





from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
snake_case_				=			0

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],
]

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

snake_case_				=			tuple[int, int]

class 		SCREAMING_SNAKE_CASE__				:


      def __init__(self       :      int				,			a__       :      int				,			a__       :      int				,			a__       :      int				,			a__       :      int				,			a__       :      int				,			a__       :      Node | None				,			):





         """simple docstring"""



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


      def    a (self       :      List[str]      ):





         """simple docstring"""



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


      def __lt__(self       :      int				,			a__       :      Node      ):





         """simple docstring"""



         return self.f_cost < other.f_cost






class 		SCREAMING_SNAKE_CASE__				:


      def __init__(self       :      List[Any]				,			a__       :      TPosition				,			a__       :      TPosition      ):





         """simple docstring"""



         __snake_case							       =   Node(start[1]				,			start[0]				,			goal[1]				,			goal[0]				,			0				,			a__      )
         __snake_case							       =   Node(goal[1]				,			goal[0]				,			goal[1]				,			goal[0]				,			9_9999				,			a__      )

         __snake_case							       =   [self.start]
         __snake_case							       =   []

         __snake_case							       =   False


      def    a (self       :      str      ):





         """simple docstring"""



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

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

            self.closed_nodes.append(a__      )
            __snake_case							       =   self.get_successors(a__      )

            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(a__      )
               else:
                  # retrieve the best current path
                  __snake_case							       =   self.open_nodes.pop(self.open_nodes.index(a__      )      )

                  if child_node.g_cost < better_node.g_cost:
                     self.open_nodes.append(a__      )
                  else:
                     self.open_nodes.append(a__      )

         return [self.start.pos]


      def    a (self       :      List[str]				,			a__       :      Node      ):





         """simple docstring"""



         __snake_case							       =   []
         for action in delta:
            __snake_case							       =   parent.pos_x + action[1]
            __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				,			parent.g_cost + 1				,			a__				,			)      )
         return successors


      def    a (self       :      Any				,			a__       :      Node | None      ):





         """simple docstring"""



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






class 		SCREAMING_SNAKE_CASE__				:


      def __init__(self       :      Tuple				,			a__       :      TPosition				,			a__       :      TPosition      ):





         """simple docstring"""



         __snake_case							       =   AStar(a__				,			a__      )
         __snake_case							       =   AStar(a__				,			a__      )
         __snake_case							       =   False


      def    a (self       :      Optional[int]      ):





         """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()
            __snake_case							       =   self.fwd_astar.open_nodes.pop(0      )
            __snake_case							       =   self.bwd_astar.open_nodes.pop(0      )

            if current_bwd_node.pos == current_fwd_node.pos:
               return self.retrace_bidirectional_path(
                   a__				,			a__      )

            self.fwd_astar.closed_nodes.append(a__      )
            self.bwd_astar.closed_nodes.append(a__      )

            __snake_case							       =   current_bwd_node
            __snake_case							       =   current_fwd_node

            __snake_case							       =   {
                self.fwd_astar: self.fwd_astar.get_successors(a__      ),
                self.bwd_astar: self.bwd_astar.get_successors(a__      ),
            }

            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(a__      )
                  else:
                     # retrieve the best current path
                     __snake_case							       =   astar.open_nodes.pop(
                         astar.open_nodes.index(a__      )      )

                     if child_node.g_cost < better_node.g_cost:
                        astar.open_nodes.append(a__      )
                     else:
                        astar.open_nodes.append(a__      )

         return [self.fwd_astar.start.pos]


      def    a (self       :      Dict				,			a__       :      Node				,			a__       :      Node      ):





         """simple docstring"""



         __snake_case							       =   self.fwd_astar.retrace_path(a__      )
         __snake_case							       =   self.bwd_astar.retrace_path(a__      )
         bwd_path.pop()
         bwd_path.reverse()
         __snake_case							       =   fwd_path + bwd_path
         return path


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

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

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








from datasets.utils.patching import _PatchedModuleObj, patch_submodule

from . import _test_patching






def lowerCamelCase__    (							)      ->				Any:
   import os as original_os
   from os import path as original_path
   from os import rename as original_rename
   from os.path import dirname as original_dirname
   from os.path import join as original_join

   assert _test_patching.os is original_os
   assert _test_patching.path is original_path
   assert _test_patching.join is original_join

   assert _test_patching.renamed_os is original_os
   assert _test_patching.renamed_path is original_path
   assert _test_patching.renamed_join is original_join

   __snake_case							       =   '''__test_patch_submodule_mock__'''
   with patch_submodule(_test_patching       ,      '''os.path.join'''       ,      snake_case_       ):
      # Every way to access os.path.join must be patched, and the rest must stay untouched

      # check os.path.join
      assert isinstance(_test_patching.os       ,      _PatchedModuleObj       )
      assert isinstance(_test_patching.os.path       ,      _PatchedModuleObj       )
      assert _test_patching.os.path.join is mock

      # check path.join
      assert isinstance(_test_patching.path       ,      _PatchedModuleObj       )
      assert _test_patching.path.join is mock

      # check join
      assert _test_patching.join is mock

      # check that the other attributes are untouched
      assert _test_patching.os.rename is original_rename
      assert _test_patching.path.dirname is original_dirname
      assert _test_patching.os.path.dirname is original_dirname

      # Even renamed modules or objects must be patched

      # check renamed_os.path.join
      assert isinstance(_test_patching.renamed_os       ,      _PatchedModuleObj       )
      assert isinstance(_test_patching.renamed_os.path       ,      _PatchedModuleObj       )
      assert _test_patching.renamed_os.path.join is mock

      # check renamed_path.join
      assert isinstance(_test_patching.renamed_path       ,      _PatchedModuleObj       )
      assert _test_patching.renamed_path.join is mock

      # check renamed_join
      assert _test_patching.renamed_join is mock

      # check that the other attributes are untouched
      assert _test_patching.renamed_os.rename is original_rename
      assert _test_patching.renamed_path.dirname is original_dirname
      assert _test_patching.renamed_os.path.dirname is original_dirname

   # check that everthing is back to normal when the patch is over

   assert _test_patching.os is original_os
   assert _test_patching.path is original_path
   assert _test_patching.join is original_join

   assert _test_patching.renamed_os is original_os
   assert _test_patching.renamed_path is original_path
   assert _test_patching.renamed_join is original_join






def lowerCamelCase__    (							)      ->				Any:
   assert _test_patching.open is open

   __snake_case							       =   '''__test_patch_submodule_builtin_mock__'''
   # _test_patching has "open" in its globals
   assert _test_patching.open is open
   with patch_submodule(_test_patching       ,      '''open'''       ,      snake_case_       ):
      assert _test_patching.open is mock

   # check that everthing is back to normal when the patch is over

   assert _test_patching.open is open






def lowerCamelCase__    (							)      ->				List[str]:
   # pandas.read_csv is not present in _test_patching
   __snake_case							       =   '''__test_patch_submodule_missing_mock__'''
   with patch_submodule(_test_patching       ,      '''pandas.read_csv'''       ,      snake_case_       ):
      pass






def lowerCamelCase__    (							)      ->				Union[str, Any]:
   # builtin should always be mocked even if they're not in the globals
   # in case they're loaded at one point
   __snake_case							       =   '''__test_patch_submodule_missing_builtin_mock__'''
   # _test_patching doesn't have "len" in its globals
   assert getattr(_test_patching       ,      '''len'''       ,      snake_case_       ) is None
   with patch_submodule(_test_patching       ,      '''len'''       ,      snake_case_       ):
      assert _test_patching.len is mock
   assert _test_patching.len is len






def lowerCamelCase__    (							)      ->				Union[str, Any]:
   __snake_case							       =   '''__test_patch_submodule_start_and_stop_mock__'''
   __snake_case							       =   patch_submodule(_test_patching       ,      '''open'''       ,      snake_case_       )
   assert _test_patching.open is open
   patch.start()
   assert _test_patching.open is mock
   patch.stop()
   assert _test_patching.open is open






def lowerCamelCase__    (							)      ->				Optional[int]:
   from os import rename as original_rename
   from os.path import dirname as original_dirname
   from os.path import join as original_join

   __snake_case							       =   '''__test_patch_submodule_successive_join__'''
   __snake_case							       =   '''__test_patch_submodule_successive_dirname__'''
   __snake_case							       =   '''__test_patch_submodule_successive_rename__'''
   assert _test_patching.os.path.join is original_join
   assert _test_patching.os.path.dirname is original_dirname
   assert _test_patching.os.rename is original_rename

   with patch_submodule(_test_patching       ,      '''os.path.join'''       ,      snake_case_       ):
      with patch_submodule(_test_patching       ,      '''os.rename'''       ,      snake_case_       ):
         with patch_submodule(_test_patching       ,      '''os.path.dirname'''       ,      snake_case_       ):
            assert _test_patching.os.path.join is mock_join
            assert _test_patching.os.path.dirname is mock_dirname
            assert _test_patching.os.rename is mock_rename

    # try another order
   with patch_submodule(_test_patching       ,      '''os.rename'''       ,      snake_case_       ):
      with patch_submodule(_test_patching       ,      '''os.path.join'''       ,      snake_case_       ):
         with patch_submodule(_test_patching       ,      '''os.path.dirname'''       ,      snake_case_       ):
            assert _test_patching.os.path.join is mock_join
            assert _test_patching.os.path.dirname is mock_dirname
            assert _test_patching.os.rename is mock_rename

   assert _test_patching.os.path.join is original_join
   assert _test_patching.os.path.dirname is original_dirname
   assert _test_patching.os.rename is original_rename







def lowerCamelCase__    (							)      ->				Tuple:
   __snake_case							       =   '''__test_patch_submodule_doesnt_exist_mock__'''
   with patch_submodule(_test_patching       ,      '''__module_that_doesn_exist__.__attribute_that_doesn_exist__'''       ,      snake_case_       ):
      pass
   with patch_submodule(_test_patching       ,      '''os.__attribute_that_doesn_exist__'''       ,      snake_case_       ):
      pass

