from inire import NetSpec, Port, RoutingOptions, RoutingProblem, SearchOptions
from inire.router._astar_types import AStarContext
from inire.router._router import PathFinder
from inire.router._stack import build_routing_stack
from inire.utils.visualization import plot_routing_results


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

    bounds = (0, -50, 100, 50)
    print("Routing initial net...")
    stack = build_routing_stack(
        problem=RoutingProblem(
            bounds=bounds,
            nets=(NetSpec("netA", Port(10, 0, 0), Port(90, 0, 0), width=2.0),),
        ),
        options=RoutingOptions(search=SearchOptions(bend_radii=(10.0,))),
    )
    engine = stack.world
    evaluator = stack.evaluator
    results_a = stack.finder.route_all()

    print("Routing detour net around locked path...")
    for polygon in results_a["netA"].locked_geometry:
        engine.add_static_obstacle(polygon)
    results_b = PathFinder(
        AStarContext(
            evaluator,
            RoutingProblem(
                bounds=bounds,
                nets=(NetSpec("netB", Port(50, -20, 90), Port(50, 20, 90), width=2.0),),
            ),
            RoutingOptions(search=SearchOptions(bend_radii=(10.0,))),
        ),
    ).route_all()

    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()