from typing import List

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

from AgentBase import AgentBase
from ForkliftAgent import ForkliftAgent
from InitialStateFactory import InitialStateFactory
from PatchAgent import PatchAgent
from PatchType import PatchType
from data.GameConstants import GameConstants
from decision.ActionType import ActionType
from pathfinding.dlaMarcina import PathFinderOnStates, PathFinderState
from util.PathDefinitions import GridLocation, GridWithWeights


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)

        initial_state_factory = InitialStateFactory()

        self.game_constants = GameConstants(
            width,
            height,
            graph.walls
        )

        # 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), (8, 8)

        pathFinder = PathFinderOnStates(
            self.game_constants,
            goal,
            PathFinderState(self.forklift_agent.current_position, self.forklift_agent.current_rotation, 0,
                            ActionType.NONE, [])
        )

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

        actions = pathFinder.getActionList()
        print("PATHFINDING")
        print(actions)
        self.forklift_agent.queue_movement_actions(actions)

    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)