pathfinding.py

def a_star_search(grid, start, goal, max_movement):
    frontier = []
    heapq.heappush(frontier, (0, start))
    came_from = {start: None}
    cost_so_far = {start: 0}

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

        if current == goal:
            break

        for neighbor in get_neighbors(current, grid):
            new_cost = cost_so_far[current] + neighbor.cost() + (1000 if neighbor.is_fire() else 0)
            if new_cost - (1000 if neighbor.is_fire() else 0) <= max_movement and (neighbor not in cost_so_far or new_cost < cost_so_far[neighbor]):
                cost_so_far[neighbor] = new_cost
                priority = new_cost + heuristic(goal, neighbor)
                heapq.heappush(frontier, (priority, neighbor))
                came_from[neighbor] = current

    return came_from, cost_so_far