package com.zy.acs.manager.core.service.astart;

import lombok.Data;

import java.io.Serializable;
import java.util.Optional;

/**
 * A*寻路算法Node节点
 */
@Data
public class NavigateNode implements Comparable<NavigateNode>, Cloneable, Serializable {

    private static final long serialVersionUID = 1L;

    private int x;  //坐标x
    private int y;  //坐标y
    private int z;  //坐标z(高度)

    private int F;  //综合花费的步数
    private int G;  //已经花费的步数
    private int H;  //将要花费的步数

    private NavigateNode parent;    //父节点
    private Boolean turningPoint;   //是否为拐点
    private String direction;   //行走方向
    private Integer lastDistance;   // 距离上个节点距离
    private Integer moveDistance;   // 总行走距离

    private String codeData;

    public NavigateNode(int x, int y) {
        this.x = x;
        this.y = y;
    }

    public NavigateNode(int x, int y, String codeData) {
        this.x = x;
        this.y = y;
        this.codeData = codeData;
    }

    //通过结点的坐标和目标结点的坐标可以计算出F， G， H三个属性
    //需要传入这个节点的上一个节点和最终的结点
    public void initNode(NavigateNode father, NavigateNode end) {
        this.parent = father;
        if (this.parent != null) {
            //走过的步数等于父节点走过的步数加一
            this.G = father.G + Optional.ofNullable(this.lastDistance).orElse(0);
        } else { //父节点为空代表它是第一个结点
            this.G = 0;
        }

        //以下计算方案为算法原始方案，没有去拐点方案。已被Solution计算时自动覆盖。
        //计算通过现在的结点的位置和最终结点的位置计算H值(曼哈顿法：坐标分别取差值相加)
        this.H = Math.abs(this.x - end.x) + Math.abs(this.y - end.y);
        this.F = this.G + this.H;
    }

    @Override
    public int compareTo(NavigateNode o) {
        return Integer.compare(this.F, o.F);
    }

    @Override
    public NavigateNode clone() {
        try {
            return (NavigateNode) super.clone();
        } catch (CloneNotSupportedException e) {
            e.printStackTrace();
        }
        return null;
    }
}