



import unittest

from transformers import DonutProcessor


_lowerCamelCase    :		Union[str, Any]		      =    """naver-clova-ix/donut-base"""


class 						lowercase    (							unittest.TestCase):
						'''simple docstring'''


						def       lowerCamelCase_				(  self    :				Tuple	):



											'''simple docstring'''


											SCREAMING_SNAKE_CASE							:     List[Any]						=				DonutProcessor.from_pretrained(snake_case	)







						def       lowerCamelCase_				(  self    :				Tuple	):



											'''simple docstring'''


											SCREAMING_SNAKE_CASE							:     Tuple						=				{
											    'name': 'John Doe',
											    'age': '99',
											    'city': 'Atlanta',
											    'state': 'GA',
											    'zip': '30301',
											    'phone': '123-4567',
											    'nicknames': [{'nickname': 'Johnny'}, {'nickname': 'JD'}],
											}

											SCREAMING_SNAKE_CASE							:     List[str]						=				(
											    '<s_name>John Doe</s_name><s_age>99</s_age><s_city>Atlanta</s_city>'
											    '<s_state>GA</s_state><s_zip>30301</s_zip><s_phone>123-4567</s_phone>'
											    '<s_nicknames><s_nickname>Johnny</s_nickname>'
											    '<sep/><s_nickname>JD</s_nickname></s_nicknames>'
											)
											SCREAMING_SNAKE_CASE							:     Union[str, Any]						=				self.processor.tokenajson(snake_case	)

											self.assertDictEqual(snake_case       ,	snake_case	)




from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
_lowerCamelCase    :		List[str]		      =    0

_lowerCamelCase    :		Tuple		      =    [
    [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],
]

_lowerCamelCase    :		Tuple		      =    [[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

_lowerCamelCase    :		Union[str, Any]		      =    tuple[int, int]


class 						lowercase    :
						'''simple docstring'''


						def __init__(  self    :				Optional[Any]       ,	snake_case    :				int       ,	snake_case    :				int       ,	snake_case    :				int       ,	snake_case    :				int       ,	snake_case    :				int       ,	snake_case    :				Node | None       ,	):



											'''simple docstring'''


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







						def       lowerCamelCase_				(  self    :				Optional[int]	):



											'''simple docstring'''


											SCREAMING_SNAKE_CASE							:     int						=				self.pos_x - self.goal_x
											SCREAMING_SNAKE_CASE							:     str						=				self.pos_y - self.goal_y
											if HEURISTIC == 1:
																return abs(snake_case	) + abs(snake_case	)
											else:
																return sqrt(dy**2 + dx**2	)







						def __lt__(  self    :				Any       ,	snake_case    :				Node	):



											'''simple docstring'''


											return self.f_cost < other.f_cost


class 						lowercase    :
						'''simple docstring'''


						def __init__(  self    :				Optional[Any]       ,	snake_case    :				TPosition       ,	snake_case    :				TPosition	):



											'''simple docstring'''


											SCREAMING_SNAKE_CASE							:     Union[str, Any]						=				Node(start[1]       ,	start[0]       ,	goal[1]       ,	goal[0]       ,	0       ,	snake_case	)
											SCREAMING_SNAKE_CASE							:     int						=				Node(goal[1]       ,	goal[0]       ,	goal[1]       ,	goal[0]       ,	99999       ,	snake_case	)

											SCREAMING_SNAKE_CASE							:     Any						=				[self.start]
											SCREAMING_SNAKE_CASE							:     list[Node]						=				[]

											SCREAMING_SNAKE_CASE							:     int						=				False







						def       lowerCamelCase_				(  self    :				str	):



											'''simple docstring'''


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

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

																self.closed_nodes.append(snake_case	)
																SCREAMING_SNAKE_CASE							:     int						=				self.get_successors(snake_case	)

																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(snake_case	)
																					else:
																										# retrieve the best current path
																										SCREAMING_SNAKE_CASE							:     Union[str, Any]						=				self.open_nodes.pop(self.open_nodes.index(snake_case	)	)

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

											return [self.start.pos]







						def       lowerCamelCase_				(  self    :				str       ,	snake_case    :				Node	):



											'''simple docstring'''


											SCREAMING_SNAKE_CASE							:     Tuple						=				[]
											for action in delta:
																SCREAMING_SNAKE_CASE							:     Optional[Any]						=				parent.pos_x + action[1]
																SCREAMING_SNAKE_CASE							:     Union[str, Any]						=				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       ,	parent.g_cost + 1       ,	snake_case       ,	)	)
											return successors







						def       lowerCamelCase_				(  self    :				Optional[int]       ,	snake_case    :				Node | None	):



											'''simple docstring'''


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


class 						lowercase    :
						'''simple docstring'''


						def __init__(  self    :				str       ,	snake_case    :				TPosition       ,	snake_case    :				TPosition	):



											'''simple docstring'''


											SCREAMING_SNAKE_CASE							:     Any						=				AStar(snake_case       ,	snake_case	)
											SCREAMING_SNAKE_CASE							:     Optional[int]						=				AStar(snake_case       ,	snake_case	)
											SCREAMING_SNAKE_CASE							:     str						=				False







						def       lowerCamelCase_				(  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()
																SCREAMING_SNAKE_CASE							:     Dict						=				self.fwd_astar.open_nodes.pop(0	)
																SCREAMING_SNAKE_CASE							:     Any						=				self.bwd_astar.open_nodes.pop(0	)

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

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

																SCREAMING_SNAKE_CASE							:     str						=				current_bwd_node
																SCREAMING_SNAKE_CASE							:     int						=				current_fwd_node

																SCREAMING_SNAKE_CASE							:     str						=				{
																    self.fwd_astar: self.fwd_astar.get_successors(snake_case	),
																    self.bwd_astar: self.bwd_astar.get_successors(snake_case	),
																}

																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(snake_case	)
																										else:
																															# retrieve the best current path
																															SCREAMING_SNAKE_CASE							:     List[Any]						=				astar.open_nodes.pop(
																															    astar.open_nodes.index(snake_case	)	)

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

											return [self.fwd_astar.start.pos]







						def       lowerCamelCase_				(  self    :				str       ,	snake_case    :				Node       ,	snake_case    :				Node	):



											'''simple docstring'''


											SCREAMING_SNAKE_CASE							:     Union[str, Any]						=				self.fwd_astar.retrace_path(snake_case	)
											SCREAMING_SNAKE_CASE							:     Optional[Any]						=				self.bwd_astar.retrace_path(snake_case	)
											bwd_path.pop()
											bwd_path.reverse()
											SCREAMING_SNAKE_CASE							:     Union[str, Any]						=				fwd_path + bwd_path
											return path


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

			_lowerCamelCase    :		Union[str, Any]		      =    time.time()
			_lowerCamelCase    :		List[str]		      =    AStar(init, goal)
			_lowerCamelCase    :		Optional[int]		      =    a_star.search()
			_lowerCamelCase    :		str		      =    time.time() - start_time
			print(f"""AStar execution time = {end_time:f} seconds""")

			_lowerCamelCase    :		Optional[Any]		      =    time.time()
			_lowerCamelCase    :		Union[str, Any]		      =    BidirectionalAStar(init, goal)
			_lowerCamelCase    :		List[Any]		      =    time.time() - bd_start_time
			print(f"""BidirectionalAStar execution time = {bd_end_time:f} seconds""")