import matplotlib.pyplot as plt
from gl import MAPSIZE
from change import switch_to_xy,ro2xy
import math
def DRAW_MAP():  # 绘制地图
    # 绘制地图
    x = range(0, 21, 1)
    y = range(0, 21, 1)
    plt.xticks(x, x)
    plt.yticks(y, y)
    # plt.style.use('ggplot')  # bmh seaborn classic ggplot grayscale
    for i in range(MAPSIZE.shape[0]):
        for j in range(MAPSIZE.shape[1]):
            plt.plot([0, MAPSIZE.shape[0]], [j, j], 'gray', linewidth=0.1)
            plt.plot([i, i], [0, MAPSIZE.shape[1]], 'gray', linewidth=0.1)
            #绘制箭头的方法 plt.annotate('', xy=(0.5, 0.5), xytext=(0.5, 1.5),
            #              arrowprops=dict(facecolor='black',arrowstyle="->", connectionstyle="arc3"))
            tmpx = [i, i + 1]
            tmpy1 = j
            tmpy2 = j + 1
            if MAPSIZE[i][j] == 0:
                plt.fill_between(tmpx, tmpy1, tmpy2, facecolor='white')
            elif MAPSIZE[i][j] == 1:
                plt.fill_between(tmpx, tmpy1, tmpy2, facecolor='red')
            elif MAPSIZE[i][j] == 2:
                plt.fill_between(tmpx, tmpy1, tmpy2, facecolor='red')
            elif MAPSIZE[i][j] == 3:
                plt.fill_between(tmpx, tmpy1, tmpy2, facecolor='green')
            elif MAPSIZE[i][j] == 4:
                plt.fill_between(tmpx, tmpy1, tmpy2, facecolor='yellow')
            elif MAPSIZE[i][j] == 5:
                plt.fill_between(tmpx, tmpy1, tmpy2, facecolor='black')
    # for i in range(len(SCHE_PLAN)):
    #     [tmpx1,tmpy1]=switch_to_xy(SCHE_PLAN[i][0])
    #     [tmpx1,tmpy1]=[tmpx1+0.2,tmpy1+0.2]
    #     tmpy2=tmpy1+0.6
    #     tmpx2=tmpx1+0.6
    #     tmpx=[tmpx1,tmpx2]
    #     plt.fill_between(tmpx,tmpy1,tmpy2,facecolor='blue')
    plt.plot([0, MAPSIZE.shape[0]], [MAPSIZE.shape[1], MAPSIZE.shape[1]], 'gray')
    plt.plot([MAPSIZE.shape[0], MAPSIZE.shape[0]], [0, MAPSIZE.shape[1]], 'gray')
    # plt.show()
def DRAW_PATH_BY_TREE(tree):
    DRAW_MAP()
    for i in range(len(tree)):
        [tmpx1, tmpy1] = switch_to_xy(tree[i].location)
        [tmpx1, tmpy1] = [tmpx1 + 0.2, tmpy1 + 0.2]
        tmpy2 = tmpy1 + 0.6
        tmpx2 = tmpx1 + 0.6
        tmpx = [tmpx1, tmpx2]
        # if tree[i].AGV==0:
        #     plt.fill_between(tmpx, tmpy1, tmpy2, facecolor='blue')
        # if tree[i].AGV==1:
        #     plt.fill_between(tmpx, tmpy1, tmpy2, facecolor='gray')
        # if tree[i].AGV==2:
        #     plt.fill_between(tmpx, tmpy1, tmpy2, facecolor='purple')
        plot_path(tree[i])
def rotate_arrow(treenode,color):
    [x, y] = switch_to_xy(treenode.location)
    [xflag,yflag] = ro2xy(treenode.rotation)
    if xflag==1:
        plt.annotate('', xy=(x + 1, y + 0.5), xytext=(x, y + 0.5),
                     arrowprops=dict(color=color, arrowstyle="->", connectionstyle="arc3"))
    if xflag==-1:
        plt.annotate('', xy=(x, y + 0.5), xytext=(x+1, y + 0.5),
                     arrowprops=dict(color=color, arrowstyle="->", connectionstyle="arc3"))
    if yflag==1:
        plt.annotate('', xy=(x + 0.5, y + 1), xytext=(x+ 0.5, y ),
                     arrowprops=dict(color=color, arrowstyle="->", connectionstyle="arc3"))
    if yflag==-1:
        plt.annotate('', xy=(x + 0.5, y ), xytext=(x+ 0.5, y + 1),
                     arrowprops=dict(color=color, arrowstyle="->", connectionstyle="arc3"))
def plot_path(self):
    if len(self.children) != 0:
        for i in range(len(self.children)):
            plot_path(self.children[i])
            if self.AGV==0:
                rotate_arrow(self,'blue')
            if self.AGV == 1:
                rotate_arrow(self, 'gray')
            if self.AGV == 2:
                rotate_arrow(self,'purple')
        return 0
    else:
        if self.AGV == 0:
            rotate_arrow(self, 'blue')
        if self.AGV == 1:
            rotate_arrow(self, 'gray')
        if self.AGV == 2:
            rotate_arrow(self, 'purple')
        return 0
def plot_AGV(location,color):
    [x,y]=switch_to_xy(location)
    tmpx=[x+0.2,x+0.8]
    tmpy1=y+0.2
    tmpy2=tmpy1+0.8
    plt.fill_between(tmpx, tmpy1, tmpy2, facecolor=color)