#include <stdio.h>

#define SIMULATION

#include <ctype.h>

#include "../leelib/leelib.h"
#include "../lee-algorithm/lee-algorithm.h"
#include "../cell/cell.h"

extern int unexpanded_matrix[MAZE_SIZE][MAZE_SIZE];
extern const cell neighbours[4];


void addBlock(robot r, direction dir, cell targetCell, stack *s);

void simple_control() { //TODO: OUTDATED, rewrite if needed.
	/* read the starting and end station.*/
	cell startCell, targetCell;
	printf("STARTING AND ENDING STATION: ");
	readStation(&startCell.x, &startCell.y);
	readStation(&targetCell.x, &targetCell.y);

	robot r;
	r.dir = getStartDirection(startCell);
	r.pos = startCell;
	stack s;
	stack_init(&s);
	lee_run(r, targetCell, &s);

	while (s.length > 0) {
		move(&r, stack_pop(&s));
		printMatrix_with_current_pos(unexpanded_matrix, r);

		printf("BLOCKAGE: ");
		char input;
		scanf("%c", &input);
		switch (tolower(input)) {
			case 'n':
				addBlock(r, NORTH, targetCell, &s);
				break;
			case 's':
				addBlock(r, SOUTH, targetCell, &s);
				break;
			case 'e':
				addBlock(r, EAST, targetCell, &s);
				break;
			case 'w':
				addBlock(r, WEST, targetCell, &s);
				break;
			default:
				break;
		}
	}
	stack_free(&s);
}

void addBlock(robot r, direction dir, cell targetCell, stack *s) {
	cell block;
	cell_add(&block, r.pos, neighbours[dir]);
	unexpanded_matrix[block.x][block.y] = -2; // putting -2 makes it not work???
	if (!validatePath(r, *s)) {
		stack_reinit(s);
		lee_run(r, targetCell, s);
	}
}