//A算法 自动寻路 路径

 class GetAutoPath{

     constructor(id, map, sPos, ePos, mapArr){

         //this.type = id.type;

         this.id = id;

         this.map = map;

         this.sPos = sPos;

         this.ePos = ePos;

         this.mapArr = mapArr;

         this.maxMach = 10000;

         this.openArr = [];

         this.closeArr = [];

         this.minPath = [];

         if(!this.isPath(this.sPos.x, this.sPos.y)){this.sPos = this.getNewDot(sPos, ePos);}

         if(!this.isPath(this.ePos.x, this.ePos.y)){this.ePos = this.getNewDot(ePos, sPos);}

         //console.log(this.mapArr);

         return this.run();

     }

     posts(txt, arr){//post消息

         //let id = this.id, sPos = this.sPos, ePos = this.ePos, arrs = arr || [];

         return {id:this.id, map:this.map, arr:arr || [], sPos:this.sPos, ePos:this.ePos, txt:txt}

     }

     isPath(x, y){//isPath = true 合法路径 = isBanPath === undefined

         let isPath = false, ym = this.mapArr.get(y), xm; //console.log(ym);  debugger;

         if(ym !== undefined){

             xm = ym.get(x);

             if(xm !== undefined){

                 if(xm.isBanPath === undefined){isPath = true;}

             }

         }

         //if(this.mapArr[y] !== undefined && this.mapArr[y][x] !== undefined && this.mapArr[y][x].isPath === 1){isPath = true;}

         return isPath;

     }

     getEqual(arr, x, y){//获取目标数组相同的坐标

         let isPos = false;

         if(arr.length === 0){

             isPos = false;

         }else{

             isPos = arr.some(function (o){return o.x === x && o.y === y;});

         }

         return isPos;

     }

     getDot(x, y){//获取周围8个方向坐标

         return [{x:x-1,y:y},{x:x+1,y:y},{x:x,y:y-1},{x:x,y:y+1},{x:x-1,y:y-1},{x:x+1,y:y+1},{x:x+1,y:y-1},{x:x-1,y:y+1}]

     }    

     getNewDot(setPos, pos){//重定义起点或终点

         let dot = setPos, pointDot, k, arr = [], arrs = [], g, end, maxMachT = 0;

         while(!end && maxMachT < this.maxMach){

             maxMachT++;

             pointDot = this.getDot(dot.x, dot.y);

             for(k in pointDot){

                 g = Math.round(Math.sqrt(Math.abs(pointDot[k].x - pos.x) + Math.abs(pointDot[k].y - pos.y)) * 100) / 100;

                 if(!this.isPath(pointDot[k].x, pointDot[k].y)){//不合法

                     arr.push({x:pointDot[k].x, y:pointDot[k].y, g:g});

                     arr.sort(function(a, b){return a.g - b.g;});

                 }else{//合法

                     arrs.push({x:pointDot[k].x, y:pointDot[k].y, g:g});

                     arrs.sort(function(a, b){return a.g - b.g;});

                 }

                 if(arrs.length > 0){end = true;}

             }

             dot = {x:arr[0].x, y:arr[0].y, g:arr[0].g}; arr = [];

         }

         if(!arrs[0].x || !arrs[0].y){return this.posts("没有符合的坐标");}

         return {x:arrs[0].x, y:arrs[0].y};

     }

     run(){

         if(this.sPos.x === undefined || this.ePos.x === undefined){return this.posts("没有符合的坐标");}

         let sPos = this.sPos, ePos = this.ePos, point, key, i, newPoint, ger, gers, g, h, f, maxMachT = 0;

         this.openArr[0] = {x : sPos.x, y : sPos.y, f : 0, p : 0, ger : 0}

         while(this.openArr.length > 0){

             maxMachT++;

             point = this.openArr[0]; this.closeArr.push(point); this.openArr.splice(0,1);

             key = this.closeArr.length - 1;//设置当前节点

             newPoint = this.getDot(point.x, point.y);//获取周围点

             for(i in newPoint){//设置周围点

                 ger = Math.round(Math.sqrt(Math.abs(newPoint[i].x - point.x) + Math.abs(newPoint[i].y - point.y)) * 100) / 100;//到当前节点的曼哈顿距离,保留两位小数点

                 gers = ger + point.ger;

                 g = Math.round(gers * 100) / 100;

                 h = Math.abs(newPoint[i].x - ePos.x) + Math.abs(newPoint[i].y - ePos.y);

                 f = g + h;

                 if(this.isPath(newPoint[i].x, newPoint[i].y) && !this.getEqual(this.openArr, newPoint[i].x, newPoint[i].y) && !this.getEqual(this.closeArr, newPoint[i].x, newPoint[i].y)){this.openArr.push({x:newPoint[i].x, y:newPoint[i].y, f:f, p:key, ger:ger});}

             }

             this.openArr.sort(function(a, b){return a.f - b.f;});//排序

             if(this.getEqual(this.closeArr, ePos.x, ePos.y) || this.getEqual(this.openArr, ePos.x, ePos.y)){//end

                 this.minPath.unshift(this.closeArr[key]);

                 while(this.minPath.length > 0){

                     if(this.minPath[0].p == 0){return this.posts('success', this.minPath);}else{this.minPath.unshift(this.closeArr[this.minPath[0].p]);}

                 }

             }else if(maxMachT === this.maxMach){

                 return this.posts("没有符合的坐标");

             }

         }

         return this.posts("没有符合的坐标");

     }

 }