"""
This is rrt star code for 3D
@author: yue qi
"""
import numpy as np
from numpy.matlib import repmat
from collections import defaultdict
import time
import matplotlib.pyplot as plt

import os
import sys

sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../../Sampling-based Planning/")

from rrt_3D.env3D import env
from rrt_3D.utils3D import getDist, sampleFree, nearest, steer, isCollide, near, visualization, cost, path, edgeset, hash3D, dehash


class rrtstar():
    def __init__(self):
        self.env = env()
        self.Parent = defaultdict(lambda: defaultdict(dict))
        self.V = []
        self.E = edgeset()
        self.i = 0
        self.maxiter = 10000
        self.stepsize = 0.5
        self.Path = []
        self.done = False

    def wireup(self, x, y):
        self.E.add_edge([x,y]) # add edge
        self.Parent[hash3D(x)] = y

    def run(self):
        self.V.append(self.env.start)
        self.ind = 0
        self.fig = plt.figure(figsize = (10,8))
        xnew = self.env.start
        while self.ind < self.maxiter and getDist(xnew, self.env.goal) > 1:
            xrand = sampleFree(self)
            xnearest = nearest(self, xrand)
            xnew = steer(self, xnearest, xrand)
            if not isCollide(self, xnearest, xnew):
                self.V.append(xnew)  # add point
                self.wireup(xnew, xnearest)
                visualization(self)
                self.i += 1
            self.ind += 1
            if getDist(xnew, self.env.goal) <= 1:
                self.wireup(self.env.goal, xnew)
                self.Path, D = path(self)
                print('Total distance = ' + str(D))
        self.done = True
        visualization(self)
        plt.show()


if __name__ == '__main__':
    p = rrtstar()
    starttime = time.time()
    p.run()
    print('time used = ' + str(time.time() - starttime))