drawing.py

import argparse
import colorsys
import json
import os
import sys
from datetime import datetime, timedelta
from pathlib import Path

import numpy as np
import numpy.typing as npt
import pygame
import yaml
from scipy.spatial import KDTree

from cooperative_cuisine import ROOT_DIR
from cooperative_cuisine.environment import Environment
from cooperative_cuisine.pygame_2d_vis.game_colors import colors
from cooperative_cuisine.state_representation import (
    PlayerState,
    CookingEquipmentState,
    ItemState,
    EffectState,
)


def calc_angle(vec_a: list[float], vec_b: list[float]) -> float:
    a = pygame.math.Vector2(vec_a)
    b = pygame.math.Vector2(vec_b)
    return a.angle_to(b)


def grayscale(img):
    arr = pygame.surfarray.pixels3d(img)
    mean_arr = np.dot(arr[:, :, :], [0.216, 0.587, 0.144])
    mean_arr3d = mean_arr[..., np.newaxis]
    new_arr = np.repeat(mean_arr3d[:, :, :], 3, axis=2)
    new_arr = new_arr.astype(np.int8)
    surface = pygame.Surface(new_arr.shape[0:2], pygame.SRCALPHA, 32)

    # Copy the rgb part of array to the new surface.
    pygame.pixelcopy.array_to_surface(surface, new_arr)
    surface_alpha = np.array(surface.get_view("A"), copy=False)
    surface_alpha[:, :] = pygame.surfarray.pixels_alpha(img)
    return surface


def create_polygon(n, start_vec):
    if n == 1:
        return np.array([0, 0])

    vector = start_vec.copy()

    angle = (2 * np.pi) / n

    rot_matrix = np.array(
        [[np.cos(angle), -np.sin(angle)], [np.sin(angle), np.cos(angle)]]
    )

    vecs = [vector]
    for i in range(n - 1):
        vector = np.dot(rot_matrix, vector)
        vecs.append(vector)

    return vecs


class Visualizer:
    """Class for visualizing the game state retrieved from the gameserver.
    2D game screen is drawn with pygame shapes and images.

    Args:
        config: Visualization configuration (loaded from yaml file) given as a dict.

    """

    def __init__(self, config):
        self.image_cache_dict = {}
        self.player_colors = []
        self.config = config

        self.fire_state = 0
        self.fire_time_steps = 8
        self.observation_screen = None

        self.USE_PLAYER_COOK_SPRITES = (
            config["use_player_cook_sprites"]
            if "use_player_cook_sprites" in config
            else True
        )
        self.SHOW_INTERACTION_RANGE = (
            config["show_interaction_range"]
            if "show_interaction_range" in config
            else False
        )
        self.SHOW_COUNTER_CENTERS = (
            config["show_counter_centers"]
            if "show_counter_centers" in config
            else False
        )

    def create_player_colors(self, n) -> None:
        """Create different colors for the players. The color hues are sampled uniformly in HSV-Space,
        then the corresponding colors from the defined colors list are looked up.

        Args:
            n: Number of players to create colors for.
        """
        hue_values = np.linspace(0, 1, n + 1)

        colors_vec = np.array([col for col in colors.values()])

        tree = KDTree(colors_vec)

        color_names = list(colors.keys())

        self.player_colors = []
        for hue in hue_values:
            rgb = colorsys.hsv_to_rgb(hue, 1, 1)
            query_color = np.array([int(c * 255) for c in rgb])
            _, index = tree.query(query_color, k=1)
            self.player_colors.append(color_names[index])

    def draw_gamescreen(
        self,
        screen: pygame.Surface,
        state: dict,
        grid_size: int,
        controlled_player_idxs: list[int],
    ):
        """Draws the game state on the given surface.

        Args:
            screen: The pygame surface to draw the game on.
            state: The gamestate retrieved from the environment.
            grid_size: The gridsize to base every object size in the game on.
        """

        width = int(np.ceil(state["kitchen"]["width"] * grid_size))
        height = int(np.ceil(state["kitchen"]["height"] * grid_size))
        self.draw_background(
            surface=screen,
            width=width,
            height=height,
            grid_size=grid_size,
        )
        self.draw_counters(
            screen,
            state["counters"],
            grid_size,
        )

        for idx, col in zip(controlled_player_idxs, [colors["blue"], colors["red"]]):
            pygame.draw.circle(
                screen,
                col,
                np.array(state["players"][int(idx)]["pos"]) * grid_size
                + (grid_size // 2),
                (grid_size / 2),
            )

        self.draw_players(
            screen,
            state["players"],
            grid_size,
        )

        if "view_restrictions" in state and state["view_restrictions"]:
            self.draw_lightcones(screen, grid_size, width, height, state)

    def draw_lightcones(self, screen, grid_size, width, height, state):
        view_restrictions = state["view_restrictions"]
        mask = pygame.Surface(screen.get_size(), pygame.SRCALPHA)
        mask.fill((0, 0, 0, 0))
        mask_color = (0, 0, 0, 0)
        for idx, restriction in enumerate(view_restrictions):
            direction = pygame.math.Vector2(restriction["direction"])
            pos = pygame.math.Vector2(restriction["position"])
            angle = restriction["angle"] / 2
            view_range = restriction["range"]

            angle = min(angle, 180)

            pos = pos * grid_size + pygame.math.Vector2([grid_size / 2, grid_size / 2])

            rect_scale = max(width, height) * 2
            # rect_scale = 2 * grid_size

            left_beam = pos + (direction.rotate(angle) * rect_scale * 2)
            right_beam = pos + (direction.rotate(-angle) * rect_scale * 2)

            cone_mask = pygame.surface.Surface(screen.get_size(), pygame.SRCALPHA)
            cone_mask.fill((255, 255, 255, 255))

            offset_front = direction * grid_size * 0.7
            if angle != 180:
                shadow_cone_points = [
                    pos - offset_front,
                    left_beam - offset_front,
                    left_beam + (direction.rotate(90) * rect_scale),
                    pos
                    - (direction * rect_scale * 2)
                    + (direction.rotate(90) * rect_scale),
                    pos
                    - (direction * rect_scale * 2)
                    + (direction.rotate(-90) * rect_scale),
                    right_beam + (direction.rotate(-90) * rect_scale),
                    right_beam - offset_front,
                ]
                light_cone_points = [pos - offset_front, left_beam, right_beam]
                pygame.draw.polygon(
                    cone_mask,
                    mask_color,
                    shadow_cone_points,
                )

            if view_range:
                n_circle_points = 40

                start_vec = np.array(-direction * view_range)
                points = (
                    np.array(create_polygon(n_circle_points, start_vec)) * grid_size
                ) + pos

                circle_closed = np.concatenate([points, points[0:1]], axis=0)

                corners = [
                    pos - (direction * rect_scale),
                    *circle_closed,
                    pos - (direction * rect_scale),
                    pos
                    - (direction * rect_scale)
                    + (direction.rotate(90) * rect_scale),
                    pos
                    + (direction * rect_scale)
                    + (direction.rotate(90) * rect_scale),
                    pos
                    + (direction * rect_scale)
                    + (direction.rotate(-90) * rect_scale),
                    pos
                    - (direction * rect_scale)
                    + (direction.rotate(-90) * rect_scale),
                ]

                pygame.draw.polygon(cone_mask, mask_color, corners)

            mask.blit(cone_mask, (0, 0), special_flags=pygame.BLEND_MAX)

        screen.blit(
            mask,
            mask.get_rect(),
            special_flags=pygame.BLEND_RGBA_MULT,
        )

    def draw_background(
        self, surface: pygame.Surface, width: int, height: int, grid_size: int
    ):
        """Visualizes a game background.

        Args:
            surface: The pygame surface to draw the background on.
            width: The kitchen width.
            height: The kitchen height.
            grid_size: The gridsize to base the background shapes on.
        """
        block_size = grid_size // 2  # Set the size of the grid block
        surface.fill(colors[self.config["Kitchen"]["ground_tiles_color"]])
        for x in range(0, width, block_size):
            for y in range(0, height, block_size):
                rect = pygame.Rect(x, y, block_size, block_size)
                pygame.draw.rect(
                    surface,
                    self.config["Kitchen"]["background_lines"],
                    rect,
                    1,
                )

    def draw_image(
        self,
        screen: pygame.Surface,
        img_path: Path | str,
        size: float,
        pos: npt.NDArray,
        rot_angle=0,
        burnt: bool = False,
    ):
        """Draws an image on the given screen.

        Args:
            screen: The pygame surface to draw the image on.
            img_path: The path to the image file, given relative to the pygame_2d_vis directory.
            size: The size of the image, given in pixels.
            pos: The position of the center of the image, given in pixels.
            rot_angle: Optional angle to rotate the image around.
        """
        cache_entry = f"{img_path}"
        if cache_entry + ("-burnt" if burnt else "") in self.image_cache_dict:
            image = self.image_cache_dict[cache_entry + ("-burnt" if burnt else "")]
        else:
            if burnt:
                if cache_entry in self.image_cache_dict:
                    normal_image = self.image_cache_dict[cache_entry]
                else:
                    normal_image = pygame.image.load(
                        ROOT_DIR / "pygame_2d_vis" / img_path
                    ).convert_alpha()
                    self.image_cache_dict[cache_entry] = normal_image
                image = grayscale(normal_image)
                self.image_cache_dict[cache_entry + "-burnt"] = image
            else:
                image = pygame.image.load(
                    ROOT_DIR / "pygame_2d_vis" / img_path
                ).convert_alpha()
                self.image_cache_dict[cache_entry] = image
        # TODO: smoothscale or not???
        image = pygame.transform.scale(image, (size, size))
        if rot_angle != 0:
            image = pygame.transform.rotate(image, rot_angle)
        rect = image.get_rect()
        rect.center = pos

        screen.blit(image, rect)

    def draw_players(
        self,
        screen: pygame.Surface,
        players: dict,
        grid_size: float,
    ):
        """Visualizes the players as circles with a triangle for the facing direction.
        If the player holds something in their hands, it is displayed

        Args:
            screen: The pygame surface to draw the players on.
            players: The state of the players returned by the environment.
            grid_size: The gridsize to rescale the drawn players to.
        """
        for p_idx, player_dict in enumerate(players):
            player_dict: PlayerState
            pos = np.array(player_dict["pos"]) * grid_size
            pos += grid_size / 2  # correct for grid offset

            facing = np.array(player_dict["facing_direction"], dtype=float)

            if self.USE_PLAYER_COOK_SPRITES:
                pygame.draw.circle(
                    screen,
                    colors[self.player_colors[p_idx]],
                    pos - facing * grid_size * 0.25,
                    grid_size * 0.2,
                )

                img_path = self.config["Cook"]["parts"][0]["path"]
                angle = calc_angle(facing.tolist(), [0, 1])
                size = self.config["Cook"]["parts"][0]["size"] * grid_size
                self.draw_image(screen, img_path, size, pos, angle)

            else:
                player_radius = 0.4
                size = player_radius * grid_size
                color1 = self.player_colors[p_idx]
                color2 = colors["white"]

                pygame.draw.circle(screen, color2, pos, size)
                pygame.draw.circle(screen, colors["blue"], pos, size, width=1)
                pygame.draw.circle(screen, colors[color1], pos, size // 2)

                pygame.draw.polygon(
                    screen,
                    colors["blue"],
                    (
                        (
                            pos[0] + (facing[1] * 0.1 * grid_size),
                            pos[1] - (facing[0] * 0.1 * grid_size),
                        ),
                        (
                            pos[0] - (facing[1] * 0.1 * grid_size),
                            pos[1] + (facing[0] * 0.1 * grid_size),
                        ),
                        pos + (facing * 0.5 * grid_size),
                    ),
                )

            if self.SHOW_INTERACTION_RANGE:
                pygame.draw.circle(
                    screen,
                    colors["blue"],
                    pos + (facing * grid_size * 0.4),
                    1.6 * grid_size,
                    width=1,
                )
                pygame.draw.circle(
                    screen, colors["red1"], pos + (facing * grid_size * 0.4), 4
                )

            if player_dict["holding"] is not None:
                holding_item_pos = pos + (grid_size * 0.5 * facing)
                self.draw_item(
                    pos=holding_item_pos,
                    grid_size=grid_size,
                    item=player_dict["holding"],
                    screen=screen,
                )

            if player_dict["current_nearest_counter_pos"]:
                nearest_pos = (
                    np.array(player_dict["current_nearest_counter_pos"]) * grid_size
                )

                pygame.draw.rect(
                    screen,
                    colors[self.player_colors[p_idx]],
                    rect=pygame.Rect(
                        *nearest_pos,
                        grid_size,
                        grid_size,
                    ),
                    width=2,
                )

    def draw_thing(
        self,
        screen: pygame.Surface,
        pos: npt.NDArray[float],
        grid_size: float,
        parts: list[dict[str]],
        scale: float = 1.0,
        burnt: bool = False,
        orientation: list[float] | None = None,
        absolute_size=None,
    ):
        """Draws an item, based on its visual parts specified in the visualization config.

        Args:
            screen: the game screen to draw on.
            grid_size: size of a grid cell.
            pos: Where to draw the item parts.
            parts: The visual parts to draw.
            scale: Rescale the item by this factor.
            orientation: Rotate the item to face this direction.
        """
        for part in parts:
            part_type = part["type"]
            angle, angle_offset = 0, 0

            draw_pos = pos.copy()

            if orientation is not None:
                angle_offset = calc_angle(orientation, [0, 1])
                if "rotate_image" in part.keys():
                    if part["rotate_image"]:
                        angle = calc_angle(orientation, [0, 1])
                else:
                    angle = angle_offset
            # if "rotate_offset" in part.keys():
            #     angle_offset = 0

            match part_type:
                case "image":
                    if "center_offset" in part:
                        d = pygame.math.Vector2(part["center_offset"]) * grid_size
                        d.rotate_ip(angle_offset)
                        d[0] = -d[0]
                        draw_pos += np.array(d)
                    size = (
                        absolute_size
                        if absolute_size is not None
                        else part["size"] * scale * grid_size
                    )
                    self.draw_image(
                        screen,
                        part["path"],
                        size,
                        draw_pos,
                        burnt=burnt,
                        rot_angle=angle,
                    )

                case "rect":
                    if "center_offset" in part:
                        d = pygame.math.Vector2(part["center_offset"]) * grid_size
                        d.rotate_ip(angle_offset)
                        d[0] = -d[0]

                        draw_pos += np.array(d)
                    height = part["height"] * grid_size
                    width = part["width"] * grid_size
                    color = part["color"]
                    rect = pygame.Rect(
                        draw_pos[0] - (height / 2),
                        draw_pos[1] - (width / 2),
                        height,
                        width,
                    )
                    pygame.draw.rect(screen, color, rect)

                case "circle":
                    if "center_offset" in part:
                        d = pygame.math.Vector2(part["center_offset"]) * grid_size
                        d.rotate_ip(-angle_offset)
                        draw_pos += np.array(d)
                    radius = part["radius"] * grid_size
                    color = colors[part["color"]]

                    pygame.draw.circle(screen, color, draw_pos, radius)

    def draw_item(
        self,
        pos: npt.NDArray[float] | list[float],
        grid_size: float,
        item: ItemState | CookingEquipmentState | EffectState,
        scale: float = 1.0,
        plate=False,
        screen=None,
    ):
        """Visualization of an item at the specified position. On a counter or in the hands of the player.
        The visual composition of the item is read in from visualization.yaml file, where it is specified as
        different parts to be drawn.

        Args:
            grid_size: size of a grid cell.
            pos: The position of the item to draw.
            item: The item do be drawn in the game.
            scale: Rescale the item by this factor.
            screen: the pygame screen to draw on.
            plate: item is on a plate (soup are is different on a plate and pot)
        """

        if not isinstance(item, list):  # can we remove this check?w
            if item["type"] in self.config or (
                item["type"].startswith("Burnt")
                and item["type"].replace("Burnt", "") in self.config
            ):
                item_key = item["type"]
                if "Soup" in item_key and plate:
                    item_key += "Plate"
                if item_key.startswith("Burnt"):
                    item_key = item_key.replace("Burnt", "")

                if item_key == "Fire":
                    item_key = (
                        f"{item_key}{int(self.fire_state/self.fire_time_steps)+1}"
                    )

                self.draw_thing(
                    pos=pos,
                    parts=self.config[item_key]["parts"],
                    scale=scale,
                    screen=screen,
                    grid_size=grid_size,
                    burnt=item["type"].startswith("Burnt"),
                )

        if "progress_percentage" in item and item["progress_percentage"] > 0.0:
            if item["inverse_progress"]:
                percentage = 1 - item["progress_percentage"]
            else:
                percentage = item["progress_percentage"]
            self.draw_progress_bar(
                screen,
                pos,
                percentage,
                grid_size=grid_size,
                attention=item["inverse_progress"],
            )

        if (
            "content_ready" in item
            and item["content_ready"]
            and (
                item["content_ready"]["type"] in self.config
                or (
                    item["content_ready"]["type"].startswith("Burnt")
                    and item["content_ready"]["type"].replace("Burnt", "")
                    in self.config
                )
            )
        ):
            self.draw_thing(
                pos=pos,
                parts=self.config[item["content_ready"]["type"].replace("Burnt", "")][
                    "parts"
                ],
                screen=screen,
                grid_size=grid_size,
                burnt=item["type"].startswith("Burnt"),
            )
        elif "content_list" in item and item["content_list"]:
            triangle_offsets = create_polygon(
                len(item["content_list"]), np.array([0, 10])
            )
            scale = 1 if len(item["content_list"]) == 1 else 0.6
            for idx, o in enumerate(item["content_list"]):
                self.draw_item(
                    pos=np.array(pos) + triangle_offsets[idx],
                    item=o,
                    scale=scale,
                    plate="Plate" in item["type"],
                    screen=screen,
                    grid_size=grid_size,
                )
        if "active_effects" in item and item["active_effects"]:
            for effect in item["active_effects"]:
                self.draw_item(pos=pos, item=effect, screen=screen, grid_size=grid_size)

    @staticmethod
    def draw_progress_bar(
        screen: pygame.Surface,
        pos: npt.NDArray[float],
        percent: float,
        grid_size: float,
        attention: bool = False,
    ):
        """Visualize progress of progressing item as a green bar under the item.

        Args:
            screen: The pygame surface to draw the progress bar on.
            pos: The center position of a tile to draw the progress bar under.
            percent: Progressed percent of the progress bar.
            grid_size: Scaling of the progress bar given in pixels.
        """
        bar_pos = pos - (grid_size / 2)

        bar_height = grid_size * 0.2
        progress_width = percent * grid_size
        progress_bar = pygame.Rect(
            bar_pos[0],
            bar_pos[1] + grid_size - bar_height,
            progress_width,
            bar_height,
        )
        pygame.draw.rect(screen, colors["red" if attention else "green1"], progress_bar)

    def draw_counter(
        self, screen: pygame.Surface, counter_dict: dict, grid_size: float
    ):
        """Visualization of a counter at its position. If it is occupied by an item, it is also shown.
        The visual composition of the counter is read in from visualization.yaml file, where it is specified as
        different parts to be drawn.
        Args:
            screen: The pygame surface to draw the counter on.
            counter_dict: The counter to visualize, given as a dict from the game state.
            grid_size: Scaling of the counter given in pixels.
        """
        pos = np.array(counter_dict["pos"], dtype=float) * grid_size
        counter_type = counter_dict["type"]

        pos += grid_size // 2  # correct for grid offset

        self.draw_thing(
            screen,
            pos,
            grid_size,
            self.config["Counter"]["parts"],
            orientation=counter_dict["orientation"]
            if "orientation" in counter_dict
            else None,
        )
        if counter_type in self.config:
            self.draw_thing(
                screen,
                pos,
                grid_size,
                self.config[counter_type]["parts"],
                orientation=counter_dict["orientation"],
            )
        else:
            if counter_type in self.config:
                parts = self.config[counter_type]["parts"]
            elif counter_type.endswith("Dispenser"):
                parts = self.config["Dispenser"]["parts"]
            else:
                raise ValueError(f"Can not draw counter type {counter_type}")
            self.draw_thing(
                screen=screen,
                pos=pos,
                parts=parts,
                grid_size=grid_size,
                orientation=counter_dict["orientation"],
            )

    def draw_counter_occupier(
        self,
        screen: pygame.Surface,
        occupied_by: dict | list,
        grid_size,
        pos: npt.NDArray[float],
        item_scale: float,
    ):
        """Visualization of a thing lying on a counter.
        Args:
            screen: The pygame surface to draw the item on the counter on.
            occupied_by: The thing that occupies the counter.
            grid_size: Scaling of the object given in pixels.
            pos: The position of the counter which the thing lies on.
            item_scale: Relative scaling of the item.
        """
        # Multiple plates on plate return:
        if isinstance(occupied_by, list):
            for i, o in enumerate(occupied_by):
                self.draw_item(
                    screen=screen,
                    pos=np.abs([pos[0], pos[1] - (i * 3)]),
                    grid_size=grid_size,
                    item=o,
                    scale=item_scale,
                )
        # All other items:
        else:
            self.draw_item(
                pos=pos,
                grid_size=grid_size,
                item=occupied_by,
                screen=screen,
                scale=item_scale,
            )

    def draw_counters(self, screen: pygame, counters: dict, grid_size: int):
        """Visualizes the counters in the environment.

        Args:
            screen: The pygame surface to draw the counters on.
            counters: The counter state returned by the environment.
            grid_size: Scaling of the object given in pixels.
        """
        global FIRE_STATE

        for counter in counters:
            self.draw_counter(screen, counter, grid_size)

        for counter in counters:
            if counter["occupied_by"]:
                item_pos = np.array(counter["pos"])
                item_scale = 1.0

                counter_type = counter["type"]

                if counter_type.endswith("Dispenser") and "Plate" not in counter_type:
                    if "item_offset" in self.config["Dispenser"].keys():
                        offset_vec = pygame.math.Vector2(
                            self.config["Dispenser"]["item_offset"]
                        )
                        offset_vec.rotate_ip(
                            offset_vec.angle_to(
                                pygame.math.Vector2(counter["orientation"])
                            )
                            + 180
                        )
                        item_pos += offset_vec
                    if "item_scale" in self.config["Dispenser"].keys():
                        item_scale = self.config["Dispenser"]["item_scale"]

                self.draw_counter_occupier(
                    screen=screen,
                    occupied_by=counter["occupied_by"],
                    grid_size=grid_size,
                    pos=item_pos * grid_size + (grid_size / 2),
                    item_scale=item_scale,
                )
            if counter["active_effects"]:
                for effect in counter["active_effects"]:
                    self.draw_item(
                        pos=np.array(counter["pos"]) * grid_size + (grid_size / 2),
                        grid_size=grid_size,
                        screen=screen,
                        item=effect,
                    )

            if self.SHOW_COUNTER_CENTERS:
                pos = np.array(counter["pos"]) * grid_size
                pygame.draw.circle(screen, colors["green1"], pos, 3)
                pygame.draw.circle(screen, colors["green1"], pos, 3)
                facing = np.array(counter["orientation"])
                pygame.draw.polygon(
                    screen,
                    colors["red"],
                    (
                        (
                            pos[0] + (facing[1] * 0.1 * grid_size),
                            pos[1] - (facing[0] * 0.1 * grid_size),
                        ),
                        (
                            pos[0] - (facing[1] * 0.1 * grid_size),
                            pos[1] + (facing[0] * 0.1 * grid_size),
                        ),
                        pos + (facing * 0.5 * grid_size),
                    ),
                )

        self.fire_state = (self.fire_state + 1) % (3 * self.fire_time_steps)

    def draw_orders(
        self,
        screen: pygame.surface,
        state: dict,
        grid_size: int,
        width: int,
        height: int,
        screen_margin: int,
        config: dict,
    ):
        """Visualization of the current orders.

        Args:
            screen: pygame surface to draw the orders on, probably not the game screen itself.
            state: The game state returned by the environment.
            grid_size: Scaling of the drawn orders, given in pixels.
            width: Width of the pygame window
            height: Height of the pygame window.
            screen_margin: Size of the space around the game screen, for buttons, ... .
            config: Visualization configuration (loaded from yaml file) given as a dict.

        """
        orders_width = width - 100
        orders_height = screen_margin
        order_screen = pygame.Surface(
            (orders_width, orders_height),
        )

        bg_color = colors[config["GameWindow"]["background_color"]]
        pygame.draw.rect(order_screen, bg_color, order_screen.get_rect())

        order_rects_start = (orders_height // 2) - (grid_size // 2)
        for idx, order in enumerate(state["orders"]):
            order_upper_left = [
                order_rects_start + idx * grid_size * 1.2,
                order_rects_start,
            ]
            pygame.draw.rect(
                order_screen,
                colors["red"],
                pygame.Rect(
                    order_upper_left[0],
                    order_upper_left[1],
                    grid_size,
                    grid_size,
                ),
                width=2,
            )
            center = np.array(order_upper_left)
            self.draw_thing(
                pos=center + (grid_size / 2),
                parts=config["Plate"]["parts"],
                screen=order_screen,
                grid_size=grid_size,
            )
            self.draw_item(
                pos=center + (grid_size / 2),
                item={"type": order["meal"]},
                plate=True,
                screen=order_screen,
                grid_size=grid_size,
            )
            order_done_seconds = (
                (
                    datetime.fromisoformat(order["start_time"])
                    + timedelta(seconds=order["max_duration"])
                )
                - datetime.fromisoformat(state["env_time"])
            ).total_seconds()

            percentage = order_done_seconds / order["max_duration"]
            self.draw_progress_bar(
                pos=center + (grid_size / 2),
                percent=percentage,
                screen=order_screen,
                grid_size=grid_size,
                attention=percentage < 0.25,
            )

        orders_rect = order_screen.get_rect()
        orders_rect.center = [
            screen_margin + (orders_width // 2),
            orders_height // 2,
        ]
        screen.blit(order_screen, orders_rect)

    def save_state_image(
        self, grid_size: int, state: dict, filename: str | Path
    ) -> None:
        """Saves a screenshot of the visualization of the given state.

        Args:
            grid_size: Scaling of the world elements given in pixels.
            state: Game state returned by the environment.
            filename: Filename to save the screenshot to.

        """
        width = int(np.ceil(state["kitchen"]["width"] * grid_size))
        height = int(np.ceil(state["kitchen"]["height"] * grid_size))

        flags = pygame.HIDDEN
        screen = pygame.display.set_mode((width, height), flags=flags)

        self.draw_gamescreen(screen, state, grid_size, [0 for _ in state["players"]])
        pygame.image.save(screen, filename)

    def get_state_image(self, grid_size: int, state: dict) -> npt.NDArray[np.uint8]:
        width = int(np.ceil(state["kitchen"]["width"] * grid_size))
        height = int(np.ceil(state["kitchen"]["height"] * grid_size))

        flags = pygame.HIDDEN

        if not self.observation_screen:
            self.observation_screen = pygame.display.set_mode(
                (width, height), flags=flags
            )

        self.draw_gamescreen(
            self.observation_screen, state, grid_size, [0 for _ in state["players"]]
        )

        red = pygame.surfarray.array_red(self.observation_screen)
        green = pygame.surfarray.array_green(self.observation_screen)
        blue = pygame.surfarray.array_blue(self.observation_screen)
        res = np.stack([red, green, blue], axis=2)
        return res

    def draw_recipe_image(
        self, screen: pygame.Surface, graph_dict, width, height, grid_size
    ) -> None:
        screen.fill(self.config["GameWindow"]["background_color"])
        positions_dict = graph_dict["layout"]
        positions = np.array(list(positions_dict.values()))
        positions = positions - positions.min(axis=0)
        positions[positions == 0] = 0.000001
        positions = (
            positions / positions.max(axis=0) * (np.array([width, height]) - grid_size)
        )
        positions += grid_size / 2

        positions_dict = {
            name: pos for name, pos in zip(positions_dict.keys(), positions)
        }

        for start, end in graph_dict["edges"]:
            pygame.draw.line(
                screen,
                "black",
                positions_dict[start],
                positions_dict[end],
                width=5,
            )
        for name, pos in positions_dict.items():
            key = name.split("_")[0]
            if key in [
                "Chips",
                "FriedFish",
                "Burger",
                "Salad",
                "TomatoSoup",
                "OnionSoup",
                "FishAndChips",
                "Pizza",
            ]:
                self.draw_thing(
                    screen,
                    np.array(pos),
                    grid_size,
                    self.config["Plate"]["parts"],
                    absolute_size=grid_size,
                )
            if "Soup" in key:
                self.draw_thing(
                    screen,
                    np.array(pos),
                    grid_size,
                    self.config[key + "Plate"]["parts"],
                )
            else:
                viz = self.config[key]["parts"]
                self.draw_thing(
                    screen, np.array(pos), grid_size, viz, absolute_size=grid_size
                )


def save_screenshot(state: dict, config: dict, filename: str | Path) -> None:
    """Standalone function to save a screenshot. Creates a visualizer from the config and visualizes
    the game state, saves it to the given filename.

    Args:
        state: The gamestate to visualize.
        config: Visualization config for the visualizer.
        filename: Filename to save the image to.

    """
    viz = Visualizer(config)
    viz.create_player_colors(len(state["players"]))
    pygame.init()
    pygame.font.init()
    viz.save_state_image(grid_size=40, state=state, filename=filename)


def generate_recipe_images(config: dict, folder_path: str | Path):
    os.makedirs(ROOT_DIR / folder_path, exist_ok=True)
    env = Environment(
        env_config=str(ROOT_DIR / "configs" / "environment_config.yaml"),
        layout_config=str(ROOT_DIR / "configs" / "layouts" / "basic.layout"),
        item_info=str(ROOT_DIR / "configs" / "item_info.yaml"),
        as_files=True,
        env_name="0",