from inire import NetSpec, ObjectiveWeights, Port, RoutingOptions, RoutingProblem, SearchOptions, route
from inire.utils.visualization import plot_routing_results


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

    bounds = (0, -50, 100, 50)
    options = RoutingOptions(
        search=SearchOptions(bend_radii=(10.0,)),
        objective=ObjectiveWeights(
            bend_penalty=250.0,
            sbend_penalty=500.0,
        ),
    )
    print("Routing initial net...")
    results_a = route(
        RoutingProblem(
            bounds=bounds,
            nets=(NetSpec("netA", Port(10, 0, 0), Port(90, 0, 0), width=2.0),),
        ),
        options=options,
    ).results_by_net

    print("Routing detour net around locked path...")
    results_b = route(
        RoutingProblem(
            bounds=bounds,
            nets=(NetSpec("netB", Port(50, -20, 90), Port(50, 20, 90), width=2.0),),
            static_obstacles=results_a["netA"].locked_geometry,
        ),
        options=options,
    ).results_by_net

    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()