//Klasy
class Agent{
    constructor(positionX, positionY, turn){
        this.positionX = positionX;
        this.positionY = positionY;
        this.turn = turn;
    }

    getParams(){
        let params = {};

        positionX = this.positionX;
        positionY = this.positionY;
        turn = this.turn;

        params = {positionX, positionY, turn};

        return params;
    }  

    turnLeft(){
        if(this.turn == 'Up'){
            this.turn = 'Left';
        }
        else if(this.turn == 'Down'){
            this.turn = 'Right';
        }
        else if(this.turn == 'Left'){
            this.turn = 'Down';
        }
        else if(this.turn == 'Right'){
            this.turn = 'Up'
        }
    }

    turnRight(){
        if(this.turn == 'Up'){
            this.turn = 'Right';
        }
        else if(this.turn == 'Down'){
            this.turn = 'Left';
        }
        else if(this.turn == 'Left'){
            this.turn = 'Up';
        }
        else if(this.turn == 'Right'){
            this.turn = 'Down'
        }
    }

    showAgent(){
        if(this.turn === "Up"){
            document.getElementById(this.positionX + "-" + this.positionY).style.backgroundImage = "url('img/Up.png')";
        }
        else if(this.turn === "Down"){
            document.getElementById(this.positionX + "-" + this.positionY).style.backgroundImage = "url('img/Down.png')";
        }
        else if(this.turn === "Right"){
            document.getElementById(this.positionX + "-" + this.positionY).style.backgroundImage = "url('img/Right.png')";
        }
        else if(this.turn === "Left"){
            document.getElementById(this.positionX + "-" + this.positionY).style.backgroundImage = "url('img/Left.png')";
        }
        
    }

    hideAgent(){
        document.getElementById(this.positionX + "-" + this.positionY).style.backgroundImage = "";
    }

    goForward(){
        if(this.turn == 'Up'){
            this.positionY += 1;
        }
        else if(this.turn == 'Down'){
            this.positionY -= 1;
        }
        else if(this.turn == 'Left'){
            this.positionX -= 1;
        }
        else if(this.turn == 'Right'){
            this.positionX += 1;
        }
    }


}

class Field{
    constructor(x, y, isShelf, isOccupiedByAgent, costOfTravel){
        this.xField = x;
        this.yField = y;
        this.isShelf = isShelf;
        this.isOccupiedByAgent = isOccupiedByAgent;
        this.costOfTravel = costOfTravel;
        this.neighbors = [];
        this.gScore = 0;
        this.heuristic = 0;
        this.f = 0;
        this.previous = undefined;
    }

    getParams(){
        let params = {};

        xField = this.xField;
        yField = this.yField;
        isShelf = this.isShelf;
        isOccupiedByAgent = this.isOccupiedByAgent;
        costOfTravel = this.costOfTravel;
        params = {xField, yField, isShelf, isOccupiedByAgent, costOfTravel}

        return params;
    }
	
	setIsShelf(isShelf){
		this.isShelf = isShelf;
	}
	
	getIsShelf(){
		return this.isShelf;
	}
	
	setIsOccupiedByAgent(isOccupiedByAgent){
		this.isOccupiedByAgent = isOccupiedByAgent;
	}
	
	setCostOfTravel(costOfTravel){
		this.costOfTravel = costOfTravel;
    }
    
    setNeighbors(field){
        if(field.isShelf == false){
            this.neighbors.push(field)
        }
    }
}

class Shelf{
	constructor(accessY, accessX, havePlace, box1, box2, box3){
        this.accessX = accessX;
        this.accessY = accessY;
		this.havePlace = true;
		this.box1 = box1;
		this.box2 = box2;
		this.box3 = box3;
    }
	
	getParams(){
        let params = {};

        xField = this.xField;
        yField = this.yField;
		havePlace = this.havePlace;
		box1 = this.box1;
		box2 = this.box2;
		box3 = this.box3;
        params = {xField, yField, havePlace, box1, box2, box3}

        return params;
    }
	
	setbox1(box1){
		this.box1 = box1;
	}
	
	setbox2(box1){
		this.box2 = box2;
	}
	
	setbox3(box1){
		this.box3 = box3;
	}
	
	setHavePlace(havePlace){
		this.havePlace = havePlace;
	}
}

class Candy{
	constructor(type, taste, mark, id){
        this.type = type;
		this.taste = taste;
        this.mark = mark;
		this.id = id;
    }
	
	getId(){
		return this.id;
	}
	
}

//funkcje

function createBoard(rangeX, rangeY){
    const board = [];

    for(let y = 0; y < rangeY; y++){
        const row = [];
        for(let x = 0; x < rangeX; x++){
            let field = new Field(x, y, false, false, 1);
            row.push(field)
        }
        board.push(row)
    }
    return board
}

function createShelfOnBoard(board){
	//pierwszy poziom
	board[2][2].setIsShelf(true);
	board[3][2].setIsShelf(true);
	
	board[2][4].setIsShelf(true);
	board[3][4].setIsShelf(true);
	
	board[2][6].setIsShelf(true);
	board[3][6].setIsShelf(true);
	
	board[2][8].setIsShelf(true);
	board[3][8].setIsShelf(true);
	
	//drugi poziom
	board[5][2].setIsShelf(true);
	board[5][3].setIsShelf(true);
	
	board[5][7].setIsShelf(true);
	board[5][8].setIsShelf(true);
	
	//trzeci poziom
	board[7][2].setIsShelf(true);
	board[8][2].setIsShelf(true);
	
	board[7][4].setIsShelf(true);
	board[8][4].setIsShelf(true);
	
	board[7][6].setIsShelf(true);
	board[8][6].setIsShelf(true);
	
	board[7][8].setIsShelf(true);
	board[8][8].setIsShelf(true);
	return board
}

function createCostofField(board, rangeX, rangeY){
	let cost;
	let number;
	for(let y = 0; y < rangeY; y++){
		for(let x = 0; x < rangeX; x++){
			number = 0;
			if(y<9 && board[y+1][x].getIsShelf()){
				number = number + 1;
			}
			if(y>0 && board[y-1][x].getIsShelf()){
				number = number + 1;
			}
			if(x<9 && board[y][x+1].getIsShelf()){
				number = number + 1;
			}
			if(x>0 && board[y][x-1].getIsShelf()){
				number = number + 1;
			}
			cost = number*2;
			if(cost==0){
				cost = 1;
			}
			board[y][x].setCostOfTravel(cost);
		}
	}
	return board;
}

function createShelf(){
	const listOfShelf = [];
	
	//pierwszy poziom
	let shelf = new Shelf(2, 1, true, 211, 212, 0);
	listOfShelf.push(shelf)
	shelf = new Shelf(3, 1, true, 311, 0, 0);
	listOfShelf.push(shelf)
	
	shelf = new Shelf(4, 4, false, 441, 442, 443);
	listOfShelf.push(shelf)
	shelf = new Shelf(1, 4, true, 0, 0, 0);
	listOfShelf.push(shelf)
	
	shelf = new Shelf(4, 6, true, 461, 462, 0);
	listOfShelf.push(shelf)
	shelf = new Shelf(1, 6, true, 161, 0, 0);
	listOfShelf.push(shelf)
	
	shelf = new Shelf(3, 9, true, 391, 0, 0);
	listOfShelf.push(shelf)
	shelf = new Shelf(2, 9, true, 291, 0, 0);
	listOfShelf.push(shelf)
	
	//drugi poziom
	shelf = new Shelf(5, 1, true, 511, 0, 0);
	listOfShelf.push(shelf)
	shelf = new Shelf(5, 4, true, 541, 0, 0);
	listOfShelf.push(shelf)
	
	shelf = new Shelf(5, 6, true, 561, 0, 0);
	listOfShelf.push(shelf)
	shelf = new Shelf(5, 9, true, 591, 0, 0);
	listOfShelf.push(shelf)
	
	//trzeci poziom
	shelf = new Shelf(7, 1, true, 711, 0, 0);
	listOfShelf.push(shelf)
	shelf = new Shelf(8, 1, true, 811, 0, 0);
	listOfShelf.push(shelf)
	
	shelf = new Shelf(6, 4, true, 641, 0, 0);
	listOfShelf.push(shelf)
	shelf = new Shelf(9, 4, true, 941, 0, 0);
	listOfShelf.push(shelf)
	
	shelf = new Shelf(6, 6, true, 661, 0, 0);
	listOfShelf.push(shelf)
	shelf = new Shelf(9, 6, true, 961, 0, 0);
	listOfShelf.push(shelf)
	
	shelf = new Shelf(7, 9, true, 791, 0, 0);
	listOfShelf.push(shelf)
	shelf = new Shelf(8, 9, true, 891, 0, 0);
	listOfShelf.push(shelf)
	
	
	return listOfShelf;
}

function showBoard(board){
    for(let y = board.length - 1; y >= 0 ; y--){
        document.getElementById("board").innerHTML += "<div class='row' id='row-" + y + "'> </div>";

        for(let x = 0; x < board[y].length; x++){
			if(board[y][x].getIsShelf())
				document.getElementById("row-" + y).innerHTML += "<div class='regal2' id=" + x + "-" + y + "> </div>"
			else
				document.getElementById("row-" + y).innerHTML += "<div class='field' id=" + x + "-" + y + ">"+ board[y][x].costOfTravel + "</div>"
        }
    }
}

function getDistance(field, goalField){
    // var a = field.xField - goalField.xField;
    // var b = field.yField - goalField.yField;
    // var c = Math.sqrt(a*a + b*b);
    var d = Math.abs(field.xField - goalField.xField) + Math.abs(field.yField - goalField.yField)
    return d
}

function addNeighbors(board){
    for(var y = 0; y < 10; y++){
        for(var x = 0; x < 10; x++){
            var leftNeigbor, rightNeighbor, topNeighbor, bottomNeighbor;
            if(x > 0){
                leftNeigbor = board[y][x - 1];
                board[y][x].setNeighbors(leftNeigbor);
            }
            if(x < board[y].length - 1){
                rightNeighbor = board[y][x + 1];
                board[y][x].setNeighbors(rightNeighbor);
            }
            if(y > 0){
                bottomNeighbor = board[y - 1][x];
                board[y][x].setNeighbors(bottomNeighbor);
            }
            if(y < board.length - 1){
                topNeighbor = board[y + 1][x];
                board[y][x].setNeighbors(topNeighbor);
            }
        }
    }
}

function colorGreen(field){
    document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "green";
}

function colorRed(field){
    document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "red";
}

function colorYellow(field){
    document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "yellow";
}

function addNeighborsToOpenSet(set, neigbors){
    for(x = 0; x < neigbors.length; x++){
        set.push(neigbors[x]);
        colorGreen(neigbors[x]);
    }
}

function addToClosedSet(set, field){
    set.push(field);
    colorRed(field);
}


function addToOpenSet(set, field){
    set.push(field);
    colorGreen(field);
}

function calculateFScore(field, goalField){
    let fscore, distanceToGoal, costOfTravel;
    distanceToGoal = getDistance(field, goalField);
    costOfTravel = field.costOfTravel;
    fscore = costOfTravel + distanceToGoal;
    return fscore;
}

function findLowestFScore(openSet, goalField){
    let bestField = openSet[0];
    for(var x = 1; x < openSet.length; x++){
        if(calculateFScore(openSet[x], goalField) < calculateFScore(bestField, goalField)){
            bestField = openSet[x];
        }
    }
    return bestField;
}

function removeFromSet(openSet, promisingField){
    for(var x = openSet.length - 1; x >= 0; x--){
        if(openSet[x] == promisingField){
            openSet.splice(x,1);
        }
    }
}

function sleep(milliseconds) {
    const date = Date.now();
    let currentDate = null;
    do {
      currentDate = Date.now();
    } while (currentDate - date < milliseconds);
  }

function aStar(startField, goalField){
    let closedSet = [];
    let openSet = [];
    var path;
    
    addToOpenSet(openSet, startField)

    while(openSet.length > 0){
        
        let current = findLowestFScore(openSet, goalField);

        if(current === goalField){
            path = []
            var temp = current;
            path.push(temp);
            while(temp.previous){
                path.push(temp.previous);
                temp = temp.previous
            }
            console.log("A* COMPLETED");

            for(var i = 0; i < path.length; i++){
                colorYellow(path[i]);
            }
            return path
        }
        
        removeFromSet(openSet, current);
        addToClosedSet(closedSet, current);
        
        var neighbors = current.neighbors;

        for(var i = 0; i < neighbors.length; i++){
            
            var neighbor = neighbors[i];

            if(!closedSet.includes(neighbor)){
                var tempG = current.gScore + neighbor.costOfTravel;

                if(openSet.includes(neighbor)){
                    if(tempG < neighbor.gScore){
                        neighbor.gScore = tempG;
                    }
                } else {
                    neighbor.gScore = tempG;
                    addToOpenSet(openSet, neighbor);
                }

                neighbor.heuristic = getDistance(neighbor, goalField);
                neighbor.f = neighbor.gScore + neighbor.heuristic;
                neighbor.previous = current;
                
            }
        }
    }
}

function executePath(agent, path){


}


let board = createBoard(10,10);
board = createShelfOnBoard(board);
board = createCostofField(board, 10, 10);
let candy = new Candy('zelek', 'truskawkowy', 'Jumbo', 541);
let shelfs = createShelf();
let agent = new Agent(0,0, 'Right');
var button = document.getElementById("testButton");
addNeighbors(board);


function start(){
    showBoard(board);
    
    let path = aStar(board[0][0], board[7][7]);
    //console.log(path);
}