Untitled

        for neighbor in ADJACENCY.get(current, []):
            c1 = ZONES[current]
            c2 = ZONES[neighbor]
            tentative_g = g_score[current] + haversine(c1["lat"], c1["lon"], c2["lat"], c2["lon"])

            if neighbor not in g_score or tentative_g < g_score[neighbor]:
                g_score[neighbor] = tentative_g
                f = tentative_g + haversine(c2["lat"], c2["lon"], goal_coords["lat"], goal_coords["lon"])
                heapq.heappush(open_set, (f, neighbor))
                came_from[neighbor] = current

    return {
        "algorithm": "A*",
        "start_zone": start,
        "goal_zone": goal,
        "path": [],
        "path_length": 0,
        "total_distance_km": 0,
        "segments": [],
        "nodes_explored": len(explored_order),
        "explored_order": explored_order,
        "zone_coords": {},
        "error": "No path found",
    }