistBottom
#var DistLeft
#var DistRight
#var MemOffset
#var LastPopulation 0
#vector vdest
#var Padding 6
#var Ring
#var RingStart
#var RingEnd
#var C2R ;# of cells to radius conversion
#var R2C ;Radius to # of cells conversion
#var OldArmor

#start init
init:
    Petal read 1 + dup Petal write TypeID! ;Count which Petal I am
    TypeID 2 * 199 + MemOffset!
    parent-id nif
        1 18 write
        0 98 write
        position 99 vwrite 
        1 50 write
    then
    Padding 2pi / dup C2R! reciprocal R2C!
    Set-Home^
    Ring-Math^
    time MemOffset 400 + write
    Set-Defensive-Perimeter^
    51 read 98 write
    armor OldArmor!

;<([--MAIN--])>
Main:
    time MemOffset 400 + write
    max-energy .8 * energy > flag!
    Formate^
    Produce^
    Am-I-Hurt^
    sync
    Check-Comms^
    Main& jump
;<([--END MAIN--])>

Check-Comms:
    3 messages nifr
    3 messages 20 vread - - 3 skip-messages
    do
        3 messages
    while
        3 receive drop 21 write 2dup ;Increments message count and duplicates bogies' location
        99 vread 51 read 15 + in-range 2 .5 ifev ;Distance to move based on closeness to colony  X,Y,Range
        rrot 99 vread v- angle pi + reorient polar-to-rect 99 vread v+ 99 vwrite ;Moves colony away from dangerous cell
        Set-Home^
        Set-Defensive-Perimeter^
    loop
    return

Determine-Construction:
    18 read 1 = if
        BuildStage1& 17 read 10 * + jump
    else 18 read 2 = if
        BuildStage2& 17 read 10 * + jump
    celse 18 read 3 = if
        BuildStage3& jump
    celse
    then

BuildStage1: ;
;  3  4  2  1  Build Order
;  Pe Po W  L  Types
;First column indicates if final phase
0    1  1  0  3  Announce-Construct& jump nop nop nop
0    0  1  0  2  Announce-Construct& jump nop nop nop
0  0  0  1  2  Announce-Construct& jump nop nop nop 
0    1    1    0    4    Announce-Construct& jump nop nop nop
0    0  5  0  4  Announce-Construct& jump nop nop nop
0    1  1  2  2  Announce-Construct& jump nop nop nop
1    2  4  1  6  Announce-Construct& jump nop nop nop

BuildStage2:
0    3 10  2  12  Announce-Construct& jump nop nop nop
1  2 10  1  18  Announce-Construct& jump nop nop nop

BuildStage3:
0    1  3  1   6

Announce-Construct:
    Leaf 10 + write ; Leaf
    WorkerBee type-population 0 = 1 rot ifev WorkerBee 10 + write ; WorkerBee
    Pollen 10 + write ; Pollen
    Petal 10 + write ; Petal

    if
        18 read 1 + 18 write
        0 17 write
    else
        17 read 1 + 17 write
    then

    return

Am-I-Hurt:
    max-armor armor > if
        armor OldArmor < if
            CellAngle 1 1 send    
            5 CellAngle pi + reorient polar-to-rect 99 vread v+ 99 vwrite
            Set-Home^
            Set-Defensive-Perimeter^
            armor OldArmor!
        then
        0 constructor-rate!
        max-repair-rate repair-rate!
    else
        constructor-max-rate constructor-rate!
        0 repair-rate!
    then
    return

Produce:
    energy 10 > constructor-max-rate 0 ifev constructor-rate!
    constructor-remaining ifr
    Leaf build!
Produce-check:
    build 10 + read 0 > if
        build constructor-type!
        constructor-max-rate constructor-rate!
        build 10 + read 1 - build 10 + write
        return
    then
    build Pollen = if Determine-Construction^ return then ;No build instructions, announce next phase.
    build Petal = if Pollen build! then
    build WorkerBee = if Petal build! then
    build Leaf = if WorkerBee build! then
    Produce-check& jump
    ;build order = Leaf, WorkerBee, Petal, Pollen
    return

Ring-Math:
    50 read a!
    50 a + read b!
    b Padding > if
        50 read 1 + 50 write
        a 1 + a!
        C2R 50 a + write
        return
    then
    50 read b! ;Rings
    1 a!
    do
        a b <
    while
        50 a + vread Padding + < if
            50 a + read C2R + 50 a + write
            return
        then
        a 1 + a!
    loop
    50 a + read C2R + 50 a + write
    return

Formate:
    Petal read LastPopulation = nif ;Change formation is a Petal is built
        sync sync sync
        Petal read LastPopulation!
        0 Ring!
        0 RingEnd!
        do
            RingEnd RingStart!
            Ring 1 + Ring!
            50 Ring + read R2C * round RingEnd + RingEnd!
            TypeID RingStart > TypeID RingEnd <= and
        until-loop    



    then

    2pi RingEnd RingStart - / reorient SpacingAngle!
    TypeID RingStart 1 + - SpacingAngle * reorient CellAngle!
    50 Ring + read CellAngle polar-to-rect 99 vread v+ vdest!

    vdest seek-location
    position MemOffset vwrite ; Announce actual location
    return

Set-Defensive-Perimeter:

    99 vread y! x!
    pi 6 * 4 / 7 write
    world-size 2 vs/ 99 vread v- angle pi 5 * 8 / - 6 write

    return 


Set-Home:
    99 vread DistBottom! DistLeft!
    world-size 99 vread v- DistTop! DistRight!
    DistRight DistLeft < if
        DistTop DistBottom < if
            DistRight DistTop < if
                world-width 10 - 98 read - 99 write
            else
                world-height 10 - 98 read - 100 write
            then
        else
            DistRight DistBottom < if
                world-width 10 - 98 read - 99 write
            else
                0 6 write
                10 98 read + 100 write
            then
        then
    else
        DistTop DistBottom < if
            DistLeft DistTop < if
                10 98 read + 99 write
            else
                world-height 10 - 98 read - 100 write
            then
        else
            DistLeft DistBottom < if
                10 98 read + 99 write
            else
                10 98 read + 100 write
            then
        then
    then
    ;This codes stays 10 + the inner circle radius from wall
    return


;<----------------------------POLLEN---------------------------->
#type Pollen
#color FF0000
#decoration FFFF00 triangle
; Keep your distance.
; Message Channel 1 - Danger angle


; Changed from a mini-bomb to a defensive picket
; Forms a ring outside the main colony.
; Grenades are for defense outside the colony.
; Flag - Indicates when hungry
; 3 Tiered defense:
;    Border - Standard Defensive Posture
;    Resort - Move inward when damaged to allow room for others and get out of line of fire
;    Retreat - Go within colony border to repair and ask for energy
; If shots are detected, it will weave in the direction of the circle and radially to make it a harder target.
; If damaged, it lets other Pollens know where it got hurt at.  Pollens will then gravitate in that direction
;    bringing the firepower where it is needed.  Pollen will slowly gravitate to assigned spots if no one is being hurt.

; TODO:
; Make firing more intelligent
; Intelligent Missle defense
; Work with value of gravitation based on number of pollens
#hardware
processor 15
solar-cells .15
robot-sensor 10 1
shot-sensor 5
energy 100 30
engine .03
armor 150
repair-rate .25
grenades 22.5 10 15

#code

#vector vDest
#vector vFoeLoc
#vector vFoeVel
#vector vFoeFuture

#const DefendingColony 1
#const DefendingBorder 2
#const Retreating 3
#const Hunting 4
#const Resorting 5
#const Avoiding 6
#var Stage 0



#var MyAngle
#var AngleTweak
#var AngleStep .1
#var WeaveAngle
#var WeaveRadius 2
#var RadiusTweak 0
#var PercentLocation
#var OldPop 0
#var LastArmor
#var LastRequest
#start init
init:
    parent-id nif
        1 Pollen write
    then
    0 robot-sensor-sees-friends!
    1 robot-sensor-sees-enemies!
    Pollen read 1 + dup Pollen write TypeID! ;Count which Pollen I am
    max-armor LastArmor!

    pi 9 / WeaveAngle!
    Location^

Defend-Border:
    15 periodic-robot-sensor if
        robot-found Fire& ifc
    then
    20 periodic-shot-sensor if
        shot-found if
            WeaveRadius RadiusTweak + RadiusTweak!
            WeaveRadius negate WeaveRadius!
            WeaveAngle AngleTweak + AngleTweak!
            WeaveAngle negate WeaveAngle!
        then
    then
    Location^
    Stage Retreating = if energy 30 < and-if
        time LastRequest 20 + > if
            position 2 2 send
            time LastRequest!
        then
    else
        energy 5 < if
            -9.5 RadiusTweak!
            Retreating Stage!
            Defend-Border& jump
        then
    then

    vDest seek-location
    Armor-Management^
    Check-Comms^
    AngleTweak dup signum .03 * - AngleTweak!
    max-energy .6 * energy > flag!
    Defend-Border& jump

Avoid:
    5 periodic-robot-sensor if
        robot-found nifr
    then
    robot-distance 3 >= ifr
    2 robot-direction pi + reorient polar-to-rect position v+ vdest!
    vdest seek-location
    Fire^
    Avoid& jump

Check-Comms:
    do
        1 messages
    while
        1 receive drop 2pi + AngleTweak MyAngle + 2pi + - 0 < if
            AngleTweak AngleStep - AngleTweak!
        else
            AngleTweak AngleStep + AngleTweak!
        then
    loop
    return


Armor-Management:
    Repair^
    armor LastArmor < if
        MyAngle 1 1 send
        armor LastArmor!
        armor max-armor .3 * < if
            Stage Retreating <> if
                Retreating Stage!
                -9.5 RadiusTweak!
                return
            then
            return
        then
        armor max-armor .6 * < if
            Stage Resorting <> if
                Resorting Stage!
                -5 RadiusTweak!
                return
            then
            return
        then
        armor max-armor .8 * < if
            Stage DefendingBorder <> if
                0 RadiusTweak!
                DefendingBorder Stage!
                return
            then
            return
        then
        return
    then
    armor LastArmor > if
        armor LastArmor!
    then
    armor max-armor = if
        Stage DefendingBorder <> if
            0 RadiusTweak!
            DefendingBorder Stage!
        then
    then
    return

Repair:
    energy 5 > if
        armor max-armor < if
            max-repair-rate repair-rate!
        then
    else
        0 repair-rate!
    then
    armor max-armor = if
        0 repair-rate!
    then
    return;


Fire:
#var distance
;    do
        robot-position vFoeLoc!
        robot-velocity vFoeVel!
        robot-reloading robot-bomb or if
            robot-position 20 read 1 + dup 20 write 3 3 send
        then
        Stage Avoiding <> if robot-distance 3 <= and-if
            Stage Avoiding Stage! Avoid^ Stage!
        then
        grenades-cooldown nif
            vFoeVel vFoeLoc position dist grenades-speed /  vs* vFoeLoc v+ vFoeFuture!
            99 vread vFoeFuture dist 51 read 3 + >= if vFoeFuture position grenades-radius .75 * in-range not and-if
                vFoeLoc vFoeVel lead-grenade
                return
            then
        then
;        next-robot
;    while-loop
    return


Close-Combat:
    vFoeLoc vFoeVel seek-moving-location
    10 periodic-robot-sensor if
        robot-found nifr
        Fire^
    then
    51 read 5 + position 99 vread dist < ifr
    Close-Combat& jump    

Location:
    Pollen type-population dup OldPop <> if
        OldPop!
        TypeID OldPop mod OldPop / PercentLocation!
    else
        drop
    then
    Pollen type-population 1 = if
        .5 PercentLocation!
    then
    7 read PercentLocation * 6 read + MyAngle!
    RadiusTweak Border + 51 read + MyAngle AngleTweak + polar-to-rect 99 vread v+ vDest!
    return



;<----------------------------WORKER BEE---------------------------->
#type WorkerBee
#color 00FF00
#decoration 00FF00 x
; Industrious member, tries to feed everyone else.  Cooperates a lot with others

; This type is a necessity.  Without the Bee, growth in the begining is slow, the defenders get hungry,
;    other eaters invade the colony, and other bad mojo.  Petals cannot perform to capacity without the Worker Bee

;Behaviours:
;    Gathers food, when full, searches for anyone with a flag to give food to.
;    Avoids fighting over food in a simple manner.  If there is a WorkerBee closer to the food than I am, go elsewhere.
;  If shot at, dodges perpendicular to the shot to minimize hits.
;    Runs away from cells that are cooling down or are bombs.
;    Uses flag to ask for food if low.  Doesn't act the best when empty.

;[2-17-05] Concept Change: Bees do not try to daisy-chain resources to Bud
;[4-09-06] The Bee would retreat home when hurt to repair in safety.  Mostly this brought aggresive fighters to my
;                Flower, which ends up killing me.  Now repairs in place.

;TODO
; When being fired on, Should decided whether to retreat to colony.  Run into an empty area, or find a non-aggresive
;    cell of a different side to run towards, hopefully loosing its pursuer
; Don't Fire food sensor while eating
; Accept Multiple Food sensor resuls and give preference to closer ones.


#hardware
engine .15
processor 20
solar-cells .04
energy 400 20
robot-sensor 10 6
syphon 5 8
food-sensor 12
shot-sensor 6
armor 80
eater 3
radio read
repair-rate .25

#code
#var GoAngle 0
#vector vDest 0 0

#var Action 0
#var PrevAct
#const ActNone 0
#const ActGiveEnergy 1
#const ActFindFriend 2
#const ActRunAway 3
#const ActRepair 4

#var EnemyNear 0
#vector SyphonTarget 0 0
#var range 0
#var r
#var i


#start init
init:
    1 robot-sensor-sees-friends!
    0 robot-sensor-sees-enemies!
    WorkerBee read 1 + dup WorkerBee write TypeID! ;Count which WorkerBee I am
    pi 5 * 6 / TypeID * 2pi mod GoAngle! ; Angle to search for food
    30 GoAngle polar-to-rect 99 vread v+ vDest! ; distance to search
;<([--MAIN--])>
Main:
    ;Check-Comms^
    Resource-Management^
    Run-From-Danger^
    Am-I-Hurt^
    Navigate^
    Main& jump    
;<([--END MAIN--])>

Am-I-Hurt:
    max-armor armor > if
    max-energy .3 * energy > EnemyNear not and
    max-energy .3 * energy < 
    or and-if
        0 syphon-rate!
        max-repair-rate repair-rate!
        EnemyNear Action ActRepair ifev Action!
        max-energy .25 * energy > flag!
    else
        0 repair-rate!
        0 flag!
        ActRepair Action = if ActNone Action! then    
    then
    return

Navigate:
    energy 1 < if 0 engine-power! sync sync sync sync ActNone Action! return then
    Action not .1 9 ifev range!
    Action ActRepair = if 8 range! then
    Action ActRunAway = if .5 range! then
    vdest In-World^ nif
        world-width 10 / dup world-width swap - random-int
        world-height 10 / dup world-height swap - random-int
        vdest!
        GoAngle pi 2 / + GoAngle!
    then
    vdest position range in-range nif
        vdest seek-location
    else
        position seek-location
    then
    return

Locate-Candidate: 
    0 robot-sensor-sees-enemies!
    1 robot-sensor-sees-friends!

    99 vread 2dup seek-location vDest!
    fire-robot-sensor sync
    robot-found nifr

    do
        robot-flag LC-Success& ifg
    next-robot
    while-loop
    return
LC-Success:
    0 engine-power!
    position vdest!
    robot-position SyphonTarget!
    ActGiveEnergy Action!
    return


Give-Energy:
;    Action ActRunAway = Action ActRepair or ifr
    SyphonTarget position v- rect-to-polar syphon-direction! syphon-distance!
    syphon-max-rate negate syphon-rate!
    sync
    syphoned negate syphon-max-rate < if ActFindFriend Action! then
    energy 40 <= if 0 syphon-rate! ActNone Action! then
    return

Find-Food:
    Action ActRunAway = Action ActRepair = or ifr
    max-energy .9 * energy < if ActFindFriend Action! return then 
    food-sensor-firing-cost robot-sensor-firing-cost + 2 * energy > ifr
    0 robot-sensor-sees-enemies!
    1 robot-sensor-sees-friends!        
    fire-food-sensor 
    fire-robot-sensor sync 

    food-found nif Set-Search-Dest^ return then
    robot-found nif food-position vdest! return then
    food-position position dist range!
    do
        robot-type WorkerBee = FF-Next-Result& nifg
        robot-position food-position dist range < if
            Set-Search-Dest^ return
        then

FF-Next-Result:
        next-robot
    while-loop
    food-position vdest!
    return

Resource-Management:

    energy 10 < flag!
    Action ActRepair = ifr
    Action ActRunAway = ifr
    Action ActFindFriend = Locate-Candidate& ifc
    Action ActGiveEnergy = Give-Energy& ifc
    Action ActNone = Find-Food& ifc    
    return

Run-From-Danger:
    energy 10 < ifr
    time shot-sensor-time 3 + <= ifr
    1 robot-sensor-sees-enemies!
    0 robot-sensor-sees-friends!
    fire-robot-sensor fire-shot-sensor sync
    shot-found 0 = if 
        robot-found 0 = if
            0 EnemyNear!
            Action ActRunAway = PrevAct Action ifev Action!
            return
        then
    then
    ActRunAway Action = nif Action PrevAct! then
    shot-found if shot-type 2 shot-type 4 = or <= and-if
        1 EnemyNear!
        3 shot-position position v- angle pi + 2pi mod polar-to-rect position v+ vdest!
        ActRunAway Action!
        return
    then
    robot-found if
        do
            robot-reloading robot-bomb or if
                1 EnemyNear!
                robot-position 20 read 1 + dup 20 write 3 3 send
                3 robot-position position v- angle pi 5 * 4 / + 2pi mod polar-to-rect position v+ vdest!
                ActRunAway Action!
                return
            then
            next-robot
        while-loop
    then
    PrevAct Action!
    return

Set-Search-Dest:
    5 GoAngle polar-to-rect position v+ vdest!
    return

;<----------------------------LEAF---------------------------->
#type Leaf
#color F2B1FC
#decoration F2B1FC dot
;Likes basking in the sun
;Type is simple so far

; Forms a ring of six Leaves to every Petal using simple Mod math, and a Type-Count (Something I use for all my Types)
; Checks a time indicator in shared memory to be sure the Petal it is suppose to feed is still alive.
;    Changes TypeID, and therefore petal to feed if it dies.

;    Looks for food requests from Pollens, to help them repair faster when Retreating.


#hardware
engine .05
processor 20
radio read
solar-cells .4
syphon .55 2
armor 10
energy 100 0

#code
#var SpacingAngle 0
#var SpacingDist 1.9
#var FeedPollen 0
#vector vPollen
#var PetalToFeed
#var Point
#vector Home 0 0

#start init
init:
    Leaf read 1 + dup Leaf write TypeID! ;Count which Leaf I am
    do
        TypeID 6 / floor 2 * 201 + PetalToFeed! sync
        TypeID 6 / floor 1 + Petal read >
    while-loop
    TypeID 1 - 6 mod Point!
    2pi 6 / Point * SpacingAngle!
    syphon-max-rate negate syphon-rate!
;<([--MAIN--])>
Main:
    Formate^
    Check-Comm^
    Aim-Syphon^
    time PetalToFeed 400 + read 40 + > init& ifg
    Main& jump    
;<([--END MAIN--])>

Check-Comm:
    do
        2 messages
    while
        2 receive drop 2dup vPollen!
        position 2.4 in-range if
            time 20 + FeedPollen!
            return
        then
    loop
    return

Aim-Syphon:
    time FeedPollen < if
        vPollen position v- rect-to-polar syphon-direction! syphon-distance!
    else
        PetalToFeed vread position v- rect-to-polar syphon-direction! syphon-distance!
    then
    return

Formate:
    SpacingDist SpacingAngle polar-to-rect PetalToFeed vread v+ Home!
    Home seek-location
    return

#end

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Flower is my first very involved side. Its gone through a lot of changes, and is where I learned a lot about grobots. Its not very competitive, but it has the distinct of being of the first (and so far only) side to use sub-formations. I think there are a lot of good ideas to plumb here.

#side Flower
#author Tyson Hoffman < Tilendor@tiltech.net >
#color E01D97
#date Begun on 2/15/06




;<-------------------------------- Concept -------------------------------->
;Experimental side using colonies, solar collectors, gatherers, and defensive fighters.
;A Big focus of this side is side is its colony.  It forms rings, which grow from the center
;this means the outside can be damaged, but still have a viable center.  Doing the math, and then coding it for this
;was challenging.


;Side note, which sides aren't experimental?

;Major observation - Big cells are not worth it.  Don't use them.  They are silly

;TODO
; Problem made apparent by Statistics window: Overflow energy generally ranges from 1 to 4 percent, its a shame to waste.
; Solutions: Have Worker Bees distribute when necessary.  Or as inspired by Warren, give solar cells a small constructor
;	to utilize extra power.

;<-------------------------------- Changes -------------------------------->
;[02-20-06] Removed Mine-layer type
;[03-02-06] Attempted to make Buds Formate as well. Changed Pollen patrol patterns.
;[03-06-06] Began Big Refactoring, in order to take out Bud.
;[04-08-06] Bud is gone, changing mini-missiles to fighters
;[04-16-06] Removed Blaster from Pollen
;<-------------------------------- Reference -------------------------------->
;Shared Memory
; 1 - # of Petals produced
; 2 - # of Pollens produced
; 3 - # of Worker-Bees produced
; 4 - # of Leaves produced

; 6 - Start angle for protective perimeter
; 7 - angle span

; 11 - # of Petals to build
; 12 - # of Pollens to build
; 13 - # of Worker-Bees to build
; 14 - # of Leaves to build
; 17 - Current Build Phase
; 18 - Current Building Stage

; 20 - Message Count for Channel 3
; 21 - Processed messages on Channel 3

; 50 - # of Rings
; 51+ - Radius for each ring.

; 98 - Width of Petal Formation
; 99,100 - Flower home
; 201+ - Actual x,y pairs for successive Petals
; 601+ - Timestamps for cell life.

;Message Channels:
; 1 - Danger Angle, used to shift Pollens to where enemies are
; 2 - Food Requests from injured Pollens.
; 3 - Robot Warnings - Bogies to try to avoid


#seed 1 2 3 4 4 4 4


;<----------------------------COMMON---------------------------->
#code
#const Petal 1
#const Pollen 2
#const WorkerBee 3
#const Leaf 4

#var TypeID
#const Border 10

#var x
#var y
In-World:
	y! x!
	x 1 < if 0 return then
	x world-width 1 - > if 0 return then
	y 1 < if 0 return then
	y world-width 1 - > if 0 return then
	1 return




;<----------------------------PETAL---------------------------->
#type Petal
#color FFFF00

; The Petal is Small, but pretty to look at.  It likes circles.  Its really productive
; Has slight solar-cells to allow operation without any energy sources.
; Behaviors:
;	Circles - Each new petal starts at the very center of the formation.  As new petals are built, they push older
;		Petals outwards
;	Communication - Broadcasts its X,Y position as well as each frame of execution, used to determine if it was killed.
;	Hurt - If hurt, the Petal moves the formation away from where it got hurt.
;		This sometimes leads to a tennis ball effect: bouncing between two enemies
;  Building - Cooperatively decides what to build, according to my master plans!!!!
;  Flag - Indicates if hungry.  Almost always is.
;  Hugs Wall - Always moves to the closest wall, then makes room as formation grows
;  Listens to Enemy Locations - Channel 3 tells where fighters are, scoots formation the other way.

;TODO:
;	Give Robot and or Shot Sensors.

#hardware
processor 30
engine .05
constructor 3.2
energy 700 5
armor 100
solar-cells .02
repair-rate .2

#code

#var build 0
#var CellAngle 0
#var SpacingAngle 0
#var SpacingDist 3
#var Range 0
#var a
#var b
#vector temp 0 0
#var DistTop
#var DistBottom
#var DistLeft
#var DistRight
#var MemOffset
#var LastPopulation 0
#vector vdest
#var Padding 6
#var Ring
#var RingStart
#var RingEnd
#var C2R ;# of cells to radius conversion
#var R2C ;Radius to # of cells conversion
#var OldArmor

#start init
init:
	Petal read 1 + dup Petal write TypeID! ;Count which Petal I am
	TypeID 2 * 199 + MemOffset!
	parent-id nif
		1 18 write
		0 98 write
		position 99 vwrite 
		1 50 write
	then
	Padding 2pi / dup C2R! reciprocal R2C!
	Set-Home^
	Ring-Math^
	time MemOffset 400 + write
	Set-Defensive-Perimeter^
	51 read 98 write
	armor OldArmor!

;<([--MAIN--])>
Main:
	time MemOffset 400 + write
	max-energy .8 * energy > flag!
	Formate^
	Produce^
	Am-I-Hurt^
	sync
	Check-Comms^
	Main& jump
;<([--END MAIN--])>

Check-Comms:
	3 messages nifr
	3 messages 20 vread - - 3 skip-messages
	do
		3 messages
	while
		3 receive drop 21 write 2dup ;Increments message count and duplicates bogies' location
		99 vread 51 read 15 + in-range 2 .5 ifev ;Distance to move based on closeness to colony  X,Y,Range
		rrot 99 vread v- angle pi + reorient polar-to-rect 99 vread v+ 99 vwrite ;Moves colony away from dangerous cell
		Set-Home^
		Set-Defensive-Perimeter^
	loop
	return

Determine-Construction:
	18 read 1 = if
		BuildStage1& 17 read 10 * + jump
	else 18 read 2 = if
		BuildStage2& 17 read 10 * + jump
	celse 18 read 3 = if
		BuildStage3& jump
	celse
	then

BuildStage1: ;
;  3  4  2  1  Build Order
;  Pe Po W  L  Types
;First column indicates if final phase
0	1  1  0  3  Announce-Construct& jump nop nop nop
0	0  1  0  2  Announce-Construct& jump nop nop nop
0  0  0  1  2  Announce-Construct& jump nop nop nop 
0	1	1	0	4	Announce-Construct& jump nop nop nop
0	0  5  0  4  Announce-Construct& jump nop nop nop
0	1  1  2  2  Announce-Construct& jump nop nop nop
1	2  4  1  6  Announce-Construct& jump nop nop nop

BuildStage2:
0	3 10  2  12  Announce-Construct& jump nop nop nop
1  2 10  1  18  Announce-Construct& jump nop nop nop

BuildStage3:
0	1  3  1   6

Announce-Construct:
	Leaf 10 + write ; Leaf
	WorkerBee type-population 0 = 1 rot ifev WorkerBee 10 + write ; WorkerBee
	Pollen 10 + write ; Pollen
	Petal 10 + write ; Petal

	if
		18 read 1 + 18 write
		0 17 write
	else
		17 read 1 + 17 write
	then

	return

Am-I-Hurt:
	max-armor armor > if
		armor OldArmor < if
			CellAngle 1 1 send	
			5 CellAngle pi + reorient polar-to-rect 99 vread v+ 99 vwrite
			Set-Home^
			Set-Defensive-Perimeter^
			armor OldArmor!
		then
		0 constructor-rate!
		max-repair-rate repair-rate!
	else
		constructor-max-rate constructor-rate!
		0 repair-rate!
	then
	return

Produce:
	energy 10 > constructor-max-rate 0 ifev constructor-rate!
	constructor-remaining ifr
	Leaf build!
Produce-check:
	build 10 + read 0 > if
		build constructor-type!
		constructor-max-rate constructor-rate!
		build 10 + read 1 - build 10 + write
		return
	then
	build Pollen = if Determine-Construction^ return then ;No build instructions, announce next phase.
	build Petal = if Pollen build! then
	build WorkerBee = if Petal build! then
	build Leaf = if WorkerBee build! then
	Produce-check& jump
	;build order = Leaf, WorkerBee, Petal, Pollen
	return

Ring-Math:
	50 read a!
	50 a + read b!
	b Padding > if
		50 read 1 + 50 write
		a 1 + a!
		C2R 50 a + write
		return
	then
	50 read b! ;Rings
	1 a!
	do
		a b <
	while
		50 a + vread Padding + < if
			50 a + read C2R + 50 a + write
			return
		then
		a 1 + a!
	loop
	50 a + read C2R + 50 a + write
	return

Formate:
	Petal read LastPopulation = nif ;Change formation is a Petal is built
		sync sync sync
		Petal read LastPopulation!
		0 Ring!
		0 RingEnd!
		do
			RingEnd RingStart!
			Ring 1 + Ring!
			50 Ring + read R2C * round RingEnd + RingEnd!
			TypeID RingStart > TypeID RingEnd <= and
		until-loop	



	then

	2pi RingEnd RingStart - / reorient SpacingAngle!
	TypeID RingStart 1 + - SpacingAngle * reorient CellAngle!
	50 Ring + read CellAngle polar-to-rect 99 vread v+ vdest!

	vdest seek-location
	position MemOffset vwrite ; Announce actual location
	return

Set-Defensive-Perimeter:

	99 vread y! x!
	pi 6 * 4 / 7 write
	world-size 2 vs/ 99 vread v- angle pi 5 * 8 / - 6 write

	return 


Set-Home:
	99 vread DistBottom! DistLeft!
	world-size 99 vread v- DistTop! DistRight!
	DistRight DistLeft < if
		DistTop DistBottom < if
			DistRight DistTop < if
				world-width 10 - 98 read - 99 write
			else
				world-height 10 - 98 read - 100 write
			then
		else
			DistRight DistBottom < if
				world-width 10 - 98 read - 99 write
			else
				0 6 write
				10 98 read + 100 write
			then
		then
	else
		DistTop DistBottom < if
			DistLeft DistTop < if
				10 98 read + 99 write
			else
				world-height 10 - 98 read - 100 write
			then
		else
			DistLeft DistBottom < if
				10 98 read + 99 write
			else
				10 98 read + 100 write
			then
		then
	then
	;This codes stays 10 + the inner circle radius from wall
	return


;<----------------------------POLLEN---------------------------->
#type Pollen
#color FF0000
#decoration FFFF00 triangle
; Keep your distance.
; Message Channel 1 - Danger angle


; Changed from a mini-bomb to a defensive picket
; Forms a ring outside the main colony.
; Grenades are for defense outside the colony.
; Flag - Indicates when hungry
; 3 Tiered defense:
;	Border - Standard Defensive Posture
;	Resort - Move inward when damaged to allow room for others and get out of line of fire
;	Retreat - Go within colony border to repair and ask for energy
; If shots are detected, it will weave in the direction of the circle and radially to make it a harder target.
; If damaged, it lets other Pollens know where it got hurt at.  Pollens will then gravitate in that direction
;	bringing the firepower where it is needed.  Pollen will slowly gravitate to assigned spots if no one is being hurt.

; TODO:
; Make firing more intelligent
; Intelligent Missle defense
; Work with value of gravitation based on number of pollens
#hardware
processor 15
solar-cells .15
robot-sensor 10 1
shot-sensor 5
energy 100 30
engine .03
armor 150
repair-rate .25
grenades 22.5 10 15

#code

#vector vDest
#vector vFoeLoc
#vector vFoeVel
#vector vFoeFuture

#const DefendingColony 1
#const DefendingBorder 2
#const Retreating 3
#const Hunting 4
#const Resorting 5
#const Avoiding 6
#var Stage 0



#var MyAngle
#var AngleTweak
#var AngleStep .1
#var WeaveAngle
#var WeaveRadius 2
#var RadiusTweak 0
#var PercentLocation
#var OldPop 0
#var LastArmor
#var LastRequest
#start init
init:
	parent-id nif
		1 Pollen write
	then
	0 robot-sensor-sees-friends!
	1 robot-sensor-sees-enemies!
	Pollen read 1 + dup Pollen write TypeID! ;Count which Pollen I am
	max-armor LastArmor!

	pi 9 / WeaveAngle!
	Location^

Defend-Border:
	15 periodic-robot-sensor if
		robot-found Fire& ifc
	then
	20 periodic-shot-sensor if
		shot-found if
			WeaveRadius RadiusTweak + RadiusTweak!
			WeaveRadius negate WeaveRadius!
			WeaveAngle AngleTweak + AngleTweak!
			WeaveAngle negate WeaveAngle!
		then
	then
	Location^
	Stage Retreating = if energy 30 < and-if
		time LastRequest 20 + > if
			position 2 2 send
			time LastRequest!
		then
	else
		energy 5 < if
			-9.5 RadiusTweak!
			Retreating Stage!
			Defend-Border& jump
		then
	then

	vDest seek-location
	Armor-Management^
	Check-Comms^
	AngleTweak dup signum .03 * - AngleTweak!
	max-energy .6 * energy > flag!
	Defend-Border& jump

Avoid:
	5 periodic-robot-sensor if
		robot-found nifr
	then
	robot-distance 3 >= ifr
	2 robot-direction pi + reorient polar-to-rect position v+ vdest!
	vdest seek-location
	Fire^
	Avoid& jump

Check-Comms:
	do
		1 messages
	while
		1 receive drop 2pi + AngleTweak MyAngle + 2pi + - 0 < if
			AngleTweak AngleStep - AngleTweak!
		else
			AngleTweak AngleStep + AngleTweak!
		then
	loop
	return


Armor-Management:
	Repair^
	armor LastArmor < if
		MyAngle 1 1 send
		armor LastArmor!
		armor max-armor .3 * < if
			Stage Retreating <> if
				Retreating Stage!
				-9.5 RadiusTweak!
				return
			then
			return
		then
		armor max-armor .6 * < if
			Stage Resorting <> if
				Resorting Stage!
				-5 RadiusTweak!
				return
			then
			return
		then
		armor max-armor .8 * < if
			Stage DefendingBorder <> if
				0 RadiusTweak!
				DefendingBorder Stage!
				return
			then
			return
		then
		return
	then
	armor LastArmor > if
		armor LastArmor!
	then
	armor max-armor = if
		Stage DefendingBorder <> if
			0 RadiusTweak!
			DefendingBorder Stage!
		then
	then
	return

Repair:
	energy 5 > if
		armor max-armor < if
			max-repair-rate repair-rate!
		then
	else
		0 repair-rate!
	then
	armor max-armor = if
		0 repair-rate!
	then
	return;


Fire:
#var distance
;	do
		robot-position vFoeLoc!
		robot-velocity vFoeVel!
		robot-reloading robot-bomb or if
			robot-position 20 read 1 + dup 20 write 3 3 send
		then
		Stage Avoiding <> if robot-distance 3 <= and-if
			Stage Avoiding Stage! Avoid^ Stage!
		then
		grenades-cooldown nif
			vFoeVel vFoeLoc position dist grenades-speed /  vs* vFoeLoc v+ vFoeFuture!
			99 vread vFoeFuture dist 51 read 3 + >= if vFoeFuture position grenades-radius .75 * in-range not and-if
				vFoeLoc vFoeVel lead-grenade
				return
			then
		then
;		next-robot
;	while-loop
	return


Close-Combat:
	vFoeLoc vFoeVel seek-moving-location
	10 periodic-robot-sensor if
		robot-found nifr
		Fire^
	then
	51 read 5 + position 99 vread dist < ifr
	Close-Combat& jump	

Location:
	Pollen type-population dup OldPop <> if
		OldPop!
		TypeID OldPop mod OldPop / PercentLocation!
	else
		drop
	then
	Pollen type-population 1 = if
		.5 PercentLocation!
	then
	7 read PercentLocation * 6 read + MyAngle!
	RadiusTweak Border + 51 read + MyAngle AngleTweak + polar-to-rect 99 vread v+ vDest!
	return



;<----------------------------WORKER BEE---------------------------->
#type WorkerBee
#color 00FF00
#decoration 00FF00 x
; Industrious member, tries to feed everyone else.  Cooperates a lot with others

; This type is a necessity.  Without the Bee, growth in the begining is slow, the defenders get hungry,
;	other eaters invade the colony, and other bad mojo.  Petals cannot perform to capacity without the Worker Bee

;Behaviours:
;	Gathers food, when full, searches for anyone with a flag to give food to.
;	Avoids fighting over food in a simple manner.  If there is a WorkerBee closer to the food than I am, go elsewhere.
;  If shot at, dodges perpendicular to the shot to minimize hits.
;	Runs away from cells that are cooling down or are bombs.
;	Uses flag to ask for food if low.  Doesn't act the best when empty.

;[2-17-05] Concept Change: Bees do not try to daisy-chain resources to Bud
;[4-09-06] The Bee would retreat home when hurt to repair in safety.  Mostly this brought aggresive fighters to my
;				Flower, which ends up killing me.  Now repairs in place.

;TODO
; When being fired on, Should decided whether to retreat to colony.  Run into an empty area, or find a non-aggresive
;	cell of a different side to run towards, hopefully loosing its pursuer
; Don't Fire food sensor while eating
; Accept Multiple Food sensor resuls and give preference to closer ones.


#hardware
engine .15
processor 20
solar-cells .04
energy 400 20
robot-sensor 10 6
syphon 5 8
food-sensor 12
shot-sensor 6
armor 80
eater 3
radio read
repair-rate .25

#code
#var GoAngle 0
#vector vDest 0 0

#var Action 0
#var PrevAct
#const ActNone 0
#const ActGiveEnergy 1
#const ActFindFriend 2
#const ActRunAway 3
#const ActRepair 4

#var EnemyNear 0
#vector SyphonTarget 0 0
#var range 0
#var r
#var i


#start init
init:
	1 robot-sensor-sees-friends!
	0 robot-sensor-sees-enemies!
	WorkerBee read 1 + dup WorkerBee write TypeID! ;Count which WorkerBee I am
	pi 5 * 6 / TypeID * 2pi mod GoAngle! ; Angle to search for food
	30 GoAngle polar-to-rect 99 vread v+ vDest! ; distance to search
;<([--MAIN--])>
Main:
	;Check-Comms^
	Resource-Management^
	Run-From-Danger^
	Am-I-Hurt^
	Navigate^
	Main& jump	
;<([--END MAIN--])>

Am-I-Hurt:
	max-armor armor > if
	max-energy .3 * energy > EnemyNear not and
	max-energy .3 * energy < 
	or and-if
		0 syphon-rate!
		max-repair-rate repair-rate!
		EnemyNear Action ActRepair ifev Action!
		max-energy .25 * energy > flag!
	else
		0 repair-rate!
		0 flag!
		ActRepair Action = if ActNone Action! then	
	then
	return

Navigate:
	energy 1 < if 0 engine-power! sync sync sync sync ActNone Action! return then
	Action not .1 9 ifev range!
	Action ActRepair = if 8 range! then
	Action ActRunAway = if .5 range! then
	vdest In-World^ nif
		world-width 10 / dup world-width swap - random-int
		world-height 10 / dup world-height swap - random-int
		vdest!
		GoAngle pi 2 / + GoAngle!
	then
	vdest position range in-range nif
		vdest seek-location
	else
		position seek-location
	then
	return

Locate-Candidate: 
	0 robot-sensor-sees-enemies!
	1 robot-sensor-sees-friends!

	99 vread 2dup seek-location vDest!
	fire-robot-sensor sync
	robot-found nifr

	do
		robot-flag LC-Success& ifg
	next-robot
	while-loop
	return
LC-Success:
	0 engine-power!
	position vdest!
	robot-position SyphonTarget!
	ActGiveEnergy Action!
	return


Give-Energy:
;	Action ActRunAway = Action ActRepair or ifr
	SyphonTarget position v- rect-to-polar syphon-direction! syphon-distance!
	syphon-max-rate negate syphon-rate!
	sync
	syphoned negate syphon-max-rate < if ActFindFriend Action! then
	energy 40 <= if 0 syphon-rate! ActNone Action! then
	return

Find-Food:
	Action ActRunAway = Action ActRepair = or ifr
	max-energy .9 * energy < if ActFindFriend Action! return then 
	food-sensor-firing-cost robot-sensor-firing-cost + 2 * energy > ifr
	0 robot-sensor-sees-enemies!
	1 robot-sensor-sees-friends!		
	fire-food-sensor 
	fire-robot-sensor sync 

	food-found nif Set-Search-Dest^ return then
	robot-found nif food-position vdest! return then
	food-position position dist range!
	do
		robot-type WorkerBee = FF-Next-Result& nifg
		robot-position food-position dist range < if
			Set-Search-Dest^ return
		then

FF-Next-Result:
		next-robot
	while-loop
	food-position vdest!
	return

Resource-Management:

	energy 10 < flag!
	Action ActRepair = ifr
	Action ActRunAway = ifr
	Action ActFindFriend = Locate-Candidate& ifc
	Action ActGiveEnergy = Give-Energy& ifc
	Action ActNone = Find-Food& ifc	
	return

Run-From-Danger:
	energy 10 < ifr
	time shot-sensor-time 3 + <= ifr
	1 robot-sensor-sees-enemies!
	0 robot-sensor-sees-friends!
	fire-robot-sensor fire-shot-sensor sync
	shot-found 0 = if 
		robot-found 0 = if
			0 EnemyNear!
			Action ActRunAway = PrevAct Action ifev Action!
			return
		then
	then
	ActRunAway Action = nif Action PrevAct! then
	shot-found if shot-type 2 shot-type 4 = or <= and-if
		1 EnemyNear!
		3 shot-position position v- angle pi + 2pi mod polar-to-rect position v+ vdest!
		ActRunAway Action!
		return
	then
	robot-found if
		do
			robot-reloading robot-bomb or if
				1 EnemyNear!
				robot-position 20 read 1 + dup 20 write 3 3 send
				3 robot-position position v- angle pi 5 * 4 / + 2pi mod polar-to-rect position v+ vdest!
				ActRunAway Action!
				return
			then
			next-robot
		while-loop
	then
	PrevAct Action!
	return

Set-Search-Dest:
	5 GoAngle polar-to-rect position v+ vdest!
	return

;<----------------------------LEAF---------------------------->
#type Leaf
#color F2B1FC
#decoration F2B1FC dot
;Likes basking in the sun
;Type is simple so far

; Forms a ring of six Leaves to every Petal using simple Mod math, and a Type-Count (Something I use for all my Types)
; Checks a time indicator in shared memory to be sure the Petal it is suppose to feed is still alive.
;	Changes TypeID, and therefore petal to feed if it dies.

;	Looks for food requests from Pollens, to help them repair faster when Retreating.


#hardware
engine .05
processor 20
radio read
solar-cells .4
syphon .55 2
armor 10
energy 100 0

#code
#var SpacingAngle 0
#var SpacingDist 1.9
#var FeedPollen 0
#vector vPollen
#var PetalToFeed
#var Point
#vector Home 0 0

#start init
init:
	Leaf read 1 + dup Leaf write TypeID! ;Count which Leaf I am
	do
		TypeID 6 / floor 2 * 201 + PetalToFeed! sync
		TypeID 6 / floor 1 + Petal read >
	while-loop
	TypeID 1 - 6 mod Point!
	2pi 6 / Point * SpacingAngle!
	syphon-max-rate negate syphon-rate!
;<([--MAIN--])>
Main:
	Formate^
	Check-Comm^
	Aim-Syphon^
	time PetalToFeed 400 + read 40 + > init& ifg
	Main& jump	
;<([--END MAIN--])>

Check-Comm:
	do
		2 messages
	while
		2 receive drop 2dup vPollen!
		position 2.4 in-range if
			time 20 + FeedPollen!
			return
		then
	loop
	return

Aim-Syphon:
	time FeedPollen < if
		vPollen position v- rect-to-polar syphon-direction! syphon-distance!
	else
		PetalToFeed vread position v- rect-to-polar syphon-direction! syphon-distance!
	then
	return

Formate:
	SpacingDist SpacingAngle polar-to-rect PetalToFeed vread v+ Home!
	Home seek-location
	return

#end