(in-package #:cl-user)

;;;
;;; Init
;;;

(eval-when (:compile-toplevel :load-toplevel :execute)
  ;; #+swank (declaim (optimize (speed 3) (safety 2)))
  #+swank (declaim (optimize (speed 0) (safety 3) (debug 3)))
  #-swank (declaim (optimize (speed 3) (safety 0) (debug 0)))
  #-swank (declaim (sb-ext:muffle-conditions sb-ext:compiler-note))
  #-swank (sb-ext:disable-debugger))

;;;
;;; Reader Macros
;;;

(eval-when (:compile-toplevel :load-toplevel :execute)
  (set-dispatch-macro-character
   #\# #\f
   #'(lambda (stream c2 n)
       (declare (ignore c2 n))
       (let ((form (read stream t nil t)))
         `(lambda (&optional %) (declare (ignorable %)) ,form))))

  (set-dispatch-macro-character
   #\# #\>
   #'(lambda (stream c2 n)
       (declare (ignore c2 n))
       (let ((form (read stream t nil t)))
         (declare (ignorable form))
         #-swank nil
         #+swank (if (atom form)
                     `(format *error-output* "~a => ~a~&" ',form ,form)
                     `(format *error-output* "~a => ~a~&" ',form `(,,@form)))))))

;;;
;;; Libraries
;;;

;;;
;;; BOF
;;;

(defpackage cp-library/avl-tree
  (:use #:cl)
  (:nicknames #:avl)
  (:shadow #:remove
           #:count)
  (:export #:make-avl-tree
           #:insert
           #:remove
           #:insert!
           #:remove!
           #:count
           #:dump-to-list
           #:dump-to-tree
           #:keys
           #:vals
           #:predecessor
           #:successor
           #:nth-element
           #:compare-default
           #:compare-keyword
           #:ref
           #:update
           #:update!
           #:make-avl-tree-from-list
           #:rand-nth))

(in-package avl)

(declaim (inline %%make-node))
(defstruct (node (:constructor %%make-node)
                 (:conc-name %%))
  (key nil :type t)
  (value nil :type t)
  (cnt nil :type fixnum)
  (height nil :type fixnum)
  (l nil :type (or null node))
  (r nil :type (or null node)))

(defmacro define-accessor-for-nullable-node (name accessor default)
  `(progn
     (declaim (inline ,name))
     (defun ,name (node)
       (if node
           (,accessor node)
           ,default))))

(define-accessor-for-nullable-node %value %%value nil)
(define-accessor-for-nullable-node %key %%key nil)
(define-accessor-for-nullable-node %cnt %%cnt 0)
(define-accessor-for-nullable-node %height %%height 0)
(define-accessor-for-nullable-node %l %%l nil)
(define-accessor-for-nullable-node %r %%r nil)

(defun dump-to-list (node)
  (let ((res nil))
    (labels ((rec (node)
               (when node
                 (rec (%%l node))
                 (push (cons (%%key node)
                             (%%value node))
                       res)
                 (rec (%%r node)))))
      (rec node)
      (reverse res))))

(defmethod print-object ((node node) s)
  (print-unreadable-object (node s :type t)
    (dolist (kv (dump-to-list node))
      (fresh-line s)
      (princ kv s))
    (terpri s)))

(defun dump-to-tree (node)
  (labels ((rec (node)
             (when node
               (cl:remove nil
                          (list
                           (rec (%%l node))
                           (when node
                             (cons (%%key node)
                                   (%%value node)))
                           (rec (%%r node)))))))
    (rec node)))

(declaim (inline %make-node))
(defun %make-node (&key key value l r)
  (declare ((or null node) l r))
  (let ((height (1+ (max (%height l)
                         (%height r))))
        (cnt (1+ (the fixnum
                      (+ (%cnt l)
                         (%cnt r))))))
    (declare (fixnum height cnt))
    (%%make-node :key key
                 :value value
                 :height height
                 :cnt cnt
                 :l l
                 :r r)))

(defun make-avl-tree ()
  "Create an empty avl-tree."
  nil)

;; helper functions

(declaim (inline %update-node))
(defun %update-node (node &key (key nil k-p) (value nil v-p) (l nil l-p) (r nil r-p))
  (%make-node :key (if k-p
                       key
                       (%key node))
              :value (if v-p
                         value
                         (%value node))
              :l (if l-p
                     l
                     (%l node))
              :r (if r-p
                     r
                     (%r node))))

(declaim (inline %rotate-left))
(defun %rotate-left (node)
  (declare (node node)
           #+sbcl (sb-ext:muffle-conditions sb-ext:compiler-note))
  (let* ((r (%%r node))
         (rl (%l r)))
    (%update-node r :l (%update-node node :r rl))))

(declaim (inline %rotate-right))
(defun %rotate-right (node)
  (declare (node node)
           #+sbcl (sb-ext:muffle-conditions sb-ext:compiler-note))
  (let* ((l (%%l node))
         (lr (%r l)))
    (%update-node l :r (%update-node node :l lr))))

(declaim (inline %rotate-lr))
(defun %rotate-lr (node)
  (%rotate-right
   (%update-node node
                 :l (%rotate-left (%%l node)))))

(declaim (inline %rotate-rl))
(defun %rotate-rl (node)
  (%rotate-left
   (%update-node node
                 :r (%rotate-right (%%r node)))))

(defconstant +too-left+ -2)
(defconstant +left+ -1)
(defconstant +even+ 0)
(defconstant +right+ 1)
(defconstant +too-right+ 2)

(declaim (inline %bias))
(defun %bias (node)
  (if (null node)
      0
      (- (%height (%%r node))
         (%height (%%l node)))))

(declaim (inline %left-right-case-p))
(defun %left-right-case-p (node)
  (= (%bias (%%l node)) +right+))

(declaim (inline %right-left-case-p))
(defun %right-left-case-p (node)
  (= (%bias (%%r node)) +left+))

(declaim (inline %balance))
(defun %balance (node)
  (let ((b (%bias node)))
    (cond
      ((= b +even+) (values node t))
      ((or (= b +left+)
           (= b  +right+))
       (values node nil))
      ((<= b +too-left+)
       (values (if (%left-right-case-p node)
                   (%rotate-lr node)
                   (%rotate-right node))
               t))
      (t
       (values (if (%right-left-case-p node)
                   (%rotate-rl node)
                   (%rotate-left node))
               t)))))

(defun compare-default (key node-key)
  (declare (fixnum node-key key))
  (cond
    ((= key node-key) :eq)
    ((< key node-key) :less)
    (t :greater)))

(defun compare-keyword (k1 k2)
  (declare (keyword k1 k2))
  (let ((k1 (sb-impl::eq-hash k1))
        (k2 (sb-impl::eq-hash k2)))
    (cond
      ((< k1 k2) :less)
      ((= k1 k2) :eq)
      (t :greater))))

(defun insert (node key value &optional (compare #'compare-default))
  ;; (values balanced-node need-to-balance-parents)
  (declare (optimize (speed 3) (safety 0))
           (function compare))
  (labels ((%rec (node)
             (unless node
               (return-from %rec
                 (values (%make-node :key key
                                     :value value)
                         nil)))
             (ecase (funcall compare key (%%key node))
               (:eq
                ;; 書き換えだけなのでbalanceしなくていい
                (values (%update-node node :value value)
                        t))
               (:less
                (multiple-value-bind (l balanced) (%rec (%%l node))
                  (let ((new-node (%update-node node :l l)))
                    (if balanced
                        (values new-node t)
                        (%balance new-node)))))
               (:greater
                (multiple-value-bind (r balanced) (%rec (%%r node))
                  (let ((new-node (%update-node node :r r)))
                    (if balanced
                        (values new-node t)
                        (%balance new-node))))))))
    (%rec node)))

(defun %remove-rightest (node)
  ;; (values new-node removed-node balanced)
  (declare (optimize (speed 3) (safety 0)))
  (let ((r (%%r node)))
    (if (null r)
        ;; node = rightest
        (let ((l (%%l node))
              (removed (%update-node node :l nil)))
          (values l removed nil))
        (multiple-value-bind (new-r removed balanced) (%remove-rightest r)
          (let ((new (%update-node node :r new-r)))
            (if balanced
                (values new removed t)
                (multiple-value-bind (new balanced) (%balance new)
                  (values new removed balanced))))))))

(defun remove (node key &optional (compare #'compare-default))
  (declare (optimize (speed 3) (safety 0))
           (function compare))
  (labels ((%rec (node)
             (unless node
               (return-from %rec (values nil nil)))
             (ecase (funcall compare key (%%key node))
               (:eq
                (let ((l (%%l node))
                      (r (%%r node)))
                  (unless (and l r)
                    (return-from %rec
                      (if #1=(or l r)
                          (values #1# nil)
                          (values nil t))))
                  (multiple-value-bind (new-l removed balanced) (%remove-rightest l)
                    (if (null removed)
                        ;; 変更なし
                        (values node t)
                        (let ((new-node (%make-node :key (%%key removed)
                                                    :value (%%value removed)
                                                    :l new-l
                                                    :r (%%r node))))
                          (if balanced
                              (values new-node t)
                              (%balance new-node)))))))
               (:less
                (multiple-value-bind (l balanced) (%rec (%%l node))
                  (let ((new-node (%update-node node :l l)))
                    (if balanced
                        (values new-node t)
                        (%balance new-node)))))
               (:greater
                (multiple-value-bind (r balanced) (%rec (%%r node))
                  (let ((new-node (%update-node node :r r)))
                    (if balanced
                        (values new-node t)
                        (%balance new-node))))))))
    (%rec node)))

(define-modify-macro insert! (key value &optional (compare '(function compare-default))) insert)
(define-modify-macro remove! (key &optional (compare '(function compare-default))) remove)

(defun keys (node)
  (mapcar #'car (dump-to-list node)))

(defun vals (node)
  (mapcar #'cdr (dump-to-list node)))

(defun count (node)
  (%cnt node))

(defun predecessor (node key &optional (compare #'compare-default))
  (declare (optimize (speed 3) (safety 0))
           (function compare))
  (labels ((%rec (node)
             (when node
               (ecase (funcall compare key (%%key node))
                 (:greater
                  (or (%rec (%%r node))
                      node))
                 ((:eq :less)
                  (%rec (%%l node)))))))
    (let ((res (%rec node)))
      (if res
          (values (%%key res) (%%value res) t)
          (values nil nil nil)))))

(defun successor (node key &optional (compare #'compare-default))
  (declare (optimize (speed 3) (safety 0))
           (function compare))
  (labels ((%rec (node)
             (when node
               (ecase (funcall compare key (%%key node))
                 (:less
                  (or (%rec (%%l node))
                      node))
                 ((:eq :greater)
                  (%rec (%%r node)))))))
    (let ((res (%rec node)))
      (if res
          (values (%%key res) (%%value res) t)
          (values nil nil nil)))))

(defun nth-element (node n)
  (declare (optimize (speed 3) (safety 0))
           (fixnum n))
  (labels ((%rec (node k)
             (declare (fixnum k))
             (let ((l-cnt (%cnt (%%l node))))
               (declare (fixnum l-cnt))
               (cond
                 ((< k l-cnt)
                  (%rec (%%l node)
                        k))
                 ((= k l-cnt)
                  node)
                 (t
                  (%rec (%%r node)
                        (- k l-cnt 1)))))))
    (if (<= 0 n (the fixnum (1- (the fixnum (%cnt node)))))
        (let ((res (%rec node n)))
          (declare (node node))
          (values (%%key res) (%%value res) t))
        (values nil nil nil))))

(defun rand-nth (node)
  (when node
    (nth-element node (random (count node)))))

(defun ref (node key &optional (compare #'compare-default))
  (declare (optimize (speed 3) (safety 0))
           (function compare))
  (labels ((%rec (node)
             (when node
               (ecase (funcall compare key (%%key node))
                 (:eq node)
                 (:less (%rec (%%l node)))
                 (:greater (%rec (%%r node)))))))
    (let ((res (%rec node)))
      (if res
          (values (%%key node) (%%value node) t)
          (values nil nil nil)))))

(defun update (node key fn &optional (compare #'compare-default))
  (let ((current (ref node key compare)))
    (insert node key (funcall fn current) compare)))

(defun make-avl-tree-from-list (key-fn value-fn list &optional (compare #'compare-default))
  (let ((res nil))
    (dolist (x list res)
      (avl:insert! res
          (funcall key-fn x)
          (funcall value-fn x)
          compare))))

(define-modify-macro update! (key fn &optional (compare '(function compare-default))) update)

;;;
;;; EOF
;;;

;;;
;;; BOF
;;;

(defpackage randomized-heap
  (:use #:cl)
  (:nicknames #:rh)
  (:shadow #:count)
  (:export #:make-randomized-heap
           #:empty-p
           #:push!
           #:pop!
           #:peak
           #:count
           #:do-all-kvs
           #:prune!))

(in-package #:randomized-heap)

(eval-when (:compile-toplevel :load-toplevel :execute)
  (defvar *OPT*
    #+swank '(optimize (speed 3) (safety 2))
    #-swank '(optimize (speed 3) (safety 0) (debug 0))))

(declaim (inline %make-node make-randomized-heap))
(defstruct (node (:constructor %make-node)
                 (:conc-name %n-))
  (key nil :type fixnum)
  (value nil :type t)
  (children (make-array 2 :element-type '(or null node)
                          :initial-element nil)
   :type (simple-array (or null node) (2))))

(defstruct (randomized-heap (:constructor make-randomized-heap (&optional (compare #'sb-impl::two-arg-<) (key-fn #'identity))))
  (root nil :type (or null node))
  (count 0 :type (integer 0 #.most-positive-fixnum))
  (comparator compare :type (function (fixnum fixnum) boolean))
  (key-fn key-fn :type (function (t) fixnum)))

(defun count (heap)
  (randomized-heap-count heap))

(declaim (inline %direction))
(defun %direction ()
  (declare #.*OPT*)
  (random 2))

(defun meld (l r comparator)
  (declare #.*OPT*
           ((or null node) l r)
           ((function (fixnum fixnum) boolean) comparator))
  (cond
    ((or (null l)
         (null r))
     (or l r))
    ((funcall comparator
              (%n-key l)
              (%n-key r))
     ;; l is root
     (let ((dir (%direction)))
       (setf (aref (%n-children l) dir)
             (meld (aref (%n-children l) dir)
                   r
                   comparator))
       l))
    (t
     ;; r is root
     (let ((dir (%direction)))
       (setf (aref (%n-children r) dir)
             (meld l
                   (aref (%n-children r) dir)
                   comparator))
       r))))

(declaim (inline peak))
(defun peak (heap)
  (declare #.*OPT*)
  (let ((root (randomized-heap-root heap)))
    (values (%n-value root)
            (%n-key root))))

(defun empty-p (heap)
  (null (randomized-heap-root heap)))

(declaim (inline pop! push!))
(defun pop! (heap)
  (declare #.*OPT*)
  (when (empty-p heap)
    (error "heap is empty"))
  (decf (randomized-heap-count heap))
  (multiple-value-bind (value key)
      (peak heap)
    (let* ((children (%n-children (randomized-heap-root heap)))
           (l (aref children 0))
           (r (aref children 1)))
      (setf (randomized-heap-root heap)
            (meld l
                  r
                  (randomized-heap-comparator heap)))
      (values value key))))

(defun push! (heap value)
  (declare #.*OPT*)
  (let ((key (funcall (randomized-heap-key-fn heap)
                      value)))
    (incf (randomized-heap-count heap))
    (setf (randomized-heap-root heap)
          (meld (randomized-heap-root heap)
                (%make-node :key key
                            :value value)
                (randomized-heap-comparator heap))))
  heap)

(defmacro do-all-kvs ((key value heap) &body body &environment env)
  (let ((temp (gensym)))
    (multiple-value-bind (args argvs res setter accessor)
        (get-setf-expansion heap env)
      `(let ((,temp (make-randomized-heap (randomized-heap-comparator ,accessor)
                                          (randomized-heap-key-fn ,accessor))))
         (loop :until (empty-p ,accessor)
               :do (multiple-value-bind (,value ,key)
                       (pop! ,accessor)
                     (progn ,@body)
                     (push! ,temp ,value)))
         (let* (,@(mapcar #'list args argvs)
                (,(car res) ,temp))
           ,setter
           nil)))))

(defun prune! (heap cnt)
  (let ((new-root nil)
        (comparator (randomized-heap-comparator heap)))
    (dotimes (_ cnt)
      (multiple-value-bind (v k) (pop! heap)
        (setf new-root
              (meld new-root
                    (%make-node :key k :value v)
                    comparator))))
    (setf (randomized-heap-root heap)
          new-root)))

;;;
;;; EOF
;;;

;;;
;;; Macros
;;;

(in-package #:cl-user)

(defmacro do-iota ((var count &optional (start 0) (step 1)) &body body)
  (check-type step integer)
  (let* ((last (gensym))
         (terminate (if (plusp step) `(>= ,var ,last) `(<= ,var ,last))))
    `(let ((,last (+ ,start (the fixnum (* ,step ,count)))))
       (declare (fixnum ,last))
       (do
        ((,var ,start (+ ,var ,step)))
        (,terminate
         (progn ,@body))))))

(defmacro awhen (test &body forms)
  `(let ((it ,test))
     (when it
       ,@forms)))

(defmacro while (test &body body)
  `(loop while ,test do (progn ,@body)))

(defmacro eval-always (&body body)
  `(eval-when (:compile-toplevel :load-toplevel :execute)
     ,@body))

;;;
;;; I/O
;;;

(in-package #:cl-user)

(declaim (inline println))
(defun println (obj &optional (stream *standard-output*))
  #+sbcl (declare (sb-kernel:ansi-stream stream))
  (let ((*read-default-float-format* 'double-float))
    (prog1 obj
      (princ obj stream)
      (terpri stream))))

(declaim (inline %read-byte))
(defun %read-byte (&optional (stream *standard-input*))
  (declare (inline read-byte)
           #+(and sbcl (not swank)) (sb-kernel:ansi-stream stream))
  (the fixnum #+swank (char-code (read-char stream nil #\Nul))
              #-swank (read-byte stream nil #.(char-code #\Nul))))

(declaim (inline read-fixnum))
(defun read-fixnum (&optional (in *standard-input*) (byte-reader #'%read-byte))
  ;; Ref: https://competitive12.blogspot.com/2020/03/common-lisp.html
  ;;        partially modified
  (declare ((function (stream) (unsigned-byte 8)) byte-reader)
           (optimize (speed 3) (safety 0) (debug 0)))
  (let ((minus nil)
        (res 0))
    (declare (boolean minus)
             (fixnum res))
    (labels ((%byte->num (b)
               (the fixnum (- (the fixnum b) #.(char-code #\0))))
             (%digit-p (byte)
               (<= #.(char-code #\0) (the fixnum byte) #.(char-code #\9)))
             (%first-proc! ()
               (loop for byte of-type fixnum = (funcall byte-reader in)
                     do (cond
                          ((%digit-p byte)
                           (setf (the fixnum res) (%byte->num byte))
                           (return))
                          ((= byte #.(char-code #\Nul))
                           (error "EOF"))
                          ((= byte #.(char-code #\-))
                           (setf minus t)))))
             (%rest-proc! ()
               (loop for byte of-type fixnum = (funcall byte-reader in)
                     do (cond
                          ((%digit-p byte)
                           (setf (the fixnum res) (the fixnum (+ (the fixnum (* res 10)) (%byte->num byte)))))
                          (t (return))))))
      (declare (inline %byte->num %digit-p %first-proc! %rest-proc!))
      (%first-proc!)
      (%rest-proc!)
      (the fixnum (if minus (- res) res)))))

(declaim (inline read-base-char))
(defun read-base-char (&optional (stream *standard-input*))
  (code-char (%read-byte stream)))

(defun read-line-fast (&optional (stream *standard-input*))
  #+(and (not swank) sbcl) (declare (sb-kernel:ansi-stream stream))
  (loop with buffer of-type base-string = (make-array 0 :element-type 'base-char :fill-pointer 0)
        for c of-type base-char = (read-base-char stream)
        until (or (eql c #\Newline)
                  (eql c #\Nul))
        do (vector-push-extend c buffer)
        finally (return buffer)))

(defun split (string &optional (separator #\space))
  (declare (base-char separator))
  (let ((pos (position separator string)))
    (if pos
        (cons (subseq string 0 pos)
              (split (subseq string (1+ pos))
                     separator))
        (list string))))

(declaim (inline parse-fixnum))
(defun parse-fixnum (string)
  (with-input-from-string (in string)
    (read-fixnum in #f(the (unsigned-byte 8)
                           (char-code (read-char % nil #\Nul nil))))))

(declaim (inline read-times))
(defun read-times (count &key (result-type 'list) (reader #'read-fixnum))
  (coerce (loop repeat count collect (funcall reader)) result-type))

(defun unwrap (sequence)
  ;; e.g. (unwrap (list 1 2 3 4 5)) => "1 2 3 4 5"
  (let ((*standard-output* (make-string-output-stream :element-type 'base-char)))
    (let ((init nil))
      (declare (boolean init))
      (map nil
           (lambda (x)
             (when init
               (princ #\space))
             (setq init t)
             (princ x))
           sequence))
    (coerce (get-output-stream-string *standard-output*) 'simple-base-string)))

;;;
;;; Body
;;;

(in-package #:cl-user)

(defmacro %expander-body (form cases)
  `(ecase ,form
     ,@(loop for (from . to) in cases
             collect `(,from ,to))))



(defmacro define-ecase-expander (name assoc-list)
  `(defmacro ,name (form)
     `(%expander-body ,form ,',assoc-list)))

(eval-always
  ;; TODO wait
  (defconstant +grid-size+ 60)
  (defconstant +player-vital+ 1500)
  (sb-int:defconstant-eqx +char-int-assoc+
      '((#\. . 0)
        (#\# . 1)
        (#\S . 2)
        (#\G . 3)
        (#\K . 4)
        (#\J . 5)
        (#\F . 6)
        (#\E . 7))
    #'equalp)
  (sb-int:defconstant-eqx +move-dy-dx-assoc+
      '((:down . (1 .  0))
        (:up . (-1 . 0))
        (:left . (0 . -1))
        (:right . (0 . 1))
        #+nil (:wait . (0 . 0)))
    #'equalp)
  (sb-int:defconstant-eqx +dir-char-assoc+
      '((:down . #\D)
        (:up . #\U)
        (:left . #\L)
        (:right . #\R))
    #'equal)
  (sb-int:defconstant-eqx +moves+ (mapcar #'car +move-dy-dx-assoc+)
    #'equal)
  (sb-int:defconstant-eqx +dy-dx+ (mapcar #'cdr +move-dy-dx-assoc+)
    #'equalp)


  (defun swap-cons (xs)
    (cons (cdr xs) (car xs))))

(define-ecase-expander char->int-ecase #.+char-int-assoc+)
(define-ecase-expander int->char-ecase #.(mapcar #'swap-cons +char-int-assoc+))
(define-ecase-expander dir->char-ecase #.+dir-char-assoc+)
(defun char->int (c)
  (char->int-ecase c))

(defun int->char (int)
  (int->char-ecase int))

(defun dir->char (dir)
  (dir->char-ecase dir))

(defun move->dy-dx (move)
  "Returns (cons dy dx)"
  (cdr (assoc move +move-dy-dx-assoc+)))

;; Coord

(eval-always
  (defconstant +each-coord-word-size+ 8))
(eval-always
  (deftype coord () '(unsigned-byte #.(* +each-coord-word-size+ 2))))

(declaim (inline y x))
(defun y (c)
  (ldb (byte #.+each-coord-word-size+ 0)
       c))

(defun x (c)
  (ldb (byte #.+each-coord-word-size+ #.+each-coord-word-size+)
       c))

#+nil
(defun valid-coord-p (c)
  (and (<= 0 (y c) (1- +grid-size+))
       (<= 0 (x c) (1- +grid-size+))))

(declaim (inline make-coord))
(defun make-coord (&key y x)
  (when (and (<= 0 y (1- +grid-size+))
             (<= 0 x (1- +grid-size+)))
    (dpb x
         (byte +each-coord-word-size+ +each-coord-word-size+)
         y)))

#+nil
(let ((c (make-coord :y 3 :x 1)))
  (values c (y c) (x c)))

(declaim (inline next-coord))
(defun next-coord (c dy dx)
  (make-coord :y (the fixnum (+ (y c) dy))
              :x (the fixnum (+ (x c) dx))))

(deftype costs () '(simple-array single-float (#.+grid-size+ #.+grid-size+)))
(deftype objs () '(simple-array (unsigned-byte 4) (#.+grid-size+ #.+grid-size+)))

(defstruct (game-info (:conc-name %))
  "ゲーム中に変化しない情報をまとめる"
  (estimated-cost-to-goal nil :type costs)
  (estimated-cost-to-key nil :type costs)
  (key-pos nil :type coord)
  (objs nil :type objs :read-only t)
  ;; TODO use vector
  (finder-cycle-by-coord (make-hash-table) :type hash-table :read-only t)
  (finder-penalty nil :type fixnum))

(defun estimated-cost-to-goal (game-info c)
  (aref (%estimated-cost-to-goal game-info) (y c) (x c)))

(defun estimated-cost-to-key (game-info c)
  (aref (%estimated-cost-to-key game-info) (y c) (x c)))

(defun obj-at (game-info c)
  (int->char (aref (%objs game-info) (y c) (x c))))

(defun finder-active-p (game-info pos turn)
  ;; MEMO turnは1からスタートする
  (let ((finder-cycle (gethash pos (%finder-cycle-by-coord game-info))))
    (zerop (rem turn finder-cycle))))

(defstruct (state (:conc-name %))
  (pos nil :type coord)
  (visited nil :type integer)
  (has-key (error "Need to specify value") :type boolean)
  ;; TODO bloom filterで保持できるとうれしそう
  ;; avl-tree of coord (shared with other boards)
  (destroyed-finders nil :type t :read-only t)
  ;; avl-tree of coord (shared with other boards)
  (blocks nil :type t :read-only t)
  (fire-amount 0 :type (integer 0 #.most-positive-fixnum))
  (jewel-amount 0 :type (integer 0 #.most-positive-fixnum))
  (elapsed-turn 0 :type (integer 0 #.most-positive-fixnum))
  (elapsed-vital 0 :type (integer 0 #.most-positive-fixnum)))

(defun visitedp (state coord)
  (logbitp (+ (* (y coord) +grid-size+) (x coord))
           (%visited state)))

(defun %get-next-visited (state coord)
  (logior (%visited state)
          (ash 1 (+ (* (y coord) +grid-size+) (x coord)))))

(defun reachablep (state game-info coord)
  ;; coordのマスへ移動できる
  ;; TODO moveを引数に取りたい
  (let ((c (obj-at game-info coord)))
    (and (not (avl:ref (%blocks state) coord))
         (or (find c ".SGKJF")
             (and (char= c #\E)
                  (avl:ref (%destroyed-finders state) coord))))))

(defun block-placeable-p (state game-info coord)
  ;; coordのマスにブロックを配置できる
  ;; finder破壊後のマスにも置ける？
  (let ((c (obj-at game-info coord)))
    (and (char= c #\.)
         (null (avl:ref (%blocks state) coord)))))

(defun block-removable-p (state game-info coord)
  ;; coordのマスのブロックを削除
  (declare (ignore game-info))
  (avl:ref (%blocks state) coord))

(defun %find-obj (get-obj-at obj)
  (loop for y below +grid-size+
        for c = (loop for x below +grid-size+
                      for c = (make-coord :y y :x x)
                      for i = (funcall get-obj-at c)
                      when (char= i obj)
                        return c)
        when c
          return it))


(defun %make-est-cost-from-obj (objs start-obj finder-cycle-by-coord)
  (flet ((obj-at (c)
           (int->char (aref objs (y c) (x c)))))
    (let ((sc (%find-obj #'obj-at start-obj))
          (costs (make-array (list +grid-size+ +grid-size+) :element-type 'single-float
                                                            :initial-element most-positive-single-float))
          (heap (rh:make-randomized-heap #'< #'first)))
      (assert sc)
      (rh:push! heap (list 0.0 sc))
      (while (not (rh:empty-p heap))
        (destructuring-bind (cost c) (rh:pop! heap)
          (when (<= cost (aref costs (y c) (x c)))
            (setf (aref costs (y c) (x c))
                  cost)
            (loop for (dy . dx) in +dy-dx+
                  for ny = (+ (y c) dy)
                  for nx = (+ (x c) dx)
                  for nc = (make-coord :y ny :x nx)
                  when (and nc
                            (not (find (obj-at nc)
                                       "#E")))
                    do (let ((penalty 0))
                         (loop for (dy . dx) in +dy-dx+ unless (= dy dx 0) do
                           ;; ncは即値
                           (let ((c nc))
                             (while c
                               (cond
                                 ((char= (obj-at c) #\W)
                                  (return))
                                 ((char= (obj-at c) #\E)
                                  ;; 一番近くの探知機で止まる
                                  (let ((cycle (gethash c finder-cycle-by-coord)))
                                    (assert cycle)
                                    ;; TODO いい感じの係数をかける
                                    (incf penalty (float (/ cycle)))
                                    (return)))
                                 (t
                                  (setf c (next-coord c dy dx)))))))
                         (let ((new-cost (+ cost penalty)))
                           (when (< new-cost (aref costs (y nc) (x nc)))
                             (setf (aref costs (y nc) (x nc))
                                   new-cost)
                             (rh:push! heap (list new-cost nc)))))))))
      ;; (break)
      costs)))

(defun read-game-info ()
  (destructuring-bind (n d h) (mapcar #'parse-fixnum (split (read-line)))
    (declare (ignore n h))
    (let ((objs (make-array '(#.+grid-size+ #.+grid-size+) :element-type '(unsigned-byte 4))))
      (dotimes (y +grid-size+)
        (let ((s (read-line)))
          (dotimes (x +grid-size+)
            (setf (aref objs y x)
                  (char->int (char s x))))))
      (let ((m (read))
            (finder-cycle-by-coord (make-hash-table)))
        (dotimes (_ m)
          (destructuring-bind (y x dd) (mapcar #'parse-fixnum (split (read-line)))
            (setf (gethash (make-coord :y y :x x) finder-cycle-by-coord)
                  dd)))
        (make-game-info :estimated-cost-to-goal (%make-est-cost-from-obj objs #\G finder-cycle-by-coord)
                        :estimated-cost-to-key (%make-est-cost-from-obj objs #\K finder-cycle-by-coord)
                        :key-pos (%find-obj #f(int->char (aref objs (y %) (x %))) #\K)
                        :objs objs
                        :finder-cycle-by-coord finder-cycle-by-coord
                        :finder-penalty d)))))

(defun %find-nearest-finders (game-info block-exist-p finder-destroyed-p pos &optional (directions +dy-dx+))
  (let ((res nil))
    (loop for (dy . dx) in directions do
      (let ((c pos))
        (while c
          (cond
            ((char= (obj-at game-info c)
                    #\W)
             (return))
            ((funcall block-exist-p c)
             (return))
            ((and (char= (obj-at game-info c) #\E)
                  (not (funcall finder-destroyed-p c)))
             ;; 一番近くの探知機で止まる
             (push c res)
             (return))
            (t
             (setf c (next-coord c dy dx)))))))
    (nreverse res)))

;; TODO 他のアクションと共通の部分は切り出すとよさそう？→バグらせそうなのでやめたほうがいい
;; TODO 体力消費、ターン消費？(アイテム取得は移動時だけ)

(defun do-nothing (state game-info)
  (with-accessors ((pos %pos)
                   (visited %visited)
                   (has-key %has-key)
                   (dfs %destroyed-finders)
                   (bs %blocks)
                   (fa %fire-amount)
                   (ja %jewel-amount)
                   (ev %elapsed-vital)
                   (et %elapsed-turn)) state
    (let* ((nearest-finders (%find-nearest-finders
                             game-info
                             ;; block-exist-p
                             (lambda (c)
                               (avl:ref bs c))
                             ;; finder-destroyed-p
                             (lambda (c)
                               (avl:ref dfs c))
                             pos))
           (nev (+ ev
                   (* (length (remove-if-not #f(finder-active-p game-info % (1+ et))
                                             nearest-finders))
                      (%finder-penalty game-info))
                   1)))
      ;; #>(pos new-pos)
      (make-state :pos pos
                  :has-key has-key
                  :visited visited
                  :destroyed-finders dfs
                  :blocks bs
                  :fire-amount fa
                  :jewel-amount ja
                  :elapsed-vital nev
                  :elapsed-turn (1+ et)))))

(defun move (state game-info move)
  (with-accessors ((pos %pos)
                   (visited %visited)
                   (has-key %has-key)
                   (dfs %destroyed-finders)
                   (bs %blocks)
                   (fa %fire-amount)
                   (ja %jewel-amount)
                   (ev %elapsed-vital)
                   (et %elapsed-turn)) state
    (destructuring-bind (dy . dx) (move->dy-dx move)
      (let* ((ny (+ (y pos) dy))
             (nx (+ (x pos) dx))
             (new-pos (make-coord :y ny
                                  :x nx))
             (nobj (obj-at game-info new-pos))
             (new-visited (%get-next-visited state pos))
             (nfa (if (char= nobj #\F)
                      (1+ fa)
                      fa))
             (nja (if (and (char= nobj #\J)
                           (not (visitedp state pos)))
                      (1+ ja)
                      ja))
             (nearest-finders (%find-nearest-finders
                               game-info
                               ;; block-exist-p
                               (lambda (c)
                                 (avl:ref bs c))
                               ;; finder-destroyed-p
                               (lambda (c)
                                 (avl:ref dfs c))
                               new-pos))
             (nev (+ ev
                     (* (length (remove-if-not #f(finder-active-p game-info % (1+ et))
                                               nearest-finders))
                        (%finder-penalty game-info))
                     1)))
        (declare (ignore _))
        ;; #>(pos new-pos)
        (make-state :pos new-pos
                    :has-key (or has-key (char= (obj-at game-info new-pos)
                                                #\K))
                    :visited new-visited
                    :destroyed-finders dfs
                    :blocks bs
                    :fire-amount nfa
                    :jewel-amount nja
                    :elapsed-vital nev
                    :elapsed-turn (1+ et))))))

(defun place-block (state game-info place-pos)
  (with-accessors ((pos %pos)
                   (visited %visited)
                   (hk %has-key)
                   (dfs %destroyed-finders)
                   (bs %blocks)
                   (fa %fire-amount)
                   (ja %jewel-amount)
                   (ev %elapsed-vital)
                   (et %elapsed-turn)) state
    (let* (;; 空のマスでないといけない
           (_ (assert (char= (obj-at game-info place-pos) #\.)))
           (_ (assert (eql (avl:ref bs place-pos) nil)))
           (nbs (avl:insert bs place-pos t))
           (nearest-finders (%find-nearest-finders
                             game-info
                             ;; block-exist-p
                             (lambda (c)
                               (avl:ref nbs c))
                             ;; finder-destroyed-p
                             (lambda (c)
                               (avl:ref dfs c))
                             pos))
           (nev (+ ev
                   (* (length nearest-finders)
                      (%finder-penalty game-info))
                   1)))
      (declare (ignore _))
      (make-state :pos pos
                  :visited visited
                  :has-key hk
                  :destroyed-finders dfs
                  :blocks nbs
                  :fire-amount fa
                  :jewel-amount ja
                  :elapsed-vital nev
                  :elapsed-turn (1+ et)))))

(defun destroy-block (state game-info place-pos)
  (with-accessors ((pos %pos)
                   (visited %visited)
                   (has-key %has-key)
                   (dfs %destroyed-finders)
                   (bs %blocks)
                   (fa %fire-amount)
                   (ja %jewel-amount)
                   (ev %elapsed-vital)
                   (et %elapsed-turn)) state
    (let* (;; 空のマスのはず
           (_ (assert (char= (obj-at game-info place-pos) #\.)))
           ;; いま置いているはず
           (_ (assert (avl:ref bs place-pos)))
           (nbs (avl:remove bs place-pos))
           (nearest-finders (%find-nearest-finders
                             game-info
                             ;; block-exist-p
                             (lambda (c)
                               (avl:ref nbs c))
                             ;; finder-destroyed-p
                             (lambda (c)
                               (avl:ref dfs c))
                             pos))
           (nev (+ ev
                   (* (length (remove-if-not #f(finder-active-p game-info % (1+ et))
                                             nearest-finders))
                      (%finder-penalty game-info))
                   1)))
      (declare (ignore _))
      (make-state :pos pos
                  :visited visited
                  :has-key has-key
                  :destroyed-finders dfs
                  :blocks nbs
                  :fire-amount fa
                  :jewel-amount ja
                  :elapsed-vital nev
                  :elapsed-turn (1+ et)))))

(defun destroy-finders-by-fire (state game-info dir)
  (with-accessors ((pos %pos)
                   (has-key %has-key)
                   (visited %visited)
                   (dfs %destroyed-finders)
                   (bs %blocks)
                   (fa %fire-amount)
                   (ja %jewel-amount)
                   (ev %elapsed-vital)
                   (et %elapsed-turn)) state
    (let* ((destroyed-finders (%find-nearest-finders
                               game-info
                               ;; block-exist-p
                               (lambda (c)
                                 (avl:ref bs c))
                               ;; finder-destroyed-p
                               (lambda (c)
                                 (avl:ref dfs c))
                               pos
                               (list (move->dy-dx dir))))
           (ndfs (reduce (lambda (dfs c)
                           (avl:insert dfs c t))
                         destroyed-finders
                         :initial-value dfs))
           (nearest-finders (%find-nearest-finders
                             game-info
                             ;; block-exist-p
                             (lambda (c)
                               (avl:ref bs c))
                             ;; finder-destroyed-p
                             (lambda (c)
                               (avl:ref ndfs c))
                             pos))
           (nfa (1- fa))
           (nev (+ ev
                   (* (length (remove-if-not #f(finder-active-p game-info % (1+ et))
                                             nearest-finders))
                      (%finder-penalty game-info))
                   1)))
      (assert (>= nfa 0))
      (make-state :pos pos
                  :visited visited
                  :destroyed-finders ndfs
                  :has-key has-key
                  :blocks bs
                  :fire-amount nfa
                  :jewel-amount ja
                  :elapsed-vital nev
                  :elapsed-turn (1+ et)))))

(defun make-init-state (game-info)
  (let* ((sp (%find-obj #f(obj-at game-info %) #\S))
         (visited (ash 1 (+ (* (y sp)
                               +grid-size+)
                            (x sp)))))
    (make-state :pos sp
                :has-key nil
                :visited visited
                :destroyed-finders nil
                :blocks nil)))

(defun goal-state-p (state game-info)
  (and (%has-key state)
       (char= (obj-at game-info (%pos state))
              #\G)))

(defun validate-state (state game-info)
  ;; TODO
  ;; 到達可能な場所にいる
  ;; visitedに現在の場所が入っている
  ;; 破壊された探索機の場所
  ;; ブロックを空マス以外に置いていない
  ;; jewel-amountがvisitedで探索済みの点と一致
  ;; elapsed-turn <= elapsed-vital
  nil)



(defconstant +dist-penalty-factor+ -1.0)
(defconstant +est-cost-factor+ 10d0)

(defun %eval-penalty-for-dist-to-goal (state game-info)
  (let* ((rest-vital (- +player-vital+ (%elapsed-vital state)))
         (est-cost (estimated-cost-to-goal game-info (%pos state))))
    ;; 不足が大きいほど強いペナルティ
    (max (round (* (float (max 0.0 (- (* est-cost +est-cost-factor+)
                                      rest-vital))
                          0d0)
                   +dist-penalty-factor+))
         most-negative-fixnum)))

(defun %eval-for-dist-to-key (state game-info)
  (let* ((est-cost-from-here-to-key (estimated-cost-to-key game-info (%pos state)))
         (est-cost-from-key-to-goal (estimated-cost-to-goal game-info (%key-pos game-info)))
         (est-cost (+ est-cost-from-here-to-key
                      est-cost-from-key-to-goal)))
    ;; 最短で取りに行きたい
    (+ (- (round est-cost))
       -100000)))


(defun eval-state (state game-info)
  ;; TODO 辿りつけなさそうだとペナルティ
  ;; TODO 最後が近づくほど傾斜を強くする
  ;; TODO keyを所持しているかどうかも考慮する(スコアリングでやってしまうほうが楽かも)
  (if (%has-key state)
      (+ (%jewel-amount state)
         (%eval-penalty-for-dist-to-goal state game-info))
      (%eval-for-dist-to-key state game-info)))

(defstruct (node (:conc-name %))
  ;; TODO hash
  (parent nil :type (or null node))
  (state nil :type state)
  (score nil :type fixnum)
  (last-action nil :type (or null cons)))

(defconstant +time-limit+ 2.5)
(defconstant +heap-size-threshold+ 100)

(declaim (notinline main))
(defun main ()
  (let* ((game-info (read-game-info))
         (init-state (make-init-state game-info))
         (states (make-array (1+ +player-vital+)))
         (start (get-internal-real-time))
         (goal-candidates (rh:make-randomized-heap #'> #'%score)))
    (dotimes (elapsed (1+ +player-vital+))
      (setf (aref states elapsed)
            (rh:make-randomized-heap #'> #'%score)))
    (rh:push! (aref states 0)
              (make-node :state init-state
                         :score (eval-state init-state game-info)))
    ;; 時間いっぱいchokudaiサーチ
    (loop named search for turn from 1 do
      (dotimes (elapsed-vital +player-vital+)
        ;; #>elapsed-vital
        (when (> (/ (float (- (get-internal-real-time)
                              start))
                    internal-time-units-per-second)
                 +time-limit+)
          #>turn
          (return-from search))
        (unless (rh:empty-p #1=(aref states elapsed-vital))
          (let ((node (rh:pop! #1#)))
            (labels ((%treat-next (next-state action)
                       (let* ((next-node (make-node :parent node
                                                    :state next-state
                                                    :score (eval-state next-state game-info)
                                                    :last-action action))
                              (nev (%elapsed-vital next-state)))
                         ;; #>(elapsed-vital nev)
                         (when (<= nev +player-vital+)
                           (cond
                             ((goal-state-p next-state game-info)
                              (rh:push! goal-candidates next-node))
                             (t
                              (rh:push! (aref states nev)
                                        next-node)
                              (when (= (rh:count (aref states nev))
                                       +heap-size-threshold+)
                                (rh:prune! (aref states nev)
                                           (ash +heap-size-threshold+ -1)))))))))
              (%treat-next (do-nothing (%state node) game-info)
                           (cons :wait nil))
              (loop for (dir . (dy . dx)) in +move-dy-dx-assoc+ do
                (let ((nc (next-coord (%pos (%state node)) dy dx)))
                  (when nc
                    ;; 移動(「何もしない」も含む)
                    (when (reachablep (%state node) game-info nc)
                      (%treat-next (move (%state node)
                                         game-info
                                         dir)
                                   (cons :move dir)))
                    ;; ブロックを配置
                    #+nil
                    (when (block-placeable-p (%state node) game-info nc)
                      (%treat-next (place-block (%state node)
                                                game-info
                                                nc)
                                   (cons :place-block dir)))
                    ;; ブロックを破壊
                    #+nil
                    (when (block-removable-p (%state node) game-info nc)
                      (%treat-next (destroy-block (%state node)
                                                  game-info
                                                  nc)
                                   (cons :destroy-block dir)))
                    ;; ファイヤー
                    #+nil
                    (when (plusp (%fire-amount (%state node)))
                      (%treat-next (destroy-finders-by-fire (%state node) game-info dir)
                                   (cons :fire dir)))))))))))
    ;; moveを復元して出力
    (let ((best-node (unless (rh:empty-p goal-candidates)
                       (rh:pop! goal-candidates)))
          (res nil))
      (assert best-node)
      #>((%score best-node))
      (while (%parent best-node)
        (push (%last-action best-node)
              res)
        (setf best-node (%parent best-node)))
      (loop for (act . dir) in res
            do (println
                (ecase act
                  (:wait "S")
                  (:move
                   (format nil
                           "M ~a"
                           (dir->char dir)))
                  ((:place-block :destroy-block)
                   (format nil "B ~a" (dir->char dir)))
                  (:fire
                   (format nil "F ~a" (dir->char dir)))))))))














#-swank (main)

;;;
;;; Debug
;;;

#+swank
(defun run ()
  (let ((*standard-input*
          (make-string-input-stream
           (with-output-to-string (*standard-output*)
             (run-program
              (truename "~/.roswell/bin/copy-or-paste")
              '()
              :output *standard-output*)))))
    (main)))

;; Raise error on warning at compile time

#+(and sbcl (not swank))
(eval-when (:compile-toplevel)
  (when (or (plusp sb-c::*compiler-warning-count*)
            sb-c::*undefined-warnings*)
    (error "compiler-error-count:~a, undefined warnings:~a"
           sb-c::*compiler-warning-count*
           sb-c::*undefined-warnings*)))

#+swank
(defun run-sample (infile outfile &optional (out *standard-output*))
  (with-open-file (*standard-input* infile :direction :input)
    (with-open-file (*standard-output* outfile :direction :output
                                               :if-exists :supersede)
      (main))
    (sb-ext:run-program "/usr/bin/java" (list "Judge" infile outfile)
                        :output out
                        :error *error-output*)))

#+swank (declaim (notinline run-sample-zero))
#+swank
(defun run-sample-zero ()
  (gc :full t)
  (with-input-from-string (*standard-input* "60 3 1500
.......JJ....J#..#E#....EE.J..E...E#J.....#.#EE......#..J.J#
#E#.....##J..JE....E..#....J.........#......#..#J.........#.
.J.J.#.#....J.#..#........J#...#J#.KJE.J.E.#J.#....#......J.
J..E..#.E#.......E........JEJ.....F..##..............#...J.J
..J.......JE...#......J.#.#..#J#JFJ.......E..#..#....E.....J
#..J.....EE....J........E............##.E#.E.#JJ..........E.
...#......J.J..J#...#...#.#..JE#....##E...#F.#....E....#E#..
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")
    (main)))