#include "robber.h"
#include "graph.h"

using namespace std;

int findBestMove(World &w, 
		 vector< vector<nodePair> > &carMap, 
		 vector< vector<nodePair> > &footMap,
                 vector< vector<nodePair> > &robberMap);

void Robber::floyds()
{
  int N = w.car.size();
  carMap.resize(N);
  footMap.resize(N);
  robberMap.resize(N);

  for (int i = 0; i < N; ++i) 
  {
    carMap[i].resize(N);
    footMap[i].resize(N);
    robberMap[i].resize(N);
  }

  makeMatrix(w.car, carMap, w.car.size());
  makeMatrix(w.foot, footMap, w.foot.size());

  // Do Floyd-Warshall on them
  floyd(carMap, carMap.size());
  floyd(footMap, footMap.size());
  for (int i=0; i<robberMap.size(); i++)
    for (int j=0; j<robberMap[i].size(); j++)
      robberMap[i][j] = footMap[i][j];
  policeFloyd(carMap, footMap, carMap.size(), w.hq);
}

bool Robber::validateMove(int proposedMove)
{
  // get list of adjacent nodes
  vector<int> adjNodes = w.foot[w.robber.first];
  for (int i = 0; i < adjNodes.size(); ++i)
  {
    if (adjNodes[i] == proposedMove) return true; // yeah, we can move here
  }
  return false;
}

int main()
{
  initParse();
  Robber r;

  sendRegister( "Robin_Banks", ROBBER );
  recvWorld(r.w);
  r.floyds();

  // MAIN LOOP
  while (recvTurn(r.w))
  {
    int godfather;
    // FIXME remove all of the locals
    vector<guess> garbage;
    vector<int> crap;
    vector< vector<guess> > morecrap;

    sendInform(garbage);
    recvInform(morecrap);
    sendPlan(garbage);
    recvPlan(morecrap);

    vector<int> v(1, r.w.robberId);
    sendVote(v);
    godfather = recvVote();
    sendBribe(false);
    crap = recvOfferedCops();
    
#ifdef DEBUG
    debug << "Selecting move" << endl;
#endif
    int proposedMove = r.makeMove();
    if (r.validateMove(proposedMove) == false)
    {
      // Should keep the current location
      sendRobberMove( r.w.robber.first, ROBBER, r.w.robberId, false, crap );
    } else
    {
      sendRobberMove( proposedMove, ROBBER, r.w.robberId, false, crap );
    }
  }
  return 0;
}

/* Really simple robber: if there's a safe path to a bank, go there.
 * If not, pick the bank that has highest police distance from the path
 * there. If all the banks are staked out, move in the direction that maximizes
 * distance from police. */
int Robber::makeMove()
{
  debug << "findBestMove" << endl;
  int move;
  int numBanks = w.bankPos.size();
  int curPos = w.robber.first;
  copsInfo cops;
  cops.numCops = COPS;
  debug << "Tracking cops" << endl;
  for (int i=0; i<COPS; i++)
  {
    cops.pos[i] = w.cops[i].first;
    cops.mode[i] = (w.cops[i].second == COP_CAR ? CAR : FOOT);
  }
  
  // First try a safe path to a bank with money in it
  for (int i=0; i<numBanks; i++)
  {
    if (w.bankMoney[i] == 0)
      continue;
    debug << "Testing for safe path" << endl;
    if (safePath(robberMap, carMap, footMap, curPos, 
        w.bankPos[i], cops, move, 0))
    {
#ifdef DEBUG
      debug << "Safe move found: " << move << endl;
#endif
      return move;
    }
    debug << "Path not found" << endl;
  }

  // No safe path, try a "semi-safe" path to a bank with money in it
  int maxdist = 0;
  int bestmove = -1;
  debug << "Testing for semi-safe path" << endl;
  for (int i=0; i<numBanks; i++)
  {
    if (w.bankMoney[i] == 0)
      continue;
    int thisdist = avoidPolicePath(robberMap, carMap, footMap,
        curPos, w.bankPos[i], cops, move);
    if (thisdist > maxdist)
    {
      maxdist = thisdist;
      bestmove = move;
    }
  }
  if (maxdist > 0 && move != -1)
    return bestmove;
  
  // All the banks are staked out. Pick the move that leads away from
  // police the most
  debug << "Running away" << endl;
  maxdist = 0;
  for (unsigned int i=0; i<w.foot[curPos].size(); i++)
  {
    int thisdist = avoidPolicePath(robberMap, carMap, footMap,
        curPos, w.foot[curPos][i], cops, move);
    if (thisdist > maxdist)
    {
      maxdist = thisdist;
      bestmove = move;
    }
  }
  if (bestmove == -1)
    bestmove = curPos;
  return bestmove;
}