'''simple docstring'''







# tests directory-specific settings - this file is run automatically
# by pytest before any tests are run

import sys
import warnings
from os.path import abspath, dirname, join


# allow having multiple repository checkouts and not needing to remember to rerun
# 'pip install -e .[dev]' when switching between checkouts and running tests.
UpperCamelCase_      	=	abspath(join(dirname(dirname(__file__)), '''src'''))
sys.path.insert(1, git_repo_path)

# silence FutureWarning warnings in tests since often we can't act on them until
# they become normal warnings - i.e. the tests still need to test the current functionality
warnings.simplefilter(action='''ignore''', category=FutureWarning)


def    lowerCamelCase       (			UpperCAmelCase__				:  Any		)			->	Dict:


							'''simple docstring'''






							from diffusers.utils.testing_utils import pytest_addoption_shared

							pytest_addoption_shared(UpperCAmelCase__		)





def    lowerCamelCase       (			UpperCAmelCase__				:  Any		)			->	int:


							'''simple docstring'''






							from diffusers.utils.testing_utils import pytest_terminal_summary_main

							SCREAMING_SNAKE_CASE__     :List[str]						    = terminalreporter.config.getoption('--make-reports'		)
							if make_reports:
														pytest_terminal_summary_main(UpperCAmelCase__				,						id=UpperCAmelCase__		)







'''simple docstring'''







from __future__ import annotations

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


def    lowerCamelCase       (			UpperCAmelCase__				:  list[list[int]]				,						UpperCAmelCase__				:  list[int]				,						UpperCAmelCase__				:  list[int]				,						UpperCAmelCase__				:  int				,						UpperCAmelCase__				:  list[list[int]]				,						)			->	tuple[list[list[int]], list[list[int]]]:


							'''simple docstring'''






							SCREAMING_SNAKE_CASE__     :str						    = [
							    [0 for col in range(len(grid[0]		)		)] for row in range(len(UpperCAmelCase__		)		)
							]  # the reference grid
							SCREAMING_SNAKE_CASE__     :Any						    = 1
							SCREAMING_SNAKE_CASE__     :Dict						    = [
							    [0 for col in range(len(grid[0]		)		)] for row in range(len(UpperCAmelCase__		)		)
							]  # the action grid

							SCREAMING_SNAKE_CASE__     :int						    = init[0]
							SCREAMING_SNAKE_CASE__     :Optional[Any]						    = init[1]
							SCREAMING_SNAKE_CASE__     :List[str]						    = 0
							SCREAMING_SNAKE_CASE__     :List[Any]						    = g + heuristic[x][y]  # cost from starting cell to destination cell
							SCREAMING_SNAKE_CASE__     :List[Any]						    = [[f, g, x, y]]

							SCREAMING_SNAKE_CASE__     :Any						    = False  # flag that is set when search is complete
							SCREAMING_SNAKE_CASE__     :str						    = False  # flag set if we can't find expand

							while not found and not resign:
														if len(UpperCAmelCase__		) == 0:
																					raise ValueError('Algorithm is unable to find solution'		)
														else:  # to choose the least costliest action so as to move closer to the goal
																					cell.sort()
																					cell.reverse()
																					SCREAMING_SNAKE_CASE__     :List[Any]						    = cell.pop()
																					SCREAMING_SNAKE_CASE__     :Optional[int]						    = next_cell[2]
																					SCREAMING_SNAKE_CASE__     :Any						    = next_cell[3]
																					SCREAMING_SNAKE_CASE__     :Dict						    = next_cell[1]

																					if x == goal[0] and y == goal[1]:
																												SCREAMING_SNAKE_CASE__     :Tuple						    = True
																					else:
																												for i in range(len(UpperCAmelCase__		)		):  # to try out different valid actions
																																			SCREAMING_SNAKE_CASE__     :Optional[int]						    = x + DIRECTIONS[i][0]
																																			SCREAMING_SNAKE_CASE__     :int						    = y + DIRECTIONS[i][1]
																																			if xa >= 0 and xa < len(UpperCAmelCase__		) and ya >= 0 and ya < len(grid[0]		):
																																										if closed[xa][ya] == 0 and grid[xa][ya] == 0:
																																																	SCREAMING_SNAKE_CASE__     :str						    = g + cost
																																																	SCREAMING_SNAKE_CASE__     :Union[str, Any]						    = ga + heuristic[xa][ya]
																																																	cell.append([fa, ga, xa, ya]		)
																																																	SCREAMING_SNAKE_CASE__     :Union[str, Any]						    = 1
																																																	SCREAMING_SNAKE_CASE__     :Any						    = i
							SCREAMING_SNAKE_CASE__     :int						    = []
							SCREAMING_SNAKE_CASE__     :Union[str, Any]						    = goal[0]
							SCREAMING_SNAKE_CASE__     :Optional[int]						    = goal[1]
							invpath.append([x, y]		)  # we get the reverse path from here
							while x != init[0] or y != init[1]:
														SCREAMING_SNAKE_CASE__     :Optional[Any]						    = x - DIRECTIONS[action[x][y]][0]
														SCREAMING_SNAKE_CASE__     :Optional[Any]						    = y - DIRECTIONS[action[x][y]][1]
														SCREAMING_SNAKE_CASE__     :Optional[int]						    = xa
														SCREAMING_SNAKE_CASE__     :int						    = ya
														invpath.append([x, y]		)

							SCREAMING_SNAKE_CASE__     :int						    = []
							for i in range(len(UpperCAmelCase__		)		):
														path.append(invpath[len(UpperCAmelCase__		) - 1 - i]		)
							return path, action


if __name__ == "__main__":
		UpperCamelCase_      	=	[
		    [0, 1, 0, 0, 0, 0],
		    [0, 1, 0, 0, 0, 0],  # 0 are free path whereas 1's are obstacles
		    [0, 1, 0, 0, 0, 0],
		    [0, 1, 0, 0, 1, 0],
		    [0, 0, 0, 0, 1, 0],
		]

		UpperCamelCase_      	=	[0, 0]
		# all coordinates are given in format [y,x]
		UpperCamelCase_      	=	[len(grid) - 1, len(grid[0]) - 1]
		UpperCamelCase_      	=	1

		# the cost map which pushes the path closer to the goal
		UpperCamelCase_      	=	[[0 for row in range(len(grid[0]))] for col in range(len(grid))]
		for i in range(len(grid)):
				for j in range(len(grid[0])):
						UpperCamelCase_      	=	abs(i - goal[0]) + abs(j - goal[1])
						if grid[i][j] == 1:
								# added extra penalty in the heuristic map
								UpperCamelCase_      	=	99

		UpperCamelCase_	,			UpperCamelCase_      	=	search(grid, init, goal, cost, heuristic)

		print('''ACTION MAP''')
		for i in range(len(action)):
				print(action[i])

		for i in range(len(path)):
				print(path[i])






