import sys
from collections import deque
from os import path
import queue
import numpy

from utils import *
from settings import *


class Problem:
    def __init__(self, initial, goal):      
        self.initial = initial
        self.goal = goal

    def actions(self, state):
        moves = []
        if self.turn_left(state):
            moves.append('Left')
        if self.turn_right(state):
            moves.append('Right')
        if self.move_forward(state):
            moves.append('Forward')
    
        #print(moves)
        return moves
        

    def turn_left(self, state):
        return True

    def turn_right(self, state):
        return True

    def move_forward(self, state):
        
        a_row = 0
        a_column = 0

        for row in range(MAP_SIZE):
            for column, pos in enumerate(state[row]):
                if pos == ">":
                    a_row = row
                    a_column = column

                    if a_column == MAP_SIZE-1:
                        return False
                    elif state[a_row][a_column+1] == '.':
                        return True
                    return False
                if pos == "<":
                    a_row = row
                    a_column = column

                    if a_column == 0:
                        return False
                    elif state[a_row][a_column-1] == '.':
                        return True
                    return False
                
                if pos == "v":
                    a_row = row
                    a_column = column

                    if a_row == MAP_SIZE-1:
                        return False
                    elif state[a_row+1][a_column] == '.':
                        return True
                    return False
                if pos == "^":
                    a_row = row
                    a_column = column

                    if row == 0:
                        return False
                    elif state[a_row-1][a_column] == '.':
                        return True
                    return False

    def turn_me_or_move(self, state, do_it):

        temp_map = [list(item) for item in state]

        #print(temp_map)

        #a_row = 0
        #a_column = 0

        for row in range(MAP_SIZE):
            for column, pos in enumerate(temp_map[row]):
                if pos == ">":
                    a_row = row
                    a_column = column
                    #print("a_row:" + str(a_row))
                    #print("a_column" + str(a_column))

                    if(do_it == 'Left'):
                        temp_map[a_row][a_column] = "^"
                    if(do_it == 'Right'):
                        temp_map[a_row][a_column] = 'v'
                    if(do_it == 'Forward'):
                        temp_map[a_row][a_column] = '.'
                        temp_map[a_row][a_column+1] = '>'
                    return temp_map  
                   
                if pos == "<":
                    a_row = row
                    a_column = column
                    if(do_it == 'Left'):
                        temp_map[a_row][a_column] = 'v'
                    if(do_it == 'Right'):
                        temp_map[a_row][a_column] = '^'
                    if(do_it == 'Forward'):
                        temp_map[a_row][a_column] = '.'
                        temp_map[a_row][a_column-1] = '<'    
                    return temp_map  
                if pos == "v":
                    a_row = row
                    a_column = column
                    if(do_it == 'Left'):
                        temp_map[a_row][a_column] = '>'
                    if(do_it == 'Right'):
                        temp_map[a_row][a_column] = '<'
                    if(do_it == 'Forward'):
                        temp_map[a_row][a_column] = '.'
                        temp_map[a_row+1][a_column] = 'v'
                    return temp_map  
                if pos == "^":
                    a_row = row
                    a_column = column
                    if(do_it == 'Left'):
                        temp_map[a_row][a_column] = '<'
                    if(do_it == 'Right'):
                        temp_map[a_row][a_column] = '>'
                    if(do_it == 'Forward'):
                        temp_map[a_row][a_column] = '.'
                        temp_map[a_row-1][a_column] = '^'
                    return temp_map  
        return temp_map        
                              
    def result(self, state, action):
        new_state = []

        if action == 'Left':
            new_state = self.turn_me_or_move(state, 'Left')
        elif action == 'Right':
            new_state = self.turn_me_or_move(state, 'Right')
        elif action == 'Forward':
            new_state = self.turn_me_or_move(state, 'Forward')
        
        super_new_state = tuple(map(tuple,new_state))

        return super_new_state

    def goal_test(self, state):
        if self.goal == state:
            return True
        return False


        
        
        
        

    

    


class Node:
    def __init__(self, state, parent=None, action=None):
        """Create a search tree Node, derived from a parent by an action."""
        self.state = state
        self.parent = parent
        self.action = action
    
    def __repr__(self):
        return "<Node {}>".format(self.state)

    def expand(self, problem):
        """List the nodes reachable in one step from this node."""
        return [self.child_node(problem, action)
                for action in problem.actions(self.state)]

    def child_node(self, problem, action):
        next_state = problem.result(self.state, action)
        next_node = Node(next_state, self, action)
        return next_node

    def __eq__(self, other):
        return isinstance(other, Node) and self.state == other.state

    def __hash__(self):
        # We use the hash value of the state
        # stored in the node instead of the node
        # object itself to quickly search a node
        # with the same state in a Hash Table
        return hash(self.state)


    
class BFS:
    @staticmethod
    def breadth_first_graph_search(problem):
        node = Node(problem.initial)
        if problem.goal_test(node.state):
            return node
        frontier = deque([node])
        final_child = node
        history = []
        explored = set()
        while frontier:
            node = frontier.popleft()
            explored.add(node.state)
            for child in node.expand(problem):
                if child.state not in explored and child not in frontier:
                    if problem.goal_test(child.state):
                        while(child.parent != None):
                            history.append(child.action)
                            child = child.parent
                        #return child
                        history.reverse()
                        #print(history)
                        return history
                    frontier.append(child)
                    #BFS.print_node_state(child.state)

        return None

    @staticmethod
    def loadMap(map_name=''):
            maze = []
            map_folder = path.dirname(__file__)
            with open(path.join(map_folder, map_name), 'rt') as f:
                for line in f:
                    maze.append(line.rstrip('\n'))
            
            #print(maze)
            return maze

    @staticmethod
    def run():
        initial_map = tuple(map(tuple,BFS.loadMap('bfs_maps/map.txt')))
        goal_map = tuple(map(tuple,BFS.loadMap('bfs_maps/goal_map.txt')))
        problem = Problem(initial_map, goal_map)

        #BFS.print_node_state(initial_map)
        #BFS.print_node_state(goal_map)

        result = BFS.breadth_first_graph_search(problem)
        print(result)
        return result
        #print(BFS.print_node_state(result))

    @staticmethod
    def print_node_state(node_state):
        print(numpy.matrix(node_state))