import requests
import time
import heapq


class Cell:
    def __init__(self, x, y):
        self.x = x
        self.y = y
        self.walls = {'N': None, 'E': None, 'S': None, 'W': None}
        self.visited = False

    def get_wall_code(self):
        up = self.walls['N']
        right = self.walls['E']
        down = self.walls['S']
        left = self.walls['W']
        walls = (
            1 if up else 0,
            1 if right else 0,
            1 if down else 0,
            1 if left else 0
        )
        walls_to_code = {
            (0, 0, 0, 0): 0,
            (0, 0, 0, 1): 1,
            (1, 0, 0, 0): 2,
            (0, 1, 0, 0): 3,
            (0, 0, 1, 0): 4,
            (0, 0, 1, 1): 5,
            (0, 1, 1, 0): 6,
            (1, 1, 0, 0): 7,
            (1, 0, 0, 1): 8,
            (0, 1, 0, 1): 9,
            (1, 0, 1, 0): 10,
            (1, 1, 1, 0): 11,
            (1, 1, 0, 1): 12,
            (1, 0, 1, 1): 13,
            (0, 1, 1, 1): 14,
            (1, 1, 1, 1): 15
        }
        return walls_to_code.get(walls, 0)

class Maze:
    class ExitDFS(Exception):
        pass

    def __init__(self):
        self.size = 16
        self.restart()
        self.grid = [[Cell(x, y) for y in range(self.size)] for x in range(self.size)]
        self.cells_to_ignore = {(7, 8)}  

    def restart(self):
        #self.grid = [[Cell(x, y) for y in range(self.size)] for x in range(self.size)]
        self.start_x = 0
        self.start_y = 0

    def get_cell(self, x, y):
        return self.grid[x][y]

    def is_within_bounds(self, x, y):
        return 0 <= x < self.size and 0 <= y < self.size

    def to_array(self):
        maze_array = []
        for y in range(self.size - 1, -1, -1):
            row = []
            for x in range(self.size):
                cell = self.get_cell(x, y)
                row.append(cell.get_wall_code())
            maze_array.append(row)
        return maze_array

class Robot:
    def __init__(self, token: str, maze: Maze):
        self.token = token
        self.api_url = 'http://127.0.0.1:8801/api/v1'
        self.maze = maze
        self.restart()

    def restart(self):
        self.x = self.maze.start_x
        self.y = self.maze.start_y
        self.orientation = 'N'  # 'N', 'E', 'S', 'W'
        self.visited_cells = set()
        self.move_count = 0

    def get_sensor_data(self):
        time.sleep(0.2)
        response = requests.get(f'{self.api_url}/robot-cells/sensor-data', params={'token': self.token})
        return response.json()

    def move_forward(self):
        requests.post(f'{self.api_url}/robot-cells/forward', params={'token': self.token})
        time.sleep(0.2)
        self.update_position('forward')

    def turn_left(self):
        requests.post(f'{self.api_url}/robot-cells/left', params={'token': self.token})
        time.sleep(0.2)
        self.update_orientation('left')

    def turn_right(self):
        requests.post(f'{self.api_url}/robot-cells/right', params={'token': self.token})
        time.sleep(0.2)
        self.update_orientation('right')

    def update_orientation(self, turn):
        directions = ['N', 'E', 'S', 'W']
        idx = directions.index(self.orientation)
        if turn == 'left':
            self.orientation = directions[(idx - 1) % 4]
        elif turn == 'right':
            self.orientation = directions[(idx + 1) % 4]

    def update_position(self, move):
        dx, dy = 0, 0
        if self.orientation == 'N':
            dy = 1 if move == 'forward' else -1
        elif self.orientation == 'E':
            dx = 1 if move == 'forward' else -1
        elif self.orientation == 'S':
            dy = -1 if move == 'forward' else 1
        elif self.orientation == 'W':
            dx = -1 if move == 'forward' else 1
        self.x += dx
        self.y += dy
        self.move_count += 1

    def explore(self):
        try:
            self._dfs(self.x, self.y)
        except self.maze.ExitDFS:
            pass

    def _dfs(self, x, y):
        if (x, y) in self.maze.cells_to_ignore:
            return 

        cell = self.maze.get_cell(x, y)
        if cell.visited:
            return

        cell.visited = True
        self.visited_cells.add((x, y))
        sensor_data = self.get_sensor_data()
        threshold = 100

        walls = {}
        walls[self.orientation_to_dir('N')] = sensor_data['front_distance'] < threshold
        walls[self.orientation_to_dir('E')] = sensor_data['right_side_distance'] < threshold
        walls[self.orientation_to_dir('W')] = sensor_data['left_side_distance'] < threshold
        walls[self.orientation_to_dir('S')] = sensor_data['back_distance'] < threshold

        cell.walls.update(walls)

        possible_directions = []
        for direction in ['N', 'E', 'S', 'W']:
            if not cell.walls[direction]:
                nx, ny = self.get_next_position(x, y, direction)
                if self.maze.is_within_bounds(nx, ny) and (nx, ny) not in self.visited_cells:
                    if (nx, ny) not in self.maze.cells_to_ignore:
                        possible_directions.append(direction)

        for direction in possible_directions:
            nx, ny = self.get_next_position(x, y, direction)
            self.move_to(direction)
            self._dfs(nx, ny)
            self.move_to(self.opposite_direction(direction)) 

    def get_next_position(self, x, y, direction):
        dx, dy = 0, 0
        if direction == 'N':
            dy = 1
        elif direction == 'E':
            dx = 1
        elif direction == 'S':
            dy = -1
        elif direction == 'W':
            dx = -1
        return x + dx, y + dy

    def move_to(self, direction):
        turns = self.calculate_turns(self.orientation, direction)
        for turn in turns:
            if turn == 'left':
                self.turn_left()
            elif turn == 'right':
                self.turn_right()
        self.move_forward()

    def calculate_turns(self, current_orientation, target_orientation):
        directions = ['N', 'E', 'S', 'W']
        idx_current = directions.index(current_orientation)
        idx_target = directions.index(target_orientation)
        delta = (idx_target - idx_current) % 4
        if delta == 0:
            return []
        elif delta == 1:
            return ['right']
        elif delta == 2:
            return ['right', 'right']
        elif delta == 3:
            return ['left']

    def opposite_direction(self, direction):
        opposites = {'N': 'S', 'E': 'W', 'S': 'N', 'W': 'E'}
        return opposites[direction]

    def orientation_to_dir(self, relative_direction):
        directions = ['N', 'E', 'S', 'W']
        idx = directions.index(self.orientation)
        if relative_direction == 'N':
            return directions[idx]
        elif relative_direction == 'E':
            return directions[(idx + 1) % 4]
        elif relative_direction == 'S':
            return directions[(idx + 2) % 4]
        elif relative_direction == 'W':
            return directions[(idx - 1) % 4]

    def restart_maze(self):
        response = requests.post(f"{self.api_url}/maze/restart", params={'token': self.token})
        time.sleep(0.5)
        if response.status_code == 200:
            print("Лабиринт перезапущен.")
        else:
            print(f"Ошибка при перезапуске лабиринта: {response.text}")

    def find_shortest_path_to_target(self, target_x, target_y):
        start_state = (self.x, self.y, self.orientation)
        queue = []
        heapq.heappush(queue, (0, 0, start_state, []))  
        visited = set()

        while queue:
            f, g, (x, y, orientation), path = heapq.heappop(queue)
            if (x, y, orientation) in visited:
                continue
            visited.add((x, y, orientation))

            if (x, y) == (target_x, target_y):
                print(f"Найден путь до цели ({target_x}, {target_y})")
                return path  

            cell = self.maze.get_cell(x, y)

            for action in ['forward', 'left_forward', 'right_forward']:
                if action == 'forward':
                    next_orientation = orientation
                    dx, dy = self.get_direction_delta(orientation)
                    nx, ny = x + dx, y + dy
                    action_cost = 1
                elif action == 'left_forward':
                    next_orientation = self.turn_orientation(orientation, 'left')
                    dx, dy = self.get_direction_delta(next_orientation)
                    nx, ny = x + dx, y + dy
                    action_cost = 2
                elif action == 'right_forward':
                    next_orientation = self.turn_orientation(orientation, 'right')
                    dx, dy = self.get_direction_delta(next_orientation)
                    nx, ny = x + dx, y + dy
                    action_cost = 2

                if not self.maze.is_within_bounds(nx, ny):
                    continue
                next_cell = self.maze.get_cell(nx, ny)
                wall = cell.walls.get(next_orientation)
                if wall is None or wall:
                    continue  

                h = self.distance_to_target(nx, ny, target_x, target_y)
                heapq.heappush(queue, (
                    g + action_cost + h,
                    g + action_cost,
                    (nx, ny, next_orientation),
                    path + [(action, next_orientation)]
                ))

        print(f"Путь до цели ({target_x}, {target_y}) не найден.")
        return None  

    def execute_path(self, path):
        for action, orientation in path:
            if action == 'forward':
                self.move_forward()
            elif action == 'left_forward':
                self.turn_left()
                self.move_forward()
            elif action == 'right_forward':
                self.turn_right()
                self.move_forward()
            self.orientation = orientation 

        print(f"Робот прибыл к цели на позиции ({self.x}, {self.y})")

    def get_direction_delta(self, orientation):
        if orientation == 'N':
            return 0, 1
        elif orientation == 'E':
            return 1, 0
        elif orientation == 'S':
            return 0, -1
        elif orientation == 'W':
            return -1, 0

    def turn_orientation(self, current_orientation, turn):
        directions = ['N', 'E', 'S', 'W']
        idx = directions.index(current_orientation)
        if turn == 'left':
            return directions[(idx - 1) % 4]
        elif turn == 'right':
            return directions[(idx + 1) % 4]

    def distance_to_target(self, x, y, target_x, target_y):
        return abs(x - target_x) + abs(y - target_y)

def restart(robot: Robot, maze: Maze):
    robot.restart()
    robot.restart_maze()
    maze.restart()

def start_once(robot: Robot, matrix_check: bool=True, score_check: bool=True):

    robot.explore()

    print_results(robot=robot, matrix_check=matrix_check, score_check=score_check)

    restart(robot, robot.maze)

    path = robot.find_shortest_path_to_target(7, 8)
    if path:
        robot.execute_path(path)
    else:
        print("Не удалось найти путь до клетки (7, 8).")

def print_results(robot: Robot, matrix_check: bool=False, score_check: bool=True):
    maze_array = robot.maze.to_array()
    if matrix_check:
        for row in maze_array:
            print(row)
    
    if not score_check:
        return
    
    response = requests.post(
        f'{robot.api_url}/matrix/send',
        params={'token': robot.token},
        json=maze_array
    )
    if response.status_code == 200:
        response_data = response.json()
        score = response_data.get('Score')
        if score is not None:
            print('Отправка матрицы завершена' + f', Score: {score}')
        else:
            print('Отправка матрицы завершена, но Score отсутствует в ответе:', response_data)
    else:
        print('Ошибка при отправке матрицы, статус код:', response.status_code)
    
def main(num_att=1):
    token = 'token'
    maze = Maze()
    robot = Robot(token=token, maze=maze)
    times = time.time()
    for i in range(num_att):
        start_time = time.time()
        print(f'Попытка {i + 1}')
        start_once(robot=robot)
        print(f'Время {time.time() - start_time} секунд')
    print(f'Общее время {time.time() - times} секунд (лимит - {60 * 15})')


if __name__ == '__main__':
    main(num_att=1)