troubleshooting pathfinding

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.Tilemaps;
using DoodleStudio95;
using UnityEngine.UI;

public class PlayerController : MonoBehaviour
{

    //block stacking
    public Tile block;
    public Tile pathStop;
    public bool hasBlock;
    public Tilemap stackMap;
    public Tilemap navMap;

    //input and pathfinding
    MouseInput mouseInput;
    public Tilemap groundMap;
    private Rigidbody2D rb;
    private Vector3 destination;
    private Vector3 nextPoint;
    private SimplePF2D.Path path;
    private bool isStationary = true;

    public DoodleAnimationFile animFrontRight;
    public DoodleAnimationFile animBackRight;
    public GameObject reticuleObject;

    // UI
    public GameObject actionModal;
    public Text actionText;
    public GameObject hud;
    public Text debt;
    public Sprite hudHasBlock;
    public Sprite hudNoBlock;

    //sprite
    public GameObject pivotObject;


    [SerializeField] private float movementSpeed;


    private void Awake()
    {
        mouseInput = new MouseInput();
    }

    private void OnEnable()
    {
        mouseInput.Enable();
    }

    private void OnDisable()
    {
        mouseInput.Disable();
    }

    void Start()
    {
        destination = transform.position;
        mouseInput.Mouse.MouseLeftClick.performed += _ => MouseLeftClick();
        mouseInput.Mouse.MouseRightClick.performed += _ => MouseRightClick();
        SimplePathFinding2D pf = GameObject.Find("Grid").GetComponent<SimplePathFinding2D>();
        path = new SimplePF2D.Path(pf);
        rb = GetComponent<Rigidbody2D>();
        nextPoint = Vector3.zero;

        


        //Vector3Int ImagePosition = new Vector3Int(3, -2, 1);
        //map.SetTile(ImagePosition, block);
        //Debug.Log(map.GetSprite(ImagePosition));
    }


    public void OpenModal(Vector3 position)
    {

        if (actionModal != null)
        {
            actionModal.transform.position = position; // this is placing the ui element in the bottom left corner for some reason
            Debug.Log("set action ui window at " + position);
            actionModal.SetActive(true);
            if (hasBlock == false)
            {
                actionText.text = "Get";
            }   else
            {
                actionText.text = "Put";
            }
        }

        // how do we check if mouse is over UI? 

    }
    public void CloseModal()
    {
        if (actionModal != null)
        {
            actionModal.SetActive(false);
        }
    }


    public void getBlock(Vector3Int gridPosition)
    {
        if (hasBlock == false)
        {
            //take block from ground - need to elaborate on this for taking from stacks
            groundMap.SetTile(gridPosition, null);

            //pathfinding adjustment - this should be now done by "collider tilemaps" in STPF2d but its not working
            Vector3Int pathStopPosition = new Vector3Int(gridPosition.x, gridPosition.y, 0);
            navMap.SetTile(pathStopPosition, pathStop); // add a pathfinding barrier
            Debug.Log("setting nav obstacle at " + pathStopPosition);
        }
    }
    public void putBlock(Vector3Int gridPosition)
    {
        if (hasBlock == true)
        {
            
            //put block on ground- need to elaborate on this for adding to obelisk stacks
            gridPosition.z = 1;
            stackMap.SetTile(gridPosition, block);

            //pathfinding adjustment - this should be now done by "collider tilemaps" in STPF2d but its not working
            Vector3Int pathStopPosition = new Vector3Int(gridPosition.x, gridPosition.y, 0);
            navMap.SetTile(pathStopPosition, pathStop); // add a pathfinding barrier
            Debug.Log("setting nav obstacle at " + pathStopPosition);
        }
    }

    public void toggleBlock()
    {
        
        if (hasBlock == false)
        {
            hasBlock = true;
            hud.GetComponent<Image>().sprite = hudHasBlock;
        }   else
        {
            hasBlock = false;
            hud.GetComponent<Image>().sprite = hudNoBlock;
        }

    }


    void flipWalkingSprite(Vector3 destination)
    {
        // should this be a coroutine?
        DoodleAnimator animator = pivotObject.GetComponent<DoodleAnimator>();
        SpriteRenderer playerRenderer = pivotObject.GetComponent<SpriteRenderer>();

        if (transform.position.y < destination.y)
        {

            animator.ChangeAnimation(animBackRight);
        }
        else
        {
            animator.ChangeAnimation(animFrontRight);
        }
        if (transform.position.x < destination.x)
        {
            playerRenderer.flipX = false;
        }
        else
        {
            playerRenderer.flipX = true;
        }

        path.CreatePath(transform.position, destination); // here's where we create the path
    }



    private void MouseLeftClick()
    {
        Vector2 mousePosition = mouseInput.Mouse.MousePosition.ReadValue<Vector2>();
        mousePosition = Camera.main.ScreenToWorldPoint(mousePosition);
        Vector3Int gridPosition = groundMap.WorldToCell(mousePosition);
        DoodleAnimator animator = pivotObject.GetComponent<DoodleAnimator>();
        SpriteRenderer playerRenderer = pivotObject.GetComponent<SpriteRenderer>();
        if (groundMap.HasTile(gridPosition))
        {
            destination = mousePosition;

            flipWalkingSprite(destination);
        }

    }

    private void MouseRightClick()
    {

        Vector2 mousePosition = mouseInput.Mouse.MousePosition.ReadValue<Vector2>();
        mousePosition = Camera.main.ScreenToWorldPoint(mousePosition);
        Vector3Int gridPosition = groundMap.WorldToCell(mousePosition);
        
        DoodleAnimator animator = GetComponent<DoodleAnimator>();
        SpriteRenderer playerRenderer = GetComponent<SpriteRenderer>();
        if (groundMap.HasTile(gridPosition))
        {
            // open ui to show action- "get stone/ put stone" (it's unimodal depending on if you have a stone)
            OpenModal(mousePosition);
            flipWalkingSprite(mousePosition);
            if (hasBlock == false)
            {
                getBlock(gridPosition);
                toggleBlock();
            } else
            {
                putBlock(gridPosition);
                toggleBlock();
            }
        }

    }


    // how to get cell center
    //Vector3Int cellPosition = tilemap.WorldToCell(transform.position);
    //transform.position = tilemap.GetCellCenterWorld(cellPosition);

    // Update is called once per frame
    void FixedUpdate()
    {

        // The player object has an inner gameobject called pivotObject to adjust the pivot since you can't do it on
        //a doodleanimator like you can a sprite. 
        SpriteRenderer playerRenderer = pivotObject.GetComponent<SpriteRenderer>();

        if (Vector3.Distance(transform.position, destination) > 0.1f)
        {
            if (path.IsGenerated())
            {
                reticuleObject.SetActive(true);
                reticuleObject.transform.position = destination;
                if (isStationary)
                {
                    
                    if (path.GetNextPoint(ref nextPoint))
                    {
                        rb.velocity = nextPoint - transform.position;
                        rb.velocity = rb.velocity.normalized;
                        rb.velocity *= movementSpeed;
                        isStationary = false;
                    }
                    else
                    {
                        rb.velocity = Vector3.zero;
                        isStationary = true;
                        reticuleObject.SetActive(false);
                    }
                }

                else
                {
                    Vector3 delta = nextPoint - transform.position;
                    if (delta.magnitude <= 0.2f)
                    {
                        rb.velocity = Vector3.zero;
                        isStationary = true;
                        reticuleObject.SetActive(false);
                    }
                }
                
            }
            else
            {
                rb.velocity = Vector3.zero;
                isStationary = true;
            }
            
        }
            
    }
}