//#include "stdafx.h"
#include <iostream>
#include <string>
#include <cmath>
using namespace std;
#include <windows.h>

#include "mygrid.h"
#include "myastar.h"
#include "mymap.h"


#include <conio.h>
#define SORT 0
int Delay=0;
//int Robot=8;
//char IMG_Robot=char(1);
//const int N=_NR*_NC;

int NR,NC;

//int map[5][2];


int rStart=-1;
int cStart=-1;
int rFinish=-1;
int cFinish=-1;

int grid[_NR][_NC]; 


#define K_QUIT 0
#define K_PLAY 1
#define K_CLEAR 2

int CheckKey()
{
	char c=0;
       //while(true)
        {
           	c = getch();
		switch(c)
		{
		case 0x1B:
			c=K_QUIT;
			goto quit;
		case 32:
			c=K_PLAY;
			goto quit;
		case 'c':
			c=K_CLEAR;
			goto quit;			
		case(77):
			//R
			if(cFinish+1 < NC && grid[rFinish][cFinish+1] != 1)
				{grid[rFinish][cFinish]=0;cFinish++;grid[rFinish][cFinish]=3;}

			break;
		case 80://D
			if(rFinish+1 < NR && grid[rFinish+1][cFinish] != 1)
				{grid[rFinish][cFinish]=0;rFinish++;grid[rFinish][cFinish]=3;}
			break;
		case 75://L
			if(cFinish-1 >=0 && grid[rFinish][cFinish-1] != 1)
				{grid[rFinish][cFinish]=0;cFinish--;grid[rFinish][cFinish]=3;}
			break;
		case 72://U
			if(rFinish-1 >=0 && grid[rFinish-1][cFinish] != 1)
				{grid[rFinish][cFinish]=0;rFinish--;grid[rFinish][cFinish]=3;}
			break;
		//cout <<  (int)c << endl;
		}
	//	printMap();
      }
quit:
		return c;
}


void Grid_Clear()
{
 		for(int r=0; r < NR; r++)
		 for(int c=0; c < NC; c++)
		  if(ROBOT == grid[r][c])
			grid[r][c]=0;
}

void getStart(int &rStart, int &cStart)
{
 for(int r=0; r < NR; r++)
   for(int c=0; c < NC; c++)
     if(0 == grid[r][c])
     { 
       rStart=r;cStart=c;
       return;
     }     
}

void getFinish(int &rFinish, int &cFinish)
{
 for(int r=NR-1; r>=0; r--)
   for(int c=NC-1; c >=0; c--)
     if(0 == grid[r][c])
     { 
       rFinish=r;cFinish=c;
       return;
     }     
}


void help(const char *ProgName)
{
	cerr << ProgName;
	cerr << " - ";
	cerr << "A* algorithm - By Fischetti P." << endl;
        cerr << "Usage:"<< endl;
	cerr << " " << ProgName;
	cerr << " < MazeFile.txt" << endl;
}
int main(int argc, char *argv[])
{
  try
  {

	if ((argc > 1) && (('-' == argv[1][0]) || ('/' == argv[1][0])) && ('?' == argv[1][1]))
	{
	    help(_strupr(&(argv[0][0])));
	    return 1;
	}
/*
        map[0][0]=1;map[0][1]=219;
        map[1][0]=0;map[1][1]=32;
        map[2][0]=2;map[2][1]=int('S');
        map[3][0]=3;map[3][1]=int('F');
	map[4][0]=Robot;map[4][1]=1;
*/
	int NM = Map_Load(map);
	int lstPath[N][2];
	int lstPathSize=0;
        
	Grid_Load(grid,rStart, cStart, rFinish,cFinish, NR,NC);
//	cerr << "map size: " << NR << 'x' << NC <<  "    Start: " << rStart << "," << cStart << "  Finish: " << rFinish << "," << cFinish << endl<<endl;
 	if(rStart <0 || cStart < 0)      
  	 getStart(rStart,cStart);
 	if (rFinish < 0 || cFinish <0)
         getFinish(rFinish,cFinish);
	grid[rStart][cStart]=2;
	grid[rFinish][cFinish]=3;

	system("CLS");
//Grid_Show(cout,grid,NR,NC,NULL,0);
	Grid_Show(cout,grid,NR,NC,map,NM);//sizeof(map)/sizeof(map[0]));
	char ck;
	while((ck=CheckKey())!=K_QUIT)
	{
 	 if(K_PLAY==ck)
	 {
		Grid_Clear();
 		if(AStarPathFind(grid,NR,NC,rStart,cStart,rFinish,cFinish, lstPath,lstPathSize))
		 for(int i=0; i < lstPathSize; i++)
		  grid[lstPath[i][0]][lstPath[i][1]]=ROBOT;
	 }else if(K_CLEAR == ck)
	 {
		Grid_Clear();
	  
         }
	 system("CLS");
 	 Grid_Show(cout,grid,NR,NC,map,NM);//sizeof(map)/sizeof(map[0]));
	}
  }
  catch (exception& e)
  {
    cerr << "Exception: " << e.what() << '\n';
  }
	return 0;
}