import pygame
import random
import time
import queue
import math
from tkinter import messagebox
import tkinter as tk
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):
        self.dishName = dish.dishName
        self.isEmpty = False
        self.preparationTime = dish.preparationTime
        self.eatingTime = dish.eatingTime
        self.price = dish.price

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


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):
        self.age = age
        self.sex = sex
        self.myPlate = None
        self.budget = budget
        self.myTable = 0            #domyślnie klient nie siedzi przy żadnym stole

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

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


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(0.5)
                self.rotate = "forward"
                self.rotationNumber = 0

                self.goForward(movex, movey)
                redrawWindow(window)
                time.sleep(0.5)


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

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

    flag = True
    clock = pygame.time.Clock()
    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))

    while flag:
        redrawWindow(window)
        #bot.moveRandomly()
        goal = (1, 3)
        bot.goByAStar(goal)
        time.sleep(5)
        flag = False

    pygame.quit()
    exit()


main()