#ifndef __ASTAR_H__
#define __ASTAR_H__

#include <vector>
#include <functional>
#include <set>

#include "AStarMPICommunication.h"
#include "Coordinate.h"
#include "Node.h"
#include "NodeSet.h"
#include "HeuristicFunction.h"
#include "CoordinateList.h"

class AStar
{
private:
    HeuristicFunction heuristic;
    CoordinateList direction, walls;
    Coordinate worldSize;

    Coordinate start;
    Coordinate end;

    int directions;

    char** map;
    char wallSymbol;
    char pathSymbol;
    char freeSymbol;
    char startSymbol;
    char endSymbol;

    bool detectCollision(Coordinate coordinates_);
    Node* findNodeOnList(NodeSet& nodes_, Coordinate coordinates_);
    void releaseNodes(NodeSet& nodes_);

public:
    AStar();
    void setMapSize(Coordinate worldSize_);
    void setDiagonalMovement(bool enable_);
    void setHeuristic(HeuristicFunction heuristic_);
    CoordinateList findPath(Coordinate source_, Coordinate target_);
    CoordinateList findPathMPI(Coordinate source_, Coordinate target_, AStarMPICommunication communication, int rank);
    void addCollision(Coordinate coordinates_);
    void removeCollision(Coordinate coordinates_);
    void clearCollisions();

    void showMap();
    void updateMap();
    void updateMap(CoordinateList path);
};

#endif // __ASTAR_H__