
from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
_A						      =				0

_A						      =				[
    [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],
]

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

_A						      =				tuple[int, int]







class   lowerCamelCase	:





     def __init__(self   :					Optional[Any]       ,					_A   :					int       ,					_A   :					int       ,					_A   :					int       ,					_A   :					int       ,					_A   :					int       ,					_A   :					Node | None       ,					)		->		None:
         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 	UpperCAmelCase(self   :					Optional[int]     )		->		float:
         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   :					Tuple       ,					_A   :					Node     )		->		bool:
         return self.f_cost < other.f_cost







class   lowerCamelCase	:





     def __init__(self   :					List[Any]       ,					_A   :					TPosition       ,					_A   :					TPosition     )		->		Dict:
         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_9_9_9_9       ,					_A     )

         snake_case				  =      [self.start]
         snake_case				  =      []

         snake_case				  =      False





     def 	UpperCAmelCase(self   :					Optional[int]     )		->		list[TPosition]:
         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 	UpperCAmelCase(self   :					List[Any]       ,					_A   :					Node     )		->		list[Node]:
         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 	UpperCAmelCase(self   :					Dict       ,					_A   :					Node | None     )		->		list[TPosition]:
         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   lowerCamelCase	:





     def __init__(self   :					Union[str, Any]       ,					_A   :					TPosition       ,					_A   :					TPosition     )		->		None:
         snake_case				  =      AStar(_A       ,					_A     )
         snake_case				  =      AStar(_A       ,					_A     )
         snake_case				  =      False





     def 	UpperCAmelCase(self   :					List[str]     )		->		list[TPosition]:
         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 	UpperCAmelCase(self   :					Union[str, Any]       ,					_A   :					Node       ,					_A   :					Node     )		->		list[TPosition]:
         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]
   _A						      =				(0, 0)
   _A						      =				(len(grid) - 1, len(grid[0]) - 1)
   for elem in grid:
      print(elem)

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

   _A						      =				time.time()
   _A						      =				BidirectionalAStar(init, goal)
   _A						      =				time.time() - bd_start_time
   print(f"BidirectionalAStar execution time = {bd_end_time:f} seconds")



import os
import unittest

from transformers.models.phobert.tokenization_phobert import VOCAB_FILES_NAMES, PhobertTokenizer

from ...test_tokenization_common import TokenizerTesterMixin







class   lowerCamelCase	(						A_							,				unittest.TestCase						):
     UpperCAmelCase__       :							str     =	PhobertTokenizer
     UpperCAmelCase__       :							List[Any]     =	False





     def 	UpperCAmelCase(self   :					Union[str, Any]     )		->		List[str]:
         super().setUp()

         # Adapted from Sennrich et al. 2015 and https://github.com/rsennrich/subword-nmt
         snake_case				  =      ["T@@", "i", "I", "R@@", "r", "e@@"]
         snake_case				  =      dict(zip(_A       ,					range(len(_A     )     )     )     )
         snake_case				  =      ["#version: 0.2", "l à</w>"]
         snake_case				  =      {"unk_token": "<unk>"}

         snake_case				  =      os.path.join(self.tmpdirname       ,					VOCAB_FILES_NAMES["vocab_file"]     )
         snake_case				  =      os.path.join(self.tmpdirname       ,					VOCAB_FILES_NAMES["merges_file"]     )

         with open(self.vocab_file       ,					"w"       ,					encoding="utf-8"     ) as fp:
             for token in vocab_tokens:
                 fp.write(f'{token} {vocab_tokens[token]}\n'     )
         with open(self.merges_file       ,					"w"       ,					encoding="utf-8"     ) as fp:
             fp.write("\n".join(_A     )     )





     def 	UpperCAmelCase(self   :					Optional[int]       ,					**_A   :					Optional[int]     )		->		Union[str, Any]:
         kwargs.update(self.special_tokens_map     )
         return PhobertTokenizer.from_pretrained(self.tmpdirname       ,					**_A     )





     def 	UpperCAmelCase(self   :					Tuple       ,					_A   :					Optional[Any]     )		->		str:
         snake_case				  =      "Tôi là VinAI Research"
         snake_case				  =      "T<unk> i <unk> <unk> <unk> <unk> <unk> <unk> I Re<unk> e<unk> <unk> <unk> <unk>"
         return input_text, output_text





     def 	UpperCAmelCase(self   :					Any     )		->		Union[str, Any]:
         snake_case				  =      PhobertTokenizer(self.vocab_file       ,					self.merges_file       ,					**self.special_tokens_map     )
         snake_case				  =      "Tôi là VinAI Research"
         snake_case				  =      "T@@ ô@@ i l@@ à V@@ i@@ n@@ A@@ I R@@ e@@ s@@ e@@ a@@ r@@ c@@ h".split()
         snake_case				  =      tokenizer.tokenize(_A     )
         print(_A     )
         self.assertListEqual(_A       ,					_A     )

         snake_case				  =      tokens + [tokenizer.unk_token]

         snake_case				  =      [4, 3, 5, 3, 3, 3, 3, 3, 3, 6, 7, 9, 3, 9, 3, 3, 3, 3, 3]
         self.assertListEqual(tokenizer.convert_tokens_to_ids(_A     )       ,					_A     )

