






def   SCREAMING_SNAKE_CASE       (				snake_case_      :							int     ):
	if a < 0:
		raise ValueError("Input value must be a positive integer"     )
	elif isinstance(snake_case_  ,						snake_case_     ):
		raise TypeError("Input value must be a 'int' type"     )
	return bin(snake_case_     ).count("1"     )


if __name__ == "__main__":
	import doctest

	doctest.testmod()











from __future__ import annotations

import time

__lowerCamelCase      :    str   		=   list[tuple[int, int]]

__lowerCamelCase      :    Optional[int]   		=   [
    [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      :    Tuple   		=   [[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right



class 							SCREAMING_SNAKE_CASE__		:





					"""simple docstring"""






					def __init__(      self  :						Union[str, Any]							,	__A  :						int							,	__A  :						int							,	__A  :						int							,	__A  :						int							,	__A  :						Node | None ):
						snake_case__				:   Optional[int]     =						pos_x
						snake_case__				:   Dict     =						pos_y
						snake_case__				:   int     =						(pos_y, pos_x)
						snake_case__				:   Optional[int]     =						goal_x
						snake_case__				:   Tuple     =						goal_y
						snake_case__				:   str     =						parent



class 							SCREAMING_SNAKE_CASE__		:





					"""simple docstring"""






					def __init__(      self  :						List[Any]							,	__A  :						tuple[int, int]							,	__A  :						tuple[int, int] ):
						snake_case__				:   Tuple     =						Node(start[1]							,	start[0]							,	goal[1]							,	goal[0]							,	__A )
						snake_case__				:   Tuple     =						Node(goal[1]							,	goal[0]							,	goal[1]							,	goal[0]							,	__A )

						snake_case__				:   int     =						[self.start]
						snake_case__				:   Union[str, Any]     =						False



					def  _lowercase  (      self  :						Dict ):
						while self.node_queue:
							snake_case__				:   Optional[Any]     =						self.node_queue.pop(0 )

							if current_node.pos == self.target.pos:
								snake_case__				:   Optional[Any]     =						True
								return self.retrace_path(__A )

							snake_case__				:   int     =						self.get_successors(__A )

							for node in successors:
								self.node_queue.append(__A )

						if not self.reached:
							return [self.start.pos]
						return None



					def  _lowercase  (      self  :						Union[str, Any]							,	__A  :						Node ):
						snake_case__				:   str     =						[]
						for action in delta:
							snake_case__				:   str     =						parent.pos_x + action[1]
							snake_case__				:   Union[str, Any]     =						parent.pos_y + action[0]
							if not (0 <= pos_x <= len(grid[0] ) - 1 and 0 <= pos_y <= len(__A ) - 1):
								continue

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

							successors.append(
							    Node(__A							,	__A							,	self.target.pos_y							,	self.target.pos_x							,	__A ) )
						return successors






					def  _lowercase  (      self  :						Optional[Any]							,	__A  :						Node | None ):
						snake_case__				:   Tuple     =						node
						snake_case__				:   Any     =						[]
						while current_node is not None:
							path.append((current_node.pos_y, current_node.pos_x) )
							snake_case__				:   Tuple     =						current_node.parent
						path.reverse()
						return path



class 							SCREAMING_SNAKE_CASE__		:





					"""simple docstring"""






					def __init__(      self  :						Dict							,	__A  :						str							,	__A  :						int ):
						snake_case__				:   str     =						BreadthFirstSearch(__A							,	__A )
						snake_case__				:   int     =						BreadthFirstSearch(__A							,	__A )
						snake_case__				:   Tuple     =						False



					def  _lowercase  (      self  :						Optional[Any] ):
						while self.fwd_bfs.node_queue or self.bwd_bfs.node_queue:
							snake_case__				:   Any     =						self.fwd_bfs.node_queue.pop(0 )
							snake_case__				:   List[str]     =						self.bwd_bfs.node_queue.pop(0 )

							if current_bwd_node.pos == current_fwd_node.pos:
								snake_case__				:   List[str]     =						True
								return self.retrace_bidirectional_path(
								    __A							,	__A )

							snake_case__				:   Union[str, Any]     =						current_bwd_node
							snake_case__				:   Dict     =						current_fwd_node

							snake_case__				:   List[Any]     =						{
							    self.fwd_bfs: self.fwd_bfs.get_successors(__A ),
							    self.bwd_bfs: self.bwd_bfs.get_successors(__A ),
							}

							for bfs in [self.fwd_bfs, self.bwd_bfs]:
								for node in successors[bfs]:
									bfs.node_queue.append(__A )

						if not self.reached:
							return [self.fwd_bfs.start.pos]
						return None






					def  _lowercase  (      self  :						Any							,	__A  :						Node							,	__A  :						Node ):
						snake_case__				:   List[str]     =						self.fwd_bfs.retrace_path(__A )
						snake_case__				:   Optional[Any]     =						self.bwd_bfs.retrace_path(__A )
						bwd_path.pop()
						bwd_path.reverse()
						snake_case__				:   List[Any]     =						fwd_path + bwd_path
						return path


if __name__ == "__main__":
	# all coordinates are given in format [y,x]
	import doctest

	doctest.testmod()
	__lowerCamelCase      :    str   		=   (0, 0)
	__lowerCamelCase      :    List[str]   		=   (len(grid) - 1, len(grid[0]) - 1)
	for elem in grid:
		print(elem)

	__lowerCamelCase      :    Any   		=   time.time()
	__lowerCamelCase      :    Optional[Any]   		=   BreadthFirstSearch(init, goal)
	__lowerCamelCase      :    str   		=   bfs.search()
	__lowerCamelCase      :    Optional[Any]   		=   time.time() - start_bfs_time

	print("""Unidirectional BFS computation time : """, bfs_time)

	__lowerCamelCase      :    Optional[Any]   		=   time.time()
	__lowerCamelCase      :    Optional[int]   		=   BidirectionalBreadthFirstSearch(init, goal)
	__lowerCamelCase      :    str   		=   bd_bfs.search()
	__lowerCamelCase      :    Optional[Any]   		=   time.time() - start_bd_bfs_time

	print("""Bidirectional BFS computation time : """, bd_bfs_time)



