/**
    * UT2004 Environment, an implementation of the environment interface standard that 
    * facilitates the connection between GOAL and UT2004. 
    * 
    * Copyright (C) 2012 UT2004 Environment authors.
    * 
    * This program is free software: you can redistribute it and/or modify it under
    * the terms of the GNU General Public License as published by the Free Software
    * Foundation, either version 3 of the License, or (at your option) any later
   * version.
   * 
   * This program is distributed in the hope that it will be useful, but WITHOUT
   * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
   * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
   * details.
   * 
   * You should have received a copy of the GNU General Public License along with
   * this program. If not, see <http://www.gnu.org/licenses/>.
   */
  
  package nl.tudelft.goal.ut2004.agent;
  
  import java.lang.reflect.Method;
  import java.util.ArrayList;
  import java.util.Collection;
  import java.util.LinkedList;
  import java.util.List;
  import java.util.Map;
  
  import nl.tudelft.goal.unreal.messages.BotParameters;
  import nl.tudelft.goal.unreal.messages.Parameters;
  import nl.tudelft.goal.unreal.util.Selector;
  import nl.tudelft.goal.ut2004.actions.Action;
  import nl.tudelft.goal.ut2004.actions.ActionQueue;
  import nl.tudelft.goal.ut2004.actions.Continue;
  import nl.tudelft.goal.ut2004.actions.DropWeapon;
  import nl.tudelft.goal.ut2004.actions.Look;
  import nl.tudelft.goal.ut2004.actions.Navigate;
  import nl.tudelft.goal.ut2004.actions.Prefer;
  import nl.tudelft.goal.ut2004.actions.Respawn;
  import nl.tudelft.goal.ut2004.actions.Shoot;
  import nl.tudelft.goal.ut2004.actions.Stop;
  import nl.tudelft.goal.ut2004.floydwarshall.SharedFloydWarshallMap;
  import nl.tudelft.goal.ut2004.messages.Combo;
  import nl.tudelft.goal.ut2004.messages.FireMode;
  import nl.tudelft.goal.ut2004.messages.FlagState;
  import nl.tudelft.goal.ut2004.messages.None;
  import nl.tudelft.goal.ut2004.messages.Percept;
  import nl.tudelft.goal.ut2004.messages.SelectorList;
  import nl.tudelft.goal.ut2004.messages.UnrealIdOrLocation;
  import nl.tudelft.goal.ut2004.messages.WeaponPrefList;
  import nl.tudelft.goal.ut2004.selector.ContextSelector;
  import nl.tudelft.goal.ut2004.selector.NearestEnemy;
  import nl.tudelft.goal.ut2004.util.Team;
  import nl.tudelft.pogamut.ut2004.agent.module.sensor.Projectiles;
  import nl.tudelft.pogamut.ut2004.agent.module.shooting.WeaponryShooting;
  import nl.tudelft.pogamut.ut2004.agent.module.shooting.util.FocusProvider;
  import nl.tudelft.pogamut.ut2004.agent.module.shooting.util.OrderedFocusProvider;
  import nl.tudelft.pogamut.ut2004.agent.module.shooting.weapon.AssaultRifleShooting;
  import nl.tudelft.pogamut.ut2004.agent.module.shooting.weapon.BioRifleShooting;
  import nl.tudelft.pogamut.ut2004.agent.module.shooting.weapon.FlakCannonShooting;
  import nl.tudelft.pogamut.ut2004.agent.module.shooting.weapon.LigthningGunShooting;
  import nl.tudelft.pogamut.ut2004.agent.module.shooting.weapon.LinkGunShooting;
  import nl.tudelft.pogamut.ut2004.agent.module.shooting.weapon.MinigunShooting;
  import nl.tudelft.pogamut.ut2004.agent.module.shooting.weapon.RocketLauncherShooting;
  import nl.tudelft.pogamut.ut2004.agent.module.shooting.weapon.ShieldGunShooting;
  import nl.tudelft.pogamut.ut2004.agent.module.shooting.weapon.ShockRifleShooting;
  import nl.tudelft.pogamut.ut2004.agent.module.shooting.weapon.SniperRifleShooting;
  import cz.cuni.amis.pogamut.base.agent.navigation.IPathPlanner;
  import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.EventListener;
  import cz.cuni.amis.pogamut.base.communication.worldview.object.IWorldObject;
  import cz.cuni.amis.pogamut.base.utils.logging.IAgentLogger;
  import cz.cuni.amis.pogamut.base.utils.math.DistanceUtils;
  import cz.cuni.amis.pogamut.base3d.worldview.object.ILocated;
  import cz.cuni.amis.pogamut.base3d.worldview.object.Location;
  import cz.cuni.amis.pogamut.unreal.communication.messages.UnrealId;
  import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.Weapon;
  import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.WeaponPref;
  import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004AStarPathPlanner;
  import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004GetBackToNavGraph;
  import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004Navigation;
  import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004PathExecutor;
  import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004RunStraight;
  import cz.cuni.amis.pogamut.ut2004.agent.navigation.loquenavigator.LoqueNavigator;
  import cz.cuni.amis.pogamut.ut2004.agent.navigation.stuckdetector.UT2004DistanceStuckDetector;
  import cz.cuni.amis.pogamut.ut2004.agent.navigation.stuckdetector.UT2004PositionStuckDetector;
  import cz.cuni.amis.pogamut.ut2004.agent.navigation.stuckdetector.UT2004TimeStuckDetector;
  import cz.cuni.amis.pogamut.ut2004.agent.params.UT2004AgentParameters;
  import cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004Bot;
  import cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004BotModuleController;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.ItemType;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.gbcommands.AddInventory;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.gbcommands.GetPath;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.gbcommands.Initialize;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.BotKilled;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.FlagInfo;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Item;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint;
  import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.PathList;
 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Player;
 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.PlayerKilled;
 import cz.cuni.amis.pogamut.ut2004.utils.UT2004BotRunner;
 import cz.cuni.amis.utils.exception.PogamutException;
 import eis.eis2java.annotation.AsAction;
 import eis.eis2java.annotation.AsPercept;
 import eis.eis2java.translation.Filter.Type;
 import eis.eis2java.util.AllPerceptsModule;
 import eis.eis2java.util.AllPerceptsProvider;
 import eis.exceptions.EntityException;
 import eis.exceptions.PerceiveException;
 
 @SuppressWarnings("rawtypes")
 public class UT2004BotBehavior extends UT2004BotModuleController<UT2004Bot> implements AllPerceptsProvider {
 
 	protected List<ContextSelector> targetSelector = new ArrayList<ContextSelector>();
 	protected List<ContextSelector> lookSelector = new ArrayList<ContextSelector>();
 	protected Projectiles projectiles;
 	protected WeaponryShooting weaponShooting;
 	protected FocusProvider lookFocus = new FocusProvider();
 	protected OrderedFocusProvider focus = new OrderedFocusProvider();
 	protected long logicIteration;
 	protected long actionCount;
 
 	protected AllPerceptsModule percepts;
 	/**
 	 * Settings for the bot.
 	 */
 	protected BotParameters parameters;
 
 	/**
 	 * Maximum size of the action queue.
 	 * 
 	 * The reason the action queue has a size of eight is because at most eight
 	 * actions can sensibly be executed in combination. After that GOAL must be
 	 * sending duplicate actions.
 	 */
 	private static final int ACTION_QUEUE_SIZE = 8;
 
 	/**
 	 * Queued up actions. Once the queue if full GOAL has to wait.
 	 * 
 	 */
 	private ActionQueue actions = new ActionQueue(ACTION_QUEUE_SIZE);
 
 	@Override
 	public void initializeController(UT2004Bot bot) {
 		super.initializeController(bot);
 
 		// Setup parameters
 		IAgentLogger logger = bot.getLogger();
 		UT2004AgentParameters parameters = bot.getParams();
 		if ((parameters instanceof BotParameters)) {
 			this.parameters = (BotParameters) parameters;
 		} else {
 			log.warning("Provided parameters were not a subclass of UnrealGoalParameters, using defaults.");
 			this.parameters = new BotParameters(logger);
 		}
 		Parameters defaults = BotParameters.getDefaults(logger);
 		this.parameters.assignDefaults(defaults);
 
 	}
 
 	/**
 	 * Initialize projectiles and weaponshooting modules.
 	 */
 	protected void initializeModules(UT2004Bot bot) {
 		super.initializeModules(bot);
 
 		projectiles = new Projectiles(bot, info);
 		weaponShooting = new WeaponryShooting(bot, info, weaponry, weaponPrefs, shoot);
 
 		// Setup percept module.
 		try {
 			percepts = new AllPerceptsModule(this);
 		} catch (EntityException e) {
 			throw new PogamutException("Could not create percept module", e);
 		}
 
 		initializeWeaponShootings();
 	}
 
 	/**
 	 * Adds handlers to deal with different weapons.
 	 */
 	protected void initializeWeaponShootings() {
 		weaponShooting.addWeaponShooting(new LinkGunShooting(bot, info, shoot, weaponry));
 		weaponShooting.addWeaponShooting(new ShockRifleShooting(bot, info, shoot, weaponry, projectiles));
 		weaponShooting.addWeaponShooting(new MinigunShooting(bot, info, shoot, weaponry));
 		weaponShooting.addWeaponShooting(new FlakCannonShooting(bot, info, shoot, weaponry));
 		weaponShooting.addWeaponShooting(new ShieldGunShooting(bot, info, shoot, weaponry, projectiles, senses));
 		weaponShooting.addWeaponShooting(new BioRifleShooting(bot, info, shoot, weaponry));
 		weaponShooting.addWeaponShooting(new AssaultRifleShooting(bot, info, shoot, weaponry));
 		weaponShooting.addWeaponShooting(new RocketLauncherShooting(bot, info, shoot, weaponry));
 		weaponShooting.addWeaponShooting(new LigthningGunShooting(bot, info, shoot, weaponry));
 		weaponShooting.addWeaponShooting(new SniperRifleShooting(bot, info, shoot, weaponry));
 	}
 	
     /**
      * Path-planner ({@link IPathPlanner} using {@link NavPoint}s), you may use it to find paths inside the environment wihtout
      * waiting for round-trip of {@link GetPath} command and {@link PathList}s response from UT2004. It is much faster than 
      * {@link UT2004BotModuleController#pathPlanner} but you need to pass {@link NavPoint} instances to planner instead of
      * {@link ILocated} ... to find the nearest {@link NavPoint} instance, {@link DistanceUtils} is a handy, check especially
      * {@link DistanceUtils#getNearest(java.util.Collection, ILocated)}.
      */
 	protected SharedFloydWarshallMap sfwMap;
 	
 	/**
 	 * Initializes path-finding modules: {@link UT2004BotModuleControllerNew#pathPlanner}, {@link UT2004BotModuleController#fwMap} and {@link UT2004BotModuleControllerNew#pathExecutor}.
 	 * If you need different path planner / path executor - override this method and initialize your own modules.
 	 * @param bot
 	 */
 	@Override
 	protected void initializePathFinding(UT2004Bot bot) {
 		pathPlanner  = new UT2004AStarPathPlanner(bot);
 		sfwMap        = new SharedFloydWarshallMap(bot);
 		pathExecutor = 
         	new UT2004PathExecutor<ILocated>(
         		bot, 
         		new LoqueNavigator<ILocated>(bot, bot.getLog()), 
         		bot.getLog()
         	);
 		
 		// add stuck detectors that watch over the path-following, if it (heuristicly) finds out that the bot has stuck somewhere,
     	// it reports an appropriate path event and the path executor will stop following the path which in turn allows 
     	// us to issue another follow-path command in the right time
         pathExecutor.addStuckDetector(new UT2004TimeStuckDetector(bot, 3000, 100000)); // if the bot does not move for 3 seconds, considered that it is stuck
         pathExecutor.addStuckDetector(new UT2004PositionStuckDetector(bot));           // watch over the position history of the bot, if the bot does not move sufficiently enough, consider that it is stuck
         pathExecutor.addStuckDetector(new UT2004DistanceStuckDetector(bot));           // watch over distances to target
         
 		getBackToNavGraph = new UT2004GetBackToNavGraph(bot, info, move);
 		runStraight = new UT2004RunStraight(bot, info, move);
 		navigation = new UT2004Navigation(bot, pathExecutor, sfwMap, getBackToNavGraph, runStraight);                
 	}
 
 	/**
 	 * Finish controller initialisation. Connects the weaponshooting to the
 	 * navigation.
 	 */
 	@Override
 	public void finishControllerInitialization() {
 		super.finishControllerInitialization();
 		// Connects focus providers. Ordered focus provider will first check the
 		// focus provided by weapon shooting. If none is provided it will go to
 		// the
 		// look location.
 		focus.add(weaponShooting.getFocus());
 		focus.add(lookFocus);
 		navigation.setFocus(focus);
 	}
 
 	/**
 	 * Prepares the initialization message for Gamebots using the
 	 * {@link BotParameters} provided to the {@link UT2004BotRunner}.
 	 * 
 	 */
 	@Override
 	public Initialize getInitializeCommand() {
 		assert parameters != null;
 
 		// Prepare init command
 		Initialize init = super.getInitializeCommand();
 		init.setDesiredSkill(parameters.getSkill());
 		init.setSkin(parameters.getSkin().getUnrealName());
 		init.setTeam(parameters.getTeam());
 		init.setShouldLeadTarget(parameters.shouldLeadTarget());
 
 		init.setLocation(parameters.getInitialLocation());
 		init.setRotation(parameters.getInitialRotation());
 		// Set log level.
 		log.setLevel(this.parameters.getLogLevel());
 
 		return init;
 
 	}
 
 	/**
 	 * Called before the evaluation of the first logic. Use this to set up
 	 * elements that need information about the world.
 	 */
 
 	@Override
 	public void beforeFirstLogic() {
 		targetSelector.add(new NearestEnemy().setContext(this));
 		lookSelector.add(new NearestEnemy().setContext(this));
 
 		weaponPrefs.addGeneralPref(ItemType.SHOCK_RIFLE, false);
 		weaponPrefs.addGeneralPref(ItemType.ROCKET_LAUNCHER, true);
 		weaponPrefs.addGeneralPref(ItemType.FLAK_CANNON, true);
 		weaponPrefs.addGeneralPref(ItemType.SNIPER_RIFLE, true);
 		weaponPrefs.addGeneralPref(ItemType.LIGHTNING_GUN, true);
 		weaponPrefs.addGeneralPref(ItemType.MINIGUN, true);
 		weaponPrefs.addGeneralPref(ItemType.LINK_GUN, true);
 		weaponPrefs.addGeneralPref(ItemType.BIO_RIFLE, false);
 		weaponPrefs.addGeneralPref(ItemType.ASSAULT_RIFLE, true);
 		weaponPrefs.addGeneralPref(ItemType.ASSAULT_RIFLE, false);
 		weaponPrefs.addGeneralPref(ItemType.SHIELD_GUN, false);
 		weaponPrefs.addGeneralPref(ItemType.SHIELD_GUN, true);
 
 	}
 
 	/**
 	 * The bot will evaluate its the logic every 100ms. In each evaluation it
 	 * will do the following:
 	 * 
 	 * <ol>
 	 * <li>Execute all outstanding action.</li>
 	 * <li>Determine a target to shoot and look at. The target is determined by
 	 * the first {@link Selector} in the list set by
 	 * {@link UT2004BotBehavior#target(SelectorList)} that returns a valid
 	 * target.</li>
 	 * <li>Determine a target to look at. The target is determined by the first
 	 * {@link Selector} in the list set by
 	 * {@link UT2004BotBehavior#look(SelectorList)} that returns a valid target.
 	 * </li>
 	 * <li>Look at something</li>
 	 * <ol>
 	 * <li>If we are navigating, navigation will ensure that we look at either
 	 * our target or at the path ahead.</li>
 	 * <li>If we have a target to look at, we turn to that target.</li>
 	 * <li>If we don't have a target to look at, we turn around looking for a
 	 * target.</li>
 	 * </ol>
 	 * <li>Prepare a batch of percepts for the Environment.</li>
 	 * 
 	 * </ol>
 	 * 
 	 */
 	@Override
 	public void logic() {
 		super.logic();
 
 		// 0. Execute all outstanding actions.
 		for (Action action : actions.drain()) {
 			action.execute();
 			actionCount++;
 		}
 
 		// 1. The target that we may shoot at...
 		// ...is determined by the first filter to match.
 		ILocated shootSelected = null;
 		for (Selector<ILocated> selector : targetSelector) {
 			shootSelected = selector.select(players.getVisiblePlayers().values());
 			if (shootSelected != null) {
 				break;
 			}
 		}
 		weaponShooting.shoot(shootSelected);
 
 		// 2. We determine a target to look at.
 		// This will be look at if our shoot target is not visible.
 		ILocated lookSelected = null;
 		for (Selector<ILocated> selector : lookSelector) {
 			lookSelected = selector.select(players.getVisiblePlayers().values());
 			if (lookSelected != null) {
 				break;
 			}
 		}
 		lookFocus.setFocus(lookSelected);
 
 		// 3. If we are navigating now, we are done.
 		if (!navigation.isNavigating()) {
 			// 4a. If we have a target but are not moving, turn to the target.
 			if (focus.getLocation() != null) {
 				move.turnTo(focus.getLocation());
 			}
 			// 4b. If we see no one, we spin around.
 			else {
 				move.turnHorizontal(30);
 			}
 		}
 
 		logicIteration++;
 
 		// 5. Prepare new batch of percepts
 		try {
 			percepts.updatePercepts();
 		} catch (PerceiveException e) {
 			throw new PogamutException("Could not update percepts", e);
 		}
 
 	}
 
 	/**
 	 * Queues up the action to be executed on the first evaluation of the logic
 	 * cycle. When the queue is full, this action will block until the queue is
 	 * free.
 	 * 
 	 * @param action
 	 * @throws InterruptedException
 	 */
 	public void addAction(Action action) throws InterruptedException {
 		actions.put(action);
 	}
 
 	/**
 	 * Returns a previously prepared batch of percepts.
 	 * 
 	 * @return a previously prepared batch of percepts.
 	 */
 	public Map<Method, Object> getAllPercepts() {
 		return percepts.getAllPercepts();
 	}
 
 	/**
 	 * When called the bot will make a best effort attempt to navigate to
 	 * requested destination. The destination either be a {@link Location} or
 	 * the UnrealId of an {@link ILocated} such as {@link NavPoint} or
 	 * {@link Player}. When provided with a player the bot will actively pursue
 	 * the player provided the player remains visible.
 	 * 
 	 * The destination is considered reached when the bot is within 50 UT units
 	 * from the destination. Or 100 UT units when trying to navigate to a
 	 * player.
 	 * 
 	 * The navigation can fail when there is no path to the destination, when
 	 * the bot gets stuck. A bot can be considered stuck by three heuristics.
 	 * Either the {@link UT2004DistanceStuckDetector} when the bot has not be
 	 * closing in on its target enough, {@link UT2004PositionStuckDetector} when
 	 * it has not been moving at all, or the {@link UT2004TimeStuckDetector}
 	 * when it has not moved enough over time.
 	 * 
 	 * When the bot dies or respawns the navigation will reset to waiting.
 	 * 
 	 * @param destination
 	 *            where the bot should go.
 	 */
 	@AsAction(name = "navigate")
 	public void navigate(final UnrealIdOrLocation destination) throws InterruptedException {
 		log.fine(String.format("called navigate to %s", destination));
 		if (destination.isLocation()) {
 			navigate(destination.getLocation());
 		} else {
 			navigate(destination.getId());
 		}
 	}
 
 	private void navigate(final ILocated destination) throws InterruptedException {
 
 		addAction(new Navigate() {
 
 			@Override
 			public void execute() {
 				log.info(String.format("executed navigate to %s", destination));
 				navigation.navigate(destination);
 				return;
 			}
 		});
 	}
 
 	private void navigate(final UnrealId destination) throws InterruptedException {
 
 		addAction(new Navigate() {
 
 			@Override
 			public void execute() {
 
 				IWorldObject object = world.get(destination);
 				if (!(object instanceof ILocated)) {
 					log.warning(String.format(
 							"failed to navigate to %s. The object associated with this Id was not located in the world. Halting.", object));
 					navigation.stopNavigation();
 					return;
 				}
 
 				log.fine(String.format("executed navigate to %s", object));
 				navigation.navigate((ILocated) object);
 			}
 		});
 
 	}
 
 	/**
 	 * When called the bot will navigate to the new destination after reaching
 	 * the old one. When the bot is not navigating the navigate action will be
 	 * executed instead.
 	 * 
 	 * Please note that you using continue when following a player has no
 	 * effect.
 	 * 
 	 * The navigation state will be updated to reflect the new destination.
 	 * 
 	 * NOTE: This action is experimental and does not work properly let.
 	 * Currently if there is no path to the continue location the {@link UT2004Navigation} will
 	 * ignore this.
 	 * 
 	 * @param destination
 	 *            where the bot should go.
 	 */
 	@AsAction(name = "continue")
 	public void continueAction(UnrealIdOrLocation destination) throws InterruptedException {
 		log.fine(String.format("called continue to %s", destination));
 
 		if (destination.isLocation()) {
 			continueAction(destination.getLocation());
 
 		} else {
 			continueAction(destination.getId());
 		}
 	}
 
 	public void continueAction(final ILocated destination) throws InterruptedException {
 		addAction(new Continue() {
 
 			@Override
 			public void execute() {
 				log.info(String.format("executed continue to %s", destination.getLocation()));
 
 				if (!navigation.isNavigating()) {
 					navigation.navigate(destination);
 				} else {
 					navigation.setContinueTo(destination);
 				}
 			}
 		});
 	}
 
 	public void continueAction(final UnrealId destination) throws InterruptedException {
 		addAction(new Continue() {
 
 			@Override
 			public void execute() {
 
 				IWorldObject object = world.get(destination);
 				if (!(object instanceof ILocated)) {
 					log.warning(String.format(
 							"failed to navigate to %s. The object associated with this Id was not located in the world. Halting.", object));
 					navigation.stopNavigation();
 					return;
 				}
 
 				log.info(String.format("executed continue to %s", object));
 
 				if (!navigation.isNavigating()) {
 					navigation.navigate((ILocated) object);
 				} else {
 					navigation.setContinueTo((ILocated) object);
 				}
 
 			}
 		});
 	}
 
 	/**
 	 * When called the bot will stop.
 	 * 
 	 * Navigation will reset to waiting.
 	 */
 	@AsAction(name = "stop")
 	public void stop() throws InterruptedException {
 		log.fine("called stop");
 
 		addAction(new Stop() {
 			@Override
 			public void execute() {
 				log.info("executed stop");
 				navigation.stopNavigation();
 			}
 		});
 	}
 
 	/**
 	 * When called the bot will respawn in at a random spawn point of its team.
 	 * 
 	 * When the bot respawns he will have 100 health, 0 adrenaline, 0 armor, a
 	 * shield gun and an assault rifle with 100 bullets and 4 grenades. The
 	 * navigating will be reset to waiting.
 	 * 
 	 */
 	@AsAction(name = "respawn")
 	public void respawn() throws InterruptedException {
 		log.fine("called respawn");
 		addAction(new Respawn() {
 			@Override
 			public void execute() {
 				log.info("executed respawn");
 				bot.respawn();
 			}
 		});
 	}
 
 	/**
 	 * <p>
 	 * When called the bot will use the given combo.
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: combo(Combo)<br>
 	 * <ul>
 	 * <li>Combo: Either booster, berserk, invisibility or speed</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 * <p>
 	 * A combo can only be activated when the bot has 100 or more adrenaline.
 	 * When active the combo will give the bot a small powerup and consume the
 	 * bots adrenaline until none remains. When the adrenaline runs out the
 	 * combo will stop.
 	 * </p>
 	 * <p>
 	 * For more information about the effects of a combo see:
 	 * http://liandri.beyondunreal.com/Adrenaline
 	 * </p>
 	 * 
 	 * 
 	 * 
 	 * @param combo
 	 *            to be activated.
 	 */
 	@AsAction(name = "combo")
 	public void combo(final Combo combo) throws InterruptedException {
 		log.fine("called combo %s", combo);
 
 		addAction(new nl.tudelft.goal.ut2004.actions.Combo() {
 			@Override
 			public void execute() {
 
 				if (info.isAdrenalineSufficient()) {
 					log.info("executed combo %s", combo);
 					body.getAction().startCombo(combo.toString());
 				} else {
 					log.warning("combo %s failed, insufficient adrenaline", combo);
 				}
 			}
 		});
 	}
 
 	/**
 	 * <p>
 	 * Drops the weapon the bot is currently holding.
 	 * </p>
 	 * <p>
 	 * Syntax: dropWeapon
 	 * </p>
 	 * 
 	 * <p>
 	 * The weapon will be dropped a few UT hundred units in the direction the
 	 * bot is looking. When a weapon is dropped it can be picked up again,
 	 * either by this bot or other other bots.
 	 * </p>
 	 * <p>
 	 * Note: The translocator and the shield gun can not be dropped.
 	 * <p>
 	 */
 	@AsAction(name = "dropWeapon")
 	public void dropWeapon() throws InterruptedException {
 		log.fine("called drop");
 
 		addAction(new DropWeapon() {
 			@Override
 			public void execute() {
 				Weapon weapon = weaponry.getCurrentWeapon();
 
 				body.getAction().throwWeapon();
 
 				if (weapon == null) {
 					log.warning(String.format("Could not drop weapon. Not holding a weapon."));
 				} else if (weapon.getType() == ItemType.SHIELD_GUN || weapon.getType() == ItemType.TRANSLOCATOR) {
 					log.warning(String.format("Could not drop weapon %s", weapon));
 				} else {
 					log.info("executed drop %s", weapon);
 				}
 			}
 		});
 	}
 
 	/**
 	 * <p>
 	 * The bot computes a path from a to b.</a>
 	 * 
 	 * <p>
 	 * Syntax: path(From,To)<br>
 	 * <ul>
 	 * <li>From: UnrealId of a nav point.</li>
 	 * <li>To: UnrealId of a nav point.</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 * <p>
 	 * The action results in a path percept containing the path from a to b.
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: path(Length,[NavPointId])<br>
 	 * <ul>
 	 * <li>Length: Length of the path in UT units.</li>
 	 * <li>NavPointId: A list of UnrealIds in the path.</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 * 
 	 * @param from
 	 *            the navpoint from which the path starts.
 	 * @param to
 	 *            the navpoint where the path should go to
 	 * @return the path between from and to, including the distance of the path.
 	 */
 	@AsAction(name = "path")
 	public Percept path(UnrealIdOrLocation from, UnrealIdOrLocation to) {
 		if (from.isLocation()) {
 			return path(from.getLocation(), to);
 		} else {
 			return path(from.getId(), to);
 		}
 	}
 
 	private Percept path(UnrealId from, UnrealIdOrLocation to) {
 		if (to.isLocation()) {
 			return path(from, to.getLocation());
 		} else {
 			return path(from, to.getId());
 		}
 	}
 
 	private Percept path(ILocated from, UnrealIdOrLocation to) {
 		if (to.isLocation()) {
 			return path(from, to.getLocation());
 		} else {
 			return path(from, to.getId());
 		}
 	}
 
 	private Percept path(ILocated from, UnrealId to) {
 		IWorldObject toObject = world.get(to);
 
 		if (!(toObject instanceof ILocated)) {
 			throw new PogamutException(String.format("failed to compute path from %s to %s. One or both were no locations", from, to), this);
 		}
 
 		return path(from, (ILocated) toObject);
 	}
 
 	private Percept path(UnrealId from, UnrealId to) {
 		IWorldObject toObject = world.get(to);
 		IWorldObject fromObject = world.get(from);
 
 		if (!(fromObject instanceof ILocated) || !(toObject instanceof ILocated)) {
 			throw new PogamutException(String.format("failed to compute path from %s to %s. One or both were no locations", from, to), this);
 		}
 
 		return path((ILocated) fromObject, (ILocated) toObject);
 	}
 
 	private Percept path(UnrealId from, ILocated to) {
 		IWorldObject fromObject = world.get(from);
 
 		if (!(fromObject instanceof ILocated)) {
 			throw new PogamutException(String.format("failed to compute path from %s to %s. One or both were no locations", from, to), this);
 		}
 
 		return path(((ILocated) fromObject), to);
 	}
 
 	private Percept path(ILocated from, ILocated to) {
 
 		// Not put into action queue. Doesn't require dynamic info from world.
 
 		log.info(String.format("executed path from  %s to %s", from, to));
 
 		NavPoint fromNav = DistanceUtils.getNearest(world.getAll(NavPoint.class).values(), from);
 
 		NavPoint toNav = DistanceUtils.getNearest(world.getAll(NavPoint.class).values(), to);
 
 		double distance = sfwMap.getDistance(fromNav, toNav);
 		List<NavPoint> navPoints = sfwMap.getPath(fromNav, toNav);
 		List<UnrealId> unrealIds = new ArrayList<UnrealId>(navPoints.size());
 		for (NavPoint n : navPoints) {
 			unrealIds.add(n.getId());
 		}
 		return new Percept(distance, unrealIds);
 	}
 
 	/**
 	 * 
 	 * <p>
 	 * Tells the bot how to prioritize who it shoots.
 	 * </p>
 	 * <p>
 	 * Syntax: shoot([Selector])<br>
 	 * Syntax: shoot(Selector)<br>
 	 * <ul>
 	 * <li>[Selector]: A list of selectors. A selector either selects a target
 	 * from the list of visible players, provides a fixed location or selects
 	 * nothing if no suitable target was available for selection. The bot
 	 * evaluates each selector in order. The target provided by the first first
 	 * selector to select a target will be shot at. Should no selector provide a
 	 * valid target will be shot at. If no targets are selected the bot will
 	 * stop shooting.</li>
 	 * <li>Selector: A selector will select a target from the visible players.
 	 * Can be, nearestEnemy, nearestFriendly, nearestFriendlyWithLinkGun,
 	 * enemyFlagCarrier, friendlyFlagCarrier, a PlayerID or a location(X,Y,Z).</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 * <p>
 	 * Note:
 	 * <ol>
 	 * <li>To stop shooting, use shoot([]) or stopShooting.</li>
 	 * <li>By default the bot will shoot the nearest visible enemy.</li>
 	 * </ol>
 	 * </p>
 	 */
 	@AsAction(name = "shoot")
 	public void shoot(final SelectorList targets) throws InterruptedException {
 		log.fine(String.format("called shoot %s", targets));
 
 		addAction(new Shoot() {
 
 			@Override
 			public void execute() {
 				log.info(String.format("executed shoot %s ", targetSelector));
 
 				targetSelector = targets.setContext(UT2004BotBehavior.this);
 			}
 		});
 
 	}
 
 	/**
 	 * *
 	 * <p>
 	 * Tells the bot to stop shooting.
 	 * </p>
 	 * <p>
 	 * Syntax: stopShoot
 	 * </p>
 	 * <p>
 	 * Note: Executes shoot([])
 	 * </p>
 	 */
 
 	@AsAction(name = "stopShooting")
 	public void stopShooting() throws InterruptedException {
 		shoot(new SelectorList());
 	}
 
 	/**
 	 * <p>
 	 * Tells the bot which weapon it should prefer. The bot will select the
 	 * first weapon from the list it can use. A weapon can be used when the bot
 	 * has the and the ammo for it.
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: prefer([weapon(WeaponId, FireMode)])<br>
 	 * Syntax: prefer(weapon(WeaponId, FireMode))<br>
 	 * <ul>
 	 * <li>WeaponId: The id of the weapon.</li>
 	 * <li>FireMode: How the bot should use the weapon, either primary or
 	 * secondary.</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 * <p>
 	 * Note: By Default the bot prefers the weapons in this order:
 	 * <ol>
 	 * <li>weapon(shock_rifle, secondary)</li>
 	 * <li>weapon(rocket_launcher, primary)</li>
 	 * <li>weapon(flack_cannon, primary)</li>
 	 * <li>weapon(sniper_rifle, primary)</li>
 	 * <li>weapon(lightning_gun, primary)</li>
 	 * <li>weapon(mini_gun, primary)</li>
 	 * <li>weapon(link_gun, primary)</li>
 	 * <li>weapon(bio_rifle, secondary)</li>
 	 * <li>weapon(assault_rifle, primary)</li>
 	 * <li>weapon(assault_rfile, secondary)</li>
 	 * <li>weapon(shield_gun, secondary)</li>
 	 * <li>weapon(shield_gun, primary)</li>
 	 * </ol>
 	 * 
 	 * </p>
 	 */
 	@AsAction(name = "prefer")
 	public void prefer(final WeaponPrefList weaponList) throws InterruptedException {
 		log.fine(String.format("called prefer %s", weaponList));
 
 		addAction(new Prefer() {
 
 			@Override
 			public void execute() {
 				weaponPrefs.clearAllPrefs();
 
 				for (WeaponPref pref : weaponList) {
 					weaponPrefs.addGeneralPref(pref.getWeapon(), pref.isPrimary());
 				}
 
 				log.info(String.format("executed prefer %s", weaponList));
 			}
 		});
 	}
 
 	/**
 	 * 
 	 * <p>
 	 * Tells the bot how to prioritize what it looks at.
 	 * </p>
 	 * <p>
 	 * Syntax: look([Selector])<br>
 	 * Syntax: look(Selector)<br>
 	 * <ul>
 	 * <li>[Selector]: A list of selectors. A selector either selects a target
 	 * from the list of visible players, provides a fixed location or selects
 	 * nothing if no suitable target was available for selection. The bot
 	 * evaluates each selector in order. The target provided by the first first
 	 * selector to select a target will be shot at. Should no selector provide a
 	 * valid target will be looked at. If no targets are selected the bot will
 	 * slowly turn around.</li>
 	 * <li>Selector: A selector will select a target from the visible players.
 	 * Can be, nearestEnemy, nearestFriendly, nearestFriendlyWithLinkGun,
 	 * enemyFlagCarrier, friendlyFlagCarrier, a PlayerID or a location(X,Y,Z).</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 * <p>
 	 * Note:
 	 * <ol>
 	 * <li>To to start looking around, use look([]).</li>
 	 * <li>By default the bot will look at the nearest visible enemy.</li>
 	 * </ol>
 	 * </p>
 	 */
 	@AsAction(name = "look")
 	public void look(final SelectorList targets) throws InterruptedException {
 		log.fine(String.format("called look %s", targets));
 
 		addAction(new Look() {
 
 			@Override
 			public void execute() {
 				log.info(String.format("executed look %s", targets));
 
 				lookSelector = targets.setContext(UT2004BotBehavior.this);
 			}
 		});
 	}
 
 	/**
 	 * 
 	 * <p>
 	 * Does nothing.
 	 * </p>
 	 * <p>
 	 * Syntax: skip
 	 * </p>
 	 * 
 	 * TODO: Check DOC
 	 */
 	@AsAction(name = "skip")
 	public void skip() {
 		// Does nothing.
 	}
 
 	/**
 	 * 
 	 * <p>
 	 * Adds 1 adrenaline pill
 	 * </p>
 	 * <p>
 	 * Syntax: cheatAdrenaline
 	 * </p>
 	 */
 	@AsAction(name = "cheatAdrenaline")
 	public void cheatAdrenaline() {
 		getAct().act(new AddInventory().setType(ItemType.ADRENALINE_PACK.getName()));
 	}
 
 	/**
 	 * <p>
 	 * Information about the bot's identity and team.
 	 * </p>
 	 * <p>
 	 * Type: On Change
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: self(UnrealId, NickName, Team)
 	 * <ul>
 	 * <li>UnrealId: Unique identifier assigned by Unreal.</li>
 	 * <li>NickName: Name as it appears in the game.</li>
 	 * <li>Team: Either red, blue, or none.</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 */
 	@AsPercept(name = "self", filter = Type.ON_CHANGE)
 	public Percept self() {
 		return new Percept(info.getId(), info.getName(), Team.valueOf(info.getTeam()));
 	}
 
 	/**
 	 * <p>
 	 * Information about iteration of the bots logic.
 	 * </p>
 	 * <p>
 	 * Type: On Change
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: logic(Iteration)
 	 * <ul>
 	 * <li>Iteration: The number of iterations of the bots logic so far.</li>
 	 * </ul>
 	 * </p>
 	 * <p>
 	 * Notes:
 	 * <ol>
 	 * <li>While the bot is capable of executing multiple actions in single
 	 * logic iteration, it does not always make sense. Use this iteration to
 	 * check if the bot is clear again.</li>
 	 * </ol>
 	 * </p>
 	 */
 	@AsPercept(name = "logic", filter = Type.ON_CHANGE)
 	public Percept logicIteration() {
 		return new Percept(logicIteration);
 	}
 
 	@AsPercept(name = "actionCount", filter = Type.ON_CHANGE)
 	public Percept actionCount() {
 		return new Percept(actionCount);
 	}
 
 	/**
 	 * <p>
 	 * Information about the bot's position, rotation and velocity.
 	 * </p>
 	 * <p>
 	 * Type: On Change
 	 * </p>
 	 * <p>
 	 * Syntax: orientation(location(X,Y,Z), rotation(Pitch,Yaw,Roll),
 	 * velocity(Vx, Vy,Vz))
 	 * <ul>
 	 * <li>Location: the position in UT units.</li>
 	 * <li>Rotation: the bots rotation in degrees.</li>
 	 * <li>Velocity: the velocity in UT units per second.</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 */
 	@AsPercept(name = "orientation", filter = Type.ON_CHANGE)
 	public Percept orientation() {
 		return new Percept(info.getLocation(), info.getRotation(), info.getVelocity());
 	}
 
 	/**
 	 * <p>
 	 * Information about the bot's current physical state.
 	 * </p>
 	 * <p>
 	 * Type: On Change
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax status(Health, Armour, Adrenaline,ActiveCombo)
 	 * <ul>
 	 * <li>Health: A number between 0 and 199, indicating the health.</li>
 	 * <li>Armour: A number between 0 and 150, indicating the armor.</li>
 	 * <li>Adrenaline: An number between 0 and 100, indicating the adrenaline.</li>
 	 * <li>ActiveCombo: The combo that is currently active, or none when none is
 	 * active.</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 */
 	@AsPercept(name = "status", filter = Type.ON_CHANGE)
 	public Percept status() {
 		return new Percept(info.getHealth(), info.getArmor(), info.getAdrenaline(), Combo.parseCombo(info.getSelf().getCombo()));
 	}
 
 	/**
 	 * <p>
 	 * Information about the number of kills, deaths, and suicides this bot
 	 * accumulated.
 	 * </p>
 	 * <p>
 	 * Type: On Change
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: score(Kills, Deaths, Suicides)
 	 * <ul>
 	 * <li>Kills: Number of people the bot fragged during this game.</li>
 	 * <li>Deaths: Number of times the bot died during this game.</li>
 	 * <li>Suicides: Number of times the bot got himself killed.</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 * <p>
 	 * <em>Note</em>: Using the respawn action and being fragged by an opponent
 	 * both count as a death. Being killed by the your own weapon counts as a
 	 * suicide.
 	 * </p>
 	 * 
 	 */
 	@AsPercept(name = "score", filter = Type.ON_CHANGE)
 	public Percept score() {
 		return new Percept(info.getKills(), info.getDeaths(), info.getSuicides());
 	}
 
 	/**
 	 * <p>
 	 * Information about weapon the bot is currently holding.
 	 * </p>
 	 * <p>
 	 * Type: On Change
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: currentWeapon(WeaponType,FireMode)
 	 * <ul>
 	 * <li>WeaponType: Name of the weapon.</li>
 	 * <li>FireMode: How the weapon is shooting. Either primary, secondary or
 	 * none.</li>
 	 * </ul>
 	 * </p>
 	 * <p>
 	 * TODO: List available weapons.
 	 * 
 	 */
 
 	@AsPercept(name = "currentWeapon", filter = Type.ON_CHANGE)
 	public Percept currentWeapon() {
 		final Weapon weapon = weaponry.getCurrentWeapon();
 
 		if (weapon == null) {
 			return new Percept(new None(), FireMode.NONE);
 		}
 
 		return new Percept(weapon.getType(), FireMode.valueOf(info.isPrimaryShooting(), info.isSecondaryShooting()));
 	}
 
 	/**
 	 * <p>
 	 * Information about weapons the bot has in its inventory.
 	 * </p>
 	 * <p>
 	 * Type: On change
 	 * </p>
 	 * <p>
 	 * Syntax: weapon(WeaponType, PriAmmo, SecAmmo)
 	 * <ul>
 	 * <li>WeaponType: Name of the weapon.</li>
 	 * <li>PriAmmo: A number between 0 and the maximum for the weapon,
 	 * indicating the available ammo for the primary fire mode.</li>
 	 * <li>SecAmmo: A number between 0 and the maximum for the weapon,
 	 * indicating the available ammo for the secondary fire mode.</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 * <p>
 	 * <em>Note</em>: The Shield Gun has infinite primary ammo. Its secondary
 	 * ammo recharges when not used.
 	 * </p>
 	 * 
 	 * 
 	 * TODO: List available weapons.
 	 * 
 	 */
 	@AsPercept(name = "weapon", multiplePercepts = true, filter = Type.ON_CHANGE_NEG)
 	public Collection<Percept> weapon() {
 		Collection<Weapon> weapons = weaponry.getWeapons().values();
 		Collection<Percept> percepts = new ArrayList<Percept>(weapons.size());
 
 		for (Weapon w : weapons) {
 			if (w.getType() == ItemType.SHIELD_GUN) {
 				// Pogamut reports the secondary ammo twice. It reports this
 				// because UT reports this. Not trivial to fix so we do it here.
 				// 1 will stand in for infinity
 				percepts.add(new Percept(w.getType(), 1, w.getSecondaryAmmo()));
 			} else {
 				percepts.add(new Percept(w.getType(), w.getPrimaryAmmo(), w.getSecondaryAmmo()));
 			}
 		}
 
 		return percepts;
 	}
 
 	/**
 	 * List of all fragged percepts.
 	 */
 	private List<Percept> fragged = new LinkedList<Percept>();
 
 	/**
 	 * Adds a new fragged percept to the list.
 	 * 
 	 * @param time
 	 * @param killer
 	 * @param victem
 	 * @param weaponName
 	 */
 	private void fraggedEvent(final long time, final UnrealId killer, final UnrealId victem, final String weaponName) {
 		fragged.add(new Percept(time, killer, victem, ItemType.getItemType(weaponName)));
 	}
 
 	/**
 	 * Event listener for deaths of this bot.
 	 * 
 	 * @param msg
 	 */
 	@EventListener(eventClass = BotKilled.class)
 	public void msgBotKilled(BotKilled msg) {
 		fraggedEvent(msg.getSimTime(), msg.getKiller(), info.getId(), msg.getWeaponName());
 	}
 
 	/**
 	 * Event listener for deaths of other bots & players.
 	 * 
 	 * @param msg
 	 */
 
 	@EventListener(eventClass = PlayerKilled.class)
 	public void msgPlayerKilled(PlayerKilled msg) {
 		fraggedEvent(msg.getSimTime(), msg.getKiller(), msg.getId(), msg.getWeaponName());
 	}
 
 	/**
 	 * <p>
 	 * This percept is provided when one bot is violently fragmented by another.
 	 * </p>
 	 * <p>
 	 * Type: Always
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: fragged(Time,KillerID,VictemID,Weapon)
 	 * </p>
 	 * 
 	 * <p>
 	 * Notes:
 	 * <ol>
 	 * <li>When the killer and victim id are equal, the bot committed suicide.</li>
 	 * <li>When the killer is none, the bot respawned.</li>
 	 * </ol>
 	 * </p>
 	 * 
 	 */
 	@AsPercept(name = "fragged", multiplePercepts = true, filter = Type.ALWAYS, event = true)
 	public List<Percept> fragged() {
 		ArrayList<Percept> percepts = new ArrayList<Percept>(fragged);
 		fragged.clear();
 		return percepts;
 	}
 
 	/**
 	 * <p>
 	 * Information about the state of the navigation. The available states are:
 	 * </p>
 	 * 
 	 * <ul>
 	 * <li>navigating: The bot is traveling to its destination.</li>
 	 * <li>stuck: The botcould not reach its destination.</li>
 	 * <li>noPath: The bot could not find a path to its destination.</li>
 	 * <li>reached: The bot has arrived at its destination.</li>
 	 * <li>waiting: The bot is waiting for actions (initial state).</li>
 	 * </ul>
 	 * <p>
 	 * Type: On Change
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: navigation(State,Destination)
 	 * <ul>
 	 * <li>State: State of the navigation. Either navigating, stuck, noPath,
 	 * reached or waiting.</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 */
 	@AsPercept(name = "navigation", filter = Type.ON_CHANGE)
 	public Percept navigation() {
 		ILocated currentTarget = navigation.getCurrentTarget();
 
 		// We are going nowhere.
 		if (currentTarget == null) {
 			return new Percept(navigation.getState().getFlag(), new None());
 		}
 
 		// We are going some place that has an unrealid.
 		if (currentTarget instanceof IWorldObject) {
 			IWorldObject targetObject = (IWorldObject) navigation.getCurrentTarget();
 			return new Percept(navigation.getState().getFlag(), targetObject.getId());
 		}
 
 		// We are going to a location(x,y,z)
 		return new Percept(navigation.getState().getFlag(), currentTarget.getLocation());
 	}
 
 	/**
 	 * <p>
 	 * Information about point in the map. Together these form a directed graph
 	 * that spans the entire map.
 	 * </p>
 	 * <p>
 	 * Type: Once
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: navPoint(UnrealID, location(X,Y,Z), [NeigsUnrealID])
 	 * <ol>
 	 * <li>UnrealID: The unique id of this navpoint.</li>
 	 * <li>Location: The location of this navpoint in the map.</li>
 	 * <li>[NeigsUnrealID]: A list of Id's for the neighbouring navpoints that
 	 * are reachable from this navpoint.</li>
 	 * </ol>
 	 * </p>
 	 * *
 	 * 
 	 */
 	@AsPercept(name = "navPoint", multiplePercepts = true, filter = Type.ONCE)
 	public Collection<Percept> navPoint() {
 		Collection<NavPoint> navPoints = world.getAll(NavPoint.class).values();
 		List<Percept> percepts = new ArrayList<Percept>(navPoints.size());
 
 		for (NavPoint p : navPoints) {
 			percepts.add(new Percept(p.getId(), p.getLocation(), p.getOutgoingEdges().keySet()));
 		}
 
 		return percepts;
 	}
 
 	/**
 	 * TODO: Doc this
 	 * 
 	 * @return
 	 */
 	@AsPercept(name = "navPoint", multiplePercepts = true, filter = Type.ON_CHANGE_NEG)
 	public Collection<Percept> visibleNavPoint() {
 		Collection<NavPoint> navPoints = world.getAll(NavPoint.class).values();
 		List<Percept> percepts = new ArrayList<Percept>(navPoints.size());
 
 		for (NavPoint p : navPoints) {
 			if (p.isVisible()) {
 				percepts.add(new Percept(p.getId(), p.getLocation(), p.getOutgoingEdges().keySet()));
 			}
 		}
 
 		return percepts;
 	}
 
 	/**
 	 * <p>
 	 * Information indicating at which navpoint weapons, ammo, and health can be
 	 * found.
 	 * </p>
 	 * <p>
 	 * Type: Once
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: pickup(UnrealID, Label, ItemType)
 	 * <ul>
 	 * <li>UnrealID: The UnrealId of the nav point this pickup spot is placed
 	 * on.</li>
 	 * <li>Label: The category of the pickup.</li>
 	 * <li>ItemType: The type of the of the item located on the pickup.</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 * 
 	 * <p>
 	 * Notes:
 	 * <ol>
 	 * <li>Depending on the game setting "weapon stay", there may not always be
 	 * a weapon present on a pick up point.</li>
 	 * <li>If "weapon stay" is enabled, a weapon can only be picked up if one of
 	 * the same type is not present in the bots inventory yet.</li>
 	 * <li>TODO: A full overview of which category Label belongs to which item
 	 * type.</li>
 	 * 
 	 * </ol>
 	 * </p>
 	 */
 	@AsPercept(name = "pickup", multiplePercepts = true, filter = Type.ONCE)
 	public Collection<Percept> pickup() {
 		Collection<Item> pickups = items.getKnownPickups().values();
 		Collection<Percept> percepts = new ArrayList<Percept>(pickups.size());
 
 		for (Item item : pickups) {
 			if (!item.isDropped()) {
 				percepts.add(new Percept(item.getNavPoint().getId(), item.getType().getCategory(), item.getType()));
 			}
 		}
 		return percepts;
 	}
 
 	/**
 	 * <p>
 	 * Information about the location of the base. The opposing team will try to
 	 * steal the flag from this location. Your team must deliver any capture
 	 * flags to the base.
 	 * </p>
 	 * 
 	 * <p>
 	 * Type: Once
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: base(Team, UnrealID)
 	 * <ul>
 	 * <li>Team: Either red or blue.</li>
 	 * <li>UnrealID: The UnrealId of the navpoint this flagbase is placed on.</li>
 	 * </ul>
 	 * </p>
 	 */
 	@AsPercept(name = "base", multiplePercepts = true, filter = Type.ONCE)
 	public List<Percept> base() {
 		List<Percept> base = new ArrayList<Percept>(2);
 
 		Collection<NavPoint> navPoints = world.getAll(NavPoint.class).values();
 
 		NavPoint nav = DistanceUtils.getNearest(navPoints, game.getFlagBase(0));
 		assert nav != null;
 		base.add(new Percept(Team.RED, nav.getId()));
 
 		nav = DistanceUtils.getNearest(navPoints, game.getFlagBase(1));
 		assert nav != null;
 		base.add(new Percept(Team.BLUE, nav.getId()));
 
 		return base;
 	}
 
 	/**
 	 * <p>
 	 * Information about the type of game being played, the map and the score
 	 * required for winning the game.
 	 * </p>
 	 * 
 	 * 
 	 * <p>
 	 * Type: On Change
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: game(Gametype, Map, TeamScoreLimit, RemainingTime)
 	 * <ul>
 	 * <li>Gametype: The type of game being played.</li>
 	 * <li>Map: The name of the map being played on.</li>
 	 * <li>TeamScoreLimit: Score needed to win the match. If the score is zero
 	 * or not reached by the end of the game, the team that has the highest
 	 * score when the time limit is reached wins.</li>
 	 * <li>RemainingTime: Time left in the game. If the score for both teams is
 	 * a tie, it is possible to go into over time.</li>
 	 * </ul>
 	 */
 	@AsPercept(name = "game", filter = Type.ON_CHANGE)
 	public Percept game() {
 		return new Percept(game.getGameType(), game.getMapName(), game.getTeamScoreLimit(), game.getRemainingTime());
 	}
 
 	/**
 	 * <p>
 	 * Percept that provides information about the current state of the game.
 	 * </p>
 	 * 
 	 * <p>
 	 * Type: On change
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: teamScore(TeamScore, OpponentTeamScore)
 	 * <ul>
 	 * <li>TeamScore score of the team this bot is on.</li>
 	 * <li>OpponentTeamScore score of the opponent team.</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 * <p>
 	 * Notes
 	 * <ol>
 	 * <li>For CTF the score is the number of times the ag has been captured.</li>
 	 * <li>Once either team reaches the goal score from the Game- info percept,
 	 * the game is over.</li>
 	 * </ol>
 	 * </p>
 	 * 
 	 */
 	@AsPercept(name = "teamScore", filter = Type.ON_CHANGE)
 	public Percept teamScore() {
 		return new Percept(game.getTeamScore(info.getTeam()), game.getTeamScore(1 - info.getTeam()));
 	}
 
 	/**
 	 * <p>
 	 * Description: Percept that provides information about the current state of
 	 * the flag.
 	 * </p>
 	 * 
 	 * <p>
 	 * Type: On change with negation.
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: flagState(Team,FlagState)
 	 * <ul>
 	 * <li>Team: Either blue or red.</li>
 	 * <li>FlagState: State of the flag. Either home, held or dropped.</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 * <p>
 	 * Notes:
 	 * <ol>
 	 * <li>
 	 * See also the flag percept</li>
 	 * </ol>
 	 * <p>
 	 * 
 	 */
 	@AsPercept(name = "flagState", multiplePercepts = true, filter = Type.ON_CHANGE_NEG)
 	public List<Percept> flagState() {
 		List<Percept> percepts = new ArrayList<Percept>(2);
 
 		percepts.add(new Percept(Team.RED, FlagState.valueOfIgnoreCase(game.getFlag(Team.RED.id()).getState())));
 		percepts.add(new Percept(Team.BLUE, FlagState.valueOfIgnoreCase(game.getFlag(Team.BLUE.id()).getState())));
 
 		return percepts;
 	}
 
 	/**
 	 * <p>
 	 * Description: Provides information items the bot sees in the world.
 	 * </p>
 	 * 
 	 * <p>
 	 * Type: On change with negation.
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: item(UnrealID, Label, ItemType, NavPointId)
 	 * </p>
 	 * <p>
 	 * Syntax: item(UnrealID, Label, ItemType, location(X,Y,Z)) when dropped.
 	 * </p>
 	 * 
 	 * <ul>
 	 * <li>UnrealID: The UnrealID of this item.</li>
 	 * <li>Label: The category of the pick up.</li>
 	 * <li>ItemType: The actual item type of the item located on the pickup.</li>
 	 * <li>NavPointId: The UnrealId of the navpoint this item is placed when
 	 * spawned.</li>
 	 * <li>Location: location in the world when this item is dropped.</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 * <p>
 	 * Notes:
 	 * <ol>
 	 * <li>
 	 * TODO: A full over view of which category Label belongs to which item
 	 * type.</li>
 	 * </ol>
 	 * <p>
 	 * 
 	 */
 	@AsPercept(name = "item", multiplePercepts = true, filter = Type.ON_CHANGE_NEG)
 	public Collection<Percept> item() {
 		Collection<Item> visibleItems = items.getVisibleItems().values();
 		Collection<Percept> percepts = new ArrayList<Percept>(visibleItems.size());
 
 		for (Item item : visibleItems) {
 			if (item.isDropped()) {
 				percepts.add(new Percept(item.getId(), item.getType().getCategory(), item.getType(), item.getLocation()));
 			} else {
 				percepts.add(new Percept(item.getId(), item.getType().getCategory(), item.getType(), item.getNavPointId()));
 			}
 		}
 
 		return percepts;
 	}
 
 	/**
 	 * <p>
 	 * Description: Percept provided when the flag is visible.
 	 * </p>
 	 * 
 	 * <p>
 	 * Type: On change with negation.
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: flag(Team, UnrealId, location(X,Y,Z))
 	 * </p>
 	 * 
 	 * <ul>
 	 * <li>Team: Either red or blue.</li>
 	 * <li>UnrealId: The UnrealId of the player holding the flag, none when the
 	 * flag is not held.</li>
 	 * <li>Location: The location of the flag in the world.</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 * <p>
 	 * Notes:
 	 * <ol>
 	 * <li>
 	 * See also the flagStatus percept.</li>
 	 * </ol>
 	 * <p>
 	 * 
 	 */
 	@AsPercept(name = "flag", multiplePercepts = true, filter = Type.ON_CHANGE_NEG)
 	public Collection<Percept> flag() {
 		Collection<FlagInfo> flags = game.getAllCTFFlagsCollection();
 		Collection<Percept> percepts = new ArrayList<Percept>(flags.size());
 
 		for (FlagInfo flag : flags) {
 			if (flag.isVisible())
 				percepts.add(new Percept(Team.valueOf(flag.getTeam()), flag.getHolder(), flag.getLocation()));
 		}
 
 		return percepts;
 	}
 
 	/**
 	 * <p>
 	 * Percept provided when another bot becomes visible to this bot.
 	 * </p>
 	 * 
 	 * <p>
 	 * Type: On change with negation.
 	 * </p>
 	 * 
 	 * <p>
 	 * Syntax: bot(UnrealId, Team, location(X,Y,Z), Weapon, FireMode)
 	 * </p>
 	 * 
 	 * <ul>
 	 * <li>UnrealId: Unique identifier for this bot assigned by Unreal.</li>
 	 * <li>Team: Either red or blue.</li>
 	 * <li>location(X,Y,Z): Location of the bot in the world.</li>
 	 * <li>Weapon: The weapon the bot is holding. TODO: Any of the following:</li>
 	 * <li>FireMode: Mode of shooting, either primary, secondary or none.</li>
 	 * </ul>
 	 * </p>
 	 * 
 	 * 
 	 */
 	@AsPercept(name = "bot", multiplePercepts = true, filter = Type.ON_CHANGE_NEG)
 	public Collection<Percept> bot() {
 		Collection<Player> visible = players.getVisiblePlayers().values();
 		Collection<Percept> wrapped = new ArrayList<Percept>(visible.size());
 
 		for (Player p : visible) {
 			wrapped.add(new Percept(p.getId(), p.getName(), Team.valueOf(p.getTeam()), p.getLocation(),
 					ItemType.getItemType(p.getWeapon()), FireMode.valueOf(p.getFiring())));
 		}
 
 		return wrapped;
 	}
 }