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

import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.io.Serializable;
import java.util.*;
import java.util.stream.Collectors;

/**
 * A*寻路算法Node节点
 */
@Slf4j
@Data
public class AStarNavigateNode implements Comparable<AStarNavigateNode>, Cloneable, Serializable {

    private static final long serialVersionUID = 1L;

    private int x;  //坐标x
    private int y;  //坐标y
    private int turnCount;  //转弯次数

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

    private AStarNavigateNode parent;    //父节点
    private Integer lastDistance;   // 距离上个节点距离
    private Integer weight;        // G 权重
//    private boolean turningPoint;   //是否为拐点
//    private Integer moveDistance;   // 总行走距离
//    private String direction;   //行走方向

    private String codeData;

    public AStarNavigateNode(int x, int y) {
        this.x = x;
        this.y = y;
        this.turnCount = 0;
    }

    public AStarNavigateNode(int x, int y, String codeData) {
        this.x = x;
        this.y = y;
        this.turnCount = 0;
        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(AStarNavigateNode father, AStarNavigateNode 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 = this.parent.G
                    + Optional.ofNullable(this.lastDistance).orElse(0)
                    + Optional.ofNullable(this.weight).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(AStarNavigateNode o) {
        return Integer.compare(this.F, o.F);
    }

    @Override
    public AStarNavigateNode clone() {
        try {
            return (AStarNavigateNode) super.clone();
        } catch (CloneNotSupportedException e) {
            log.error(this.getClass().getSimpleName(), e);
        }
        return null;
    }

    @Override
    public boolean equals(Object obj) {
        if (this == obj) return true;
        if (!(obj instanceof AStarNavigateNode)) return false;
        AStarNavigateNode that = (AStarNavigateNode) obj;
        return this.x == that.x
                && this.y == that.y
//                && this.turnCount == that.turnCount   // ** 转弯优化，严重影响性能
                ;
    }

    @Override
    public int hashCode() {
        return Objects.hash(
                this.x
                , this.y
//                , this.turnCount  // ** 转弯优化，严重影响性能
        );
    }


    private void print() {
        AStarNavigateNode finishNode = this.clone();
        ArrayList<AStarNavigateNode> navigateNodes = new ArrayList<>();

        while (finishNode != null) {
            navigateNodes.add(finishNode);
            System.out.println("node:" + finishNode.getCodeData() + ", g:" + finishNode.getG() + ", h:" + finishNode.getH() + ", f:" + finishNode.getF());
            finishNode = finishNode.getParent();
        }

        Collections.reverse(navigateNodes);

        List<String> navigatePath = navigateNodes.stream().map(AStarNavigateNode::getCodeData).collect(Collectors.toList());
        System.out.println(navigatePath.toString());
    }

}