from scipy.spatial import distance
from PIL import Image ,ImageDraw
import tkinter as tk

class Nodo(object):
    def __init__(self, nombre, pos, adyNodes, ID, f, g, h, father):
        self.nombre = nombre
        self.adyNodes = adyNodes
        self.pos = pos
        self.ID = ID
        self.f = f
        self.g = g
        self.h = h
        self.father = father

    def name(self):
        print(self.nombre)

    def equ(self, nodo):
        if (self.nombre == nodo.nombre):
            return True
        return False


infinity = float('inf')

shinagawa = Nodo("Shinagawa", (340, 480), [], "JY25", infinity, infinity, 0, Nodo)
osaki = Nodo("osaki", (290, 480), [], "JY24", infinity, infinity, 0, Nodo)
gotanda = Nodo("gotanda", (250, 480), [], "JY23", infinity, infinity, 0, Nodo)
meguro = Nodo("meguro", (220, 480), [], "JY22", infinity, infinity, 0, Nodo)
ebisu = Nodo("ebisu", (180, 450), [], "JY21", infinity, infinity, 0, Nodo)
shibuya = Nodo("shibuya", (180, 410), [], "JY20", infinity, infinity, 0, Nodo)
harajuku = Nodo("harajuku", (180, 370), [], "JY19", infinity, infinity, 0, Nodo)
yoyogi = Nodo("yoyogi", (180, 300), [], "JY18-JB11", infinity, infinity, 0, Nodo)
shinjuku = Nodo("shinjuku", (180, 270), [], "JY17-JC05-JB10", infinity, infinity, 0, Nodo)
shinokubo = Nodo("shin-okubo", (180, 200), [], "JY16", infinity, infinity, 0, Nodo)
takadanobaba = Nodo("takadanobaba", (180, 160), [], "JY15", infinity, infinity, 0, Nodo)
mejiro = Nodo("mejiro", (215, 130), [], "JY14", infinity, infinity, 0, Nodo)
ikebukuro = Nodo("ikebukuro", (270, 90), [], "JY13", infinity, infinity, 0, Nodo)
otsuka = Nodo("otsuka", (320, 90), [], "JY12", infinity, infinity, 0, Nodo)
sugamo = Nodo("sugamo", (360, 90), [], "JY11", infinity, infinity, 0, Nodo)
komagome = Nodo("komagome", (390, 90), [], "JY10", infinity, infinity, 0, Nodo)
tabata = Nodo("tabata", (430, 110), [], "JY09", infinity, infinity, 0, Nodo)
nishinippori = Nodo("nishinippori", (450, 130), [], "JY08", infinity, infinity, 0, Nodo)
nippori = Nodo("nippori", (450, 160), [], "JY07", infinity, infinity, 0, Nodo)
Uguisudani = Nodo("Uguisudani", (450, 180), [], "JY06", infinity, infinity, 0, Nodo)
ueno = Nodo("ueno", (450, 205), [], "JY05", infinity, infinity, 0, Nodo)
okachimachi = Nodo("okachimachi", (450, 230), [], "JY04", infinity, infinity, 0, Nodo)
akihabara = Nodo("akihabara", (450, 260), [], "JY03-JB19", infinity, infinity, 0, Nodo)
kanda = Nodo("kanda", (450, 300), [], "JY02", infinity, infinity, 0, Nodo)
tokio = Nodo("tokio", (450, 330), [], "JY01-JC01", infinity, infinity, 0, Nodo)
yurakucho = Nodo("yurakucho", (450, 360), [], "JY30", infinity, infinity, 0, Nodo)
shimbashi = Nodo("shimbashi", (430, 390), [], "JY29", infinity, infinity, 0, Nodo)
hamamatsucho = Nodo("hamamatsucho", (400, 410), [], "JY28", infinity, infinity, 0, Nodo)
tamachi = Nodo("tamachi", (370, 440), [], "JY27", infinity, infinity, 0, Nodo)
ochanomizu = Nodo("ochanomizu", (350, 235), [], "JC03-JB18", infinity, infinity, 0, Nodo)
suidobashi = Nodo("suidobashi", (305, 275), [], "JB17", infinity, infinity, 0, Nodo)
lidabashi = Nodo("lidabashi", (290, 290), [], "JB16", infinity, infinity, 0, Nodo)
lichigaya = Nodo("lichigaya", (275, 305), [], "JB15", infinity, infinity, 0, Nodo)
yotsuya = Nodo("yotsuya", (260, 325), [], "JB14", infinity, infinity, 0, Nodo)
shinanomachi = Nodo("shinanomachi", (235, 340), [], "JB13", infinity, infinity, 0, Nodo)
sendagaya = Nodo("sendagaya", (195, 340), [], "JB11", infinity, infinity, 0, Nodo)

shinagawa.adyNodes = [(tamachi, 2.2), (osaki, 2)]
osaki.adyNodes = [(shinagawa, 2), (gotanda, 0.9)]
gotanda.adyNodes = [(osaki, 0.9), (meguro, 1.2)]
meguro.adyNodes = [(gotanda, 1.2), (ebisu, 1.5)]
ebisu.adyNodes = [(meguro, 1.5), (shibuya, 1.6)]
shibuya.adyNodes = [(ebisu, 1.6), (harajuku, 1.2)]
harajuku.adyNodes = [(shibuya, 1.2), (yoyogi, 1.5)]
yoyogi.adyNodes = [(harajuku, 1.5), (shinjuku, 0.7), (sendagaya, 1.0), (shinjuku, 0.7)]
shinjuku.adyNodes = [(yoyogi, 0.7), (shinokubo, 1.3), (ochanomizu, 1.5), (yoyogi, 0.7)]
shinokubo.adyNodes = [(shinjuku, 1.3), (takadanobaba, 1.4)]
takadanobaba.adyNodes = [(shinokubo, 1.4), (mejiro, 0.9)]
mejiro.adyNodes = [(takadanobaba, 0.9), (ikebukuro, 1.2)]
ikebukuro.adyNodes = [(mejiro, 0.9), (otsuka, 1.8)]
otsuka.adyNodes = [(ikebukuro, 1.8), (sugamo, 1.1)]
sugamo.adyNodes = [(otsuka, 1.1), (komagome, 0.7)]
komagome.adyNodes = [(sugamo, 0.7), (tabata, 1.6)]
tabata.adyNodes = [(komagome, 162), (nishinippori, 0.8)]
nishinippori.adyNodes = [(tabata, 0.8), (nippori, 0.5)]
nippori.adyNodes = [(nishinippori, 0.5), (Uguisudani, 1.1)]
Uguisudani.adyNodes = [(nippori, 1.1), (ueno, 1.1)]
ueno.adyNodes = [(Uguisudani, 1.1), (okachimachi, 0.6)]
okachimachi.adyNodes = [(ueno, 0.6), (akihabara, 1)]
akihabara.adyNodes = [(okachimachi, 1), (kanda, 0.7), (ochanomizu, 0.9)]
kanda.adyNodes = [(akihabara, 0.7), (tokio, 1.3)]
tokio.adyNodes = [(kanda, 1.3), (yurakucho, 0.8), (ochanomizu, 2.6)]
yurakucho.adyNodes = [(tokio, 0.8), (shimbashi, 1.1)]
shimbashi.adyNodes = [(yurakucho, 1.1), (hamamatsucho, 1.2)]
hamamatsucho.adyNodes = [(shimbashi, 1.2), (tamachi, 1.5)]
tamachi.adyNodes = [(hamamatsucho, 1.5), (shinagawa, 2.2)]
ochanomizu.adyNodes = [(tokio, 2.6), (shinjuku, 1.5), (akihabara, 0.9), (suidobashi, 0.8)]
suidobashi.adyNodes = [(ochanomizu, 0.8), (lidabashi, 0.9)]
lidabashi.adyNodes = [(suidobashi, 0.9), (lichigaya, 1.5)]
lichigaya.adyNodes = [(lidabashi, 1.5), (yotsuya, 0.8)]
yotsuya.adyNodes = [(lichigaya, 0.8), (shinanomachi, 1, 3)]
shinanomachi.adyNodes = [(yotsuya, 1.3), (sendagaya, 0.7)]
sendagaya.adyNodes = [(shinanomachi, 0.7), (yoyogi, 1)]


class Enviroment:
    def __init__(self, nodos):
        self.nodos = nodos

    def display(self):
        for nodo in self.nodos:
            nodo.display()


env = Enviroment(
    [shinagawa, osaki, gotanda, meguro, ebisu, shibuya, harajuku, yoyogi, shinjuku, shinokubo, takadanobaba, mejiro,
     ikebukuro, otsuka, sugamo, komagome, tabata, nishinippori, nippori, Uguisudani, ueno, okachimachi, akihabara,
     kanda, tokio, yurakucho,
     shimbashi, hamamatsucho, tamachi, ochanomizu, suidobashi, lidabashi, lichigaya, yotsuya, shinanomachi, sendagaya])


def reconstructPath(closedSet, current, totalPath):
    if (current.father in closedSet):
        if (current.father not in totalPath):
            totalPath.append(current.father)
            current = current.father
    else:
        return totalPath
    return reconstructPath(closedSet, current, totalPath)


def aStar(entrada, salida):
    global env
    for nodo in env.nodos:
        nodo.h = distance.euclidean(nodo.pos, salida.pos)/ 100

    openSet = [entrada]
    closedSet = [entrada]
    pathValue = 0
    entrada.g = 0
    entrada.f = entrada.g + entrada.h

    while len(openSet) != 0:
        current = openSet[0]
        for nodo in openSet:
            if nodo.f < current.f:
                current = nodo

        if current.equ(salida):
            inverso = closedSet[::-1]
            totalPath = [current]
            return reconstructPath(inverso, current, totalPath)

        openSet.remove(current)

        for pair in current.adyNodes:
            sum = pathValue + pair[1]
            if (sum < pair[0].g and pair[0] not in closedSet):  # infinito al principio
                pair[0].father = current
                closedSet.append(pair[0])
                pair[0].g = sum
                pair[0].f = sum + pair[0].h
                if (pair[0] not in openSet):
                    openSet.append(pair[0])


path = []
def setup():
    path = aStar(tamachi, yoyogi)
    anterior = path[0]
    img = Image.open('yamanoteLine.jpg')
    draw = ImageDraw.Draw(img)
    for nodo in path:
        draw.line((anterior.pos, nodo.pos), fill=(255, 255, 0), width=5)
        print (nodo.nombre)
        anterior = nodo
    img.show()



setup()