from inire.geometry.collision import CollisionEngine
from inire.geometry.primitives import Port
from inire.router.astar import AStarRouter
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 (Incremental Routing)...")

    # 1. Setup Environment
    bounds = (0, 0, 100, 100)
    engine = CollisionEngine(clearance=2.0)
    danger_map = DangerMap(bounds=bounds)
    danger_map.precompute([]) # No initial obstacles

    evaluator = CostEvaluator(engine, danger_map)
    router = AStarRouter(evaluator)
    pf = PathFinder(router, evaluator)

    # 2. Phase 1: Route a "Critical" Net
    # This net gets priority and takes the best path.
    netlist_phase1 = {
        "critical_net": (Port(10, 50, 0), Port(90, 50, 0)),
    }
    print("Phase 1: Routing critical_net...")
    results1 = pf.route_all(netlist_phase1, {"critical_net": 3.0}) # Wider trace

    if not results1["critical_net"].is_valid:
        print("Error: Phase 1 failed.")
        return

    # 3. Lock the Critical Net
    # This converts the dynamic path into a static obstacle in the collision engine.
    print("Locking critical_net...")
    engine.lock_net("critical_net")

    # Update danger map to reflect the new obstacle (optional but recommended for heuristics)
    # Extract polygons from result
    path_polys = [p for comp in results1["critical_net"].path for p in comp.geometry]
    danger_map.precompute(path_polys)

    # 4. Phase 2: Route a Secondary Net
    # This net must route *around* the locked critical_net.
    # Start and end points force a crossing path if it were straight.
    netlist_phase2 = {
        "secondary_net": (Port(50, 10, 90), Port(50, 90, 90)),
    }

    print("Phase 2: Routing secondary_net around locked path...")
    results2 = pf.route_all(netlist_phase2, {"secondary_net": 2.0})

    if results2["secondary_net"].is_valid:
        print("Success! Secondary net routed around locked path.")
    else:
        print("Failed to route secondary net.")

    # 5. Visualize
    # Combine results for plotting
    all_results = {**results1, **results2}

    # Note: 'critical_net' is now in engine.static_obstacles internally,
    # but for visualization we plot it from the result object to see it clearly.
    # We pass an empty list for 'static_obstacles' to plot_routing_results
    # because we want to see the path colored, not grayed out as an obstacle.

    fig, ax = plot_routing_results(all_results, [], bounds)
    fig.savefig("examples/locked.png")
    print("Saved plot to examples/locked.png")


if __name__ == "__main__":
    main()