#include "cop.h"
#include "graph.h"

using namespace std;

#undef DEBUG

CopData::CopData( int worldSize, int robberNode )
  : N(worldSize), robberPosGuess(robberNode), santasList(COPS, vector<int>(COPS, 0) ),
    tracks(1, vector<int>(worldSize, -100))
{
/*
  carMap = new nodePair*[N];
  footMap = new nodePair*[N];
  pureCarMap = new nodePair*[N];
  pureFootMap = new nodePair*[N];
  for (int i=0; i<N; i++)
  {
    carMap[i] = new nodePair[N];
    footMap[i] = new nodePair[N];
    pureCarMap[i] = new nodePair[N];
    pureFootMap[i] = new nodePair[N];
  }
*/
  carMap.resize(N);
  footMap.resize(N);
  pureCarMap.resize(N);
  pureFootMap.resize(N);
  for (int i = 0; i < N; ++i) 
  {
    carMap[i].resize(N);
    footMap[i].resize(N);
    pureCarMap[i].resize(N);
    pureFootMap[i].resize(N);
  }
  tracks[0][robberNode] = 100;
  firstTurn = true;
}

// Do Floyd-Warshall on them
void CopData::floyds( int policeNode )
{
  floyd(carMap, N);
  floyd(footMap, N);
  for (int i=0; i<N; i++)
    for (int j=0; j<N; j++)
    {
      pureFootMap[i][j] = footMap[i][j];
      pureCarMap[i][j] = carMap[i][j];
    }
  policeFloyd(carMap, footMap, N, policeNode);
}

int main()
{
  World w;
  
  initParse();

  sendRegister("Sherlock", COP_CAR);
  recvWorld(w);
  CopData c( w.car.size(), w.robberStartPos );
  c.robberPosGuess = w.robberStartPos;
  set<int> tmpset;
  tmpset.insert(w.robberStartPos);
  c.trustedRobPos.push_back(tmpset);
  c.naiveRobPos.push_back(tmpset);
  c.lastEvidenceUsed = 0;
  c.foreignInfo.push_back(vector<guess>(0));

  makeMatrix(w.car, c.carMap, c.N);
  makeMatrix(w.foot, c.footMap, c.N);

  c.floyds( w.hq );
  while (recvTurn(w))
  {
#ifdef DEBUG
    debug << "Received state " << endl;
#endif
    c.processState(w);
    debug << "Done processing state\n";

    vector< vector<guess> > info( COPS, vector<guess>() ),
                           plans( COPS, vector<guess>() );

    debug << "About to send info\n";
    sendInform( c.makeInfo(w) );
    recvInform( info );
    debug << "About to process info\n";
    c.processInfo( w, info );
    debug << "About to updateRobPos\n";
    c.updateRobPos(w);

    debug << "About to make plan\n";
    c.makePlan(w);
    debug << "About to send plan\n";
    sendPlan( c.myPlan );
    debug << "About to receive plans\n";
    recvPlan( plans );
    debug << "About to rank plans\n";
    vector<int> votes = c.rankPlans(plans, w);
    /*
    votes.push_back(w.me);
    for (int i=0; i<COPS; ++i)
    {
      if (i==w.me)
        continue;
      votes.push_back(i);
    } */
    debug << "About to send votes\n";
    sendVote( votes );
    debug << "About to receive votes\n";
    int voteResult = recvVote();
    if (voteResult > -1)
      c.setLastAcceptedPlan( plans[voteResult], w.n, voteResult );
    debug << "About to make move\n";
    vector<guess> ret = c.makeMove(w);
#ifdef DEBUG
    //debug << "Picked move "<< ret.first << "," << ret.second << endl;
#endif
    // Here, we need to determine whether we're a clean cop, or a dirty
    // cop, and call the appropriate move method
    sendCleanCopMove( ret, c.copsToAccuse );
    c.copsToAccuse.clear();
    // sendDirtyCopMove( vector of moves );
  }


#ifdef DEBUG
  debug << "Betrayals:" << endl;
  for (unsigned int i=0; i<c.santasList.size(); ++i)
  {
    debug << "Bot " << i << "'s betrayals:\t";
    for (unsigned int j=0; j<c.santasList[i].size(); ++j)
      debug << c.santasList[i][j] << "\t";
    debug << endl;
  }
#endif
  
  return 0;
}

vector<guess> CopData::makeMove(World& w)
{
  vector<guess> retval;
  vector<bool> hasMoved(COPS, false);
  for (unsigned int i=0; i<lastAcceptedPlan.size(); i++)
    if ( lastAcceptedPlan[i].world == w.n+1
        && w.myBorg.find(lastAcceptedPlan[i].botId) != w.myBorg.end()
        && !hasMoved[lastAcceptedPlan[i].botId])
    {
      hasMoved[lastAcceptedPlan[i].botId] = true;
      retval.push_back(lastAcceptedPlan[i]);
    }
  for (unsigned int i=0; i<myPlan.size(); i++)
  {
    if (w.myBorg.find(myPlan[i].botId) == w.myBorg.end())
      continue;
    if (myPlan[i].world == w.n+1 && !hasMoved[myPlan[i].botId])
    {
      hasMoved[myPlan[i].botId];
      retval.push_back(myPlan[i]);
    }
  }
  for (unsigned int i=0; i<COPS; i++)
  {
    if (!hasMoved[i] && w.myBorg.find(i) != w.myBorg.end())
    {
      guess g;
      g.botId = i;
      g.locId = w.cops[i].first;
      g.type = w.cops[i].second;
      retval.push_back(g);
    }
  }
  return retval;
}

vector<guess> CopData::makeInfo( World& w )
{
#ifdef DEBUG
  debug << __FUNCTION__ << "( world:" << w.n << " )" <<endl;
#endif
  vector<guess> info;

  set<int> adj;
  if ( w.smell > 0 )
  {
    set<int> adj = w.smellyNodes(pureFootMap);
  } else {
    w.smell = 1;
    set<int> tmp1 = w.smellyNodes(pureFootMap);
    w.smell = 2;
    set<int> tmp2 = w.smellyNodes(pureFootMap);
    set<int> adj = intersectNodes(tmp1, tmp2);
    w.smell = 0;
  } 
  for (set<int>::iterator I=adj.begin(); I != adj.end(); I++)
    info.push_back( guess( w.robberId, *I, ROBBER, w.n, 
          (w.smell==0 ? -100 : 25)));
  /*for (unsigned int i=0; i<tracks[w.n].size(); ++i)
    info.push_back( guess( w.robberId, i, ROBBER, w.n, tracks[w.n][i]) ); */

  return info;
}