#include<iostream>
#include<stdlib.h>
#include<windows.h>
#include<conio.h>
#include<string>
#include<list>
#include<set>
#include<math.h>
#include<stack>

using namespace std;
const int ROW = 27;
const int COL = 27;
typedef pair<int, int> Pair;
typedef pair<double, pair<int, int> > pPair;
struct cell
{
	int parent_i, parent_j;
	double f, g, h;
};


char pole[27][27][2];
int pozycjaTraktoraX = 1, pozycjaTraktoraY = 1;

void color(string foregroundColor, string backgroundColor)
{
	HANDLE hOut;
	hOut = GetStdHandle(STD_OUTPUT_HANDLE);
	int foregroundCode = 15;
	if (foregroundColor == "black")
		foregroundCode = 0;
	if (foregroundColor == "dark_blue")
		foregroundCode = 1;
	if (foregroundColor == "green")
		foregroundCode = 2;
	if (foregroundColor == "cyan")
		foregroundCode = 3;
	if (foregroundColor == "dark_red")
		foregroundCode = 4;
	if (foregroundColor == "purple")
		foregroundCode = 5;
	if (foregroundColor == "dark_yellow")
		foregroundCode = 6;
	if (foregroundColor == "light_gray")
		foregroundCode = 7;
	if (foregroundColor == "gray")
		foregroundCode = 8;
	if (foregroundColor == "blue")
		foregroundCode = 9;
	if (foregroundColor == "lime")
		foregroundCode = 10;
	if (foregroundColor == "light_blue")
		foregroundCode = 11;
	if (foregroundColor == "red")
		foregroundCode = 12;
	if (foregroundColor == "magenta")
		foregroundCode = 13;
	if (foregroundColor == "yellow")
		foregroundCode = 14;
	if (foregroundColor == "white")
		foregroundCode = 15;

	int backgroundCode = 0;
	if (backgroundColor == "black")
		backgroundCode = 0;
	if (backgroundColor == "dark_blue")
		backgroundCode = 1;
	if (backgroundColor == "green")
		backgroundCode = 2;
	if (backgroundColor == "cyan")
		backgroundCode = 3;
	if (backgroundColor == "dark_red")
		backgroundCode = 4;
	if (backgroundColor == "purple")
		backgroundCode = 5;
	if (backgroundColor == "dark_yellow")
		backgroundCode = 6;
	if (backgroundColor == "light_gray")
		backgroundCode = 7;
	if (backgroundColor == "gray")
		backgroundCode = 8;
	if (backgroundColor == "blue")
		backgroundCode = 9;
	if (backgroundColor == "lime")
		backgroundCode = 10;
	if (backgroundColor == "light_blue")
		backgroundCode = 11;
	if (backgroundColor == "red")
		backgroundCode = 12;
	if (backgroundColor == "magenta")
		backgroundCode = 13;
	if (backgroundColor == "yellow")
		backgroundCode = 14;
	if (backgroundColor == "white")
		backgroundCode = 15;
	SetConsoleTextAttribute(hOut, foregroundCode + backgroundCode * 16);
}

void SetWindow(int Width, int Height)
{
	_COORD coord;
	coord.X = Width;
	coord.Y = Height;

	_SMALL_RECT Rect;
	Rect.Top = 0;
	Rect.Left = 0;
	Rect.Bottom = Height - 1;
	Rect.Right = Width - 1;

	HANDLE Handle = GetStdHandle(STD_OUTPUT_HANDLE);      // Get Handle 
	SetConsoleScreenBufferSize(Handle, coord);            // Set Buffer Size 
	SetConsoleWindowInfo(Handle, TRUE, &Rect);            // Set Window Size 
}

void updatePola()
{
	system("cls");
	for (int i = 0; i < 27; i++)
	{
		for (int j = 0; j < 27; j++)
		{
			char item = pole[i][j][0];
			switch (item)
			{
			case 'B':
			{
				color("purple", "dark_yellow");
			}break;
			case 'T':
			{
				color("red", "dark_yellow");
			}break;
			case 'G':
			{
				color("lime", "dark_yellow");
			}break;
			case '.':
			{
				color("yellow", "dark_yellow");
			}break;
			case '#':
			{
				color("light_gray", "gray");
			}break;
			}
			cout << pole[i][j][0];

		}
		cout << endl;
		color("white", "black");
	}
}

void Move(char kierunek)
{
	switch (kierunek)
	{
		//góra-(w)
		case 'w':
		{
			if (pole[pozycjaTraktoraY - 1][pozycjaTraktoraX][0] != '#')
			{
				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
				pozycjaTraktoraY--;
				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';

			}
			updatePola();
		}break;
		//dół-(s)
		case 's':
		{
			if (pole[pozycjaTraktoraY + 1][pozycjaTraktoraX][0] != '#')
			{
				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
				pozycjaTraktoraY++;
				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';

			}
			updatePola();
		}break;
		//lewo-(a)
		case 'a':
		{
			if (pole[pozycjaTraktoraY][pozycjaTraktoraX - 1][0] != '#')
			{
				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
				pozycjaTraktoraX--;
				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';

			}
			updatePola();
		}break;
		//prawo-(d)
		case 'd':
		{
			if (pole[pozycjaTraktoraY][pozycjaTraktoraX + 1][0] != '#')
			{
				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = '.';
				pozycjaTraktoraX++;
				pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';

			}
			updatePola();
		}break;
	}
}


bool isValid(int x, int y)
{
	if (pole[x][y][0] != '#')
	{
		return true;
	}
	return false;
}

bool isDestination(int x, int y,Pair dest)
{
	if (dest.first == x && dest.second == y)
	{
		return true;
	}
	return false;
}

double calculateHValue(int x, int y, Pair dest)
{
	return abs(x - dest.first) + abs(y - dest.second);
}

void tracePath(cell cellDetails[][COL], Pair dest)
{
	//printf("\nThe Path is "); //----start info
	int row = dest.first;
	int col = dest.second;

	stack<Pair> Path;

	while (!(cellDetails[row][col].parent_i == row
		&& cellDetails[row][col].parent_j == col))
	{
		Path.push(make_pair(row, col));
		int temp_row = cellDetails[row][col].parent_i;
		int temp_col = cellDetails[row][col].parent_j;
		row = temp_row;
		col = temp_col;
	}

	Path.push(make_pair(row, col));
	while (!Path.empty())
	{
		pair<int, int> p = Path.top();
		Path.pop();
		if (p.first > pozycjaTraktoraX)
			Move('d');
		if (p.first < pozycjaTraktoraX)
			Move('a');
		if (p.second > pozycjaTraktoraY)
			Move('s');
		if (p.second < pozycjaTraktoraY)
			Move('w');
		
		//printf("-> (%d,%d) ", p.first, p.second);  //---- informacja wierzchołku
		Sleep(1000);
	}

	return;
}

void aStarSearch(int grid[][COL],Pair src, Pair dest)
{
	bool closedList[ROW][COL];
	memset(closedList, false, sizeof(closedList));

	cell cellDetails[ROW][COL];

	int i, j;
	for (i = 0; i < ROW; i++)
	{
		for (j = 0; j < COL; j++)
		{
			cellDetails[i][j].f = FLT_MAX;
			cellDetails[i][j].g = FLT_MAX;
			cellDetails[i][j].h = FLT_MAX;
			cellDetails[i][j].parent_i = -1;
			cellDetails[i][j].parent_j = -1;
		}
	}
	i = src.first, j = src.second;
	cellDetails[i][j].f = 0.0;
	cellDetails[i][j].g = 0.0;
	cellDetails[i][j].h = 0.0;
	cellDetails[i][j].parent_i = i;
	cellDetails[i][j].parent_j = j;
	
	set<pPair> openList;
	openList.insert(make_pair(0.0, make_pair(i, j)));
	bool foundDest = false;

	while (!openList.empty())
	{
		pPair p = *openList.begin();
		openList.erase(openList.begin());
		i = p.second.first;
		j = p.second.second;
		closedList[i][j] = true;

		double gNew, hNew, fNew;
		double waga = 1.0;
		waga = ((double)pole[j][i][1] - 48)*1.0;//----waga

		//----------- 1st Successor (North) ------------ 
		if (isValid(i - 1, j) == true)
		{
			if (isDestination(i - 1, j, dest) == true)
			{
				cellDetails[i - 1][j].parent_i = i;
				cellDetails[i - 1][j].parent_j = j;
				//printf("The destination cell is found\n");
				tracePath(cellDetails, dest);
				foundDest = true;
				return;
			}
			else if (closedList[i - 1][j] == false)
			{
				gNew = cellDetails[i][j].g + waga;
				hNew = calculateHValue(i - 1, j, dest);
				fNew = gNew + hNew;

				if (cellDetails[i - 1][j].f == FLT_MAX ||
					cellDetails[i - 1][j].f > fNew)
				{
					openList.insert(make_pair(fNew,
						make_pair(i - 1, j)));


					cellDetails[i - 1][j].f = fNew;
					cellDetails[i - 1][j].g = gNew;
					cellDetails[i - 1][j].h = hNew;
					cellDetails[i - 1][j].parent_i = i;
					cellDetails[i - 1][j].parent_j = j;
				}
			}
		}

		//----------- 2nd Successor (South) ------------ 
		if (isValid(i + 1, j) == true)
		{
			if (isDestination(i + 1, j, dest) == true)
			{
				cellDetails[i + 1][j].parent_i = i;
				cellDetails[i + 1][j].parent_j = j;
				//printf("The destination cell is found\n");
				tracePath(cellDetails, dest);
				foundDest = true;
				return;
			}
			else if (closedList[i + 1][j] == false)
			{
				gNew = cellDetails[i][j].g + waga;
				hNew = calculateHValue(i + 1, j, dest);
				fNew = gNew + hNew;
				if (cellDetails[i + 1][j].f == FLT_MAX ||
					cellDetails[i + 1][j].f > fNew)
				{
					openList.insert(make_pair(fNew, make_pair(i + 1, j)));
					cellDetails[i + 1][j].f = fNew;
					cellDetails[i + 1][j].g = gNew;
					cellDetails[i + 1][j].h = hNew;
					cellDetails[i + 1][j].parent_i = i;
					cellDetails[i + 1][j].parent_j = j;
				}
			}
		}

		//----------- 3rd Successor (East) ------------ 
		if (isValid(i, j + 1) == true)
		{
			if (isDestination(i, j + 1, dest) == true)
			{
				cellDetails[i][j + 1].parent_i = i;
				cellDetails[i][j + 1].parent_j = j;
				//printf("The destination cell is found\n");
				tracePath(cellDetails, dest);
				foundDest = true;
				return;
			}
			else if (closedList[i][j + 1] == false)
			{
				gNew = cellDetails[i][j].g + waga;
				hNew = calculateHValue(i, j + 1, dest);
				fNew = gNew + hNew;
				if (cellDetails[i][j + 1].f == FLT_MAX ||
					cellDetails[i][j + 1].f > fNew)
				{
					openList.insert(make_pair(fNew,
						make_pair(i, j + 1)));
					cellDetails[i][j + 1].f = fNew;
					cellDetails[i][j + 1].g = gNew;
					cellDetails[i][j + 1].h = hNew;
					cellDetails[i][j + 1].parent_i = i;
					cellDetails[i][j + 1].parent_j = j;
				}
			}
		}

		//----------- 4th Successor (West) ------------ 
		if (isValid(i, j - 1) == true)
		{
			if (isDestination(i, j - 1, dest) == true)
			{
				cellDetails[i][j - 1].parent_i = i;
				cellDetails[i][j - 1].parent_j = j;
				//printf("The destination cell is found\n");
				tracePath(cellDetails, dest);
				foundDest = true;
				return;
			}
			else if (closedList[i][j - 1] == false)
			{
				gNew = cellDetails[i][j].g + waga;
				hNew = calculateHValue(i, j - 1, dest);
				fNew = gNew + hNew;
				if (cellDetails[i][j - 1].f == FLT_MAX ||
					cellDetails[i][j - 1].f > fNew)
				{
					openList.insert(make_pair(fNew,
						make_pair(i, j - 1)));
					cellDetails[i][j - 1].f = fNew;
					cellDetails[i][j - 1].g = gNew;
					cellDetails[i][j - 1].h = hNew;
					cellDetails[i][j - 1].parent_i = i;
					cellDetails[i][j - 1].parent_j = j;
				}
			}
		}
	}

	/*if (foundDest == false)
		printf("Failed to find the Destination Cell\n");*/

	return;
}

void gogo(int endX,int endY)
{
	updatePola();
	Sleep(1000);
	int grid[27][27];
	for (int i = 0; i < 27; i++)
	{
		for (int j = 0; j < 27; j++)
		{
			grid[i][j] = 0;
		}
	}
	Pair src = make_pair(pozycjaTraktoraX, pozycjaTraktoraY);
	Pair dest = make_pair(endX, endY);
	aStarSearch(grid, src, dest);
}

void test1()
{
	pole[1][3][0] = 'B';
	pole[1][3][1] = '9';
	pole[3][1][0] = 'B';
	pole[3][1][1] = '9';
}
void test2()
{
	for (int i = 1; i < 26; i++)
	{
		for (int j = 1; j < i; j++)
		{
			pole[i][j][0] = 'B';
			pole[i][j][1] = '9';
		}
	}
	test1();
	updatePola();
}

void start1()
{
	int goalX = 3, goalY = 4;
	test1();
	pole[1][1][0] = 'T';
	pole[1][1][1] = '1';
	pole[goalY][goalX][0] = 'G';
	pole[goalY][goalX][1] = '9';
	gogo(goalX, goalY);
}
void start2()
{
	int goalX = 6, goalY = 6;
	test2();
	pole[1][1][0] = 'T';
	pole[1][1][1] = '1';
	pole[goalY][goalX][0] = 'G';
	pole[goalY][goalX][1] = '9';
	gogo(goalX, goalY);
}
void start3()
{
	int goalX = 6, goalY = 9;
	test2();
	pole[1][1][0] = 'T';
	pole[1][1][1] = '1';
	pole[goalY][goalX][0] = 'G';
	pole[goalY][goalX][1] = '9';
	gogo(goalX, goalY);
}

int main()
{
	SetWindow(50, 30);
	//create pola//
	for (int i = 0; i < 27; i++)
	{
		pole[i][0][0] = '#';
		pole[0][i][0] = '#';
		pole[26][i][0] = '#';
		pole[i][26][0] = '#';
		pole[i][0][1] = '9';
		pole[0][i][1] = '9';
		pole[26][i][1] = '9';
		pole[i][26][1] = '9';
	}
	for (int i = 1; i < 26; i++)
	{
		for (int j = 1; j < 26; j++)
		{
			pole[i][j][0] = '.';
			pole[i][j][1] = '1';
		}
	}

	for (int i = 0; i < 25; i++)
	{
		pole[i + 1][i + 1][0] = 'B';
		pole[i + 1][i + 1][1] = '9';
	}

	updatePola();

	start3();  // testy start 1-3

	//---------start---------//
	bool traktorDziala = true;

	char akcja;

	do
	{
		akcja = _getch();
		if (akcja == 'w' || akcja == 's' || akcja == 'a' || akcja == 'd')
		{
			Move(akcja);
		}
		if (akcja == '0')
		{
			traktorDziala = false;
		}
	} while (traktorDziala);
	//---------end---------//

	return 0;
}