

//
//=======================================================================
// Copyright (c) 2004 Kristopher Beevers
//
// Distributed under the Boost Software License, Version 1.0. (See
// accompanying file LICENSE_1_0.txt or copy at
// http://www.boost.org/LICENSE_1_0.txt)
//=======================================================================
//

#ifndef BOOST_GRAPH_ASTAR_SEARCH_HPP
#define BOOST_GRAPH_ASTAR_SEARCH_HPP


#include <functional>
#include <vector>
#include <boost/limits.hpp>
#include <boost/graph/named_function_params.hpp>
#include <boost/graph/relax.hpp>
#include <boost/graph/exception.hpp>
#include <boost/graph/breadth_first_search.hpp>
#include <boost/graph/detail/d_ary_heap.hpp>
#include <boost/property_map/property_map.hpp>
#include <boost/property_map/vector_property_map.hpp>


namespace boost {


  template <class Heuristic, class Graph>
  struct AStarHeuristicConcept {
    void constraints()
    {
      function_requires< CopyConstructibleConcept<Heuristic> >();
      h(u);
    }
    Heuristic h;
    typename graph_traits<Graph>::vertex_descriptor u;
  };


  template <class Graph, class CostType>
  class astar_heuristic : public std::unary_function<
    typename graph_traits<Graph>::vertex_descriptor, CostType>
  {
  public:
    typedef typename graph_traits<Graph>::vertex_descriptor Vertex;
    astar_heuristic() {}
    CostType operator()(Vertex u) { return static_cast<CostType>(0); }
  };



  template <class Visitor, class Graph>
  struct AStarVisitorConcept {
    void constraints()
    {
      function_requires< CopyConstructibleConcept<Visitor> >();
      vis.initialize_vertex(u, g);
      vis.discover_vertex(u, g);
      vis.examine_vertex(u, g);
      vis.examine_edge(e, g);
      vis.edge_relaxed(e, g);
      vis.edge_not_relaxed(e, g);
      vis.black_target(e, g);
      vis.finish_vertex(u, g);
    }
    Visitor vis;
    Graph g;
    typename graph_traits<Graph>::vertex_descriptor u;
    typename graph_traits<Graph>::edge_descriptor e;
  };


  template <class Visitors = null_visitor>
  class astar_visitor : public bfs_visitor<Visitors> {
  public:
    astar_visitor() {}
    astar_visitor(Visitors vis)
      : bfs_visitor<Visitors>(vis) {}

    template <class Edge, class Graph>
    void edge_relaxed(Edge e, Graph& g) {
      invoke_visitors(this->m_vis, e, g, on_edge_relaxed());
    }
    template <class Edge, class Graph>
    void edge_not_relaxed(Edge e, Graph& g) {
      invoke_visitors(this->m_vis, e, g, on_edge_not_relaxed());
    }
  private:
    template <class Edge, class Graph>
    void tree_edge(Edge e, Graph& g) {}
    template <class Edge, class Graph>
    void non_tree_edge(Edge e, Graph& g) {}
  };
  template <class Visitors>
  astar_visitor<Visitors>
  make_astar_visitor(Visitors vis) {
    return astar_visitor<Visitors>(vis);
  }
  typedef astar_visitor<> default_astar_visitor;


  namespace detail {

    template <class AStarHeuristic, class UniformCostVisitor,
              class UpdatableQueue, class PredecessorMap,
              class CostMap, class DistanceMap, class WeightMap,
              class ColorMap, class BinaryFunction,
              class BinaryPredicate>
    struct astar_bfs_visitor
    {

      typedef typename property_traits<CostMap>::value_type C;
      typedef typename property_traits<ColorMap>::value_type ColorValue;
      typedef color_traits<ColorValue> Color;
      typedef typename property_traits<DistanceMap>::value_type distance_type;

      astar_bfs_visitor(AStarHeuristic h, UniformCostVisitor vis,
                        UpdatableQueue& Q, PredecessorMap p,
                        CostMap c, DistanceMap d, WeightMap w,
                        ColorMap col, BinaryFunction combine,
                        BinaryPredicate compare, C zero)
        : m_h(h), m_vis(vis), m_Q(Q), m_predecessor(p), m_cost(c),
          m_distance(d), m_weight(w), m_color(col),
          m_combine(combine), m_compare(compare), m_zero(zero) {}


      template <class Vertex, class Graph>
      void initialize_vertex(Vertex u, Graph& g) {
        m_vis.initialize_vertex(u, g);
      }
      template <class Vertex, class Graph>
      void discover_vertex(Vertex u, Graph& g) {
        m_vis.discover_vertex(u, g);
      }
      template <class Vertex, class Graph>
      void examine_vertex(Vertex u, Graph& g) {
        m_vis.examine_vertex(u, g);
      }
      template <class Vertex, class Graph>
      void finish_vertex(Vertex u, Graph& g) {
        m_vis.finish_vertex(u, g);
      }
      template <class Edge, class Graph>
      void examine_edge(Edge e, Graph& g) {
        if (m_compare(get(m_weight, e), m_zero))
          throw negative_edge();
        m_vis.examine_edge(e, g);
      }
      template <class Edge, class Graph>
      void non_tree_edge(Edge, Graph&) {}



      template <class Edge, class Graph>
      void tree_edge(Edge e, Graph& g) {
        m_decreased = relax(e, g, m_weight, m_predecessor, m_distance,
                            m_combine, m_compare);

        if(m_decreased) {
          m_vis.edge_relaxed(e, g);
          put(m_cost, target(e, g),
              m_combine(get(m_distance, target(e, g)),
                        m_h(target(e, g))));
        } else
          m_vis.edge_not_relaxed(e, g);
      }


      template <class Edge, class Graph>
      void gray_target(Edge e, Graph& g) {
        m_decreased = relax(e, g, m_weight, m_predecessor, m_distance,
                            m_combine, m_compare);

        if(m_decreased) {
          put(m_cost, target(e, g),
              m_combine(get(m_distance, target(e, g)),
                        m_h(target(e, g))));
          m_Q.update(target(e, g));
          m_vis.edge_relaxed(e, g);
        } else
          m_vis.edge_not_relaxed(e, g);
      }


      template <class Edge, class Graph>
      void black_target(Edge e, Graph& g) {
        m_decreased = relax(e, g, m_weight, m_predecessor, m_distance,
                            m_combine, m_compare);

        if(m_decreased) {
          m_vis.edge_relaxed(e, g);
          put(m_cost, target(e, g),
              m_combine(get(m_distance, target(e, g)),
                        m_h(target(e, g))));
          m_Q.push(target(e, g));
          put(m_color, target(e, g), Color::gray());
          m_vis.black_target(e, g);
        } else
          m_vis.edge_not_relaxed(e, g);
      }



      AStarHeuristic m_h;
      UniformCostVisitor m_vis;
      UpdatableQueue& m_Q;
      PredecessorMap m_predecessor;
      CostMap m_cost;
      DistanceMap m_distance;
      WeightMap m_weight;
      ColorMap m_color;
      BinaryFunction m_combine;
      BinaryPredicate m_compare;
      bool m_decreased;
      C m_zero;

    };

  } // namespace detail



  template <typename VertexListGraph, typename AStarHeuristic,
            typename AStarVisitor, typename PredecessorMap,
            typename CostMap, typename DistanceMap,
            typename WeightMap, typename ColorMap,
            typename VertexIndexMap,
            typename CompareFunction, typename CombineFunction,
            typename CostInf, typename CostZero>
  inline void
  astar_search_no_init
    (VertexListGraph &g,
     typename graph_traits<VertexListGraph>::vertex_descriptor s,
     AStarHeuristic h, AStarVisitor vis,
     PredecessorMap predecessor, CostMap cost,
     DistanceMap distance, WeightMap weight,
     ColorMap color, VertexIndexMap /*index_map*/,
     CompareFunction compare, CombineFunction combine,
     CostInf /*inf*/, CostZero zero)
  {
    typedef typename graph_traits<VertexListGraph>::vertex_descriptor
      Vertex;
    typedef boost::vector_property_map<std::size_t> IndexInHeapMap;
    IndexInHeapMap index_in_heap;
    typedef d_ary_heap_indirect<Vertex, 4, IndexInHeapMap, CostMap, CompareFunction>
      MutableQueue;
    MutableQueue Q(cost, index_in_heap, compare);

    detail::astar_bfs_visitor<AStarHeuristic, AStarVisitor,
        MutableQueue, PredecessorMap, CostMap, DistanceMap,
        WeightMap, ColorMap, CombineFunction, CompareFunction>
      bfs_vis(h, vis, Q, predecessor, cost, distance, weight,
              color, combine, compare, zero);

    breadth_first_visit(g, s, Q, bfs_vis, color);
  }


  // Non-named parameter interface
  template <typename VertexListGraph, typename AStarHeuristic,
            typename AStarVisitor, typename PredecessorMap,
            typename CostMap, typename DistanceMap,
            typename WeightMap, typename VertexIndexMap,
            typename ColorMap,
            typename CompareFunction, typename CombineFunction,
            typename CostInf, typename CostZero>
  inline void
  astar_search
    (VertexListGraph &g,
     typename graph_traits<VertexListGraph>::vertex_descriptor s,
     AStarHeuristic h, AStarVisitor vis,
     PredecessorMap predecessor, CostMap cost,
     DistanceMap distance, WeightMap weight,
     VertexIndexMap index_map, ColorMap color,
     CompareFunction compare, CombineFunction combine,
     CostInf inf, CostZero zero)
  {

    typedef typename property_traits<ColorMap>::value_type ColorValue;
    typedef color_traits<ColorValue> Color;
    typename graph_traits<VertexListGraph>::vertex_iterator ui, ui_end;
    for (tie(ui, ui_end) = vertices(g); ui != ui_end; ++ui) {
      put(color, *ui, Color::white());
      put(distance, *ui, inf);
      put(cost, *ui, inf);
      put(predecessor, *ui, *ui);
      vis.initialize_vertex(*ui, g);
    }
    put(distance, s, zero);
    put(cost, s, h(s));

    astar_search_no_init
      (g, s, h, vis, predecessor, cost, distance, weight,
       color, index_map, compare, combine, inf, zero);

  }



  namespace detail {
    template <class VertexListGraph, class AStarHeuristic,
              class CostMap, class DistanceMap, class WeightMap,
              class IndexMap, class ColorMap, class Params>
    inline void
    astar_dispatch2
      (VertexListGraph& g,
       typename graph_traits<VertexListGraph>::vertex_descriptor s,
       AStarHeuristic h, CostMap cost, DistanceMap distance,
       WeightMap weight, IndexMap index_map, ColorMap color,
       const Params& params)
    {
      dummy_property_map p_map;
      typedef typename property_traits<CostMap>::value_type C;
      astar_search
        (g, s, h,
         choose_param(get_param(params, graph_visitor),
                      make_astar_visitor(null_visitor())),
         choose_param(get_param(params, vertex_predecessor), p_map),
         cost, distance, weight, index_map, color,
         choose_param(get_param(params, distance_compare_t()),
                      std::less<C>()),
         choose_param(get_param(params, distance_combine_t()),
                      closed_plus<C>()),
         choose_param(get_param(params, distance_inf_t()),
                      std::numeric_limits<C>::max BOOST_PREVENT_MACRO_SUBSTITUTION ()),
         choose_param(get_param(params, distance_zero_t()),
                      C()));
    }

    template <class VertexListGraph, class AStarHeuristic,
              class CostMap, class DistanceMap, class WeightMap,
              class IndexMap, class ColorMap, class Params>
    inline void
    astar_dispatch1
      (VertexListGraph& g,
       typename graph_traits<VertexListGraph>::vertex_descriptor s,
       AStarHeuristic h, CostMap cost, DistanceMap distance,
       WeightMap weight, IndexMap index_map, ColorMap color,
       const Params& params)
    {
      typedef typename property_traits<WeightMap>::value_type D;
      std::vector<D> distance_map;
      std::vector<D> cost_map;
      std::vector<default_color_type> color_map;

      detail::astar_dispatch2
        (g, s, h,
         choose_param(cost, vector_property_map<D, IndexMap>(index_map)),
         choose_param(distance, vector_property_map<D, IndexMap>(index_map)),
         weight, index_map,
         choose_param(color, vector_property_map<default_color_type, IndexMap>(index_map)),
         params);
    }
  } // namespace detail


  // Named parameter interface
  template <typename VertexListGraph,
            typename AStarHeuristic,
            typename P, typename T, typename R>
  void
  astar_search
    (VertexListGraph &g,
     typename graph_traits<VertexListGraph>::vertex_descriptor s,
     AStarHeuristic h, const bgl_named_params<P, T, R>& params)
  {

    detail::astar_dispatch1
      (g, s, h,
       get_param(params, vertex_rank),
       get_param(params, vertex_distance),
       choose_const_pmap(get_param(params, edge_weight), g, edge_weight),
       choose_const_pmap(get_param(params, vertex_index), g, vertex_index),
       get_param(params, vertex_color),
       params);

  }

} // namespace boost

#endif // BOOST_GRAPH_ASTAR_SEARCH_HPP
