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# from asyncio.windows_events import NULL
# import sys

# from MapNode import MapNode

# class PlannerNode:
    
#     stack = []
#     def __init__(self):
#         self.current_obj=MapNode()
        
#         # Since we know that the first step the bot will take will be down, we can simply do it here
#         self.current_obj.direction_callback("down")  # example 1
#         self.current_obj.direction_callback("down")
#         notDir = None
#         self.stack = []
        
#         self.wall_callback(notDir)
        
    

#     def wall_callback(self, notDir):
        
        
#         print(self.current_obj.current)
#         # current_obj has all the attributes to help you in in your path planning !
         
        
        
        
#         current_coords = self.current_obj.current 
           
#         self.stack.append(current_coords)

#         tileNum = self.current_obj.array[current_coords[0]][current_coords[1]]
#         print(tileNum)
#                 #tileNum is being accessed for the current coord only, which is inline with the practical scenario
#                 #that only the current tile can be seen

#                 #to identify dead ends 

#         pop_intersec = True
#         if (tileNum == 14 or tileNum == 7 or tileNum == 11 or tileNum == 13):
#             pop_intersec = False
#             if (tileNum == 14):
#                 notDir = 'right'
#             if (tileNum == 7):
#                 notDir = 'up'
#             if (tileNum == 11):
#                 notDir = 'left'
#             if (tileNum == 13):
#                 notDir = 'down'        

#         directions = ['down', 'up', 'left', 'right']

#         if (notDir != directions[0] and not self.current_obj.map.check_bottom_wall(current_coords) and not (current_coords[0]+1, current_coords[1]) in self.stack):
#             self.current_obj.direction_callback(directions[0])
#             notDir = directions[1]
#             self.wall_callback(notDir)

#         elif (notDir != directions[1] and not self.current_obj.map.check_top_wall(current_coords) and not (current_coords[0]-1, current_coords[1]) in self.stack):
#             self.current_obj.direction_callback(directions[1])
#             notDir = directions[0]
#             self.wall_callback(notDir)

#         elif (notDir != directions[2] and not self.current_obj.map.check_left_wall(current_coords) and not (current_coords[0], current_coords[1]-1) in self.stack):
#             self.current_obj.direction_callback(directions[2])
#             notDir = directions[3]
#             self.wall_callback(notDir)

#         elif (notDir != directions[3] and not self.current_obj.map.check_right_wall(current_coords) and not (current_coords[0], current_coords[1]+1) in self.stack):
#             self.current_obj.direction_callback(directions[3])
#             notDir = directions[2]
#             self.wall_callback(notDir)

#         else:
#             self.current_obj.direction_callback(notDir)    


#         while(not pop_intersec):
#             print('execute')
            
#             self.current_obj.direction_callback(notDir)
#             if (self.current_obj.array[current_coords[0]][current_coords[1]] == 5 and notDir != 'left'):
#                 notDir = 'left'
#             elif (self.current_obj.array[current_coords[0]][current_coords[1]] == 5 and notDir != 'down'):
#                 notDir = 'down'
#             elif (self.current_obj.array[current_coords[0]][current_coords[1]] == 3 and notDir != 'down'):
#                 notDir = 'down'
#             elif (self.current_obj.array[current_coords[0]][current_coords[1]] == 3 and notDir != 'right'):
#                 notDir = 'right'
#             elif (self.current_obj.array[current_coords[0]][current_coords[1]] == 12 and notDir != 'left'):
#                 notDir = 'left'
#             elif (self.current_obj.array[current_coords[0]][current_coords[1]] == 12 and notDir != 'up'):
#                 notDir = 'up'
#             elif (self.current_obj.array[current_coords[0]][current_coords[1]] == 10 and notDir != 'up'):
#                 notDir = 'up'
#             elif (self.current_obj.array[current_coords[0]][current_coords[1]] == 10 and notDir != 'right'):
#                 notDir = 'right'
#             elif (self.current_obj.array[current_coords[0]][current_coords[1]] == 8 or self.current_obj.array[current_coords[0]][current_coords[1]] == 4 or self.current_obj.array[current_coords[0]][current_coords[1]] == 2 or self.current_obj.array[current_coords[0]][current_coords[1]] == 1 or self.current_obj.array[current_coords[0]][current_coords[1]] ==0):
#                 pop_intersec = True 

#         self.wall_callback(notDir) 
        

# if __name__ == '__main__':
#     start_obj=PlannerNode()
#     start_obj.current_obj.print_root.mainloop()

from asyncio.windows_events import NULL
import sys

from MapNode import MapNode

class PlannerNode:
    dead = []
    stack = []
    def __init__(self):
        self.current_obj=MapNode()
        
        # Since we know that the first step the bot will take will be down, we can simply do it here
        self.current_obj.direction_callback("down")  # example 1
        notDir = 'up'
        self.stack = []
        self.directions = ['up', 'down', 'left', 'right']
        self.found = False
        self.wall_callback(notDir)
        
    

    def wall_callback(self, notDir):
        current_coords = self.current_obj.current
        tileNum = self.current_obj.array[current_coords[0]][current_coords[1]]
        print(self.current_obj.current)
        # current_obj has all the attributes to help you in in your path planning !
         
         
           
        self.stack.append(current_coords)
        
        if(current_coords == self.current_obj.map.end):
            self.found = True
            return

        if (notDir != self.directions[0] and not self.current_obj.map.check_top_wall(current_coords) and ((current_coords[0] - 1, current_coords[1]) not in (self.stack and self.dead))):
            self.current_obj.direction_callback(self.directions[0])
            self.wall_callback(self.directions[1])
            if(self.found):
                return
            

        if (notDir != self.directions[1] and not self.current_obj.map.check_bottom_wall(current_coords) and ((current_coords[0] + 1, current_coords[1]) not in (self.stack and self.dead))):
            self.current_obj.direction_callback(self.directions[1])
            self.wall_callback(self.directions[0])
            if(self.found):
                return

        if (notDir != self.directions[2] and not self.current_obj.map.check_left_wall(current_coords) and ((current_coords[0], current_coords[1] - 1) not in (self.stack and self.dead))):
            self.current_obj.direction_callback(self.directions[2])
            self.wall_callback(self.directions[3])
            if(self.found):
                return

        if (notDir != self.directions[3] and not self.current_obj.map.check_right_wall(current_coords) and ((current_coords[0], current_coords[1] + 1) not in (self.stack and self.dead))):
            self.current_obj.direction_callback(self.directions[3])
            self.wall_callback(self.directions[2])
            if(self.found):
                return

        self.stack.pop()
        if (tileNum == 14 or tileNum == 7 or tileNum == 11 or tileNum == 13):
            self.dead.append(current_coords)
        
        self.current_obj.direction_callback(notDir)
        
        

if __name__ == '__main__':
    start_obj=PlannerNode()
    start_obj.current_obj.print_root.mainloop()
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