progress = 1

path_len = 4

pax = 0

pay = 0

pbx = 0

pby = 0

pcx = 0

pcy = 0

pao = 0

pbo = 0

pco = 0

for i in range(1,9):

[ta, xa, ya] = p(img, x, y, i)

[tb, xb, yb] = p(img, x, y, i + 1)

if ta > tb:

if pao == 0:

if i < 5:

pao = 4 + i

else:

pao = np.mod(4 + i, 9) + 1

pax = xa

pay = ya

else:

if pbo == 0:

if i < 5:

pbo = 4 + i

else:

pbo = np.mod(4 + i,9) + 1

pbx = xa

pby = ya

else:

if i < 5:

pco = 4 + i

else:

pco = np.mod(4 + i, 9) + 1

pcx = xa

pcy = ya

break

xaa = 0

yaa = 0

xbb = 0

ybb = 0

xcc = 0

ycc = 0

hist = np.array([[pay,pax],[pby, pbx], [pcy,pcx],[y,x]])

stop = False

while progress < path_len and not False:

progress = progress + 1

da = 0

db = 0

dc = 0

if pao != 0:

i = 1

cn = 0

for ii in range(1,9):

[t1, x_A, y_A] = p(img, pax, pay, ii)

[t2, x_B, y_B] = p(img, pax, pay, ii + 1)

cn = cn + abs(t1 - t2)

cn = cn/2.0

if cn == 1 or cn == 3:

stop = True

while i < 9 and da == 0:

[ta, xa, ya] = p(img, pax, pay, i)

[tz, xz, yz] = p(img, pax, pay, i + 1)

ind_y = np.where(hist[:,0] == ya)[0]

ind_x = np.where(hist[ind_y,1] == xa)[0]

if ind_x.size > 0:

i = i + 1

continue

if ta > tz and (xa != x or xa != y):

pax = xa

pay = ya

hist = np.vstack([hist, np.array([pay,pax])])

da = 1

xaa = xa

yaa = ya

i = i + 1

if da == 0:

break

if pbo != 0 and not stop:

cn = 0

for ii in range(1,9):

[t1, x_A, y_A] = p(img, pbx,pby,ii)

[t2, x_B, y_B] = p(img, pbx, pby, ii + 1)

cn = cn + abs(t1 - t2)

cn = cn/2.0

if cn == 1 or cn == 3:

stop = True

i = 1

while i < 9 and db == 0:

[ta,xa,ya] = p(img, pbx, pby, i)

[tz,xz,yz] = p(img, pbx, pby, i + 1)

ind_y = np.where(hist[:,0] == ya)[0]

ind_x = np.where(hist[ind_y,1] == xa)[0]

if ind_x.size > 0:

i = i + 1

continue

if ta > tz and (xa != x or xa != y):

pbx = xa

pby = ya

hist = np.vstack([hist,[pby,pbx]])

db = 1

xbb = xa

ybb = ya

i = i + 1

if pco != 0 and not stop:

cn = 0

for ii in range(1,9):

[ta, x_A, y_A] = p(img, pcx, pcy, ii)

[tz, x_B, y_B] = p(img, pcx, pcy, ii+1)

cn = cn + abs(t1 - t2)

cn = cn/2.0

if cn == 1 or cn == 3:

stop = True

i = 1

while i < 9 and dc == 0:

[ta, xa, ya] = p(img, pcx, pcy, i)

[tz, xz, yz] = p(img, pcx, pcy, i + 1)

ind_y = np.where(hist[:,0] == ya)[0]

ind_x = np.where(hist[ind_y,1] == xa)[0]

if ind_x.size > 0:

i = i + 1

continue

if ta > tz and (xa != x or xa != y):

pcx = xa

pcy = ya

hist = np.vstack([hist, np.array([pcy,pcx])])

dc = 1

xcc = xa

ycc = ya

i = i + 1

t1 = np.tile(np.array([xaa,yaa]),[1,1]).transpose()

t2 = np.tile(np.array([xbb,ybb]),[1,1]).transpose()

t3 = np.tile(np.array([xcc,ycc]),[1,1]).transpose()

d1 = np.sqrt(dist2(t1,t2))

d2 = np.sqrt(dist2(t1,t3))

d3 = np.sqrt(dist2(t3,t2))

if d1 >= d3 and d2 >= d3:

sx = xaa

sy = yaa

ind = pao

elif d1 >= d2 and d3 >= d2:

sx = xbb

sy= ybb

ind = pbo

elif d3 >= d1 and d2 >= d1:

sx = xcc

sy = ycc

ind = pco

else:

time.pause()

t1 = np.tile(np.array([xaa,yaa]),[1,1]).transpose()

l1 = np.tile(np.array([xbb,ybb]),[1,1]).transpose()

r1 = np.tile(np.array([xcc,ycc]),[1,1]).transpose()

t2 = np.tile(np.array([core_x,core_y]),[1,1]).transpose()

d1 = np.sqrt(dist2(t1,t2))

d2 = np.sqrt(dist2(l1,t2))

d3 = np.sqrt(dist2(r1,t2))

qx = 0

qy = 0

diff = 0

if d1 >= d2 and d1 >= d3:

qx = xaa

qy = yaa

ind = pao

elif d2 >= d3 and d2 >= d1:

qx = xbb

qy = ybb

ind = pbo

elif d3 >= d2 and d3 >= d1:

qx = xcc

qy = ycc

ind = pco

else:

time.pause

angle = np.mod(math.atan2(y - sy, sx - x),2*math.pi)

res = 3