from heuristicfn import heuristicfn

FIELDWIDTH = 50
TURN_FUEL_COST = 10
MOVE_FUEL_COST = 200
MAX_FUEL = 20000
MAX_SPACE = 5
MAX_WEIGHT = 200


class GarbageTruck:

    garbage_types = {'bio': 0, 'electronics': 1, 'mixed': 2, 'recyclable': 3}

    def __init__(self, dump_x, dump_y, rect, orientation, request_list: list, clf):
        self.dump_x = dump_x
        self.dump_y = dump_y
        self.fuel = MAX_FUEL
        self.free_space = MAX_SPACE
        self.weight_capacity = MAX_WEIGHT
        self.rect = rect
        self.orientation = orientation
        self.request_list = request_list #lista domów do odwiedzenia
        self.clf = clf

    def turn_left(self):
        self.orientation = (self.orientation - 1) % 4
        self.fuel -= TURN_FUEL_COST

    def turn_right(self):
        self.orientation = (self.orientation + 1) % 4
        self.fuel -= TURN_FUEL_COST

    def forward(self):
        self.fuel -= MOVE_FUEL_COST
        if self.orientation == 0:
            self.rect.x += FIELDWIDTH
        elif self.orientation == 1:
            self.rect.y += FIELDWIDTH
        elif self.orientation == 2:
            self.rect.x -= FIELDWIDTH
        else:
            self.rect.y -= FIELDWIDTH

    def next_destination(self):
        
        for i in range(len(self.request_list)):
            request = self.request_list[i]

            #nie ma miejsca w zbiorniku lub za ciężkie śmieci
            if request.volume > self.free_space or request.weight > self.weight_capacity:
                continue
            
            #nie straczy paliwa na dojechanie i powrót na wysypisko
            if heuristicfn(request.x_pos, request.y_pos, self.dump_x, self.dump_y) // 50 * 200 > self.fuel:
                continue
            


            distance = heuristicfn(self.rect.x, self.rect.y, request.x_pos, request.y_pos) // 50

            r = [
                self.fuel, 
                distance,
                request.volume,
                request.last_collection,
                request.is_paid,
                request.odour_intensity,
                request.weight,
                request.type
            ]
            if self.clf.predict([r]) == True:
                self.request_list.pop(i)
                self.free_space -= request.volume
                self.weight_capacity -= request.weight
                return request.x_pos, request.y_pos   
        return self.dump_x, self.dump_y
            


    def collect(self):
        if self.rect.x == self.dump_x and self.rect.y == self.dump_y:
            self.fuel = MAX_FUEL
            self.free_space = MAX_SPACE
            self.weight_capacity = MAX_WEIGHT
        print(f'agent at ({self.rect.x}, {self.rect.y}); fuel: {self.fuel}; free space: {self.free_space}; weight capacity: {self.weight_capacity}')
        pass