cig/carribean/script.py

'''

@author: olivier.massot, 2019
'''
import heapq
import sys


# TODO:
# * add an esquive manoeuvre / try to avoid cannonballs
# * consider firing at rum barrels if an ennemy is nearer
# * compute first and second target instead of only one to anticipate the next move
# * if an enemy is near a mine, shoot the mine instead of the ship
# * compute the probabilities of presence of an ennemy on different coords at next turn
# * find a way to change direction without slowing down if possible
# * avoid getting blocked by a side-by-side with an ennemy

debug = True

def log(*msg):
    if debug:
        print(*msg, file=sys.stderr)

current_turn = 0

class DidNotAct(Exception):
    pass

class Queue():
    def __init__(self):
        self.items = []
    
    def __bool__(self):
        return bool(self.items)

    def put(self, item, priority):
        heapq.heappush(self.items, (priority, item))

    def get(self):
        return heapq.heappop(self.items)[1]

    @classmethod
    def merge(cls, *args, reverse=False):
        q = cls()
        q.items = list(heapq.merge(*[a.items for a in args], key=lambda x: x[1], reverse=reverse))
        return q

class InterestQueue(Queue):
    def __add__(self, other):
        self.items += other.items
        return self
    
    def put(self, item):
        heapq.heappush(self.items, item)
        
    def get(self):
        return heapq.heappop(self.items)
    
    @classmethod
    def merge(cls, *args, reverse=False):
        q = cls()
        q.items = list(heapq.merge(*[a.items for a in args], reverse=reverse))
        return q
    
class ObjectivesQueue(InterestQueue):
    pass

    
class Base():
    def __repr__(self):
        return f"<{self.__class__.__name__}: {self.__dict__}>"



class BaseObjective(Base):
    def __init__(self, target):
        self.target = target
        self.interest = 0

    def __lt__(self, other):
        return self.interest < other.interest

    def __repr__(self):
        return f"<{self.__class__.__name__}({self.target.id})>"

    def eval(self, pos = None, d = None):
        self.distance = Grid.manhattan(pos, self.target.pos) if pos is not None else 0
        self.alignment = abs(Grid.diff_directions(Grid.direction_to(*pos, *self.target.pos), d)) if d is not None else 0
        self._compute_interest()
        
    def _compute_interest(self):
        self.interest = 7 * self.distance + 3 * self.alignment
        
class GetBarrel(BaseObjective):
    def _compute_interest(self):
        self.interest = 6 * self.distance + 9 * self.alignment + 3 * self.target.dispersal + self.target.mine_threat ** 2 - 36 * self.target.ennemy_near

class Attack(BaseObjective):
    def _compute_interest(self):
        self.interest = 7 * self.distance + 3 * self.alignment + self.target.stock // 4 - 20 * self.target.blocked_since

class PathNode(tuple):
    def __new__(self, x, y, parent=None):
        n = tuple.__new__(self, (x, y))
        n.parent = parent
        n.cost = 0
        n.orientation = 0
        return n
    
    def __repr__(self):
        return f"<{self[0]}, {self[1]}, c:{self.cost}, o:{self.orientation}>"

class Grid(Base):
    def __init__(self):
        self.w = 23
        self.h = 21
        
        self._neighbors = {}
        for x in range(-1, self.w + 1):
            for y in range(-1, self.h + 1):
                self.cache_neighbors(x, y)
 
        self.load_entities({})
        
    def __contains__(self, key):
        return 0 <= key[0] < self.w and 0 <= key[1] < self.h

    def __iter__(self):
        for item in ((x, y) for x in range(self.w) for y in range(self.h)):
            yield item

    # data
    
    def load_entities(self, entities):
        
        # special: mines too far from ships are not recorded but still exist
        ghost_mines = []
        if hasattr(self, "mines"):
            for m in self.mines:
                if not m.pos in [e.pos for e in entities.values() if type(e) is Mine]:
                    if all((self.manhattan(m.pos, ship.pos) > 5) for ship in self.owned_ships):
                        m.ghost = True
                        ghost_mines.append(m)

        self.entities = entities
        self.index = {}
        self.ships = []
        self.owned_ships = []
        self.ennemy_ships = []
        self.ships = []
        self.barrels = []
        self.mines = []
        self.cannonballs = []
        
        for e in list(entities.values()) + ghost_mines:
            self.index[e.pos] = e
            type_ = type(e)
            
            if type_ is Ship:
                self.ships.append(e)
                if e.owned:
                    self.owned_ships.append(e)
                else:
                    self.ennemy_ships.append(e)

            elif type_ is Barrel:
                self.barrels.append(e)

            elif type_ is Mine:
                self.mines.append(e)

            elif type_ is Cannonball:
                self.cannonballs.append(e)
                
        for s in self.owned_ships:
            s.allies = [other for other in self.owned_ships if other is not s]
                
        grav_center = self.barrels_gravity_center()
        for b in self.barrels:
            b.dispersal = Grid.manhattan(grav_center, b.pos) if grav_center != None else 0
            b.mine_threat = any(type(self.at(*c)) is Mine for c in self.neighbors(*b.pos))
            b.ennemy_near = any(b.pos in e.next_area for e in self.ennemy_ships)
                
        for s in self.owned_ships:
            
            for b in self.barrels:
                obj = GetBarrel(b)
                obj.eval(s.next_pos if s.speed else s.prow, s.orientation)
                s.objectives.put(obj)
                
            for e in self.ennemy_ships:
                obj = Attack(e)
                obj.eval(s.next_pos, s.orientation)
                s.ennemies.put(obj)

        self.update_moving_costs()


    def at(self, x, y):
        try:
            return self.index[(x, y)]
        except KeyError:
            return None
        
    def collision_at(self, x, y):
        e = self.at(x, y)
        return type(e) in [Mine, Ship, Cannonball] or not (x, y) in self.__iter__()
        
    def barrels_gravity_center(self):
        wx, wy, wtotal = 0,0,0
        for b in self.barrels:
            wx += (b.x * b.amount) 
            wy += (b.y * b.amount)
            wtotal += b.amount
        return (wx // wtotal, wy // wtotal) if wtotal else None

    def update_moving_costs(self):
        base_costs = {}
        
        for x in range(-1, self.w + 1):
            for y in range(-1, self.h + 1):
                base_costs[(x, y)] = 10 # base moving cost
                
        for x, y in base_costs:
            if x in (-1, self.w + 1) or y in (-1, self.h):
                base_costs[(x, y)] = 1000 # out of the map
            elif x in (0, self.w - 1) or y in (0, self.h - 1):
                base_costs[(x, y)] = 15 # borders are a little more expensive     
        
        for m in self.mines:
            for n in self.neighbors(*m.pos):
                base_costs[n] += 30
        for m in self.mines:
            base_costs[m.pos] += 1000
        for c in self.cannonballs:
            base_costs[c.pos] += (100 + (5 - c.countdown) * 200)
        
        for ship in self.ships:
            ship._moving_costs = {}
            ship._moving_costs.update(base_costs)
            for other in self.ships:
                if other is ship:
                    continue
                dist = self.manhattan(ship.pos, other.pos)
                if dist > 8:
                    continue
                for c in self.neighbors(*other.pos):
                    ship._moving_costs[c] += 100 * abs(3 - other.speed)
                for c in self.zone(other.next_pos, 4):
                    ship._moving_costs[c] += 20

    def shooting_spot(self, ship, target):
        shooting_spots = Queue()
        target_pos = target.next_pos if type(target) is Ship else target.pos
        
        for x, y in self.zone(target_pos, 10):
            if ship.moving_cost(x, y) > 100:
                continue
            if self.manhattan((x, y), target_pos) <= 1:
                continue
            
            interest = 0 # the lower the better
            
            interest += ship.moving_cost(x, y)
            
            # avoid cells too close from borders
            if not (3 <= x <= (self.w - 3) and 3 <= y < (self.h - 3)):
                interest += 10
            
            # priorize spots at distance 5 from active ship
            interest -= 20 * abs(5 - self.manhattan((x, y), ship.pos))
            
            shooting_spots.put((x, y), interest)

        return shooting_spots.get()
    
    # geometrical algorithms
    @staticmethod
    def from_cubic(xu, yu, zu):
        return (zu, int(xu + (zu - (zu & 1)) / 2))

    @staticmethod
    def to_cubic(x, y):
        zu = x
        xu = int(y - (x - (x & 1)) / 2)
        yu = int(-xu - zu)
        return (xu, yu, zu)

    @staticmethod
    def manhattan(from_, to_):
        xa, ya = from_
        xb, yb = to_
        return abs(xa - xb) + abs(ya - yb) 

    def zone(self, center, radius):
        buffer = frozenset([center])
        for _ in range(0, radius):
            current = buffer
            for x, y in current:
                buffer |= frozenset(self.abs_neighbors(x, y))
        return [c for c in buffer if 0 <= c[0] < self.w and 0 <= c[1] < self.h]       

    @staticmethod
    def closest(from_, in_):
        return min(in_, key=lambda x: Grid.manhattan(from_, x.pos))

    @staticmethod
    def directions(y):
        if y % 2 == 0:
            return [(1, 0), (0, -1), (-1, -1), (-1, 0), (-1, 1), (0, 1)]
        else:
            return [(1, 0), (1,-1), (0,-1), (-1, 0), (0, 1), (1, 1)]

    @staticmethod
    def direction_to(x0, y0, x, y):
        dx, dy = (x - x0), (y - y0)
        if dx > 0:
            if dy == 0:
                return 0
            elif dy > 0:
                return 5
            else:
                return 1
        elif dx < 0:
            if dy == 0:
                return 3
            elif dy > 0:
                return 4
            else:
                return 2
        else:
            if dy > 0:
                return 5 if y0 % 2 == 0 else 4
            else:
                return 1 if y0 % 2 == 0 else 2

    @staticmethod
    def add_directions(d1, d2):
        d = d2 + d1
        if d <= -3:
            d += 6
        elif d > 3:
            d -= 6
        return d
    
    @staticmethod
    def diff_directions(d1, d2):
        d = d2 - d1
        if d <= -3:
            d += 6
        elif d > 3:
            d -= 6
        return d
    
    @staticmethod
    def next_cell(x, y, d, repeat=1):
        for _ in range(repeat):
            dx, dy = Grid.directions(y)[d]
            x, y = x + dx, y + dy
        return x, y
    
    @staticmethod
    def symetry(d):
        return d + 3 if d < 3 else d - 3
    
    @staticmethod
    def abs_neighbors(x, y):
        return ((x + dx, y + dy) for dx, dy in Grid.directions(y))
    
    def cache_neighbors(self, xc, yc):
        self._neighbors[(xc, yc)] = [(x, y) for x, y in Grid.abs_neighbors(xc, yc) if 0 <= x < self.w and 0 <= y < self.h]

    def neighbors(self, x, y):
        try:
            return self._neighbors[(x, y)]
        except KeyError:
            self.cache_neighbors(x, y)
            return self._neighbors[(x, y)]
        
    def rotate(self, center, coordinates, rotations):
        if coordinates == [center] or rotations % 6 == 0:
            return coordinates
        x0, y0 = center
        xu0, yu0, zu0 = self.to_cubic(x0, y0)
        result = []

        for x, y in coordinates:
            xu, yu, zu = self.to_cubic(x, y)
            dxu, dyu, dzu = xu - xu0, yu - yu0, zu - zu0
            for _ in range(rotations):
                dxu, dyu, dzu = -dzu, -dxu, -dyu
            xru, yru, zru = dxu + xu0, dyu + yu0, dzu + zu0
            xr, yr = self.from_cubic(xru, yru, zru)
            result.append((xr, yr))
        return result

    # pathfinding
    def path(self, origin, orientat0, target, moving_costs={}, incl_start=False, limit=10000):
        nodes = Queue()
        break_on, iteration = limit, 0
        
        origin = PathNode(*origin)
        origin.orientation = orientat0
        
        nodes.put(origin, 0)
        neighbors = []

        while nodes:
            current = nodes.get()

            if current == target:
                path = []
                previous = current
                while previous:
                    if previous != origin or incl_start:
                        path.insert(0, previous)
                    previous = previous.parent
                return path

            neighbors = self.neighbors(*current)

            for x, y in neighbors:
                
                if (x, y) == current.parent:
                    continue
                
                iteration += 1
                if break_on > 0 and iteration >= break_on:
                    return None
                
                moving_cost = moving_costs.get((x, y), 1000)
                if moving_cost >= 1000:
                    continue
                
                d = Grid.direction_to(*current, x, y)
                diff = abs(Grid.diff_directions(current.orientation, d))
                if diff > 1:
                    # change direction one degree at a time
                    continue
                    
                if any(moving_costs.get(c, 1000) >= 1000 for c in Ship.get_area(x, y, d)):
                    continue
                    
                cost = current.cost + moving_cost + diff * 10
#                 if diff != 0 and any(moving_costs.get(c, 1000) >= 1000 for c in neighbors):
#                     # a direction change here is dangerous
#                     cost += 100
                
                
                priority = cost + 10 * Grid.manhattan((x, y), target)

                node = PathNode(x, y, current)
                node.cost = cost
                node.orientation = d
                nodes.put(node, priority)
        else:
            return None

class Entity(Base):
    def __init__(self, ent_id):
        self.id = int(ent_id)
        self.x, self.y = 0, 0
        self.args = [0,0,0,0]

    def update(self, x, y, *args):
        self.x, self.y = int(x), int(y)
        
    @property
    def pos(self):
        return (self.x, self.y)
    
    def __lt__(self, other):
        # default comparison, used to avoid errors when used with queues and priorities are equals
        return self.id < other.id
    
    
class Ship(Entity):
    MAX_SPEED = 2
    SCOPE = 10
    
    def __init__(self, *args, **kwargs):
        super().__init__(*args, **kwargs)
        self.x, self.y = 0, 0
        self.orientation = 0
        self.speed = 0
        self.stock = 0
        self.owned = 0
        
        self.next_cell = None
        self.next_pos = None
        self.last_fire = None
        self.last_mining = None
        self.blocked_since = 0
        self.same_traject_since = 0
        self.last_action = ""
        self.allies = []
        self._moving_costs = {}
        
        self.objectives = ObjectivesQueue()
        self.ennemies = ObjectivesQueue()
        
        self.objective = None
        self.objective_next = None
        self.target_ennemy = None
        
        self.path = []
        
        self.distance = 0
        self.alignment = 0
        
    def __repr__(self):
        return f"<Ship {self.id}: pos=({self.x}, {self.y}), orientation={self.orientation}, speed={self.speed}, blocked={self.blocked_since}, last_fire={self.last_fire}, next_pos={self.next_pos}, area={self.area}>"

    def update(self, x, y, *args):
        previous_state = self.state()
        previous_traject = self.traject()
        
        super().update(x, y)
        self.orientation, self.speed, self.stock, self.owned = map(int, args)

        self.objectives = ObjectivesQueue()
        self.ennemies = ObjectivesQueue()
        
        self.objective = None
        self.objective_next = None
        self.target_ennemy = None
        
        self.goto = None
        self.path = []
        
        self.area = Ship.get_area(self.x, self.y, self.orientation)
        self.prow, _, self.stern = self.area
        
        self.next_cell = self.get_next_cell()
        self.next_pos = self.get_next_pos()
        self.next_area = Ship.get_area(*self.next_pos, self.orientation)
        
        self.mobility_zone = list(set(self.area + self.next_area))
            
        if self.traject() != previous_traject:
            self.same_traject_since += 1
        else:
            self.same_traject_since = 0
    
        if self.state() == previous_state:
            self.blocked_since += 1
        else:
            self.blocked_since = 0

    def traject(self):
        return (self.orientation, self.speed)

    def state(self):
        return (self.x, self.y, self.orientation, self.speed)

    @classmethod
    def get_pos_in(cls, current, speed, orientation, in_=1):
        x, y = current
        for _ in range(in_):
            for _ in range(speed):
                dx, dy = Grid.directions(y)[orientation]
                x, y = x + dx, y + dy
        return x, y

    @classmethod
    def get_area(cls, x, y, orientation):
        dx, dy = Grid.directions(y)[Grid.add_directions(orientation, 3)]
        stern = (x + dx, y + dy)
        
        dx, dy = Grid.directions(y)[orientation]
        prow = (x + dx, y + dy)
        
        return [prow, (x, y), stern]

    def get_next_pos(self, in_=1):
        return self.get_pos_in(self.pos, self.speed, self.orientation, in_)
    
    def guess_next_pos(self):
        proba = {}
        
        # wait (or fire or mine)
        for c in self.next_area:
            proba[c] = proba.get(c, 10)
        
        # turn left
        area = self.get_area(*self.pos, Grid.add_directions(self.orientation, 1))
        for c in area:
            proba[c] = proba.get(c, 0) + 10
            
        # turn right
        area = self.get_area(*self.pos, Grid.add_directions(self.orientation, -1))
        for c in area:
            proba[c] = proba.get(c, 0) + 10
            
        # speed up
        if self.speed < self.MAX_SPEED:
            area = self.get_area(*self.get_pos_in(self.pos, self.speed + 1, self.orientation), self.orientation)
            for c in area:
                proba[c] = proba.get(c, 0) + 10
        
        # slow down
        if self.speed > 0:
            area = self.get_area(*self.get_pos_in(self.pos, self.speed - 1, self.orientation), self.orientation)
            for c in area:
                proba[c] = proba.get(c, 0) + 10
            
        for c in proba:
            proba[c] -= self.moving_cost(*c)

        for c in self.area:
            proba[c] = proba.get(c, 0) + 50 * self.blocked_since

        best = max(proba.items(), key=lambda x: x[1])

        return best[0]
    
    def get_next_cell(self, in_=1):
        return Grid.next_cell(self.x, self.y, self.orientation, repeat=in_)

    def in_current_direction(self, x, y):
        return self.orientation == Grid.direction_to(*self.pos, x, y)

    def moving_cost(self, x, y):
        return self._moving_costs.get((x, y), 1000)
    
    def cant_move(self):
        
        front = Grid.next_cell(*self.prow, self.orientation)
        front_left = Grid.next_cell(*self.prow, Grid.add_directions(self.orientation, 1))
        left = Grid.next_cell(*self.prow, Grid.add_directions(self.orientation, 2))
        front_right = Grid.next_cell(*self.prow, Grid.add_directions(self.orientation, -1))
        right = Grid.next_cell(*self.prow, Grid.add_directions(self.orientation, -2))
        
        back_left = Grid.next_cell(*self.stern, Grid.add_directions(self.orientation, 2))
        back_right = Grid.next_cell(*self.stern, Grid.add_directions(self.orientation, -2))
        
        blocked = {c: (self.moving_cost(*c) >= 1000) for c in [front, front_left, left,
                                                                 front_right, right, 
                                                                 back_left, back_right]}
        
        if all(blocked[i] for i in [front, front_left, front_right, left, right]):
            # surrounded
            return True
        elif (blocked[front_left] and blocked[left]) or (blocked[front_right] and blocked[right]):
            # side by side
            return True
        elif blocked[front] and ((blocked[front_left] and blocked[back_right]) or (blocked[front_right] and blocked[back_left])):
            # cannot go front or turn
            return True
        
        return False
        
    
    def move(self, *args, **kwargs):
        try:
            self._move(*args, **kwargs)
            return True
        except DidNotAct:
            return False


    def _move(self, path, danger=[]):
        
        if path is None:
            log(f"(!) broken: automove to {self.goto}")
            self.auto_move(*self.goto)
            return
        elif not path:
            raise DidNotAct()
        
        # speed shall be at 1 when arriving on the "flag"
        next_flag = next((i for i, n in enumerate(path) if n.orientation != self.orientation), None)
        if next_flag is None:
            next_flag = len(path)
        
        diff = Grid.diff_directions(self.orientation, path[0].orientation)
        
        if not self.speed:
            if diff and next_flag == 0:
                # start, with a direction change
                if diff > 0:
                    self.turn_left()
                    return
                    
                elif diff < 0:
                    self.turn_right()
                    return
            else:
                # start, todo recto
                self.speed_up()
                return
        
        elif self.speed > 1 and next_flag <= (self.speed + 1):
            # the end of the path or a direction change is coming
            self.slow_down()
            return
        
        elif next_flag > self.MAX_SPEED + 1 and self.speed < self.MAX_SPEED:
            # long path and no direction change coming: speed up
            self.speed_up()
            return
        
        elif diff:
            if diff > 0:
                self.turn_left()
                return
                
            elif diff < 0:
                self.turn_right()
                return
        
        raise DidNotAct()
           
    def fire_at_will(self, *args, **kwargs):
        try:
            self._fire_at_will(*args, **kwargs)
            return True
        except DidNotAct:
            return False
           
    def _fire_at_will(self, target, allies = []):
        if not self.can_fire():
            raise DidNotAct()
        
        avoid = []
        if not self in allies:
            allies.append(self)
        for ally in allies:
            avoid += ally.mobility_zone
        
        dist = Grid.manhattan(self.prow, target.next_pos)
        if dist <= 4:
            # precise algo
            shoot_at = target.guess_next_pos()
            log(f"most probable position: {shoot_at}")
            ship.fire(*shoot_at)
            
        elif dist <= self.SCOPE:

            # anticipate            
            next_positions = [target.get_next_pos(i) for i in range(1, 3)]
            for i, p in enumerate(next_positions):
                turn = i + 1
                
                if p in avoid:
                    continue
                
                dist_p = Grid.manhattan(self.prow, p)
                
                if dist_p > self.SCOPE:
                    continue
                
                if (1 + round(dist_p / 3)) == turn:
                    log(f"Precision: {p}, {dist_p}, {turn}")
                    ship.fire(*p)
                    return
            
            # give a try
            next_pos = next_positions[0]
            dist_p = Grid.manhattan(self.prow, next_pos)
            if dist_p <= self.SCOPE:
                ship.fire(*p)
            
        else:
            raise DidNotAct()
        
    def can_mine(self):
        return self.last_mining is None or (current_turn - self.last_mining) >= 4
        
    def can_fire(self):
        return self.last_fire is None or (current_turn - self.last_fire) >= 1
            
    # --- Basic commands
    def _act(self, cmd, *args):
        self.last_action = cmd
        output = " ".join([cmd] + [str(a) for a in args])
        log(f"ship {self.id}: {output}")
        print(output)
    
    def auto_move(self, x, y):
        self._act("MOVE", x, y)
        
    def speed_up(self):
        self._act("FASTER")
        
    def slow_down(self):
        self._act("SLOWER")    
    
    def turn_right(self):
        self._act("STARBOARD")
    
    def turn_left(self):
        self._act("PORT")
        
    def wait(self):
        self._act("WAIT")
        
    def mine(self):
        self.last_mining = current_turn
        self._act("MINE")
        
    def fire(self, x, y):
        self.last_fire = current_turn
        self._act("FIRE", x, y)

class Barrel(Entity):
    def __init__(self, *args, **kwargs):
        super().__init__(*args, **kwargs)
        self.amount = 0

        self.dispersal = 0
        self.mine_threat = False
        self.ennemy_near = False

    def __repr__(self):
        return f"<Barrel {self.id}: pos=({self.x}, {self.y}), amount={self.amount}>"
        
    def update(self, x, y, *args):
        super().update(x, y)
        self.amount = int(args[0])

class Mine(Entity):
    def __init__(self, *args, **kwargs):
        super().__init__(*args, **kwargs)
        self.ghost = False

    def __repr__(self):
        return f"<Mine {self.id}: pos=({self.x}, {self.y}), ghost={self.ghost}>"

class Cannonball(Entity):

    def update(self, x, y, *args):
        super().update(x, y)
        self.sender, self.countdown = int(args[0]), int(args[1])


entities = {}
map_entity = {"SHIP": Ship, 
             "BARREL": Barrel,
             "MINE": Mine,
             "CANNONBALL": Cannonball}

grid = Grid()



### *** Main Loop ***

while True:
    seen = []
    current_turn += 1
    
    # <--- get input
    my_ship_count, entity_count = int(input()), int(input())
    previous_ent, entities = grid.entities, {}
    for _ in range(entity_count):
        ent_id, ent_type, *data = input().split()
        ent_id = int(ent_id)
        entities[ent_id] = grid.entities.get(ent_id, map_entity[ent_type](ent_id))
        entities[ent_id].update(*data)
    # --->
    
    grid.load_entities(entities)
    
    log(f"### TURN {current_turn}")
    
#     log(f"Owned Ships: {grid.owned_ships}")
    log(f"Ennemy Ships: {grid.ennemy_ships}")
#     log(f"Barrels: {grid.barrels}")
#     log(f"Mines: {grid.mines}")
    log(f"Cannonballs: {grid.cannonballs}")


    ### Acquire
    log("# Acquiring")
    
    # main objective
    while not all(s.objective for s in grid.owned_ships):
        try:
            acquired = sorted([(s, s.objectives.get()) for s in grid.owned_ships if not s.objective], key= lambda x: x[1].interest)
            
            for s, o in acquired:
                if not s.objective and not any(al.objective.target is o.target for al in s.allies if al.objective):
                    s.objective = o
            
        except IndexError:
            break
        
    # after_that objective
    for s in grid.owned_ships:
        if not s.objective: 
            continue
        if grid.manhattan(s.pos, s.objective.target.pos) > 5:
            continue
        after_that = ObjectivesQueue()
        for b in [o.target for o in s.objectives.items]:
            obj = GetBarrel(b)
            obj.eval(s.objective.target.pos, s.orientation)
            after_that.put(obj)
        if after_that:
            s.objective_next = after_that.get()
    
    # targetted ennemy
    for s in grid.owned_ships:
        s.target_ennemy = s.ennemies.get()
        
    for ship in grid.owned_ships:
        log(f"Ship {ship.id}: obj: {ship.objective}; next: {ship.objective_next}; target: {ship.target_ennemy}")
    
    ### Plan
    log("# Planning")
    
    for ship in grid.owned_ships:
        
        log(f"---- ship {ship.id} ---")
        log(f"ship: {ship}")
        
        if ship.objective or (ship.target_ennemy and ship.target_ennemy.interest < 0):
            ship.goto = ship.objective.target.pos
        elif ship.target_ennemy:
            ship.goto = grid.shooting_spot(ship, ship.target_ennemy.target)
        else:
            log("ERROR: No target")
            continue
        
        log(f"goto: {ship.goto}")
        ship.path = grid.path(ship.next_pos, ship.orientation, ship.goto, ship._moving_costs, limit=6000 // len(grid.owned_ships))
        
        if ship.objective_next and ship.path:
            ship.path += grid.path(ship.goto, 
                                   ship.path[-1].orientation, 
                                   ship.objective_next.target.pos, 
                                   ship._moving_costs,
                                   limit=6000 // len(grid.owned_ships)) or []
        
        log(f"path: {ship.path}")
        
    ### special: avoid cannonballs
    danger = [c.pos for c in grid.cannonballs if c.countdown <= 1]
    
    
    ### Process
    log("# Processing")
    
    for ship in grid.owned_ships:
        if not ship.objective and not ship.target_ennemy:
            log("No target: wait")
            ship.wait()
        
        if ship.cant_move():
            log("blocked... fire!")
            if ship.fire_at_will(ship.target_ennemy.target, allies=grid.owned_ships):
                continue
        
        if ship.move(ship.path):
            continue
        
        # no movement was required, can fire
        if ship.fire_at_will(ship.target_ennemy.target, allies=grid.owned_ships):
            continue
        
        log("ERROR: Did not act, wait")
        ship.wait()