from typing import List

from mesa import Model, Agent
from mesa.space import MultiGrid
from mesa.time import RandomActivation

from AgentBase import AgentBase
from ForkliftAgent import ForkliftAgent
from PatchAgent import PatchAgent
from PatchType import PatchType
from util.PathDefinitions import inverse_y, GridLocation, GridWithWeights
from util.PathVisualiser import draw_grid, reconstruct_path
from util.Pathfinder import a_star_search


class GameModel(Model):

    def __init__(self, width, height, graph: GridWithWeights):
        # self.num_agents = 5
        self.running = True
        self.grid = MultiGrid(height, width, True)
        self.schedule = RandomActivation(self)
        self.agents = [AgentBase]

        self.forklift_agent = ForkliftAgent(self)
        self.schedule.add(self.forklift_agent)
        self.agents.append(self.forklift_agent)

        # Add the agent to a random grid cell
        x = 5
        y = 5
        self.grid.place_agent(self.forklift_agent, (x, y))
        self.forklift_agent.current_position = (x, y)

        # start, goal = (x, y), (2, 1)
        # came_from, cost_so_far = a_star_search(graph, start, goal)
        # draw_grid(graph, point_to=came_from, start=start, goal=goal)
        #
        # path = map(lambda t: (t[0], inverse_y(height, t[1])),
        #            reconstruct_path(came_from=came_from, start=start, goal=goal))
        #
        # print("cam from: {}".format(came_from))
        # print("costerino: {}".format(cost_so_far))
        # draw_grid(graph, path=reconstruct_path(came_from, start=start, goal=goal))
        # self.forklift_agent.assign_new_movement_task(path)

        self.place_patch_agents()
        self.place_walls_agents(graph.walls)

    def place_patch_agents(self):
        agent = PatchAgent(self, PatchType.pickUp)
        self.schedule.add(agent)
        self.grid.place_agent(agent, (self.grid.width - 1, self.grid.height - 1))
        self.agents.append(agent)

        agent = PatchAgent(self, PatchType.dropOff)
        # self.schedule.add(agent)
        self.grid.place_agent(agent, (0, self.grid.height - 1))
        self.agents.append(agent)

        for i in range(3):
            a = PatchAgent(self, PatchType.item)
            self.agents.append(a)
            self.grid.place_agent(a, (i, 0))

    def place_walls_agents(self, walls: List[GridLocation]):
        for w in walls:
            agent = PatchAgent(self, PatchType.wall)
            self.agents.append(agent)
            self.grid.place_agent(agent, w)

    def step(self):
        self.schedule.step()

        print("update multiGrid")

        self.grid.remove_agent(self.forklift_agent)
        self.grid.place_agent(self.forklift_agent, self.forklift_agent.current_position)