






'''simple docstring'''


from __future__ import annotations

import time

lowerCamelCase_				: str    	=							list[tuple[int, int]]

lowerCamelCase_				: Optional[int]    	=							[
    [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




class    _SCREAMING_SNAKE_CASE							:


			'''simple docstring'''





			def __init__(   self							:						Union[str, Any] ,      lowercase							:						int ,      lowercase							:						int ,      lowercase							:						int ,      lowercase							:						int ,      lowercase							:						Node | None			)							->    Any:

									'''simple docstring'''







									UpperCamelCase__         = pos_x
									UpperCamelCase__         = pos_y
									UpperCamelCase__         = (pos_y, pos_x)
									UpperCamelCase__         = goal_x
									UpperCamelCase__         = goal_y
									UpperCamelCase__         = parent




class    _SCREAMING_SNAKE_CASE							:


			'''simple docstring'''





			def __init__(   self							:						List[Any] ,      lowercase							:						tuple[int, int] ,      lowercase							:						tuple[int, int]			)							->    Tuple:

									'''simple docstring'''







									UpperCamelCase__         = Node(start[1] ,      start[0] ,      goal[1] ,      goal[0] ,      __A			)
									UpperCamelCase__         = Node(goal[1] ,      goal[0] ,      goal[1] ,      goal[0] ,      __A			)

									UpperCamelCase__         = [self.start]
									UpperCamelCase__         = False






			def 				A      (   self							:						Dict			)							->    Any:

									'''simple docstring'''







									while self.node_queue:
															UpperCamelCase__         = self.node_queue.pop(0			)

															if current_node.pos == self.target.pos:
																					UpperCamelCase__         = True
																					return self.retrace_path(__A			)

															UpperCamelCase__         = self.get_successors(__A			)

															for node in successors:
																					self.node_queue.append(__A			)

									if not self.reached:
															return [self.start.pos]
									return None






			def 				A      (   self							:						Union[str, Any] ,      lowercase							:						Node			)							->    Union[str, Any]:

									'''simple docstring'''







									UpperCamelCase__         = []
									for action in delta:
															UpperCamelCase__         = parent.pos_x + action[1]
															UpperCamelCase__         = 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 ,      __A			)			)
									return successors







			def 				A      (   self							:						Optional[Any] ,      lowercase							:						Node | None			)							->    Union[str, Any]:

									'''simple docstring'''







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




class    _SCREAMING_SNAKE_CASE							:


			'''simple docstring'''





			def __init__(   self							:						Dict ,      lowercase							:						str ,      lowercase							:						int			)							->    Union[str, Any]:

									'''simple docstring'''







									UpperCamelCase__         = BreadthFirstSearch(__A ,      __A			)
									UpperCamelCase__         = BreadthFirstSearch(__A ,      __A			)
									UpperCamelCase__         = False






			def 				A      (   self							:						Optional[Any]			)							->    Optional[Any]:

									'''simple docstring'''







									while self.fwd_bfs.node_queue or self.bwd_bfs.node_queue:
															UpperCamelCase__         = self.fwd_bfs.node_queue.pop(0			)
															UpperCamelCase__         = self.bwd_bfs.node_queue.pop(0			)

															if current_bwd_node.pos == current_fwd_node.pos:
																					UpperCamelCase__         = True
																					return self.retrace_bidirectional_path(
																					    __A ,      __A			)

															UpperCamelCase__         = current_bwd_node
															UpperCamelCase__         = current_fwd_node

															UpperCamelCase__         = {
															    self.fwd_bfs: self.fwd_bfs.get_successors(__A			),
															    self.bwd_bfs: self.bwd_bfs.get_successors(__A			),
															}

															for bfs in [self.fwd_bfs, self.bwd_bfs]:
																					for node in successors[bfs]:
																											bfs.node_queue.append(__A			)

									if not self.reached:
															return [self.fwd_bfs.start.pos]
									return None







			def 				A      (   self							:						Any ,      lowercase							:						Node ,      lowercase							:						Node			)							->    Dict:

									'''simple docstring'''







									UpperCamelCase__         = self.fwd_bfs.retrace_path(__A			)
									UpperCamelCase__         = self.bwd_bfs.retrace_path(__A			)
									bwd_path.pop()
									bwd_path.reverse()
									UpperCamelCase__         = fwd_path + bwd_path
									return path


if __name__ == "__main__":
					# all coordinates are given in format [y,x]
					import doctest

					doctest.testmod()
					lowerCamelCase_				: str    	=							(0, 0)
					lowerCamelCase_				: List[str]    	=							(len(grid) - 1, len(grid[0]) - 1)
					for elem in grid:
										print(elem)

					lowerCamelCase_				: Any    	=							time.time()
					lowerCamelCase_				: Optional[Any]    	=							BreadthFirstSearch(init, goal)
					lowerCamelCase_				: str    	=							bfs.search()
					lowerCamelCase_				: Optional[Any]    	=							time.time() - start_bfs_time

					print('''Unidirectional BFS computation time : ''', bfs_time)

					lowerCamelCase_				: Optional[Any]    	=							time.time()
					lowerCamelCase_				: Optional[int]    	=							BidirectionalBreadthFirstSearch(init, goal)
					lowerCamelCase_				: str    	=							bd_bfs.search()
					lowerCamelCase_				: Optional[Any]    	=							time.time() - start_bd_bfs_time

					print('''Bidirectional BFS computation time : ''', bd_bfs_time)








'''simple docstring'''


from typing import TYPE_CHECKING

from ..utils import _LazyModule


lowerCamelCase_				: List[Any]    	=							{
    '''config''': [
        '''EXTERNAL_DATA_FORMAT_SIZE_LIMIT''',
        '''OnnxConfig''',
        '''OnnxConfigWithPast''',
        '''OnnxSeq2SeqConfigWithPast''',
        '''PatchingSpec''',
    ],
    '''convert''': ['''export''', '''validate_model_outputs'''],
    '''features''': ['''FeaturesManager'''],
    '''utils''': ['''ParameterFormat''', '''compute_serialized_parameters_size'''],
}


if TYPE_CHECKING:
					from .config import (
					    EXTERNAL_DATA_FORMAT_SIZE_LIMIT,
					    OnnxConfig,
					    OnnxConfigWithPast,
					    OnnxSeqaSeqConfigWithPast,
					    PatchingSpec,
					)
					from .convert import export, validate_model_outputs
					from .features import FeaturesManager
					from .utils import ParameterFormat, compute_serialized_parameters_size

else:
					import sys

					lowerCamelCase_				: List[Any]    	=							_LazyModule(__name__, globals()['''__file__'''], _import_structure, module_spec=__spec__)
