

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 				a  :


						def __init__(       self						,					A_						,					A_						,					A_						,					A_						,					A_						,					A_						,					):







										'''simple docstring'''


										_UpperCAmelCase       :		List[str] 		=    pos_x
										_UpperCAmelCase       :		Dict 		=    pos_y
										_UpperCAmelCase       :		Union[str, Any] 		=    (pos_y, pos_x)
										_UpperCAmelCase       :		Dict 		=    goal_x
										_UpperCAmelCase       :		Optional[Any] 		=    goal_y
										_UpperCAmelCase       :		Tuple 		=    g_cost
										_UpperCAmelCase       :		Union[str, Any] 		=    parent
										_UpperCAmelCase       :		Optional[Any] 		=    self.calculate_heuristic()
										_UpperCAmelCase       :		int 		=    self.g_cost + self.h_cost


						def        _UpperCAmelCase				(       self	):







										'''simple docstring'''


										_UpperCAmelCase       :		Union[str, Any] 		=    self.pos_x - self.goal_x
										_UpperCAmelCase       :		Dict 		=    self.pos_y - self.goal_y
										if HEURISTIC == 1:
														return abs(lowerCamelCase_	) + abs(lowerCamelCase_	)
										else:
														return sqrt(dy**2 + dx**2	)





						def __lt__(       self						,					A_	):







										'''simple docstring'''


										return self.f_cost < other.f_cost







class 				a  :


						def __init__(       self						,					A_						,					A_	):







										'''simple docstring'''


										_UpperCAmelCase       :		Tuple 		=    Node(start[1]						,					start[0]						,					goal[1]						,					goal[0]						,					0						,					lowerCamelCase_	)
										_UpperCAmelCase       :		int 		=    Node(goal[1]						,					goal[0]						,					goal[1]						,					goal[0]						,					99999						,					lowerCamelCase_	)

										_UpperCAmelCase       :		List[str] 		=    [self.start]
										_UpperCAmelCase       :		Tuple 		=    []

										_UpperCAmelCase       :		Optional[int] 		=    False


						def        _UpperCAmelCase				(       self	):







										'''simple docstring'''


										while self.open_nodes:
														# Open Nodes are sorted using __lt__
														self.open_nodes.sort()
														_UpperCAmelCase       :		Union[str, Any] 		=    self.open_nodes.pop(0	)

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

														self.closed_nodes.append(lowerCamelCase_	)
														_UpperCAmelCase       :		Union[str, Any] 		=    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       :		Optional[int] 		=    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						,					A_	):







										'''simple docstring'''


										_UpperCAmelCase       :		List[str] 		=    []
										for action in delta:
														_UpperCAmelCase       :		Optional[Any] 		=    parent.pos_x + action[1]
														_UpperCAmelCase       :		Tuple 		=    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						,					A_	):







										'''simple docstring'''


										_UpperCAmelCase       :		List[str] 		=    node
										_UpperCAmelCase       :		Optional[Any] 		=    []
										while current_node is not None:
														path.append((current_node.pos_y, current_node.pos_x)	)
														_UpperCAmelCase       :		Optional[Any] 		=    current_node.parent
										path.reverse()
										return path







class 				a  :


						def __init__(       self						,					A_						,					A_	):







										'''simple docstring'''


										_UpperCAmelCase       :		Any 		=    AStar(lowerCamelCase_						,					lowerCamelCase_	)
										_UpperCAmelCase       :		str 		=    AStar(lowerCamelCase_						,					lowerCamelCase_	)
										_UpperCAmelCase       :		Tuple 		=    False


						def        _UpperCAmelCase				(       self	):







										'''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()
														_UpperCAmelCase       :		str 		=    self.fwd_astar.open_nodes.pop(0	)
														_UpperCAmelCase       :		Tuple 		=    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       :		int 		=    current_bwd_node
														_UpperCAmelCase       :		List[Any] 		=    current_fwd_node

														_UpperCAmelCase       :		List[str] 		=    {
														    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       :		Tuple 		=    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						,					A_						,					A_	):







										'''simple docstring'''


										_UpperCAmelCase       :		Optional[Any] 		=    self.fwd_astar.retrace_path(lowerCamelCase_	)
										_UpperCAmelCase       :		Any 		=    self.bwd_astar.retrace_path(lowerCamelCase_	)
										bwd_path.pop()
										bwd_path.reverse()
										_UpperCAmelCase       :		Tuple 		=    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''')





import logging
import os

from .state import PartialState

class 				a  (	logging.LoggerAdapter				):


						@staticmethod
						def        _UpperCAmelCase				(       A_	):







										'''simple docstring'''


										_UpperCAmelCase       :		Tuple 		=    PartialState()
										return not main_process_only or (main_process_only and state.is_main_process)





						def        _UpperCAmelCase				(       self						,					A_						,					A_						,					*A_						,					**A_	):







										'''simple docstring'''


										if PartialState._shared_state == {}:
														raise RuntimeError(
														    "You must initialize the accelerate state by calling either `PartialState()` or `Accelerator()` before using the logging utility."	)
										_UpperCAmelCase       :		Tuple 		=    kwargs.pop("main_process_only"						,					A_	)
										_UpperCAmelCase       :		int 		=    kwargs.pop("in_order"						,					A_	)

										if self.isEnabledFor(A_	):
														if self._should_log(A_	):
																		_UpperCAmelCase		,							_UpperCAmelCase       :		Optional[int] 		=    self.process(A_						,					A_	)
																		self.logger.log(A_						,					A_						,					*A_						,					**A_	)

														elif in_order:
																		_UpperCAmelCase       :		Dict 		=    PartialState()
																		for i in range(state.num_processes	):
																						if i == state.process_index:
																										_UpperCAmelCase		,							_UpperCAmelCase       :		Union[str, Any] 		=    self.process(A_						,					A_	)
																										self.logger.log(A_						,					A_						,					*A_						,					**A_	)
																						state.wait_for_everyone()







def 							__SCREAMING_SNAKE_CASE							(				lowerCAmelCase:  str  ,      lowerCAmelCase:  str = None )   ->       List[Any]:
				if log_level is None:
								_UpperCAmelCase       :		List[str] 		=    os.environ.get("ACCELERATE_LOG_LEVEL"  ,      lowerCAmelCase )
				_UpperCAmelCase       :		str 		=    logging.getLogger(lowerCAmelCase )
				if log_level is not None:
								logger.setLevel(log_level.upper() )
								logger.root.setLevel(log_level.upper() )
				return MultiProcessAdapter(lowerCAmelCase  ,      {} )


