const dirs_cardinal = {
    NORTH: "u",
    WEST: "l",
    EAST: "r",
    SOUTH: "d",
};

const dirs = [
    "u",
    "r",
    "d",
    "l",
];
const dirs_val = [
    [0, 1], // N
    [1, 0], // E
    [0, -1], // S
    [-1, 0], // W
];
let dirs_to_index = {};
for (let i = 0; i < dirs.length; i++) dirs_to_index[dirs[i]] = i;

let trollInterval;
let beeperSpawnInterval;
const selfId = 1595;
const cellSize = 24;
const gridSize = 18;
let trollCode = `
    function main() {
        repeat(999999) {
            turnRight();
            move();
        }
    }
`;
let game = $('#challenge_iframe')[0].contentWindow;
let stop = false;
let debug = false;
let spawnRandomBeepers = false;
let player;
let beepers;
let karels = game.ig.game.getEntitiesByType('EntityKarel');
let selfInfo = JSON.parse(game.players[selfId]);
let exit = game.ig.game.getEntitiesByType('EntityExit')[0];
let tray;
let trays = game.ig.game.getEntitiesByType('EntityTray');
let beeperCount = 0;

function rotateTo(from, to) {
    let c = 0;
    let index = from;
    while (index != to) {
        index = (index + 1) % 4;
        c++;
    }
    if (c == 0) return "";
    else return `repeat(${c}){ turnRight(); }\n`;
}

function distance(p1, p2) {
    let d1 = p1[0] - p2[0];
    let d2 = p1[1] - p2[1];
    return Math.sqrt(d1*d1 + d2*d2);
}

function getDir(before, after) {
    if (after[0] > before[0]) return "l";
    if (after[0] < before[0]) return "r";
    if (after[1] > before[1]) return "u";
    if (after[1] < before[1]) return "d";
}

function getPos(entity) {
    return [
        parseInt(entity.pos.x / cellSize) - 1,
        parseInt(entity.pos.y / cellSize) - 1,
    ];
}

function strPos(_objPos) {
    //return `{"x":"${_objPos[0]}","y":"${_objPos[1]}"}`;
    return `${_objPos[0]},${_objPos[1]}`;
}

function objPos(_strPos) {
    return _strPos.split(',').map(i => parseInt(i))
}

function getBeepers(_player) {
    let _beepers = game.ig.game.getEntitiesByType('EntityBeeper');
    for (let i = 0; i < _beepers.length; i++) {
        _beepers[i] = getPos(_beepers[i]);
    }
    _beepers.sort(function(a, b) {
        let da = distance(a, _player.p);
        let db = distance(b, _player.p);
        if (da < db) return -1;
        if (da > db) return 1;
        return 0;
    });
    return _beepers;
}

function BFS(start, goal) {
    let queue = new Array();
    queue.push(start);
    let from = {};
    from[strPos(start)] = null;

    while (queue.length > 0) {
        let current = queue[0];
        queue.shift();

        if (current[0] == goal[0] && current[1] == goal[1]) return from;

        for (let i = 0; i < dirs_val.length; i++) {
            let next = [
                current[0] + dirs_val[i][0],
                current[1] + dirs_val[i][1],
            ];

            if (next[0] < 0 || next[1] < 0 || next[0] >= gridSize  || next[1] >= gridSize || from.hasOwnProperty(strPos(next)))
                continue;

            queue.push(next);
            from[strPos(next)] = current;
        }
    }
}

function bot() {
    let botCode = "";
    let path;
    let last;
    let steps;

    player.dir = dirs_cardinal[player.facing];
    player.p = getPos(player);
    tray.p = getPos(tray);
    exit.p = getPos(exit);
    beepers = getBeepers(player);
    beeperCount = 0;

    while (true) {
        console.log(beeperCount);
        if (beeperCount >= 0 && beeperCount < 5) {
            path = BFS(player.p, beepers[0]);
            current = strPos(beepers[0]);
        }
        else if (beeperCount == 5) {
            path = BFS(player.p, tray.p);
            current = strPos(tray.p);
        }
        else {
            path = BFS(player.p, exit.p);
            current = strPos(exit.p);
        }

        steps = new Array();
        while (true) {
            if (path[current] === null) break;
            last = current;
            current = strPos(path[current]);
            steps.push(getDir(objPos(last), objPos(current)));
        }
        console.log(steps);

        for (let i = steps.length - 1; i >= 0; i--) {
            //console.log(player.dir, dirs_to_index[player.dir], dirs_to_index[steps[i]]);
            botCode += rotateTo(dirs_to_index[player.dir], dirs_to_index[steps[i]]);
            player.dir = steps[i];
            botCode += "move();\n";
        }

        if (beeperCount >= 0 && beeperCount < 5) {
            player.p = beepers[0];
            botCode += "pickBeeper();\n";
            beepers.shift();
            beeperCount++;
        }
        else if (beeperCount == 5) {
            player.p = tray.p;
            botCode += "repeat(5){ putBeeperInTray(); }\n";
            beeperCount = -1;
        }
        else {
            botCode += "exit();\n";
            break;
        }

        console.log(player.p);
    }

    game.sendCode(`function main(){\n${botCode}\n}`);

    //console.log(botCode);
}

for (let i = 0; i < karels.length; i++) {
    if (karels[i].name == selfInfo.h) {
        player = karels[i];
        break;
    }
}

for (let i = 0; i < trays.length; i++) {
    if (trays[i].owner == selfInfo.h) {
        tray = trays[i];
        break;
    }
}

let spawnCount = 0;
function bpSpawn() {
    game.socket.emit('spawn_beeper', {game_id: game.game_id});
    if (spawnCount++ < 100) setTimeout(bpSpawn, 50);
} setTimeout(bpSpawn, 1);

setTimeout(bot, 5000);