
from __future__ import annotations

import time

lowercase  :					Optional[int]						    =							list[tuple[int, int]]

lowercase  :					List[Any]						    =							[
    [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],
]

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

class __snake_case		:
    def __init__(  self		,snake_case		,snake_case		,snake_case		,snake_case		,snake_case      ):



           '''simple docstring'''







           lowercase							:     Tuple       	=      pos_x
           lowercase							:     str       	=      pos_y
           lowercase							:     Any       	=      (pos_y, pos_x)
           lowercase							:     int       	=      goal_x
           lowercase							:     int       	=      goal_y
           lowercase							:     Dict       	=      parent






class __snake_case		:
    def __init__(  self		,snake_case		,snake_case      ):



           '''simple docstring'''







           lowercase							:     List[Any]       	=      Node(start[1]		,start[0]		,goal[1]		,goal[0]		,snake_case      )
           lowercase							:     Optional[Any]       	=      Node(goal[1]		,goal[0]		,goal[1]		,goal[0]		,snake_case      )

           lowercase							:     Union[str, Any]       	=      [self.start]
           lowercase							:     Any       	=      False
    def       _SCREAMING_SNAKE_CASE       (  self      ):



           '''simple docstring'''







           while self.node_queue:
                  lowercase							:     int       	=      self.node_queue.pop(0      )

                  if current_node.pos == self.target.pos:
                         lowercase							:     Dict       	=      True
                         return self.retrace_path(snake_case      )

                  lowercase							:     List[str]       	=      self.get_successors(snake_case      )

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

           if not self.reached:
                  return [self.start.pos]
           return None
    def       _SCREAMING_SNAKE_CASE       (  self		,snake_case      ):



           '''simple docstring'''







           lowercase							:     Any       	=      []
           for action in delta:
                  lowercase							:     Any       	=      parent.pos_x + action[1]
                  lowercase							:     str       	=      parent.pos_y + action[0]
                  if not (0 <= pos_x <= len(grid[0]      ) - 1 and 0 <= pos_y <= len(snake_case      ) - 1):
                         continue

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

                  successors.append(
                      Node(snake_case		,snake_case		,self.target.pos_y		,self.target.pos_x		,snake_case      )      )
           return successors
    def       _SCREAMING_SNAKE_CASE       (  self		,snake_case      ):



           '''simple docstring'''







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






class __snake_case		:
    def __init__(  self		,snake_case		,snake_case      ):



           '''simple docstring'''







           lowercase							:     int       	=      BreadthFirstSearch(snake_case		,snake_case      )
           lowercase							:     Any       	=      BreadthFirstSearch(snake_case		,snake_case      )
           lowercase							:     Union[str, Any]       	=      False
    def       _SCREAMING_SNAKE_CASE       (  self      ):



           '''simple docstring'''







           while self.fwd_bfs.node_queue or self.bwd_bfs.node_queue:
                  lowercase							:     Any       	=      self.fwd_bfs.node_queue.pop(0      )
                  lowercase							:     Optional[int]       	=      self.bwd_bfs.node_queue.pop(0      )

                  if current_bwd_node.pos == current_fwd_node.pos:
                         lowercase							:     int       	=      True
                         return self.retrace_bidirectional_path(
                             snake_case		,snake_case      )

                  lowercase							:     Dict       	=      current_bwd_node
                  lowercase							:     List[Any]       	=      current_fwd_node

                  lowercase							:     Optional[Any]       	=      {
                      self.fwd_bfs: self.fwd_bfs.get_successors(snake_case      ),
                      self.bwd_bfs: self.bwd_bfs.get_successors(snake_case      ),
                  }

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

           if not self.reached:
                  return [self.fwd_bfs.start.pos]
           return None
    def       _SCREAMING_SNAKE_CASE       (  self		,snake_case		,snake_case      ):



           '''simple docstring'''







           lowercase							:     str       	=      self.fwd_bfs.retrace_path(snake_case      )
           lowercase							:     Union[str, Any]       	=      self.bwd_bfs.retrace_path(snake_case      )
           bwd_path.pop()
           bwd_path.reverse()
           lowercase							:     Tuple       	=      fwd_path + bwd_path
           return path


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

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

  lowercase  :					Dict						    =							time.time()
  lowercase  :					Optional[int]						    =							BreadthFirstSearch(init, goal)
  lowercase  :					Dict						    =							bfs.search()
  lowercase  :					Dict						    =							time.time() - start_bfs_time

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

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

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


import inspect
import warnings
from typing import Any, Dict, Optional, Union

from packaging import version







def 						_snake_case(  *SCREAMING_SNAKE_CASE__					,	SCREAMING_SNAKE_CASE__ = None					,	SCREAMING_SNAKE_CASE__=True					,	SCREAMING_SNAKE_CASE__=2				) ->    Optional[Any]:
       from .. import __version__

       lowercase							:     int       	=      take_from
       lowercase							:     Tuple       	=      ()
       if not isinstance(args[0]					,	SCREAMING_SNAKE_CASE__				):
              lowercase							:     Dict       	=      (args,)

       for attribute, version_name, message in args:
              if version.parse(version.parse(SCREAMING_SNAKE_CASE__				).base_version				) >= version.parse(SCREAMING_SNAKE_CASE__				):
                     raise ValueError(
                         f"The deprecation tuple {(attribute, version_name, message)} should be removed since diffusers'"
                         f" version {__version__} is >= {version_name}"				)

              lowercase							:     int       	=      None
              if isinstance(SCREAMING_SNAKE_CASE__					,	SCREAMING_SNAKE_CASE__				) and attribute in deprecated_kwargs:
                     values += (deprecated_kwargs.pop(SCREAMING_SNAKE_CASE__				),)
                     lowercase							:     Union[str, Any]       	=      f"The `{attribute}` argument is deprecated and will be removed in version {version_name}."
              elif hasattr(SCREAMING_SNAKE_CASE__					,	SCREAMING_SNAKE_CASE__				):
                     values += (getattr(SCREAMING_SNAKE_CASE__					,	SCREAMING_SNAKE_CASE__				),)
                     lowercase							:     int       	=      f"The `{attribute}` attribute is deprecated and will be removed in version {version_name}."
              elif deprecated_kwargs is None:
                     lowercase							:     Dict       	=      f"`{attribute}` is deprecated and will be removed in version {version_name}."

              if warning is not None:
                     lowercase							:     Dict       	=      warning + """ """ if standard_warn else """"""
                     warnings.warn(warning + message					,	SCREAMING_SNAKE_CASE__					,	stacklevel=SCREAMING_SNAKE_CASE__				)

       if isinstance(SCREAMING_SNAKE_CASE__					,	SCREAMING_SNAKE_CASE__				) and len(SCREAMING_SNAKE_CASE__				) > 0:
              lowercase							:     str       	=      inspect.getouterframes(inspect.currentframe()				)[1]
              lowercase							:     List[str]       	=      call_frame.filename
              lowercase							:     Tuple       	=      call_frame.lineno
              lowercase							:     List[str]       	=      call_frame.function
              lowercase	,			lowercase							:     Optional[Any]       	=      next(iter(deprecated_kwargs.items()				)				)
              raise TypeError(f"{function} in {filename} line {line_number-1} got an unexpected keyword argument `{key}`"				)

       if len(SCREAMING_SNAKE_CASE__				) == 0:
              return
       elif len(SCREAMING_SNAKE_CASE__				) == 1:
              return values[0]
       return values
