



'''simple docstring'''



import json
from typing import List, Optional, Tuple

from tokenizers import normalizers

from ...tokenization_utils_fast import PreTrainedTokenizerFast
from ...utils import logging
from .tokenization_distilbert import DistilBertTokenizer


_SCREAMING_SNAKE_CASE					=    logging.get_logger(__name__)

_SCREAMING_SNAKE_CASE					=    {'''vocab_file''': '''vocab.txt''', '''tokenizer_file''': '''tokenizer.json'''}

_SCREAMING_SNAKE_CASE					=    {
    '''vocab_file''': {
        '''distilbert-base-uncased''': '''https://huggingface.co/distilbert-base-uncased/resolve/main/vocab.txt''',
        '''distilbert-base-uncased-distilled-squad''': (
            '''https://huggingface.co/distilbert-base-uncased-distilled-squad/resolve/main/vocab.txt'''
        ),
        '''distilbert-base-cased''': '''https://huggingface.co/distilbert-base-cased/resolve/main/vocab.txt''',
        '''distilbert-base-cased-distilled-squad''': (
            '''https://huggingface.co/distilbert-base-cased-distilled-squad/resolve/main/vocab.txt'''
        ),
        '''distilbert-base-german-cased''': '''https://huggingface.co/distilbert-base-german-cased/resolve/main/vocab.txt''',
        '''distilbert-base-multilingual-cased''': (
            '''https://huggingface.co/distilbert-base-multilingual-cased/resolve/main/vocab.txt'''
        ),
    },
    '''tokenizer_file''': {
        '''distilbert-base-uncased''': '''https://huggingface.co/distilbert-base-uncased/resolve/main/tokenizer.json''',
        '''distilbert-base-uncased-distilled-squad''': (
            '''https://huggingface.co/distilbert-base-uncased-distilled-squad/resolve/main/tokenizer.json'''
        ),
        '''distilbert-base-cased''': '''https://huggingface.co/distilbert-base-cased/resolve/main/tokenizer.json''',
        '''distilbert-base-cased-distilled-squad''': (
            '''https://huggingface.co/distilbert-base-cased-distilled-squad/resolve/main/tokenizer.json'''
        ),
        '''distilbert-base-german-cased''': (
            '''https://huggingface.co/distilbert-base-german-cased/resolve/main/tokenizer.json'''
        ),
        '''distilbert-base-multilingual-cased''': (
            '''https://huggingface.co/distilbert-base-multilingual-cased/resolve/main/tokenizer.json'''
        ),
    },
}

_SCREAMING_SNAKE_CASE					=    {
    '''distilbert-base-uncased''': 5_1_2,
    '''distilbert-base-uncased-distilled-squad''': 5_1_2,
    '''distilbert-base-cased''': 5_1_2,
    '''distilbert-base-cased-distilled-squad''': 5_1_2,
    '''distilbert-base-german-cased''': 5_1_2,
    '''distilbert-base-multilingual-cased''': 5_1_2,
}


_SCREAMING_SNAKE_CASE					=    {
    '''distilbert-base-uncased''': {'''do_lower_case''': True},
    '''distilbert-base-uncased-distilled-squad''': {'''do_lower_case''': True},
    '''distilbert-base-cased''': {'''do_lower_case''': False},
    '''distilbert-base-cased-distilled-squad''': {'''do_lower_case''': False},
    '''distilbert-base-german-cased''': {'''do_lower_case''': False},
    '''distilbert-base-multilingual-cased''': {'''do_lower_case''': False},
}






class 							__lowercase       (      lowerCAmelCase__						):







	'''simple docstring'''

	a    :				Optional[int]											=       VOCAB_FILES_NAMES
	a    :				Optional[Any]											=       PRETRAINED_VOCAB_FILES_MAP
	a    :				Optional[Any]											=       PRETRAINED_POSITIONAL_EMBEDDINGS_SIZES
	a    :				Dict											=       PRETRAINED_INIT_CONFIGURATION
	a    :				Optional[int]											=       ["input_ids", "attention_mask"]
	a    :				Tuple											=       DistilBertTokenizer


	def __init__(self     ,_lowerCamelCase=None     ,_lowerCamelCase=None     ,_lowerCamelCase=True     ,_lowerCamelCase="[UNK]"     ,_lowerCamelCase="[SEP]"     ,_lowerCamelCase="[PAD]"     ,_lowerCamelCase="[CLS]"     ,_lowerCamelCase="[MASK]"     ,_lowerCamelCase=True     ,_lowerCamelCase=None     ,**_lowerCamelCase     ,)							->							str:







				'''simple docstring'''





				super().__init__(
				    _lowerCamelCase     ,tokenizer_file=_lowerCamelCase     ,do_lower_case=_lowerCamelCase     ,unk_token=_lowerCamelCase     ,sep_token=_lowerCamelCase     ,pad_token=_lowerCamelCase     ,cls_token=_lowerCamelCase     ,mask_token=_lowerCamelCase     ,tokenize_chinese_chars=_lowerCamelCase     ,strip_accents=_lowerCamelCase     ,**_lowerCamelCase     ,)

				__lowercase										=							json.loads(self.backend_tokenizer.normalizer.__getstate__() )
				if (
				    normalizer_state.get('''lowercase'''     ,_lowerCamelCase ) != do_lower_case
				    or normalizer_state.get('''strip_accents'''     ,_lowerCamelCase ) != strip_accents
				    or normalizer_state.get('''handle_chinese_chars'''     ,_lowerCamelCase ) != tokenize_chinese_chars
				):
							__lowercase										=							getattr(_lowerCamelCase     ,normalizer_state.pop('''type''' ) )
							__lowercase										=							do_lower_case
							__lowercase										=							strip_accents
							__lowercase										=							tokenize_chinese_chars
							__lowercase										=							normalizer_class(**_lowerCamelCase )

				__lowercase										=							do_lower_case


	def 						_UpperCAmelCase     (self     ,_lowerCamelCase     ,_lowerCamelCase=None )							->							int:







				'''simple docstring'''





				__lowercase										=							[self.cls_token_id] + token_ids_a + [self.sep_token_id]

				if token_ids_a:
							output += token_ids_a + [self.sep_token_id]

				return output


	def 						_UpperCAmelCase     (self     ,_lowerCamelCase     ,_lowerCamelCase = None )							->							List[int]:







				'''simple docstring'''





				__lowercase										=							[self.sep_token_id]
				__lowercase										=							[self.cls_token_id]
				if token_ids_a is None:
							return len(cls + token_ids_a + sep ) * [0]
				return len(cls + token_ids_a + sep ) * [0] + len(token_ids_a + sep ) * [1]


	def 						_UpperCAmelCase     (self     ,_lowerCamelCase     ,_lowerCamelCase = None )							->							Tuple[str]:







				'''simple docstring'''





				__lowercase										=							self._tokenizer.model.save(_lowerCamelCase     ,name=_lowerCamelCase )
				return tuple(_lowerCamelCase )












'''simple docstring'''



from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
_SCREAMING_SNAKE_CASE					=    0

_SCREAMING_SNAKE_CASE					=    [
    [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],
]

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

_SCREAMING_SNAKE_CASE					=    tuple[int, int]






class 							__lowercase       :







	'''simple docstring'''

	def __init__(self     ,_lowerCamelCase     ,_lowerCamelCase     ,_lowerCamelCase     ,_lowerCamelCase     ,_lowerCamelCase     ,_lowerCamelCase     ,)							->							None:







				'''simple docstring'''





				__lowercase										=							pos_x
				__lowercase										=							pos_y
				__lowercase										=							(pos_y, pos_x)
				__lowercase										=							goal_x
				__lowercase										=							goal_y
				__lowercase										=							g_cost
				__lowercase										=							parent
				__lowercase										=							self.calculate_heuristic()
				__lowercase										=							self.g_cost + self.h_cost


	def 						_UpperCAmelCase     (self )							->							float:







				'''simple docstring'''





				__lowercase										=							self.pos_x - self.goal_x
				__lowercase										=							self.pos_y - self.goal_y
				if HEURISTIC == 1:
							return abs(_lowerCamelCase ) + abs(_lowerCamelCase )
				else:
							return sqrt(dy**2 + dx**2 )


	def __lt__(self     ,_lowerCamelCase )							->							bool:







				'''simple docstring'''





				return self.f_cost < other.f_cost






class 							__lowercase       :







	'''simple docstring'''

	def __init__(self     ,_lowerCamelCase     ,_lowerCamelCase )							->							List[Any]:







				'''simple docstring'''





				__lowercase										=							Node(start[1]     ,start[0]     ,goal[1]     ,goal[0]     ,0     ,_lowerCamelCase )
				__lowercase										=							Node(goal[1]     ,goal[0]     ,goal[1]     ,goal[0]     ,99999     ,_lowerCamelCase )

				__lowercase										=							[self.start]
				__lowercase										=							[]

				__lowercase										=							False


	def 						_UpperCAmelCase     (self )							->							list[TPosition]:







				'''simple docstring'''





				while self.open_nodes:
							# Open Nodes are sorted using __lt__
							self.open_nodes.sort()
							__lowercase										=							self.open_nodes.pop(0 )

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

							self.closed_nodes.append(_lowerCamelCase )
							__lowercase										=							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
													__lowercase										=							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     ,_lowerCamelCase )							->							list[Node]:







				'''simple docstring'''





				__lowercase										=							[]
				for action in delta:
							__lowercase										=							parent.pos_x + action[1]
							__lowercase										=							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     ,_lowerCamelCase )							->							list[TPosition]:







				'''simple docstring'''





				__lowercase										=							node
				__lowercase										=							[]
				while current_node is not None:
							path.append((current_node.pos_y, current_node.pos_x) )
							__lowercase										=							current_node.parent
				path.reverse()
				return path






class 							__lowercase       :







	'''simple docstring'''

	def __init__(self     ,_lowerCamelCase     ,_lowerCamelCase )							->							None:







				'''simple docstring'''





				__lowercase										=							AStar(_lowerCamelCase     ,_lowerCamelCase )
				__lowercase										=							AStar(_lowerCamelCase     ,_lowerCamelCase )
				__lowercase										=							False


	def 						_UpperCAmelCase     (self )							->							list[TPosition]:







				'''simple docstring'''





				while self.fwd_astar.open_nodes or self.bwd_astar.open_nodes:
							self.fwd_astar.open_nodes.sort()
							self.bwd_astar.open_nodes.sort()
							__lowercase										=							self.fwd_astar.open_nodes.pop(0 )
							__lowercase										=							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 )

							__lowercase										=							current_bwd_node
							__lowercase										=							current_fwd_node

							__lowercase										=							{
							    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
																__lowercase										=							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     ,_lowerCamelCase     ,_lowerCamelCase )							->							list[TPosition]:







				'''simple docstring'''





				__lowercase										=							self.fwd_astar.retrace_path(_lowerCamelCase )
				__lowercase										=							self.bwd_astar.retrace_path(_lowerCamelCase )
				bwd_path.pop()
				bwd_path.reverse()
				__lowercase										=							fwd_path + bwd_path
				return path


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

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

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





