using System.Drawing;
using System.Collections.Generic;
using System.Linq;

namespace AGVControl.Models
{
    public class AGV
    {
        public Point CurrentPosition { get; set; }
        public uint CurrentRFID { get; set; }
        public float BatteryLevel { get; set; } = 0f;
        /// <summary>
        /// AGV에서 방향값이 수산됩니다.
        /// </summary>
        public Direction CurrentDirection { get; set; }

        /// <summary>
        /// 현재위치가 수산되면 목적지까지의 방향값이 계산됩니다.
        /// </summary>
        public Direction TargetDirection { get; set; }
        public bool IsMoving { get; set; }
        public List<Point> CurrentPath { get; set; }
        public List<Point> PlannedPath { get; set; }
        public List<string> PathRFIDs { get; set; }
        public Point TargetPosition { get; set; }
        public uint TargetRFID { get; set; }

        public AGV()
        {
            CurrentPath = new List<Point>();
            PlannedPath = new List<Point>();
            PathRFIDs = new List<string>();
            CurrentDirection = Direction.Forward;
            TargetPosition = Point.Empty;
            TargetRFID = 0;
            TargetDirection = Direction.Forward;
        }

        public void Move()
        {
            if (CurrentPath.Count > 0)
            {
                CurrentPosition = CurrentPath[0];
                CurrentPath.RemoveAt(0);
            }
        }

    }

    public enum Direction
    {
        Forward,
        Backward
    }

    public class PathNode
    {
        public Point Location { get; set; }
        public string RFID { get; set; }
        public double G { get; set; }  // 시작점에서 현재 노드까지의 비용
        public double H { get; set; }  // 현재 노드에서 목표점까지의 예상 비용
        public double F => G + H;      // 총 비용
        public PathNode Parent { get; set; }

        public PathNode(Point location, string rfid)
        {
            Location = location;
            RFID = rfid;
            G = 0;
            H = 0;
            Parent = null;
        }
    }
}