import pygame
from pygame.math import Vector2
import math as m


class Tractor(object):

    def __init__(self, game):
        self.game = game

        size = self.game.screen.get_size()

        self.pos = Vector2(22, 22)
        self.oy = True
        self.oz = False

        # A*
        self.g_score = []
        self.f_score = []
        self.h_score = []
        self.came_from = []
        self.neighbours()
        self.score()

        #ruszanie się
        self.road = self.algo(0, 24)


    def tick(self):

        # input

        if pygame.key.get_pressed()[pygame.K_SPACE]:
            # obecne pole
            pole = self.pos.y // 144 * 5 + self.pos.x // 144
            
            if len(self.road) == 0:
                sys.exit(0)
            if self.road[0] == self.pole + 1:
                self.pos.x = self.pos.x + 144
            elif self.road[0] == self.pole - 1:
                self.pos.x = self.pos.x - 144
            elif self.road[0] == self.pole + 5:
                self.pos.y = self.pos.y + 144
            elif self.road[0] == self.pole - 5:
                self.pos.y = self.pos.y - 144
            self.road.pop(0)


    def draw(self):
        # drawing
        rect = pygame.Rect(self.pos.x, self.pos.y, 100, 100)
        pygame.draw.rect(self.game.screen, (255, 255, 0), rect)

    # Sąsiedztwo poszczególnych pól
    def neighbours(self):
        self.neighbours = list(range(25))
        self.neighbours[0] = [1, 5]
        self.neighbours[4] = [3, 9]
        self.neighbours[20] = [15, 21]
        self.neighbours[24] = [19, 23]
        for x in range(1, 4):
            self.neighbours[x] = [x - 1, x + 5, x + 1]
        for x in range(5, 16, 5):
            self.neighbours[x] = [x - 5, x + 1, x + 5]
        for x in range(9, 20, 5):
            self.neighbours[x] = [x - 5, x - 1, x + 5]
        for x in range(21, 24):
            self.neighbours[x] = [x - 1, x - 5, x + 1]
        for x in [6, 7, 8, 11, 12, 13, 16, 17, 18]:
            self.neighbours[x] = [x - 5, x - 1, x + 1, x + 5]

    # Tworzenie list dla g, h, f oraz came_from
    def score(self):
        for x in range(25):
            self.g_score.append(0)
            self.f_score.append(0)
            self.h_score.append(0)
            self.came_from.append(0)

    # Obliczanie h (założenie - odległość pomiędzy sąsiednimi polami wynosi 2, tak jak koszt wjazdu na puste pole)
    # s to pole na którym jesteśmy
    # f to pole końcowe
    def hscore(self, s, f):
        if f >= s:
            a_h = (f - s) // 5
        else:
            a_h = (s - f) // 5
        if f % 5 >= s % 5:
            b_h = f % 5 - s % 5
        else:
            b_h = s % 5 - f % 5 + 1
        return 2 * m.sqrt(a_h ** 2 + b_h ** 2)

    # A*
    def algo(self, start, koniec):
        # definiowanie setów
        closed_set = []
        open_set = [start]

        while open_set:
            # Szukanie pola w open_set z najniższym f
            temp1 = max(self.f_score) + 1
            x = 0
            for i in range(len(open_set)):
                if self.f_score[open_set[i]] <= temp1:
                    x = open_set[i]
                    temp1 = self.f_score[open_set[i]]

            if x == koniec:
                return self.reconstruct_path(self.came_from, koniec)

            open_set.remove(x)
            closed_set.append(x)
            for y in self.neighbours[x]:
                if y in closed_set:
                    continue
                tentative_g_score = self.g_score[x] + self.game.fields[y][3]
                if y not in open_set:
                    open_set.append(y)
                    tentative_is_better = True
                elif tentative_g_score < self.g_score[y]:
                    tentative_is_better = True
                if tentative_is_better == True:
                    self.came_from[y] = x
                    self.g_score[y] = tentative_g_score
                    self.f_score[y] = self.g_score[y] + self.hscore(y, koniec)
        print("failure")

    def reconstruct_path(self, came_from, current):
        total_path = [current]
        while came_from[current] != 0:
            current = came_from[current]
            total_path.insert(0, current)
        return total_path