#!/usr/bin/env python3
"""verify_mixed_step.py — 混合步长 A*(2格跑+1格走) 全图离线验证."""
from __future__ import annotations

import sys
import time
from collections import deque

sys.path.insert(0, "src")
from pbot.bot.pathfind import LearnedGrid, astar, load_walls_from_map


def cross_check(path, walls):
    pairs = list(zip(path, path[1:]))
    for a, b in pairs:
        step = max(abs(b[0] - a[0]), abs(b[1] - a[1]))
        if b in walls:
            return False
        if step == 2:
            mid = ((a[0] + b[0]) // 2, (a[1] + b[1]) // 2)
            if mid in walls:
                return False
    return True


def farthest(start, walls, lim=1024):
    dq = deque([start])
    seen = {start}
    while dq:
        x, y = dq.popleft()
        for dx in (-1, 0, 1):
            for dy in (-1, 0, 1):
                n = (x + dx, y + dy)
                if n not in seen and n not in walls \
                        and 0 <= n[0] < lim and 0 <= n[1] < lim:
                    seen.add(n)
                    dq.append(n)
    return max(seen, key=lambda c: abs(c[0] - start[0]) + abs(c[1] - start[1]))


def main():
    cases = [
        ("d601 蜈蚣洞穴 (38,25)->(163,73) [昨晚失败场景]", "assets/maps/d601.map", (38, 25), (163, 73)),
        ("d401 矿区 (83,10)->(177,19) [实跑回归]", "assets/maps/d401.map", (83, 10), (177, 19)),
        ("d011 天然洞穴 BFS最远点", "assets/maps/d011.map", None, None),
        ("0139 等待图 BFS最远点", "assets/maps/0139.map", None, None),
        ("d022 沃玛寺庙 BFS最远点", "assets/maps/d022.map", None, None),
        ("d613 生死之间 BFS最远点", "assets/maps/d613.map", None, None),
        ("0 比奇大城 BFS最远点", "assets/maps/0.map", None, None),
        ("3 盟重 BFS最远点", "assets/maps/3.map", None, None),
    ]
    all_ok = True
    for label, mp, s, g in cases:
        walls = load_walls_from_map(mp)
        if s is None:
            s = next(c for c in ((x, y) for y in range(10, 200, 5)
                                 for x in range(10, 200, 5))
                     if c not in walls)
            g = farthest(s, walls)
        grid = LearnedGrid()
        grid.mark_from_map(walls)
        t0 = time.time()
        path = astar(s, g, grid, max_expand=2_000_000)
        ms = (time.time() - t0) * 1000
        if path is None:
            print(f"X {label}: 无路!")
            all_ok = False
            continue
        ok = cross_check(path, walls)
        if not ok:
            all_ok = False
        legs = list(zip(path, path[1:]))
        n1 = sum(1 for a, b in legs
                 if max(abs(b[0] - a[0]), abs(b[1] - a[1])) == 1)
        n2 = len(legs) - n1
        mark = "OK" if ok else "X穿墙"
        print(f"{mark} {label}: {len(legs)} 腿(跑{n2}/走{n1}) {ms:.0f}ms")
    print("-" * 60)
    print("结论:", "全部通过 — 混合步长对所有地图有效" if all_ok else "存在失败!")
    return 0 if all_ok else 1


if __name__ == "__main__":
    sys.exit(main())