#define USEDEFAULTMAP hex035x035

#define hex006x006 "./Data/hex006x006.txt"
#define hex014x006 "./Data/hex014x006.txt"
#define hex035x035 "./Data/hex035x035.txt"
#define hex054x045 "./Data/hex054x045.txt"
#define hex098x098 "./Data/hex098x098.txt"
#define hex113x083 "./Data/hex113x083.txt"

#define OVERRIDE_DEFAULT_STARTING_DATA 0

#define DEFAULT_START_ROW 0
#define DEFAULT_START_COL 0
#define DEFAULT_GOAL_ROW ?
#define DEFAULT_GOAL_COL ?

#include <vector>
#include <unordered_map>
#include "../TileSystem/Tile.h"
#include "../TileSystem/TileMap.h"
#include "../platform.h"
#include "../PriorityQueue.h"


	namespace algorithms
	{

		class PathSearch
		{
		private:
			struct SearchNode
			{
				Tile* tile;
				std::vector<SearchNode*> neighbors;
			};

			struct PlannerNode
			{
				SearchNode* searchNode;
				PlannerNode* parent;

				float finalCost = 0;
				float heuristicCost = 0;
				float givenCost = 0;
			

			};
			#define DISTANCE(x1,y1, x2, y2) ( std::sqrt( std::pow(x2 - x1, 2) +  std::pow(y2 - y1, 2)))
			struct GreedyComparator
			{
				bool operator()(const PlannerNode* lhs, const PlannerNode* rhs)
				{
					return lhs->finalCost > rhs->finalCost;
				}
			};
			std::unordered_map<Tile*, SearchNode*> nodes;
			std::unordered_map<SearchNode*, PlannerNode*> visited;
			PriorityQueue<PlannerNode*, GreedyComparator> queue;

			TileMap* tileMap;
			bool done = false;
			SearchNode* startingTile;
			SearchNode* endingTile;

		public:
			DLLEXPORT PathSearch();
			DLLEXPORT ~PathSearch();
			DLLEXPORT void initialize(TileMap* _tileMap);
			DLLEXPORT void enter(int startRow, int startColumn, int goalRow, int goalColumn);
			DLLEXPORT bool isDone() const;
			DLLEXPORT void update(long timeslice);
			DLLEXPORT std::vector<Tile const*> const getSolution() const;
			DLLEXPORT void exit();
			DLLEXPORT void shutdown();
		};
	}