import pygame

from src.utils.xgb_model import Model
from src.world import World
from src.tractor import Tractor
from src.settings import Settings
from src.utils.bfs import BFSSearcher
from src.constants import Constants as C

def main():
    pygame.init()

    settings = Settings()
    model = Model()
    world = World(settings, model)
    tractor = Tractor("Spalinowy", "Nawóz 1", settings, 0 * settings.tile_size, 0 * settings.tile_size, C.RIGHT)
    plants_to_water = [tile for tile in world.tiles if tile.to_water == 1]
    clock = pygame.time.Clock()  # FPS purpose

    screen = pygame.display.set_mode((settings.screen_width, settings.screen_height))
    pygame.display.set_caption('TRAKTOHOLIK')

    start_cords = tractor.curr_position
    goals = [plant.position for plant in plants_to_water]
    cords_idx = tractor.find_nearest_cords(tractor.curr_position, goals)
    end_cords = goals[cords_idx]
    start_dir = tractor.curr_direction
    path = BFSSearcher().search(start_cords, end_cords, start_dir)

    run = True
    while run:
        clock.tick(settings.fps)
        world.draw_tiles(screen)
        world.draw_lines(screen)
        tractor.draw(screen)

        for event in pygame.event.get():
            if event.type == pygame.QUIT:
                run = False

        if path:
            action = path.pop(0)
            tractor.update(action)
        else:
            tractor.water_plant(world, end_cords)
            if len(goals) > 1:
                start_cord = goals.pop(cords_idx)
                cords_idx = tractor.find_nearest_cords(tractor.curr_position, goals)
                end_cords = goals[cords_idx]
                start_dir = tractor.curr_direction
                path = BFSSearcher().search(start_cord, end_cords, start_dir)

        pygame.time.wait(settings.freeze_time)
        pygame.display.update()
    pygame.quit()


# if __name__ == '__main__':
#
#     # inicjalizacja array z zerami
#     rows = 10
#     cols = 10
#     field = np.zeros((rows, cols), dtype=int)
#
#     # tworzenie ścian w array
#     for i in range(0, 9):
#         field[1, i] = 1
#
#     field[2, 8] = 1
#     field[3, 8] = 1
#     field[3, 7] = 1
#     field[3, 6] = 1
#
#     print(field)
#
#     start = (0, 0)
#     goals = [(2, 7)]
#     while goals:
#         goal = goals.pop(0)
#         path = a_star(field, start, goal)
#         print(path)

main()