from state import State
from heuristicfn import heuristicfn
FIELDWIDTH, FIELDCOUNT = 50, 16

def succ(st: State, passedPriorities, goalx, goaly):
    successors = []

    if st.orientation == 3:
        successors.append(State(st, 'LEFT', st.xpos, st.ypos, 2, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
        successors.append(State(st, 'RIGHT', st.xpos, st.ypos, 0, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
        if st.ypos > 0:
            successors.append(State(st, 'FORWARD', st.xpos, st.ypos - FIELDWIDTH , 3, passedPriorities[st.xpos//50][st.ypos//50 - 1], heuristicfn(st.xpos, st.ypos - 50, goalx, goaly)))
    
    if st.orientation == 1:
        successors.append(State(st, 'LEFT', st.xpos, st.ypos, 0, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
        successors.append(State(st,'RIGHT', st.xpos, st.ypos, 2, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
        if st.ypos < FIELDWIDTH * (FIELDCOUNT  - 1):
            successors.append(State(st, 'FORWARD', st.xpos, st.ypos + FIELDWIDTH , 1, passedPriorities[st.xpos//50][st.ypos//50 + 1], heuristicfn(st.xpos, st.ypos + 50, goalx, goaly)))

    if st.orientation == 2:
        successors.append(State(st, 'LEFT', st.xpos, st.ypos, 1, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
        successors.append(State(st,'RIGHT', st.xpos, st.ypos, 3, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
        if st.xpos > 0:
            successors.append(State(st, 'FORWARD', st.xpos - FIELDWIDTH , st.ypos, 2, passedPriorities[st.xpos//50 - 1][st.ypos//50], heuristicfn(st.xpos - 50, st.ypos, goalx, goaly)))

    if st.orientation == 0:
        successors.append(State(st, 'LEFT', st.xpos, st.ypos, 3, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
        successors.append(State(st, 'RIGHT', st.xpos, st.ypos, 1, passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
        if st.xpos < FIELDWIDTH * (FIELDCOUNT  - 1):
            successors.append(State(st, 'FORWARD', st.xpos + FIELDWIDTH , st.ypos, 0, passedPriorities[st.xpos//50 + 1][st.ypos//50], heuristicfn(st.xpos + 50, st.ypos, goalx, goaly)))
    return successors