From cd1eadf13217c4cf2eafadd63dfbf6f84b6fb954 Mon Sep 17 00:00:00 2001
From: Mitya Selivanov <automainint@guattari.tech>
Date: Fri, 26 Jul 2024 10:05:36 +0200
Subject: Fix nearest open node search

---
 astar.rs | 52 +++++++++++++++++++++++++++++++++-------------------
 1 file changed, 33 insertions(+), 19 deletions(-)

diff --git a/astar.rs b/astar.rs
index bc48d39..3bbe1a5 100755
--- a/astar.rs
+++ b/astar.rs
@@ -1,23 +1,32 @@
-# ![allow(unused_attributes)]
-# ![allow()] /*
+#[allow(non_camel_case_types)] /*
+#/  ================================================================
+#/
+#/    astar.rs
+#/
+#/  Iterative general implementation for
+#/  the A* graph search algorithm
+#/
+#/  ----------------------------------------------------------------
+#/
+#/  To-Do list
+#/
+#/  - Decouple `neighbor` proc
+#/
+#/  ----------------------------------------------------------------
+#/
+#/    (C) 2024 Mitya Selivanov <guattari.tech>, MIT License
+#/
+#/  ================================================================
+#/
+#/    Self-compilation shell script
+#/
 SRC=${0##*./}
 BIN=${SRC%.*}
 rustc --test -o $BIN.tmp $SRC && ./$BIN.tmp $@ && rm $BIN.tmp
 exit $? # */
-
-//  ================================================================
-//
-//    Iterative general implementation for
-//    the A* graph search algorithm
-//
-//  ================================================================
-//
-//    (C) 2024 Mitya Selivanov <guattari.tech>, MIT License
-//
 //  ================================================================
 
-#[allow(non_camel_case_types)]
-pub mod astar {
+mod astar_internal {
   use std::{ops::Add, fmt::Debug};
 
   #[derive(Debug, Clone, PartialEq)]
@@ -165,7 +174,10 @@ pub mod astar {
 
     let mut index_in_open : usize = 0;
     for index in 1..state.num_open {
-      if open[index].estimate < open[index_in_open].estimate {
+      let node    = open[index].clone();
+      let nearest = open[index_in_open].clone();
+      if node   .exact_distance + node   .estimate <
+         nearest.exact_distance + nearest.estimate {
         index_in_open = index;
       }
     }
@@ -305,6 +317,8 @@ pub mod astar {
   }
 }
 
+pub use astar_internal::*;
+
 //  ================================================================
 //
 //    Testing
@@ -313,7 +327,7 @@ pub mod astar {
 
 #[cfg(test)]
 mod tests {
-  use super::astar::*;
+  use super::*;
 
   #[test]
   fn path_exists() {
@@ -574,9 +588,9 @@ mod tests {
   #[test]
   fn cyclic() {
     let graph : Vec<((i64, i64), i64)> = vec![
-      ((0, 1),  5),
+      ((0, 1), 10),
       ((0, 2),  3),
-      ((1, 3),  4),
+      ((1, 3), 20),
       ((2, 4),  1),
       ((3, 5),  1),
       ((4, 6), 10),
@@ -629,7 +643,7 @@ mod tests {
     let n = path(&closed, &state, &mut v);
     v.resize(n, 0);
 
-    assert_eq!(steps, 5);
+    assert_eq!(steps, 6);
     assert_eq!(v.len(), 6);
     assert_eq!(v[0], 0);
     assert_eq!(v[1], 2);
-- 
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