factorio-learning-environment/fle/env/tools/agent/connect_entities/client.py

from time import sleep
from typing import Union, Optional, List, Dict, cast, Set

import numpy

from fle.env import (
    EntityGroup,
    Entity,
    Position,
    BeltGroup,
    PipeGroup,
    ElectricityGroup,
    TransportBelt,
    Pipe,
    FluidHandler,
    MiningDrill,
    Inserter,
    ChemicalPlant,
    OilRefinery,
    MultiFluidHandler,
)
from fle.env import DirectionInternal
from fle.env.game_types import Prototype
from fle.env.tools.admin.clear_collision_boxes.client import ClearCollisionBoxes
from fle.env.tools.admin.extend_collision_boxes.client import ExtendCollisionBoxes
from fle.env.tools.admin.get_path.client import GetPath
from fle.env.tools.admin.request_path.client import RequestPath
from fle.env.tools.agent.connect_entities.path_result import PathResult
from fle.env.tools.agent.connect_entities.resolver import ConnectionType, Resolver
from fle.env.tools.agent.connect_entities.resolvers.fluid_connection_resolver import (
    FluidConnectionResolver,
)
from fle.env.tools.agent.connect_entities.resolvers.power_connection_resolver import (
    PowerConnectionResolver,
)
from fle.env.tools.agent.connect_entities.resolvers.transport_connection_resolver import (
    TransportConnectionResolver,
)
from fle.env.tools.agent.connect_entities.groupable_entities import (
    _deduplicate_entities,
    agglomerate_groupable_entities,
)
from fle.env.tools.agent.get_entities.client import GetEntities
from fle.env.tools.agent.get_entity.client import GetEntity
from fle.env.tools.agent.inspect_inventory.client import InspectInventory
from fle.env.tools.agent.pickup_entity.client import PickupEntity
from fle.env.tools.agent.rotate_entity.client import RotateEntity
from fle.env.tools import Tool
from collections.abc import Set as AbstractSet


class ConnectEntities(Tool):
    def __init__(self, connection, game_state):
        super().__init__(connection, game_state)

        self._setup_actions()
        self._setup_resolvers()

    def _setup_actions(self):
        self.request_path = RequestPath(self.connection, self.game_state)
        self.get_path = GetPath(self.connection, self.game_state)
        self.rotate_entity = RotateEntity(self.connection, self.game_state)
        self.pickup_entity = PickupEntity(self.connection, self.game_state)
        self.inspect_inventory = InspectInventory(self.connection, self.game_state)
        self.get_entities = GetEntities(self.connection, self.game_state)
        self.get_entity = GetEntity(self.connection, self.game_state)
        self._extend_collision_boxes = ExtendCollisionBoxes(
            self.connection, self.game_state
        )
        self._clear_collision_boxes = ClearCollisionBoxes(
            self.connection, self.game_state
        )

    def _setup_resolvers(self):
        self.resolvers = {
            ConnectionType.FLUID: FluidConnectionResolver(self.get_entities),
            ConnectionType.TRANSPORT: TransportConnectionResolver(self.get_entities),
            ConnectionType.POWER: PowerConnectionResolver(self.get_entities),
            ConnectionType.WALL: Resolver(self.get_entities),
        }

    def _get_connection_type(self, prototype: Prototype) -> ConnectionType:
        match prototype:
            case Prototype.Pipe | Prototype.UndergroundPipe:
                return ConnectionType.FLUID
            case (
                Prototype.TransportBelt
                | Prototype.ExpressUndergroundBelt
                | Prototype.FastTransportBelt
                | Prototype.UndergroundBelt
                | Prototype.ExpressTransportBelt
                | Prototype.FastUndergroundBelt
            ):
                return ConnectionType.TRANSPORT
            case (
                Prototype.SmallElectricPole
                | Prototype.MediumElectricPole
                | Prototype.BigElectricPole
            ):
                return ConnectionType.POWER
            case Prototype.StoneWall:
                return ConnectionType.WALL
            case _:
                raise ValueError(f"Unsupported connection type: {prototype}")

    def is_set_of_prototype(self, arg) -> bool:
        return isinstance(arg, AbstractSet) and all(
            isinstance(item, Prototype) for item in arg
        )

    def __call__(self, *args, **kwargs):
        connection_types = set()
        waypoints = []
        if "connection_type" in kwargs:
            waypoints = args
            connection_types = kwargs["connection_type"]
            if isinstance(connection_types, Prototype):
                connection_types = {connection_types}
            elif self.is_set_of_prototype(connection_types):
                connection_types = connection_types

        if "target" in kwargs and "source" in kwargs:
            waypoints = []
            waypoints.append(kwargs["source"])
            waypoints.append(kwargs["target"])

        if not waypoints:
            for arg in args:
                if isinstance(arg, Prototype):
                    connection_types = {arg}
                elif self.is_set_of_prototype(arg):
                    connection_types = arg
                else:
                    waypoints.append(arg)

        assert len(waypoints) > 1, "Need more than one waypoint"
        connection = waypoints[0]
        dry_run = kwargs.get("dry_run", False)

        # Track elapsed ticks for fast forward (only for non-dry runs)
        ticks_before = (
            self.game_state.instance.get_elapsed_ticks() if not dry_run else 0
        )

        # this is a bit hacky and we should rethink how to do dry runs
        # right now the type of the connection output changes if its a dry run
        if dry_run:
            total_required_entities = 0
        for _, target in zip(waypoints[:-1], waypoints[1:]):
            connection = self._connect_pair_of_waypoints(
                connection, target, connection_types=connection_types, dry_run=dry_run
            )
            if dry_run:
                total_required_entities += connection["number_of_entities_required"]
                entities_available = connection["number_of_entities_available"]
            # sleep(0.01) # Sleep for 250ms to ensure that the game updates

        # Sleep for the appropriate real-world time based on elapsed ticks (only for non-dry runs)
        if not dry_run:
            ticks_after = self.game_state.instance.get_elapsed_ticks()
            ticks_added = ticks_after - ticks_before
            if ticks_added > 0:
                game_speed = self.game_state.instance.get_speed()
                real_world_sleep = (
                    ticks_added / 60 / game_speed if game_speed > 0 else 0
                )
                sleep(real_world_sleep)

        if dry_run:
            return {
                "number_of_entities_required": total_required_entities,
                "number_of_entities_available": entities_available,
            }
        return connection

    def _validate_connection_types(self, connection_types: Set[Prototype]):
        """
        Ensure that all connection_types handle the same contents - either FLUID, TRANSPORT or POWER
        """
        types = [
            self._get_connection_type(connection_type)
            for connection_type in connection_types
        ]
        return len(set(types)) == 1

    def _connect_pair_of_waypoints(
        self,
        source: Union[Position, Entity, EntityGroup],
        target: Union[Position, Entity, EntityGroup],
        connection_types: Set[Prototype] = {},
        dry_run: bool = False,
    ) -> Union[Entity, EntityGroup]:
        """Connect two entities or positions."""

        # Resolve connection type if not provided
        if not connection_types:
            self._infer_connection_type(source, target)
        else:
            valid = self._validate_connection_types(connection_types)
            if not valid:
                raise Exception(
                    f"All connection types must handle the sort of contents: either fluid, power or items. "
                    f"Your types are incompatible {set(['Prototype.' + type.name for type in connection_types])}"
                )

        # Resolve positions into entities if they exist
        if isinstance(source, Position):
            source = self._resolve_position_into_entity(source)
        else:
            # update the entity
            source = self._refresh_entity(source)
        if isinstance(target, Position):
            target = self._resolve_position_into_entity(target)
        else:
            # update the entity
            target = self._refresh_entity(target)

        # Get resolver for this connection type
        resolver = self.resolvers[self._get_connection_type(list(connection_types)[0])]

        # Resolve source and target positions
        prioritised_list_of_position_pairs = resolver.resolve(source, target)

        last_exception = None
        for source_pos, target_pos in prioritised_list_of_position_pairs:
            # Handle the actual connection
            try:
                connection = self._create_connection(
                    source_pos,
                    target_pos,
                    connection_types,
                    dry_run,
                    source_entity=source
                    if isinstance(source, (Entity, EntityGroup))
                    else None,
                    target_entity=target
                    if isinstance(target, (Entity, EntityGroup))
                    else None,
                )
                return connection[0] if not dry_run else connection
            except Exception as e:
                last_exception = e
                pass

        # try to do the modified straight line connection if original connection failed
        # and the connection types are pipes and underground pipes and one of the entities is a chemical plant or oil refinery
        if (
            (
                Prototype.UndergroundPipe in connection_types
                and Prototype.Pipe in connection_types
            )
            and (
                isinstance(target, (ChemicalPlant, OilRefinery))
                or isinstance(source, (ChemicalPlant, OilRefinery))
            )
            and not dry_run
        ):
            for source_pos, target_pos in prioritised_list_of_position_pairs:
                try:
                    connection = self._create_modified_straight_connection(
                        source_pos,
                        target_pos,
                        connection_types,
                        source_entity=source
                        if isinstance(source, (Entity, EntityGroup))
                        else None,
                        target_entity=target
                        if isinstance(target, (Entity, EntityGroup))
                        else None,
                    )
                    return connection[0]
                except Exception:
                    continue

        source_pos = source.position if not isinstance(source, Position) else source
        target_pos = target.position if not isinstance(target, Position) else target

        source_error_message_addition = (
            f"{source}"
            if isinstance(source, Position)
            else f"{source.name} at {source.position}"
        )
        target_error_message_addition = (
            f"{target}"
            if isinstance(target, Position)
            else f"{target.name} at {target.position}"
        )
        exception_message = str(last_exception)
        if exception_message == "nil,":
            exception_message = "Failed to connect entitites. Please reposition entities or clear potential blockages"

        raise Exception(
            f"Failed to connect {set([type.name for type in connection_types])} from {source_error_message_addition} to {target_error_message_addition}. "
            f"{self.get_error_message(exception_message)}"
        )

    def _refresh_entity(self, entity: Entity) -> Entity:
        # we dont need to update if its a beltgroup, polegroup or pipegroup
        if isinstance(entity, (BeltGroup, ElectricityGroup, PipeGroup)):
            return entity
        updated_entities = self.get_entities(position=entity.position, radius=0)
        if len(updated_entities) == 1:
            return updated_entities[0]
        return entity

    def _resolve_position_into_entity(self, position: Position):
        # first try the hacky way to get fluid handlers
        entity = self._check_for_fluidhandlers(position)
        if entity:
            return entity
        # first try to get exact positions
        entities = self.get_entities(position=position, radius=0)
        if not entities:
            # then try with a radius but if find more than 1, return []
            entities = self.get_entities(position=position, radius=0.5)
            if not entities or len(entities) > 1:
                return position
        if isinstance(entities[0], EntityGroup):
            if isinstance(entities[0], PipeGroup):
                for pipe in entities[0].pipes:
                    if pipe.position.is_close(position, tolerance=0.707):
                        return pipe
            elif isinstance(entities[0], ElectricityGroup):
                for pole in entities[0].poles:
                    if pole.position.is_close(position, tolerance=0.707):
                        return pole
            elif isinstance(entities[0], BeltGroup):
                for belt in entities[0].belts:
                    if belt.position.is_close(position, tolerance=0.707):
                        return belt
        return entities[0]

    def _check_for_fluidhandlers(self, position: Position):
        """
        A very hacky way for now to check if the agent sent a multifluid or fluid handler input/output point
        We then use that entity but use strictly that position for connection
        """
        # first try to get exact positions
        entities = self.get_entities(position=position, radius=1)
        for entity in entities:
            if isinstance(entity, MultiFluidHandler):
                for connection_point in entity.input_connection_points:
                    if connection_point.is_close(position, tolerance=0.01):
                        entity.input_connection_points = [connection_point]
                        return entity
                for connection_point in entity.output_connection_points:
                    if connection_point.is_close(position, tolerance=0.01):
                        entity.output_connection_points = [connection_point]
                        return entity
            elif isinstance(entity, FluidHandler):
                for connection_point in entity.connection_points:
                    if connection_point.is_close(position, tolerance=0.005):
                        entity.connection_points = [connection_point]
                        return entity

        return None

    def _infer_connection_type(
        self,
        source: Union[Position, Entity, EntityGroup],
        target: Union[Position, Entity, EntityGroup],
    ) -> Prototype:
        """
        Infers the appropriate connection type based on source and target entities.

        Args:
            source: Source entity, position or group
            target: Target entity, position or group

        Returns:
            The appropriate Prototype for the connection

        Raises:
            ValueError: If connection type cannot be determined or entities are incompatible
        """
        # If both are positions, we can't infer the type
        if isinstance(source, Position) and isinstance(target, Position):
            raise ValueError(
                "Cannot infer connection type when both source and target are positions. "
                "Please specify connection_type explicitly."
            )

        # Handle fluid connections
        if isinstance(source, FluidHandler) and isinstance(target, FluidHandler):
            return Prototype.Pipe

        # Handle belt connections
        is_source_belt = isinstance(source, (TransportBelt, BeltGroup))
        is_target_belt = isinstance(target, (TransportBelt, BeltGroup))
        if is_source_belt or is_target_belt:
            return Prototype.TransportBelt

        # Handle mining and insertion
        is_source_miner = isinstance(source, MiningDrill)
        is_target_inserter = isinstance(target, Inserter)
        is_source_inserter = isinstance(source, Inserter)
        if (is_source_miner and is_target_inserter) or (
            is_source_inserter and is_target_belt
        ):
            return Prototype.TransportBelt

        # If we can't determine the type, we need explicit specification
        raise ValueError(
            "Could not infer connection type. Please specify connection_type explicitly."
        )

    def _attempt_path_finding(
        self,
        source_pos: Position,
        target_pos: Position,
        connection_prototypes: List[str],
        num_available: int,
        pathing_radius: float = 1,
        dry_run: bool = False,
        allow_paths_through_own: bool = False,
    ) -> PathResult:
        """Attempt to find a path between two positions"""
        entity_sizes = [1.5, 1, 0.5, 0.25]  # Ordered from largest to smallest

        for size in entity_sizes:
            path_handle = self.request_path(
                finish=target_pos,
                start=source_pos,
                allow_paths_through_own_entities=allow_paths_through_own,
                radius=pathing_radius,
                entity_size=size,
            )

            sleep(0.05)  # Allow pathing system time to compute

            response, _ = self.execute(
                self.player_index,
                source_pos.x,
                source_pos.y,
                target_pos.x,
                target_pos.y,
                path_handle,
                ",".join(connection_prototypes),
                dry_run,
                num_available,
            )

            result = PathResult(response)
            if result.is_success:
                return result

        return result  # Return last failed result if all attempts fail

    def _create_connection(
        self,
        source_pos: Position,
        target_pos: Position,
        connection_types: Set[Prototype],
        dry_run: bool = False,
        source_entity: Optional[Entity] = None,
        target_entity: Optional[Entity] = None,
    ) -> List[Union[Entity, EntityGroup]]:
        """Create a connection between two positions"""

        connection_info = self._get_connection_info(connection_types)
        connection_prototype = connection_info["last_connection_prototype"]
        connection_type = connection_info["last_connection_type"]
        connection_type_names = connection_info["connection_names"]
        names_to_type = connection_info["names_to_types"]
        metaclasses = connection_info["metaclasses"]

        inventory = self.inspect_inventory()
        num_available = inventory.get(connection_prototype, 0)

        connection_type_names_values = list(connection_type_names.values())
        # Determine connection strategy based on type
        match connection_types:
            case _ if connection_types & {Prototype.Pipe, Prototype.UndergroundPipe}:
                pathing_radius = 0.5
                self._extend_collision_boxes(source_pos, target_pos)
                num_available = inventory.get(Prototype.Pipe, 0)
                try:
                    result = self._attempt_path_finding(
                        source_pos,
                        target_pos,
                        connection_type_names_values,
                        num_available,
                        pathing_radius,
                        dry_run,
                    )
                finally:
                    self._clear_collision_boxes()
            case _ if (
                (
                    connection_types
                    & {Prototype.TransportBelt, Prototype.UndergroundBelt}
                )
                or (
                    connection_types
                    & {Prototype.FastTransportBelt, Prototype.FastUndergroundBelt}
                )
                or (
                    connection_types
                    & {Prototype.ExpressTransportBelt, Prototype.ExpressUndergroundBelt}
                )
            ):
                pathing_radius = 0.5
                result = self._attempt_path_finding(
                    source_pos,
                    target_pos,
                    connection_type_names_values,
                    num_available,
                    pathing_radius,
                    dry_run,
                )

                if not result.is_success:
                    # Retry with modified parameters for belts
                    source_pos_adjusted = self._adjust_belt_position(
                        source_pos, source_entity
                    )
                    target_pos_adjusted = self._adjust_belt_position(
                        target_pos, target_entity
                    )
                    adjusted_result = self._attempt_path_finding(
                        source_pos_adjusted,
                        target_pos_adjusted,
                        connection_type_names_values,
                        num_available,
                        2,
                        dry_run,
                        False,
                    )
                    if adjusted_result.is_success:
                        result = adjusted_result
                    pass

            case _:  # Power poles
                pathing_radius = 4  # Larger radius for poles
                self._extend_collision_boxes(source_pos, target_pos)
                try:
                    result = self._attempt_path_finding(
                        source_pos,
                        target_pos,
                        connection_type_names_values,
                        num_available,
                        pathing_radius,
                        dry_run,
                        True,
                    )
                finally:
                    self._clear_collision_boxes()

        if not result.is_success:
            raise Exception(
                # f"Failed to connect {connection_prototype} from {source_pos} to {target_pos}. "
                f"{self.get_error_message(result.error_message.lstrip())}"
            )

        if dry_run:
            return {
                "number_of_entities_required": result.required_entities,
                "number_of_entities_available": num_available,
            }

        groupable_entities, path = self._get_groupable_entities(
            result, metaclasses, names_to_type
        )
        # Process entity groups based on connection type
        entity_groups = self._process_entity_groups(
            connection_type,
            groupable_entities,
            source_entity,
            target_entity,
            source_pos,
        )

        return _deduplicate_entities(path) + entity_groups

    def _get_connection_info(self, connection_types: Set[Prototype]):
        connection_type_names = {}
        names_to_type = {}
        metaclasses = {}
        for connection_type in connection_types:
            connection_prototype, metaclass = connection_type.value
            metaclasses[connection_prototype] = metaclass
            connection_type_names[connection_type] = connection_prototype
            names_to_type[connection_prototype] = connection_type
        return {
            "connection_names": connection_type_names,
            "names_to_types": names_to_type,
            "metaclasses": metaclasses,
            "last_connection_prototype": connection_prototype,
            "last_connection_type": connection_type,
        }

    def _get_groupable_entities(self, result, metaclasses, names_to_type):
        # Process created entities
        path = []
        groupable_entities = []

        for entity_data in result.entities.values():
            if not isinstance(entity_data, dict):
                continue

            try:
                self._process_warnings(entity_data)
                entity = metaclasses[entity_data["name"]](
                    prototype=names_to_type[entity_data["name"]], **entity_data
                )

                if entity.prototype in (
                    Prototype.TransportBelt,
                    Prototype.UndergroundBelt,
                    Prototype.FastTransportBelt,
                    Prototype.FastUndergroundBelt,
                    Prototype.ExpressTransportBelt,
                    Prototype.ExpressUndergroundBelt,
                    Prototype.StoneWall,
                    Prototype.Pipe,
                    Prototype.UndergroundPipe,
                    Prototype.SmallElectricPole,
                    Prototype.BigElectricPole,
                    Prototype.MediumElectricPole,
                ):
                    groupable_entities.append(entity)
                else:
                    path.append(entity)
            except Exception as e:
                if entity_data:
                    raise Exception(
                        f"Failed to create {entity_data['name']} object from response: {result.raw_response}"
                    ) from e
        return groupable_entities, path

    def _create_modified_straight_connection(
        self,
        source_pos: Position,
        target_pos: Position,
        connection_types: Set[Prototype],
        source_entity: Optional[Entity] = None,
        target_entity: Optional[Entity] = None,
    ) -> List[Union[Entity, EntityGroup]]:
        """Create a connection between two positions"""

        # get the connection info
        # same as normal pathing in the _create_connection method
        connection_info = self._get_connection_info(connection_types)
        connection_prototype = connection_info["last_connection_prototype"]
        connection_type = connection_info["last_connection_type"]
        connection_type_names = connection_info["connection_names"]
        names_to_type = connection_info["names_to_types"]
        metaclasses = connection_info["metaclasses"]

        inventory = self.inspect_inventory()
        num_available = inventory.get(connection_prototype, 0)
        pathing_radius = 0.5
        connection_type_names_values = list(connection_type_names.values())
        result = None
        # try to do the actual straight line pathing
        try:
            result = self.try_straight_line_pathing(
                source_pos,
                target_pos,
                connection_type_names_values,
                num_available,
                pathing_radius,
                target_entity,
                source_entity,
                names_to_type,
                metaclasses,
            )

        finally:
            pass

        if result is None:
            return None

        # Process created entities
        # same as in normal pathing in the _create_connection method
        groupable_entities, path = self._get_groupable_entities(
            result, metaclasses, names_to_type
        )
        # Process entity groups based on connection type
        entity_groups = self._process_entity_groups(
            connection_type,
            groupable_entities,
            source_entity,
            target_entity,
            source_pos,
        )

        return _deduplicate_entities(path) + entity_groups

    def _process_warnings(self, entity_data: Dict):
        """Process warnings in entity data"""
        if not entity_data.get("warnings"):
            entity_data["warnings"] = []
        else:
            warnings = entity_data["warnings"]
            entity_data["warnings"] = (
                list(warnings.values()) if isinstance(warnings, dict) else [warnings]
            )

    def _process_entity_groups(
        self,
        connection_type: Prototype,
        groupable_entities: List[Entity],
        source_entity: Optional[Entity],
        target_entity: Optional[Entity],
        source_pos: Position,
    ) -> List[EntityGroup]:
        """Process and create entity groups based on connection type"""
        match connection_type:
            case (
                Prototype.ExpressTransportBelt
                | Prototype.FastTransportBelt
                | Prototype.TransportBelt
                | Prototype.UndergroundBelt
                | Prototype.FastUndergroundBelt
                | Prototype.ExpressUndergroundBelt
            ):
                return self._process_belt_groups(
                    groupable_entities, source_entity, target_entity, source_pos
                )

            case Prototype.Pipe | Prototype.UndergroundPipe:
                return self._process_pipe_groups(groupable_entities, source_pos)

            case Prototype.StoneWall:
                return self._process_groups(
                    Prototype.StoneWall, groupable_entities, source_pos
                )

            case _:  # Power poles
                return self._process_power_groups(groupable_entities, source_pos)

    def _process_belt_groups(
        self,
        groupable_entities: List[Entity],
        source_entity: Optional[Entity],
        target_entity: Optional[Entity],
        source_pos: Position,
    ) -> List[BeltGroup]:
        """Process transport belt groups"""
        if isinstance(source_entity, BeltGroup):
            entity_groups = agglomerate_groupable_entities(groupable_entities)
        elif isinstance(target_entity, BeltGroup):
            entity_groups = agglomerate_groupable_entities(
                groupable_entities + target_entity.belts
            )
        else:
            entity_groups = agglomerate_groupable_entities(groupable_entities)

        # Deduplicate belts in groups
        for group in entity_groups:
            if hasattr(group, "belts"):
                group.belts = _deduplicate_entities(group.belts)

        # Handle belt rotation for group connections
        if (
            isinstance(source_entity, BeltGroup) and entity_groups
        ):  # isinstance(target_entity, BeltGroup):
            self.rotate_end_belt_to_face(source_entity, entity_groups[0])
            # self.rotate_final_belt_when_connecting_groups(source_entity, entity_groups[0])

        if isinstance(target_entity, BeltGroup) and entity_groups:
            self.rotate_end_belt_to_face(entity_groups[0], target_entity)
            # self.rotate_final_belt_when_connecting_groups(entity_groups[0], source_entity)

        # Get final groups and filter to relevant one
        entity_groups = self.get_entities(
            {
                Prototype.TransportBelt,
                Prototype.ExpressTransportBelt,
                Prototype.FastTransportBelt,
                Prototype.UndergroundBelt,
                Prototype.FastUndergroundBelt,
                Prototype.ExpressUndergroundBelt,
            },
            source_pos,
        )

        for group in entity_groups:
            if source_pos in [entity.position for entity in group.belts]:
                return cast(List[BeltGroup], [group])

        return cast(List[BeltGroup], entity_groups)

    def _update_belt_group(
        self,
        new_belt: BeltGroup,
        source_belt: TransportBelt,
        target_belt: TransportBelt,
    ):
        new_belt.outputs[0] = source_belt
        for belt in new_belt.belts:
            if belt.position == source_belt.position:
                belt.input_position = source_belt.input_position
                belt.output_position = source_belt.output_position
                belt.direction = source_belt.direction
                belt.is_source = source_belt.is_source
                belt.is_terminus = source_belt.is_terminus

                if not belt.is_terminus and belt in new_belt.outputs:
                    new_belt.outputs.remove(belt)
                if not belt.is_source and belt in new_belt.inputs:
                    new_belt.inputs.remove(belt)

            if belt.position == target_belt.position:
                belt.is_source = target_belt.is_source
                belt.is_terminus = target_belt.is_terminus

                if not belt.is_terminus and belt in new_belt.outputs:
                    new_belt.outputs.remove(belt)
                if not belt.is_source and belt in new_belt.inputs:
                    new_belt.inputs.remove(belt)

    def rotate_end_belt_to_face(
        self, source_belt_group: BeltGroup, target: BeltGroup
    ) -> BeltGroup:
        if not source_belt_group.outputs:
            return source_belt_group

        source_belt = source_belt_group.outputs[0]
        target_belt = target.inputs[0]
        source_pos = source_belt.position
        target_pos = target_belt.position

        if not source_pos.is_close(target_pos, 1.001):  # epsilon for
            return source_belt_group

        # Calculate relative position
        relative_pos = (
            numpy.sign(source_pos.x - target_pos.x),
            numpy.sign(source_pos.y - target_pos.y),
        )

        # Don't rotate if belt is already facing correct direction
        match relative_pos:
            case (1, 1):
                pass  # raise Exception("Cannot rotate non adjacent belts to face one another")

            case (-1, -1):
                pass  # raise Exception("Cannot rotate non adjacent belts to face one another")

            case (1, _) if source_belt.direction.value not in (
                DirectionInternal.LEFT.value,
                DirectionInternal.RIGHT.value,
            ):
                # Source is to right of target - point left
                source_belt = self.rotate_entity(source_belt, DirectionInternal.LEFT)

            case (-1, _) if source_belt.direction.value not in (
                DirectionInternal.LEFT.value,
                DirectionInternal.RIGHT.value,
            ):
                # Source is to left of target - point right
                source_belt = self.rotate_entity(source_belt, DirectionInternal.RIGHT)

            case (_, 1) if source_belt.direction.value not in (
                DirectionInternal.UP.value,
                DirectionInternal.DOWN.value,
            ):
                # Source is below target - point up
                source_belt = self.rotate_entity(source_belt, DirectionInternal.UP)

            case (_, -1) if source_belt.direction.value not in (
                DirectionInternal.UP.value,
                DirectionInternal.DOWN.value,
            ):
                # Source is above target - point down
                source_belt = self.rotate_entity(source_belt, DirectionInternal.DOWN)

        # Update the belt group connections
        target_belt = self.get_entity(target_belt.prototype, target_belt.position)
        self._update_belt_group(source_belt_group, source_belt, target_belt)

        return source_belt

    # def rotate_final_belt_when_connecting_groups(self, new_belt: BeltGroup, target: BeltGroup) -> BeltGroup:
    #     if not new_belt.outputs:
    #         return new_belt
    #     source_belt = new_belt.outputs[0]
    #     target_belt = target.inputs[0]
    #     source_belt_position = new_belt.outputs[0].position
    #     target_belt_position = target.inputs[0].input_position
    #     if source_belt_position.x > target_belt_position.x and not source_belt.direction.value == Direction.LEFT.value: # We only want to curve the belt, not invert it
    #         # It is necessary to use the direction enums from the game state
    #         source_belt = self.rotate_entity(source_belt, Direction.RIGHT)
    #     elif source_belt_position.x < target_belt_position.x and not source_belt.direction.value == Direction.RIGHT.value:
    #         source_belt = self.rotate_entity(source_belt, Direction.LEFT)
    #     elif source_belt_position.y > target_belt_position.y and not source_belt.direction.value == Direction.UP.value:
    #         source_belt = self.rotate_entity(source_belt, Direction.DOWN)
    #     elif source_belt_position.y < target_belt_position.y and not source_belt.direction.value == Direction.DOWN.value:
    #         source_belt = self.rotate_entity(source_belt, Direction.UP)
    #
    #     # Check to see if this is still a source / terminus
    #     target_belt = self.get_entity(target_belt.prototype, target_belt.position)
    #     self._update_belt_group(new_belt, source_belt, target_belt)  # Update the belt group with the new direction of the source belt.)
    #
    #     return new_belt

    def _process_pipe_groups(
        self, groupable_entities: List[Entity], source_pos: Position
    ) -> List[PipeGroup]:
        """Process pipe groups"""
        entity_groups = self.get_entities(
            {Prototype.Pipe, Prototype.UndergroundPipe}, source_pos
        )

        for group in entity_groups:
            group.pipes = _deduplicate_entities(group.pipes)
            if source_pos in [entity.position for entity in group.pipes]:
                return [group]

        return entity_groups

    def _process_groups(
        self,
        prototype: Prototype,
        groupable_entities: List[Entity],
        source_pos: Position,
    ) -> List[PipeGroup]:
        """Process other groups"""
        entity_groups = self.get_entities(prototype, source_pos)

        for group in entity_groups:
            group.entities = _deduplicate_entities(group.entities)
            if source_pos in [entity.position for entity in group.entities]:
                return [group]

        return entity_groups

    def _process_pipe_groups(
        self, groupable_entities: List[Entity], source_pos: Position
    ) -> List[PipeGroup]:
        """Process pipe groups"""
        entity_groups = self.get_entities(
            {Prototype.Pipe, Prototype.UndergroundPipe}, source_pos
        )

        for group in entity_groups:
            group.pipes = _deduplicate_entities(group.pipes)
            if source_pos in [entity.position for entity in group.pipes]:
                return [group]

        return entity_groups

    def _attempt_to_get_entity(
        self, position: Position, get_connectors: bool = False
    ) -> Union[Position, Entity, EntityGroup]:
        """
        Attempts to find an entity at the given position.

        Args:
            position: The position to check
            get_connectors: If True, returns connector entities (belts, pipes) instead of treating them as positions

        Returns:
            - The original position if no entity is found
            - The position if a connector entity is found and get_connectors is False
            - The entity or entity group if found and either get_connectors is True or it's not a connector
        """
        entities = self.get_entities(position=position, radius=0.1)

        if not entities:
            return position

        entity = entities[0]

        # If we found a connector entity (belt/pipe) and don't want connectors,
        # just return the position
        if not get_connectors and isinstance(
            entity, (BeltGroup, TransportBelt, PipeGroup, Pipe)
        ):
            return position

        return entity

    def _process_power_groups(
        self, groupable_entities: List[Entity], source_pos: Position
    ) -> List[ElectricityGroup]:
        """Process power pole groups"""
        return cast(
            List[ElectricityGroup],
            self.get_entities(
                {
                    Prototype.SmallElectricPole,
                    Prototype.BigElectricPole,
                    Prototype.MediumElectricPole,
                },
                source_pos,
            ),
        )

    def _adjust_belt_position(
        self, pos: Position, entity: Optional[Entity]
    ) -> Position:
        """Adjust belt position for better path finding"""
        if not entity or isinstance(entity, Position):
            entity = self._attempt_to_get_entity(pos, get_connectors=True)
            if entity and isinstance(entity, BeltGroup):
                return entity.outputs[0].output_position
        return pos

    def try_straight_line_pathing(
        self,
        source_pos: Position,
        target_pos: Position,
        connection_type_names_values: List[str],
        num_available: int,
        pathing_radius: int,
        target_entity: Entity,
        source_entity: Entity,
        names_to_type: Dict[str, Prototype],
        metaclasses: Dict[str, Entity],
    ) -> PathResult:
        """
        Try to create a path between source and target with a straight line extension
        This helps to avoid blockages using underground pipes
        First try to find unblocked areas for source and target and then connect them
        """
        # first get the required number of pipes
        # 2 pipes for each chemical plant or oil refinery
        required_pipes = 0
        if isinstance(target_entity, (ChemicalPlant, OilRefinery)):
            required_pipes += 2
        if isinstance(source_entity, (ChemicalPlant, OilRefinery)):
            required_pipes += 2
        # check that inventory has atleast 4 underground pipes
        inventory = self.inspect_inventory()
        underground_pipes = inventory.get("pipe-to-ground", 0)
        if underground_pipes < required_pipes:
            return None
        # set margin as 3, the closest point away from blockage without risk of merging
        margin = 3
        # underground pipes can do at most 10 distance
        max_distance = 10 - margin
        pathing_radius = 0.5
        offset_dict = {
            "UP": {"x": 0, "y": -1},
            "DOWN": {"x": 0, "y": 1},
            "LEFT": {"x": -1, "y": 0},
            "RIGHT": {"x": 1, "y": 0},
        }

        # Loop through possible distances for target extension
        # first get the target straight line
        for target_run_idx in range(1, max_distance + 1):
            # try to create the target straight line extension if needed
            # we extend the target position in a straight line by the offset usng the target_run_idx as the distance to try
            # extension is only needed if the target is a chemical plant or oil refinery
            # if the target is not oil refinery or a chemical plant, we just return the original target pos without any extension
            target_straight_line_path_dict = self.create_straight_line_dict(
                target_entity,
                target_pos,
                offset_dict,
                margin,
                target_run_idx,
                num_available,
                offset_sign=-1,
            )
            # if failed, try the next distance for target extension
            if not target_straight_line_path_dict:
                continue
            # then for each target straight line extension, we get the source straight line
            for source_run_idx in range(1, max_distance + 1):
                # same logic as for target, just for source
                source_straight_line_path_dict = self.create_straight_line_dict(
                    source_entity,
                    source_pos,
                    offset_dict,
                    margin,
                    source_run_idx,
                    num_available,
                )
                if not source_straight_line_path_dict:
                    continue
                # if both are successful, i.e we have both source and target positions successfully
                # We then connect the new source and target positions
                if (
                    source_straight_line_path_dict["success"]
                    and target_straight_line_path_dict["success"]
                ):
                    # get the final connection positions
                    # if there was a extension, we need to do one more offset to make the connectin point one before the underground pipe entry
                    # otherwise (no extension), we just use the original connection position
                    source_pos = self.get_final_connection_pos(
                        source_straight_line_path_dict, offset_dict, source_entity
                    )
                    target_pos = self.get_final_connection_pos(
                        target_straight_line_path_dict, offset_dict, target_entity
                    )

                    try:
                        # try to find a path from the new source to the new target pos
                        self._extend_collision_boxes(source_pos, target_pos)
                        inbetween_path = self._attempt_path_finding(
                            source_pos,
                            target_pos,
                            connection_type_names_values,
                            num_available,
                            pathing_radius,
                            False,
                            False,
                        )
                    finally:
                        self._clear_collision_boxes()
                    # if success, we combine the 2 paths and return
                    # Else we pickup the straight line pipes and try again with a longer distance for source and target
                    if inbetween_path.is_success:
                        if source_straight_line_path_dict["path"]:
                            # add the underground pipes to the source_to_underground_start result
                            for value in source_straight_line_path_dict[
                                "path"
                            ].entities.values():
                                inbetween_path.entities[
                                    len(inbetween_path.entities) + 1
                                ] = value
                        if target_straight_line_path_dict["path"]:
                            # add the underground pipes to the underground_end_to_target result
                            for value in target_straight_line_path_dict[
                                "path"
                            ].entities.values():
                                inbetween_path.entities[
                                    len(inbetween_path.entities) + 1
                                ] = value
                        # return the final path
                        return inbetween_path

                # pickup source straight line
                if source_straight_line_path_dict["path"]:
                    self.pickup_entities(
                        source_straight_line_path_dict["path"],
                        metaclasses,
                        names_to_type,
                    )

            # pickup target straight line
            if target_straight_line_path_dict["path"]:
                self.pickup_entities(
                    target_straight_line_path_dict["path"], metaclasses, names_to_type
                )
        return None

    def get_final_connection_pos(
        self, input_path_dict: Dict, offset_dict: Dict[str, int], input_entity: Entity
    ):
        """
        Get the final connection point for the input path dict
        if it has a path parameter, it means it's a straight line extension and hence need to do one more offset and make that as the connection point
        this prevents the pathing to do any weird paths where the underground exit won't be merged with
        othersiwe we can just return the original connection position
        """
        if input_path_dict["path"]:
            # do one more offset
            connection_pos = input_path_dict["connection_position"]
            offset = offset_dict[input_entity.direction.name]
            connection_pos = Position(
                connection_pos.x + offset["x"], connection_pos.y + offset["y"]
            )
        else:
            connection_pos = input_path_dict["connection_position"]
        return connection_pos

    def create_straight_line_dict(
        self,
        input_entity: Entity,
        input_pos: Position,
        offset_dict: Dict[str, int],
        margin: int,
        run_idx: int,
        num_available: int,
        offset_sign: int = 1,
    ):
        """
        Create a straight line extension for the input entity if it is a chemical plant or oil refinery
        The offset sign is used to specify which direction to extend the straight line
        By default, we use calibrated offsets for source directions
        Hence when connecting target entity, we need to flip the offsets
        """
        entity_direction = input_entity.direction
        if isinstance(input_entity, ChemicalPlant) or isinstance(
            input_entity, OilRefinery
        ):
            if entity_direction.name not in offset_dict:
                raise Exception(f"Invalid direction for {input_entity.name}")
            # get the offsets from the directions
            offset = offset_dict[entity_direction.name]
            offset["x"] = offset["x"] * offset_sign
            offset["y"] = offset["y"] * offset_sign
            try:
                output_dict = self.get_straight_line_path(
                    input_pos, offset, margin, run_idx, num_available
                )

            except:
                return None
        else:
            output_dict = {
                "success": True,
                "connection_position": input_pos,
                "path": None,
            }
        return output_dict

    def get_straight_line_path(
        self,
        starting_pos: Position,
        offset: Dict[str, int],
        margin: int,
        distance: int,
        num_available: int,
    ):
        """
        Create the straight line path for the input starting position
        Offset it by the given direction and distance and use pipe-to-ground to connect
        """
        new_straigth_line_end_pos = Position(
            starting_pos.x + offset["x"] * (distance + margin),
            starting_pos.y + offset["y"] * (distance + margin),
        )
        # continue if new target pos is blocked or surrounded by things
        if self._is_blocked(new_straigth_line_end_pos, 1.5):
            raise Exception("Point to be connected to is blocked")
        # try to find a path from the source to the new target pos
        # Solely use underground pipes
        try:
            self._extend_collision_boxes(starting_pos, new_straigth_line_end_pos)
            target_entity_straight_path = self._attempt_path_finding(
                starting_pos,
                new_straigth_line_end_pos,
                ["pipe-to-ground"],
                num_available,
                0.5,
                False,
                True,
            )
        finally:
            self._clear_collision_boxes()
        if target_entity_straight_path.is_success:
            return {
                "success": True,
                "connection_position": new_straigth_line_end_pos,
                "path": target_entity_straight_path,
            }
        raise Exception("Failed to connect straight line")

    def _is_blocked(self, pos: Position, radius=0.5) -> bool:
        """
        Check if the position is blocked by entities"""
        entities = self.get_entities(position=pos, radius=radius)
        return bool(entities)

    def pickup_entities(
        self,
        path_data: dict,
        metaclasses: Dict[str, Entity],
        names_to_type: Dict[str, Prototype],
    ):
        """
        Pickup the entities in the path data
        """
        for entity_data in path_data.entities.values():
            if not isinstance(entity_data, dict):
                continue
            # clean up the first path
            self._process_warnings(entity_data)
            entity = metaclasses[entity_data["name"]](
                prototype=names_to_type[entity_data["name"]], **entity_data
            )
            self.pickup_entity(entity)