


import heapq
import sys

import numpy as np

_A		:				Any									=       tuple[int, int]



class        a					:





     def __init__(    self					:				Tuple							):
        __lowerCamelCase:				Dict     =	[]
        __lowerCamelCase:				Union[str, Any]     =	set()





     def  SCREAMING_SNAKE_CASE__       (    self					:				Tuple							):
        if not self.empty():
           return self.elements[0][0]
        else:
           return float("""inf"""							)





     def  SCREAMING_SNAKE_CASE__       (    self					:				List[Any]							):
        return len(self.elements							) == 0





     def  SCREAMING_SNAKE_CASE__       (    self					:				int    ,	SCREAMING_SNAKE_CASE_					:				Any    ,	SCREAMING_SNAKE_CASE_					:				List[Any]							):
        if item not in self.set:
           heapq.heappush(self.elements    ,	(priority, item)							)
           self.set.add(SCREAMING_SNAKE_CASE_							)
        else:
           # update
           # print("update", item)
           __lowerCamelCase:				Tuple     =	[]
           ((__lowerCamelCase)   ,     (__lowerCamelCase)):				List[str]     =	heapq.heappop(self.elements							)
           while x != item:
              temp.append((pri, x)							)
              ((__lowerCamelCase)   ,     (__lowerCamelCase)):				Tuple     =	heapq.heappop(self.elements							)
           temp.append((priority, item)							)
           for pro, xxx in temp:
              heapq.heappush(self.elements    ,	(pro, xxx)							)





     def  SCREAMING_SNAKE_CASE__       (    self					:				Union[str, Any]    ,	SCREAMING_SNAKE_CASE_					:				Dict							):
        if item in self.set:
           self.set.remove(SCREAMING_SNAKE_CASE_							)
           __lowerCamelCase:				List[str]     =	[]
           ((__lowerCamelCase)   ,     (__lowerCamelCase)):				Optional[Any]     =	heapq.heappop(self.elements							)
           while x != item:
              temp.append((pro, x)							)
              ((__lowerCamelCase)   ,     (__lowerCamelCase)):				Optional[int]     =	heapq.heappop(self.elements							)
           for prito, yyy in temp:
              heapq.heappush(self.elements    ,	(prito, yyy)							)





     def  SCREAMING_SNAKE_CASE__       (    self					:				Union[str, Any]							):
        return self.elements[0][1]







     def  SCREAMING_SNAKE_CASE__       (    self					:				List[str]							):
        ((__lowerCamelCase)   ,     (__lowerCamelCase)):				List[Any]     =	heapq.heappop(self.elements							)
        self.set.remove(SCREAMING_SNAKE_CASE_							)
        return (priority, item)



def     __lowerCAmelCase						(							snake_case	:    TPos						,      snake_case	:    TPos )       ->							Tuple:
   # euclidean distance
   __lowerCamelCase:				Optional[Any]     =	np.array(snake_case )
   __lowerCamelCase:				Optional[int]     =	np.array(snake_case )
   return np.linalg.norm(a - b )



def     __lowerCAmelCase						(							snake_case	:    TPos						,      snake_case	:    TPos )       ->							Dict:
   # integer division by time variable
   return consistent_heuristic(snake_case						,      snake_case ) // t



def     __lowerCAmelCase						(							snake_case	:    TPos						,      snake_case	:    TPos )       ->							Any:
   # manhattan distance
   return abs(p[0] - goal[0] ) + abs(p[1] - goal[1] )



def     __lowerCAmelCase						(							snake_case	:    TPos						,      snake_case	:    int						,      snake_case	:    TPos						,      snake_case	:    dict[TPos, float] )       ->							Any:
   __lowerCamelCase:				Union[str, Any]     =	g_function[start] + Wa * heuristics[i](snake_case						,      snake_case )
   return ans



def     __lowerCAmelCase						(							snake_case	:    Optional[int]						,      snake_case	:    Tuple						,      snake_case	:    Any )       ->							int:
   __lowerCamelCase:				int     =	np.chararray((n, n) )
   for i in range(snake_case ):
      for j in range(snake_case ):
         __lowerCamelCase:				Union[str, Any]     =	"""*"""

   for i in range(snake_case ):
      for j in range(snake_case ):
         if (j, (n - 1) - i) in blocks:
            __lowerCamelCase:				List[Any]     =	"""#"""

   __lowerCamelCase:				str     =	"""-"""
   __lowerCamelCase:				Tuple     =	back_pointer[goal]
   while x != start:
      ((__lowerCamelCase)   ,     (__lowerCamelCase)):				Any     =	x
      # print(x)
      __lowerCamelCase:				Any     =	"""-"""
      __lowerCamelCase:				Dict     =	back_pointer[x]
   __lowerCamelCase:				Any     =	"""-"""

   for i in range(snake_case ):
      for j in range(snake_case ):
         if (i, j) == (0, n - 1):
            print(grid[i][j]						,      end=""" """ )
            print("""<-- End position"""						,      end=""" """ )
         else:
            print(grid[i][j]						,      end=""" """ )
      print()
   print("""^""" )
   print("""Start position""" )
   print()
   print("""# is an obstacle""" )
   print("""- is the path taken by algorithm""" )
   print("""PATH TAKEN BY THE ALGORITHM IS:-""" )
   __lowerCamelCase:				int     =	back_pointer[goal]
   while x != start:
      print(snake_case						,      end=""" """ )
      __lowerCamelCase:				List[Any]     =	back_pointer[x]
   print(snake_case )
   sys.exit()



def     __lowerCAmelCase						(							snake_case	:    TPos )       ->							Union[str, Any]:
   if p[0] < 0 or p[0] > n - 1:
      return False
   if p[1] < 0 or p[1] > n - 1:
      return False
   return True



def     __lowerCAmelCase						(							snake_case	:    str						,      snake_case	:    Optional[int]						,      snake_case	:    Tuple						,      snake_case	:    Union[str, Any]						,      snake_case	:    List[Any]						,      snake_case	:    Any						,      snake_case	:    List[str]						,      snake_case	:    int						,      )       ->							str:
   for itera in range(snake_case ):
      open_list[itera].remove_element(snake_case )
   # print("s", s)
   # print("j", j)
   ((__lowerCamelCase)   ,     (__lowerCamelCase)):				Any     =	s
   __lowerCamelCase:				int     =	(x - 1, y)
   __lowerCamelCase:				List[str]     =	(x + 1, y)
   __lowerCamelCase:				List[str]     =	(x, y + 1)
   __lowerCamelCase:				int     =	(x, y - 1)

   for neighbours in [left, right, up, down]:
      if neighbours not in blocks:
         if valid(snake_case ) and neighbours not in visited:
            # print("neighbour", neighbours)
            visited.add(snake_case )
            __lowerCamelCase:				Any     =	-1
            __lowerCamelCase:				Optional[Any]     =	float("""inf""" )

         if valid(snake_case ) and g_function[neighbours] > g_function[s] + 1:
            __lowerCamelCase:				Any     =	g_function[s] + 1
            __lowerCamelCase:				int     =	s
            if neighbours not in close_list_anchor:
               open_list[0].put(snake_case						,      key(snake_case						,      0						,      snake_case						,      snake_case ) )
               if neighbours not in close_list_inad:
                  for var in range(1						,      snake_case ):
                     if key(snake_case						,      snake_case						,      snake_case						,      snake_case ) <= Wa * key(
                         snake_case						,      0						,      snake_case						,      snake_case ):
                        open_list[j].put(
                            snake_case						,      key(snake_case						,      snake_case						,      snake_case						,      snake_case ) )



def     __lowerCAmelCase						(							)       ->							Optional[int]:
   __lowerCamelCase:				Union[str, Any]     =	[]
   for x in range(1						,      5 ):
      for y in range(1						,      6 ):
         some_list.append((x, y) )

   for x in range(15						,      20 ):
      some_list.append((x, 17) )

   for x in range(10						,      19 ):
      for y in range(1						,      15 ):
         some_list.append((x, y) )

    # L block
   for x in range(1						,      4 ):
      for y in range(12						,      19 ):
         some_list.append((x, y) )
   for x in range(3						,      13 ):
      for y in range(16						,      19 ):
         some_list.append((x, y) )
   return some_list


_A		:				Dict									=       {0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

_A		:				List[Any]									=       [
    (0, 1),
    (1, 1),
    (2, 1),
    (3, 1),
    (4, 1),
    (5, 1),
    (6, 1),
    (7, 1),
    (8, 1),
    (9, 1),
    (10, 1),
    (11, 1),
    (12, 1),
    (13, 1),
    (14, 1),
    (15, 1),
    (16, 1),
    (17, 1),
    (18, 1),
    (19, 1),
]
_A		:				Optional[Any]									=       make_common_ground()


_A		:				Tuple									=       blocks_blk
# hyper parameters
_A		:				Union[str, Any]									=       1
_A		:				int									=       1
_A		:				Tuple									=       20
_A		:				Tuple									=       3  # one consistent and two other inconsistent

# start and end destination
_A		:				List[str]									=       (0, 0)
_A		:				Optional[int]									=       (n - 1, n - 1)

_A		:				Optional[Any]									=       1



def     __lowerCAmelCase						(							snake_case	:    TPos						,      snake_case	:    TPos						,      snake_case	:    int )       ->							str:
   __lowerCamelCase:				List[str]     =	{start: 0, goal: float("""inf""" )}
   __lowerCamelCase:				List[Any]     =	{start: -1, goal: -1}
   __lowerCamelCase:				Union[str, Any]     =	[]
   __lowerCamelCase:				int     =	set()

   for i in range(snake_case ):
      open_list.append(PriorityQueue() )
      open_list[i].put(snake_case						,      key(snake_case						,      snake_case						,      snake_case						,      snake_case ) )

   __lowerCamelCase:				list[int]     =	[]
   __lowerCamelCase:				list[int]     =	[]
   while open_list[0].minkey() < float("""inf""" ):
      for i in range(1						,      snake_case ):
         # print(open_list[0].minkey(), open_list[i].minkey())
         if open_list[i].minkey() <= Wa * open_list[0].minkey():
            global t
            t += 1
            if g_function[goal] <= open_list[i].minkey():
               if g_function[goal] < float("""inf""" ):
                  do_something(snake_case						,      snake_case						,      snake_case )
            else:
               __lowerCamelCase   ,     __lowerCamelCase:				List[str]     =	open_list[i].top_show()
               visited.add(snake_case )
               expand_state(
                   snake_case						,      snake_case						,      snake_case						,      snake_case						,      snake_case						,      snake_case						,      snake_case						,      snake_case						,      )
               close_list_inad.append(snake_case )
         else:
            if g_function[goal] <= open_list[0].minkey():
               if g_function[goal] < float("""inf""" ):
                  do_something(snake_case						,      snake_case						,      snake_case )
            else:
               __lowerCamelCase:				Any     =	open_list[0].top_show()
               visited.add(snake_case )
               expand_state(
                   snake_case						,      0						,      snake_case						,      snake_case						,      snake_case						,      snake_case						,      snake_case						,      snake_case						,      )
               close_list_anchor.append(snake_case )
   print("""No path found to goal""" )
   print()
   for i in range(n - 1						,      -1						,      -1 ):
      for j in range(snake_case ):
         if (j, i) in blocks:
            print("""#"""						,      end=""" """ )
         elif (j, i) in back_pointer:
            if (j, i) == (n - 1, n - 1):
               print("""*"""						,      end=""" """ )
            else:
               print("""-"""						,      end=""" """ )
         else:
            print("""*"""						,      end=""" """ )
         if (j, i) == (n - 1, n - 1):
            print("""<-- End position"""						,      end=""" """ )
      print()
   print("""^""" )
   print("""Start position""" )
   print()
   print("""# is an obstacle""" )
   print("""- is the path taken by algorithm""" )


if __name__ == "__main__":
   multi_a_star(start, goal, n_heuristic)






_A		:				Tuple									=       '''ABCDEFGHIJKLMNOPQRSTUVWXYZ'''



def     __lowerCAmelCase						(							)       ->							None:
   __lowerCamelCase:				Optional[int]     =	input("""Enter message: """ )
   __lowerCamelCase:				Dict     =	input("""Enter key [alphanumeric]: """ )
   __lowerCamelCase:				List[Any]     =	input("""Encrypt/Decrypt [e/d]: """ )

   if mode.lower().startswith("""e""" ):
      __lowerCamelCase:				Optional[int]     =	"""encrypt"""
      __lowerCamelCase:				Optional[int]     =	encrypt_message(snake_case						,      snake_case )
   elif mode.lower().startswith("""d""" ):
      __lowerCamelCase:				Union[str, Any]     =	"""decrypt"""
      __lowerCamelCase:				Optional[Any]     =	decrypt_message(snake_case						,      snake_case )

   print(f'\n{mode.title()}ed message:' )
   print(snake_case )



def     __lowerCAmelCase						(							snake_case	:    str						,      snake_case	:    str )       ->							str:
   return translate_message(snake_case						,      snake_case						,      """encrypt""" )



def     __lowerCAmelCase						(							snake_case	:    str						,      snake_case	:    str )       ->							str:
   return translate_message(snake_case						,      snake_case						,      """decrypt""" )



def     __lowerCAmelCase						(							snake_case	:    str						,      snake_case	:    str						,      snake_case	:    str )       ->							str:
   __lowerCamelCase:				Any     =	[]
   __lowerCamelCase:				Optional[int]     =	0
   __lowerCamelCase:				Any     =	key.upper()

   for symbol in message:
      __lowerCamelCase:				int     =	LETTERS.find(symbol.upper() )
      if num != -1:
         if mode == "encrypt":
            num += LETTERS.find(key[key_index] )
         elif mode == "decrypt":
            num -= LETTERS.find(key[key_index] )

         num %= len(snake_case )

         if symbol.isupper():
            translated.append(LETTERS[num] )
         elif symbol.islower():
            translated.append(LETTERS[num].lower() )

         key_index += 1
         if key_index == len(snake_case ):
            __lowerCamelCase:				Union[str, Any]     =	0
      else:
         translated.append(snake_case )
   return "".join(snake_case )


if __name__ == "__main__":
   main()


