import heapq
from typing import List, Tuple

class PathfindingAI:
    def __init__(self):
        self.path: List[Tuple[int, int]] = []
        self.speed: float = 2.0
        self.current_target_index: int = 0

    def find_path(self, start: Tuple[int, int], end: Tuple[int, int], grid):
        """Реализация алгоритма A*"""
        open_set = []
        heapq.heappush(open_set, (0, start))
        came_from = {}
        g_score = {start: 0}
        f_score = {start: self._heuristic(start, end)}

        while open_set:
            current = heapq.heappop(open_set)[1]

            if current == end:
                self.path = self._reconstruct_path(came_from, current)
                return True

            for neighbor in self._get_neighbors(current, grid):
                tentative_g_score = g_score[current] + 1
                if neighbor not in g_score or tentative_g_score < g_score[neighbor]:
                    came_from[neighbor] = current
                    g_score[neighbor] = tentative_g_score
                    f_score[neighbor] = tentative_g_score + self._heuristic(neighbor, end)
                    heapq.heappush(open_set, (f_score[neighbor], neighbor))

        return False

    def _heuristic(self, a: Tuple[int, int], b: Tuple[int, int]) -> float:
        return abs(a[0] - b[0]) + abs(a[1] - b[1])

    def _get_neighbors(self, pos: Tuple[int, int], grid) -> List[Tuple[int, int]]:
        # Реализация получения соседних клеток
        pass

    def _reconstruct_path(self, came_from, current):
        path = [current]
        while current in came_from:
            current = came_from[current]
            path.append(current)
        return path[::-1]