from shapely.geometry import box

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


def main() -> None:
    print("Running Example 09: Best-Effort Under Tight Search Budget...")

    bounds = (0, 0, 100, 100)
    obstacles = [
        box(35, 35, 45, 65),
        box(55, 35, 65, 65),
    ]
    problem = RoutingProblem(
        bounds=bounds,
        nets=(NetSpec("budget_limited_net", Port(10, 50, 0), Port(85, 60, 180), width=2.0),),
        static_obstacles=tuple(obstacles),
    )
    options = RoutingOptions(
        search=SearchOptions(
            node_limit=3,
            bend_radii=(10.0,),
        ),
        objective=ObjectiveWeights(
            bend_penalty=50.0,
            sbend_penalty=150.0,
        ),
        congestion=CongestionOptions(warm_start_enabled=False),
    )

    print("Routing with a deliberately tiny node budget (should return a partial path)...")
    run = route(problem, options=options)
    result = run.results_by_net["budget_limited_net"]
    if not result.reached_target:
        print(f"Target not reached as expected. Partial path length: {len(result.path)} segments.")
    else:
        print("The route unexpectedly reached the target. Increase difficulty or reduce the node budget further.")

    fig, _ax = plot_routing_results(run.results_by_net, list(obstacles), bounds, netlist={"budget_limited_net": (Port(10, 50, 0), Port(85, 60, 180))})
    fig.savefig("examples/09_unroutable_best_effort.png")
    print("Saved plot to examples/09_unroutable_best_effort.png")


if __name__ == "__main__":
    main()