pathfinder.h

#pragma once
#include <queue>
#include <climits>
#include <unistd.h>
#include <vector>
#include <algorithm>
#include <ctime>
#include <numeric>
#include "snake.h"
#include "node.h"
#include <FL/fl_draw.H>

//forward declarations
class Snake;

class Pathfinder
{
	private:
		Snake* snake;

		int numRows, numCols;	//grid size

		bool pathFound; 	//is a path found?
		bool repeatSearch; 	//repeat on every frame?

        std::vector<int> nodeStats; //contains nodes explored count for each search
        std::vector<int> pathStats; //contains path length for each search
        std::vector<double> timeStats; //contains path length for each search
        std::vector<std::vector<Node*>> gameState;

	public:
		Pathfinder(Snake* snake);

		//~ int heuristic(Node* start, Node* goal);
		
		void setSnake(Snake* snake);
		void setRepeatSearch(bool repeat);
        
		void AStar(int startX, int startY, int goalX, int goalY); 
		void greedyBFS(int startX, int startY, int goalX, int goalY);
		void BFS(int startX, int startY, int goalX, int goalY);
		void DFS(int startX, int startY, int goalX, int goalY);

        void printStats();
        
		void printGameState(std::vector<std::vector<Node*>> gameState);
		void resetPathFlag();
		void drawSet(std::vector<Node*> set, Fl_Color color);
		
		std::vector<std::vector<Node*>> updateGameState();
		std::vector<Node*> getNeighbors2(std::vector<std::vector<Node*>> gameState, Node* node);
		std::vector<Node*> getNeighborsBFS(std::vector<std::vector<Node*>> gameState, Node* node);

        //logic checks 
		bool checkBounds(int row, int col);     //is node out of bounds?
		bool checkGoal(int row, int col, int goalRow, int goalCol); //is the node the goal?
		bool checkBlocked(std::vector<std::vector<Node*>> gameState, int row, int col); //is the node within the snake?
		bool checkPathFound();
		bool checkRepeatSearch();
		bool nodeInSet(std::vector<Node*>set, Node* node);  //performs a linear search for node in set
		
		//Walks the path created by A*, returns a buffer of directions
		std::vector<std::string> buildPath(std::vector<std::vector<Node*>> gameState, Node* goal);

        double calcAvg(std::vector<int> data);   //takes floating-point mean of an integer vector
        double calcAvg(std::vector<double> data);   //takes floating-point mean of a double vector
};