public Stack <State> Run(int[] nodes, HeuristicMethod heuristic)
{
List <State> nextStates = new List <State>();
HashSet <string> openStates = new HashSet <string>();
MinPriorityQueue <State> openedQueue = new MinPriorityQueue <State>(nodes.Length);
Dictionary <string, State> closedQueue = new Dictionary <string, State>();
State state = new State(parent: null, nodes: nodes, heuristic: heuristic);
openedQueue.Enqueue(state);
openStates.Add(state.GetStateCode());
while (!openedQueue.IsEmpty())
{
State currentState = openedQueue.Dequeue();
openStates.Remove(currentState.GetStateCode());
// Is this final state
if (currentState.IsFinalState())
{
return(GetFinalPath(currentState));
}
// Look into next state
currentState.GetNextStates(ref nextStates);
if (nextStates.Count > 0)
{
State closedState;
State openState;
State nextState;
for (int i = 0; i < nextStates.Count; i++)
{
closedState = null;
openState = null;
nextState = nextStates[i];
if (openStates.Contains(nextState.GetStateCode()))
{
// We already have same state in the open queue.
openState = openedQueue.Find(nextState, out int openStateIndex);
if (openState.IsCostlierThan(nextState))
{
// We have found a better way to reach at this state. Discard the costlier one
openedQueue.Remove(openStateIndex);
openedQueue.Enqueue(nextState);
}
}
else
{
// Check if state is in closed queue
string stateCode = nextState.GetStateCode();
if (closedQueue.TryGetValue(stateCode, out closedState))
{
// We have found a better way to reach at this state. Discard the costlier one
if (closedState.IsCostlierThan(nextState))
{
closedQueue.Remove(stateCode);
closedQueue[stateCode] = nextState;
}
}
}
// Either this is a new state, or better than previous one.
if (openState == null && closedState == null)
{
openedQueue.Enqueue(nextState);
openStates.Add(nextState.GetStateCode());
}
}
closedQueue[currentState.GetStateCode()] = currentState;
}
}
// no result
return(null);
}
