package com.zy.common.utils;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasMap;
import com.zy.asrs.service.BasMapService;
import com.zy.common.model.NavigateNode;
import com.zy.core.enums.MapNodeType;
import java.util.*;

/**
 * A*算法实现类
 */
public class NavigateSolution {

    // Open表用优先队列
    public PriorityQueue<NavigateNode> Open = new PriorityQueue<NavigateNode>();
    //Close表用普通的数组
    public ArrayList<NavigateNode> Close = new ArrayList<NavigateNode>();
    //用来存放已经出现过的结点。
    Map<String, Integer> bestGMap = new HashMap<>();

    public List<List<NavigateNode>> getStationMap() {
        BasMapService basMapService = SpringUtils.getBean(BasMapService.class);
        BasMap basMap = basMapService.selectOne(new EntityWrapper<BasMap>().eq("lev", 1));
        if (basMap == null) {
            throw new CoolException("地图不存在");
        }

        List<List<JSONObject>> dataList = JSON.parseObject(basMap.getData(), List.class);

        List<List<NavigateNode>> navigateNodeList = new ArrayList<>();
        for (int i = 0; i < dataList.size(); i++) {
            List<JSONObject> row = dataList.get(i);
            List<NavigateNode> navigateNodeRow = new ArrayList<>();
            for (int j = 0; j < row.size(); j++) {
                JSONObject map = row.get(j);
                NavigateNode navigateNode = new NavigateNode(i, j);

                String nodeType = map.getString("type");
                if(nodeType == null) {
                    navigateNode.setValue(MapNodeType.DISABLE.id);
                }else if(nodeType.equals("devp") || nodeType.equals("merge")){
                    navigateNode.setValue(MapNodeType.NORMAL_PATH.id);

                    JSONObject valueObj = JSON.parseObject(map.getString("value"));
                    List<String> directionList = valueObj.getJSONArray("direction").toJavaList(String.class);
                    navigateNode.setDirectionList(directionList);
                }else {
                    navigateNode.setValue(MapNodeType.DISABLE.id);
                }

                navigateNode.setNodeType(nodeType);
                navigateNode.setNodeValue(map.getString("value"));
                navigateNodeRow.add(navigateNode);
            }
            navigateNodeList.add(navigateNodeRow);
        }

        return navigateNodeList;
    }

    public NavigateNode astarSearchJava(List<List<NavigateNode>> map, NavigateNode start, NavigateNode end) {
        // 清理上次搜索的状态，防止复用实例导致记录残留
        this.Open.clear();
        this.Close.clear();
        this.bestGMap.clear();
        //把第一个开始的结点加入到Open表中
        this.Open.add(start);
        //主循环
        while (Open.size() > 0) {
            //取优先队列顶部元素并且把这个元素从Open表中删除
            NavigateNode current_node = Open.poll();

            if (current_node.getX() == end.getX() && current_node.getY() == end.getY()) {//找到目标结点就返回
                return current_node;
            }

            //将这个结点加入到Close表中
            Close.add(current_node);
            //对当前结点进行扩展，得到一个四周结点的数组
            ArrayList<NavigateNode> neighbour_node = extend_current_node(map, current_node);
            //对这个结点遍历，看是否有目标结点出现
            for (NavigateNode node : neighbour_node) {
                // 已在关闭列表中的节点不再处理，避免父链反复改写形成环
                if (Close.contains(node)) {
                    continue;
                }
                // G + H + E (对启发函数增加去拐点方案calcNodeExtraCost)
                int gCost = calcNodeExtraCost(current_node, node, end);

                //进行计算对G, F, H 等值
                node.setG(1 + gCost);
                node.init_node(current_node, end);
                node.setH(calcNodeCost(node, end));
                node.setF(node.getG() + node.getH());

                String key = node.getX() + "_" + node.getY();
                Integer recordedG = bestGMap.get(key);
                // 仅当找到更小的代价时才更新与入Open，避免等价代价反复入队导致父链抖动
                if (recordedG == null || node.getG() < recordedG) {
                    bestGMap.put(key, node.getG());

                    Open.add(node);
                }
            }
        }
        //如果遍历完所有出现的结点都没有找到最终的结点，返回null
        return null;
    }

    public ArrayList<NavigateNode> extend_current_node(List<List<NavigateNode>> map, NavigateNode current_node) {
        //获取当前结点的x, y
        int x = current_node.getX();
        int y = current_node.getY();
        //如果当前结点的邻结点合法，就加入到neighbour_node
        ArrayList<NavigateNode> neighbour_node = new ArrayList<NavigateNode>();

        if(current_node.getValue() == MapNodeType.DISABLE.id) {
            return neighbour_node;
        }

        List<String> directionList = current_node.getDirectionList();
        if(directionList == null || directionList.size() == 0) {
            return neighbour_node;
        }

        for(String direction : directionList) {
            if(direction.equals("top")) {
                NavigateNode node = getValidNavigateNode(map, x - 1, y);
                if(node != null) {
                    neighbour_node.add(node);
                }
            }else if(direction.equals("bottom")) {
                NavigateNode node = getValidNavigateNode(map, x + 1, y);
                if(node != null) {
                    neighbour_node.add(node);
                }
            }else if(direction.equals("left")) {
                NavigateNode node = getValidNavigateNode(map, x, y - 1);
                if(node != null) {
                    neighbour_node.add(node);
                }
            }else if(direction.equals("right")) {
                NavigateNode node = getValidNavigateNode(map, x, y + 1);
                if(node != null) {
                    neighbour_node.add(node);
                }
            }
        }

        return neighbour_node;
    }

    public NavigateNode getValidNavigateNode(List<List<NavigateNode>> map, int x, int y) {
        if (x < 0 || x >= map.size()
                || y < 0 || y >= map.get(0).size()) {
            return null;
        }

        NavigateNode node = map.get(x).get(y);
        if(node.getValue() == MapNodeType.DISABLE.id) {
            return null;
        }

        return node;
    }

    public NavigateNode findStationNavigateNode(List<List<NavigateNode>> map, int stationId) {
        for(int x = 0; x < map.size(); x++) {
            for(int y = 0; y < map.get(0).size(); y++) {
                NavigateNode node = map.get(x).get(y);
                if("devp".equals(node.getNodeType())) {
                    JSONObject valueObj = JSON.parseObject(node.getNodeValue());
                    if(valueObj.getInteger("stationId") == stationId) {
                        return node;
                    }
                }
            }
        }
        return null;
    }

    //------------------A*启发函数------------------//

    //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)
    private int calcNodeCost(NavigateNode node1, NavigateNode node2) {
        return Math.abs(node2.getX() - node1.getX()) + Math.abs(node2.getY() - node1.getY());
    }

    //去除拐点算法，给直线增加优先级
    private int calcNodeExtraCost(NavigateNode currNode, NavigateNode nextNode, NavigateNode endNode) {
        // 第一个点或直线点
        if (currNode.getFather() == null || nextNode.getX() == currNode.getFather().getX()
                || nextNode.getY() == currNode.getFather().getY()) {
            return 0;
        }

        // 拐向终点的点
        if (nextNode.getX() == endNode.getX() || nextNode.getY() == endNode.getY()) {
            return 1;
        }

        // 普通拐点
        /*
        拐点判断逻辑
        拿到父节点和下一节点
        通过判断父节点和下一节点的x数据和y数据都不相同时，则表明当前坐标是一个拐点
         */
        return 1;
    }

    //------------------A*启发函数-end------------------//

}