import time
import pygame
import random
import displayControler as dCon
import Slot
import Osprzet
import Node



def goalTest(hIndex):
    for i in list(hIndex.values()):
        if i == 0:
            return False
    return True


def succ(state):
    resp = []
    hIndex = state["hydradeIndex"].copy()

    if state["direction"] == "N":
        if state["y"] > 0:
            if hIndex[state["x"], state["y"]-1] == 0:
                hIndex[state["x"], state["y"] - 1] = 1
            resp.append(["forward", {'x': state["x"], 'y': state["y"]-1, 'direction': state["direction"], 'hydradeIndex': hIndex}])
        resp.append(["right", {'x': state["x"], 'y': state["y"], 'direction': "E", 'hydradeIndex': state["hydradeIndex"].copy()}])
        resp.append(["left", {'x': state["x"], 'y': state["y"], 'direction': "W", 'hydradeIndex': state["hydradeIndex"].copy()}])
    elif state["direction"] == "S":
        if state["y"] < dCon.NUM_Y-1:
            if hIndex[state["x"], state["y"]+1] == 0:
                hIndex[state["x"], state["y"] + 1] = 1
            resp.append(["forward", {'x': state["x"], 'y': state["y"]+1, 'direction': state["direction"], 'hydradeIndex': hIndex}])
        resp.append(["right", {'x': state["x"], 'y': state["y"], 'direction': "W", 'hydradeIndex': state["hydradeIndex"].copy()}])
        resp.append(["left", {'x': state["x"], 'y': state["y"], 'direction': "E", 'hydradeIndex': state["hydradeIndex"].copy()}])
    elif state["direction"] == "E":
        if state["x"] < dCon.NUM_X-1:
            if hIndex[state["x"]+1, state["y"]] == 0:
                hIndex[state["x"] + 1, state["y"]] = 1
            resp.append(["forward", {'x': state["x"]+1, 'y': state["y"], 'direction': state["direction"], 'hydradeIndex': hIndex}])
        resp.append(["right", {'x': state["x"], 'y': state["y"], 'direction': "S", 'hydradeIndex': state["hydradeIndex"].copy()}])
        resp.append(["left", {'x': state["x"], 'y': state["y"], 'direction': "N", 'hydradeIndex': state["hydradeIndex"].copy()}])
    else: #state["direction"] == "W"
        if state["x"] > 0:
            if hIndex[state["x"]-1, state["y"]] == 0:
                hIndex[state["x"] - 1, state["y"]] = 1
            resp.append(["forward", {'x': state["x"]-1, 'y': state["y"], 'direction': state["direction"], 'hydradeIndex': hIndex}])
        resp.append(["right", {'x': state["x"], 'y': state["y"], 'direction': "N", 'hydradeIndex': state["hydradeIndex"].copy()}])
        resp.append(["left", {'x': state["x"], 'y': state["y"], 'direction': "S", 'hydradeIndex': state["hydradeIndex"].copy()}])

    return resp


def check(tab, state):
    for i in tab:
        if i.state == state:
            return False
    return True


def BFS(istate):
    fringe = []
    explored = []

    x = Node.Node(istate)
    fringe.append(x)

    while True:
        if fringe == []:
            return False

        elem = fringe.pop(0)

        if goalTest(elem.state["hydradeIndex"]):
            return elem #TODO ciąg akcji zbudowany z wykorzystaniem pól parent i action

        explored.append(elem)

        for resp in succ(elem.state):
            if check(fringe, resp[1]) and check(explored, resp[1]):
                x = Node.Node(resp[1])
                x.parent = elem
                x.action = resp[0]
                fringe.append(x)





class Tractor:
    DIRECTION_NORTH = 'N'
    DIRECTION_SOUTH = 'S'
    DIRECTION_WEST = 'W'
    DIRECTION_EAST = 'E'
    def __init__(self,slot,screen, osprzet):
        self.tractor_images = {
            Tractor.DIRECTION_NORTH: pygame.transform.scale(pygame.image.load('images/traktorN.png'),
                                                            (dCon.CUBE_SIZE, dCon.CUBE_SIZE)),
            Tractor.DIRECTION_SOUTH: pygame.transform.scale(pygame.image.load('images/traktorS.png'),
                                                            (dCon.CUBE_SIZE, dCon.CUBE_SIZE)),
            Tractor.DIRECTION_WEST: pygame.transform.scale(pygame.image.load('images/traktorW.png'),
                                                           (dCon.CUBE_SIZE, dCon.CUBE_SIZE)),
            Tractor.DIRECTION_EAST: pygame.transform.scale(pygame.image.load('images/traktor.png'),
                                                           (dCon.CUBE_SIZE, dCon.CUBE_SIZE))
        }
        self.direction = Tractor.DIRECTION_EAST  # początkowy kierunek wschód
        self.current_tractor_image = self.tractor_images[self.direction]
        self.screen=screen
        self.slot=slot
        self.osprzet = osprzet


    def draw_tractor(self):
        self.screen.blit(self.current_tractor_image, (self.slot.x_axis * dCon.CUBE_SIZE, self.slot.y_axis * dCon.CUBE_SIZE))
        pygame.display.update()

    def turn_left(self):
        # zmiana kierunku w lewo
        direction_map = {
            Tractor.DIRECTION_EAST: Tractor.DIRECTION_NORTH,
            Tractor.DIRECTION_NORTH: Tractor.DIRECTION_WEST,
            Tractor.DIRECTION_WEST: Tractor.DIRECTION_SOUTH,
            Tractor.DIRECTION_SOUTH: Tractor.DIRECTION_EAST
        }
        self.direction = direction_map[self.direction]
        self.current_tractor_image = self.tractor_images[self.direction]
        self.draw_tractor()

    def turn_right(self):
        # zmiana kierunku w prawo
        direction_map = {
            Tractor.DIRECTION_EAST: Tractor.DIRECTION_SOUTH,
            Tractor.DIRECTION_SOUTH: Tractor.DIRECTION_WEST,
            Tractor.DIRECTION_WEST: Tractor.DIRECTION_NORTH,
            Tractor.DIRECTION_NORTH: Tractor.DIRECTION_EAST
        }
        self.direction = direction_map[self.direction]
        self.current_tractor_image = self.tractor_images[self.direction]
        self.draw_tractor()

    def move_forward(self, pole):
        next_slot_coordinates = None
        if self.direction == Tractor.DIRECTION_EAST:
            next_slot_coordinates = (self.slot.x_axis + 1, self.slot.y_axis)
            self.current_tractor_image = self.tractor_images[self.direction]
        elif self.direction == Tractor.DIRECTION_WEST:
            next_slot_coordinates = (self.slot.x_axis - 1, self.slot.y_axis)
            self.current_tractor_image = self.tractor_images[self.direction]
        elif self.direction == Tractor.DIRECTION_SOUTH:
            next_slot_coordinates = (self.slot.x_axis, self.slot.y_axis + 1)
            self.current_tractor_image = self.tractor_images[self.direction]
        elif self.direction == Tractor.DIRECTION_NORTH:
            next_slot_coordinates = (self.slot.x_axis, self.slot.y_axis - 1)
            self.current_tractor_image = self.tractor_images[self.direction]

        # sprawdzenie czy następny slot jest dobry
        if next_slot_coordinates and pole.is_valid_move(next_slot_coordinates):
            next_slot = pole.get_slot_from_cord(next_slot_coordinates)
            self.slot.redraw_image()
            self.slot = next_slot
            self.draw_tractor()

    def random_move(self, pole):
        # losowanie skrętu
        turn_direction = random.choice([self.turn_left, self.turn_right])
        turn_direction()
        time.sleep(0.5)
        # wykonanie ruchu do przodu z uwzględnieniem aktualnej orientacji
        self.move_forward(pole)


    #to tak zrobiłam już na później, może się przyda
    def change_osprzet(self, new_osprzet):
        self.osprzet = new_osprzet

    def print_osprzet_info(self):
        print("ID:", self.osprzet.id)
        print("Marka:", self.osprzet.marka)
        print("Model:", self.osprzet.model)
        if self.osprzet.akcje:
            print("Akcje:")
            for akcja in self.osprzet.akcje:
                print("- Typ:", akcja.typ)
        else:
            print("Brak akcji przypisanych do tego sprzętu.")