var m =
"000001000100000000010000100000"+
"001001010100110110010000100000"+
"000001010000100000010000000000"+
"001101010101111011111100111111"+
"111001000100000000000000000000"+
"000001010001111110011111001100"+
"010111010100000000010000000000"+
"000000010100000000000000000000"+
"000000000000000010000000000000"+
"111111111111111111111111111111";

var start = {x:0, y:0};
var goal  = {x:29, y:1};

console.time('aStar');
var map = stringToMap(m, 30, 10);
var result = aStar( map, start, goal);

console.timeEnd('aStar');

console.log(listToString(result));

document.getElementById("points").innerHTML = listToString(result);

var table = "<table>";
for (var i = 0; i < map.length; i++) {
	table += "<tr>";
	for (var j = 0; j < map[0].length; j++) {
		
		if (map[i][j] != 0)
			table += '<td id="'+j+'-'+i+'" style="background-color:#C5253E;"></td>';
		else
			table += '<td id="'+j+'-'+i+'" style="background-color:#EAD094;"></td>';
	};
	table += "</tr>";
};
table += "</table>";

document.getElementById("points").innerHTML = table;

document.getElementById(start.x+'-'+start.y).style.backgroundColor = "#254B4F" ;

for (var i = 0; i < result.length; i++) {
	document.getElementById(result[i].x+'-'+result[i].y).style.backgroundColor = "#946652" ;
};

document.getElementById(goal.x+'-'+goal.y).style.backgroundColor = "#2F5D5E" ;

function stringToMap (str, width, height) {
	var map = new Array(height);
	var c = 0;
	for (var i = 0; i < height; i++) {
		map[i] = new Array(width);
		for (var j = 0; j < width; j++) {
			map[i][j] = parseInt(str[ c ]);
			c++;
		};
	};
	return map;
}

function listToString (arr) {
	var str = "";
	for (var i = 0; i < arr.length; i++) {
		str +=  "("+arr[i].x+","+arr[i].y+") ";
	};
	return str;
}