from shapely.geometry import Polygon

from inire.geometry.collision import CollisionEngine
from inire.geometry.primitives import Port
from inire.router.astar import AStarContext, AStarMetrics
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_with_context(
    context: AStarContext,
    metrics: AStarMetrics,
    netlist: dict[str, tuple[Port, Port]],
    net_widths: dict[str, float],
) -> dict[str, object]:
    return PathFinder(context, metrics, use_tiered_strategy=False).route_all(netlist, net_widths)


def main() -> None:
    print("Running Example 08: Custom Bend Geometry...")

    # 1. Setup Environment
    bounds = (0, 0, 150, 150)

    # 2. Define Netlist
    netlist = {
        "custom_bend": (Port(20, 20, 0), Port(100, 100, 90)),
    }
    net_widths = {"custom_bend": 2.0}

    def build_context(bend_collision_type: object = "arc") -> tuple[AStarContext, AStarMetrics]:
        engine = CollisionEngine(clearance=2.0)
        danger_map = DangerMap(bounds=bounds)
        danger_map.precompute([])
        evaluator = CostEvaluator(engine, danger_map, bend_penalty=50.0, sbend_penalty=150.0)
        return AStarContext(evaluator, bend_radii=[10.0], bend_collision_type=bend_collision_type, sbend_radii=[]), AStarMetrics()

    # 3. Route with standard arc first
    print("Routing with standard arc...")
    context_std, metrics_std = build_context()
    results_std = _route_with_context(context_std, metrics_std, netlist, net_widths)

    # 4. Define a custom Manhattan 90-degree bend proxy in bend-local coordinates.
    # The polygon origin is the bend center. It is mirrored for CW bends and
    # rotated with the bend orientation before being translated into place.
    custom_poly = Polygon([(0, -11), (11, -11), (11, 0), (9, 0), (9, -9), (0, -9)])

    print("Routing with custom bend geometry...")
    context_custom, metrics_custom = build_context(custom_poly)
    results_custom = _route_with_context(context_custom, metrics_custom, {"custom_model": netlist["custom_bend"]}, {"custom_model": 2.0})

    # 5. Visualize
    all_results = {**results_std, **results_custom}
    fig, ax = plot_routing_results(all_results, [], bounds, netlist=netlist)
    fig.savefig("examples/08_custom_bend_geometry.png")
    print("Saved plot to examples/08_custom_bend_geometry.png")


if __name__ == "__main__":
    main()