def __init__(self, pathfinder, world_map_service, coordinate_factory):
     self._pathfinder_config = PathfinderConfig()
     self._coordinate_factory = coordinate_factory
     self._pathfinder = pathfinder
     self._world_map_service = world_map_service
     self._world_map = world_map_service.world_map
     self._treasure_path_selector = TreasurePathSelector(self._world_map)
     self._island_path_selector = IslandPathSelector(self._world_map)
     self._display_pathfinding_nodes = False
     self._current_path = None
class PathfindingService(object):

    PATHFINDING_NODE_COUNT = Vector2(60, 30)
    MAX_SEGMENT_LENGTH_CM = Vector2.uniform(50)
    DETECTION_WAIT_TIME = 10

    @property
    def display_pathfinding_nodes(self):
        return display_pathfinding_nodes

    @display_pathfinding_nodes.setter
    def display_pathfinding_nodes(self, value):
        self._display_pathfinding_nodes = value

    @property
    def path_simplification_enabled(self):
        return self._pathfinder_config.simplify_path

    @path_simplification_enabled.setter
    def path_simplification_enabled(self, value):
        self._pathfinder_config.simplify_path = value

    @property
    def current_path(self):
        return self._current_path

    @property
    def current_target_location(self):
        return self._current_target_location

    def __init__(self, pathfinder, world_map_service, coordinate_factory):
        self._pathfinder_config = PathfinderConfig()
        self._coordinate_factory = coordinate_factory
        self._pathfinder = pathfinder
        self._world_map_service = world_map_service
        self._world_map = world_map_service.world_map
        self._treasure_path_selector = TreasurePathSelector(self._world_map)
        self._island_path_selector = IslandPathSelector(self._world_map)
        self._display_pathfinding_nodes = False
        self._current_path = None

    def reset(self):
        self._pathfinder.reset()

    def draw(self, image):
        self._pathfinder.draw(image, self._display_pathfinding_nodes)
        return image

    def find_path_to_charging_station(self):
        self._world_map_service.wait_for_detection(
            [WorldObjectType.ROBOT, WorldObjectType.CHARGING_STATION], strict=False, timeout=self.DETECTION_WAIT_TIME
        )
        self._current_target_location = self._world_map.charging_station.get_location()
        docking_location = self._world_map.charging_station.get_docking_location(self._world_map.robot)
        node_path = self._find_path(docking_location)
        return self._create_path(node_path), self._current_target_location

    def find_path_to_island(self, island_descriptor):
        self._world_map_service.wait_for_detection(
            [WorldObjectType.ROBOT], strict=False, timeout=self.DETECTION_WAIT_TIME
        )
        islands = self._world_map_service.get_islands(island_descriptor)
        best_island = self._find_best_island(islands)
        self._current_target_location = best_island.get_center()
        node_path = self._find_path(best_island.get_center())
        return self._create_path(node_path), best_island

    def _find_best_island(self, islands):
        if len(islands) == 1:
            return islands[0]
        island_paths = []
        for island in islands:
            try:
                island_paths.append((island, self._find_path(island.get_center())))
            except NoPathFoundError:
                continue
        if len(island_paths) == 0:
            raise NoPathFoundError("No suitable path found for any of the qualifying islands.")
        return self._island_path_selector.select(island_paths)[0]

    def find_path_to_treasure(self, treasure_index=None):
        self._world_map_service.wait_for_detection(
            [WorldObjectType.ROBOT], strict=False, timeout=self.DETECTION_WAIT_TIME
        )
        if treasure_index is not None:
            treasures = self._world_map_service.get_treasures()[treasure_index]
        else:
            treasures = self._world_map_service.get_pickable_treasures()
        best_treasure = self._find_best_treasure(CollectionUtils.get_iterable(treasures))
        self._current_target_location = best_treasure.get_location()
        node_path = self._find_path(best_treasure.get_pickup_location(self._world_map.playfield, self._world_map.robot))
        return self._create_path(node_path), best_treasure

    def _find_best_treasure(self, treasures):
        if len(treasures) == 1:
            return treasures[0]
        treasure_paths = []
        for treasure in treasures:
            try:
                treasure_pickup_location = treasure.get_pickup_location(
                    self._world_map.playfield, self._world_map.robot
                )
                treasure_paths.append((treasure, self._find_path(treasure_pickup_location)))
            except NoPathFoundError:
                continue
        if len(treasure_paths) == 0:
            raise NoPathFoundError("No suitable path found for any of the detected treasures.")
        return self._treasure_path_selector.select(treasure_paths)[0]

    def _find_path(self, destination):
        self._init_pathfinder_config(destination)
        return self._pathfinder.find_path(self._pathfinder_config)

    def _init_pathfinder_config(self, destination):
        self._pathfinder_config.starting_point = self._world_map.robot.get_center()
        self._pathfinder_config.destination_point = destination
        self._pathfinder_config.grid_rect = self._world_map.playfield.rect
        self._pathfinder_config.grid_node_count = self.PATHFINDING_NODE_COUNT
        self._pathfinder_config.actor_size = self._world_map.robot.get_size().width
        self._pathfinder_config.max_segment_length = (
            self._coordinate_factory.create(self.MAX_SEGMENT_LENGTH_CM, CoordinateSystem.PHYSICAL).get().length
        )
        self._pathfinder_config.reference_image = self._world_map.reference_image
        self._pathfinder_config.obstacles = []
        for island in self._world_map.islands:
            self._pathfinder_config.add_obstacle(island.get_bounding_circle())

    def _create_path(self, node_path):
        self._current_path = node_path.drawable_path
        return self._current_path

    def _sort_treasures_by_distance(self, source_location, treasures):
        return sorted(treasures, key=lambda treasure: Segment(source_location, treasure.get_location()).length)