from shapely.geometry import Polygon

from inire.geometry.collision import CollisionEngine
from inire.geometry.primitives import Port
from inire.router.astar import AStarContext
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 _route_scenario(
    bounds: tuple[float, float, float, float],
    obstacles: list[Polygon],
    bend_collision_type: str,
    netlist: dict[str, tuple[Port, Port]],
    widths: dict[str, float],
    *,
    bend_clip_margin: float = 10.0,
) -> dict[str, object]:
    engine = CollisionEngine(clearance=2.0)
    for obstacle in obstacles:
        engine.add_static_obstacle(obstacle)

    danger_map = DangerMap(bounds=bounds)
    danger_map.precompute(obstacles)
    evaluator = CostEvaluator(engine, danger_map, bend_penalty=50.0, sbend_penalty=150.0)
    context = AStarContext(
        evaluator,
        bend_radii=[10.0],
        bend_collision_type=bend_collision_type,
        bend_clip_margin=bend_clip_margin,
    )
    return PathFinder(context, use_tiered_strategy=False).route_all(netlist, widths)


def main() -> None:
    print("Running Example 06: Bend Collision Models...")

    # 1. Setup Environment
    # Give room for 10um bends near the edges
    bounds = (-20, -20, 170, 170)

    # Create three scenarios with identical obstacles
    # We'll space them out vertically
    obs_arc = Polygon([(40, 110), (60, 110), (60, 130), (40, 130)])
    obs_bbox = Polygon([(40, 60), (60, 60), (60, 80), (40, 80)])
    obs_clipped = Polygon([(40, 10), (60, 10), (60, 30), (40, 30)])

    obstacles = [obs_arc, obs_bbox, obs_clipped]
    netlist_arc = {"arc_model": (Port(10, 120, 0), Port(90, 140, 90))}
    netlist_bbox = {"bbox_model": (Port(10, 70, 0), Port(90, 90, 90))}
    netlist_clipped = {"clipped_model": (Port(10, 20, 0), Port(90, 40, 90))}

    # 2. Route each scenario
    print("Routing Scenario 1 (Arc)...")
    res_arc = _route_scenario(bounds, obstacles, "arc", netlist_arc, {"arc_model": 2.0})

    print("Routing Scenario 2 (BBox)...")
    res_bbox = _route_scenario(bounds, obstacles, "bbox", netlist_bbox, {"bbox_model": 2.0})

    print("Routing Scenario 3 (Clipped BBox)...")
    res_clipped = _route_scenario(
        bounds,
        obstacles,
        "clipped_bbox",
        netlist_clipped,
        {"clipped_model": 2.0},
        bend_clip_margin=1.0,
    )

    # 3. Combine results for visualization
    all_results = {**res_arc, **res_bbox, **res_clipped}
    all_netlists = {**netlist_arc, **netlist_bbox, **netlist_clipped}

    # 4. Visualize
    fig, ax = plot_routing_results(all_results, obstacles, bounds, netlist=all_netlists)
    fig.savefig("examples/06_bend_collision_models.png")
    print("Saved plot to examples/06_bend_collision_models.png")


if __name__ == "__main__":
    main()