app.py

import os
import math
import folium
import folium.plugins
import xml.etree.ElementTree as ET
import heapq
from flask import Flask, render_template, request, jsonify, session
from werkzeug.utils import secure_filename
import importlib.util
import sys
import json
import copy

# Torch and image libraries
import torch
import torch.nn as nn
from torchvision import models
import torchvision.transforms as transforms
from PIL import Image

SEVERITY_MULTIPLIERS = {
    "none": 1.0,
    "minor": 2.0,
    "moderate": 3.0,
    "severe": 4.0
}

# Global variables for default map data (for Hugging Face deployment)
DEFAULT_MAP_DATA = {
    'nodes': None,
    'ways': None,
    'cameras': None,
    'meta': None,
    'osm_nodes': None,
    'graph': None,
    'txt_path': None,
    'osm_path': None
}

# In-memory cache for uploaded map data (survives across requests)
UPLOADED_MAP_CACHE = {
    'nodes': None,
    'ways': None,
    'cameras': None,
    'meta': None,
    'osm_nodes': None,
    'graph': None,
    'txt_path': None,
    'osm_path': None,
    'timestamp': None
}

# Global accident store (survives across requests)
GLOBAL_ACCIDENTS = {}


# =====================================================
# Image preprocessing (MUST match training - ImageNet normalization)
# =====================================================
accident_transform = transforms.Compose([
    transforms.Resize((224, 224)),
    transforms.ToTensor(),
    transforms.Normalize(
        mean=[0.485, 0.456, 0.406],  # ImageNet mean
        std=[0.229, 0.224, 0.225]    # ImageNet std
    )
])

MODEL_DIR = "model/saved_models/"


# Based on ur directory structure, load the appropriate model
def load_model(model_name):
    FILE_MAP = {
        "mobilenet": "mobilenet/version_2/mobilenet_v2_final.pth",
        "resnet": "resnet/version_2/resnet18_final.pth",
        "efficientnet": "efficientnet/version_2/efficientnet_b0_final.pth"
    }

    path = MODEL_DIR + FILE_MAP[model_name]

    # Load the saved state_dict first
    state = torch.load(path, map_location="cpu")

    # -------------------------------
    # MOBILENET V2
    # -------------------------------
    if model_name == "mobilenet":
        model = models.mobilenet_v2(weights=None)

        # Check if trained with Sequential head
        if "classifier.2.weight" in state:
            model.classifier = nn.Sequential(
                nn.Dropout(0.2),
                nn.Linear(1280, 256),
                nn.ReLU(),
                nn.Linear(256, 4)
            )
        else:
            model.classifier[1] = nn.Linear(1280, 4)

        model.load_state_dict(state)

    # -------------------------------
    # RESNET18
    # -------------------------------
    elif model_name == "resnet":
        model = models.resnet18(weights=None)

        state = torch.load(path, map_location="cpu")

        # Detect YOUR exact architecture (ReLU + Linear)
        if "fc.1.weight" in state and "fc.0.weight" not in state:
            model.fc = nn.Sequential(
                nn.ReLU(),              # fc.0
                nn.Linear(512, 4)       # fc.1
            )
        else:
            model.fc = nn.Linear(512, 4)

        model.load_state_dict(state)

    # -------------------------------
    # EFFICIENTNET B0
    # -------------------------------
    elif model_name == "efficientnet":
        model = models.efficientnet_b0(weights=None)

        # EfficientNet uses classifier[1] normally, but
        # if Sequential was used in training → build it again
        if "classifier.2.weight" in state:
            model.classifier = nn.Sequential(
                nn.Dropout(0.2),
                nn.Linear(1280, 256),
                nn.ReLU(),
                nn.Linear(256, 4)
            )
        else:
            model.classifier[1] = nn.Linear(1280, 4)

        model.load_state_dict(state)

    else:
        raise ValueError("Unknown model type")

    model.eval()
    print(f"✅ Loaded model: {path}")
    return model




# =====================================================
# Load models once on server start
# =====================================================
mobilenet_model = load_model("mobilenet")
resnet_model = load_model("resnet")
# Load EfficientNet if available; fall back gracefully
try:
    efficientnet_model = load_model("efficientnet")
except Exception as e:
    print("Failed to load EfficientNet model:", e)
    efficientnet_model = None
# ============================================================================
# UTILITY FUNCTIONS
# ============================================================================

def load_default_map_data():
    """Load default map files if they exist (optional - for convenience)"""
    default_txt = 'heritage_assignment_15_time_asymmetric-1.txt'
    default_osm = 'map.osm'
    
    if os.path.exists(default_txt) and os.path.exists(default_osm):
        try:
            print(f"🗺️  Loading default map files: {default_txt}, {default_osm}")
            nodes, ways, cameras, meta = parse_map_data_file(default_txt)
            osm_nodes, graph = load_osm_graph(default_osm)
            
            DEFAULT_MAP_DATA['nodes'] = nodes
            DEFAULT_MAP_DATA['ways'] = ways
            DEFAULT_MAP_DATA['cameras'] = cameras
            DEFAULT_MAP_DATA['meta'] = meta
            DEFAULT_MAP_DATA['osm_nodes'] = osm_nodes
            DEFAULT_MAP_DATA['graph'] = graph
            DEFAULT_MAP_DATA['txt_path'] = default_txt
            DEFAULT_MAP_DATA['osm_path'] = default_osm
            
            print(f"✅ Default map loaded: {len(nodes)} nodes, {len(ways)} ways")
            return True
        except Exception as e:
            print(f"⚠️  Failed to load default map: {e}")
            return False
    else:
        print("ℹ️  No default map files found (optional). Users will upload their own files.")
    return False


def get_current_map_data():
    """Get current map data - from cache (uploaded) or default map"""
    import copy
    
    # Priority 1: Check uploaded files cache FIRST (regardless of session)
    if UPLOADED_MAP_CACHE['nodes'] is not None:
        # ALWAYS use cached ways (which includes accidents) - don't rely on session
        ways = copy.deepcopy(UPLOADED_MAP_CACHE['ways'])
        accidents_count = sum(1 for w in ways if w.get('accident', False))
        print(f"✅ Using uploaded map cache (accidents applied: {accidents_count})")
        return (
            UPLOADED_MAP_CACHE['nodes'],
            ways,
            UPLOADED_MAP_CACHE['cameras'],
            UPLOADED_MAP_CACHE['meta'],
            UPLOADED_MAP_CACHE['osm_nodes'],
            UPLOADED_MAP_CACHE['graph'],
            UPLOADED_MAP_CACHE['txt_path'],
            UPLOADED_MAP_CACHE['osm_path']
        )
    
    # Priority 2: Use default map if available
    if DEFAULT_MAP_DATA['nodes'] is not None:
        # ALWAYS use cached ways (which includes accidents) - don't rely on session
        ways = copy.deepcopy(DEFAULT_MAP_DATA['ways'])
        accidents_count = sum(1 for w in ways if w.get('accident', False))
        print(f"✅ Using default map (accidents applied: {accidents_count})")
        return (
            DEFAULT_MAP_DATA['nodes'],
            ways,
            DEFAULT_MAP_DATA['cameras'],
            DEFAULT_MAP_DATA['meta'],
            DEFAULT_MAP_DATA['osm_nodes'],
            DEFAULT_MAP_DATA['graph'],
            DEFAULT_MAP_DATA['txt_path'],
            DEFAULT_MAP_DATA['osm_path']
        )
    
    # Priority 3: Try loading from file paths in session (last resort)
    txt_path = session.get('txt_path')
    osm_path = session.get('osm_path')
    if txt_path and osm_path and os.path.exists(txt_path) and os.path.exists(osm_path):
        try:
            print(f"⚠️  Loading from disk: {txt_path}, {osm_path}")
            nodes, ways, cameras, meta = parse_map_data_file(txt_path)
            osm_nodes, graph = load_osm_graph(osm_path)
            return nodes, ways, cameras, meta, osm_nodes, graph, txt_path, osm_path
        except Exception as e:
            print(f"❌ Error loading from disk: {e}")
    
    print("❌ No map data available")
    print(f"   - Uploaded cache: {UPLOADED_MAP_CACHE['nodes'] is not None}")
    print(f"   - Default map: {DEFAULT_MAP_DATA['nodes'] is not None}")
    print(f"   - Session: {dict(session)}")
    return None, None, None, None, None, None, None, None

def load_func_from_path(path, func_name):
    """Dynamically load a function from a Python file"""
    # Prepare module metadata so we can import a function from an arbitrary file
    module_dir = os.path.dirname(path)
    spec = importlib.util.spec_from_file_location(func_name, path)
    mod = importlib.util.module_from_spec(spec)

    added = False
    try:
        # Insert the module directory temporarily to resolve relative imports
        if module_dir not in sys.path:
            sys.path.insert(0, module_dir)
            added = True
        # Execute the module so the requested function becomes available
        spec.loader.exec_module(mod)
    finally:
        if added:
            try:
                # Always clean up sys.path even if the import fails
                sys.path.remove(module_dir)
            except ValueError:
                pass

    return getattr(mod, func_name)


def split_csv_allow_commas(line, min_fields):
    """Parse CSV line while respecting commas inside parentheses"""
    # Accumulate parsed pieces and track parentheses depth to honor commas inside pairs
    parts = []
    buf = []
    depth = 0

    for ch in line:
        if ch == '(':
            # Increase depth because commas inside parentheses must be preserved
            depth += 1
            buf.append(ch)
        elif ch == ')':
            # Drop depth (with floor at 0) once a closing parenthesis is seen
            depth = max(depth - 1, 0)
            buf.append(ch)
        elif ch == ',':
            if depth == 0:
                # Split on commas only if we are not inside parentheses
                parts.append("".join(buf).strip())
                buf = []
            else:
                buf.append(ch)
        else:
            buf.append(ch)

    if buf:
        # Flush the final buffer after iterating through the line
        parts.append("".join(buf).strip())

    if len(parts) < min_fields:
        raise ValueError(f"Line '{line}' parsed into too few fields: {parts}")
    return parts


def haversine_km(lat1, lon1, lat2, lon2):
    """Calculate distance between two coordinates in kilometers"""
    # Earth radius in kilometers for the haversine formula
    R = 6371.0
    la1, la2 = math.radians(lat1), math.radians(lat2)
    dla = la2 - la1
    dlo = math.radians(lon2 - lon1)
    # Classic haversine distance computation with spherical adjustment
    a = math.sin(dla/2)**2 + math.cos(la1)*math.cos(la2)*math.sin(dlo/2)**2
    return R * 2 * math.atan2(math.sqrt(a), math.sqrt(1-a))


def is_header(line):
    """Check if line is a section header"""
    # Headers are bracketed (e.g., [NODES]) in the custom format
    return line.startswith("[") and line.endswith("]")


def ignore_line(line):
    """Check if line should be ignored"""
    # Skip blank lines and comments when reading the dataset
    return (not line.strip()) or line.strip().startswith("#")

# ============================================================================
# FILE PARSING FUNCTIONS
# ============================================================================

def parse_map_data_file(path):
    """Parse the custom map data file format"""
    # Track which section we are reading so each line is interpreted correctly
    section = None
    nodes = {}
    ways = []
    cameras = {}
    meta = {"start": None, "goals": [], "accident_multiplier": None}

    with open(path, "r", encoding="utf-8") as f:
        for raw in f:
            line = raw.strip()
            if ignore_line(line):
                continue
            if is_header(line):
                # Switch parsing mode whenever a new header is encountered
                section = line.upper()
                continue

            if section == "[NODES]":
                p = split_csv_allow_commas(line, 4)
                nid, lat, lon, label = p[0], float(p[1]), float(p[2]), p[3]
                nodes[nid] = {"lat": lat, "lon": lon, "label": label}

            elif section == "[WAYS]":
                p = split_csv_allow_commas(line, 6)
                time_val = float(p[5])

                ways.append({
                    "way_id": p[0],
                    "from": p[1],
                    "to": p[2],
                    "road_name": p[3],
                    "highway_type": p[4],
                    "time_min": time_val,          
                    "original_time": time_val,     
                    "accident": False
                    
                })

            elif section == "[CAMERAS]":
                p = split_csv_allow_commas(line, 2)
                cameras[p[0]] = p[1]

            elif section == "[META]":
                p = [x.strip() for x in line.split(",")]
                key = p[0].upper()
                # Populate meta information that influences visualization
                if key == "START":
                    meta["start"] = p[1]
                elif key == "GOAL":
                    meta["goals"] = p[1:]
                elif key == "ACCIDENT_MULTIPLIER":
                    meta["accident_multiplier"] = float(p[1])

    return nodes, ways, cameras, meta


def load_osm_graph(osm_path):
    """Parse OSM file and build graph structure"""
    tree = ET.parse(osm_path)
    root = tree.getroot()

    # Extract all nodes
    osm_nodes = {}
    for n in root.findall("node"):
        nid = n.attrib["id"]
        lat = float(n.attrib["lat"])
        lon = float(n.attrib["lon"])
        osm_nodes[nid] = (lat, lon)

    # Build adjacency graph
    graph = {nid: [] for nid in osm_nodes}

    for w in root.findall("way"):
        nd_refs = [nd.attrib["ref"] for nd in w.findall("nd")]
        tags = {t.attrib.get("k"): t.attrib.get("v") for t in w.findall("tag")}

        if "highway" not in tags:
            # Only keep ways that represent roads
            continue

        for i in range(len(nd_refs) - 1):
            a, b = nd_refs[i], nd_refs[i+1]
            if a in osm_nodes and b in osm_nodes:
                lat1, lon1 = osm_nodes[a]
                lat2, lon2 = osm_nodes[b]
                # Use haversine distance to approximate segment cost
                dist = haversine_km(lat1, lon1, lat2, lon2)
                graph[a].append((b, dist))
                graph[b].append((a, dist))

    # Remove isolated nodes
    isolated = [nid for nid, nbrs in graph.items() if len(nbrs) == 0]
    for nid in isolated:
        del graph[nid]

    return osm_nodes, graph

# ============================================================================
# GRAPH ALGORITHM FUNCTIONS
# ============================================================================

def k_nearest_graph_nodes(lat, lon, osm_nodes, graph, k=5):
    """Find k nearest nodes in the graph to given coordinates"""
    # Maintain (distance squared, node id) pairs to avoid repetitive sqrt
    candidates = []
    for nid, (nlat, nlon) in osm_nodes.items():
        if nid not in graph:
            continue
        d_lat = lat - nlat
        d_lon = lon - nlon
        d2 = d_lat*d_lat + d_lon*d_lon
        candidates.append((d2, nid))

    candidates.sort(key=lambda x: x[0])
    return [nid for d2, nid in candidates[:k]]


def dijkstra_path(graph, start_id, goal_id):
    """Find shortest path using Dijkstra's algorithm"""
    dist = {start_id: 0.0}
    prev = {}
    pq = [(0.0, start_id)]
    visited = set()

    while pq:
        cur_d, cur = heapq.heappop(pq)
        if cur in visited:
            continue
        visited.add(cur)

        if cur == goal_id:
            break

        for nbr, w in graph.get(cur, []):
            # Relax neighboring nodes when a shorter distance is discovered
            nd = cur_d + w
            if nbr not in dist or nd < dist[nbr]:
                dist[nbr] = nd
                prev[nbr] = cur
                heapq.heappush(pq, (nd, nbr))

    if goal_id not in dist:
        return None

    # Reconstruct path
    path = []
    node = goal_id
    while True:
        path.append(node)
        if node == start_id:
            break
        node = prev.get(node)
        if node is None:
            return None

    path.reverse()
    return path


def path_length_km(path, graph):
    """Calculate total length of a path in kilometers"""
    if not path or len(path) < 2:
        return 0.0
    total = 0.0
    for a, b in zip(path[:-1], path[1:]):
        for nbr, w in graph.get(a, []):
            if nbr == b:
                # Accumulate edge weights that correspond to sequential nodes
                total += w
                break
    return total


def build_edges_map(ways):
    """Build edge dictionary from ways list"""
    # Store travel time for each directed edge for quick lookup during search
    edges = {}
    for way in ways:
        edges[(way["from"], way["to"])] = {
            "time": way["time_min"],
            "accident": way.get("accident", False)
        }

    return edges




# ============================================================================
# VISUALIZATION FUNCTIONS
# ============================================================================

def color_for_highway(hwy_type):
    """Return color code for highway type"""
    h = (hwy_type or "").lower()
    colors = {
        "primary": "deepskyblue",
        "secondary": "purple",
        "tertiary": "darkblue",
        "service": "slategray"
    }
    # Default to white for unknown highway types
    return colors.get(h, "white")


def get_map_center(nodes):
    """Calculate center point of all nodes"""
    lats = [info["lat"] for info in nodes.values()]
    lons = [info["lon"] for info in nodes.values()]
    return sum(lats)/len(lats), sum(lons)/len(lons)


GAP_TO_NODE_TOLERANCE_M = 2.5  # meters of acceptable gap between OSM snap and custom node
ROUTE_NODE_CLEARANCE_M = 4.0   # keep polylines slightly off the start/goal markers
NODE_OVERLAP_PRUNE_M = 0.75    # drop lat/lng points that sit almost exactly on top of a node


def register_arrow_segment(map_obj, coords, color, speed_mps=120):
    """Record a polyline for animated arrow rendering on the client."""
    if not coords or len(coords) < 2:
        return
    if not hasattr(map_obj, "_arrow_segments"):
        map_obj._arrow_segments = []
    map_obj._arrow_segments.append({
        "coords": coords,
        "color": color,
        "speed": speed_mps
    })


def inject_arrow_animation(map_obj, base_speed_mps=120):
    """Inject a client-side script that animates arrows along stored segments."""
    segments = getattr(map_obj, "_arrow_segments", [])
    if not segments:
        return

    payload = {
        "mapName": map_obj.get_name(),
        "segments": segments,
        "baseSpeed": base_speed_mps
    }

    arrow_script = """

    <script>

    (function(){

        const cfg = __ARROW_CONFIG__;

        if (!cfg || !cfg.segments || !cfg.segments.length) return;

        const mapName = cfg.mapName;



        function ready(fn){

            if (document.readyState === 'loading'){

                document.addEventListener('DOMContentLoaded', fn, { once: true });

            } else {

                fn();

            }

        }



        ready(() => {

            const map = window[mapName];

            if (!map) return;

            const baseSpeed = cfg.baseSpeed || 120;



            const styleId = 'arrow-anim-style';

            if (!document.getElementById(styleId)){

                const style = document.createElement('style');

                style.id = styleId;

                style.textContent = `

                .arrow-anim-wrap{width:18px;height:18px;display:flex;align-items:center;justify-content:center;transform:rotate(var(--arrow-rotation,0deg));}

                .arrow-anim-head{width:0;height:0;border-left:6px solid transparent;border-right:6px solid transparent;border-bottom:12px solid var(--arrow-color,#111);filter:drop-shadow(0 0 3px rgba(0,0,0,0.35));opacity:0.95;}

                `;

                document.head.appendChild(style);

            }



            const toRad = deg => deg * Math.PI / 180;

            const bearing = (a, b) => {

                const lat1 = toRad(a[0]);

                const lat2 = toRad(b[0]);

                const dLon = toRad(b[1] - a[1]);

                const y = Math.sin(dLon) * Math.cos(lat2);

                const x = Math.cos(lat1) * Math.sin(lat2) - Math.sin(lat1) * Math.cos(lat2) * Math.cos(dLon);

                return (Math.atan2(y, x) * 180 / Math.PI + 360) % 360;

            };

            const distance = (a, b) => {

                const R = 6371000;

                const dLat = toRad(b[0] - a[0]);

                const dLon = toRad(b[1] - a[1]);

                const lat1 = toRad(a[0]);

                const lat2 = toRad(b[0]);

                const h = Math.sin(dLat / 2) ** 2 + Math.cos(lat1) * Math.cos(lat2) * Math.sin(dLon / 2) ** 2;

                return 2 * R * Math.asin(Math.sqrt(Math.max(h, 0)));

            };



            cfg.segments.forEach((seg) => {

                const coords = Array.isArray(seg.coords) ? seg.coords : [];

                if (coords.length < 2) return;

                const color = seg.color || '#1f6feb';

                const speed = seg.speed || baseSpeed;



                const icon = L.divIcon({

                    className: 'arrow-anim-icon',

                    html: `<div class="arrow-anim-wrap" style="--arrow-color:${color};"><div class="arrow-anim-head"></div></div>`,

                    iconSize: [18, 18],

                    iconAnchor: [9, 9]

                });



                const marker = L.marker(coords[0], { icon, interactive: false, zIndexOffset: 900 }).addTo(map);

                let segIndex = 0;



                function travel(){

                    const start = coords[segIndex];

                    const end = coords[segIndex + 1];

                    if (!end){

                        segIndex = 0;

                        return travel();

                    }

                    const duration = Math.max(420, (distance(start, end) / speed) * 1000);

                    const heading = bearing(start, end);

                    const applyHeading = () => {

                        const el = marker.getElement();

                        if (el){

                            el.style.setProperty('--arrow-rotation', heading + 'deg');

                        }

                    };

                    applyHeading();

                    const startTime = performance.now();



                    function step(now){

                        const t = Math.min(1, (now - startTime) / duration);

                        const lat = start[0] + (end[0] - start[0]) * t;

                        const lon = start[1] + (end[1] - start[1]) * t;

                        marker.setLatLng([lat, lon]);

                        applyHeading();

                        if (t < 1){

                            requestAnimationFrame(step);

                        } else {

                            segIndex = (segIndex + 1) % (coords.length - 1);

                            travel();

                        }

                    }

                    requestAnimationFrame(step);

                }

                travel();

            });

        });

    })();

    </script>

    """
    map_obj.get_root().html.add_child(
        folium.Element(arrow_script.replace("__ARROW_CONFIG__", json.dumps(payload)))
    )

# Route/search playback injection
def inject_route_playback(map_obj, config_payload):
    """Add client-side route/search step playback controls to a Folium map."""
    if not config_payload:
        return

    script_template = """

    <script>

    (function(){

        const cfg = __CONFIG__;

        if (!cfg) return;

        const routeNodes = cfg.routeNodes || [];

        const routeSegments = cfg.routeSegments || [];

        const markerStyles = cfg.markerStyles || {};

        const markerLookup = cfg.nodeMarkerLookup || {};

        const nodeMeta = cfg.nodeMetadata || {};

        const searchSteps = cfg.searchSteps || [];

        const routeDelay = cfg.routeStepDelay || 900;

        const searchDelay = cfg.searchStepDelay || 1100;

        const uniqueMarkers = Array.from(new Set(Object.values(markerLookup)));

        const searchCounts = [];

        let expanded = 0;

        searchSteps.forEach((step, idx) => {

            if (step && step.action === 'expand') { expanded += 1; }

            searchCounts[idx] = expanded;

        });



        const routeState = { index: -1, playing: false, timer: null };

        const searchState = { index: -1, playing: false, timer: null };

        const refs = {

            panel: null,

            status: { search: null, route: null },

            progress: { search: null, route: null },

            buttons: { search: {}, route: {} },

            info: {},

            metrics: {}

        };



        function layer(name){ return name ? window[name] : null; }



        function applyStyle(name, style){

            if (!name || !style) return;

            const marker = layer(name);

            if (marker && typeof marker.setStyle === 'function'){

                marker.setStyle(style);

            }

        }



        function resetNodes(){

            uniqueMarkers.forEach(name => {

                const style = markerStyles[name];

                if (style){

                    applyStyle(name, Object.assign({}, style));

                }

            });

        }



        function fmtNode(id){

            if (id === undefined || id === null) return '-';

            return String(id);

        }



        function fmtPath(path){

            if (!Array.isArray(path) || !path.length) return '-';

            return path.map(fmtNode).join(' -> ');

        }



        function setSegments(){

            routeSegments.forEach((seg, idx) => {

                const poly = layer(seg);

                if (!poly || typeof poly.setStyle !== 'function') return;

                const visible = routeState.index > idx;

                poly.setStyle({ opacity: visible ? 1.0 : 0.0 });

                if (visible && typeof poly.bringToFront === 'function'){

                    poly.bringToFront();

                }

            });

        }



        function routeStyle(node){

            if (!node || !node.name) return {};

            const base = Object.assign({}, markerStyles[node.name] || {});

            if (node.role === 'start' || node.role === 'goal'){

                return base;

            }

            base.color = '#1f6feb';

            base.fillColor = '#1f6feb';

            base.fillOpacity = 1.0;

            base.opacity = 1.0;

            base.weight = 1;

            return base;

        }



        function highlightStyle(node){

            const base = routeStyle(node);

            const fallback = (node && node.name) ? (markerStyles[node.name] || {}) : {};

            const radius = base.radius || fallback.radius || 8;

            const weight = base.weight || fallback.weight || 2;

            base.radius = radius + 3;

            base.weight = weight + 1;

            base.color = '#1f6feb';

            base.fillColor = '#1f6feb';

            base.fillOpacity = 1.0;

            return base;

        }



        function renderRoute(){

            resetNodes();

            setSegments();

            for (let i = 0; i < routeState.index; i++){

                const node = routeNodes[i];

                if (node && node.name){

                    applyStyle(node.name, routeStyle(node));

                }

            }

            if (routeState.index >= 0){

                const node = routeNodes[routeState.index];

                if (node && node.name){

                    applyStyle(node.name, highlightStyle(node));

                }

            }

            if (routeNodes.length && routeState.index >= routeNodes.length - 1){

                const finalNode = routeNodes[routeNodes.length - 1];

                if (finalNode && finalNode.role === 'goal' && finalNode.name){

                    const base = Object.assign({}, markerStyles[finalNode.name] || {});

                    if (!base.fillColor){

                        base.fillColor = '#ffd447';

                    }

                    base.color = base.color || '#b45309';

                    applyStyle(finalNode.name, base);

                }

            }

            if (refs.status.route){

                if (!routeNodes.length){

                    refs.status.route.textContent = 'Route playback unavailable.';

                } else if (routeState.index < 0){

                    refs.status.route.textContent = 'Ready - ' + routeNodes.length + ' stop(s)';

                } else {

                    const node = routeNodes[routeState.index];

                    const label = node && node.label ? node.label : 'Unknown';

                    refs.status.route.textContent = 'Stop ' + (routeState.index + 1) + '/' + routeNodes.length + ': ' + label;

                }

            }

            if (refs.progress.route){

                const pct = routeState.index < 0 || !routeNodes.length ? 0 : ((routeState.index + 1) / routeNodes.length) * 100;

                refs.progress.route.style.width = Math.min(100, pct) + '%';

            }

        }



        function highlightNode(id, opts){

            const markerName = markerLookup[String(id)];

            if (!markerName) return;

            const base = Object.assign({}, markerStyles[markerName] || {});

            Object.assign(base, opts || {});

            applyStyle(markerName, base);

        }



        function applyExploredStyles(limit){

            if (limit === undefined || limit === null || limit < 0) return;

            const visited = new Set();

            for (let i = 0; i <= limit && i < searchSteps.length; i++){

                const step = searchSteps[i];

                if (step && (step.action === 'expand' || step.action === 'goal_found')){

                    visited.add(step.node_id);

                }

            }

            visited.forEach(id => {

                highlightNode(id, {

                    color: '#3730a3',

                    fillColor: '#c7d2fe',

                    fillOpacity: 0.85,

                    opacity: 1,

                    radius: 9,

                    weight: 2

                });

            });

        }



        function paintSearch(step){

            if (!step) return;

            const path = Array.isArray(step.path) ? step.path : [];

            path.forEach(id => highlightNode(id, {

                color: '#818cf8',

                fillColor: '#c7d2fe',

                fillOpacity: 0.95,

                opacity: 1

            }));

            if (step.action === 'expand' || step.action === 'goal_found'){

                highlightNode(step.node_id, {

                    color: step.action === 'goal_found' ? '#16a34a' : '#f97316',

                    fillColor: step.action === 'goal_found' ? '#86efac' : '#fed7aa',

                    radius: 11,

                    weight: 3,

                    fillOpacity: 1

                });

            } else if (step.action === 'add_to_frontier'){

                highlightNode(step.parent_id, {

                    color: '#ec4899',

                    fillColor: '#fdf2f8',

                    radius: 10,

                    weight: 3,

                    fillOpacity: 1

                });

                (step.children_ids || []).forEach(id => {

                    highlightNode(id, {

                        color: '#0ea5e9',

                        fillColor: '#bae6fd',

                        radius: 9,

                        weight: 2,

                        fillOpacity: 1

                    });

                });

            }

        }



        function renderSearch(){

            resetNodes();

            const step = searchState.index >= 0 ? searchSteps[searchState.index] : null;

            if (searchSteps.length){

                applyExploredStyles(searchState.index);

                paintSearch(step);

            }

            if (refs.status.search){

                if (!searchSteps.length){

                    refs.status.search.textContent = 'Search diagnostics unavailable.';

                } else if (searchState.index < 0){

                    refs.status.search.textContent = 'Ready - ' + searchSteps.length + ' recorded step(s)';

                } else {

                    refs.status.search.textContent = 'Step ' + (searchState.index + 1) + '/' + searchSteps.length;

                }

            }

            if (refs.progress.search){

                const pct = searchState.index < 0 || !searchSteps.length ? 0 : ((searchState.index + 1) / searchSteps.length) * 100;

                refs.progress.search.style.width = Math.min(100, pct) + '%';

            }

            const summary = refs.info.summary;

            const fromLine = refs.info.from;

            const pathLine = refs.info.path;

            const frontierLine = refs.info.frontier;

            const exploredMetric = refs.metrics.explored;

            const frontierMetric = refs.metrics.frontier;

            if (!step){

                if (summary) summary.textContent = 'Summary: No step selected';

                if (fromLine) fromLine.textContent = 'From: -';

                if (pathLine) pathLine.textContent = 'Path: -';

                if (frontierLine) frontierLine.textContent = 'Frontier: -';

                if (exploredMetric) exploredMetric.textContent = searchSteps.length ? '0' : '-';

                if (frontierMetric) frontierMetric.textContent = '0';

                return;

            }

            let summaryText = '';

            if (step.action === 'expand'){

                summaryText = 'Expanding ' + fmtNode(step.node_id);

            } else if (step.action === 'add_to_frontier'){

                summaryText = 'Adding to frontier';

            } else if (step.action === 'goal_found'){

                summaryText = 'Goal reached at ' + fmtNode(step.node_id);

            } else {

                summaryText = 'Step: ' + (step.action || 'unknown');

            }

            if (summary) summary.textContent = 'Summary: ' + summaryText;

            let fromText = '-';

            if (step.action === 'add_to_frontier'){

                fromText = fmtNode(step.parent_id);

            } else if (Array.isArray(step.path) && step.path.length > 1){

                fromText = fmtNode(step.path[step.path.length - 2]);

            }

            if (fromLine) fromLine.textContent = 'From: ' + fromText;

            if (pathLine) pathLine.textContent = 'Path: ' + fmtPath(step.path);

            let frontierText = 'Frontier: -';

            let frontierCount = 0;

            if (step.action === 'add_to_frontier'){

                const children = step.children_ids || [];

                frontierCount = children.length;

                frontierText = children.length ? ('Frontier: ' + children.map(fmtNode).join(', ')) : 'Frontier: none';

            }

            if (frontierLine) frontierLine.textContent = frontierText;

            if (exploredMetric) exploredMetric.textContent = String(searchCounts[searchState.index] || 0);

            if (frontierMetric) frontierMetric.textContent = String(frontierCount);



            if (routeNodes.length && searchState.index >= searchSteps.length - 1){

                setRouteIndex(routeNodes.length - 1);

            }

        }



        function setRouteIndex(idx){

            if (!routeNodes.length) return;

            const capped = Math.max(-1, Math.min(idx, routeNodes.length - 1));

            routeState.index = capped;

            renderRoute();

        }



        function setSearchIndex(idx){

            if (!searchSteps.length) return;

            const capped = Math.max(-1, Math.min(idx, searchSteps.length - 1));

            searchState.index = capped;

            renderSearch();

        }



        function stopRouteAutoplay(){

            routeState.playing = false;

            if (routeState.timer){

                clearTimeout(routeState.timer);

                routeState.timer = null;

            }

            if (refs.buttons.route.play){

                refs.buttons.route.play.textContent = routeState.index >= routeNodes.length - 1 ? 'Replay' : 'Play';

            }

        }



        function stopSearchAutoplay(){

            searchState.playing = false;

            if (searchState.timer){

                clearTimeout(searchState.timer);

                searchState.timer = null;

            }

            if (refs.buttons.search.play){

                refs.buttons.search.play.textContent = searchState.index >= searchSteps.length - 1 ? 'Replay' : 'Play';

            }

        }



        function routeTick(){

            if (!routeState.playing) return;

            if (routeState.timer){

                clearTimeout(routeState.timer);

            }

            routeState.timer = setTimeout(() => {

                if (routeState.index >= routeNodes.length - 1){

                    stopRouteAutoplay();

                    return;

                }

                setRouteIndex(routeState.index + 1);

                routeTick();

            }, routeDelay);

        }



        function startRouteAutoplayFromStart(){

            if (!routeNodes.length) return;

            stopRouteAutoplay();

            setRouteIndex(-1);

            routeState.playing = true;

            if (refs.buttons.route.play){

                refs.buttons.route.play.textContent = 'Pause';

            }

            routeTick();

        }



        function searchTick(){

            if (!searchState.playing) return;

            if (searchState.timer){

                clearTimeout(searchState.timer);

            }

            searchState.timer = setTimeout(() => {

                if (searchState.index >= searchSteps.length - 1){

                    stopSearchAutoplay();

                    return;

                }

                setSearchIndex(searchState.index + 1);

                searchTick();

            }, searchDelay);

        }



        function ensureStyles(){

            if (document.getElementById('rpc-styles')) return;

            const style = document.createElement('style');

            style.id = 'rpc-styles';

            style.textContent = `

                .rpc-panel{

                    position:fixed;z-index:10000;

                    background:rgba(255,255,255,0.96);border-radius:12px;

                    padding:12px 14px;box-shadow:0 15px 35px rgba(76,29,149,0.2);

                    min-width:230px;max-width:270px;border:1px solid rgba(79,70,229,0.2);

                    font-family:'Inter',system-ui,-apple-system,BlinkMacSystemFont,'Segoe UI',sans-serif;

                    color:#0f172a;

                }

                #rpc-search-panel{top:10px;right:10px;max-width:260px;min-width:220px;transform:scale(0.92);transform-origin:top right;}

                #rpc-route-panel{bottom:12px;right:12px;}

                .rpc-panel .rpc-section{margin-bottom:0;}

                .rpc-panel .rpc-title{

                    text-transform:uppercase;font-size:11px;font-weight:700;

                    letter-spacing:0.08em;color:#4338ca;margin-bottom:3px;

                }

                .rpc-panel .rpc-status{

                    font-size:10px;color:#475569;margin-bottom:5px;

                }

                .rpc-panel .rpc-progress{

                    position:relative;height:3px;background:rgba(99,102,241,0.2);

                    border-radius:999px;overflow:hidden;margin-bottom:6px;

                }

                .rpc-panel .rpc-progress span{

                    position:absolute;top:0;left:0;bottom:0;width:0%;

                    background:linear-gradient(90deg,#4f46e5,#a855f7);

                    transition:width 0.25s ease;

                }

                .rpc-panel .rpc-details{

                    font-size:11px;color:#475569;line-height:1.4;margin-bottom:8px;

                }

                .rpc-panel .rpc-metrics{

                    display:flex;gap:8px;margin-bottom:6px;

                }

                .rpc-panel .rpc-metric{

                    flex:1;background:rgba(99,102,241,0.08);border-radius:10px;padding:5px;

                }

                .rpc-panel .rpc-metric span{

                    display:block;font-size:9px;font-weight:600;color:#6366f1;

                }

                .rpc-panel .rpc-metric strong{

                    font-size:13px;color:#312e81;

                }

                .rpc-panel .rpc-buttons{

                    display:flex;gap:6px;margin-bottom:6px;

                }

                .rpc-panel button{

                    flex:1;border:none;border-radius:8px;padding:5px 7px;

                    font-size:11px;font-weight:600;cursor:pointer;

                    background:rgba(129,140,248,0.18);color:#312e81;

                }

                .rpc-panel button.rpc-primary{

                    background:linear-gradient(135deg,#4f46e5,#9333ea);color:#fff;

                    box-shadow:0 8px 20px rgba(59,7,100,0.25);

                }

                .rpc-panel button:disabled{

                    opacity:0.45;cursor:not-allowed;

                }

                .rpc-panel .rpc-footer{

                    display:flex;justify-content:flex-end;

                }

                .rpc-panel .rpc-footer button{

                    flex:0 0 auto;background:transparent;color:#7c3aed;

                    text-decoration:underline;padding:0;

                }

                .rpc-panel .rpc-disabled{

                    opacity:0.55;

                }

            `;

            document.head.appendChild(style);

        }



        function buildPanels(){

            ensureStyles();

            const searchPanel = document.createElement('div');

            searchPanel.id = 'rpc-search-panel';

            searchPanel.className = 'rpc-panel';

            searchPanel.innerHTML = `

                <div class="rpc-section" data-block="search">

                    <div class="rpc-title">Search exploration</div>

                    <div class="rpc-status" data-role="search-status">Preparing...</div>

                    <div class="rpc-progress"><span data-role="search-progress"></span></div>

                    <div class="rpc-details">

                        <div data-role="summary">Summary: -</div>

                        <div data-role="from">From: -</div>

                        <div data-role="path">Path: -</div>

                        <div data-role="frontier">Frontier: -</div>

                    </div>

                    <div class="rpc-metrics">

                        <div class="rpc-metric"><span>Nodes explored</span><strong data-role="explored">0</strong></div>

                        <div class="rpc-metric"><span>Frontier size</span><strong data-role="frontier-count">0</strong></div>

                    </div>

                    <div class="rpc-buttons">

                        <button data-action="search-prev">Prev</button>

                        <button class="rpc-primary" data-action="search-play">Play</button>

                        <button data-action="search-next">Next</button>

                    </div>

                    <div class="rpc-footer"><button data-action="search-reset">Reset</button></div>

                </div>

            `;

            document.body.appendChild(searchPanel);



            const routePanel = document.createElement('div');

            routePanel.id = 'rpc-route-panel';

            routePanel.className = 'rpc-panel';

            routePanel.innerHTML = `

                <div class="rpc-section" data-block="route">

                    <div class="rpc-title">Route playback</div>

                    <div class="rpc-status" data-role="route-status">Preparing...</div>

                    <div class="rpc-progress"><span data-role="route-progress"></span></div>

                    <div class="rpc-buttons">

                        <button data-action="route-prev">Prev</button>

                        <button class="rpc-primary" data-action="route-play">Play</button>

                        <button data-action="route-next">Next</button>

                    </div>

                    <div class="rpc-footer"><button data-action="route-reset">Reset</button></div>

                </div>

            `;

            document.body.appendChild(routePanel);



            refs.status.search = searchPanel.querySelector('[data-role="search-status"]');

            refs.progress.search = searchPanel.querySelector('[data-role="search-progress"]');

            refs.info.summary = searchPanel.querySelector('[data-role="summary"]');

            refs.info.from = searchPanel.querySelector('[data-role="from"]');

            refs.info.path = searchPanel.querySelector('[data-role="path"]');

            refs.info.frontier = searchPanel.querySelector('[data-role="frontier"]');

            refs.metrics.explored = searchPanel.querySelector('[data-role="explored"]');

            refs.metrics.frontier = searchPanel.querySelector('[data-role="frontier-count"]');

            refs.buttons.search.prev = searchPanel.querySelector('[data-action="search-prev"]');

            refs.buttons.search.next = searchPanel.querySelector('[data-action="search-next"]');

            refs.buttons.search.play = searchPanel.querySelector('[data-action="search-play"]');

            refs.buttons.search.reset = searchPanel.querySelector('[data-action="search-reset"]');



            refs.status.route = routePanel.querySelector('[data-role="route-status"]');

            refs.progress.route = routePanel.querySelector('[data-role="route-progress"]');

            refs.buttons.route.prev = routePanel.querySelector('[data-action="route-prev"]');

            refs.buttons.route.next = routePanel.querySelector('[data-action="route-next"]');

            refs.buttons.route.play = routePanel.querySelector('[data-action="route-play"]');

            refs.buttons.route.reset = routePanel.querySelector('[data-action="route-reset"]');



            if (!searchSteps.length){

                const block = searchPanel.querySelector('[data-block="search"]');

                if (block) block.classList.add('rpc-disabled');

            }

            if (!routeNodes.length){

                const block = routePanel.querySelector('[data-block="route"]');

                if (block) block.classList.add('rpc-disabled');

            }



            if (refs.buttons.search.prev){

                refs.buttons.search.prev.addEventListener('click', () => { stopSearchAutoplay(); setSearchIndex(searchState.index - 1); });

            }

            if (refs.buttons.search.next){

                refs.buttons.search.next.addEventListener('click', () => { stopSearchAutoplay(); setSearchIndex(searchState.index + 1); });

            }

            if (refs.buttons.search.play){

                refs.buttons.search.play.addEventListener('click', () => {

                    if (!searchSteps.length) return;

                    if (searchState.playing){

                        stopSearchAutoplay();

                    } else {

                        if (searchState.index >= searchSteps.length - 1){

                            setSearchIndex(-1);

                            if (routeNodes.length) {

                                stopRouteAutoplay();

                                setRouteIndex(-1);

                            }

                        }

                        searchState.playing = true;

                        refs.buttons.search.play.textContent = 'Pause';

                        searchTick();

                    }

                });

            }

            if (refs.buttons.search.reset){

                refs.buttons.search.reset.addEventListener('click', () => {

                    stopSearchAutoplay();

                    setSearchIndex(-1);

                    if (routeNodes.length) {

                        stopRouteAutoplay();

                        setRouteIndex(-1);

                    }

                });

            }



            if (refs.buttons.route.prev){

                refs.buttons.route.prev.addEventListener('click', () => { stopRouteAutoplay(); setRouteIndex(routeState.index - 1); });

            }

            if (refs.buttons.route.next){

                refs.buttons.route.next.addEventListener('click', () => { stopRouteAutoplay(); setRouteIndex(routeState.index + 1); });

            }

            if (refs.buttons.route.play){

                refs.buttons.route.play.addEventListener('click', () => {

                    if (!routeNodes.length) return;

                    if (routeState.playing){

                        stopRouteAutoplay();

                    } else {

                        if (routeState.index >= routeNodes.length - 1){

                            setRouteIndex(-1);

                        }

                        routeState.playing = true;

                        refs.buttons.route.play.textContent = 'Pause';

                        routeTick();

                    }

                });

            }

            if (refs.buttons.route.reset){

                refs.buttons.route.reset.addEventListener('click', () => {

                    stopRouteAutoplay();

                    setRouteIndex(-1);

                });

            }

        }



        buildPanels();

        renderRoute();

        renderSearch();

        startRouteAutoplayFromStart();

    })();

    </script>

    """

    animation_script = script_template.replace("__CONFIG__", json.dumps(config_payload))
    map_obj.get_root().html.add_child(folium.Element(animation_script))

def create_polyline(locations, color, weight, dash_array, opacity, tooltip_text, popup_html, map_obj, add_arrow=True):
    """Helper function to create polylines with consistent styling and optional arrows"""
    # Centralized folium polyline creation ensures consistent style arguments
    line = folium.PolyLine(
        locations=locations,
        color=color,
        weight=weight,
        dash_array=dash_array,
        opacity=opacity,
        tooltip=tooltip_text,
        popup=folium.Popup(popup_html, max_width=250)
    ).add_to(map_obj)
    
    # Capture this segment for client-side arrow animation
    if add_arrow and len(locations) >= 2:
        register_arrow_segment(map_obj, locations, color)
    
    return line


def extend_path_to_custom_nodes(latlngs, start_coord, end_coord, tolerance_m=GAP_TO_NODE_TOLERANCE_M):
    """Ensure rendered polylines reach the custom nodes but stop just outside the markers."""
    if not latlngs:
        return [start_coord, end_coord]

    extended = list(latlngs)

    def needs_connector(coord_a, coord_b):
        if coord_a is None or coord_b is None:
            return False
        # Compare geodesic distance and determine if a short connector is needed
        return haversine_km(coord_a[0], coord_a[1], coord_b[0], coord_b[1]) * 1000 > tolerance_m

    if needs_connector(start_coord, extended[0]):
        extended.insert(0, start_coord)
    if needs_connector(extended[-1], end_coord):
        extended.append(end_coord)

    def prune_endpoint(points, node_coord, from_start=True):
        if not node_coord:
            return
        while points:
            idx = 0 if from_start else -1
            target = points[idx]
            dist_m = haversine_km(node_coord[0], node_coord[1], target[0], target[1]) * 1000
            if dist_m <= NODE_OVERLAP_PRUNE_M:
                points.pop(idx)
            else:
                break

    def offset_from_node(node_coord, anchor_coord):
        if not node_coord or not anchor_coord:
            return None
        dist_m = haversine_km(node_coord[0], node_coord[1], anchor_coord[0], anchor_coord[1]) * 1000
        if dist_m <= 1e-6:
            return None
        ratio = min(ROUTE_NODE_CLEARANCE_M / dist_m, 0.45)
        if ratio <= 0:
            return None
        return (
            node_coord[0] + (anchor_coord[0] - node_coord[0]) * ratio,
            node_coord[1] + (anchor_coord[1] - node_coord[1]) * ratio
        )

    prune_endpoint(extended, start_coord, from_start=True)
    prune_endpoint(extended, end_coord, from_start=False)

    if not extended and start_coord and end_coord:
        start_point = offset_from_node(start_coord, end_coord)
        end_point = offset_from_node(end_coord, start_coord)
        if start_point and end_point:
            extended = [start_point, end_point]

    if not extended:
        if start_coord and end_coord:
            return [start_coord, end_coord]
        return extended

    anchor_start = extended[0] if extended else end_coord
    start_point = offset_from_node(start_coord, anchor_start)
    if start_point:
        extended.insert(0, start_point)

    anchor_end = extended[-1] if extended else start_coord
    end_point = offset_from_node(end_coord, anchor_end)
    if end_point:
        extended.append(end_point)

    return extended

def visualize_simple_graph(nodes, ways, cameras, meta, out_html, solution_path=None, other_paths=None, exploration_steps=None):
    """Generate simplified graph visualization with plain background and arrow-headed paths"""
    center_lat, center_lon = get_map_center(nodes)
    exploration_steps = exploration_steps or []
    
    # Create map with CartoDB Positron (light, minimal background)
    m = folium.Map(
        location=[center_lat, center_lon],
        zoom_start=16,
        tiles='CartoDB positron',
        attr='Simple Graph View'
    )
    
    # Add custom CSS to make background even lighter/whiter
    custom_css = """

    <style>

        .leaflet-container {

            background: #f8f9fa !important;

        }

        .leaflet-tile-pane {

            opacity: 0.15 !important;

        }

    </style>

    """
    m.get_root().html.add_child(folium.Element(custom_css))
    
    # Build solution edges set
    solution_edges = set()
    if solution_path and len(solution_path) > 1:
        for i in range(len(solution_path) - 1):
            solution_edges.add((solution_path[i], solution_path[i+1]))
    solution_nodes_set = set(solution_path or [])
    
    # Build other solution edges
    other_solution_edges = set()
    if other_paths:
        for entry in other_paths:
            path = entry.get("path") if isinstance(entry, dict) else entry
            if not path or len(path) < 2:
                continue
            for i in range(len(path) - 1):
                edge = (path[i], path[i + 1])
                if edge not in solution_edges:
                    other_solution_edges.add(edge)

    # Quick lookup for reverse edges so we can position paired arrows without overlap
    edge_lookup = {(w["from"], w["to"]): w for w in ways}
    solution_segment_layers = []
    
    # Draw all edges as simple lines with arrows
    for w in ways:
        way_id = w["way_id"]
        u, v = w["from"], w["to"]
        rn = w["road_name"]
        time_min = w["time_min"]
        start_coord = (nodes[u]["lat"], nodes[u]["lon"])
        end_coord = (nodes[v]["lat"], nodes[v]["lon"])
        
        # Determine edge type (but don't highlight solution paths)
        is_camera = way_id in cameras
        is_accident = w.get("accident", False)

        # Style based on edge type - accidents get priority coloring
        if is_accident:
            # Get severity to determine color
            severity = w.get("severity", "severe").lower()
            
            # Map severity to colors: yellow=minor, orange=moderate, red=severe
            severity_colors = {
                "minor": "#FFC107",      # Yellow
                "moderate": "#FF9800",  # Orange
                "severe": "#F44336"     # Red
            }
            color = severity_colors.get(severity, "#F44336")  # Default to red
            weight = 5
            opacity = 1.0
        elif is_camera:
            color = '#ef4444'  # Red for camera roads
            weight = 3
            opacity = 0.92
        else:
            color = '#64748b'  # Slate gray for all regular roads
            weight = 2.6
            opacity = 0.78

        # Create simple line
        line = folium.PolyLine(
            locations=[start_coord, end_coord],
            color=color,
            weight=weight,
            opacity=opacity,
            tooltip=f"{rn} ({time_min} min) | {u} -> {v}"
        )
        line.add_to(m)
        register_arrow_segment(m, [start_coord, end_coord], color)
    
    # Add overlay polylines for the selected solution path so we can animate step-by-step playback
    if solution_path and len(solution_path) > 1:
        for idx in range(len(solution_path) - 1):
            u = solution_path[idx]
            v = solution_path[idx + 1]
            w = edge_lookup.get((u, v))
            if w:
                start_coord = (nodes[u]["lat"], nodes[u]["lon"])
                end_coord = (nodes[v]["lat"], nodes[v]["lon"])
            else:
                start_coord = (nodes.get(u, {}).get("lat"), nodes.get(u, {}).get("lon"))
                end_coord = (nodes.get(v, {}).get("lat"), nodes.get(v, {}).get("lon"))
            if None in (*start_coord, *end_coord):
                continue
            seg = folium.PolyLine(
                locations=[start_coord, end_coord],
                color="#2563eb",
                weight=5,
                opacity=0.0,
                tooltip=f"Step {idx + 1}: {u} -> {v}"
            ).add_to(m)
            solution_segment_layers.append(seg.get_name())
    
    # Draw nodes
    start_node = meta.get("start")
    goal_nodes = set(meta.get("goals", []))
    node_marker_names = {}
    node_marker_styles = {}
    node_metadata = {}
    
    for nid, info in nodes.items():
        lat, lon = info["lat"], info["lon"]
        label = info["label"]
        
        # Determine node style - only highlight start and goal
        if nid == start_node:
            color = '#10b981'
            fill_color = '#d1fae5'
            radius = 10
            icon_text = 'S'
        elif nid in goal_nodes:
            color = '#f59e0b'
            fill_color = '#fef3c7'
            radius = 10
            icon_text = 'G'
        else:
            # All other nodes are uniform
            color = '#64748b'
            fill_color = '#f1f5f9'
            radius = 6
            icon_text = ''
        
        if nid in solution_nodes_set and nid not in goal_nodes and nid != start_node:
            color = '#2563eb'
            fill_color = '#e0ecff'
            radius = max(radius, 7)
        
        # Create circle marker for node
        marker = folium.CircleMarker(
            location=(lat, lon),
            radius=radius,
            color=color,
            fill=True,
            fillColor=fill_color,
            fillOpacity=0.9,
            weight=2,
            popup=f"<b>{label}</b><br>ID: {nid}",
            tooltip=label
        ).add_to(m)
        marker_name = marker.get_name()
        node_marker_names[str(nid)] = marker_name
        node_marker_styles[marker_name] = {
            "color": color,
            "fillColor": fill_color,
            "radius": radius,
            "weight": 2,
            "fillOpacity": 0.9,
            "opacity": 1.0
        }
        node_metadata[str(nid)] = {"label": label}
        
        # Add text label for start/goal nodes
        if icon_text:
            folium.Marker(
                location=(lat, lon),
                icon=folium.DivIcon(
                    html=f'<div style="font-size: 10px; font-weight: bold; color: {color}; text-align: center; margin-top: -20px;">{icon_text}</div>'
                )
            ).add_to(m)
    
    # Inject step-by-step playback controls for the simplified map
    ordered_node_markers = []
    if solution_path:
        for nid in solution_path:
            marker_name = node_marker_names.get(str(nid))
            if marker_name:
                if nid == start_node:
                    role = "start"
                elif nid in goal_nodes:
                    role = "goal"
                else:
                    role = "normal"
                ordered_node_markers.append({
                    "id": nid,
                    "name": marker_name,
                    "label": nodes[nid]["label"],
                    "role": role
                })
    if ordered_node_markers:
        config_payload = {
            "routeSegments": solution_segment_layers,
            "routeNodes": ordered_node_markers,
            "markerStyles": node_marker_styles,
            "nodeMarkerLookup": node_marker_names,
            "nodeMetadata": node_metadata,
            "searchSteps": exploration_steps,
            "routeStepDelay": 850,
            "searchStepDelay": 1050
        }
        inject_route_playback(m, config_payload)
    
    # Add legend
    legend_html = """

    <div style="

        position: fixed;

        bottom: 8px;

        left: 20px;

        z-index: 9999;

        background: rgba(255,255,255,0.95);

        padding: 12px 16px;

        border: 2px solid #333;

        border-radius: 8px;

        font-size: 13px;

        line-height: 1.6;

        box-shadow: 0 4px 12px rgba(0,0,0,0.15);

        font-family: system-ui, -apple-system, sans-serif;

    ">

    <b style="font-size: 14px;">Simple Graph View</b><br>

    <div style="display:flex;align-items:center;gap:8px;margin-top:4px;">

        <span style="display:inline-block;width:0;height:0;border-left:7px solid transparent;border-right:7px solid transparent;border-bottom:14px solid #475569;filter:drop-shadow(0 0 3px #fff);transform:rotate(90deg);"></span>

        <span style="color:#475569;font-weight:600;">One-way edge</span>

    </div>

    <div style="display:flex;align-items:center;gap:8px;margin-top:6px;">

        <span style="display:inline-block;width:0;height:0;border-left:7px solid transparent;border-right:7px solid transparent;border-bottom:14px solid #ef4444;filter:drop-shadow(0 0 3px #fff);transform:rotate(90deg);"></span>

        <span style="color:#ef4444;font-weight:600;">Camera road</span>

    </div>

    <div style="display:flex;align-items:center;gap:8px;margin-top:6px;">

        <span style="width:10px;height:10px;border:2px solid #10b981;border-radius:50%;background:#d1fae5;display:inline-block;"></span>

        <span style="color:#0f766e;font-weight:600;">Start node (S)</span>

    </div>

    <div style="display:flex;align-items:center;gap:8px;margin-top:6px;">

        <span style="width:10px;height:10px;border:2px solid #f59e0b;border-radius:50%;background:#fef3c7;display:inline-block;"></span>

        <span style="color:#b45309;font-weight:600;">Goal node (G)</span>

    </div>

    <div style="display:flex;align-items:center;gap:8px;margin-top:6px;">

        <span style="width:8px;height:8px;border:2px solid #64748b;border-radius:50%;background:#f8fafc;display:inline-block;"></span>

        <span style="color:#475569;">Regular nodes</span>

    </div>

    <small style="color:#475569;display:block;margin-top:8px;"><i>Two-way edges show two arrows on the line.</i></small>

    </div>

    """
    m.get_root().html.add_child(folium.Element(legend_html))
    
    inject_arrow_animation(m)
    m.save(out_html)



def visualize_with_roads(nodes, ways, cameras, meta, osm_nodes, graph, 

                        out_html, solution_path=None, other_paths=None, exploration_steps=None, k_snap=8):
    """Generate interactive Folium map with road visualization"""
    center_lat, center_lon = get_map_center(nodes)

    # Base map uses OpenStreetMap tiles around the dataset centroid
    m = folium.Map(
        location=[center_lat, center_lon],
        zoom_start=16,
        tiles="OpenStreetMap"
    )

    # Convenience set for quick membership tests while styling nodes
    solution_nodes_set = set(solution_path or [])
    exploration_steps = exploration_steps or []

    # Pre-compute snap candidates for all nodes
    snap_candidates = {}
    for nid, info in nodes.items():
        # Snap each custom node to multiple nearby OSM nodes for routing
        snap_candidates[nid] = k_nearest_graph_nodes(
            info["lat"], info["lon"], osm_nodes, graph, k=k_snap
        )

    # Build solution edges set
    solution_edges = set()
    if solution_path and len(solution_path) > 1:
        for i in range(len(solution_path) - 1):
            # Store each directed edge belonging to the selected solution
            solution_edges.add((solution_path[i], solution_path[i+1]))

    # Build other solution edges and route mapping
    # Track edges for alternate solutions plus associated Folium layers
    other_solution_edges = set()
    edge_route_map = {}
    solution_edge_layers = {}
    
    if other_paths:
        for entry in other_paths:
            path = entry.get("path") if isinstance(entry, dict) else entry
            route_id = entry.get("id") if isinstance(entry, dict) else None

            if not path or len(path) < 2:
                continue

            for i in range(len(path) - 1):
                edge = (path[i], path[i + 1])
                if edge not in solution_edges:
                    other_solution_edges.add(edge)
                    if route_id is not None:
                        # Track which optional route uses a given edge
                        edge_route_map.setdefault(edge, set()).add(route_id)

    # Keep JS references to dynamic polylines for interactivity hooks
    route_polyline_refs = {}
    solution_line_names = []
    
    # Build a set of reverse edges to detect parallel roads
    reverse_edges = {}
    for w in ways:
        reverse_edges[(w["from"], w["to"])] = w["way_id"]

    # Draw all ways/roads
    for w in ways:
        way_id = w["way_id"]
        u, v = w["from"], w["to"]
        rn = w["road_name"]
        hwy = w["highway_type"]
        time_min = w["time_min"]
        start_coord = (nodes[u]["lat"], nodes[u]["lon"])
        end_coord = (nodes[v]["lat"], nodes[v]["lon"])

        # Find best OSM path between nodes
        best_path = None
        best_len = None

        for u_osm in snap_candidates[u]:
            for v_osm in snap_candidates[v]:
                path = dijkstra_path(graph, u_osm, v_osm)
                if path is None:
                    continue
                plen = path_length_km(path, graph)
                if best_len is None or plen < best_len:
                    best_len = plen
                    best_path = path

        # Build coordinates list
        if best_path is None:
            # Fall back to drawing a straight line if OSM snapping fails
            latlngs = [start_coord, end_coord]
        else:
            latlngs = [(osm_nodes[nid][0], osm_nodes[nid][1]) for nid in best_path]

        # Always append the true node coordinates so the line reaches the endpoints
        latlngs = extend_path_to_custom_nodes(latlngs, start_coord, end_coord)
        
        # Check if there's a reverse edge (parallel road)
        has_reverse = (v, u) in reverse_edges
        
        # Offset parallel roads slightly to make them visually distinct and clickable
        if has_reverse and len(latlngs) >= 2:
            # Apply perpendicular offset to separate parallel roads
            offset_distance = 0.00003  # ~3 meters offset
            offset_latlngs = []
            
            for i, coord in enumerate(latlngs):
                if i == 0 and i + 1 < len(latlngs):
                    # First point - use direction to next point
                    lat1, lon1 = coord
                    lat2, lon2 = latlngs[i + 1]
                elif i > 0:
                    # Other points - use direction from previous point
                    lat2, lon2 = coord
                    lat1, lon1 = latlngs[i - 1]
                else:
                    offset_latlngs.append(coord)
                    continue
                
                # Calculate perpendicular offset (rotate direction by 90 degrees)
                dlat = lat2 - lat1
                dlon = lon2 - lon1
                length = (dlat**2 + dlon**2)**0.5
                
                if length > 0:
                    # Perpendicular vector (rotate 90° right)
                    perp_lat = -dlon / length * offset_distance
                    perp_lon = dlat / length * offset_distance
                    offset_latlngs.append((coord[0] + perp_lat, coord[1] + perp_lon))
                else:
                    offset_latlngs.append(coord)
            
            latlngs = offset_latlngs

        # Determine edge type and styling
        is_solution = (u, v) in solution_edges
        route_ids_for_edge = list(edge_route_map.get((u, v), []))
        is_other_solution = (u, v) in other_solution_edges
        is_camera = way_id in cameras
        # These booleans determine styling (color/weight/dashed) for each polyline

        tooltip_text = f"{rn} ({time_min} min)"
        popup_html = (
            f"<b>{rn}</b><br>"
            f"way_id: {way_id}<br>"
            f"type: {hwy}<br>"
            f"time: {time_min} min<br>"
        )
        
        if is_camera:
            popup_html += "<b>CAMERA MONITORED</b><br>Accident x time multiplied<br>"
        if is_solution:
            popup_html += "<b style='color:#1f6feb;'>* SELECTED SOLUTION *</b>"
        elif is_other_solution:
            popup_html += "<b style='color:#cfe8ff;'>* OTHER SOLUTION *</b>"

        # Create appropriate polyline
        # Create appropriate polyline
        polyline_for_events = None
        
        # Check if this road has an accident (draw accident color first if needed)
        has_accident = w.get("accident", False)
        severity = w.get("severity", "none").lower() if has_accident else "none"
        
        # Only draw accident color if severity is not 'none'
        if has_accident and severity != "none":
            severity_colors = {
                "minor": "#FFC107",      # Yellow
                "moderate": "#FF9800",  # Orange
                "severe": "#F44336"     # Red
            }
            accident_color = severity_colors.get(severity, "#F44336")
            
            # Draw accident color as base layer (will be under blue if it's a solution path)
            folium.PolyLine(
                locations=latlngs,
                color=accident_color,
                weight=7,
                opacity=1.0,
                tooltip=tooltip_text + f" (ACCIDENT: {severity.upper()})"
            ).add_to(m)

        # 🔵 1. SELECTED SOLUTION (blue) - DRAW ON TOP
        if is_solution:
            polyline_for_events = create_polyline(
                latlngs, "#1f6feb", 5, None, 0.85, tooltip_text, popup_html, m
            )
            layer_name = polyline_for_events.get_name()
            solution_line_names.append(layer_name)
            solution_edge_layers[(u, v)] = layer_name

        # 🔹 2. OTHER SOLUTIONS
        elif is_other_solution:
            folium.PolyLine(
                locations=latlngs, color="#1c4fd8", weight=7,
                dash_array=None, opacity=0.9
            ).add_to(m)
            polyline_for_events = create_polyline(
                latlngs, "#e4f0ff", 5, None, 0.95, tooltip_text, popup_html, m
            )

        # 🔥 3. ACCIDENT ROADS (only if not already drawn above)
        elif has_accident:
            # Already drawn as base layer above, just create event handler
            polyline_for_events = create_polyline(
                latlngs, "transparent", 1, None, 0,
                tooltip_text + f" (ACCIDENT: {severity.upper()})",
                popup_html,
                m
            )

        # 📸 4. CAMERA ROADS
        elif is_camera:
            polyline_for_events = create_polyline(
                latlngs, "crimson", 3, "8,4", 0.8,
                tooltip_text, popup_html, m
            )

        # 🛣 5. NORMAL ROADS
        else:
            weight = 3 if hwy in ["primary", "secondary"] else 2
            polyline_for_events = create_polyline(
                latlngs, color_for_highway(hwy), weight, None, 0.25,
                tooltip_text, popup_html, m
            )

        # Attach click events
        if route_ids_for_edge:
            layer_name = polyline_for_events.get_name()
            for rid in route_ids_for_edge:
                route_polyline_refs.setdefault(rid, []).append(layer_name)


    # Add interactivity scripts for route selection
    if route_polyline_refs or solution_line_names:
        script_lines = ["<script>", "(function(){"]
        
        if route_polyline_refs:
            script_lines.extend([
                "function postSelectRoute(routeId){",
                "    if (window.parent && window.parent !== window) {",
                "        window.parent.postMessage({type: 'selectRoute', routeId: routeId}, '*');",
                "    }",
                "}",
                "function attachRouteClicks(){"
            ])
            for rid, names in route_polyline_refs.items():
                for layer_name in names:
                    script_lines.append(
                        f"    if (typeof {layer_name} !== 'undefined') {{ "
                        f"{layer_name}.on('click', function() {{ postSelectRoute({rid}); }}); }}"
                    )
            script_lines.append("}")

        if solution_line_names:
            script_lines.append("function bringSelectedToFront(){")
            for layer_name in solution_line_names:
                script_lines.append(
                    f"    if (typeof {layer_name} !== 'undefined' && {layer_name}.bringToFront) {{ "
                    f"{layer_name}.bringToFront(); }}"
                )
            script_lines.append("}")

        script_lines.extend([
            "function initControls(){",
            "    if (typeof attachRouteClicks === 'function') { attachRouteClicks(); }",
            "    if (typeof bringSelectedToFront === 'function') { bringSelectedToFront(); }",
            "}",
            "if (document.readyState === 'loading') {",
            "    document.addEventListener('DOMContentLoaded', initControls);",
            "} else {",
            "    initControls();",
            "}",
            "})();",
            "</script>"
        ])
        m.get_root().html.add_child(folium.Element("\n".join(script_lines)))

    # Draw node markers
    start_node = meta.get("start")
    goal_nodes = set(meta.get("goals", []))
    # Store references to folium markers for later animation/click handling
    node_marker_names = {}
    node_marker_styles = {}
    node_metadata = {}

    for nid, info in nodes.items():
        lat, lon, label = info["lat"], info["lon"], info["label"]

        # Determine node styling
        if nid == start_node:
            fill_color = "green"
            role = "START"
        elif nid in goal_nodes:
            fill_color = "#ffd447"
            role = "GOAL"
        else:
            fill_color = "white"
            role = "Node"

        if nid in solution_nodes_set:
            border_color = "#0ea5e9"
            border_weight = 2
        else:
            border_color = "black"
            border_weight = 1

        if nid == start_node or nid in goal_nodes:
            border_weight = 1

        circle_marker = folium.CircleMarker(
            location=(lat, lon),
            radius=8,
            color=border_color,
            weight=border_weight,
            fill=True,
            fill_color=fill_color,
            fill_opacity=0.9,
            opacity=0.9,
            popup=folium.Popup(
                f"<b>Node {nid}: {label}</b><br>"
                f"lat: {lat:.6f}<br>lon: {lon:.6f}<br>{role}",
                max_width=250
            ),
            tooltip=f"{nid}: {label} ({role})"
        ).add_to(m)

        marker_name = circle_marker.get_name()
        node_marker_names[str(nid)] = marker_name
        node_marker_styles[marker_name] = {
            "color": border_color,
            "fillColor": fill_color,
            "radius": 8,
            "weight": border_weight,
            "fillOpacity": 0.9,
            "opacity": 1.0
        }
        node_metadata[str(nid)] = {"label": label}
        # Save styling info so animation can temporarily modify the markers

        # Add label using HTML so node id and label stay visible
        folium.map.Marker(
            [lat, lon],
            icon=folium.DivIcon(
                html=f"""

                <div style="

                    font-size:10px;

                    font-weight:bold;

                    border-radius:3px;

                    padding:2px 3px;

                    white-space:nowrap;

                ">{nid}: {label}</div>

                """,
                icon_size=(0, 0),
                icon_anchor=(-10, 10)
            )
        ).add_to(m)
    # Add path animation for solution
    if solution_path:
        ordered_segment_layers = []
        for i in range(len(solution_path) - 1):
            layer_name = solution_edge_layers.get((solution_path[i], solution_path[i + 1]))
            if layer_name:
                # Preserve the segment order so the animation highlights edges sequentially
                ordered_segment_layers.append(layer_name)

        ordered_node_markers = []
        for nid in solution_path:
            marker_name = node_marker_names.get(str(nid))
            if marker_name:
                if nid == start_node:
                    role = "start"
                elif nid in goal_nodes:
                    role = "goal"
                else:
                    role = "normal"
                ordered_node_markers.append({
                    "id": nid,
                    "name": marker_name,
                    "label": nodes[nid]["label"],
                    "role": role
                })

        if ordered_node_markers:
            config_payload = {
                "routeSegments": ordered_segment_layers,
                "routeNodes": ordered_node_markers,
                "markerStyles": node_marker_styles,
                "nodeMarkerLookup": node_marker_names,
                "nodeMetadata": node_metadata,
                "searchSteps": exploration_steps,
                "routeStepDelay": 900,
                "searchStepDelay": 1100
            }
            script_template = """

            <script>

            (function(){

                const cfg = __CONFIG__;

                if (!cfg) return;

                const routeNodes = cfg.routeNodes || [];

                const routeSegments = cfg.routeSegments || [];

                const markerStyles = cfg.markerStyles || {};

                const markerLookup = cfg.nodeMarkerLookup || {};

                const nodeMeta = cfg.nodeMetadata || {};

                const searchSteps = cfg.searchSteps || [];

                const routeDelay = cfg.routeStepDelay || 900;

                const searchDelay = cfg.searchStepDelay || 1100;

                const uniqueMarkers = Array.from(new Set(Object.values(markerLookup)));

                const searchCounts = [];

                let expanded = 0;

                searchSteps.forEach((step, idx) => {

                    if (step && step.action === 'expand') { expanded += 1; }

                    searchCounts[idx] = expanded;

                });



                const routeState = { index: -1, playing: false, timer: null };

                const searchState = { index: -1, playing: false, timer: null };

                const refs = {

                    panel: null,

                    status: { search: null, route: null },

                    progress: { search: null, route: null },

                    buttons: { search: {}, route: {} },

                    info: {},

                    metrics: {}

                };



                function layer(name){ return name ? window[name] : null; }



                function applyStyle(name, style){

                    if (!name || !style) return;

                    const marker = layer(name);

                    if (marker && typeof marker.setStyle === 'function'){

                        marker.setStyle(style);

                    }

                }



                function resetNodes(){

                    uniqueMarkers.forEach(name => {

                        const style = markerStyles[name];

                        if (style){

                            applyStyle(name, Object.assign({}, style));

                        }

                    });

                }



                function fmtNode(id){

                    if (id === undefined || id === null) return '-';

                    return String(id);

                }



                function fmtPath(path){

                    if (!Array.isArray(path) || !path.length) return '-';

                    return path.map(fmtNode).join(' -> ');

                }



                function setSegments(){

                    routeSegments.forEach((seg, idx) => {

                        const poly = layer(seg);

                        if (!poly || typeof poly.setStyle !== 'function') return;

                        const visible = routeState.index > idx;

                        poly.setStyle({ opacity: visible ? 1.0 : 0.0 });

                        if (visible && typeof poly.bringToFront === 'function'){

                            poly.bringToFront();

                        }

                    });

                }



                function routeStyle(node){

                    if (!node || !node.name) return {};

                    const base = Object.assign({}, markerStyles[node.name] || {});

                    if (node.role === 'start' || node.role === 'goal'){

                        return base;

                    }

                    base.color = '#1f6feb';

                    base.fillColor = '#1f6feb';

                    base.fillOpacity = 1.0;

                    base.opacity = 1.0;

                    base.weight = 1;

                    return base;

                }



                function highlightStyle(node){

                    const base = routeStyle(node);

                    const fallback = (node && node.name) ? (markerStyles[node.name] || {}) : {};

                    const radius = base.radius || fallback.radius || 8;

                    const weight = base.weight || fallback.weight || 2;

                    base.radius = radius + 3;

                    base.weight = weight + 1;

                    base.color = '#1f6feb';

                    base.fillColor = '#1f6feb';

                    base.fillOpacity = 1.0;

                    return base;

                }



                function renderRoute(){

                    resetNodes();

                    setSegments();

                    for (let i = 0; i < routeState.index; i++){

                        const node = routeNodes[i];

                        if (node && node.name){

                            applyStyle(node.name, routeStyle(node));

                        }

                    }

                    if (routeState.index >= 0){

                        const node = routeNodes[routeState.index];

                        if (node && node.name){

                            applyStyle(node.name, highlightStyle(node));

                        }

                    }

                    if (routeNodes.length && routeState.index >= routeNodes.length - 1){

                        const finalNode = routeNodes[routeNodes.length - 1];

                        if (finalNode && finalNode.role === 'goal' && finalNode.name){

                            const base = Object.assign({}, markerStyles[finalNode.name] || {});

                            if (!base.fillColor){

                                base.fillColor = '#ffd447';

                            }

                            base.color = base.color || '#b45309';

                            applyStyle(finalNode.name, base);

                        }

                    }

                    if (refs.status.route){

                        if (!routeNodes.length){

                            refs.status.route.textContent = 'Route playback unavailable.';

                        } else if (routeState.index < 0){

                            refs.status.route.textContent = 'Ready - ' + routeNodes.length + ' stop(s)';

                        } else {

                            const node = routeNodes[routeState.index];

                            const label = node && node.label ? node.label : 'Unknown';

                            refs.status.route.textContent = 'Stop ' + (routeState.index + 1) + '/' + routeNodes.length + ': ' + label;

                        }

                    }

                    if (refs.progress.route){

                        const pct = routeState.index < 0 || !routeNodes.length ? 0 : ((routeState.index + 1) / routeNodes.length) * 100;

                        refs.progress.route.style.width = Math.min(100, pct) + '%';

                    }

                }



                function highlightNode(id, opts){

                    const markerName = markerLookup[String(id)];

                    if (!markerName) return;

                    const base = Object.assign({}, markerStyles[markerName] || {});

                    Object.assign(base, opts || {});

                    applyStyle(markerName, base);

                }



                function applyExploredStyles(limit){

                    if (limit === undefined || limit === null || limit < 0) return;

                    const visited = new Set();

                    for (let i = 0; i <= limit && i < searchSteps.length; i++){

                        const step = searchSteps[i];

                        if (step && (step.action === 'expand' || step.action === 'goal_found')){

                            visited.add(step.node_id);

                        }

                    }

                    visited.forEach(id => {

                        highlightNode(id, {

                            color: '#3730a3',

                            fillColor: '#c7d2fe',

                            fillOpacity: 0.85,

                            opacity: 1,

                            radius: 9,

                            weight: 2

                        });

                    });

                }



                function paintSearch(step){

                    if (!step) return;

                    const path = Array.isArray(step.path) ? step.path : [];

                    path.forEach(id => highlightNode(id, {

                        color: '#818cf8',

                        fillColor: '#c7d2fe',

                        fillOpacity: 0.95,

                        opacity: 1

                    }));

                    if (step.action === 'expand' || step.action === 'goal_found'){

                        highlightNode(step.node_id, {

                            color: step.action === 'goal_found' ? '#16a34a' : '#f97316',

                            fillColor: step.action === 'goal_found' ? '#86efac' : '#fed7aa',

                            radius: 11,

                            weight: 3,

                            fillOpacity: 1

                        });

                    } else if (step.action === 'add_to_frontier'){

                        highlightNode(step.parent_id, {

                            color: '#ec4899',

                            fillColor: '#fdf2f8',

                            radius: 10,

                            weight: 3,

                            fillOpacity: 1

                        });

                        (step.children_ids || []).forEach(id => {

                            highlightNode(id, {

                                color: '#0ea5e9',

                                fillColor: '#bae6fd',

                                radius: 9,

                                weight: 2,

                                fillOpacity: 1

                            });

                        });

                    }

                }



                function renderSearch(){

                    resetNodes();

                    const step = searchState.index >= 0 ? searchSteps[searchState.index] : null;

                    if (searchSteps.length){

                        applyExploredStyles(searchState.index);

                        paintSearch(step);

                    }

                    if (refs.status.search){

                        if (!searchSteps.length){

                            refs.status.search.textContent = 'Search diagnostics unavailable.';

                        } else if (searchState.index < 0){

                            refs.status.search.textContent = 'Ready - ' + searchSteps.length + ' recorded step(s)';

                        } else {

                            refs.status.search.textContent = 'Step ' + (searchState.index + 1) + '/' + searchSteps.length;

                        }

                    }

                    if (refs.progress.search){

                        const pct = searchState.index < 0 || !searchSteps.length ? 0 : ((searchState.index + 1) / searchSteps.length) * 100;

                        refs.progress.search.style.width = Math.min(100, pct) + '%';

                    }

                    const summary = refs.info.summary;

                    const fromLine = refs.info.from;

                    const pathLine = refs.info.path;

                    const frontierLine = refs.info.frontier;

                    const exploredMetric = refs.metrics.explored;

                    const frontierMetric = refs.metrics.frontier;

                    if (!step){

                        if (summary) summary.textContent = 'Summary: No step selected';

                        if (fromLine) fromLine.textContent = 'From: -';

                        if (pathLine) pathLine.textContent = 'Path: -';

                        if (frontierLine) frontierLine.textContent = 'Frontier: -';

                        if (exploredMetric) exploredMetric.textContent = searchSteps.length ? '0' : '-';

                        if (frontierMetric) frontierMetric.textContent = '0';

                        return;

                    }

                    let summaryText = '';

                    if (step.action === 'expand'){

                        summaryText = 'Expanding ' + fmtNode(step.node_id);

                    } else if (step.action === 'add_to_frontier'){

                        summaryText = 'Adding to frontier';

                    } else if (step.action === 'goal_found'){

                        summaryText = 'Goal reached at ' + fmtNode(step.node_id);

                    } else {

                        summaryText = 'Step: ' + (step.action || 'unknown');

                    }

                    if (summary) summary.textContent = 'Summary: ' + summaryText;

                    let fromText = '-';

                    if (step.action === 'add_to_frontier'){

                        fromText = fmtNode(step.parent_id);

                    } else if (Array.isArray(step.path) && step.path.length > 1){

                        fromText = fmtNode(step.path[step.path.length - 2]);

                    }

                    if (fromLine) fromLine.textContent = 'From: ' + fromText;

                    if (pathLine) pathLine.textContent = 'Path: ' + fmtPath(step.path);

                    let frontierText = 'Frontier: -';

                    let frontierCount = 0;

                    if (step.action === 'add_to_frontier'){

                        const children = step.children_ids || [];

                        frontierCount = children.length;

                        frontierText = children.length ? ('Frontier: ' + children.map(fmtNode).join(', ')) : 'Frontier: none';

                    }

                    if (frontierLine) frontierLine.textContent = frontierText;

                    if (exploredMetric) exploredMetric.textContent = String(searchCounts[searchState.index] || 0);

                    if (frontierMetric) frontierMetric.textContent = String(frontierCount);



                    if (routeNodes.length && searchState.index >= searchSteps.length - 1){

                        setRouteIndex(routeNodes.length - 1);

                    }

                }



                function setRouteIndex(idx){

                    if (!routeNodes.length) return;

                    const capped = Math.max(-1, Math.min(idx, routeNodes.length - 1));

                    routeState.index = capped;

                    renderRoute();

                }



                function setSearchIndex(idx){

                    if (!searchSteps.length) return;

                    const capped = Math.max(-1, Math.min(idx, searchSteps.length - 1));

                    searchState.index = capped;

                    renderSearch();

                }



                function stopRouteAutoplay(){

                    routeState.playing = false;

                    if (routeState.timer){

                        clearTimeout(routeState.timer);

                        routeState.timer = null;

                    }

                    if (refs.buttons.route.play){

                        refs.buttons.route.play.textContent = routeState.index >= routeNodes.length - 1 ? 'Replay' : 'Play';

                    }

                }



                function stopSearchAutoplay(){

                    searchState.playing = false;

                    if (searchState.timer){

                        clearTimeout(searchState.timer);

                        searchState.timer = null;

                    }

                    if (refs.buttons.search.play){

                        refs.buttons.search.play.textContent = searchState.index >= searchSteps.length - 1 ? 'Replay' : 'Play';

                    }

                }



                function routeTick(){

                    if (!routeState.playing) return;

                    if (routeState.timer){

                        clearTimeout(routeState.timer);

                    }

                    routeState.timer = setTimeout(() => {

                        if (routeState.index >= routeNodes.length - 1){

                            stopRouteAutoplay();

                            return;

                        }

                        setRouteIndex(routeState.index + 1);

                        routeTick();

                    }, routeDelay);

                }



                function startRouteAutoplayFromStart(){

                    if (!routeNodes.length) return;

                    stopRouteAutoplay();

                    setRouteIndex(-1);

                    routeState.playing = true;

                    if (refs.buttons.route.play){

                        refs.buttons.route.play.textContent = 'Pause';

                    }

                    routeTick();

                }



                function searchTick(){

                    if (!searchState.playing) return;

                    if (searchState.timer){

                        clearTimeout(searchState.timer);

                    }

                    searchState.timer = setTimeout(() => {

                        if (searchState.index >= searchSteps.length - 1){

                            stopSearchAutoplay();

                            return;

                        }

                        setSearchIndex(searchState.index + 1);

                        searchTick();

                    }, searchDelay);

                }



                function ensureStyles(){

                    if (document.getElementById('rpc-styles')) return;

                    const style = document.createElement('style');

                    style.id = 'rpc-styles';

                    style.textContent = `

                        .rpc-panel{

                            position:fixed;z-index:10000;

                            background:rgba(255,255,255,0.96);border-radius:12px;

                            padding:12px 14px;box-shadow:0 15px 35px rgba(76,29,149,0.2);

                            min-width:230px;max-width:270px;border:1px solid rgba(79,70,229,0.2);

                            font-family:'Inter',system-ui,-apple-system,BlinkMacSystemFont,'Segoe UI',sans-serif;

                            color:#0f172a;

                        }

                        #rpc-search-panel{top:10px;right:10px;max-width:260px;min-width:220px;transform:scale(0.92);transform-origin:top right;}

                        #rpc-route-panel{bottom:12px;right:12px;}

                        .rpc-panel .rpc-section{margin-bottom:0;}

                        .rpc-panel .rpc-title{

                            text-transform:uppercase;font-size:11px;font-weight:700;

                            letter-spacing:0.08em;color:#4338ca;margin-bottom:3px;

                        }

                        .rpc-panel .rpc-status{

                            font-size:10px;color:#475569;margin-bottom:5px;

                        }

                        .rpc-panel .rpc-progress{

                            position:relative;height:3px;background:rgba(99,102,241,0.2);

                            border-radius:999px;overflow:hidden;margin-bottom:6px;

                        }

                        .rpc-panel .rpc-progress span{

                            position:absolute;top:0;left:0;bottom:0;width:0%;

                            background:linear-gradient(90deg,#4f46e5,#a855f7);

                            transition:width 0.25s ease;

                        }

                        .rpc-panel .rpc-details{

                            font-size:11px;color:#475569;line-height:1.4;margin-bottom:8px;

                        }

                        .rpc-panel .rpc-metrics{

                            display:flex;gap:8px;margin-bottom:6px;

                        }

                        .rpc-panel .rpc-metric{

                            flex:1;background:rgba(99,102,241,0.08);border-radius:10px;padding:5px;

                        }

                        .rpc-panel .rpc-metric span{

                            display:block;font-size:9px;font-weight:600;color:#6366f1;

                        }

                        .rpc-panel .rpc-metric strong{

                            font-size:13px;color:#312e81;

                        }

                        .rpc-panel .rpc-buttons{

                            display:flex;gap:6px;margin-bottom:6px;

                        }

                        .rpc-panel button{

                            flex:1;border:none;border-radius:8px;padding:5px 7px;

                            font-size:11px;font-weight:600;cursor:pointer;

                            background:rgba(129,140,248,0.18);color:#312e81;

                        }

                        .rpc-panel button.rpc-primary{

                            background:linear-gradient(135deg,#4f46e5,#9333ea);color:#fff;

                            box-shadow:0 8px 20px rgba(59,7,100,0.25);

                        }

                        .rpc-panel button:disabled{

                            opacity:0.45;cursor:not-allowed;

                        }

                        .rpc-panel .rpc-footer{

                            display:flex;justify-content:flex-end;

                        }

                        .rpc-panel .rpc-footer button{

                            flex:0 0 auto;background:transparent;color:#7c3aed;

                            text-decoration:underline;padding:0;

                        }

                        .rpc-panel .rpc-disabled{

                            opacity:0.55;

                        }

                    `;

                    document.head.appendChild(style);

                }



                function buildPanels(){

                    ensureStyles();

                    const searchPanel = document.createElement('div');

                    searchPanel.id = 'rpc-search-panel';

                    searchPanel.className = 'rpc-panel';

                    searchPanel.innerHTML = `

                        <div class="rpc-section" data-block="search">

                            <div class="rpc-title">Search exploration</div>

                            <div class="rpc-status" data-role="search-status">Preparing...</div>

                            <div class="rpc-progress"><span data-role="search-progress"></span></div>

                            <div class="rpc-details">

                                <div data-role="summary">Summary: -</div>

                                <div data-role="from">From: -</div>

                                <div data-role="path">Path: -</div>

                                <div data-role="frontier">Frontier: -</div>

                            </div>

                            <div class="rpc-metrics">

                                <div class="rpc-metric"><span>Nodes explored</span><strong data-role="explored">0</strong></div>

                                <div class="rpc-metric"><span>Frontier size</span><strong data-role="frontier-count">0</strong></div>

                            </div>

                            <div class="rpc-buttons">

                                <button data-action="search-prev">Prev</button>

                                <button class="rpc-primary" data-action="search-play">Play</button>

                                <button data-action="search-next">Next</button>

                            </div>

                            <div class="rpc-footer"><button data-action="search-reset">Reset</button></div>

                        </div>

                    `;

                    document.body.appendChild(searchPanel);



                    const routePanel = document.createElement('div');

                    routePanel.id = 'rpc-route-panel';

                    routePanel.className = 'rpc-panel';

                    routePanel.innerHTML = `

                        <div class="rpc-section" data-block="route">

                            <div class="rpc-title">Route playback</div>

                            <div class="rpc-status" data-role="route-status">Preparing...</div>

                            <div class="rpc-progress"><span data-role="route-progress"></span></div>

                            <div class="rpc-buttons">

                                <button data-action="route-prev">Prev</button>

                                <button class="rpc-primary" data-action="route-play">Play</button>

                                <button data-action="route-next">Next</button>

                            </div>

                            <div class="rpc-footer"><button data-action="route-reset">Reset</button></div>

                        </div>

                    `;

                    document.body.appendChild(routePanel);



                    refs.status.search = searchPanel.querySelector('[data-role="search-status"]');

                    refs.progress.search = searchPanel.querySelector('[data-role="search-progress"]');

                    refs.info.summary = searchPanel.querySelector('[data-role="summary"]');

                    refs.info.from = searchPanel.querySelector('[data-role="from"]');

                    refs.info.path = searchPanel.querySelector('[data-role="path"]');

                    refs.info.frontier = searchPanel.querySelector('[data-role="frontier"]');

                    refs.metrics.explored = searchPanel.querySelector('[data-role="explored"]');

                    refs.metrics.frontier = searchPanel.querySelector('[data-role="frontier-count"]');

                    refs.buttons.search.prev = searchPanel.querySelector('[data-action="search-prev"]');

                    refs.buttons.search.next = searchPanel.querySelector('[data-action="search-next"]');

                    refs.buttons.search.play = searchPanel.querySelector('[data-action="search-play"]');

                    refs.buttons.search.reset = searchPanel.querySelector('[data-action="search-reset"]');



                    refs.status.route = routePanel.querySelector('[data-role="route-status"]');

                    refs.progress.route = routePanel.querySelector('[data-role="route-progress"]');

                    refs.buttons.route.prev = routePanel.querySelector('[data-action="route-prev"]');

                    refs.buttons.route.next = routePanel.querySelector('[data-action="route-next"]');

                    refs.buttons.route.play = routePanel.querySelector('[data-action="route-play"]');

                    refs.buttons.route.reset = routePanel.querySelector('[data-action="route-reset"]');



                    if (!searchSteps.length){

                        const block = searchPanel.querySelector('[data-block="search"]');

                        if (block) block.classList.add('rpc-disabled');

                    }

                    if (!routeNodes.length){

                        const block = routePanel.querySelector('[data-block="route"]');

                        if (block) block.classList.add('rpc-disabled');

                    }



                    if (refs.buttons.search.prev){

                        refs.buttons.search.prev.addEventListener('click', () => { stopSearchAutoplay(); setSearchIndex(searchState.index - 1); });

                    }

                    if (refs.buttons.search.next){

                        refs.buttons.search.next.addEventListener('click', () => { stopSearchAutoplay(); setSearchIndex(searchState.index + 1); });

                    }

                    if (refs.buttons.search.play){

                        refs.buttons.search.play.addEventListener('click', () => {

                            if (!searchSteps.length) return;

                            if (searchState.playing){

                                stopSearchAutoplay();

                            } else {

                                if (searchState.index >= searchSteps.length - 1){

                                    setSearchIndex(-1);

                                    if (routeNodes.length) {

                                        stopRouteAutoplay();

                                        setRouteIndex(-1);

                                    }

                                }

                                searchState.playing = true;

                                refs.buttons.search.play.textContent = 'Pause';

                                searchTick();

                            }

                        });

                    }

                    if (refs.buttons.search.reset){

                        refs.buttons.search.reset.addEventListener('click', () => {

                            stopSearchAutoplay();

                            setSearchIndex(-1);

                            if (routeNodes.length) {

                                stopRouteAutoplay();

                                setRouteIndex(-1);

                            }

                        });

                    }



                    if (refs.buttons.route.prev){

                        refs.buttons.route.prev.addEventListener('click', () => { stopRouteAutoplay(); setRouteIndex(routeState.index - 1); });

                    }

                    if (refs.buttons.route.next){

                        refs.buttons.route.next.addEventListener('click', () => { stopRouteAutoplay(); setRouteIndex(routeState.index + 1); });

                    }

                    if (refs.buttons.route.play){

                        refs.buttons.route.play.addEventListener('click', () => {

                            if (!routeNodes.length) return;

                            if (routeState.playing){

                                stopRouteAutoplay();

                            } else {

                                if (routeState.index >= routeNodes.length - 1){

                                    setRouteIndex(-1);

                                }

                                routeState.playing = true;

                                refs.buttons.route.play.textContent = 'Pause';

                                routeTick();

                            }

                        });

                    }

                    if (refs.buttons.route.reset){

                        refs.buttons.route.reset.addEventListener('click', () => {

                            stopRouteAutoplay();

                            setRouteIndex(-1);

                        });

                    }

                }



                buildPanels();

                renderRoute();

                renderSearch();

                startRouteAutoplayFromStart();

            })();

            </script>

            """
            animation_script = script_template.replace("__CONFIG__", json.dumps(config_payload))
            m.get_root().html.add_child(folium.Element(animation_script))

    # Add legend
    acc_mult = meta.get("accident_multiplier", 1)
    # Provide a custom legend so the user understands each styling cue
    legend_html = f"""

    <div style="

        position: fixed;

        bottom: 20px;

        left: 20px;

        bottom: 8px;

        left: 8px;

        z-index: 9999;

        background: rgba(255,255,255,0.93);

        padding: 10px 14px;

        border: 1px solid #333;

        border-radius: 6px;

        font-size: 12px;

        line-height: 1.5;

        box-shadow: 0 4px 12px rgba(30,30,30,0.25);

    ">

    <b>Kuching Heritage Graph</b><br>

    <span style="color:#1f6feb;font-weight:bold;">▬</span> Selected solution<br>

    <span style="color:#cfe8ff;font-weight:bold;">▬</span> Other solution paths<br>

    <span style="color:crimson;font-weight:bold;">▬</span> Camera road (accident x time x {acc_mult})<br>

    <span style="color:deepskyblue;font-weight:bold;">▬</span> Primary road<br>

    <span style="color:purple;font-weight:bold;">▬</span> Secondary road<br>

    <span style="color:darkblue;font-weight:bold;">▬</span> Tertiary road<br>

    <span style="color:slategray;font-weight:bold;">▬</span> Service / alley

    </div>

    """
    m.get_root().html.add_child(folium.Element(legend_html))

    inject_arrow_animation(m)
    m.save(out_html)

# ============================================================================
# FLASK APP SETUP
# ============================================================================

BASE_DIR = os.path.dirname(__file__)
MAP_DATA_DIR = os.path.join(BASE_DIR, 'algorithms')

# Load all algorithms dynamically
ALGORITHM_CONFIG = {
    'astar': ('aStar.py', 'aStar'),
    'beam': ('beam.py', 'beam_search_lds'),
    'dfs': ('dfs.py', 'dfs'),
    'gbfs': ('gbfs.py', 'gbfs'),
    'iddfs': ('iddfs.py', 'iddfs'),
    'bfs': ('bfs.py', 'bfs')
}

algorithms_impl = {}
for name, (filename, func_name) in ALGORITHM_CONFIG.items():
    try:
        # Attempt to import each algorithm strategy from the algorithms folder
        algorithms_impl[name] = load_func_from_path(
            os.path.join(MAP_DATA_DIR, filename), func_name
        )
    except Exception:
        # Missing/invalid implementations are recorded as None for graceful fallback
        algorithms_impl[name] = None

app = Flask(__name__)
app.secret_key = 'your-secret-key-here-change-in-production'
app.config['UPLOAD_FOLDER'] = 'uploads'
app.config['MAX_CONTENT_LENGTH'] = 50 * 1024 * 1024
app.config['ALLOWED_EXTENSIONS'] = {'txt', 'osm'}
app.config['SESSION_TYPE'] = 'filesystem'
app.config['SESSION_PERMANENT'] = False

os.makedirs(app.config['UPLOAD_FOLDER'], exist_ok=True)
os.makedirs('static', exist_ok=True)


def allowed_file(filename):
    """Check if file extension is allowed"""
    # Ensure uploads only include supported text or OSM inputs
    return '.' in filename and filename.rsplit('.', 1)[1].lower() in app.config['ALLOWED_EXTENSIONS']

# ============================================================================
# FLASK ROUTES
# ============================================================================

@app.route('/')
def index():
    return render_template('index.html')


@app.route('/test_accidents')
def test_accidents():
    """Test page for accident system"""
    return render_template('test_accidents.html')


@app.route('/get_default_nodes', methods=['GET'])
def get_default_nodes():
    """Get nodes from default map without uploading files"""
    try:
        if DEFAULT_MAP_DATA['nodes'] is None:
            return jsonify({'error': 'Default map not available'}), 404
        
        nodes = DEFAULT_MAP_DATA['nodes']
        ways = copy.deepcopy(DEFAULT_MAP_DATA['ways'])
        cameras = DEFAULT_MAP_DATA['cameras']
        meta = DEFAULT_MAP_DATA['meta']
        osm_nodes = DEFAULT_MAP_DATA['osm_nodes']
        graph = DEFAULT_MAP_DATA['graph']
        
        # Clear any previous session data and mark as using default
        session.clear()
        session['using_default_map'] = True
        session['has_uploaded_files'] = False
        session.modified = True
        
        # Return list of available nodes
        nodes_list = [{'id': nid, 'label': info['label']} for nid, info in nodes.items()]
        
        # List of ways for accident system
        ways_list = [{
            "way_id": w["way_id"],
            "from": w["from"],
            "to": w["to"],
            "road_name": w["road_name"],
            "highway_type": w["highway_type"]
        } for w in ways]
        
        # Generate base maps
        base_map_path = os.path.join('static', 'heritage_map_base.html')
        base_simple_map_path = os.path.join('static', 'heritage_map_simple_base.html')
        visualize_with_roads(nodes, ways, cameras, meta, osm_nodes, graph, base_map_path, solution_path=None)
        visualize_simple_graph(nodes, ways, cameras, meta, base_simple_map_path, solution_path=None, other_paths=None)
        
        return jsonify({
            'success': True,
            'nodes': nodes_list,
            'ways': ways_list,
            'map_url': "/static/heritage_map_base.html",
            'map_url_simple': "/static/heritage_map_simple_base.html",
            'using_default': True
        })
    except Exception as e:
        print(f"❌ Error in get_default_nodes: {e}")
        import traceback
        traceback.print_exc()
        return jsonify({'error': str(e)}), 500


@app.route('/upload_files', methods=['POST'])
def upload_files():
    """Upload files and return available nodes"""
    try:
        if 'txt_file' not in request.files or 'osm_file' not in request.files:
            return jsonify({'error': 'Both .txt and .osm files are required'}), 400
        
        txt_file = request.files['txt_file']
        osm_file = request.files['osm_file']
        algorithm = request.form.get('algorithm', 'bfs')
        
        if txt_file.filename == '' or osm_file.filename == '':
            return jsonify({'error': 'Please select both files'}), 400
        
        if not (allowed_file(txt_file.filename) and allowed_file(osm_file.filename)):
            return jsonify({'error': 'Invalid file type'}), 400
        
        # Sanitize filenames and save to the upload folder
        txt_filename = secure_filename(txt_file.filename)
        osm_filename = secure_filename(osm_file.filename)
        
        txt_path = os.path.join(app.config['UPLOAD_FOLDER'], txt_filename)
        osm_path = os.path.join(app.config['UPLOAD_FOLDER'], osm_filename)
        
        txt_file.save(txt_path)
        osm_file.save(osm_path)
        
        # Parse files and cache in session
        nodes, ways, cameras, meta = parse_map_data_file(txt_path)
        osm_nodes, graph = load_osm_graph(osm_path)
        
        # Store in global cache (survives across requests)
        import time
        UPLOADED_MAP_CACHE['nodes'] = nodes
        UPLOADED_MAP_CACHE['ways'] = copy.deepcopy(ways)
        UPLOADED_MAP_CACHE['cameras'] = cameras
        UPLOADED_MAP_CACHE['meta'] = meta
        UPLOADED_MAP_CACHE['osm_nodes'] = osm_nodes
        UPLOADED_MAP_CACHE['graph'] = graph
        UPLOADED_MAP_CACHE['txt_path'] = txt_path
        UPLOADED_MAP_CACHE['osm_path'] = osm_path
        UPLOADED_MAP_CACHE['timestamp'] = time.time()
        
        # Store paths in session for later use
        session['txt_path'] = txt_path
        session['osm_path'] = osm_path
        session['algorithm'] = algorithm
        session['using_default_map'] = False
        session['has_uploaded_files'] = True
        session['nodes_count'] = len(nodes)
        session['ways_count'] = len(ways)
        
        # Clear all previous state when new files are uploaded
        session.pop("modified_ways", None)   # RESET modified accident data
        session.pop("edge_accidents", None)  # RESET accident records
        session.pop("origin", None)          # RESET origin
        session.pop("destination", None)     # RESET destination
        session.modified = True

        # Return list of available nodes
       # Return list of available nodes
        nodes_list = [{'id': nid, 'label': info['label']} for nid, info in nodes.items()]

        # NEW: list of ways for accident system
        ways_list = [{
            "way_id": w["way_id"],
            "from": w["from"],
            "to": w["to"],
            "road_name": w["road_name"],
            "highway_type": w["highway_type"]
        } for w in ways]

        # Generate base maps (without highlighted paths) so users see the area right after upload
        base_map_path = os.path.join('static', 'heritage_map_base.html')
        base_simple_map_path = os.path.join('static', 'heritage_map_simple_base.html')
        visualize_with_roads(nodes, ways, cameras, meta, osm_nodes, graph, base_map_path, solution_path=None)
        visualize_simple_graph(nodes, ways, cameras, meta, base_simple_map_path, solution_path=None, other_paths=None)

        return jsonify({
            'success': True,
            'nodes': nodes_list,
            'ways': ways_list,  # IMPORTANT
            'map_url': "/static/heritage_map_base.html",
            'map_url_simple': "/static/heritage_map_simple_base.html"
        })

    
    except Exception as e:
        return jsonify({'error': str(e)}), 500


@app.route('/find_routes', methods=['POST'])
def find_routes():
    """Find routes with user-specified origin and destination"""
    try:
        data = request.get_json()
        # Pull the requested origin/destination and allow client to override algorithm
        origin = data.get('origin')
        destination = data.get('destination')

        algorithm = data.get('algorithm', session.get('algorithm', 'bfs'))
        
        if not origin or not destination:
            # Input validation before expensive parsing work
            return jsonify({'error': 'Origin and destination are required'}), 400
        
        # Save for later (used by accident system + ALL algorithms comparison)
        session['origin'] = origin
        session['destination'] = destination

        # Get current map data (uploaded or default)
        nodes, ways, cameras, meta, osm_nodes, graph, txt_path, osm_path = get_current_map_data()
        
        if nodes is None:
            return jsonify({'error': 'Please upload files first'}), 400
        
        # Check if accidents are applied (use global store)
        edge_accidents = GLOBAL_ACCIDENTS
        if edge_accidents:
            print(f"✅ Route finding with {len(edge_accidents)} active accident(s)")
            for way_id, info in edge_accidents.items():
                print(f"   🚨 {info['road_name']}: {info['severity']} ({info['multiplier']}x)")
        else:
            print(f"ℹ️  Route finding with no accidents")
        
        # Build edges map for pathfinding
        edges_map = build_edges_map(ways)
        # Algorithms expect nodes mapped to coordinate tuples, not metadata dicts
        algo_nodes = {nid: (info["lat"], info["lon"]) for nid, info in nodes.items()}

        # Get the selected algorithm function
        algo_func = algorithms_impl.get(algorithm.lower())
        
        if algo_func is None:
            return jsonify({'error': f'Algorithm "{algorithm}" is not available or failed to load'}), 400
        
        # Run the selected algorithm with step tracking
        result = algo_func(algo_nodes, edges_map, origin, [destination], track=False, visualise=True)
        
        if result[0] is None or not result[2]:  # Check if goal was found and path exists
            return jsonify({'error': f'No path found using {algorithm} algorithm'}), 404
        
        exploration_steps = []
        if len(result) >= 4:
            goal_node, nodes_created, path, exploration_steps = result[0], result[1], result[2], result[3]
        else:
            goal_node, nodes_created, path = result[0], result[1], result[2]
        
        # Calculate the actual cost of the path
        def calculate_path_cost(p):
            total = 0
            for i in range(len(p) - 1):
                edge_key = (p[i], p[i + 1])
                if edge_key in edges_map:
                    total += edges_map[edge_key]["time"]
            return total
        
        total_cost = calculate_path_cost(path)
        
        # Prepare route data
        route_definitions = []
        routes = []
        found_paths = set()
        
        # Add the primary path from the selected algorithm as route 0
        route_definitions.append({'id': 0, 'path': path})
        path_str_parts = [str(nid) for nid in path]
        routes.append({
            'id': 0,
            'path': path,
            'cost': round(total_cost, 2),
            'length': len(path),
            'path_str': ' → '.join(path_str_parts),
            'primary': True
        })
        found_paths.add(tuple(path))
        
        # Find alternative paths by temporarily removing edges and re-running algorithm
        alt_id = 1
        max_alternatives = 4
        edges_to_remove = []
        
        # Try to find alternatives by blocking edges from the primary path
        for i in range(len(path) - 1):
            if alt_id > max_alternatives:
                break
            
            # Create a modified edge map excluding one edge from the original path
            modified_edges = edges_map.copy()
            edge_to_block = (path[i], path[i + 1])
            
            if edge_to_block in modified_edges:
                del modified_edges[edge_to_block]
                edges_to_remove.append(edge_to_block)
                
                # Run algorithm with modified edges
                try:
                    alt_result = algo_func(algo_nodes, modified_edges, origin, [destination], track=False, visualise=False)
                    
                    if alt_result[0] is not None and alt_result[2]:
                        alt_path = alt_result[2]
                        
                        # Only add if it's a different path
                        if tuple(alt_path) not in found_paths:
                            alt_cost = calculate_path_cost(alt_path)
                            
                            route_definitions.append({'id': alt_id, 'path': alt_path})
                            path_str_parts = [str(nid) for nid in alt_path]
                            routes.append({
                                'id': alt_id,
                                'path': alt_path,
                                'cost': round(alt_cost, 2),
                                'length': len(alt_path),
                                'path_str': ' → '.join(path_str_parts),
                                'primary': False
                            })
                            found_paths.add(tuple(alt_path))
                            alt_id += 1
                except Exception:
                    # If algorithm fails with modified edges, continue to next attempt
                    pass
        
        # Generate individual maps for each route
         # Generate individual maps for each route (both OSM and simplified views)
        for route_def in route_definitions:
            # Each result gets its own HTML map with the chosen path highlighted
            map_output = os.path.join('static', f'heritage_map_{route_def["id"]}.html')
            simple_output = os.path.join('static', f'heritage_map_simple_{route_def["id"]}.html')
            display_meta = {
                "start": origin,
                "goals": [destination],
                "accident_multiplier": meta.get("accident_multiplier", 1)
            }
            try:
                # Generate OSM view
                visualize_with_roads(
                    nodes, ways, cameras, display_meta, osm_nodes, graph,
                    map_output, route_def['path'], other_paths=None,
                    exploration_steps=exploration_steps
                )

                            
                # Generate simplified graph view
                visualize_simple_graph(
                    nodes, ways, cameras, display_meta,
                    simple_output, route_def['path'], other_paths=None,
                    exploration_steps=exploration_steps
                )
            except Exception as e:
                print(f"Error generating maps for route {route_def['id']}: {str(e)}")
                # Continue with other routes even if one fails

        # Sort routes by cost but keep primary route first
        # Separate primary from alternatives, sort alternatives, then recombine
        primary_route = [r for r in routes if r.get('primary', False)]
        alternative_routes = [r for r in routes if not r.get('primary', False)]
        alternative_routes.sort(key=lambda r: r['cost'])
        
        # Final route list: primary first, then sorted alternatives
        sorted_routes = primary_route + alternative_routes

        return jsonify({
            'success': True,
            'routes': sorted_routes,
            'algorithm': algorithm.upper(),
            'stats': {
                'nodes': len(nodes),
                'ways': len(ways),
                'routes_found': len(sorted_routes),
                'nodes_created': nodes_created
            }
        })
    
    except Exception as e:
        return jsonify({'error': str(e)}), 500

# ========================================================================
# ACCIDENT IMAGE CLASSIFICATION API
# ========================================================================
@app.route('/predict_accident', methods=['POST'])
def predict_accident():
    """Classify accident image severity using AI model"""
    model_name = request.form.get("model", "resnet")

    # Select model
    if model_name == "mobilenet":
        model = mobilenet_model
    elif model_name == "resnet":
        model = resnet_model
    elif model_name == "efficientnet":
        if efficientnet_model is None:
            return jsonify({"success": False, "error": "EfficientNet model not available"})
        model = efficientnet_model
    else:
        return jsonify({"success": False, "error": "Invalid model"}), 400

    # Load image
    if "image" not in request.files:
        return jsonify({"success": False, "error": "No image uploaded"}), 400
        
    img_file = request.files["image"]
    img = Image.open(img_file).convert("RGB")

    # Preprocess
    x = accident_transform(img).unsqueeze(0)

    # Predict
    with torch.no_grad():
        logits = model(x)
        probs = torch.softmax(logits, dim=1)

    confidence, label_idx = torch.max(probs, dim=1)
    CLASS_NAMES = ["none", "minor", "moderate", "severe"]
    predicted_severity = CLASS_NAMES[int(label_idx.item())]
    confidence_val = float(confidence.item())
    
    # Get all probabilities for each class
    all_probs = {
        CLASS_NAMES[i]: float(probs[0][i].item())
        for i in range(len(CLASS_NAMES))
    }

    return jsonify({
        "success": True,
        "label": predicted_severity,
        "confidence": confidence_val,
        "all_probabilities": all_probs
    })


@app.route('/reset_accident', methods=['POST'])
def reset_accident():
    """Remove accident impact and revert to original travel times"""
    try:
        # Clear global accidents
        GLOBAL_ACCIDENTS.clear()
        print("✅ Cleared all accidents from GLOBAL_ACCIDENTS")
        
        # Clear session
        session.pop("edge_accidents", None)
        session.pop("modified_ways", None)
        session.pop("default_map_modified_ways", None)
        session.modified = True
        
        # Reset UPLOADED cache ways to original
        if UPLOADED_MAP_CACHE['txt_path'] and os.path.exists(UPLOADED_MAP_CACHE['txt_path']):
            _, original_ways, _, _ = parse_map_data_file(UPLOADED_MAP_CACHE['txt_path'])
            UPLOADED_MAP_CACHE['ways'] = original_ways
            print("✅ Reset UPLOADED_MAP_CACHE ways to original")
        
        # Reset DEFAULT map ways to original
        if DEFAULT_MAP_DATA['txt_path'] and os.path.exists(DEFAULT_MAP_DATA['txt_path']):
            _, original_ways, _, _ = parse_map_data_file(DEFAULT_MAP_DATA['txt_path'])
            DEFAULT_MAP_DATA['ways'] = original_ways
            print("✅ Reset DEFAULT_MAP_DATA ways to original")
        
        return jsonify({"success": True})
    except Exception as e:
        return jsonify({"success": False, "error": str(e)}), 500


@app.route('/clear_cache', methods=['POST'])
def clear_cache():
    """Clear uploaded map cache and reset session"""
    try:
        # Clear uploaded cache
        for key in UPLOADED_MAP_CACHE:
            UPLOADED_MAP_CACHE[key] = None
        
        # Clear global accidents
        GLOBAL_ACCIDENTS.clear()
        
        # Clear session
        session.clear()
        
        return jsonify({"success": True})
    except Exception as e:
        return jsonify({"success": False, "error": str(e)}), 500


@app.route('/debug_session', methods=['GET'])
def debug_session():
    """Debug endpoint to check session and cache state"""
    global_accidents_list = []
    for road_id, info in GLOBAL_ACCIDENTS.items():
        global_accidents_list.append({
            "road_id": road_id,
            "road_name": info.get("road_name", "Unknown"),
            "severity": info.get("severity", "unknown"),
            "multiplier": info.get("multiplier", 1.0)
        })
    
    return jsonify({
        "session": dict(session),
        "global_accidents": dict(GLOBAL_ACCIDENTS),
        "global_accidents_count": len(GLOBAL_ACCIDENTS),
        "global_accidents_list": global_accidents_list,
        "has_uploaded_cache": UPLOADED_MAP_CACHE['nodes'] is not None,
        "has_default_map": DEFAULT_MAP_DATA['nodes'] is not None,
        "uploaded_cache_timestamp": UPLOADED_MAP_CACHE.get('timestamp'),
        "uploaded_cache_txt_path": UPLOADED_MAP_CACHE.get('txt_path'),
        "default_map_txt_path": DEFAULT_MAP_DATA.get('txt_path')
    })


@app.route('/remove_accident', methods=['POST'])
def remove_accident():
    """Remove a specific accident from a road"""
    try:
        data = request.get_json()
        road_id = data.get("road_id")
        
        if not road_id:
            return jsonify({"success": False, "error": "Missing road_id"}), 400
        
        # Use string key for consistency
        road_id_str = str(road_id)
        
        # Check global accidents store
        if road_id_str not in GLOBAL_ACCIDENTS:
            return jsonify({"success": False, "error": f"No accident found for road {road_id_str}"}), 400
        
        # Remove the accident from global store
        removed_info = GLOBAL_ACCIDENTS.pop(road_id_str)
        print(f"🗑️  Removing accident from road {road_id_str}: {removed_info['road_name']}")
        print(f"   Remaining accidents in GLOBAL_ACCIDENTS: {len(GLOBAL_ACCIDENTS)}")
        
        # Update session
        session["edge_accidents"] = dict(GLOBAL_ACCIDENTS)
        session.modified = True
        
        # Get fresh copy of original ways by re-parsing the file
        import copy
        using_uploaded = False
        using_default = False
        
        if UPLOADED_MAP_CACHE['nodes'] is not None:
            # Get original ways from file (not cache)
            original_txt = UPLOADED_MAP_CACHE['txt_path']
            nodes, ways, cameras, meta = parse_map_data_file(original_txt)
            osm_nodes = UPLOADED_MAP_CACHE['osm_nodes']
            graph = UPLOADED_MAP_CACHE['graph']
            txt_path = UPLOADED_MAP_CACHE['txt_path']
            osm_path = UPLOADED_MAP_CACHE['osm_path']
            using_uploaded = True
        elif DEFAULT_MAP_DATA['nodes'] is not None:
            # Get original ways from file (not cache)
            original_txt = DEFAULT_MAP_DATA['txt_path']
            nodes, ways, cameras, meta = parse_map_data_file(original_txt)
            osm_nodes = DEFAULT_MAP_DATA['osm_nodes']
            graph = DEFAULT_MAP_DATA['graph']
            txt_path = DEFAULT_MAP_DATA['txt_path']
            osm_path = DEFAULT_MAP_DATA['osm_path']
            using_default = True
        else:
            return jsonify({"success": False, "error": "No map data available"}), 400
        
        print(f"🔄 Rebuilding ways after removing accident from road {road_id}")
        
        # Initialize original times
        for w in ways:
            if "original_time" not in w:
                w["original_time"] = w["time_min"]
        
        # Reapply remaining accidents from GLOBAL_ACCIDENTS
        print(f"\n🔧 Reapplying {len(GLOBAL_ACCIDENTS)} remaining accident(s)...")
        for way_id, accident_info in GLOBAL_ACCIDENTS.items():
            multiplier = accident_info["multiplier"]
            found = False
            for w in ways:
                if str(w["way_id"]) == str(way_id):
                    w["time_min"] = w["original_time"] * multiplier
                    w["accident"] = True
                    w["severity"] = accident_info["severity"]
                    found = True
                    print(f"✅ Reapplied {accident_info['severity']} ({multiplier}x) to way {way_id}: {w.get('road_name', 'Unknown')}")
                    break
            if not found:
                print(f"⚠️  Way {way_id} not found during reapplication")
        
        # Update cache and session
        if GLOBAL_ACCIDENTS:
            session["modified_ways"] = ways
            if using_uploaded:
                UPLOADED_MAP_CACHE['ways'] = copy.deepcopy(ways)
                print("✅ Updated UPLOADED_MAP_CACHE with remaining accidents")
            elif using_default:
                DEFAULT_MAP_DATA['ways'] = copy.deepcopy(ways)
                print("✅ Updated DEFAULT_MAP_DATA with remaining accidents")
        else:
            # No accidents left - clear everything and restore original ways
            session.pop("modified_ways", None)
            session.pop("default_map_modified_ways", None)
            if using_uploaded:
                # Reload original ways
                _, original_ways, _, _ = parse_map_data_file(UPLOADED_MAP_CACHE['txt_path'])
                UPLOADED_MAP_CACHE['ways'] = original_ways
                print("✅ Reset UPLOADED_MAP_CACHE to original (no accidents)")
            elif using_default:
                # Reload original ways
                _, original_ways, _, _ = parse_map_data_file(DEFAULT_MAP_DATA['txt_path'])
                DEFAULT_MAP_DATA['ways'] = original_ways
                print("✅ Reset DEFAULT_MAP_DATA to original (no accidents)")
        session.modified = True
        
        # Always regenerate map to show current state (with or without remaining accidents)
        accident_map_output = os.path.join('static', 'heritage_map_accidents.html')
        accident_map_simple = os.path.join('static', 'heritage_map_simple_accidents.html')
        
        try:
            # Use the ways we just rebuilt (with accidents cleared)
            visualize_with_roads(
                nodes, ways, cameras,
                {"start": None, "goals": []},
                osm_nodes, graph,
                accident_map_output,
                solution_path=None,
                exploration_steps=[]
            )
            
            visualize_simple_graph(
                nodes, ways, cameras,
                {"start": None, "goals": []},
                accident_map_simple,
                solution_path=None,
                other_paths=None,
                exploration_steps=[]
            )
            print(f"✅ Regenerated map with {len(GLOBAL_ACCIDENTS)} remaining accident(s)")
        except Exception as e:
            print(f"⚠️ Error regenerating accident map: {str(e)}")
        
        # Return updated accident list from global store
        all_accidents = {}
        for way_id, accident_info in GLOBAL_ACCIDENTS.items():
            all_accidents[way_id] = {
                "road_name": accident_info["road_name"],
                "severity": accident_info["severity"],
                "from_node": accident_info.get("from_node", "?"),
                "to_node": accident_info.get("to_node", "?")
            }
        
        import time
        timestamp = int(time.time())
        
        return jsonify({
            "success": True,
            "removed_road": removed_info["road_name"],
            "accidents": all_accidents,
            "map_url": f"/static/heritage_map_accidents.html?t={timestamp}",
            "has_accidents": len(GLOBAL_ACCIDENTS) > 0
        })
        
    except Exception as e:
        print(f"❌ Error removing accident: {str(e)}")
        import traceback
        traceback.print_exc()
        return jsonify({"success": False, "error": str(e)}), 500

# ========================================================================
# APPLY ACCIDENT IMPACT TO SPECIFIC EDGES IN ROUTES
# ========================================================================
@app.route('/apply_accident', methods=['POST'])
def apply_accident():
    """

    Apply accident severity multiplier to a specific way (road).

    Stores accidents in session for later route calculation.

    Supports multiple accidents on different roads.

    """
    try:
        print("\n🔥 APPLY ACCIDENT TO WAY")
        
        # Get road_id and severity from request
        data = request.get_json()
        road_id = data.get("road_id")
        severity = data.get("severity")
        
        if not road_id or not severity:
            return jsonify({"success": False, "error": "Missing road_id or severity"}), 400

        # --- LOAD DATA ---
        nodes, ways, cameras, meta, osm_nodes_data, graph_data, txt_path, osm_path = get_current_map_data()
        
        if nodes is None:
            print("❌ No map data available!")
            return jsonify({"success": False, "error": "No map data available. Please upload map files or refresh the page."}), 400
        
        # Use global accident store (persists across all requests)
        edge_accidents = GLOBAL_ACCIDENTS
        
        # Check if this road already has an accident
        is_override = str(road_id) in edge_accidents
        
        # Get road name and nodes for response
        road_name = "Unknown"
        from_node = "?"
        to_node = "?"
        for w in ways:
            if str(w["way_id"]) == str(road_id):
                road_name = w.get("road_name", "Unknown")
                from_node = w.get("from", "?")
                to_node = w.get("to", "?")
                break
        
        # Store this accident for the road (way_id) - use string key for consistency
        GLOBAL_ACCIDENTS[str(road_id)] = {
            "severity": severity,
            "multiplier": SEVERITY_MULTIPLIERS.get(severity.lower(), 1.0),
            "road_name": road_name,
            "from_node": from_node,
            "to_node": to_node
        }
        
        # Also update session for backwards compatibility
        session["edge_accidents"] = dict(GLOBAL_ACCIDENTS)
        session.modified = True
        
        print(f"✅ {'Overridden' if is_override else 'Applied'} accident: {road_id} ({road_name}) = {severity}")
        print(f"   Total accidents in GLOBAL_ACCIDENTS: {len(GLOBAL_ACCIDENTS)}")
        print(f"   All accidents: {list(GLOBAL_ACCIDENTS.keys())}")
        
        print(f"✅ {'Overridden' if is_override else 'Applied'} accident: {road_id} ({road_name}) = {severity} (multiplier: {edge_accidents[road_id]['multiplier']})")
        
        # ==========================================================
        # Apply accidents to ways for later route calculation
        # ==========================================================
        for w in ways:
            # Store original time if not already stored
            if "original_time" not in w:
                w["original_time"] = w["time_min"]
            
            # Reset to original
            w["time_min"] = w["original_time"]
            w["accident"] = False
        
        # Apply accidents to specific ways (roads)
        affected_ways = []
        print(f"\n🔧 Applying {len(edge_accidents)} accident(s) to ways...")
        for way_id, accident_info in edge_accidents.items():
            multiplier = accident_info["multiplier"]
            found = False
            
            for w in ways:
                # Check if this is the affected way (compare as strings)
                if str(w["way_id"]) == str(way_id):
                    original_time = w["original_time"]
                    new_time = original_time * multiplier
                    w["time_min"] = new_time
                    w["accident"] = True
                    w["severity"] = accident_info["severity"]
                    affected_ways.append(way_id)
                    found = True
                    print(f"🚨 Applied {accident_info['severity']} ({multiplier}x) to way {way_id}: {w.get('road_name', 'Unknown')}")
                    print(f"   ⏱️  {original_time:.2f} min → {new_time:.2f} min")
                    break
            
            if not found:
                print(f"⚠️  Way {way_id} not found in ways list!")
        
        # Store modified ways in BOTH session AND cache
        session["modified_ways"] = ways
        session.modified = True
        
        # Update the cache with modified ways so all routes see the accidents
        if UPLOADED_MAP_CACHE['nodes'] is not None:
            import copy
            UPLOADED_MAP_CACHE['ways'] = copy.deepcopy(ways)
            print(f"✅ Updated UPLOADED_MAP_CACHE with accidents")
        elif DEFAULT_MAP_DATA['nodes'] is not None:
            # For default map, update the DEFAULT_MAP_DATA directly
            import copy
            DEFAULT_MAP_DATA['ways'] = copy.deepcopy(ways)
            print(f"✅ Updated DEFAULT_MAP_DATA with accidents")
        
        print(f"📦 Total accidents stored: {len(edge_accidents)}")
        
        # ==========================================================
        # Generate accident visualization map immediately
        # ==========================================================
        osm_nodes = osm_nodes_data
        graph = graph_data
        accident_map_output = os.path.join('static', 'heritage_map_accidents.html')
        accident_map_simple = os.path.join('static', 'heritage_map_simple_accidents.html')
        
        try:
            # Create detailed map with accident roads highlighted
            visualize_with_roads(
                nodes, ways, cameras,
                {"start": None, "goals": []},
                osm_nodes, graph,
                accident_map_output,
                solution_path=None,
                exploration_steps=[]
            )
            
            # Create simple map with accident roads highlighted
            visualize_simple_graph(
                nodes, ways, cameras,
                {"start": None, "goals": []},
                accident_map_simple,
                solution_path=None,
                other_paths=None,
                exploration_steps=[]
            )
            print(f"✅ Generated accident visualization maps")
        except Exception as e:
            print(f"⚠️ Error generating accident maps: {str(e)}")
            import traceback
            traceback.print_exc()
        
        # ==========================================================
        # Return all accidents for frontend to display
        # ==========================================================
        all_accidents = {}
        for way_id, accident_info in GLOBAL_ACCIDENTS.items():
            all_accidents[way_id] = {
                "road_name": accident_info["road_name"],
                "severity": accident_info["severity"],
                "from_node": accident_info.get("from_node", "?"),
                "to_node": accident_info.get("to_node", "?")
            }
        
        return jsonify({
            "success": True,
            "road_id": road_id,
            "road_name": road_name,
            "severity": severity,
            "is_override": is_override,
            "accidents": all_accidents,
            "map_url": "/static/heritage_map_accidents.html",
            "map_simple_url": "/static/heritage_map_simple_accidents.html"
        })
    
    except Exception as e:
        print(f"❌ Error in apply_accident: {str(e)}")
        import traceback
        traceback.print_exc()
        return jsonify({
            "success": False,
            "error": f"Server error: {str(e)}"
        }), 500


# ========================================================================
# ALL ALGORITHMS COMPARISON (WITH EDGE ACCIDENT SUPPORT)
# ========================================================================
@app.route('/find_all_algorithms', methods=['POST'])
def find_all_algorithms():
    """Compare all algorithms with current edge accident conditions"""
    
    # Try to get from request body first, fallback to session
    data = request.get_json() or {}
    origin = data.get("origin") or session.get("origin")
    destination = data.get("destination") or session.get("destination")

    print("STEP 4 ORIGIN =", origin)
    print("STEP 4 DESTINATION =", destination)

    if not origin or not destination:
        return jsonify({"success": True, "routes": []})

    nodes, ways, cameras, meta, osm_nodes, graph, txt_path, osm_path = get_current_map_data()
    
    if nodes is None:
        return jsonify({"success": False, "error": "No map data available"}), 400
    
    # If modified ways exist (accident applied), use them
    if "modified_ways" in session:
        ways = session["modified_ways"]
        print(f"✅ Using modified ways with {len(GLOBAL_ACCIDENTS)} accidents applied")
    edges_map = build_edges_map(ways)

    algo_nodes = {nid: (info["lat"], info["lon"]) for nid, info in nodes.items()}

    results = []

    for algo_name, func in algorithms_impl.items():

        if func is None:
            continue
        
        try:
            # Run algorithm with tracking so the exploration panel can be used
            result = func(algo_nodes, edges_map, origin, [destination],
                          track=True, visualise=True)

            if result is None or len(result) < 3:
                continue

            path = result[2]
            exploration_steps = result[3] if len(result) >= 4 else []
            if not path:
                continue

            total_cost = 0
            for i in range(len(path) - 1):
                key = (path[i], path[i + 1])
                if key in edges_map:
                    total_cost += edges_map[key]["time"]

            # Save each algorithm map
            out_html = f"static/algomap_{algo_name}.html"
            simple_out_html = f"static/algomap_simple_{algo_name}.html"

            visualize_with_roads(
                nodes, ways, cameras,
                {"start": origin, "goals": [destination],
                 "accident_multiplier": meta.get("accident_multiplier", 1)},
                osm_nodes, graph,
                out_html,
                solution_path=path,
                exploration_steps=exploration_steps
            )

            visualize_simple_graph(
                nodes, ways, cameras,
                {"start": origin, "goals": [destination],
                 "accident_multiplier": meta.get("accident_multiplier", 1)},
                simple_out_html,
                solution_path=path,
                other_paths=None,
                exploration_steps=exploration_steps
            )

            results.append({
                "algorithm": algo_name.upper(),
                "path": path,
                "cost": round(total_cost, 2),
                "length": len(path),
                "path_str": " → ".join(path),
                "map_url": f"/static/algomap_{algo_name}.html",
                "map_url_simple": f"/static/algomap_simple_{algo_name}.html"
            })

        except Exception as e:
            print("ERROR in algo", algo_name, ":", e)
            continue

    return jsonify({"success": True, "routes": results})



# ========================================================================
# CLEAR ACCIDENT STATE (FOR NEW ROUTE SELECTION)
# ========================================================================
@app.route('/clear_route_state', methods=['POST'])
def clear_route_state():
    """Clear accidents and modified ways when selecting new origin/destination"""
    try:
        session.pop("edge_accidents", None)
        session.pop("modified_ways", None)
        session.modified = True
        return jsonify({"success": True})
    except Exception as e:
        return jsonify({"success": False, "error": str(e)}), 500


if __name__ == '__main__':
    # Load default map data on startup (for Hugging Face deployment)
    load_default_map_data()
    
    # Get port from environment variable (Hugging Face uses 7860)
    port = int(os.environ.get('PORT', 7860))
    
    # Check if running in production (Hugging Face Spaces)
    is_production = os.environ.get('SPACE_ID') is not None
    
    if not is_production:
        # Only open browser in local development
        import threading
        import webbrowser
        import time

        def _open_browser_after_delay(url, delay=1.0):
            try:
                time.sleep(delay)
                webbrowser.open_new(url)
            except Exception:
                pass

        url = f'http://127.0.0.1:{port}/'
        threading.Thread(target=_open_browser_after_delay, args=(url, 1.0), daemon=True).start()

    # Run Flask - debug mode off in production
    app.run(debug=not is_production, host='0.0.0.0', port=port, use_reloader=False)