refactor & feat: moved window visualization to

it's own file and created a video visulazer

.github/workflows/automatic-prerelease.yml

@@ -0,0 +1,33 @@
+---
+name: "pre-release"
+
+on:
+  push:
+    branches:
+      - "main"
+
+jobs:
+  pre-release:
+    name: "Pre Release"
+    runs-on: "ubuntu-latest"
+
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Set up Go
+        uses: actions/setup-go@v4
+        with:
+          go-version: "1.21"
+
+      - name: Build
+        run: go build -v ./...
+
+      - name: Test
+        run: go test -v ./...
+
+      - uses: "marvinpinto/action-automatic-releases@latest"
+        with:
+          repo_token: "${{ secrets.GITHUB_TOKEN }}"
+          automatic_release_tag: "latest"
+          prerelease: true
+          title: "Development Build"

.github/workflows/tagged-release.yml

@@ -0,0 +1,31 @@
+---
+name: "tagged-release"
+
+on:
+  push:
+    tags:
+      - "v*"
+
+jobs:
+  tagged-release:
+    name: "Tagged Release"
+    runs-on: "ubuntu-latest"
+
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Set up Go
+        uses: actions/setup-go@v4
+        with:
+          go-version: "1.21"
+
+      - name: Build
+        run: go build -v ./...
+
+      - name: Test
+        run: go test -v ./...
+
+      - uses: "marvinpinto/action-automatic-releases@latest"
+        with:
+          repo_token: "${{ secrets.GITHUB_TOKEN }}"
+          prerelease: false

.gitignore

@@ -20,3 +20,5 @@
 # Go workspace file
 go.work
 /Session.vim
+/maze.png
+/maze_sol.png

go.mod

@@ -3,11 +3,30 @@ module maze-solver
 go 1.21
 
 require (
+	fyne.io/fyne v1.4.3
 	github.com/akamensky/argparse v1.4.0
 	github.com/mazznoer/colorgrad v0.9.1
 	golang.org/x/exp v0.0.0-20230801115018-d63ba01acd4b
 )
 
+require (
+	github.com/davecgh/go-spew v1.1.1 // indirect
+	github.com/fsnotify/fsnotify v1.5.4 // indirect
+	github.com/fyne-io/mobile v0.1.2 // indirect
+	github.com/go-gl/gl v0.0.0-20211210172815-726fda9656d6 // indirect
+	github.com/go-gl/glfw/v3.3/glfw v0.0.0-20221017161538-93cebf72946b // indirect
+	github.com/godbus/dbus/v5 v5.1.0 // indirect
+	github.com/goki/freetype v0.0.0-20220119013949-7a161fd3728c // indirect
+	github.com/pmezard/go-difflib v1.0.0 // indirect
+	github.com/srwiley/oksvg v0.0.0-20220731023508-a61f04f16b76 // indirect
+	github.com/srwiley/rasterx v0.0.0-20210519020934-456a8d69b780 // indirect
+	github.com/stretchr/testify v1.8.0 // indirect
+	golang.org/x/net v0.6.0 // indirect
+	golang.org/x/sys v0.5.0 // indirect
+	golang.org/x/text v0.12.0 // indirect
+	gopkg.in/yaml.v3 v3.0.1 // indirect
+)
+
 require (
 	github.com/lucasb-eyer/go-colorful v1.2.0 // indirect
 	github.com/mazznoer/csscolorparser v0.1.2 // indirect

go.sum

@@ -1,43 +1,124 @@
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+fyne.io/fyne v1.4.3/go.mod h1:8kiPBNSDmuplxs9WnKCkaWYqbcXFy0DeAzwa6PBO9Z8=
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 github.com/akamensky/argparse v1.4.0 h1:YGzvsTqCvbEZhL8zZu2AiA5nq805NZh75JNj4ajn1xc=
 github.com/akamensky/argparse v1.4.0/go.mod h1:S5kwC7IuDcEr5VeXtGPRVZ5o/FdhcMlQz4IZQuw64xA=
+github.com/akavel/rsrc v0.8.0/go.mod h1:uLoCtb9J+EyAqh+26kdrTgmzRBFPGOolLWKpdxkKq+c=
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+github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
+github.com/fsnotify/fsnotify v1.4.9/go.mod h1:znqG4EE+3YCdAaPaxE2ZRY/06pZUdp0tY4IgpuI1SZQ=
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+github.com/fyne-io/mobile v0.1.2 h1:0HaXDtOOwyOTn3Umi0uKVCOgJtfX73c6unC4U8i5VZU=
+github.com/fyne-io/mobile v0.1.2/go.mod h1:/kOrWrZB6sasLbEy2JIvr4arEzQTXBTZGb3Y96yWbHY=
+github.com/go-gl/gl v0.0.0-20190320180904-bf2b1f2f34d7/go.mod h1:482civXOzJJCPzJ4ZOX/pwvXBWSnzD4OKMdH4ClKGbk=
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 golang.org/x/text v0.7.0/go.mod h1:mrYo+phRRbMaCq/xk9113O4dZlRixOauAjOtrjsXDZ8=
+golang.org/x/text v0.12.0 h1:k+n5B8goJNdU7hSvEtMUz3d1Q6D/XW4COJSJR6fN0mc=
 golang.org/x/text v0.12.0/go.mod h1:TvPlkZtksWOMsz7fbANvkp4WM8x/WCo/om8BMLbz+aE=
 golang.org/x/tools v0.0.0-20180917221912-90fa682c2a6e/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ=
+golang.org/x/tools v0.0.0-20190808195139-e713427fea3f/go.mod h1:b+2E5dAYhXwXZwtnZ6UAqBI28+e2cm9otk0dWdXHAEo=
 golang.org/x/tools v0.0.0-20191119224855-298f0cb1881e/go.mod h1:b+2E5dAYhXwXZwtnZ6UAqBI28+e2cm9otk0dWdXHAEo=
+golang.org/x/tools v0.0.0-20200328031815-3db5fc6bac03/go.mod h1:Sl4aGygMT6LrqrWclx+PTx3U+LnKx/seiNR+3G19Ar8=
 golang.org/x/tools v0.1.12/go.mod h1:hNGJHUnrk76NpqgfD5Aqm5Crs+Hm0VOH/i9J2+nxYbc=
 golang.org/x/tools v0.6.0/go.mod h1:Xwgl3UAJ/d3gWutnCtw505GrjyAbvKui8lOU390QaIU=
 golang.org/x/xerrors v0.0.0-20190717185122-a985d3407aa7/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
+golang.org/x/xerrors v0.0.0-20191011141410-1b5146add898/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
+golang.org/x/xerrors v0.0.0-20191204190536-9bdfabe68543/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
+gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
+gopkg.in/check.v1 v1.0.0-20200227125254-8fa46927fb4f h1:BLraFXnmrev5lT+xlilqcH8XK9/i0At2xKjWk4p6zsU=
+gopkg.in/check.v1 v1.0.0-20200227125254-8fa46927fb4f/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
+gopkg.in/yaml.v2 v2.2.2/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
+gopkg.in/yaml.v2 v2.2.8/go.mod h1:hI93XBmqTisBFMUTm0b8Fm+jr3Dg1NNxqwp+5A1VGuI=
+gopkg.in/yaml.v3 v3.0.0-20200313102051-9f266ea9e77c/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
+gopkg.in/yaml.v3 v3.0.1 h1:fxVm/GzAzEWqLHuvctI91KS9hhNmmWOoWu0XTYJS7CA=
+gopkg.in/yaml.v3 v3.0.1/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=

io/writer/image.go

@@ -28,6 +28,18 @@ func (w *ImageWriter) Write() error {
 		return errors.New("Filename of ImageWriter doesn't have .png extension. The only suppported image type is png")
 	}
 
+	w.GenerateImage()
+
+	f, err := os.Create(w.Filename)
+	if err != nil {
+		return err
+	}
+	png.Encode(f, w.img)
+	f.Close()
+	return nil
+}
+
+func (w *ImageWriter) GenerateImage() *image.RGBA {
 	w.img = image.NewRGBA(image.Rect(0, 0, w.Maze.Width*w.CellWidth, w.Maze.Height*w.CellHeight))
 
 	// Fill the image with walls
@@ -50,6 +62,9 @@ func (w *ImageWriter) Write() error {
 			w.draw(x0, y0, width, height, w.PathColor)
 		}
 	}
+	if len(w.Maze.Solution) == 0 {
+		return w.img
+	}
 
 	// Fill in the solution
 	total_len := w.getSolutionLength()
@@ -99,14 +114,7 @@ func (w *ImageWriter) Write() error {
 			w.draw(x0, y0, width, height, colors[c])
 		}
 	}
-
-	f, err := os.Create(w.Filename)
-	if err != nil {
-		return err
-	}
-	png.Encode(f, w.img)
-	f.Close()
-	return nil
+	return w.img
 }
 
 func (w *ImageWriter) getSolutionLength() int {

io/writer/image_test.go

@@ -1,17 +1,24 @@
 package writer
 
 import (
+	"bytes"
 	"image/color"
+	"io"
 	"maze-solver/maze"
+	"os"
 	"testing"
 
 	"github.com/mazznoer/colorgrad"
 )
 
+const (
+	OUT_DIR      = "./out"
+	EXPECTED_DIR = "../../assets/solved"
+)
+
 func TestImageWriter(t *testing.T) {
-	pathGradient, err := colorgrad.NewGradient().Colors(color.White).Build()
-	if err != nil {
-		panic(err)
+	if _, err := os.Stat(OUT_DIR); os.IsNotExist(err) {
+		os.Mkdir(OUT_DIR, 0700)
 	}
 
 	tests := []struct {
@@ -24,33 +31,33 @@ func TestImageWriter(t *testing.T) {
 	}{
 		{
 			"Trivial",
-			"../../out/trivial_sol.png",
+			"trivial.png",
 			trivial(),
-			40, 40,
+			20, 20,
 			color.White, color.Black,
 			colorgrad.Warm(),
 		},
 		{
-			"Bigger",
-			"../../out/bigger_sol.png",
+			"Trivial Bigger",
+			"trivial-bigger.png",
 			bigger(),
-			40, 40,
+			20, 20,
 			color.White, color.Black,
 			colorgrad.Warm(),
 		},
 		{
-			"Bigger Staggered",
-			"../../out/bigger_staggered_sol.png",
+			"Trivial Bigger Staggered",
+			"trivial-bigger-staggered.png",
 			bigger_staggered(),
-			40, 40,
+			20, 20,
 			color.White, color.Black,
-			pathGradient,
+			colorgrad.Warm(),
 		},
 		{
 			"Normal",
-			"../../out/normal_sol.png",
+			"normal.png",
 			normal(),
-			40, 40,
+			20, 20,
 			color.White, color.Black,
 			colorgrad.Warm(),
 		},
@@ -58,7 +65,7 @@ func TestImageWriter(t *testing.T) {
 
 	for _, test := range tests {
 		writer := ImageWriter{
-			Filename:         test.filename,
+			Filename:         OUT_DIR + "/" + test.filename,
 			Maze:             test.m,
 			CellWidth:        test.CellWidth,
 			CellHeight:       test.cellHeight,
@@ -71,5 +78,45 @@ func TestImageWriter(t *testing.T) {
 		if err != nil {
 			t.Fatalf("%s: couldn't write solution, got following error\n%v", test.name, err)
 		}
+
+		assertEqualFile(t, EXPECTED_DIR+"/"+test.filename, OUT_DIR+"/"+test.filename, test.name)
+		os.Remove(writer.Filename)
+	}
+	os.Remove(OUT_DIR)
+}
+
+const chunkSize = 64000
+
+func assertEqualFile(t *testing.T, file1, file2, name string) {
+	f1, err := os.Open(file1)
+	if err != nil {
+		t.Fatal(err)
+	}
+	defer f1.Close()
+
+	f2, err := os.Open(file2)
+	if err != nil {
+		t.Fatal(err)
+	}
+	defer f2.Close()
+
+	for {
+		b1 := make([]byte, chunkSize)
+		_, err1 := f1.Read(b1)
+
+		b2 := make([]byte, chunkSize)
+		_, err2 := f2.Read(b2)
+
+		if err1 != nil || err2 != nil {
+			if err1 == io.EOF && err2 == io.EOF {
+				return
+			} else if err1 == io.EOF || err2 == io.EOF {
+				t.Fatalf("%s: files are not equal. Got %q, wanted %q", name, file1, file2)
+			}
+		}
+
+		if !bytes.Equal(b1, b2) {
+			t.Fatalf("%s: files are not equal. Got %q, wanted %q", name, file1, file2)
+		}
 	}
 }

io/writer/strings_test.go

@@ -1,7 +1,6 @@
 package writer
 
 import (
-	"fmt"
 	"maze-solver/maze"
 	"maze-solver/utils"
 	"testing"
@@ -69,7 +68,6 @@ func TestStringsWriter(t *testing.T) {
 	}
 
 	for _, test := range tests {
-		fmt.Printf("----------- %s -----------\n", test.name)
 		writer := StringsWriter{
 			PathChar:     test.pathChar,
 			WallChar:     test.wallChar,

main.go

@@ -6,17 +6,72 @@ import (
 	"image/color"
 	"maze-solver/io/reader"
 	"maze-solver/io/writer"
+	"maze-solver/maze"
 	"maze-solver/maze/parser"
 	"maze-solver/solver"
 	"maze-solver/utils"
+	"maze-solver/visualizer"
 	"os"
 	"strings"
+	"sync"
 
 	"github.com/akamensky/argparse"
 	"github.com/mazznoer/colorgrad"
 )
 
 func main() {
+	readerFactory, writerFactory, solverFactory, visFactory, ok := parse_arguments()
+
+	if !ok {
+		return
+	}
+
+	defer utils.Timer("TOTAL", 1)()
+	reader := readerFactory.Get()
+
+	m, err := parser.Parse(reader)
+	utils.Check(err, "Couldn't read maze")
+
+	var solved *maze.SolvedMaze
+	if *visFactory.Type != "" {
+		solved_chan := make(chan *maze.SolvedMaze, 3)
+		solver := solverFactory.Get(solved_chan)
+		vis := visFactory.Get()
+
+		vis.Init(m)
+
+		var wg sync.WaitGroup
+		wg.Add(2)
+
+		lets_go := make(chan bool, 1)
+
+		go func() {
+			if <-lets_go {
+				solved = solver.Solve(m)
+			}
+			close(solved_chan)
+			wg.Done()
+		}()
+		go func() {
+			vis.Visualize(solved_chan)
+			wg.Done()
+		}()
+		vis.Run(lets_go)
+		wg.Wait()
+	} else {
+		solver := solverFactory.Get(nil)
+		solved = solver.Solve(m)
+	}
+	if solved == nil { // cuz maybe with the window visualization, the user pressed "no"
+		return
+	}
+	writer := writerFactory.Get(solved)
+
+	err = writer.Write()
+	utils.Check(err, "Couldn't write solved maze")
+}
+
+func parse_arguments() (*reader.ReaderFactory, *writer.WriterFactory, *solver.SolverFactory, *visualizer.VisualizerFactory, bool) {
 	argparser := argparse.NewParser("maze-solver", "Solves the given maze (insane, right? who would've guessed?)")
 
 	var verboseLevel *int = argparser.FlagCounter("v", "verbose", &argparse.Options{
@@ -30,6 +85,7 @@ func main() {
 	readerFactory := reader.ReaderFactory{}
 	writerFactory := writer.WriterFactory{}
 	solverFactory := solver.SolverFactory{}
+	visFactory := visualizer.VisualizerFactory{}
 
 	readerFactory.Type = reader.TYPES[".png"]
 	readerFactory.Filename = argparser.String("i", "input", &argparse.Options{
@@ -109,12 +165,12 @@ func main() {
 
 	cellSizeIn := argparser.Int("", "cell-size-in", &argparse.Options{
 		Help:    "Size of a cell (in pixels) for input file of image type",
-		Default: 20,
+		Default: 3,
 	})
 
 	cellSizeOut := argparser.Int("", "cell-size-out", &argparse.Options{
 		Help:    "Size of a cell (in pixels) for output file of image type",
-		Default: 20,
+		Default: 3,
 	})
 
 	solverFactory.Type = argparser.Selector("a", "algo", solver.TYPES, &argparse.Options{
@@ -122,9 +178,24 @@ func main() {
 		Default: solver.TYPES[0],
 	})
 
+	visFactory.Type = argparser.Selector("", "visualize", visualizer.VIZ_METHODS, &argparse.Options{
+		Help:    fmt.Sprintf("Visualizer the progress of the solver, avaiable options: %s. Window will give a live feed of the solver, whereas video creates a video --output with mp4 extension", strings.Join(visualizer.VIZ_METHODS, ", ")),
+		Default: "",
+	})
+
+	visFactory.Filename = argparser.String("", "video-name", &argparse.Options{
+		Help:    "Name of the output file if --visualize is set to 'video'",
+		Default: "maze_sol.mp4",
+	})
+
+	visFactory.Framerate = argparser.Float("", "video-framerate", &argparse.Options{
+		Help:    "Framerate of the video if --visualize is set to 'video'",
+		Default: 60.,
+	})
+
 	if err := argparser.Parse(os.Args); err != nil {
 		fmt.Println(argparser.Usage(err))
-		return
+		return nil, nil, nil, nil, false
 	}
 	utils.VERBOSE_LEVEL = *verboseLevel
 
@@ -137,18 +208,5 @@ func main() {
 	writerFactory.PathColor = color.RGBA{255, 255, 255, 255}
 	writerFactory.SolutionGradient = colorgrad.Warm()
 
-	defer utils.Timer("TOTAL", 1)()
-
-	reader := readerFactory.Get()
-
-	maze, err := parser.Parse(reader)
-	utils.Check(err, "Couldn't read maze")
-
-	solver := solverFactory.Get()
-	solved := solver.Solve(maze)
-
-	writer := writerFactory.Get(solved)
-
-	err = writer.Write()
-	utils.Check(err, "Couldn't write solved maze")
+	return &readerFactory, &writerFactory, &solverFactory, &visFactory, true
 }

maze/maze.go

@@ -30,6 +30,7 @@ type Node struct {
 	Coords      Coordinates
 	Up, Down    *Node
 	Left, Right *Node
+	Visited     bool `default:"false"`
 }
 
 func NewNode(coords Coordinates) *Node {

maze/parser/parser_test.go

@@ -42,7 +42,7 @@ func TestTextReadTrivial(t *testing.T) {
 
 	nodes[4].Up = nodes[3]
 
-	reader := reader.TextReader{
+	reader := &reader.TextReader{
 		Filename: "../../assets/trivial.txt",
 		PathChar: ' ',
 		WallChar: '#',
@@ -107,7 +107,7 @@ func TestTextReadTrivialBigger(t *testing.T) {
 
 	nodes[4].Up = nodes[3]
 
-	reader := reader.TextReader{
+	reader := &reader.TextReader{
 		Filename: "../../assets/trivial-bigger.txt",
 		PathChar: ' ',
 		WallChar: '#',
@@ -177,7 +177,7 @@ func TestTextReadTrivialBiggerStaggered(t *testing.T) {
 
 	nodes[5].Up = nodes[4]
 
-	reader := reader.TextReader{
+	reader := &reader.TextReader{
 		Filename: "../../assets/trivial-bigger-staggered.txt",
 		PathChar: ' ',
 		WallChar: '#',
@@ -310,7 +310,7 @@ func TestTextReadNormal(t *testing.T) {
 		nodes[link.to].Left = nodes[link.from]
 	}
 
-	reader := reader.TextReader{
+	reader := &reader.TextReader{
 		Filename: "../../assets/normal.txt",
 		PathChar: ' ',
 		WallChar: '#',
@@ -501,7 +501,7 @@ func TestTextReadNormal2(t *testing.T) {
 		nodes[link.to].Left = nodes[link.from]
 	}
 
-	reader := reader.TextReader{
+	reader := &reader.TextReader{
 		Filename: "../../assets/normal2.txt",
 		PathChar: ' ',
 		WallChar: '#',

solver/a-star.go

@@ -0,0 +1,75 @@
+package solver
+
+import (
+	"maze-solver/maze"
+	"maze-solver/utils"
+	"sort"
+)
+
+type AStarSolver struct {
+	solved_chan     chan<- *maze.SolvedMaze
+	dist_from_start map[*maze.Node]int
+	dist_from_end   map[*maze.Node]int
+	parent          map[*maze.Node]*maze.Node
+	stack           sorted_stack
+}
+
+func (s *AStarSolver) Solve(m *maze.Maze) *maze.SolvedMaze {
+	defer utils.Timer("A* algorithm", 2)()
+	s.dist_from_start = make(map[*maze.Node]int, len(m.Nodes))
+	s.dist_from_end = make(map[*maze.Node]int, len(m.Nodes))
+	s.parent = make(map[*maze.Node]*maze.Node, len(m.Nodes))
+
+	current, end := m.Nodes[0], m.Nodes[len(m.Nodes)-1]
+
+	for _, node := range m.Nodes {
+		s.dist_from_start[node] = 0
+		s.dist_from_end[node] = int(node.Coords.Distance(end.Coords))
+	}
+
+	for current != end {
+		current.Visited = true
+		if s.solved_chan != nil {
+			s.solved_chan <- &maze.SolvedMaze{
+				Maze:     m,
+				Solution: s.generateSolution(current, m),
+			}
+		}
+
+		for _, child := range []*maze.Node{current.Left, current.Right, current.Up, current.Down} {
+			if child != nil {
+				dist := s.dist_from_start[current] + int(current.Coords.Distance(child.Coords))
+				if !child.Visited {
+					s.parent[child] = current
+					s.dist_from_start[child] = dist
+					s.stack.insert(child, &s.dist_from_end)
+				} else if s.dist_from_start[child] > dist {
+					s.parent[child] = current
+					s.dist_from_start[child] = dist
+					sort.Slice(s.stack, func(i, j int) bool {
+						return s.dist_from_end[s.stack[i]] < s.dist_from_end[s.stack[j]]
+					})
+				}
+			}
+		}
+		current = s.stack.pop()
+	}
+
+	return &maze.SolvedMaze{
+		Maze:     m,
+		Solution: s.generateSolution(current, m),
+	}
+}
+
+func (s *AStarSolver) generateSolution(current *maze.Node, m *maze.Maze) []*maze.Node {
+	solution := make([]*maze.Node, 0, len(m.Nodes))
+	for current != m.Nodes[0] {
+		solution = append(solution, current)
+		current = s.parent[current]
+	}
+	solution = append(solution, m.Nodes[0])
+	for i, j := 0, len(solution)-1; i < j; i, j = i+1, j-1 {
+		solution[i], solution[j] = solution[j], solution[i]
+	}
+	return solution
+}

solver/bfs.go

@@ -1,9 +1,130 @@
 package solver
 
-import "maze-solver/maze"
+import (
+	"errors"
+	"fmt"
+	"maze-solver/maze"
+	"maze-solver/utils"
+	"strings"
+)
 
-type Bfs struct{}
-
-func (*Bfs) Solve(maze *maze.Maze) *maze.SolvedMaze {
-	return nil
+type BFSSolver struct {
+	solved_chan chan<- *maze.SolvedMaze
+	queue       *Queue
+}
+
+type Queue struct {
+	head, tail *Element
+}
+
+type Element struct {
+	prev, next *Element
+	value      []*maze.Node
+}
+
+func (q *Queue) enqueue(v []*maze.Node) {
+	prev_last := q.tail
+	new_elem := &Element{
+		prev:  prev_last,
+		next:  nil,
+		value: v,
+	}
+	if prev_last != nil {
+		prev_last.next = new_elem
+	}
+
+	q.tail = new_elem
+
+	if q.head == nil {
+		q.head = new_elem
+	}
+}
+
+func (q *Queue) dequeue() ([]*maze.Node, error) {
+	if q.head == nil {
+		return nil, errors.New("Can't dequeue and empty queue")
+	}
+	ret := q.head.value
+	q.head = q.head.next
+	if q.head != nil {
+		q.head.prev = nil
+	} else {
+		q.tail = nil
+	}
+
+	return ret, nil
+}
+
+func (q Queue) String() string {
+	var ret strings.Builder
+	i := 0
+	for history := q.head; history != nil; history = history.next {
+		ret.WriteString(fmt.Sprintf("%v: %v\n", i, history_str(history.value)))
+		i++
+	}
+	return ret.String()
+}
+
+func history_str(history []*maze.Node) string {
+	var ret strings.Builder
+	for _, node := range history {
+		ret.WriteString(fmt.Sprintf("%v ", node.Coords))
+	}
+	return ret.String()
+}
+
+func (s *BFSSolver) Solve(m *maze.Maze) *maze.SolvedMaze {
+	defer utils.Timer("BFS algorithm", 2)()
+
+	current, end := m.Nodes[0], m.Nodes[len(m.Nodes)-1]
+	s.queue = &Queue{
+		head: nil,
+		tail: nil,
+	}
+
+	current_history := make([]*maze.Node, 0, len(m.Nodes))
+	current_history = append(current_history, current)
+
+	var err error
+	for current != end {
+		current.Visited = true
+		if s.solved_chan != nil {
+			s.solved_chan <- &maze.SolvedMaze{
+				Maze:     m,
+				Solution: current_history,
+			}
+		}
+
+		s.addIfNotVisited(current.Down, current_history)
+		s.addIfNotVisited(current.Left, current_history)
+		s.addIfNotVisited(current.Right, current_history)
+		s.addIfNotVisited(current.Up, current_history)
+
+		current_history, err = s.queue.dequeue()
+		if err != nil {
+			panic(err)
+		}
+		current = current_history[len(current_history)-1]
+	}
+	if s.solved_chan != nil {
+		s.solved_chan <- &maze.SolvedMaze{
+			Maze:     m,
+			Solution: current_history,
+		}
+	}
+
+	return &maze.SolvedMaze{
+		Maze:     m,
+		Solution: current_history,
+	}
+}
+
+func (s *BFSSolver) addIfNotVisited(node *maze.Node, current_history []*maze.Node) {
+	if !visited(node) {
+		new_history := make([]*maze.Node, len(current_history)+1)
+		copy(new_history, current_history)
+		new_history[len(current_history)] = node
+
+		s.queue.enqueue(new_history)
+	}
 }

solver/dfs.go

@@ -5,27 +5,28 @@ import (
 	"maze-solver/utils"
 )
 
-type TurnLeftSolver struct {
-	visited map[*maze.Node]bool
+type DFSSolver struct {
+	solved_chan chan<- *maze.SolvedMaze
 }
 
-func (s *TurnLeftSolver) Solve(m *maze.Maze) *maze.SolvedMaze {
-	defer utils.Timer("Turn left algorithm", 2)()
+func (s *DFSSolver) Solve(m *maze.Maze) *maze.SolvedMaze {
+	defer utils.Timer("DFS algorithm", 2)()
 
 	current, end := m.Nodes[0], m.Nodes[len(m.Nodes)-1]
-	s.visited = make(map[*maze.Node]bool, len(m.Nodes))
-
-	for _, node := range m.Nodes {
-		s.visited[node] = false
-	}
 
 	stack := make([]*maze.Node, 0, len(m.Nodes))
 	stack = append(stack, current)
 
 	for current != end {
-		s.visited[current] = true
+		current.Visited = true
+		if s.solved_chan != nil {
+			s.solved_chan <- &maze.SolvedMaze{
+				Maze:     m,
+				Solution: stack,
+			}
+		}
 
-		left_visited, right_visited, up_visited, down_visited := s.wasVisited(current.Left), s.wasVisited(current.Right), s.wasVisited(current.Up), s.wasVisited(current.Down)
+		left_visited, right_visited, up_visited, down_visited := visited(current.Left), visited(current.Right), visited(current.Up), visited(current.Down)
 
 		if left_visited && right_visited && up_visited && down_visited {
 			// dead end or no more visited nodes
@@ -53,11 +54,3 @@ func (s *TurnLeftSolver) Solve(m *maze.Maze) *maze.SolvedMaze {
 	}
 	return ret
 }
-
-func (s *TurnLeftSolver) wasVisited(node *maze.Node) bool {
-	if node == nil {
-		return true
-	}
-	visited, _ := s.visited[node]
-	return visited
-}

solver/dijkstra.go

@@ -0,0 +1,72 @@
+package solver
+
+import (
+	"maze-solver/maze"
+	"maze-solver/utils"
+	"sort"
+)
+
+type DijkstraSolver struct {
+	solved_chan     chan<- *maze.SolvedMaze
+	dist_from_start map[*maze.Node]int
+	parent          map[*maze.Node]*maze.Node
+	stack           sorted_stack
+}
+
+func (s *DijkstraSolver) Solve(m *maze.Maze) *maze.SolvedMaze {
+	defer utils.Timer("Dijkstra algorithm", 2)()
+	s.dist_from_start = make(map[*maze.Node]int, len(m.Nodes))
+	s.parent = make(map[*maze.Node]*maze.Node, len(m.Nodes))
+
+	for _, node := range m.Nodes {
+		s.dist_from_start[node] = 0
+	}
+
+	current, end := m.Nodes[0], m.Nodes[len(m.Nodes)-1]
+
+	for current != end {
+		current.Visited = true
+		for _, child := range []*maze.Node{current.Left, current.Right, current.Up, current.Down} {
+			if child != nil {
+				dist := s.dist_from_start[current] + int(current.Coords.Distance(child.Coords))
+				if !child.Visited {
+					s.parent[child] = current
+					s.dist_from_start[child] = dist
+					s.stack.insert(child, &s.dist_from_start)
+				} else if s.dist_from_start[child] > dist {
+					s.parent[child] = current
+					s.dist_from_start[child] = dist
+					sort.Slice(s.stack, func(i, j int) bool {
+						return s.dist_from_start[s.stack[i]] < s.dist_from_start[s.stack[j]]
+					})
+				}
+			}
+		}
+		current = s.stack.pop()
+		if s.solved_chan != nil {
+			s.solved_chan <- &maze.SolvedMaze{
+				Maze:     m,
+				Solution: s.generateSolution(current, m),
+			}
+		}
+
+	}
+
+	return &maze.SolvedMaze{
+		Maze:     m,
+		Solution: s.generateSolution(current, m),
+	}
+}
+
+func (s *DijkstraSolver) generateSolution(current *maze.Node, m *maze.Maze) []*maze.Node {
+	solution := make([]*maze.Node, 0, len(m.Nodes))
+	for current != m.Nodes[0] {
+		solution = append(solution, current)
+		current = s.parent[current]
+	}
+	solution = append(solution, m.Nodes[0])
+	for i, j := 0, len(solution)-1; i < j; i, j = i+1, j-1 {
+		solution[i], solution[j] = solution[j], solution[i]
+	}
+	return solution
+}

solver/solver.go

@@ -14,17 +14,41 @@ type SolverFactory struct {
 }
 
 const (
-	_TURN_LEFT = "turn-left"
+	_DFS      = "dfs"
+	_BFS      = "bfs"
+	_Dijkstra = "dijkstra"
+	_AStar    = "a-star"
 )
 
 var TYPES = []string{
-	_TURN_LEFT,
+	_DFS,
+	_BFS,
+	_Dijkstra,
+	_AStar,
 }
 
-func (f *SolverFactory) Get() Solver {
+func (f *SolverFactory) Get(solved_chan chan<- *maze.SolvedMaze) Solver {
 	switch *f.Type {
-	case _TURN_LEFT:
-		return &TurnLeftSolver{}
+	case _DFS:
+		return &DFSSolver{
+			solved_chan: solved_chan,
+		}
+	case _BFS:
+		return &BFSSolver{
+			solved_chan: solved_chan,
+		}
+	case _AStar:
+		return &AStarSolver{
+			solved_chan: solved_chan,
+		}
+	case _Dijkstra:
+		return &DijkstraSolver{
+			solved_chan: solved_chan,
+		}
 	}
 	panic(fmt.Sprintf("Unrecognized solver type %q", *f.Type))
 }
+
+func visited(node *maze.Node) bool {
+	return node == nil || node.Visited
+}

solver/utils.go

@@ -0,0 +1,27 @@
+package solver
+
+import (
+	"maze-solver/maze"
+	"slices"
+)
+
+type sorted_stack []*maze.Node
+
+func (s *sorted_stack) insert(node *maze.Node, weights *map[*maze.Node]int) {
+	var dummy *maze.Node
+	*s = append(*s, dummy) // extend the slice
+
+	i, _ := slices.BinarySearchFunc(*s, node, func(e, t *maze.Node) int {
+		return (*weights)[t] - (*weights)[e]
+	})
+
+	copy((*s)[i+1:], (*s)[i:]) // make room
+	(*s)[i] = node
+}
+
+func (s *sorted_stack) pop() *maze.Node {
+	last_i := len(*s) - 1
+	ret := (*s)[last_i]
+	*s = (*s)[:last_i]
+	return ret
+}

visualizer/video.go

@@ -0,0 +1,71 @@
+package visualizer
+
+import (
+	"fmt"
+	"image/color"
+	"maze-solver/io/writer"
+	"maze-solver/maze"
+	"os"
+	"os/exec"
+	"path"
+	"sync"
+
+	"github.com/mazznoer/colorgrad"
+)
+
+type VideoVisualizer struct {
+	Filename   string
+	Framerate  float64
+	ffmpeg_cmd string
+}
+
+func (v *VideoVisualizer) Init(*maze.Maze) {
+	path, err := exec.LookPath("ffmpeg")
+	if err != nil {
+		panic(err)
+	}
+	v.ffmpeg_cmd = path
+	println(path)
+}
+func (v *VideoVisualizer) Run(lets_go chan<- bool) { lets_go <- true }
+
+func (v *VideoVisualizer) Visualize(solved_chan <-chan *maze.SolvedMaze) {
+	tmp_dir, err := os.MkdirTemp("", "maze-solver-go-")
+	defer os.RemoveAll(tmp_dir)
+
+	if err != nil {
+		panic(err)
+	}
+	var wg sync.WaitGroup
+	i := 0
+	for solved := range solved_chan {
+		wg.Add(1)
+		go func() {
+			img_writer := writer.ImageWriter{
+				Filename:         path.Join(tmp_dir, fmt.Sprintf("%07v.png", i)),
+				Maze:             solved,
+				CellWidth:        2,
+				CellHeight:       2,
+				WallColor:        color.Black,
+				PathColor:        color.White,
+				SolutionGradient: colorgrad.Warm(),
+			}
+			img_writer.Write()
+			wg.Done()
+		}()
+		i++
+	}
+	wg.Wait()
+	cmd := exec.Command(
+		v.ffmpeg_cmd,
+		"-y",
+		"-pattern_type", "glob",
+		"-i", path.Join(tmp_dir, "*.png"),
+		"-framerate", fmt.Sprint(v.Framerate),
+		v.Filename,
+	)
+	err = cmd.Run()
+	if err != nil {
+		panic(err)
+	}
+}

visualizer/visualizer.go

@@ -0,0 +1,41 @@
+package visualizer
+
+import (
+	"fmt"
+	"maze-solver/maze"
+)
+
+type Visualizer interface {
+	Init(*maze.Maze)
+	Visualize(<-chan *maze.SolvedMaze)
+	Run(lets_go chan<- bool)
+}
+
+type VisualizerFactory struct {
+	Type      *string
+	Filename  *string
+	Framerate *float64
+}
+
+const (
+	_VIDEO  = "video"
+	_WINDOW = "window"
+)
+
+var VIZ_METHODS = []string{
+	_VIDEO,
+	_WINDOW,
+}
+
+func (f *VisualizerFactory) Get() Visualizer {
+	switch *f.Type {
+	case _VIDEO:
+		return &VideoVisualizer{
+			Filename:  *f.Filename,
+			Framerate: *f.Framerate,
+		}
+	case _WINDOW:
+		return &WindowVisualizer{}
+	}
+	panic(fmt.Sprintf("Unrecognized visualizer type %q", *f.Type))
+}

visualizer/window.go

@@ -0,0 +1,65 @@
+package visualizer
+
+import (
+	"image/color"
+	"maze-solver/io/writer"
+	"maze-solver/maze"
+
+	"fyne.io/fyne"
+	"fyne.io/fyne/app"
+	"fyne.io/fyne/canvas"
+	"fyne.io/fyne/dialog"
+	"github.com/mazznoer/colorgrad"
+)
+
+type WindowVisualizer struct {
+	app        fyne.App
+	window     fyne.Window
+	img_writer writer.ImageWriter
+	cimg       *canvas.Image
+}
+
+func (v *WindowVisualizer) Init(m *maze.Maze) {
+	v.app = app.New()
+	v.window = v.app.NewWindow("maze-solver-go")
+	v.img_writer = writer.ImageWriter{
+		Filename: "",
+		Maze: &maze.SolvedMaze{
+			Maze:     m,
+			Solution: []*maze.Node{},
+		},
+		CellWidth:        2,
+		CellHeight:       2,
+		WallColor:        color.Black,
+		PathColor:        color.White,
+		SolutionGradient: colorgrad.Warm(),
+	}
+	v.cimg = canvas.NewImageFromImage(v.img_writer.GenerateImage())
+	v.window.SetContent(v.cimg)
+	v.window.Resize(
+		fyne.NewSize(
+			m.Width*v.img_writer.CellWidth,
+			m.Height*v.img_writer.CellHeight,
+		),
+	)
+	v.window.Show()
+}
+
+func (v *WindowVisualizer) Visualize(solved_chan <-chan *maze.SolvedMaze) {
+	for solved := range solved_chan {
+		v.img_writer.Maze = solved
+		v.cimg.Image = v.img_writer.GenerateImage()
+		v.cimg.Refresh()
+	}
+}
+
+func (v *WindowVisualizer) Run(lets_go chan<- bool) {
+	dial := dialog.NewConfirm("Start", "Let's go", func(ok bool) {
+		lets_go <- ok
+		if !ok {
+			v.window.Close()
+		}
+	}, v.window)
+	dial.Show()
+	v.window.ShowAndRun()
+}