//Main oba drzewa decyzyjne + algorytm genetyczny

#include<iostream>
#include<stdlib.h>
#include<windows.h>
#include<conio.h>
#include<string>
#include<list>
#include<set>
#include<math.h>
#include<stack>
#include<fstream>
#include <stdio.h>
#include <cstdlib> 
#include <ctime>
#include <algorithm>
#include <utility>
#include<sstream>
//#include<bits/stdc++.h>


using namespace std;

const float maxFloat = FLT_MAX;
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][6];
int pozycjaTraktoraX = 1, pozycjaTraktoraY = 1;
char currentWay = 'S';
bool gleba[27][27][2];
//========================================================
//neuro start
double poleInt[27][27][2];
char underTraktor = '.';
char underTraktorWeight = '1';
double timeToDest = 0.0;
double **weightMatrix;
double **baseMatrix;
double *outputLayer;
double neuroOutputPole[25][25];
double *inputNeurons;
double **grad;
double **avrGrad;
double numberOfTests;
double oldcost;
bool closedList[ROW][COL];

//========================================================

//drzewo decyzyjne

int stan[27][27][2];
string polecenie;
int decyzja = NULL;

void decisionTree(string polecenie) {

	std::string str = polecenie;
	const char* c = str.c_str();
	system(c);

	int line = 0;
	ifstream inFile;
	inFile.open("dec.txt");
	if (!inFile) {
		cout << "Unable to open file";
		exit(1); // terminate with error
	}

	while (inFile >> line) {
		decyzja = line;
	}

	inFile.close();
	//akcja();
}
void stanPola(int x, int y) {
	//[x][x][0] = 0 - brak chemii
	//[x][x][0] = 1 - tylko nawóz
	//[x][x][0] = 2 - tylko środek
	//[x][x][0] = 3 - środek i nawóz
	//[x][x][1] - wartość wzrostu rośliny 

	polecenie = "python injectCode.py 1 ";

	if (stan[x][y][0] == 0)
		polecenie.append("0 0 ");
	if (stan[x][y][0] == 1)
		polecenie.append("1 0 ");
	if (stan[x][y][0] == 2)
		polecenie.append("0 1 ");
	if (stan[x][y][0] == 3)
		polecenie.append("1 1 ");
	int w = (stan[x][y][1]);
	std::string s = std::to_string(w);
	polecenie.append(s);

	decisionTree(polecenie);
}


 //========================================================

//algorytm genetyczny
int scoreBuraki = 0;
int scoreZiemniaki = 0;
int rozmiarPopulacji = 500;
string* zebraneBuraki = new string[rozmiarPopulacji];
string* zebraneZiemniaki = new string[rozmiarPopulacji];
string* burakiDoSadzenia = new string[20];
string* ziemniakiDoSadzenia = new string[20];
int gmoLeftBuraki;
int gmoLeftZiemniaki;
string kod_genetyczny[27][27];
char poleRecive[27][27];

string generateValue() {
	char trash[100];
	string x;
	//srand(time(NULL));
	int random = (rand() % 1000);//, 1);
	//string x = itoa(rand() % 1000,trash,10);
	x = to_string(random);
	if (x.size() == 2) {
		x = "0" + x;
	}
	else if (x.size() == 1) {
		x = "00" + x;
	}

	return x;

}
string generateVegetable() {

	string taste = generateValue();
	string colour = generateValue();
	string size = generateValue();

	return taste + colour + size;

}
void generatePopulation(string* population, int length) {

	int i;
	for (i = 0;i < length;i++) {
		population[i] = generateVegetable();
	}
}
int power(int x, int y) {

	if (y == 0) return 1;
	if (y == 1) return x;

	int temp = power(x, y / 2);
	if (y % 2 == 0) return temp * temp;
	else return x * temp * temp;
}
int stringToInt(string str, int size) {

	int x = 0;
	int i;
	reverse(str.begin(), str.end());

	for (i = 0;i < size;i++) {
		x += (str[i] - '0') * power(10, i);
	}

	reverse(str.begin(), str.end());

	return x;
}
int fitness(string vegetable) {

	int taste = stringToInt(vegetable.substr(0, 3), 3);
	int colour = stringToInt(vegetable.substr(3, 3), 3);
	int size = stringToInt(vegetable.substr(6, 3), 3);

	return (taste + colour + size) / 3;
}
bool comparePair(const pair<int, string>& i, const pair<int, string>& j)
{
	return i.first > j.first;
}
void ranking(string* population, string* parents, int populationSize, int parentsNumber) {

	int i;
	pair <int, string>* fitnessTable = new pair <int, string>[populationSize];
	for (i = 0;i < populationSize;i++) {
		fitnessTable[i] = make_pair(fitness(population[i]), population[i]);
	}

	sort(fitnessTable, fitnessTable + populationSize, comparePair);

	for (i = 0;i < parentsNumber;i++) {
		parents[i] = fitnessTable[i].second;
	}
	delete[] fitnessTable;
}
bool exists(int len, int* array, int element) {

	int i;
	for (i = 0;i < len;i++) {
		if (array[i] == element) return true;
	}
	return false;
}
void selection(string* population, string* parents, int populationSize, int parentsNumber) {

	int i, j, k;
	pair <int, string>* fitnessTable = new pair <int, string>[populationSize];
	for (i = 0;i < populationSize;i++) {
		fitnessTable[i] = make_pair(fitness(population[i]), population[i]);
	}

	sort(fitnessTable, fitnessTable + populationSize, comparePair);

	int roulette;
	int* taken = new int[parentsNumber];
	int sum = 0;
	for (i = 0;i < parentsNumber;i++) {
		for (j = populationSize - 1;j >= 0;j--) {
			if (not exists(parentsNumber, taken, j)) {
				sum += fitnessTable[j].first;
				fitnessTable[j].first = sum;
			}

		}
		roulette = rand() % fitnessTable[0].first;
		j = 0;
		while (exists(parentsNumber, taken, j)) {
			j += 1;
		}
		while (roulette > fitnessTable[j].first && j < populationSize) {
			if (not exists(parentsNumber, taken, j)) {
				roulette -= fitnessTable[j].first;
			}
			j += 1;
		}
		parents[i] = fitnessTable[j].second;
		taken[i] = j;
	}



}
string mutate(string child) {

	int d3 = rand() % 3;
	string mutation = generateValue();
	switch (d3) {
	case 0:
		child = mutation + child.substr(3, 6);
		break;
	case 1:
		child = child.substr(0, 3) + mutation + child.substr(6, 3);
		break;
	case 2:
		child = child.substr(0, 6) + mutation;
		break;
	}

	return child;
}
string cross(string parent[2]) {

	int i;
	string child = "";
	for (i = 0;i < 3;i++) {
		child += parent[rand() % 2].substr(i * 3, 3);
	}
	if (child == parent[0] or child == parent[1]) {
		string other;
		if (child == parent[0]) other = parent[1];
		else other = parent[0];
		int d3 = rand() % 3;
		switch (d3) {
		case 0:
			child = other.substr((rand() % 3) * 3, 3) + child.substr(3, 6);
			break;
		case 1:
			child = child.substr(0, 3) + other.substr((rand() % 3) * 3, 3) + child.substr(6, 3);
			break;
		case 2:
			child = child.substr(0, 6) + other.substr((rand() % 3) * 3, 3);
			break;
		}
	}
	int d1000 = rand() % 1000;
	if (rand() % 100 == 0) {
		child = mutate(child);
	}
	return child;
}
void crossover(string* parents, string* nextGen, int parentsNumber, int nextGenSize) {

	int counter = 0;
	int i, j;
	for (i = 0;i < parentsNumber;i++) {
		if (counter >= nextGenSize) {
			break;
		}
		else {
			nextGen[counter] = parents[i];
			counter += 1;
		}
	}
	while (counter < nextGenSize) {
		for (i = 0;i < parentsNumber;i++) {
			if (counter >= nextGenSize) {
				break;
			}
			else {
				for (j = i;j < parentsNumber;j++) {
					if (counter >= nextGenSize) {
						break;
					}
					else {
						string couple[2];
						couple[0] = parents[i];
						couple[1] = parents[j];
						nextGen[counter] = cross(couple);
						counter += 1;
					}
				}
			}
		}
	}
}
void genetic_algorithm(string* population, int populationSize, int parentsNumber, string* outcome, int outcomeSize) {

	int iteration, i;
	for (iteration = 0;iteration < 5;iteration++) {
		string* parents = new string[parentsNumber];
		selection(population, parents, populationSize, parentsNumber);

		string* nextGen = new string[populationSize];
		crossover(parents, nextGen, parentsNumber, populationSize);

		for (i = 0;i < populationSize;i++) {
			population[i] = nextGen[i];
		}

	}
	ranking(population, outcome, populationSize, outcomeSize);
}
string przypiszKod(string warzywa) {
	if (warzywa == "buraki") {
		if (gmoLeftBuraki > 0) {
			string temp = burakiDoSadzenia[gmoLeftBuraki - 1];
			gmoLeftBuraki -= 1;
			return temp;
		}
		else {
			return generateVegetable();
		}
	}
	else {
		if (gmoLeftZiemniaki > 0) {
			string temp = ziemniakiDoSadzenia[gmoLeftZiemniaki - 1];
			gmoLeftZiemniaki -= 1;
			return temp;
		}
		else {
			return generateVegetable();
		}
	}
}
void przypiszKodGenetyczny(int i, int j, char plant) {
	if (plant == 'B') {
		kod_genetyczny[i][j] = przypiszKod("buraki");
	}
	else if (plant == 'Z') {
		kod_genetyczny[i][j] = przypiszKod("ziemniaki");
	}
}
void obslugaAlgorytmuGenetycznego() {
	cout << "Zebrane buraki: " << scoreBuraki << endl;
	cout << "Zebrane ziemniaki: " << scoreZiemniaki << endl;
	if (scoreBuraki >= rozmiarPopulacji) {
		scoreBuraki = 0;

		for (int i = 0;i < 20;i++) {
			burakiDoSadzenia[i] = "000000000";
		}
		genetic_algorithm(zebraneBuraki, rozmiarPopulacji, rozmiarPopulacji - 5, burakiDoSadzenia, 20);
		gmoLeftBuraki = 20;
		for (int i = 0; i < rozmiarPopulacji;i++) {
			zebraneBuraki[i] = "000000000";
		}
		for (int i = 0;i < 20;i++) {
			cout << burakiDoSadzenia[i] << endl;
		}
	}
	if (scoreZiemniaki >= rozmiarPopulacji) {
		scoreZiemniaki = 0;

		for (int i = 0;i < 20;i++) {
			ziemniakiDoSadzenia[i] = "000000000";
		}
		genetic_algorithm(zebraneZiemniaki, rozmiarPopulacji, rozmiarPopulacji - 5, ziemniakiDoSadzenia, 20);
		gmoLeftZiemniaki = 20;
		for (int i = 0; i < rozmiarPopulacji;i++) {
			zebraneZiemniaki[i] = "000000000";
		}
		for (int i = 0;i < 20;i++) {
			cout << ziemniakiDoSadzenia[i] << endl;
		}
	}
}
void generujKody() {
	for (int i = 0;i < 27;i++) {
		for (int j = 0;j < 27;j++) {
			if (pole[i][j][0] == 'B') {
				kod_genetyczny[i][j] = przypiszKod("buraki");
			}
			else if (pole[i][j][0] == 'Z') {
				kod_genetyczny[i][j] = przypiszKod("ziemniaki");
			}
		}
	}
}
 //========================================================

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 'Z':
			{
				color("cyan", "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 correctMovement(char wantedWay)
{
	while (currentWay != wantedWay)
	{
		switch (currentWay)
		{
		case 'N':
		{
			if (wantedWay == 'S')
				currentWay = wantedWay;
			else
				currentWay = 'W';
		}break;
		case 'S':
		{
			if (wantedWay == 'N')
				currentWay = wantedWay;
			else
				currentWay = 'W';
		}break;
		case 'W':
		{
			if (wantedWay == 'E')
				currentWay = wantedWay;
			else
				currentWay = 'N';
		}break;
		case 'E':
		{
			if (wantedWay == 'W')
				currentWay = wantedWay;
			else
				currentWay = 'N';
		}break;
		}
	}
}
void increseState()
{
	for (int i = 1; i < 26; i++)
	{
		for (int j = 1; j < 26; j++)
		{
			if (pole[j][i][0] != 'T' && pole[j][i][0] != '.')
			{
				if (poleInt[j][i][1] != 100 && poleInt[j][i][1] != 0)
				{
					poleInt[j][i][1] += 0.5;
				}
			}
		}
	}
}
void Move(char kierunek)
{
	switch (kierunek)
	{
		//gA3ra-(w)
	case 'w':
	{
		if (pole[pozycjaTraktoraY - 1][pozycjaTraktoraX][0] != '#')
		{
			correctMovement('N');
			pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = underTraktor; 
			pole[pozycjaTraktoraY][pozycjaTraktoraX][1] = underTraktorWeight;
			pozycjaTraktoraY--;
			increseState();
			underTraktor = pole[pozycjaTraktoraY][pozycjaTraktoraX][0];
			underTraktorWeight = pole[pozycjaTraktoraY][pozycjaTraktoraX][1];
			pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
		}
		updatePola();
	}break;
	//dA3A‚-(s)
	case 's':
	{
		if (pole[pozycjaTraktoraY + 1][pozycjaTraktoraX][0] != '#')
		{
			correctMovement('S');
			pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = underTraktor;
			pole[pozycjaTraktoraY][pozycjaTraktoraX][1] = underTraktorWeight;
			pozycjaTraktoraY++;
			increseState();
			underTraktor = pole[pozycjaTraktoraY][pozycjaTraktoraX][0];
			underTraktorWeight = pole[pozycjaTraktoraY][pozycjaTraktoraX][1];
			pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
		}
		updatePola();
	}break;
	//lewo-(a)
	case 'a':
	{
		if (pole[pozycjaTraktoraY][pozycjaTraktoraX - 1][0] != '#')
		{
			correctMovement('W');
			pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = underTraktor;
			pole[pozycjaTraktoraY][pozycjaTraktoraX][1] = underTraktorWeight;
			pozycjaTraktoraX--;
			increseState();
			underTraktor = pole[pozycjaTraktoraY][pozycjaTraktoraX][0];
			underTraktorWeight = pole[pozycjaTraktoraY][pozycjaTraktoraX][1];
			pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = 'T';
		}
		updatePola();
	}break;
	//prawo-(d)
	case 'd':
	{
		if (pole[pozycjaTraktoraY][pozycjaTraktoraX + 1][0] != '#')
		{
			correctMovement('E');
			pole[pozycjaTraktoraY][pozycjaTraktoraX][0] = underTraktor;
			pole[pozycjaTraktoraY][pozycjaTraktoraX][1] = underTraktorWeight;
			pozycjaTraktoraX++;
			increseState();
			underTraktor = pole[pozycjaTraktoraY][pozycjaTraktoraX][0];
			underTraktorWeight = pole[pozycjaTraktoraY][pozycjaTraktoraX][1];
			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 plantVeg()
{
	int x = pozycjaTraktoraX, y = pozycjaTraktoraY;
	underTraktor = poleRecive[x][y];
	przypiszKodGenetyczny(x, y, poleRecive[x][y]);
	if (poleRecive[x][y] == '.')
	{
		underTraktorWeight = '1';
		poleInt[x][y][0] = 0;
		poleInt[x][y][1] = 0;
	}
	else
	{
		if (poleRecive[x][y] == 'Z')
		{
			underTraktorWeight = '1';
			poleInt[x][y][0] = 0;
			poleInt[x][y][1] = 1;
		}
		else
		{
			underTraktorWeight = '1';
			poleInt[x][y][0] = 0;
			poleInt[x][y][1] = 1;
		}
	}
}
void akcja() {
	if (decyzja == 0) {
		//nic nie rób
	}
	else if (decyzja == 1) {
		gleba[pozycjaTraktoraY][pozycjaTraktoraX][0] = true;
	}
	else if (decyzja == 2) {
		gleba[pozycjaTraktoraY][pozycjaTraktoraX][1] = true;
	}
	else if (decyzja == 4) {
		if (underTraktor == 'B') {
			zebraneBuraki[scoreBuraki] = kod_genetyczny[pozycjaTraktoraY][pozycjaTraktoraX];
			scoreBuraki += 1;
			kod_genetyczny[pozycjaTraktoraY][pozycjaTraktoraX] = "000000000";
		}
		else if (underTraktor == 'Z') {
			zebraneZiemniaki[scoreZiemniaki] = kod_genetyczny[pozycjaTraktoraY][pozycjaTraktoraX];
			scoreZiemniaki += 1;
			kod_genetyczny[pozycjaTraktoraY][pozycjaTraktoraX] = "000000000";
		}
		obslugaAlgorytmuGenetycznego();
		plantVeg();
	}
	else if (decyzja == 5) {
		//Zbierz rośline ale nie dodawaj do licznika 
	}
}
void tracePath(cell cellDetails[][COL], Pair dest, string action)
{
	//printf("\nThe Path is "); //----start info
	int row = dest.first;
	int col = dest.second;
	pair<int, int>src = make_pair(pozycjaTraktoraX, pozycjaTraktoraY);
	timeToDest = 0;

	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 (action == "move"|| action == "moveWithTime" || action == "moveWithPick")
		{
			if (p.first > pozycjaTraktoraX)
				Move('d');
			if (p.first < pozycjaTraktoraX)
				Move('a');
			if (p.second > pozycjaTraktoraY)
				Move('s');
			if (p.second < pozycjaTraktoraY)
				Move('w');
			decyzja = 4;
			Sleep(1000);
		}
		if (action == "time" || action == "moveWithTime")
		{
			if ((p.first != src.first || p.second != src.second)
				&& (p.first != dest.first || p.second != dest.second))
			{
				timeToDest += ((double)pole[p.second][p.first][1] - 48)*1.0;
			}
		}
		//printf("-> (%d,%d) ", p.first, p.second);  //---- informacja wierzchołku
	}
	if (action == "moveWithPick")
	{
		akcja();
	}

	return;
}
void aStarSearch(int grid[][COL], Pair src, Pair dest, string action)
{
	//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 = maxFloat;
			cellDetails[i][j].g = maxFloat;
			cellDetails[i][j].h = maxFloat;
			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, action);
				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 == maxFloat ||
					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, action);
				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 == maxFloat ||
					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, action);
				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 == maxFloat ||
					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, action);
				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 == maxFloat ||
					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);
	aStarSearch(grid, src, dest, "moveWithPick");
}

void test1()
{
	pole[1][3][0] = 'B';
	pole[1][3][1] = '9';
	poleInt[1][3][0] = 0;
	poleInt[1][3][1] = 1;
	pole[3][1][0] = 'Z';
	pole[3][1][1] = '9';
	poleInt[3][1][0] = 0;
	poleInt[3][1][1] = 1;

	kod_genetyczny[1][3] = przypiszKod("buraki");
	kod_genetyczny[3][1] = przypiszKod("ziemniaki");
}
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';
			poleInt[i][j][0] = 0;
			poleInt[i][j][1] = 1;
			kod_genetyczny[i][j] = przypiszKod("buraki");
		}
	}
	test1();
	updatePola();
}
void testSI1()
{
	for (int i = 1; i < 26; i++)
	{
		for (int j = 1; j < 26; j++)
		{
			if (j % 3 == 0)
			{
				pole[i][j][2] = 'z';	//zyzne
				pole[i][j][3] = 'n';	//nawodnione
				pole[i][j][4] = 'c';	//w cieniu
				pole[i][j][5] = 'k';	//kwasne
			}
			else
			{
				if (j % 3 == 1)
				{
					pole[i][j][2] = 'j';	//jalowe
					pole[i][j][3] = 'n';	//nawodnione
					pole[i][j][4] = 's';	//w sloncu
					pole[i][j][5] = 'n';	//neutralne
				}
				else
				{
					pole[i][j][2] = 'z';	//zyzne
					pole[i][j][3] = 's';	//suche
					pole[i][j][4] = 's';	//sloneczne
					pole[i][j][5] = 'z';	//zasadowe
				}
			}
		}
	}
}

void sendState()
{
	ofstream write("dane.txt");
	for (int i = 1; i < 26; i++)
	{
		for (int j = 1; j < 26; j++)
		{
			string a;
			a += pole[i][j][2];
			a += ' ';
			a += pole[i][j][3];
			a += ' ';
			a += pole[i][j][4];
			a += ' ';
			a += pole[i][j][5];
			write << a << endl;
		}
	}
	write.close();
}
void reciveState()
{
	ifstream read("decyzje.txt");
	if (read.is_open())
	{
		char plant;
		int i = 1;
		int j = 1;
		while (read >> plant)
		{
			poleRecive[j][i] = plant;
			if (j == 25)
			{
				j = 1;
				i += 1;
			}
			else
			{
				j += 1;
			}
		}
	}
}

//----------neuro------------//
double countTimeToDest(int endX, int endY)
{
	//updatePola();
	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, "time");
	return timeToDest;
}

double Sigmoid(double number)
{
	int tempInt = 0;
	if (number < 0)
	{
		tempInt = 1;
	}
	return tempInt + (number / (1.0 + abs(number)));
}
double pSigmoid(double number)
{
	int tempInt = 1;
	if (number < 0)
	{
		tempInt = -1;
	}
	return tempInt * (number / ((1.0 + abs(number))*(1.0 + abs(number))));
}
double lookOfVege(int x, int y)
{
	int state = poleInt[y][x][1];
	int proOrFer = poleInt[y][x][0];
	if (state == 0)// - brak
	{
		return 0.0;
	}
	if (state >= 1 && state < 15)// - kiełek
	{
		return 1.0;
	}
	if (state >= 15 && state < 30)// - młoda roślina
	{
		return 2.0;
	}
	if (state >= 30 && state < 60)// - dojrzała
	{
		return 3.0;
	}
	if (state >= 60 && state < 85)// - przejrzała
	{
		if (proOrFer == 2 && state < 70)// - z środkiem dojrzała
		{
			return 3.0;
		}
		return 4.0;
	}
	if (state >= 85 && state <= 100)// - zniszczona
	{
		if (proOrFer == 2 && state < 90)// - z środkiem przejrzała
		{
			return 4.0;
		}
		return 5.0;
	}
}
double setValusesRange(double a, double b, double num)
{
	int temp = 1;
	if (a > b)
	{
		temp = -1;
	}
	double avr = ((a + b) / 2)*temp;
	return Sigmoid(num - avr);
}
void gradient(double desiredOutput[25][25])
{
	const int numberOfCellsInPole = (25 * 25);
	const int inputNeuronsCount = numberOfCellsInPole * 4;
	double z;
	for (int i = 0; i < numberOfCellsInPole; i++)
	{
		for (int j = 0; j < inputNeuronsCount; j++)
		{
			if (weightMatrix[i][j] != 0)
			{
				int x, y;
				y = i / 25;
				x = i % 25;
				grad[i][j] = 2 * pSigmoid(weightMatrix[i][j] * inputNeurons[j]) * inputNeurons[j] * (neuroOutputPole[y][x] - desiredOutput[y][x]);
			}
			else
			{
				grad[i][j] = 0;
			}
		}
	}
	//cout << "grad set" << endl;
}

void matrixFromFile()
{
	ifstream file;
	file.open("matrix.txt");
	string line;
	int im = 0;
	while (getline(file, line)) {
		istringstream iss(line);
		double a, b, c, d;
		iss >> a >> b >> c >> d;
		weightMatrix[im][(im * 4)] = a;
		weightMatrix[im][(im * 4) + 1] = b;
		weightMatrix[im][(im * 4) + 2] = c;
		weightMatrix[im][(im * 4) + 3] = d;
		im++;
	}
	file.close();
}
void buildFirstMatrix()
{
	const int numberOfCellsInPole = (25 * 25);
	const int inputNeuronsCount = numberOfCellsInPole * 4;
	weightMatrix = (double **)malloc(numberOfCellsInPole * sizeof(double *));
	inputNeurons = (double *)malloc(inputNeuronsCount * sizeof(double));
	outputLayer = (double *)malloc(numberOfCellsInPole * sizeof(double));
	//memset(closedList, false, sizeof(closedList));
	for (int i = 0; i < numberOfCellsInPole; i++)
	{
		weightMatrix[i] = (double *)malloc(inputNeuronsCount * sizeof(double));
	}
}
void buildMatrix()
{
	const int numberOfCellsInPole = (25 * 25);
	const int inputNeuronsCount = numberOfCellsInPole * 4;
	for (int i = 0; i < numberOfCellsInPole; i++)
	{
		for (int j = 0; j < inputNeuronsCount; j++)
		{
			weightMatrix[i][j] = 0.0;
		}
	}
	matrixFromFile();
}

double neuronsInputBuild(double desiredOutput[25][25])
{
	const int numberOfCellsInPole = (25 * 25);// -1;
	const int inputNeuronsCount = numberOfCellsInPole * 4;

	double typeOfVege[numberOfCellsInPole];
	double timeToGetToVege[numberOfCellsInPole];
	double protectOrFertilize[numberOfCellsInPole];
	double stateOfVege[numberOfCellsInPole];

	for (int i = 1; i <= 25; i++)
	{
		for (int j = 1; j <= 25; j++)
		{
			int tempCell = (((i - 1) * 25) + (j - 1));
			if (pole[i][j][0] == 'T')
			{
				/*if (j >= pozycjaTraktoraX && i >= pozycjaTraktoraY)
				{
					int tempCell = (((i - 1) * 25) + (j - 1))-1;
				}*/
				typeOfVege[tempCell] = 0;//type after weight 1-9
				timeToGetToVege[tempCell] = 0;//time x.0
				protectOrFertilize[tempCell] = 0;//0.0 1.0 2.0 3.0
				stateOfVege[tempCell] = 0;//0.0-5.0
			}
			else
			{
				typeOfVege[tempCell] = setValusesRange(1, 9, ((double)pole[i][j][1] - 48));//type after weight 1-9
				timeToGetToVege[tempCell] = setValusesRange(0, 25 * 25 * 9, countTimeToDest(j, i));//time x.0
				protectOrFertilize[tempCell] = setValusesRange(3, 0, poleInt[i][j][0]);//0.0 1.0 2.0 3.0
				stateOfVege[tempCell] = setValusesRange(0, 5, lookOfVege(j, i));//0.0-5.0
			}
		}
	}
	//cout << "set neurons";
	for (int i = 0; i < numberOfCellsInPole; i++)
	{
		inputNeurons[i * 4] = Sigmoid(typeOfVege[i]);
		inputNeurons[(i * 4) + 1] = Sigmoid(timeToGetToVege[i]);
		inputNeurons[(i * 4) + 2] = Sigmoid(protectOrFertilize[i]);
		inputNeurons[(i * 4) + 3] = Sigmoid(stateOfVege[i]);
	}
	for (int i = 0; i < numberOfCellsInPole; i++)
	{
		double sum = 0;
		for (int j = 0; j < inputNeuronsCount; j++)
		{
			sum += weightMatrix[i][j] * inputNeurons[j];
		}
		outputLayer[i] = Sigmoid(sum);
	}
	for (int i = 0; i < 25; i++)
	{
		for (int j = 0; j < 25; j++)
		{
			int tempCell = ((i * 25) + j);
			neuroOutputPole[i][j] = outputLayer[tempCell];
		}
	}
	double cost = 0.0;
	for (int i = 0; i < 25; i++)
	{
		for (int j = 0; j < 25; j++)
		{
			double tempNum = neuroOutputPole[i][j] - desiredOutput[i][j];
			cost += (tempNum*tempNum);
		}
	}
	//updatePola();
	return cost;
}
void backProp(double desiredOuput[25][25])
{
	const int numberOfCellsInPole = (25 * 25);
	const int inputNeuronsCount = numberOfCellsInPole * 4;
	double cost;
	cost = neuronsInputBuild(desiredOuput);
	oldcost = cost + 2;
	int i = 0;
	while ((abs(cost - oldcost) > 0.05 || cost > 1) && i < 100)
	{
		cout << i << "-" << cost << " ";
		gradient(desiredOuput);

		for (int i = 0; i < numberOfCellsInPole; i++)
		{
			for (int j = 0; j < inputNeuronsCount; j++)
			{
				weightMatrix[i][j] -= grad[i][j];
			}
		}
		oldcost = cost;
		cost = neuronsInputBuild(desiredOuput);
		i++;
	}
	cout << "--END--" << endl;
	/*for (int i = 0; i < numberOfCellsInPole; i++)
	{
		for (int j = 0; j < inputNeuronsCount; j++)
		{
			if (weightMatrix[i][j] != 0)
			{
				avrGrad[i][j] += ((baseMatrix[i][j] - weightMatrix[i][j]) / numberOfTests);
			}
		}
	}*/
}
void network(int desiredX, int desiredY)
{
	double desiredPole[25][25];
	for (int i = 0; i < 25; i++)
	{
		for (int j = 0; j < 25; j++)
		{
			desiredPole[i][j] = 0;
		}
	}
	desiredPole[desiredY - 1][desiredX - 1] = 1;
	//double cost = neuronsInputBuild(desiredPole);
	backProp(desiredPole);
}

void chousePath()
{
	double tempOut[25][25];
	for (int i = 0; i < 25; i++)
	{
		for (int j = 0; j < 25; j++)
		{
			tempOut[i][j] = 0;
		}
	}
	neuronsInputBuild(tempOut);
	/*
	cout.precision(15);
	for (int i = 0; i < 25; i++)
	{
		for (int j = 0; j < 25; j++)
		{
			cout << neuroOutputPole[i][j] << " ";
		}
	}*/
	//Sleep(1000);
	const int numberOfCellsInPole = (25 * 25);
	const int inputNeuronsCount = numberOfCellsInPole * 4;
	double bestX = 0, bestY = 0, bestChance = 0;
	for (int i = 0; i < 25; i++)
	{
		for (int j = 0; j < 25; j++)
		{
			//cout << neuroOutputPole[i][j] << " ";

			double tempChance;
			if (pole[i + 1][j + 1][0] == 'T')
			{
				tempChance = 0;
			}
			else
			{
				tempChance = neuroOutputPole[i][j];
			}
			//cout << tempChance << " ";
			//cout << j + 1 << "_" << i + 1<<"--";
			double diff = (int)((tempChance - bestChance)*pow(10, 10));
			if (tempChance > bestChance && diff != 0)
			{
				bestX = j;
				bestY = i;
				bestChance = tempChance;
			}
		}
	}
	//cout << bestChance << " " << bestX + 1 << " " << bestY + 1 << endl;
	Sleep(1000);
	gogo(bestX + 1, bestY + 1);
	//Sleep(100000);
}
//----------end------------//


void start1()
{
	//int goalX = 3, goalY = 4;
	test1();//yes
	testSI1();//trzeba
	pole[1][1][0] = 'T';
	pole[1][1][1] = '9';
	poleInt[1][1][0] = 0;
	poleInt[1][1][1] = 0;
	//pole[goalY][goalX][0] = 'G';
	//pole[goalY][goalX][1] = '9';
	//gogo(goalX, goalY);
	//gogo(goalX - 1, goalY);
	//pole[goalY][goalX][0] = 'Z';
	//pole[goalY][goalX][1] = '9';

	//kod_genetyczny[goalY][goalX] = przypiszKod("ziemniaki");

	updatePola();


	//sendState();		//trzeba recznie zmienial miedzy wysylaniem stanu a pobieraniem stanu pola
	reciveState();
}
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()
{
	srand(time(0));

	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';
			poleInt[i][j][0] = 0;
			poleInt[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';
		poleInt[i + 1][i + 1][0] = 0;
		poleInt[i + 1][i + 1][1] = 1;
	}

	for (int i = 0; i < 25; i++) {
		for (int j = 0; j < 10; j++) {
			pole[j + 1][i + 1][0] = 'B';
			pole[j + 1][i + 1][1] = '9';
			poleInt[j + 1][i + 1][0] = 0;
			poleInt[j + 1][i + 1][1] = 1;
		}
	}
	for (int i = 0; i < 25; i++) {
		for (int j = 10; j < 20; j++) {
			pole[j + 1][i + 1][0] = 'Z';
			pole[j + 1][i + 1][1] = '5';
			poleInt[j + 1][i + 1][0] = 0;
			poleInt[j + 1][i + 1][1] = 1;
		}
	}

	generujKody();

	buildFirstMatrix();
	buildMatrix();
	
	updatePola();
	start1();  // testy start 1-3

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

	char akcja;

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

	} while (traktorDziala);
	//---------end---------//

	return 0;
}