






import argparse
from collections import defaultdict

import yaml


a_		:						List[str]             =    'docs/source/en/_toctree.yml'






def 				lowerCamelCase__				(_UpperCAmelCase):
   SCREAMING_SNAKE_CASE						= defaultdict(_UpperCAmelCase)
   SCREAMING_SNAKE_CASE						= []
   SCREAMING_SNAKE_CASE						= []
   for doc in doc_list:
      if "local" in doc:
         counts[doc["local"]] += 1

      if doc["title"].lower() == "overview":
         overview_doc.append({'local': doc['local'], 'title': doc['title']})
      else:
         new_doc_list.append(_UpperCAmelCase)

   SCREAMING_SNAKE_CASE						= new_doc_list
   SCREAMING_SNAKE_CASE						= [key for key, value in counts.items() if value > 1]

   SCREAMING_SNAKE_CASE						= []
   for duplicate_key in duplicates:
      SCREAMING_SNAKE_CASE						= list({doc['title'] for doc in doc_list if doc['local'] == duplicate_key})
      if len(_UpperCAmelCase) > 1:
         raise ValueError(
             F'''{duplicate_key} is present several times in the documentation table of content at '''
             '`docs/source/en/_toctree.yml` with different *Title* values. Choose one of those and remove the '
             'others.')
      # Only add this once
      new_doc.append({'local': duplicate_key, 'title': titles[0]})

   # Add none duplicate-keys
   new_doc.extend([doc for doc in doc_list if 'local' not in counts or counts[doc['local']] == 1])
   SCREAMING_SNAKE_CASE						= sorted(_UpperCAmelCase							,       key=lambda _UpperCAmelCase: s["title"].lower())

   # "overview" gets special treatment and is always first
   if len(_UpperCAmelCase) > 1:
      raise ValueError('{doc_list} has two \'overview\' docs which is not allowed.')

   overview_doc.extend(_UpperCAmelCase)

   # Sort
   return overview_doc






def 				lowerCamelCase__				(_UpperCAmelCase=False):
   with open(_UpperCAmelCase							,       encoding='utf-8') as f:
      SCREAMING_SNAKE_CASE						= yaml.safe_load(f.read())

   # Get to the API doc
   SCREAMING_SNAKE_CASE						= 0
   while content[api_idx]["title"] != "API":
      api_idx += 1
   SCREAMING_SNAKE_CASE						= content[api_idx]['sections']

   # Then to the model doc
   SCREAMING_SNAKE_CASE						= 0
   while api_doc[scheduler_idx]["title"] != "Schedulers":
      scheduler_idx += 1

   SCREAMING_SNAKE_CASE						= api_doc[scheduler_idx]['sections']
   SCREAMING_SNAKE_CASE						= clean_doc_toc(_UpperCAmelCase)

   SCREAMING_SNAKE_CASE						= False
   if new_scheduler_doc != scheduler_doc:
      SCREAMING_SNAKE_CASE						= True
      if overwrite:
         SCREAMING_SNAKE_CASE						= new_scheduler_doc

   if diff:
      if overwrite:
         SCREAMING_SNAKE_CASE						= api_doc
         with open(_UpperCAmelCase							,       'w'							,       encoding='utf-8') as f:
            f.write(yaml.dump(_UpperCAmelCase							,       allow_unicode=_UpperCAmelCase))
      else:
         raise ValueError(
             'The model doc part of the table of content is not properly sorted, run `make style` to fix this.')






def 				lowerCamelCase__				(_UpperCAmelCase=False):
   with open(_UpperCAmelCase							,       encoding='utf-8') as f:
      SCREAMING_SNAKE_CASE						= yaml.safe_load(f.read())

   # Get to the API doc
   SCREAMING_SNAKE_CASE						= 0
   while content[api_idx]["title"] != "API":
      api_idx += 1
   SCREAMING_SNAKE_CASE						= content[api_idx]['sections']

   # Then to the model doc
   SCREAMING_SNAKE_CASE						= 0
   while api_doc[pipeline_idx]["title"] != "Pipelines":
      pipeline_idx += 1

   SCREAMING_SNAKE_CASE						= False
   SCREAMING_SNAKE_CASE						= api_doc[pipeline_idx]['sections']
   SCREAMING_SNAKE_CASE						= []

   # sort sub pipeline docs
   for pipeline_doc in pipeline_docs:
      if "section" in pipeline_doc:
         SCREAMING_SNAKE_CASE						= pipeline_doc['section']
         SCREAMING_SNAKE_CASE						= clean_doc_toc(_UpperCAmelCase)
         if overwrite:
            SCREAMING_SNAKE_CASE						= new_sub_pipeline_doc
      new_pipeline_docs.append(_UpperCAmelCase)

   # sort overall pipeline doc
   SCREAMING_SNAKE_CASE						= clean_doc_toc(_UpperCAmelCase)

   if new_pipeline_docs != pipeline_docs:
      SCREAMING_SNAKE_CASE						= True
      if overwrite:
         SCREAMING_SNAKE_CASE						= new_pipeline_docs

   if diff:
      if overwrite:
         SCREAMING_SNAKE_CASE						= api_doc
         with open(_UpperCAmelCase							,       'w'							,       encoding='utf-8') as f:
            f.write(yaml.dump(_UpperCAmelCase							,       allow_unicode=_UpperCAmelCase))
      else:
         raise ValueError(
             'The model doc part of the table of content is not properly sorted, run `make style` to fix this.')


if __name__ == "__main__":
    a_		:						List[Any]             =    argparse.ArgumentParser()
    parser.add_argument('--fix_and_overwrite', action='store_true', help='Whether to fix inconsistencies.')
    a_		:						List[str]             =    parser.parse_args()

    check_scheduler_doc(args.fix_and_overwrite)
    check_pipeline_doc(args.fix_and_overwrite)












from __future__ import annotations

import time

a_		:						Tuple             =    list[tuple[int, int]]

a_		:						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],
]

a_		:						Dict             =    [[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

class 		_snake_case  :






			def __init__(       self		,					a		,					a		,					a		,					a		,					a)      ->       int:
						SCREAMING_SNAKE_CASE						= pos_x
						SCREAMING_SNAKE_CASE						= pos_y
						SCREAMING_SNAKE_CASE						= (pos_y, pos_x)
						SCREAMING_SNAKE_CASE						= goal_x
						SCREAMING_SNAKE_CASE						= goal_y
						SCREAMING_SNAKE_CASE						= parent



class 		_snake_case  :






			def __init__(       self		,					a		,					a)      ->       Dict:
						SCREAMING_SNAKE_CASE						= Node(start[1]		,					start[0]		,					goal[1]		,					goal[0]		,					a)
						SCREAMING_SNAKE_CASE						= Node(goal[1]		,					goal[0]		,					goal[1]		,					goal[0]		,					a)

						SCREAMING_SNAKE_CASE						= [self.start]
						SCREAMING_SNAKE_CASE						= False






			def    SCREAMING_SNAKE_CASE__    (       self)      ->       Path | None:
						while self.node_queue:
									SCREAMING_SNAKE_CASE						= self.node_queue.pop(0)

									if current_node.pos == self.target.pos:
												SCREAMING_SNAKE_CASE						= True
												return self.retrace_path(a)

									SCREAMING_SNAKE_CASE						= self.get_successors(a)

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

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






			def    SCREAMING_SNAKE_CASE__    (       self		,					a)      ->       list[Node]:
						SCREAMING_SNAKE_CASE						= []
						for action in delta:
									SCREAMING_SNAKE_CASE						= parent.pos_x + action[1]
									SCREAMING_SNAKE_CASE						= 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    SCREAMING_SNAKE_CASE__    (       self		,					a)      ->       Path:
						SCREAMING_SNAKE_CASE						= node
						SCREAMING_SNAKE_CASE						= []
						while current_node is not None:
									path.append((current_node.pos_y, current_node.pos_x))
									SCREAMING_SNAKE_CASE						= current_node.parent
						path.reverse()
						return path



class 		_snake_case  :






			def __init__(       self		,					a		,					a)      ->       Tuple:
						SCREAMING_SNAKE_CASE						= BreadthFirstSearch(a		,					a)
						SCREAMING_SNAKE_CASE						= BreadthFirstSearch(a		,					a)
						SCREAMING_SNAKE_CASE						= False






			def    SCREAMING_SNAKE_CASE__    (       self)      ->       Path | None:
						while self.fwd_bfs.node_queue or self.bwd_bfs.node_queue:
									SCREAMING_SNAKE_CASE						= self.fwd_bfs.node_queue.pop(0)
									SCREAMING_SNAKE_CASE						= self.bwd_bfs.node_queue.pop(0)

									if current_bwd_node.pos == current_fwd_node.pos:
												SCREAMING_SNAKE_CASE						= True
												return self.retrace_bidirectional_path(
												    a		,					a)

									SCREAMING_SNAKE_CASE						= current_bwd_node
									SCREAMING_SNAKE_CASE						= current_fwd_node

									SCREAMING_SNAKE_CASE						= {
									    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    SCREAMING_SNAKE_CASE__    (       self		,					a		,					a)      ->       Path:
						SCREAMING_SNAKE_CASE						= self.fwd_bfs.retrace_path(a)
						SCREAMING_SNAKE_CASE						= self.bwd_bfs.retrace_path(a)
						bwd_path.pop()
						bwd_path.reverse()
						SCREAMING_SNAKE_CASE						= fwd_path + bwd_path
						return path


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

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

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

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

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

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




