import pygame
import random
import a_star

from pygame.locals import *
from Forklift import Forklift
import decision_tree

HORIZONTAL = 1250
VERTICAL = 750

TILE_SIZE = 50

c_label = random.randint(0, 3)  # 0 - no label, 1 - fragile, 2 - hazardous, 3 - any other
c_size = random.randint(1, 3)  # 1 - small, 2 - medium, 3 - large
c_weight = random.randint(1, 3)  # -||-
c_urgent = random.randint(0, 1)  # yes/no
c_weekend = random.randint(0, 1)  # stays for the weekend yes/no
c_payment_method = random.randint(0, 2)  # not paid, prepaid, cash on delivery
c_international = random.randint(1, 4)  # domestic, european, us, everywhere else
c_delayed = random.randint(0, 1)  # yes/no

# sectors:
# 1 - regular,
# 2 - hazardous,
# 3 - international,
# 4 - overdue

tree = decision_tree.treelearn()
decision = decision_tree.make_decision(tree, c_label, c_size, c_weight, c_urgent, c_weekend, c_payment_method, c_international, c_delayed)

def handle_decision():
    global row, col
    if decision == '1':
        row = 10 + 2 * random.randint(0, 2)
        col = random.randint(1, 5) + 6 * random.randint(0, 1)
        print('regular')
    if decision == '2':
        row = 10 + 2 * random.randint(0, 2)
        col = random.randint(1, 5) + 6 * random.randint(2, 3)
        print('hazardous')
    if decision == '3':
        row = 2 * random.randint(0, 2)
        col = random.randint(1, 5) + 6 * random.randint(0, 1)
        print('international')
    if decision == '4':
        row = 2 * random.randint(0, 2)
        col = random.randint(1, 5) + 6 * random.randint(2, 3)
        print('overdue')
    return row, col


def handle_turn(initial_state, turn_count):
    if turn_count % 2 == 0:
        commands = a_star.a_star(state=initial_state, goal=(7, 23))
    else:
        # row = random.randint(0, 1) * 10 + 2 * random.randint(0, 2)
        # col = random.randint(1, 5) + 6 * random.randint(0, 3)
        commands = a_star.a_star(state=initial_state, goal=(handle_decision()))
        print('I need to go to row, column: ' + str(handle_decision()))
    return commands


class Program:
    def __init__(self):

        pygame.init()
        self.window = pygame.display.set_mode((HORIZONTAL, VERTICAL))
        self.caption = pygame.display.set_caption('Autonomiczny wózek widłowy')
        self.agent = Forklift(self.window)
        self.agent.drawForklift()

        running = True
        turn_count = 0

        initial_state = a_star.State(row=int(self.agent.y / 50), column=int(self.agent.x / 50),
                                     direction=self.agent.direction)

        while running:

            handle_decision()

            commands = handle_turn(initial_state=initial_state, turn_count=turn_count)

            while commands:
                pygame.event.poll()
                step = commands.pop(0)
                if step == 'rotate_left':
                    self.agent.rotate_forklift_left()
                elif step == 'rotate_right':
                    self.agent.rotate_forklift_right()
                elif step == 'go':
                    self.agent.forklift_move()
                pygame.time.delay(250)
                print(commands)
            turn_count += 1
            pygame.time.delay(2000)

            initial_state.row = int(self.agent.y / 50)
            initial_state.column = int(self.agent.x / 50)
            initial_state.direction = self.agent.direction