import pygame
from collections import deque
from classes.cell import Cell
import prefs
import heapq

class Agent:
    def __init__(self, x, y, cells, baseScore=0):
        self.sprite = pygame.image.load("sprites/BartenderNew64.png").convert_alpha()
        self.sprite = pygame.transform.scale(self.sprite, (prefs.CELL_SIZE, prefs.CELL_SIZE))
        self.current_cell = cells[x][y]
        self.moved=False
        self.last_move_time = pygame.time.get_ticks()
        self.last_interact_time = pygame.time.get_ticks()
        self.last_update_time = pygame.time.get_ticks()
        self.cells = cells
        self.score = baseScore
        self.multiplier = 1
        self.direction = 0
        self.directionPOM = 0
        self.xPOM = x
        self.yPOM = y
        self.g_scores = {}

        self.textures = [
            pygame.image.load("sprites/BartenderNew64.png").convert_alpha(),
            pygame.image.load("sprites/AgentLewo.png").convert_alpha(), 
            pygame.image.load("sprites/AgentTyl.png").convert_alpha(),
            pygame.image.load("sprites/AgentPrawo.png").convert_alpha()
        ]

    def move_up(self):
        if pygame.time.get_ticks()-self.last_move_time > 125 and self.current_cell.Y > 0 and not self.cells[self.current_cell.X][self.current_cell.Y-1].blocking_movement:
            self.current_cell = self.cells[self.current_cell.X][self.current_cell.Y-1]
            self.moved=True
            self.last_move_time=pygame.time.get_ticks()

    def move_down(self):
        if pygame.time.get_ticks()-self.last_move_time > 125 and self.current_cell.Y < prefs.GRID_SIZE-1 and not self.cells[self.current_cell.X][self.current_cell.Y+1].blocking_movement:
            self.current_cell = self.cells[self.current_cell.X][self.current_cell.Y+1]
            self.moved=True
            self.last_move_time=pygame.time.get_ticks()

    def move_left(self):
        if pygame.time.get_ticks()-self.last_move_time > 125 and self.current_cell.X > 0 and not self.cells[self.current_cell.X-1][self.current_cell.Y].blocking_movement:
            self.current_cell = self.cells[self.current_cell.X-1][self.current_cell.Y]
            self.moved=True
            self.last_move_time=pygame.time.get_ticks()

    def move_right(self):
        if pygame.time.get_ticks()-self.last_move_time > 125 and self.current_cell.X < prefs.GRID_SIZE-1 and not self.cells[self.current_cell.X+1][self.current_cell.Y].blocking_movement:
            self.current_cell = self.cells[self.current_cell.X+1][self.current_cell.Y]
            self.moved=True
            self.last_move_time=pygame.time.get_ticks()

    def update(self, surface):
        surface.blit(self.sprite, (self.current_cell.X * prefs.CELL_SIZE, 
                                   self.current_cell.Y * prefs.CELL_SIZE))
        
        current_update_time = pygame.time.get_ticks()
        # różnca czasu między wyoływaniami, używa do uniezależnienia od ilości wywołań funkcji
        delta_time = ((current_update_time - self.last_update_time)/1000)
        self.increase_multiplier(-(1 / 16) * delta_time)

                
                
        self.last_update_time = current_update_time

    def increase_score(self, amount):
        self.score += amount * round(self.multiplier,2)
        print("Agent score changed from {} to {} (multiplied by {}!)".format(self.score - amount, self.score, round(self.multiplier,2)))

    def increase_multiplier(self, amount):
        self.multiplier += amount
        if self.multiplier > 2: 
            self.multiplier = 2
            print("Agent score changed from {} to {}".format(self.multiplier , self.multiplier + amount  if self.multiplier + amount <= 2 else 2))
            return
        if self.multiplier < 1: 
            self.multiplier = 1

    def moveto(self,x,y):
        if not self.cells[x][y].blocking_movement:
            self.current_cell = self.cells[x][y]
            self.moved=True
            self.last_move_time=pygame.time.get_ticks()
            print("Agent moved to x,y: ",x,y)
        else:
            print("Agent cannot move to this direction")


    def bfs(self, start, target, cells):
        queue = deque([(start,[])])
        visited = set()

        while queue:
            current, path = queue.popleft()
            if current==target:
                return path + [current]
            
            if current in visited:
                continue
            
            visited.add(current)

            for neighbor in self.get_neighbors(current, cells):
                queue.append((neighbor, path + [current]))

        return None

    def get_neighbors(self, cell, cells):
        neighbors = []
        x, y = cell.X, cell.Y
        if x > 0 and not cells[x-1][y].blocking_movement:
            neighbors.append(cells[x-1][y])
        if x < prefs.GRID_SIZE - 1 and not cells[x+1][y].blocking_movement:
            neighbors.append(cells[x+1][y])
        if y > 0 and not cells[x][y-1].blocking_movement:
            neighbors.append(cells[x][y-1])
        if y < prefs.GRID_SIZE - 1 and not cells[x][y+1].blocking_movement:
            neighbors.append(cells[x][y+1])

        return neighbors

    #oddaje tablice punktow jako sciezke agenta
    def convert_to_coordinates(self, shortest_path):
        coordinates = [(cell.X, cell.Y) for cell in shortest_path]
        return coordinates

    #Wyjmuje pierwsze koordynaty do ruszenia agenta a potem usuwa go z listy
    def pop_first_coordinates(self, coordinates):
        if coordinates:
            x, y = coordinates.pop(0)
            return x, y
        else:
            print("Lista współrzędnych jest pusta.")
            return None, None

        
    #Funkcja pomocnicza dla watku bo chcemy zeby agent poruszal sie ale zeby to normalnie wygladalo
    def sciezkaAgenta(self, agent, path):
        x,y = self.pop_first_coordinates(path)
        if x is not None and y is not None:
            agent.moveto(x,y)


    def rotate_left(self):
        if pygame.time.get_ticks()-self.last_move_time > 125:
            self.direction +=1
            if self.direction==4:
                self.direction=0
            self.sprite = self.textures[self.direction]
            self.sprite = pygame.transform.scale(self.sprite, (prefs.CELL_SIZE, prefs.CELL_SIZE))
            self.last_move_time=pygame.time.get_ticks()
            print(self.direction)

    def rotate_right(self):
        if pygame.time.get_ticks()-self.last_move_time > 125:
            self.direction-=1
            if self.direction==-1:
                self.direction=3
            self.sprite = self.textures[self.direction]
            self.sprite = pygame.transform.scale(self.sprite, (prefs.CELL_SIZE, prefs.CELL_SIZE))
            self.last_move_time=pygame.time.get_ticks()
            print(self.direction)


    def move_direction(self):
        if self.direction == 0 and pygame.time.get_ticks()-self.last_move_time > 125 and self.current_cell.Y < prefs.GRID_SIZE-1 and not self.cells[self.current_cell.X][self.current_cell.Y+1].blocking_movement:
            self.current_cell = self.cells[self.current_cell.X][self.current_cell.Y+1]
            self.moved=True
            self.last_move_time=pygame.time.get_ticks()
        if self.direction == 1 and pygame.time.get_ticks()-self.last_move_time > 125 and self.current_cell.X > 0 and not self.cells[self.current_cell.X-1][self.current_cell.Y].blocking_movement:
            self.current_cell = self.cells[self.current_cell.X-1][self.current_cell.Y]
            self.moved=True
            self.last_move_time=pygame.time.get_ticks()

        if self.direction == 2 and pygame.time.get_ticks()-self.last_move_time > 125 and self.current_cell.Y > 0 and not self.cells[self.current_cell.X][self.current_cell.Y-1].blocking_movement:
            self.current_cell = self.cells[self.current_cell.X][self.current_cell.Y-1]
            self.moved=True
            self.last_move_time=pygame.time.get_ticks()

        if self.direction == 3 and pygame.time.get_ticks()-self.last_move_time > 125 and self.current_cell.X < prefs.GRID_SIZE-1 and not self.cells[self.current_cell.X+1][self.current_cell.Y].blocking_movement:
            self.current_cell = self.cells[self.current_cell.X+1][self.current_cell.Y]
            self.moved=True
            self.last_move_time=pygame.time.get_ticks()



    def get_possible_moves(self):
        possible_moves = []

        if self.directionPOM == 0:  # Patrzy w dół
            possible_moves.append((0, 'left'))
            possible_moves.append((0, 'right'))
            if self.yPOM < prefs.GRID_SIZE - 1 and not self.cells[self.xPOM][self.yPOM + 1].blocking_movement:
                possible_moves.append((self.directionPOM, 'forward'))
        elif self.directionPOM == 1:  # Patrzy w lewo
            possible_moves.append((1, 'left'))
            possible_moves.append((1, 'right'))
            if self.xPOM > 0 and not self.cells[self.xPOM - 1][self.yPOM].blocking_movement:
                possible_moves.append((self.directionPOM, 'forward'))
        elif self.directionPOM == 2:  # Patrzy w górę
            possible_moves.append((2, 'left'))
            possible_moves.append((2, 'right'))
            if self.yPOM > 0 and not self.cells[self.xPOM][self.yPOM - 1].blocking_movement:
                possible_moves.append((self.directionPOM, 'forward'))
        elif self.directionPOM == 3:  # Patrzy w prawo
            possible_moves.append((3, 'left'))
            possible_moves.append((3, 'right'))
            if self.xPOM < prefs.GRID_SIZE - 1 and not self.cells[self.xPOM + 1][self.yPOM].blocking_movement:
                possible_moves.append((self.directionPOM, 'forward'))

        return possible_moves

    def calculate_priority(self, el):
        return el[0]

    def bfs2(self, target_x, target_y):
        visited = set()
        self.directionPOM = self.direction
        start_state = (self.current_cell.X, self.current_cell.Y, self.directionPOM)
        #print(start_state)
        queue = []
        heapq.heappush(queue, (0,(start_state, [], 0)))
        while queue:
            _, que = heapq.heappop(queue)
            state, actions, gscore = que
            self.xPOM, self.yPOM, self.directionPOM = state
            if self.xPOM == target_x and self.yPOM == target_y:
                return actions

            if (self.xPOM, self.yPOM, self.directionPOM) in visited:
                continue

            visited.add((self.xPOM, self.yPOM, self.directionPOM))

            possible_moves = self.get_possible_moves()
            for new_direction, action in possible_moves:
                new_x, new_y = self.xPOM, self.yPOM
                new_actions = actions + [action]

                if action == 'left':
                    new_direction = (self.directionPOM + 1) % 4
                elif action == 'right':
                    new_direction = (self.directionPOM - 1) % 4
                else:  # forward
                    if self.directionPOM == 0:
                        new_y += 1
                    elif self.directionPOM == 1:
                        new_x -= 1
                    elif self.directionPOM == 2:
                        new_y -= 1
                    else:  # direction == 3
                        new_x += 1

                if 0 <= new_x < prefs.GRID_SIZE and 0 <= new_y < prefs.GRID_SIZE \
                        and not self.cells[new_x][new_y].blocking_movement:
                    new_state = (new_x, new_y, new_direction)

                    if (action == 'left' or action == 'right') :
                        gscore = gscore + 1
                    else:
                        gscore = gscore + self.cells[new_x][new_y].waga

                    f_score = gscore + self.heuristic((new_x,new_y), (target_x,target_y))

                    heapq.heappush(queue, (f_score, (new_state, new_actions, gscore)))

    
        return []
    
    def heuristic(self, current, target):
        # Manhattan distance heuristic
        dx = abs(current[0] - target[0])
        dy = abs(current[1] - target[1])
        return dx + dy