import heapq  # dla utrzymania fringe
from classes import node, minesweeper, system
import time


class BFS:
    window: system.Window
    agent: minesweeper.Minesweeper
    node: node.Node

    def __init__(self, agent, window):
        self.agent = agent
        self.window = window

    def successor(self, current_position):
        new_nodes = []
        neighbours_list = self.agent.sensor(current_position[0], current_position[1])
        #print(neighbours_list[0])
        #print(neighbours_list[1])
        #print(neighbours_list[2])


        if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
            new_nodes.append([current_position[0] - 1, current_position[1]])
        if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
            new_nodes.append([current_position[0], current_position[1] + 1])
        if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
            new_nodes.append([current_position[0] + 1, current_position[1]])
        if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
            new_nodes.append([current_position[0],current_position[1] - 1])

        return new_nodes



    # fringe = struktura danych przeszowyjąca wierchowki do odwiedzenia
    # explored = lista odwiedzonych stanow
    # position_at_beginning = stan poczatkowy
    # succ = funkcja nastempnika
    # goaltest = test spewnienia celu

    def graphsearch(self, fringe, explored, succ, goaltest):
        self.window.pause(True)

        positiont_at_beginning = [self.agent.position_x, self.agent.position_y, self.agent.rotation_degrees]  # x, y, gdzie_patczy
        final_action_list = []
        root = node.Node(None, None, positiont_at_beginning[:2])  # parent, action, position
        counter = 0
        heapq.heappush(fringe, (counter, root))
        visited_position = []


        while len(fringe) != 0:
            flag = True


            if len(fringe) == 0:
                return False
                break

            tmp_node = heapq.heappop(fringe)  # node
            #print(f'my parent is {tmp_node[1].get_parent()}')
            tmp_node_position = tmp_node[1].get_position()

            #print(f'Position of our node {tmp_node_position[:2]}')

            visited_position.append(tmp_node_position[:2])
            #print(f'visited position: {visited_position}')

            if tmp_node_position[:2] == goaltest:
                 #print(' we find node')
                # print(visited_position)

                 #print(fringe)
                 #break
                 while tmp_node[1].get_parent() is not None:
                     #print('sdfhdfg')
                     #print(tmp_node[1].get_parent()[1].get_position())
                     final_action_list.append(tmp_node[1].get_action())
                     tmp_node = tmp_node[1].get_parent()
                 final_action_list.reverse()
                 print(final_action_list)
                 self.window.pause(False)
                 return final_action_list


            explored.append(tmp_node)

            neighbours_list_of_our_node = self.successor(tmp_node_position[:2])
            #print(neighbours_list_of_our_node)
            for node_ in neighbours_list_of_our_node:
                # jesli pozucja wezla nie jest w fringe i nie jest w explored
                if [node_[0], node_[1]] not in visited_position and node_[0] >= 0 and node_[1] >=0:
                    counter += 1
                    #print([node_[0], node_[1]])
                    x = node.Node(tmp_node, None, [node_[0], node_[1]])  # action
                    heapq.heappush(fringe, (counter, x))
                    self.window.draw_search([self.agent.position_x, self.agent.position_y], [node_[0], node_[1]])
                    time.sleep(0.01)