#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
@author: A.Akdogan
"""
from random import randint
import os
import sys 
import time
from time import sleep
print(sys.path)

class Node:

    def __init__(self, x, y):

        self.x = x 
        self.y = y
        self.f = 0
        self.g = 0
        self.h = 0
        self.neighbors = []
        self.previous = None
        self. obstacle = False


    def add_neighbors(self,grid, columns, rows):

        neighbor_x = self.x
        neighbor_y = self.y
    
        if neighbor_x < columns - 1:
            self.neighbors.append(grid[neighbor_x+1][neighbor_y])
        if neighbor_x > 0:
            self.neighbors.append(grid[neighbor_x-1][neighbor_y])
        if neighbor_y < rows -1:
            self.neighbors.append(grid[neighbor_x][neighbor_y +1])
        if neighbor_y > 0: 
            self.neighbors.append(grid[neighbor_x][neighbor_y-1])
        #diagonals
        """ if neighbor_x > 0 and neighbor_y > 0:
            self.neighbors.append(grid[neighbor_x-1][neighbor_y-1])
        if neighbor_x < columns -1 and neighbor_y > 0:
            self.neighbors.append(grid[neighbor_x+1][neighbor_y-1])
        if neighbor_x > 0 and neighbor_y  0:
            open_set, closed_set, current_node, final_path = AStar.start_path(open_set, closed_set, current_node, self.end)
            if len(final_path) > 0:
                break

        return final_path


cols = 25
rows = 25 
start = [0,0]
end = [24,24]
open_set  = []
closed_set  = []
current_node = None
final_path  = []
grid = []


def show_func(grid_element,color, width,height): 
    if grid_element.obstacle == True:
            fill("black")
    else:
        fill(color)
    noStroke()
    rect(grid_element.x * width, grid_element.y * height, width-1 , height-1)


def setup():
    global grid
    createCanvas(500, 500)
    background(160)

        
    
flag = False   


def draw():
    
    global grid
    global end
    global open_set
    global closed_set
    global final_path
    global current_node
    global flag
    global start

    global cols 
    global rows 
  
    frameRate(60)
    w = width / cols
    h = height / rows
    if flag == False:
        
 

        grid = AStar.create_grid(cols, rows)   
        grid = AStar.fill_grids(grid, cols, rows, obstacle_ratio = 30)
        grid = AStar.get_neighbors(grid, cols, rows)
        start = grid[start[0]][start[1]]
        end = grid[end[0]][end[1]]
        end.obstacle = False
        start.obstacle = False

        background(0)
        for i in range(cols):
            for j in range(rows):
                show_func(grid[i][j], color(255),w,h)
        stroke(0,0,0)
        line(0, 0, 0, width)
        line(0,0,height, 1)
        open_set.append(start)

        
        flag = True

    if len(open_set) > 0:
        open_set, closed_set, current_node, final_path = AStar.start_path(open_set, closed_set, current_node, end)

    
    #grid
        show_func(start, "green", w,h)
        show_func(end, "red",w,h)
        for i in range(len(open_set)):
            #show_func(open_set[i], "#00ffbf",w,h)
            show_func(open_set[i], "#00ffbf",w,h)

        for i in range(len(closed_set)):
            show_func(closed_set[i], "#ffa500",w,h)
            show_func(start, "green", w,h)

        show_func(current_node, "#8a2be2",w,h)

        if len(open_set) == 0:
            print("No way!")
            #noLoop()
    
            frameRate(1)
            cols = 25
            rows = 25 
            start = [0,0]
            end = [24,24]
            open_set  = []
            closed_set  = []
            current_node = None
            final_path  = []
            grid = []
            flag = False
            

        if len(final_path) > 0:
            for i in range(len(final_path)):
                show_func(final_path[i], "#8a2be2",w,h)
                #show_func(final_path[i], "red",w,h)
            show_func(start, "green", w,h)
            show_func(end, "red",w,h)

            print("Done!!")
            frameRate(1)
            cols = 25
            rows = 25 
            start = [0,0]
            end = [24,24]
            open_set  = []
            closed_set  = []
            current_node = None
            final_path  = []
            grid = []
            flag = False