from inire.geometry.collision import CollisionEngine
from inire.geometry.primitives import Port
from inire.router.astar import AStarContext, AStarMetrics
from inire.router.cost import CostEvaluator
from inire.router.danger_map import DangerMap
from inire.router.pathfinder import PathFinder
from inire.utils.visualization import plot_routing_results


def main() -> None:
    print("Running Example 03: Locked Paths...")

    # 1. Setup Environment
    bounds = (0, -50, 100, 50)
    engine = CollisionEngine(clearance=2.0)
    danger_map = DangerMap(bounds=bounds)
    danger_map.precompute([])

    evaluator = CostEvaluator(engine, danger_map)
    context = AStarContext(evaluator, snap_size=1.0, bend_radii=[10.0])
    metrics = AStarMetrics()
    pf = PathFinder(context, metrics)

    # 2. Route Net A and 'Lock' it
    # Net A is a straight path blocking the direct route for Net B
    print("Routing initial net...")
    netlist_a = {"netA": (Port(10, 0, 0), Port(90, 0, 0))}
    results_a = pf.route_all(netlist_a, {"netA": 2.0})
    
    # Locking prevents Net A from being removed or rerouted during NC iterations
    engine.lock_net("netA")
    print("Initial net locked as static obstacle.")

    # 3. Route Net B (forced to detour)
    print("Routing detour net around locked path...")
    netlist_b = {"netB": (Port(50, -20, 90), Port(50, 20, 90))}
    results_b = pf.route_all(netlist_b, {"netB": 2.0})

    # 4. Visualize
    results = {**results_a, **results_b}
    fig, ax = plot_routing_results(results, [], bounds)
    fig.savefig("examples/03_locked_paths.png")
    print("Saved plot to examples/03_locked_paths.png")


if __name__ == "__main__":
    main()