

from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
lowerCAmelCase__       = 0

lowerCAmelCase__       = [
    [0, 0, 0, 0, 0, 0, 0],
    [0, 1, 0, 0, 0, 0, 0],  # 0 are free path whereas 1's are obstacles
    [0, 0, 0, 0, 0, 0, 0],
    [0, 0, 1, 0, 0, 0, 0],
    [1, 0, 1, 0, 0, 0, 0],
    [0, 0, 0, 0, 0, 0, 0],
    [0, 0, 0, 0, 1, 0, 0],
]

lowerCAmelCase__       = [[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

lowerCAmelCase__       = tuple[int, int]






class 						__magic_name__    :


 def __init__(						self		: Union[str, Any]			,						lowerCAmelCase__		: int			,						lowerCAmelCase__		: int			,						lowerCAmelCase__		: int			,						lowerCAmelCase__		: int			,						lowerCAmelCase__		: int			,						lowerCAmelCase__		: Node | None			,						)    ->      None:
   UpperCAmelCase					      =  pos_x
   UpperCAmelCase					      =  pos_y
   UpperCAmelCase					      =  (pos_y, pos_x)
   UpperCAmelCase					      =  goal_x
   UpperCAmelCase					      =  goal_y
   UpperCAmelCase					      =  g_cost
   UpperCAmelCase					      =  parent
   UpperCAmelCase					      =  self.calculate_heuristic()
   UpperCAmelCase					      =  self.g_cost + self.h_cost


 def _UpperCamelCase	(						self		: Union[str, Any]    )    ->      float:
   UpperCAmelCase					      =  self.pos_x - self.goal_x
   UpperCAmelCase					      =  self.pos_y - self.goal_y
   if HEURISTIC == 1:
     return abs(lowerCAmelCase__    ) + abs(lowerCAmelCase__    )
   else:
     return sqrt(dy**2 + dx**2    )


 def __lt__(						self		: int			,						lowerCAmelCase__		: Node    )    ->      bool:
   return self.f_cost < other.f_cost






class 						__magic_name__    :


 def __init__(						self		: List[Any]			,						lowerCAmelCase__		: TPosition			,						lowerCAmelCase__		: TPosition    )    ->      Dict:
   UpperCAmelCase					      =  Node(start[1]			,						start[0]			,						goal[1]			,						goal[0]			,						0			,						lowerCAmelCase__    )
   UpperCAmelCase					      =  Node(goal[1]			,						goal[0]			,						goal[1]			,						goal[0]			,						9_9_9_9_9			,						lowerCAmelCase__    )

   UpperCAmelCase					      =  [self.start]
   UpperCAmelCase					      =  []

   UpperCAmelCase					      =  False


 def _UpperCamelCase	(						self		: Any    )    ->      list[TPosition]:
   while self.open_nodes:
     # Open Nodes are sorted using __lt__
     self.open_nodes.sort()
     UpperCAmelCase					      =  self.open_nodes.pop(0    )

     if current_node.pos == self.target.pos:
       return self.retrace_path(lowerCAmelCase__    )

     self.closed_nodes.append(lowerCAmelCase__    )
     UpperCAmelCase					      =  self.get_successors(lowerCAmelCase__    )

     for child_node in successors:
       if child_node in self.closed_nodes:
         continue

       if child_node not in self.open_nodes:
         self.open_nodes.append(lowerCAmelCase__    )
       else:
         # retrieve the best current path
         UpperCAmelCase					      =  self.open_nodes.pop(self.open_nodes.index(lowerCAmelCase__    )    )

         if child_node.g_cost < better_node.g_cost:
           self.open_nodes.append(lowerCAmelCase__    )
         else:
           self.open_nodes.append(lowerCAmelCase__    )

   return [self.start.pos]


 def _UpperCamelCase	(						self		: Tuple			,						lowerCAmelCase__		: Node    )    ->      list[Node]:
   UpperCAmelCase					      =  []
   for action in delta:
     UpperCAmelCase					      =  parent.pos_x + action[1]
     UpperCAmelCase					      =  parent.pos_y + action[0]
     if not (0 <= pos_x <= len(grid[0]    ) - 1 and 0 <= pos_y <= len(lowerCAmelCase__    ) - 1):
       continue

     if grid[pos_y][pos_x] != 0:
       continue

     successors.append(
         Node(
             lowerCAmelCase__			,						lowerCAmelCase__			,						self.target.pos_y			,						self.target.pos_x			,						parent.g_cost + 1			,						lowerCAmelCase__			,						)    )
   return successors


 def _UpperCamelCase	(						self		: int			,						lowerCAmelCase__		: Node | None    )    ->      list[TPosition]:
   UpperCAmelCase					      =  node
   UpperCAmelCase					      =  []
   while current_node is not None:
     path.append((current_node.pos_y, current_node.pos_x)    )
     UpperCAmelCase					      =  current_node.parent
   path.reverse()
   return path






class 						__magic_name__    :


 def __init__(						self		: List[Any]			,						lowerCAmelCase__		: TPosition			,						lowerCAmelCase__		: TPosition    )    ->      None:
   UpperCAmelCase					      =  AStar(lowerCAmelCase__			,						lowerCAmelCase__    )
   UpperCAmelCase					      =  AStar(lowerCAmelCase__			,						lowerCAmelCase__    )
   UpperCAmelCase					      =  False


 def _UpperCamelCase	(						self		: Union[str, Any]    )    ->      list[TPosition]:
   while self.fwd_astar.open_nodes or self.bwd_astar.open_nodes:
     self.fwd_astar.open_nodes.sort()
     self.bwd_astar.open_nodes.sort()
     UpperCAmelCase					      =  self.fwd_astar.open_nodes.pop(0    )
     UpperCAmelCase					      =  self.bwd_astar.open_nodes.pop(0    )

     if current_bwd_node.pos == current_fwd_node.pos:
       return self.retrace_bidirectional_path(
           lowerCAmelCase__			,						lowerCAmelCase__    )

     self.fwd_astar.closed_nodes.append(lowerCAmelCase__    )
     self.bwd_astar.closed_nodes.append(lowerCAmelCase__    )

     UpperCAmelCase					      =  current_bwd_node
     UpperCAmelCase					      =  current_fwd_node

     UpperCAmelCase					      =  {
         self.fwd_astar: self.fwd_astar.get_successors(lowerCAmelCase__    ),
         self.bwd_astar: self.bwd_astar.get_successors(lowerCAmelCase__    ),
     }

     for astar in [self.fwd_astar, self.bwd_astar]:
       for child_node in successors[astar]:
         if child_node in astar.closed_nodes:
           continue

         if child_node not in astar.open_nodes:
           astar.open_nodes.append(lowerCAmelCase__    )
         else:
           # retrieve the best current path
           UpperCAmelCase					      =  astar.open_nodes.pop(
               astar.open_nodes.index(lowerCAmelCase__    )    )

           if child_node.g_cost < better_node.g_cost:
             astar.open_nodes.append(lowerCAmelCase__    )
           else:
             astar.open_nodes.append(lowerCAmelCase__    )

   return [self.fwd_astar.start.pos]


 def _UpperCamelCase	(						self		: Optional[int]			,						lowerCAmelCase__		: Node			,						lowerCAmelCase__		: Node    )    ->      list[TPosition]:
   UpperCAmelCase					      =  self.fwd_astar.retrace_path(lowerCAmelCase__    )
   UpperCAmelCase					      =  self.bwd_astar.retrace_path(lowerCAmelCase__    )
   bwd_path.pop()
   bwd_path.reverse()
   UpperCAmelCase					      =  fwd_path + bwd_path
   return path


if __name__ == "__main__":
      # all coordinates are given in format [y,x]
      lowerCAmelCase__       = (0, 0)
      lowerCAmelCase__       = (len(grid) - 1, len(grid[0]) - 1)
      for elem in grid:
            print(elem)

      lowerCAmelCase__       = time.time()
      lowerCAmelCase__       = AStar(init, goal)
      lowerCAmelCase__       = a_star.search()
      lowerCAmelCase__       = time.time() - start_time
      print(f"AStar execution time = {end_time:f} seconds")

      lowerCAmelCase__       = time.time()
      lowerCAmelCase__       = BidirectionalAStar(init, goal)
      lowerCAmelCase__       = time.time() - bd_start_time
      print(f"BidirectionalAStar execution time = {bd_end_time:f} seconds")






import argparse
import os
import re


# All paths are set with the intent you should run this script from the root of the repo with the command
# python utils/check_dummies.py
lowerCAmelCase__       = "src/diffusers"

# Matches is_xxx_available()
lowerCAmelCase__       = re.compile(r"is\_([a-z_]*)_available\(\)")
# Matches from xxx import bla
lowerCAmelCase__       = re.compile(r"\s+from\s+\S*\s+import\s+([^\(\s].*)\n")


lowerCAmelCase__       = "\n{0} = None\n"

lowerCAmelCase__       = "\nclass {0}(metaclass=DummyObject):\n    _backends = {1}\n\n    def __init__(self, *args, **kwargs):\n        requires_backends(self, {1})\n\n    @classmethod\n    def from_config(cls, *args, **kwargs):\n        requires_backends(cls, {1})\n\n    @classmethod\n    def from_pretrained(cls, *args, **kwargs):\n        requires_backends(cls, {1})\n"


lowerCAmelCase__       = "\ndef {0}(*args, **kwargs):\n    requires_backends({0}, {1})\n"
def      _lowerCAmelCase(	__A			):
  UpperCAmelCase					      =  _re_backend.findall(__A			)
  if len(__A			) == 0:
    return None

  return "_and_".join(__A			)
def      _lowerCAmelCase(	):
  with open(os.path.join(__A   ,       "__init__.py"			)   ,       "r"   ,       encoding="utf-8"   ,       newline="\n"			) as f:
    UpperCAmelCase					      =  f.readlines()

  # Get to the point we do the actual imports for type checking
  UpperCAmelCase					      =  0
  UpperCAmelCase					      =  {}
  # Go through the end of the file
  while line_index < len(__A			):
    # If the line contains is_backend_available, we grab all objects associated with the `else` block
    UpperCAmelCase					      =  find_backend(lines[line_index]			)
    if backend is not None:
      while not lines[line_index].startswith("else:"			):
        line_index += 1
      line_index += 1
      UpperCAmelCase					      =  []
      # Until we unindent, add backend objects to the list
      while line_index < len(__A			) and len(lines[line_index]			) > 1:
        UpperCAmelCase					      =  lines[line_index]
        UpperCAmelCase					      =  _re_single_line_import.search(__A			)
        if single_line_import_search is not None:
          objects.extend(single_line_import_search.groups()[0].split(", "			)			)
        elif line.startswith(" " * 8			):
          objects.append(line[8:-2]			)
        line_index += 1

      if len(__A			) > 0:
        UpperCAmelCase					      =  objects
    else:
      line_index += 1

  return backend_specific_objects
def      _lowerCAmelCase(	__A   ,       __A			):
  if name.isupper():
    return DUMMY_CONSTANT.format(__A			)
  elif name.islower():
    return DUMMY_FUNCTION.format(__A   ,       __A			)
  else:
    return DUMMY_CLASS.format(__A   ,       __A			)
def      _lowerCAmelCase(	__A=None			):
  if backend_specific_objects is None:
    UpperCAmelCase					      =  read_init()
  # For special correspondence backend to module name as used in the function requires_modulename
  UpperCAmelCase					      =  {}

  for backend, objects in backend_specific_objects.items():
    UpperCAmelCase					      =  "[" + ", ".join(F"\"{b}\"" for b in backend.split("_and_"			)			) + "]"
    UpperCAmelCase					      =  "# This file is autogenerated by the command `make fix-copies`, do not edit.\n"
    dummy_file += "from ..utils import DummyObject, requires_backends\n\n"
    dummy_file += "\n".join([create_dummy_object(__A   ,       __A			) for o in objects]			)
    UpperCAmelCase					      =  dummy_file

  return dummy_files
def      _lowerCAmelCase(	__A=False			):
  UpperCAmelCase					      =  create_dummy_files()
  # For special correspondence backend to shortcut as used in utils/dummy_xxx_objects.py
  UpperCAmelCase					      =  {"torch": "pt"}

  # Locate actual dummy modules and read their content.
  UpperCAmelCase					      =  os.path.join(__A   ,       "utils"			)
  UpperCAmelCase					      =  {
      backend: os.path.join(__A   ,       F"dummy_{short_names.get(__A   ,       __A			)}_objects.py"			)
      for backend in dummy_files.keys()
  }

  UpperCAmelCase					      =  {}
  for backend, file_path in dummy_file_paths.items():
    if os.path.isfile(__A			):
      with open(__A   ,       "r"   ,       encoding="utf-8"   ,       newline="\n"			) as f:
        UpperCAmelCase					      =  f.read()
    else:
      UpperCAmelCase					      =  ""

  for backend in dummy_files.keys():
    if dummy_files[backend] != actual_dummies[backend]:
      if overwrite:
        print(
            F"Updating diffusers.utils.dummy_{short_names.get(__A   ,       __A			)}_objects.py as the main "
            "__init__ has new objects."			)
        with open(dummy_file_paths[backend]   ,       "w"   ,       encoding="utf-8"   ,       newline="\n"			) as f:
          f.write(dummy_files[backend]			)
      else:
        raise ValueError(
            "The main __init__ has objects that are not present in "
            F"diffusers.utils.dummy_{short_names.get(__A   ,       __A			)}_objects.py. Run `make fix-copies` "
            "to fix this."			)


if __name__ == "__main__":
      lowerCAmelCase__       = argparse.ArgumentParser()
      parser.add_argument("--fix_and_overwrite", action="store_true", help="Whether to fix inconsistencies.")
      lowerCAmelCase__       = parser.parse_args()

      check_dummies(args.fix_and_overwrite)



