from truck import Truck

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(maze, start, end):
    start_node = Node(position=start)
    end_node = Node(position=end)
    x=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)
                if (maze[current.position[0]][current.position[1]] == 1):
                    x = x + 1
                if (maze[current.position[0]][current.position[1]] == 2):
                    x = x + 3
                if (maze[current.position[0]][current.position[1]] == 6):
                    x = x + 20
                if (maze[current.position[0]][current.position[1]] == 7):
                    x = x + 5
                if (maze[current.position[0]][current.position[1]] == 8):
                    x = x + 1

                current = current.parent
            return path[::-1]
            #return x

        children = []
        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] > (len(maze) - 1) or node_position[0] < 0 or node_position[1] > (len(maze[len(maze)-1]) - 1) or node_position[1] < 0:
                continue

            if Node(current_node, node_position) in closed_list:
                continue

            if maze[node_position[0]][node_position[1]] == 9:
                continue

            new_node = Node(current_node, node_position)

            children.append(new_node)

        for child in children:

            for closed_child in closed_list:
                if child == closed_child:
                    continue

            if(maze[child.position[0]][child.position[1]]==1):
                child.g = 1
            if(maze[child.position[0]][child.position[1]]==2):
                child.g = 3
            if(maze[child.position[0]][child.position[1]]==6):
                child.g = 20
            if(maze[child.position[0]][child.position[1]]==7):
                child.g = 5
            if(maze[child.position[0]][child.position[1]]==8):
                child.g = 1
            child.h = ((child.position[0] - end_node.position[0]) **
                       2) + ((child.position[1] - end_node.position[1]) ** 2)
            child.f = child.g + child.h

            for open_node in open_list:
                if child == open_node and child.g > open_node.g:
                    continue

            open_list.append(child)


def main():

    maze = [[9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9],
            [9, 9, 9, 9, 9, 1, 1, 9, 9, 9, 1, 1, 1, 9, 9, 9, 1,
                1, 9, 9, 1, 1, 1, 9, 9, 1, 1, 9, 1, 1, 9, 9],
            [9, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 9, 1, 1,
                8, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 9],
            [9, 1, 1, 1, 2, 1, 1, 6, 1, 1, 1, 1, 1, 1, 1, 1, 9,
             1, 0, 1, 7, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9],
            [9, 1, 1, 1, 1, 9, 9, 9, 9, 9, 9, 1, 1, 1, 1, 9, 9,
             9, 9, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 9, 9],
            [9, 9, 9, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 2, 1,
             1, 1, 1, 9, 6, 6, 9, 1, 1, 2, 1, 1, 9, 1, 9],
            [9, 1, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1,
             1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9],
            [9, 1, 1, 1, 9, 9, 9, 9, 9, 1, 1, 1, 1, 1, 9, 9, 9,
             9, 9, 9, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 9],
            [9, 1, 1, 1, 1, 1, 1, 9, 9, 9, 9, 9, 9, 1, 1, 1, 1,
             1, 9, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9],
            [9, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9, 1, 1, 1, 9,
             9, 9, 7, 6, 9, 9, 9, 9, 6, 2, 1, 9, 9, 9, 9],
            [9, 1, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1,
             1, 9, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9],
            [9, 1, 1, 1, 9, 9, 9, 9, 9, 1, 1, 9, 9, 9, 1, 1, 9,
             9, 9, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9],
            [9, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
             1, 1, 2, 1, 1, 9, 9, 1, 9, 1, 1, 7, 1, 1, 9],
            [9, 1, 1, 1, 1, 1, 0, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1,
             1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9],
            [9, 1, 1, 9, 1, 1, 9, 9, 9, 1, 9, 1, 1, 1, 9, 9, 9,
             1, 1, 1, 1, 1, 9, 1, 1, 1, 9, 9, 1, 1, 1, 9],
            [9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 1, 1, 2, 1,
             1, 1, 1, 9, 9, 9, 9, 1, 1, 1, 2, 1, 1, 9, 9],
            [9, 1, 1, 1, 9, 9, 9, 9, 1, 1, 1, 1, 1, 1, 9, 1, 1,
             1, 9, 1, 1, 9, 9, 1, 1, 1, 1, 1, 1, 1, 1, 9],
            [9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9]]

    start = (13, 7)
    end = (3, 18)

    path = astar(maze, start, end)
    print(path)
    return path


if __name__ == '__main__':
    main()