import pygame
import random
import time
import queue
import math
from keras.models import load_model, Sequential
from keras.preprocessing.image import img_to_array, load_img
from keras.layers import Conv2D, MaxPooling2D
from keras.layers import Activation, Dropout, Flatten, Dense
from keras import backend as K
from tkinter import messagebox
import tkinter as tk
from PIL import Image
root = tk.Tk()
root.withdraw()     #ukrycie okna tworzonego przez tkinter

pygame.init()


def heuristic(current, goal):
    dx = abs(current[0] - goal[0])
    dy = abs(current[1] - goal[1])
    return math.sqrt(dx * dx + dy * dy)


class Node():
    def __init__(self, parent = None, position = None):
        self.parent = parent
        self.position = position

        self.g = 0
        self.h = 0
        self.f = 0

    def __eq__(self, other):
        return self.position == other.position


def aStar(start, end):
    if end in cantwalk:
        print("Wybrano nieodpowiednie pole!")
        return []

    start_node = Node(None, start)
    start_node.g = start_node.h = start_node.f = 0
    end_node = Node(None, end)
    end_node.g = end_node.h = end_node.f = 0

    open_list = []
    closed_list = []
    open_list.append(start_node)

    while len(open_list) > 0:
        current_node = open_list[0]
        current_index = 0
        for index, item in enumerate(open_list):
            if item.f < current_node.f:
                current_node = item
                current_index = index

        open_list.pop(current_index)
        closed_list.append(current_node)

        if current_node == end_node:
            path = []
            current = current_node
            while current is not None:
                path.append(current.position)
                current = current.parent
            return list(map(lambda t: (t[0], t[1]), path[::-1])) #zwraca odwróconą ściezkę

        children = []
        # można dodać (-1, -1), (-1, 1), (1, -1), (1, 1) dla poruszania się po przekątnej
        for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0)]:
            node_position = (current_node.position[0] + new_position[0], current_node.position[1]
                             + new_position[1])

            if node_position[0] >= (rows - 1) or node_position[0] <= 0 or node_position[1] >= (rows - 1) \
                    or node_position[1] <= 0:        #spr. czy w kracie
                continue

            if node_position in cantwalk: #spr. czy można przejść
                continue

            new_node = Node(current_node, node_position)
            children.append(new_node)

        didBreak = False
        for child in children:
            didBreak = False
            for closed_child in closed_list:
                if child == closed_child:
                    didBreak = True
                    break

            if didBreak:
                continue

            if child.position in cantwalk:
                child.g = current_node.g + 99999
            elif child.position in puddles:
                child.g = current_node.g + 3
            else:
                child.g = current_node.g + 1

            child.h = heuristic(child.position, end_node.position)
            child.f = child.g + child.h

            for open_node in open_list:
                if child == open_node and child.g > open_node.g:
                    didBreak = True
                    break

            if didBreak:
                continue

            open_list.append(child)


class Dish(object):
    def __init__(self, dishName, prepTime, eatTime, price):
        self.dishName = dishName
        self.preparationTime = prepTime
        self.eatingTime = eatTime
        self.price = price


class Plate(object):
    def __init__(self, dish, img):
        self.dishName = dish.dishName
        self.isEmpty = False
        self.preparationTime = dish.preparationTime
        self.eatingTime = dish.eatingTime
        self.price = dish.price
        self.img = img

    def eat(self):
        #time.sleep(self.eatingTime)         psuje program - nie używajcie
        self.isEmpty = True #zjadanie dania jest oznaczeniem talerza jako pusty (metoda będzie wywoływana przez klienta)

    def draw(self):
        load = Image.open(self.img)
        load.show()


class Kitchen(object):
    def __init__(self, pos):
        self.readyDishes = queue.Queue(32)  #kolejka o maksymalnej długości 32
        self.orders = queue.Queue(32)       #wyskakiwał mi tu błąd - poprawiłam na dużą literę i jest ok
        self.pos = pos

    def makeDish(self):
        if not self.orders.empty():
            plate = self.orders.get()
            time.sleep(plate.preparationTime)   #kuchnia przygotowuje danie przez określony czas
            self.readyDishes.put(plate)

    def giveDish(self):
        if not self.readyDishes.empty():
            plate = self.readyDishes.get()
            return plate
        else:
            return None

    def draw(self, surface):
        image1 = pygame.image.load(r'kitchen1.png')
        image1 = pygame.transform.scale(image1, (sizeBetween - 1, sizeBetween - 1))
        surface.blit(image1, (13*sizeBetween+1, 0*sizeBetween+1))

        image2 = pygame.image.load(r'kitchen2.png')
        image2 = pygame.transform.scale(image2, (sizeBetween - 1, sizeBetween - 1))
        surface.blit(image2, (14*sizeBetween+1, 0*sizeBetween+1))

        image3 = pygame.image.load(r'kitchen3.png')
        image3 = pygame.transform.scale(image3, (sizeBetween - 1, sizeBetween - 1))
        surface.blit(image3, (13*sizeBetween+1, 1*sizeBetween+1))

        image4 = pygame.image.load(r'kitchen4.png')
        image4 = pygame.transform.scale(image4, (sizeBetween - 1, sizeBetween - 1))
        surface.blit(image4, (14*sizeBetween+1, 1*sizeBetween+1))


class Client(object):
    def __init__(self, age, sex, budget, table):
        self.age = age
        self.sex = sex
        self.myPlate = None
        self.budget = budget
        self.myTable = table            #domyślnie klient nie siedzi przy żadnym stole

    def takePlateAndEat(self, plate):
        self.myPlate = plate
        plate.eat()

    def takeASeat(self, table):
        self.myTable = table

    def returnPlate(self):
        plate = self.myPlate
        self.myPlate = None
        return plate


class Table(object):
    def __init__(self, pos, capacity):
        self.pos = pos
        self.capacity = capacity

    def move(self, newx, newy):     #metoda do ustawiania stołów poprzez podanie nowych współrzędnych
        self.pos[0] = newx
        self.pos[1] = newy

    def draw(self, surface):
        image = pygame.image.load(r'Table-croped.png')
        image = pygame.transform.scale(image, (sizeBetween - 1, sizeBetween - 1))

        i = self.pos[0]
        j = self.pos[1]

        surface.blit(image, (i*sizeBetween+1, j*sizeBetween+1))


class Waiter(object):
    def __init__(self, color, pos, direction):
        self.color = color
        self.pos = pos      #pozycja agenta, zapisana w formie dwuelementowej listy
        self.posx = pos[0]
        self.posy = pos[1]
        self.dirnx = 0      #zmienne dirnx i dirny używane są do ruchu bota i ustalania, w którą stronę jest zwrócony
        self.dirny = 1
        self.plates = []    #lista niesionych przez agenta talerzy, planowo lista par: (talerz, klient)
        self.direction = direction #kierunek, w ktory jest skierowany bot
        self.currentRotation = 0
        self.rotate = "forward"
        self.rotationNumber = 0

    def moveRandomly(self, noWalkable):
        rand = random.randrange(1, 5, 1)    #losuje w zakresie 1-4
        #print(rand)

        if rand == 1:
            self.dirnx = -1
            self.dirny = 0
            self.direction = 'left'
            if self.pos[0] == 0 or ([self.pos[0] + self.dirnx, self.pos[1] + self.dirny] in noWalkable):        #zabezpieczenie przed wyjściem bota poza obszar okna w ruchu losowym
                self.dirnx *= (-1)                                                                              #oraz w miejsce, na ktore nie moze wejsc (stoły, kuchania)
                self.direction = 'right'
            self.pos = [self.pos[0] + self.dirnx, self.pos[1] + self.dirny]

        elif rand == 2:
            self.dirnx = 1
            self.dirny = 0
            self.direction = 'right'
            if self.pos[0] == 14 or ([self.pos[0] + self.dirnx, self.pos[1] + self.dirny] in noWalkable):
                self.dirnx *= (-1)
                self.direction = 'left'
            self.pos = [self.pos[0] + self.dirnx, self.pos[1] + self.dirny]

        elif rand == 3:
            self.dirnx = 0
            self.dirny = -1
            if self.pos[1] == 0 or ([self.pos[0] + self.dirnx, self.pos[1] + self.dirny] in noWalkable):
                self.dirny *= (-1)
            self.pos = [self.pos[0] + self.dirnx, self.pos[1] + self.dirny]

        elif rand == 4:
            self.dirnx = 0
            self.dirny = 1
            if self.pos[1] == 14 or ([self.pos[0] + self.dirnx, self.pos[1] + self.dirny] in noWalkable):
                self.dirny *= (-1)
            self.pos = [self.pos[0] + self.dirnx, self.pos[1] + self.dirny]

    def moveWithKeyboard(self, noWalkable):             #funkcja testowa - bot sterowany z klawiatury
        for event in pygame.event.get():
            if event.type == pygame.QUIT:
                pygame.quit()
                quit()

            keys = pygame.key.get_pressed()

            for key in keys:
                if keys[pygame.K_LEFT]:
                    self.dirnx = -1
                    self.dirny = 0
                    self.direction = 'left'
                    if self.pos[0] == 0 or ([self.pos[0] + self.dirnx, self.pos[1] + self.dirny] in noWalkable):  # zabezpieczenie przed wyjściem bota poza obszar okna w ruchu losowym
                        #self.dirnx *= (-1)
                        break
                    else:
                        self.pos = [self.pos[0] + self.dirnx, self.pos[1] + self.dirny]
                        break
                    # te break musiałam dodać, bo w przeciwnym wypadku zamiast jednego kroku robił 303 - jeden za drugim
                    # nie wiem dlaczego tak było, po zmianie sterowania z klawiatury na bota samego w sobie nie powinno
                    # być z tym problemów, to jest na razie tylko, żeby pokazać, że ten ruch jest

                elif keys[pygame.K_RIGHT]:
                    self.dirnx = 1
                    self.dirny = 0
                    self.direction = 'right'
                    if self.pos[0] == 14 or ([self.pos[0] + self.dirnx, self.pos[1] + self.dirny] in noWalkable):
                        #self.dirnx *= (-1)
                        break
                    else:
                        self.pos = [self.pos[0] + self.dirnx, self.pos[1] + self.dirny]
                        break

                elif keys[pygame.K_UP]:
                    self.dirnx = 0
                    self.dirny = -1
                    if self.pos[1] == 0 or ([self.pos[0] + self.dirnx, self.pos[1] + self.dirny] in noWalkable):
                        #self.dirny *= (-1)
                        break
                    else:
                        self.pos = [self.pos[0] + self.dirnx, self.pos[1] + self.dirny]
                        break

                elif keys[pygame.K_DOWN]:
                    self.dirnx = 0
                    self.dirny = 1
                    if self.pos[1] == 14 or ([self.pos[0] + self.dirnx, self.pos[1] + self.dirny] in noWalkable):
                        #self.dirny *= (-1)
                        break
                    else:
                        self.pos = [self.pos[0] + self.dirnx, self.pos[1] + self.dirny]
                        break

    def resetPosition(self, pos):
        self.pos = pos

    def takePlates(self, kitchen):
        for i in range(2):
            plate = kitchen.giveDish()
            if plate == None:
                break
            else:
                self.plates.append(plate)

    def giveClientPlate(self, client):
        plate = self.plates.pop(0)
        client.takePlateAndEat(plate)

    def rotateRight(self):
        self.currentRotation += 90

    def rotateLeft(self):
        self.currentRotation -= 90

    def goForward(self, movex, movey):
        self.posx += movex
        self.posy += movey
        self.pos = (self.posx, self.posy)

    def draw(self, surface):
        image = pygame.image.load(r'waiter_right.png')
        image = pygame.transform.scale(image, (sizeBetween - 1, sizeBetween - 1))

        if self.rotate == "right":
            self.rotateRight()
        elif self.rotate == "left":
            self.rotateLeft()
        elif self.direction == "forward":
            pass

        image = pygame.transform.rotate(image, self.currentRotation)

        i = self.pos[0]
        j = self.pos[1]
        surface.blit(image, (i * sizeBetween + 1, j * sizeBetween + 1))

    def goByAStar(self, end):
        positionList = aStar(self.pos, end)
        print(positionList)
        if len(positionList) == 0:
            messagebox.showerror("BŁĄD!", "Wybrano nieosiągalne pole!")
            pygame.quit()
            exit()
        else:
            lenght = len(positionList) - 1
            for i in range(lenght):
                movex = positionList[i + 1][0] - positionList[i][0]
                movey = positionList[i + 1][1] - positionList[i][1]

                prevDirection = self.direction
                if movex == -1 and movey == 0:
                    self.direction = 1      #"left"
                elif movex == 1 and movey == 0:
                    self.direction = 3      #"right"
                elif movey == 1 and movex == 0:
                    self.direction = 4      #"down"
                else:
                    self.direction = 2      #"up"

                howToRotate = prevDirection - self.direction    #działa!

                if howToRotate < 0:
                    self.rotate = "left"
                    self.rotationNumber = abs(howToRotate)
                elif howToRotate > 0:
                    self.rotate = "right"
                    self.rotationNumber = abs(howToRotate)
                elif howToRotate == 0:
                    self.rotate = "forward"
                    self.rotationNumber = 0

                #print(self.rotate)

                for i in range(self.rotationNumber):
                    redrawWindow(window)
                    time.sleep(0.2)
                self.rotate = "forward"
                self.rotationNumber = 0

                self.goForward(movex, movey)
                redrawWindow(window)
                time.sleep(0.2)


def drawGrid(width, rows, surface):
    x = 0
    y = 0

    for i in range(rows):
        x = x + sizeBetween
        y = y + sizeBetween

        pygame.draw.line(surface, (255, 255, 255), (x, 0), (x, width))
        pygame.draw.line(surface, (255, 255, 255), (0, y), (width, y))


def predictAndShowImg(plate):
    img_width, img_height = 256, 256

    plate.draw()
    test_image = load_img(plate.img, target_size=(img_width, img_height))
    test_image = img_to_array(test_image)
    test_image = test_image.reshape((1,) + test_image.shape)

    result = img_classify.predict(test_image)
    print(result)
    if (result == [1.]):
        messagebox.showinfo("Rozpoznanie", "Talerz pełny.")
        return 1
    else:
        messagebox.showinfo("Rozpoznanie", "Talerz pusty.")
        return 0


def checkIfEmpty(fullOrEmpty, client):
    if fullOrEmpty == 1:
        pass
    elif fullOrEmpty == 0:
        client.returnPlate()
        bot.goByAStar((kitchen.pos[0] - 1, kitchen.pos[1]))


def classify(a):
    if a == 1:
        dish_1 = Dish("obiad", 40, 20, 15)
        dish_2 = Dish("deser", 25, 10, 10)
        dish_3 = Dish("obiad 2", 55, 25, 28)

        plate_1 = Plate(dish_1, "Sara/data/validation/food/food004.png")
        plate_2 = Plate(dish_2, "Sara/data/validation/food/food002.png")
        plate_3 = Plate(dish_1, "Sara/data/validation/dirty/dirty001.png")
        plate_4 = Plate(dish_3, "Sara/data/validation/dirty/dirty009.png")

        client_1 = Client(21, 'f', 45, 1)
        client_2 = Client(44, 'm', 22, 4)
        client_3 = Client(27, 'f', 15, 5)
        client_4 = Client(19, 'm', 32, 8)

        client_1.takePlateAndEat(plate_1)
        client_2.takePlateAndEat(plate_2)
        client_3.takePlateAndEat(plate_3)
        client_4.takePlateAndEat(plate_4)

        '''
        TRASA + ROZPOZNAWANIE TALERZY
        '''

        bot.goByAStar((tables[1].pos[0] + 1, tables[1].pos[1]))
        fullOrEmpty = predictAndShowImg(plate_1)
        checkIfEmpty(fullOrEmpty, client_1)

        bot.goByAStar((tables[4].pos[0] + 1, tables[4].pos[1]))
        fullOrEmpty = predictAndShowImg(plate_2)
        checkIfEmpty(fullOrEmpty, client_2)

        bot.goByAStar((tables[5].pos[0] + 1, tables[5].pos[1]))
        fullOrEmpty = predictAndShowImg(plate_3)
        checkIfEmpty(fullOrEmpty, client_3)

        bot.goByAStar((tables[8].pos[0] + 1, tables[8].pos[1]))
        fullOrEmpty = predictAndShowImg(plate_4)
        checkIfEmpty(fullOrEmpty, client_4)

        messagebox.showinfo("Informacja końcowa", "Zakończono trasę.")

        pygame.quit()
        exit()
    else:
        pass


def text_objects(text, font):
    textSurface = font.render(text, True, black)
    return textSurface, textSurface.get_rect()


def button(msg, x, y, w, h, ic, ac, action=None):
    mouse = pygame.mouse.get_pos()
    click = pygame.mouse.get_pressed()

    if x+w > mouse[0] > x and y+h > mouse[1] > y:
        pygame.draw.rect(window, ac, (x, y, w, h))
        if click[0] == 1 and action != None:
            print("pressed")
            action(1)
    else:
        pygame.draw.rect(window, ic, (x, y, w, h))

    smallText = pygame.font.Font("freesansbold.ttf", 15)
    textSurf, textRect = text_objects(msg, smallText)
    textRect.center = ((x+(w/2)), (y+(h/2)))
    window.blit(textSurf, textRect)


def redrawWindow(surface):
    surface.fill(beige)
    bot.draw(surface)
    kitchen.draw(surface)
    for i in range(len(tables)):
        tables[i].draw(surface)
    for i in range(len(puddles)):
        image = pygame.image.load(r'puddle.png')
        image = pygame.transform.scale(image, (sizeBetween - 1, sizeBetween - 1))
        surface.blit(image, (puddles[i][0] * sizeBetween + 1, puddles[i][1] * sizeBetween + 1))

    drawGrid(width, rows, surface)
    button("Rozpoznawanie talerzy", 0, width + 1, 198, 48, beige, white)

    pygame.display.update()


def noWalkable(tables, kitchen):
    list = []
    for i in range(len(tables)):
        list.append(tables[i].pos)
    list.append(kitchen.pos)
    return list


def makeImgClassificator(model):
    img_width, img_height = 256, 256
    if K.image_data_format() == 'channels_first':
        input_shape = (3, img_width, img_height)
    else:
        input_shape = (img_width, img_height, 3)

    model.add(Conv2D(32, (2, 2), input_shape=input_shape))
    model.add(Activation('relu'))
    model.add(MaxPooling2D(pool_size=(2, 2)))

    model.add(Conv2D(32, (2, 2)))
    model.add(Activation('relu'))
    model.add(MaxPooling2D(pool_size=(2, 2)))

    model.add(Conv2D(64, (2, 2)))
    model.add(Activation('relu'))
    model.add(MaxPooling2D(pool_size=(2, 2)))

    model.add(Flatten())
    model.add(Dense(64))
    model.add(Activation('relu'))
    model.add(Dropout(0.5))
    model.add(Dense(1))
    model.add(Activation('sigmoid'))

    model.compile(loss='binary_crossentropy',
                  optimizer='rmsprop',
                  metrics=['accuracy'])

def main():
    global width, rows, bot, beige, white, black, sizeBetween, tables, kitchen, cantwalk, puddles, window, clock, \
        img_classify
    # skróty do kolorów
    beige = (255, 205, 178)
    white = (255, 255, 255)
    black = (0, 0, 0)

    img_classify = Sequential()
    makeImgClassificator(img_classify)
    img_classify.load_weights('Sara/model_food_dirty.h5')

    width = 600
    rows = 15
    sizeBetween = width // rows     #wielkość pojedynczej kratki
    window = pygame.display.set_mode((width, width + 50))

    bot = Waiter((255, 0, 0), (12, 8), 2)
    
    tables = []
    tables.append(Table((0, 3), 1))
    tables.append(Table((0, 6), 1))
    tables.append(Table((0, 9), 2))
    tables.append(Table((0, 12), 2))
    tables.append(Table((4, 4), 2))
    tables.append(Table((4, 7), 2))
    tables.append(Table((4, 10), 2))
    tables.append(Table((4, 13), 2))
    tables.append(Table((8, 3), 1))
    tables.append(Table((8, 6), 1))
    tables.append(Table((8, 9), 2))
    tables.append(Table((8, 12), 2))

    kitchen = Kitchen((13, 1))

    cantwalk = noWalkable(tables, kitchen)  # lista pozycji, na ktore bot nie moze wejsc
    puddles = []
    puddles.append((7, 10))
    puddles.append((2, 5))
    puddles.append((3, 12))
    puddles.append((10, 3))
    puddles.append((6, 2))
    puddles.append((12, 10))
    puddles.append((1, 4))

    flag = True
    clock = pygame.time.Clock()
    while flag:
        for event in pygame.event.get():
            if event.type == pygame.QUIT:
                pygame.quit()
                quit()
        button("Rozpoznawanie talerzy", 0, width + 1, 198, 48, beige, white, classify)
        redrawWindow(window)
        #bot.moveRandomly()
        #goal = (1, 3)
        #bot.goByAStar(goal)


    pygame.quit()
    exit()


main()