#ifdef WITH_TESTS

#include "../../Tests.h"

#include "../../../grid/Grid.h"
#include "../../../nav/dijkstra/Dijkstra.h"
#include "../../grid/Plot.h"

TEST(Dijkstra, build) {

	Grid<GP> grid(1);

	int idx1 = grid.add(GP( 0, 0, 0));
	int idx2 = grid.add(GP( 0, 1, 0));
	int idx3 = grid.add(GP( 0,-1, 0));
	int idx4 = grid.add(GP( 1, 0, 0));
	int idx5 = grid.add(GP(-1, 0, 0));

	grid.connectBiDir(idx1, idx2);
	grid.connectBiDir(idx1, idx3);
	grid.connectBiDir(idx1, idx4);
	grid.connectBiDir(idx1, idx5);

	class TMP {
		Grid<GP>& grid;
	public:
		TMP(Grid<GP>& grid) : grid(grid) {;}
		int getNumNeighbors(const GP& node) const {return node.getNumNeighbors();}
		const GP* getNeighbor(const GP& node, const int idx) const {return &grid.getNeighbor(node, idx);}
		float getWeightBetween(const GP& n1, const GP& n2) const {return ((Point3)n1 - (Point3)n2).length();}
	} tmp(grid);

	Dijkstra<GP> d;
	d.build(&grid[idx5], &grid[idx3], tmp, 99999);

	// start node must be "idx5"
	DijkstraNode<GP>* n = d.getNode(grid[idx5]);
	ASSERT_EQ(&grid[idx5], n->element);	ASSERT_EQ(nullptr, n->previous); ASSERT_EQ(0, n->cumWeight);

	// "idx1" (the center) is reached via idx5
	DijkstraNode<GP>* n2 = d.getNode(grid[idx1]);
	ASSERT_EQ(&grid[idx1], n2->element);	ASSERT_EQ(&grid[idx5], n2->previous->element);

	// "idx3" (the target) is reached via idx1 (the center)
	DijkstraNode<GP>* n3 = d.getNode(grid[idx3]);
	ASSERT_EQ(&grid[idx3], n3->element);	ASSERT_EQ(&grid[idx1], n3->previous->element);


}

void build(Grid<GP>& grid) {

	const int size = 10000;
	const int gs = grid.getGridSize_cm();

	for (int x = 0; x < size; x += gs) {
		for (int y = 0; y < size; y += gs) {
			grid.add(GP(x,y,0));
		}
	}

	std::set<int> done;

	for (int x = 0; x < size; x += gs) {
		for (int y = 0; y < size; y += gs) {

			const GridPoint gp1(x,y,0);
			const int idx1 = grid.getNodeFor(gp1).getIdx();

			for (int x1 = -gs; x1 <= +gs; x1 += gs) {
				for (int y1 = -gs; y1 <= +gs; y1 += gs) {
					const GridPoint gp2(x+x1, y+y1, 0);
					if (grid.hasNodeFor(gp2)) {
						int idx2 = grid.getNodeFor(gp2).getIdx();
						if (done.find(idx2) != done.end()) {continue;}
						grid.connectBiDir(idx1, idx2);
					}

				}
			}

			done.insert(idx1);

		}
	}

}

void dijkstra(Grid<GP>& grid) {

	class TMP {
		Grid<GP>& grid;
	public:
		TMP(Grid<GP>& grid) : grid(grid) {;}
		int getNumNeighbors(const GP& node) const {return node.getNumNeighbors();}
		const GP* getNeighbor(const GP& node, const int idx) const {return &grid.getNeighbor(node, idx);}
		float getWeightBetween(const GP& n1, const GP& n2) const {return ((Point3)n1 - (Point3)n2).length();}
	} tmp(grid);

	Dijkstra<GP> d;
	d.build(&grid[0], tmp);

}

TEST(Dijkstra, huge) {


	Grid<GP> grid(10);
	build(grid);
	dijkstra(grid);

}


#endif