from utilities import movement,check_moves
from DataModels.House import House
from DataModels.Container import Container
from config import GRID_WIDTH, GRID_HEIGHT
from math import sqrt
INF = float('Inf')


def CalculateDistance(gc, goal):
    result = sqrt(pow(goal[0]-gc[0],2)+pow(goal[1]-gc[1],2))
    return result

def BestFS(grid, available_movement, gc_moveset, houses_list, mode = "House", depth=0):

    possible_goals = []
    a = gc_moveset[-1][0]
    b = gc_moveset[-1][1]
    possible_goals.append([a+1,b])
    possible_goals.append([a-1,b])
    possible_goals.append([a,b+1])
    possible_goals.append([a,b-1])
    object_in_area = False
    for location in possible_goals:
        if GRID_WIDTH>location[0]>=0 and GRID_HEIGHT>location[1]>=0:
            cell = grid[location[0]][location[1]]
            if mode == "House":
                if(type(cell) == House and cell.container.is_full and cell.unvisited):
                    cell.unvisited = False
                    object_in_area = True
                    print("***"+str([cell,location])+"***")
                    houses_list.remove([cell,location])
                    break
            elif mode == "Dump":
                if(type(cell) == Dump and cell.unvisited):
                    cell.unvisited = False
                    object_in_area = True
                    break
    if(object_in_area):
        xy = gc_moveset[-1]
        gc_moveset.append("pick_garbage")
        return (xy, gc_moveset)

    if len(available_movement) == 0 or depth>30:
        return

    x,y = gc_moveset[-1]

    print([x,y])
    print(houses_list)
    #calculate distance to the nearest object
    min_distance_goal = ['-',INF]
    for h in houses_list:
        distance = CalculateDistance([a,b],h[1])
        if(min_distance_goal[1] > distance):
            min_distance_goal = [h[1], distance]
            print(min_distance_goal)

    #set preffered directions based on the closest object
    preffered_directions = []
    if(min_distance_goal[0][0] >= a):
        preffered_directions.append("right")
    if(min_distance_goal[0][0] <= a):
        preffered_directions.append("left")
    if(min_distance_goal[0][1] >= b):
        preffered_directions.append("down")
    if(min_distance_goal[0][1] <= b):
        preffered_directions.append("up")
    print(preffered_directions)
    print(available_movement)
    print("=")
    output_list = available_movement.copy()
    output_list = output_list.sort(key=lambda x: preffered_directions.index(x))
    print(output_list)
    print("------------------------------")


    for direction in available_movement:
        x_next, y_next = movement(grid,x,y)[0][direction]
        available_movement_next = check_moves(grid, x_next,y_next,direction)
        gc_moveset_next = gc_moveset.copy()
        gc_moveset_next.append([x_next,y_next])
        result = BestFS(grid, available_movement_next, gc_moveset_next, houses_list, "House", depth+1)
        if result!= None:
            return result