from pandas.tests.io.json.test_ujson import numpy

from warehouse import Coordinates, Tile, Pack
from queue import PriorityQueue
from math import sqrt, ceil
from attributes import TURN_LEFT_DIRECTIONS, TURN_RIGHT_DIRECTIONS, PackStatus
import pygame
import sys
import pdb
import numpy as np
from package_location_classifier.classifier import PackageLocationClassifier
from genetic_route import genetic_trace_route

class Node:
	def __init__(self, coord_x, coord_y, package=None, is_rack=False):
		self.x = coord_x
		self.y = coord_y
		self.parent = None
		self.package = package
		self.is_rack = is_rack
		self.g_cost = 0
		self.h_cost = 0
		self.graph_map = None

	def __eq__(self, other):
		if isinstance(other, Node):
			return self.x == other.x and self.y == other.y
		return False

	def __lt__(self, other):
		return isinstance(other, Node) and self.g_cost < other.g_cost

	def __repr__(self):
		return "Node:{}x{}".format(self.x, self.y)


class Agent:
	def __init__(self, start_x, start_y, assigned_warehouse, radius=5):
		self.x = start_x
		self.y = start_y
		self.radius = radius
		self.warehouse = assigned_warehouse
		self.graph_map = np.zeros(((self.warehouse.no_of_packages * 2) + 1, (self.warehouse.no_of_packages * 2) + 1))
		self.is_loaded = False
		self.transported_package = None
		self.direction = "up"
		self.closed = list()
		self.open = PriorityQueue()
		self.path = list()
		self.location_classifier = PackageLocationClassifier()
		self.check_packages_locations()
		self.route = []
		self.destination = None

	def check_packages_locations(self):
		for pack in self.warehouse.packages:
			if pack.lays_on_field.category.name in self.warehouse.storage_types:
				can_place = self.location_classifier.check_if_can_place(pack, pack.lays_on_field)
				pack.status = PackStatus.STORED if (
							can_place and pack.lays_on_field.capacity >= 0) else PackStatus.STORED_BAD_LOCATION

	def find_path(self, *args, **kwargs):
		self.closed = []
		self.path = []
		self.open = PriorityQueue()
		if len(args) != 0:
			if len(args) == 1:
				start_node = Node(self.x, self.y)
			else:
				start_node = args[1]
			self.destination = args[0]
		else:
			packages_to_go = [p for p in self.warehouse.packages if p.status != PackStatus.STORED]
			if not packages_to_go and not self.transported_package:
				return
			if self.is_loaded:
				print(self.transported_package)
				rack = self.find_nearest_rack_for(self.transported_package)
				self.destination = Node(rack.x_position, rack.y_position, is_rack=True)
			else:
				package = self.find_package()
				self.destination = Node(package.lays_on_field.x_position, package.lays_on_field.y_position, package=package)

			start_node = Node(self.x, self.y)

		self.open.put((0, start_node))
		while self.open:
			_, current_node = self.open.get()
			self.closed.append(current_node)
			if current_node.x == self.destination.x and current_node.y == self.destination.y:
				while current_node.x != start_node.x or current_node.y != start_node.y:
					self.path.append(current_node)
					current_node = current_node.parent
				return True
			neighbour_list = self.get_neighbours(current_node)
			for neighbour in neighbour_list:
				cost = current_node.g_cost + self.heuristic(current_node, neighbour)
				if self.check_if_closed(neighbour):
					continue
				if self.check_if_open(neighbour):
					if neighbour.g_cost > cost:
						neighbour.g_cost = cost
						neighbour.parent = current_node
				else:
					neighbour.g_cost = cost
					neighbour.h_cost = self.heuristic(neighbour, self.destination)
					neighbour.parent = current_node
					self.open.put((neighbour.g_cost, neighbour))
		return False

	def turn_left(self):
		new_direction = TURN_LEFT_DIRECTIONS.get(self.direction, self.direction)
		self.direction = new_direction

	def turn_right(self):
		new_direction = TURN_RIGHT_DIRECTIONS.get(self.direction, self.direction)
		self.direction = new_direction

	def heuristic(self, start: Node, goal: Node):
		diff_x = pow(goal.x - start.x, 2)
		diff_y = pow(goal.y - start.y, 2)
		additional_cost = 0
		return round(sqrt(diff_x + diff_y), 3) + float(10 * additional_cost)

	def check_if_open(self, node: Node):
		return (node.x, node.y) in [(n.x, n.y) for (_, n) in self.open.queue]

	def check_if_closed(self, node: Node):
		return (node.x, node.y) in [(n.x, n.y) for n in self.closed]

	def get_neighbours(self, node: Node):
		neighbours = []
		if self.check_if_can_move(Coordinates(node.x + 1, node.y)):
			neighbours.append(Node(node.x + 1, node.y))
		if self.check_if_can_move(Coordinates(node.x - 1, node.y)):
			neighbours.append(Node(node.x - 1, node.y))
		if self.check_if_can_move(Coordinates(node.x, node.y + 1)):
			neighbours.append(Node(node.x, node.y + 1))
		if self.check_if_can_move(Coordinates(node.x, node.y - 1)):
			neighbours.append(Node(node.x, node.y - 1))
		return neighbours

	def move(self):
		if len(self.path) == 0:
			self.find_path()
		next_coord = self.path.pop()
		star_dir = self.direction
		if self.x > next_coord.x and not self.direction == 'left':
			if self.direction == 'down':
				self.turn_right()
			else:
				self.turn_left()
		elif self.x < next_coord.x and not self.direction == 'right':
			if self.direction == 'down':
				self.turn_left()
			else:
				self.turn_right()
		elif self.y > next_coord.y and not self.direction == 'up':
			if self.direction == 'left':
				self.turn_right()
			else:
				self.turn_left()
		elif self.y < next_coord.y and not self.direction == 'down':
			if self.direction == 'right':
				self.turn_right()
			else:
				self.turn_left()
		if Node(next_coord.x, next_coord.y) == self.destination or Node(self.x, self.y) == self.destination:
			if self.destination.package:
				self.pick_up_package(self.destination.package)
				return
			elif self.destination.is_rack:
				self.unload_package(self.destination)
				return

		if star_dir == self.direction:
			self.x = next_coord.x
			self.y = next_coord.y
		else:
			self.path.append(next_coord)
		self.closed = []

	def check_if_can_move(self, next_coords: Coordinates):
		tile_on_map = 0 <= next_coords.x < self.warehouse.width and 0 <= next_coords.y < self.warehouse.height
		tile_passable = True
		if not tile_on_map:
			return False
		next_tile = self.warehouse.tiles[next_coords.x][next_coords.y]
		if (next_coords.x, next_coords.y) != (self.destination.x, self.destination.y):
			tile_passable = isinstance(next_tile, Tile) and next_tile.category.passable
		return tile_passable

	def find_package(self):
		if len(self.route) == 0:
			pygame.quit()
			sys.exit()
		pack_id = self.route[0]
		self.route = self.route[1:]
		print("Next package ID:")
		print(pack_id)
		dst_package = None
		for pack in self.warehouse.packages:
			if pack.id + 1 == pack_id:
				dst_package = pack
				break
		if dst_package is not None:
			return dst_package

	def rack_heuristics(self, start, goal, can_place):
		heur_can_place = not can_place
		diff_x = pow(goal.x - start.x, 2)
		diff_y = pow(goal.y - start.y, 2)
		place_cost = 100 * float(heur_can_place)
		return round(sqrt(diff_x + diff_y), 3) + float(place_cost)

	def find_nearest_rack_for(self, package, expand_box=0):
		weight = package.size
		storage = "Rack"
		if package.category == "freezed":
			storage = "Fridge"
		start_node = Node(self.x, self.y)
		quarter_x = int(self.warehouse.width / 4) + expand_box
		quarter_y = int(self.warehouse.height / 4) + expand_box
		start_quarter_x = self.x - quarter_x if self.x - quarter_x > 0 else 0
		end_quarter_x = self.x + quarter_x if self.x + quarter_x < self.warehouse.width else self.warehouse.width - 1
		start_quarter_y = self.y - quarter_y if self.y - quarter_y > 0 else 0
		end_quarter_y = self.y + quarter_y if self.y + quarter_y < self.warehouse.height else self.warehouse.height - 1
		quarter = [row[start_quarter_y:end_quarter_y] for row in self.warehouse.tiles[start_quarter_x:end_quarter_x]]
		quarter_racks = [[t for t in row if t.category.name == storage and t.capacity >= weight] for row in quarter]
		quarter_racks = [t for row in quarter_racks for t in row]
		racks_costs = []
		for rack in quarter_racks:
			new_node = Node(rack.x_position, rack.y_position)
			can_place = self.location_classifier.check_if_can_place(package, rack)
			cost = self.rack_heuristics(start_node, new_node, can_place)
			if cost > 0:
				racks_costs.append((rack, cost))

		rack = self.find_nearest_rack_for(package, expand_box + 1) if not racks_costs else \
		min(racks_costs, key=lambda l: l[1])[0]
		return rack

	def pick_up_package(self, pack):
		self.warehouse.packages.remove(pack)
		self.is_loaded = True
		if pack.lays_on_field.category.name in ['Rack', 'Fridge']:
			pack.lays_on_field.capacity += pack.size

		self.destination.package = None
		pack.lays_on_field = None
		self.transported_package = pack

	def unload_package(self, rack):
		pack = self.transported_package
		tile = self.warehouse.tiles[rack.x][rack.y]
		self.transported_package = None
		self.is_loaded = False
		pack.lays_on_field = tile
		pack.lays_on_field.capacity -= pack.size
		pack.status = PackStatus.STORED
		self.warehouse.packages.append(pack)

	# print(tile.air_temperature, tile.humidity)

	def create_graph_map(self):
		for package1 in self.warehouse.packages:
			rack = self.find_nearest_rack_for(package1)
			for package2 in self.warehouse.packages:
				self.find_path(Node(package2.x, package2.y), Node(rack.x_position, rack.y_position))
				self.graph_map[package2.id + 1][package1.id + ceil((len(self.warehouse.packages) / 2)) + 1] = len(self.path)
				self.graph_map[package1.id + ceil((len(self.warehouse.packages) / 2)) + 1][package2.id + 1] = len(self.path)
				if package1 == package2:
					continue
				self.find_path(Node(package1.x, package1.y), Node(package2.x, package2.y))
				self.graph_map[package1.id + 1][package2.id + 1] = len(self.path)
			self.find_path(Node(package1.x, package1.y))
			self.graph_map[package1.id + 1][0] = len(self.path)
			self.graph_map[0][package1.id + 1] = len(self.path)

	def trace_route(self):
		for packs in self.warehouse.packages:
			print(packs.id)
		self.route = genetic_trace_route(self.graph_map, len(self.warehouse.packages))
		print("best route")
		print(self.route)