import sys
from collections import deque
import heapq
import time
import os
from abc import ABC, abstractmethod
from typing import List, Optional, Dict, Any


DATA_PATH = r"C:\Users\user\Desktop\2026-rff_mp\SokolovEN\docs\data"


class Observer(ABC):
    @abstractmethod
    def update(self, event: str, data: Any = None):
        pass


class Observable:
    def __init__(self):
        self._observers: List[Observer] = []

    def attach(self, observer: Observer):
        self._observers.append(observer)

    def detach(self, observer: Observer):
        self._observers.remove(observer)

    def notify(self, event: str, data: Any = None):
        for observer in self._observers:
            observer.update(event, data)


class Tile:
    def __init__(self, x: int, y: int):
        self._x = x
        self._y = y
        self._wall = False
        self._start = False
        self._exit = False

    @property
    def x(self) -> int:
        return self._x

    @property
    def y(self) -> int:
        return self._y

    @property
    def is_wall(self) -> bool:
        return self._wall

    @is_wall.setter
    def is_wall(self, v: bool):
        self._wall = v

    @property
    def is_start(self) -> bool:
        return self._start

    @is_start.setter
    def is_start(self, v: bool):
        self._start = v

    @property
    def is_exit(self) -> bool:
        return self._exit

    @is_exit.setter
    def is_exit(self, v: bool):
        self._exit = v

    def passable(self) -> bool:
        return not self._wall

    def __hash__(self):
        return hash((self._x, self._y))

    def __eq__(self, other):
        if not isinstance(other, Tile):
            return False
        return self._x == other._x and self._y == other._y


class Maze:
    def __init__(self, w: int, h: int):
        self._w = w
        self._h = h
        self._cells = [[Tile(x, y) for x in range(w)] for y in range(h)]
        self._start: Optional[Tile] = None
        self._exit: Optional[Tile] = None

    @property
    def width(self) -> int:
        return self._w

    @property
    def height(self) -> int:
        return self._h

    @property
    def start(self) -> Optional[Tile]:
        return self._start

    @property
    def exit(self) -> Optional[Tile]:
        return self._exit

    def get_cell(self, x: int, y: int) -> Optional[Tile]:
        if 0 <= x < self._w and 0 <= y < self._h:
            return self._cells[y][x]
        return None

    def set_cell(self, x: int, y: int, kind: str):
        c = self.get_cell(x, y)
        if not c:
            return
        if kind == 'wall':
            c.is_wall = True
        elif kind == 'start':
            if self._start:
                self._start.is_start = False
            c.is_start = True
            c.is_wall = False
            self._start = c
        elif kind == 'exit':
            if self._exit:
                self._exit.is_exit = False
            c.is_exit = True
            c.is_wall = False
            self._exit = c
        elif kind == 'path':
            c.is_wall = False

    def neighbours(self, cell: Tile) -> List[Tile]:
        result = []
        for dx, dy in [(0, -1), (0, 1), (-1, 0), (1, 0)]:
            nx, ny = cell.x + dx, cell.y + dy
            nb = self.get_cell(nx, ny)
            if nb and nb.passable():
                result.append(nb)
        return result


class MazeLoader(ABC):
    @abstractmethod
    def load(self, filename: str) -> Maze:
        pass


class TextMazeLoader(MazeLoader):
    def load(self, filename: str) -> Maze:
        with open(filename, 'r', encoding='utf-8') as f:
            lines = [line.rstrip('\n') for line in f.readlines()]

        h = len(lines)
        w = max(len(line) for line in lines) if h else 0

        start_count = 0
        exit_count = 0
        maze = Maze(w, h)

        for y, line in enumerate(lines):
            for x, ch in enumerate(line):
                if ch == '#':
                    maze.set_cell(x, y, 'wall')
                elif ch == 'S':
                    maze.set_cell(x, y, 'start')
                    start_count += 1
                elif ch == 'E':
                    maze.set_cell(x, y, 'exit')
                    exit_count += 1
                else:
                    maze.set_cell(x, y, 'path')

        if start_count != 1 or exit_count != 1:
            raise ValueError(f"Maze must have one S and one E. Found: S={start_count}, E={exit_count}")

        return maze


class PathFinder(ABC):
    def __init__(self):
        self._visited = 0

    @abstractmethod
    def find(self, maze: Maze, start: Tile, goal: Tile) -> List[Tile]:
        pass

    def _reconstruct(self, parent: Dict[Tile, Optional[Tile]], start: Tile, goal: Tile) -> List[Tile]:
        path = []
        current = goal
        while current is not None:
            path.append(current)
            current = parent.get(current)
        path.reverse()
        return path if path and path[0] == start else []

    @property
    def visited_count(self) -> int:
        return self._visited


class BFS(PathFinder):
    def find(self, maze: Maze, start: Tile, goal: Tile) -> List[Tile]:
        queue = deque([start])
        parent = {start: None}
        visited = {start}

        while queue:
            current = queue.popleft()

            if current == goal:
                self._visited = len(visited)
                return self._reconstruct(parent, start, goal)

            for neighbor in maze.neighbours(current):
                if neighbor not in visited:
                    visited.add(neighbor)
                    parent[neighbor] = current
                    queue.append(neighbor)

        self._visited = len(visited)
        return []


class DFS(PathFinder):
    def find(self, maze: Maze, start: Tile, goal: Tile) -> List[Tile]:
        stack = [start]
        parent = {start: None}
        visited = {start}

        while stack:
            current = stack.pop()

            if current == goal:
                self._visited = len(visited)
                return self._reconstruct(parent, start, goal)

            for neighbor in maze.neighbours(current):
                if neighbor not in visited:
                    visited.add(neighbor)
                    parent[neighbor] = current
                    stack.append(neighbor)

        self._visited = len(visited)
        return []


class AStar(PathFinder):
    def _heuristic(self, cell: Tile, goal: Tile) -> int:
        return abs(cell.x - goal.x) + abs(cell.y - goal.y)

    def find(self, maze: Maze, start: Tile, goal: Tile) -> List[Tile]:
        heap = []
        counter = 0
        start_f = self._heuristic(start, goal)
        heapq.heappush(heap, (start_f, counter, start))
        counter += 1

        parent = {}
        g_score = {start: 0}
        f_score = {start: start_f}
        visited = set()

        while heap:
            current_f, _, current = heapq.heappop(heap)
            visited.add(current)

            if current == goal:
                self._visited = len(visited)
                return self._reconstruct(parent, start, goal)

            if current_f > f_score.get(current, float('inf')):
                continue

            for neighbor in maze.neighbours(current):
                tentative_g = g_score[current] + 1

                if tentative_g < g_score.get(neighbor, float('inf')):
                    parent[neighbor] = current
                    g_score[neighbor] = tentative_g
                    new_f = tentative_g + self._heuristic(neighbor, goal)
                    f_score[neighbor] = new_f
                    heapq.heappush(heap, (new_f, counter, neighbor))
                    counter += 1

        self._visited = len(visited)
        return []


class MazeSolver(Observable):
    def __init__(self, maze: Maze):
        super().__init__()
        self._maze = maze
        self._algorithm: Optional[PathFinder] = None

    def set_algorithm(self, algorithm: PathFinder):
        self._algorithm = algorithm

    def solve(self) -> Optional[Dict[str, Any]]:
        if not self._algorithm:
            raise ValueError("Algorithm not set")

        start_time = time.perf_counter()
        path = self._algorithm.find(self._maze, self._maze.start, self._maze.exit)
        end_time = time.perf_counter()

        elapsed_ms = (end_time - start_time) * 1000

        return {
            'time_ms': elapsed_ms,
            'visited': self._algorithm.visited_count,
            'path_length': len(path),
            'path': path
        }


class Command(ABC):
    @abstractmethod
    def execute(self) -> bool:
        pass

    @abstractmethod
    def undo(self) -> bool:
        pass


class MoveCommand(Command):
    def __init__(self, player: 'Player', dx: int, dy: int, maze: Maze):
        self._player = player
        self._dx = dx
        self._dy = dy
        self._maze = maze
        self._executed = False

    def execute(self) -> bool:
        new_x = self._player.position.x + self._dx
        new_y = self._player.position.y + self._dy
        target = self._maze.get_cell(new_x, new_y)

        if target and target.passable():
            self._player.move_to(target)
            self._executed = True
            return True
        return False

    def undo(self) -> bool:
        if self._executed:
            self._player.undo()
            self._executed = False
            return True
        return False


class Player:
    def __init__(self, start_tile: Tile):
        self._position = start_tile
        self._previous = None

    @property
    def position(self) -> Tile:
        return self._position

    def move_to(self, tile: Tile):
        self._previous = self._position
        self._position = tile

    def undo(self):
        if self._previous:
            self._position, self._previous = self._previous, None


class ConsoleView(Observer):
    def __init__(self, maze: Maze, player: Optional[Player] = None):
        self._maze = maze
        self._player = player
        self._current_path: List[Tile] = []

    def update(self, event: str, data: Any = None):
        if event == "solving_finished":
            self._current_path = data.get('path', [])
            self._display_solution(data)

    def _display_solution(self, stats: Dict):
        os.system('cls' if os.name == 'nt' else 'clear')
        print("=" * (self._maze.width * 2 + 4))
        print("MAZE SOLUTION")
        print("=" * (self._maze.width * 2 + 4))

        for y in range(self._maze.height):
            print("  ", end='')
            for x in range(self._maze.width):
                cell = self._maze.get_cell(x, y)
                if cell == self._maze.start:
                    print('S', end=' ')
                elif cell == self._maze.exit:
                    print('E', end=' ')
                elif cell.is_wall:
                    print('#', end=' ')
                elif self._current_path and cell in self._current_path:
                    print('●', end=' ')
                else:
                    print('.', end=' ')
            print()

        print("=" * (self._maze.width * 2 + 4))
        print(f"Time: {stats['time_ms']:.3f} ms")
        print(f"Visited: {stats['visited']}")
        print(f"Path length: {stats['path_length']}")

    def display_maze(self):
        os.system('cls' if os.name == 'nt' else 'clear')
        print("=" * (self._maze.width * 2 + 4))
        print("MAZE")
        print("=" * (self._maze.width * 2 + 4))

        for y in range(self._maze.height):
            print("  ", end='')
            for x in range(self._maze.width):
                cell = self._maze.get_cell(x, y)
                if self._player and cell == self._player.position:
                    print('P', end=' ')
                elif cell == self._maze.start:
                    print('S', end=' ')
                elif cell == self._maze.exit:
                    print('E', end=' ')
                elif cell.is_wall:
                    print('#', end=' ')
                else:
                    print('.', end=' ')
            print()

        print("=" * (self._maze.width * 2 + 4))
        print("S - start  E - exit  # - wall  . - path  P - player")


def interactive_mode(maze: Maze):
    player = Player(maze.start)
    view = ConsoleView(maze, player)
    view.display_maze()

    solver = MazeSolver(maze)
    solver.attach(view)

    commands_history: List[Command] = []

    print("\nControls:")
    print("H (←) J (↓) K (↑) L (→) - move")
    print("U - undo")
    print("B - BFS")
    print("D - DFS")
    print("A - A*")
    print("Q - quit")
    print("\n" + "=" * 50)

    while True:
        cmd = input("\n> ").lower().strip()

        if cmd == 'q':
            break

        elif cmd == 'b':
            solver.set_algorithm(BFS())
            result = solver.solve()
            if result:
                print(f"BFS: {result['time_ms']:.3f} ms, visited={result['visited']}, length={result['path_length']}")

        elif cmd == 'd':
            solver.set_algorithm(DFS())
            result = solver.solve()
            if result:
                print(f"DFS: {result['time_ms']:.3f} ms, visited={result['visited']}, length={result['path_length']}")

        elif cmd == 'a':
            solver.set_algorithm(AStar())
            result = solver.solve()
            if result:
                print(f"A*: {result['time_ms']:.3f} ms, visited={result['visited']}, length={result['path_length']}")

        elif cmd in ['h', 'j', 'k', 'l']:
            dir_map = {'h': (-1, 0), 'l': (1, 0), 'k': (0, -1), 'j': (0, 1)}
            dx, dy = dir_map[cmd]
            move = MoveCommand(player, dx, dy, maze)

            if move.execute():
                commands_history.append(move)
                view.display_maze()

                if player.position == maze.exit:
                    print("\n*** YOU ESCAPED! ***")
                    print(f"Total moves: {len(commands_history)}")
                    break
            else:
                print("Blocked!")

        elif cmd == 'u':
            if commands_history:
                last_command = commands_history.pop()
                last_command.undo()
                view.display_maze()
                print("Undo successful")
            else:
                print("Nothing to undo")

        else:
            print("Unknown command")


def main():
    if len(sys.argv) > 1 and sys.argv[1] == 'experiment':
        import subprocess
        subprocess.run([sys.executable, 'plots.py'])
        return

    loader = TextMazeLoader()


    maze_file = os.path.join(DATA_PATH, "maze1.txt")

    if not os.path.exists(maze_file):
        print(f"ERROR: Maze file not found: {maze_file}")
        print(f"Please create maze1.txt in: {DATA_PATH}")
        return

    maze = loader.load(maze_file)
    interactive_mode(maze)


if __name__ == "__main__":
    main()