#ifndef _COP_H
#define _COP_H

#include <vector>
#include "parse.h"

struct CopData
{
  bool firstTurn;   // Really dirty hack to ensure that we get
                    // two foot mcgruffs and two car mcgruffs in qual round
  std::vector<int> **coordMap;
  // nodePair **pureCarMap, **pureFootMap, **carMap, **footMap;
  std::vector< std::vector<nodePair> > pureCarMap, pureFootMap, carMap, footMap;
  int N, cN, turnNumber;
  bool badCop[COPS];
  int robberPosGuess;
  int lastRobberPosGuess;
  int stallCounter;
  int robberPosUncert;    // Uncertainty on robber's position, in # of steps
  std::vector<guess> myPlan;
  std::vector<guess> votedPlan;
  int curPos;
  int validFrom, electedTactician;
  std::vector< std::vector<int> > santasList; // which robots have betrayed us
  std::vector<int> smellMap;
  int lastEvidenceUsed;

  // History of set of possible robber
  // positions, using only our own info
  std::vector<std::set<int> > trustedRobPos;     
  // History of set of possible positions 
  // for the robber using info of trusted
  // cops & our own
  std::vector<std::set<int> > naiveRobPos;
  std::set<int> lyingCops;      // Set of lying cops
  // History of info from other cops; the info known to be lies gets deleted
  // [world][index] 
  std::vector<std::vector<guess> > foreignInfo;
  
  std::vector< std::vector<int> > tracks; // robber tracks, [world][node] = prob

  // Cops to be accused next turn
  std::vector<int> copsToAccuse;
  
  std::vector<guess> lastAcceptedPlan;

  std::vector<struct CopData> underControl;	// other cops I control

  CopData( int worldSize, int robberNode );
  void floyds( int policeNode );
  void setLastAcceptedPlan(std::vector<guess>& plan, int acceptedAt, int winner )
  {
    lastAcceptedPlan = plan;
    validFrom = acceptedAt+2;
    electedTactician = winner;
  }

  void processState( World& w );
  void processInfo( World& w, std::vector< std::vector<guess> > info );
  void makePlan( World& w );
  std::vector<guess> makeMove(World& w);
  std::vector<guess> makeInfo(World& w);
  void diffuseFrom( int n, World& w );
  void verifyFrom( int n, World& w );
  std::vector<int> makeVote( World& w, std::vector< std::vector<guess> > plans );
  void updateRobPos(World &w);
  std::vector<int> rankPlans(std::vector<std::vector<guess> > &plans, World &w);

};

#endif