PHP uses queues to solve maze problems

<?php

# php Using queues to solve maze problems 
#  Ideas ： Start with a node , Look for all the points below that you can continue to walk . Keep looking for , Until we find the exit . --  Breadth first search 
#  Method ： Create an empty queue , Enter the starting position into the team . Loop when queue is not empty ： Once out of the team . If the current position is exit , Then end the algorithm ; Otherwise, find the current square 4 A walkable square of adjacent squares , All in the team .
#  maze 
$maze = [
    [1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
    [1, 0, 0, 1, 0, 0, 0, 1, 0, 1],
    [1, 0, 0, 1, 0, 0, 0, 1, 0, 1],
    [1, 0, 0, 0, 0, 1, 1, 0, 0, 1],
    [1, 0, 1, 1, 1, 0, 0, 0, 0, 1],
    [1, 0, 0, 0, 1, 0, 0, 0, 0, 1],
    [1, 0, 1, 0, 0, 0, 1, 0, 0, 1],
    [1, 0, 1, 1, 1, 0, 1, 1, 0, 1],
    [1, 1, 0, 0, 0, 0, 0, 0, 0, 1],
    [1, 1, 1, 1, 1, 1, 1, 1, 1, 1],
];

#  Get the four directions of the node 
function get_direction($x, $y)
{
    
    return [
        [$x - 1, $y], # On 
        [$x, $y + 1], # Right 
        [$x + 1, $y], # Next 
        [$x, $y - 1], # Left 
    ];
}

function maze_path_queue($x1, $y1, $x2, $y2, $maze)
{
    
    $queue = []; # Create a queue 
    $path = [];    #  Record the nodes after the queue 
    array_push($queue, [$x1, $y1, -1]);
    $maze[$x1][$y1] = 2; #2 Indicates the point that has been passed 
    while (count($queue) > 0) {
    
        $cur_node = array_shift($queue); #  Get the current node from the queue 
        array_push($path, $cur_node);
        if ($cur_node[0] == $x2 && $cur_node[1] == $y2) {
     #  End 
            $real_path = [];
            $end_path = end($path);
            array_push($real_path, [$end_path[0], $end_path[1]]);# Set the end coordinates push To real_path in 
            $i = $end_path[2];
            while ($i >= 0) {
    
                $node = $path[$i]; #node It's a Yuanzu （x coordinate ,y coordinate , At this point leader）
                array_push($real_path, [$node[0], $node[1]]); # As long as the coordinates 
                $i = $node[2];
            }
            $real_path = array_reverse($real_path); # The sequence is from start point to end point only after reversing 
            foreach ($real_path as $v) {
    
                echo implode(',', $v) . "\n";
            }
            # print_r($real_path);
            return True;
        }

        $direction = get_direction($cur_node[0], $cur_node[1]);    # Get the four directions of the current coordinate 
        $i = 0;
        while ($i < 4) {
    
            $next_node = $direction[$i];            # Next node , Whether the four directions of the cycle can go 
            if ($maze[$next_node[0]][$next_node[1]] == 0) {
            # If the next node can go   Just put the coordinates in the queue 
                array_push($queue, [$next_node[0], $next_node[1], (count($path) - 1)]); #（x coordinate ,y coordinate ,path The index of the last element ： Record which node brought it ） Enter the queue 
                $maze[$next_node[0]][$next_node[1]] = 2;            # Mark as having passed 
            }
            $i++;
        }
    }

    print(" No way out ");
    return False;
}

maze_path_queue(1, 1, 8, 8, $maze);