Directory structure cleanup and organization overhaul

tests/integration/astar_vs_dijkstra.py

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+#!/usr/bin/env python3
+"""
+A* vs Dijkstra Visual Comparison
+=================================
+
+Shows the difference between A* (single target) and Dijkstra (multi-target).
+"""
+
+import mcrfpy
+import sys
+
+# Colors
+WALL_COLOR = mcrfpy.Color(40, 20, 20)
+FLOOR_COLOR = mcrfpy.Color(60, 60, 80)
+ASTAR_COLOR = mcrfpy.Color(0, 255, 0)      # Green for A*
+DIJKSTRA_COLOR = mcrfpy.Color(0, 150, 255) # Blue for Dijkstra
+START_COLOR = mcrfpy.Color(255, 100, 100)  # Red for start
+END_COLOR = mcrfpy.Color(255, 255, 100)    # Yellow for end
+
+# Global state
+grid = None
+mode = "ASTAR"
+start_pos = (5, 10)
+end_pos = (27, 10)  # Changed from 25 to 27 to avoid the wall
+
+def create_map():
+    """Create a map with obstacles to show pathfinding differences"""
+    global grid
+    
+    mcrfpy.createScene("pathfinding_comparison")
+    
+    # Create grid
+    grid = mcrfpy.Grid(grid_x=30, grid_y=20)
+    grid.fill_color = mcrfpy.Color(0, 0, 0)
+    
+    # Initialize all as floor
+    for y in range(20):
+        for x in range(30):
+            grid.at(x, y).walkable = True
+            grid.at(x, y).color = FLOOR_COLOR
+    
+    # Create obstacles that make A* and Dijkstra differ
+    obstacles = [
+        # Vertical wall with gaps
+        [(15, y) for y in range(3, 17) if y not in [8, 12]],
+        # Horizontal walls
+        [(x, 5) for x in range(10, 20)],
+        [(x, 15) for x in range(10, 20)],
+        # Maze-like structure
+        [(x, 10) for x in range(20, 25)],
+        [(25, y) for y in range(5, 15)],
+    ]
+    
+    for obstacle_group in obstacles:
+        for x, y in obstacle_group:
+            grid.at(x, y).walkable = False
+            grid.at(x, y).color = WALL_COLOR
+    
+    # Mark start and end
+    grid.at(start_pos[0], start_pos[1]).color = START_COLOR
+    grid.at(end_pos[0], end_pos[1]).color = END_COLOR
+
+def clear_paths():
+    """Clear path highlighting"""
+    for y in range(20):
+        for x in range(30):
+            cell = grid.at(x, y)
+            if cell.walkable:
+                cell.color = FLOOR_COLOR
+    
+    # Restore start and end colors
+    grid.at(start_pos[0], start_pos[1]).color = START_COLOR
+    grid.at(end_pos[0], end_pos[1]).color = END_COLOR
+
+def show_astar():
+    """Show A* path"""
+    clear_paths()
+    
+    # Compute A* path
+    path = grid.compute_astar_path(start_pos[0], start_pos[1], end_pos[0], end_pos[1])
+    
+    # Color the path
+    for i, (x, y) in enumerate(path):
+        if (x, y) != start_pos and (x, y) != end_pos:
+            grid.at(x, y).color = ASTAR_COLOR
+    
+    status_text.text = f"A* Path: {len(path)} steps (optimized for single target)"
+    status_text.fill_color = ASTAR_COLOR
+
+def show_dijkstra():
+    """Show Dijkstra exploration"""
+    clear_paths()
+    
+    # Compute Dijkstra from start
+    grid.compute_dijkstra(start_pos[0], start_pos[1])
+    
+    # Color cells by distance (showing exploration)
+    max_dist = 40.0
+    for y in range(20):
+        for x in range(30):
+            if grid.at(x, y).walkable:
+                dist = grid.get_dijkstra_distance(x, y)
+                if dist is not None and dist < max_dist:
+                    # Color based on distance
+                    intensity = int(255 * (1 - dist / max_dist))
+                    grid.at(x, y).color = mcrfpy.Color(0, intensity // 2, intensity)
+    
+    # Get the actual path
+    path = grid.get_dijkstra_path(end_pos[0], end_pos[1])
+    
+    # Highlight the actual path more brightly
+    for x, y in path:
+        if (x, y) != start_pos and (x, y) != end_pos:
+            grid.at(x, y).color = DIJKSTRA_COLOR
+    
+    # Restore start and end
+    grid.at(start_pos[0], start_pos[1]).color = START_COLOR
+    grid.at(end_pos[0], end_pos[1]).color = END_COLOR
+    
+    status_text.text = f"Dijkstra: {len(path)} steps (explores all directions)"
+    status_text.fill_color = DIJKSTRA_COLOR
+
+def show_both():
+    """Show both paths overlaid"""
+    clear_paths()
+    
+    # Get both paths
+    astar_path = grid.compute_astar_path(start_pos[0], start_pos[1], end_pos[0], end_pos[1])
+    grid.compute_dijkstra(start_pos[0], start_pos[1])
+    dijkstra_path = grid.get_dijkstra_path(end_pos[0], end_pos[1])
+    
+    print(astar_path, dijkstra_path)
+
+    # Color Dijkstra path first (blue)
+    for x, y in dijkstra_path:
+        if (x, y) != start_pos and (x, y) != end_pos:
+            grid.at(x, y).color = DIJKSTRA_COLOR
+    
+    # Then A* path (green) - will overwrite shared cells
+    for x, y in astar_path:
+        if (x, y) != start_pos and (x, y) != end_pos:
+            grid.at(x, y).color = ASTAR_COLOR
+    
+    # Mark differences
+    different_cells = []
+    for cell in dijkstra_path:
+        if cell not in astar_path:
+            different_cells.append(cell)
+    
+    status_text.text = f"Both paths: A*={len(astar_path)} steps, Dijkstra={len(dijkstra_path)} steps"
+    if different_cells:
+        info_text.text = f"Paths differ at {len(different_cells)} cells"
+    else:
+        info_text.text = "Paths are identical"
+
+def handle_keypress(key_str, state):
+    """Handle keyboard input"""
+    global mode
+    if state == "end": return
+    print(key_str)
+    if key_str == "Esc" or key_str == "Q":
+        print("\nExiting...")
+        sys.exit(0)
+    elif key_str == "A" or key_str == "1":
+        mode = "ASTAR"
+        show_astar()
+    elif key_str == "D" or key_str == "2":
+        mode = "DIJKSTRA"
+        show_dijkstra()
+    elif key_str == "B" or key_str == "3":
+        mode = "BOTH"
+        show_both()
+    elif key_str == "Space":
+        # Refresh current mode
+        if mode == "ASTAR":
+            show_astar()
+        elif mode == "DIJKSTRA":
+            show_dijkstra()
+        else:
+            show_both()
+
+# Create the demo
+print("A* vs Dijkstra Pathfinding Comparison")
+print("=====================================")
+print("Controls:")
+print("  A or 1 - Show A* path (green)")
+print("  D or 2 - Show Dijkstra (blue gradient)")
+print("  B or 3 - Show both paths")
+print("  Q/ESC  - Quit")
+print()
+print("A* is optimized for single-target pathfinding")
+print("Dijkstra explores in all directions (good for multiple targets)")
+
+create_map()
+
+# Set up UI
+ui = mcrfpy.sceneUI("pathfinding_comparison")
+ui.append(grid)
+
+# Scale and position
+grid.size = (600, 400)  # 30*20, 20*20
+grid.position = (100, 100)
+
+# Add title
+title = mcrfpy.Caption("A* vs Dijkstra Pathfinding", 250, 20)
+title.fill_color = mcrfpy.Color(255, 255, 255)
+ui.append(title)
+
+# Add status
+status_text = mcrfpy.Caption("Press A for A*, D for Dijkstra, B for Both", 100, 60)
+status_text.fill_color = mcrfpy.Color(200, 200, 200)
+ui.append(status_text)
+
+# Add info
+info_text = mcrfpy.Caption("", 100, 520)
+info_text.fill_color = mcrfpy.Color(200, 200, 200)
+ui.append(info_text)
+
+# Add legend
+legend1 = mcrfpy.Caption("Red=Start, Yellow=End, Green=A*, Blue=Dijkstra", 100, 540)
+legend1.fill_color = mcrfpy.Color(150, 150, 150)
+ui.append(legend1)
+
+legend2 = mcrfpy.Caption("Dark=Walls, Light=Floor", 100, 560)
+legend2.fill_color = mcrfpy.Color(150, 150, 150)
+ui.append(legend2)
+
+# Set scene and input
+mcrfpy.setScene("pathfinding_comparison")
+mcrfpy.keypressScene(handle_keypress)
+
+# Show initial A* path
+show_astar()
+
+print("\nDemo ready!")