import pygame
from board import Board
from constant import width, height, rows, cols
from tractor import Tractor
from kolejka import Stan, Odwiedzone
from queue import Queue



fps = 5
WIN = pygame.display.set_mode((width, height))

pygame.display.set_caption('Inteligenty Traktor')

def goal_test(elem, goaltest, board):
    if board.is_rock(goaltest.row, goaltest.col):
        return True
    if((elem.row == goaltest.row) and (elem.col == goaltest.col)):
        return True
    else:
        return False
def actions(elem, istate):
    akcje = []
    while (elem.row != istate.row) or (elem.col != istate.col) or (elem.direction != istate.direction):
        akcje.append(elem.a)
        elem = elem.p[0]
    return akcje[::-1]  # Odwracamy kolejność, aby akcje były w poprawnej sekwencji



def graphsearch(istate, goaltest, board):
    explored = Odwiedzone()
    fringe = Queue()
    fringe.put(istate)
    moves = ["up", "left", "right"]
    while not fringe.empty():
        elem = fringe.get()
        if goal_test(elem, goaltest, board):
            return actions(elem, istate)
        explored.dodaj_stan(elem)
        for action in moves:
            stan = elem.succ(action, board)
            if stan is not None:
                if((not fringe_check(fringe,stan)) and (not explored.check(stan))):
                    stan.parrent(elem, action)
                    fringe.put(stan)
    return "Brak sciezki"

def fringe_check(fringe, stan):  # Funkcja pomocnicza do sprawdzania stanu w kolejce
    with fringe.mutex:
        for item in fringe.queue:
            if stan.direction == item.direction and stan.col == item.col and stan.row == item.row:
                return True
    return False
def main():
    initial_state = Stan(4,4, "down")
    goaltest = Stan(1,1, "up")
    run = True
    clock = pygame.time.Clock()
    board = Board()
    board.load_images()
    akcje = graphsearch(initial_state, goaltest, board)
    print("akcje:  >",akcje )
    tractor = Tractor(4, 4)
    while run:
        clock.tick(fps)

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

        if akcje:
            action = akcje.pop(0)  # Pobierz kolejną akcję z listy
            if action == "left":
                tractor.turn_left()
            elif action == "right":
                tractor.turn_right()
            elif action == "up":
                tractor.move_forward(board)


        board.draw_cubes(WIN)
        tractor.draw(WIN)
        pygame.display.update()
    pygame.quit()

main()