Python A* Demo using Pygame

import math, random, sys
import lzma, base64
import pygame
from pygame.locals import *

# exit the program
def events():
    for event in pygame.event.get():
        if event.type == QUIT or (event.type == KEYDOWN and event.key == K_ESCAPE):
            pygame.quit()
            sys.exit()

# define display surface
W, H = 10 * 100, 10 * 100
HW, HH = W / 2, H / 2
AREA = W * H

# initialise display
pygame.init()
pygame.font.init()
CLOCK = pygame.time.Clock()
FONT_SMALL = pygame.font.Font(None, 18)
FONT_LARGE = pygame.font.Font(None, 24)
DS = pygame.display.set_mode((W, H))
pygame.display.set_caption("A* Demo")
FPS = 1

# define some colors
BLACK = (0, 0, 0, 255)
WHITE = (255, 255, 255, 255)
RED = (255, 0, 0, 255)
GREEN = (0, 128, 0, 255)
BLUE = (0, 0, 255, 255)
PURPLE = (255, 0, 255, 255)

# define node class
class node:
    def __init__(self, x, y, obstacle):
        self.x = x
        self.y = y
        self.pos = (x, y)
        self.h = 0
        self.g = 0
        self.f = 0
        self.obstacle = obstacle
        self.other = None
        self.parent = None

    def neighbourPos(self, offset):
        return (self.x + offset[0], self.y + offset[1])

    def draw(self, size, color = None, id = None, surface = None):
        global text, FONT_SMALL, FONT_LARGE
        if not surface: surface = pygame.display.get_surface()
        pos = (self.x * size[0], self.y * size[1])
        if not color:
            if not self.obstacle:
                if not self.other: pygame.draw.rect(surface, BLACK, pos + size, 0)
                else: pygame.draw.rect(surface, BLUE, pos + size, 0)
            else:
                pygame.draw.rect(surface, WHITE, pos + size, 0)
        else:
            pygame.draw.rect(surface, color, pos + size, 0)
        pygame.draw.rect(surface, WHITE, pos + size, 1)
        if self.f:
            text(FONT_SMALL, "G:{0}".format(self.g), pos[0] + 5, pos[1] + 5, 0, 0, surface)
            text(FONT_SMALL, "H:{0}".format(self.h), pos[0] + size[0] - 5, pos[1] + 5, 1, 0, surface)
            text(FONT_LARGE, "F:{0}".format(self.f),  pos[0] + size[0] / 2, pos[1] + size[1] / 2 , 2, 2, surface)
            if not id == None:
                text(FONT_SMALL, "{0}".format(id), pos[0] + 5, pos[1] + size[1] - 5, 0, 1, surface)


def drawNodes(n, ms, cs):
    for x in range(ms[0]):
        for y in range(ms[1]):
            n[x][y].draw(cs)

def drawNodeList(node_list, cs, color):
    id = 0
    for n in node_list:
        n.draw(cs, color, id)
        id += 1

def heuristics(pos1, pos2):
    return int(math.hypot(pos1[0] - pos2[0], pos1[1] - pos2[1]) * 10)

def text(font, string, x, y, xJustify = None, yJustify = None, surface = None):
    global WHITE
    if not surface: surface = pygame.display.get_surface()
    textSurface = font.render(string, 1, WHITE)
    textRect = textSurface.get_rect()
    if xJustify == 1:
        x -= textRect.width
    elif xJustify == 2:
        x -= textRect.center[0]
    if yJustify == 1:
        y -= textRect.height
    elif yJustify == 2:
        y -= textRect.center[1]
    surface.blit(textSurface, (x, y))

def imgUnzip(lz64):
    data = lzma.decompress(base64.b64decode(lz64))

    imageW = int.from_bytes(data[0:2], "big")
    imageH = int.from_bytes(data[2:4], "big")
    paletteLength = int.from_bytes(data[4:5], "big")
    palette = [int.from_bytes(data[5 + index * 3:8 + index * 3], "big") for index in range(paletteLength)]
    pixelDataStart = 5 + paletteLength * 3

    surface = pygame.Surface((imageW, imageH))
    pixelArray = pygame.PixelArray(surface)

    for index in range(0, len(data) - pixelDataStart):
        pixelArray[index % imageW][int(index / imageW)] = palette[data[pixelDataStart + index]]

    pixelArray.close()
    del pixelArray
    return surface

MAZE_DATA = b'/Td6WFoAAATm1rRGAgAhARYAAAB0L+Wj4AB0AChdAAADBGeLvBgf6WPhiDZ7E9c4Z5zvAdoLLoCxQgwVuFIwedPgadQpDAAAW\
bRfbpSNdjcAAUR1mbr8lB+2830BAAAAAARZWg=='

maze = imgUnzip(MAZE_DATA)
maze_size = maze_width, maze_height = maze.get_size()
cell_size = (W / maze_width, H / maze_height)

#create list of nodes
nodes = list([])
for x in range(maze_width):
    nodes.append(list([]))
    for y in range(maze_height):
        color = maze.get_at((x, y))
        if color != WHITE:
            nodes[x].append(node(x, y, False))
            if color == BLUE:
                start = nodes[x][y]
                start.other = True
            elif color == RED:
                end = nodes[x][y]
                end.other = True
        else:
            nodes[x].append(node(x, y, True))


# This list contains relative x & y positions to reference a node's neighbour
NEIGHBOURS = list([(-1, -1), (0, -1), (1, -1), (1, 0), (1, 1), (0, 1), (-1, 1), (-1, 0)])

# the closed list contains all the nodes that have been considered economical viable.
# By that I mean a node that has been closer to the end node than any other in the open list at one time
closed = list([])

# The open list contains all the closed list's neighbours that haven't been identified as being economically sound node yet
open = list([])
open.append(start) # add the start node so that we can then add it's neighbours

# if the algorithm finds the end node then pathFound will be true otherwise it's false.
# Once it becomes true there's no more calculations to do so the path finding script will be skipped over
pathFound = False
completedPath = list([]) #

# main loop
while True:
    DS.fill(BLACK)
    drawNodes(nodes, maze_size, cell_size)
    drawNodeList(open, cell_size, GREEN)
    drawNodeList(closed, cell_size, RED)
    if pathFound: drawNodeList(completedPath, cell_size, PURPLE)
    pygame.display.update()

    # wait for user to press mouse button
    while not pygame.mouse.get_pressed()[0]:
        events()
    while pygame.mouse.get_pressed()[0]:
        events()

    # if we've found the quickest path from start node to end node then just draw, no need continue path finding
    if pathFound: continue
    if not open: continue


    # get lowest f from the open list, the node with the lowest f is the most economical in terms of the path towards the end node
    openNodeWithlowestF = open[0]
    for o in open:
        if  o.f < openNodeWithlowestF.f: openNodeWithlowestF = o

    mostEconomicalNodeSoFar = openNodeWithlowestF # let's make this more readable! Economical means the best path to the end given the choices but not definitive.

    # remove the mostEconomicalNodeSoFar from the open list
    open.remove(mostEconomicalNodeSoFar)
    # add mostEconomicalNodeSoFar to the closed list
    closed.append(mostEconomicalNodeSoFar)

    # if the mostEconomicalNodeSoFar is equal to the end node then we've reach our target
    if mostEconomicalNodeSoFar == end:
        temp = end
        while temp.parent:
            completedPath.append(temp)
            temp = temp.parent
        completedPath.append(start)
        pathFound = True
        # get the path etc

    # iterate through the list of neighbours belonging to the mostEconomicalNodeSoFar. Why?
    for neighbourOffset in NEIGHBOURS:
        nx, ny = mostEconomicalNodeSoFar.neighbourPos(neighbourOffset)

        if nx < 0 or nx >= maze_width or ny < 0 or ny >= maze_height: continue
        neighbour = nodes[nx][ny] # create a variable to represent the mostEconomicalNodeSoFar's neighbour
        if neighbour.obstacle: continue # if the mostEconomicalNodeSoFar's neighbouring node is an obstacle then we can't ...?
        if neighbour in closed: continue # if the mostEconomicalNodeSoFar's neighbouring node is in the closed list then we can't ...?

        # now we need to see if the mostEconomicalNodeSoFar's neighbour is more economical ...?
        hypotheticalFScore = mostEconomicalNodeSoFar.g + heuristics(neighbour.pos, mostEconomicalNodeSoFar.pos)
        NeighbourIsBetterThanMostEconomicalNodeSoFar = False # Yes it's a long variable name but it describes what it is so all is good!

        # is this neighbour already in open list? if it is then we don't want to be adding it again. to chec
        if not neighbour in open:
            NeighbourIsBetterThanMostEconomicalNodeSoFar = True
            neighbour.h = heuristics(neighbour.pos, end.pos)
            open.append(neighbour)
        elif hypotheticalFScore < neighbour.g:
            NeighbourIsBetterThanMostEconomicalNodeSoFar = True

        if NeighbourIsBetterThanMostEconomicalNodeSoFar:
            neighbour.parent = mostEconomicalNodeSoFar
            neighbour.g = hypotheticalFScore
            neighbour.f = neighbour.g + neighbour.h
    #sys.exit()