





from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
UpperCAmelCase_      							=     0

UpperCAmelCase_      							=     [
    [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],
]

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

UpperCAmelCase_      							=     tuple[int, int]
class 			UpperCamelCase_		:




					def __init__(		self				,						lowerCAmelCase_				,						lowerCAmelCase_				,						lowerCAmelCase_				,						lowerCAmelCase_				,						lowerCAmelCase_				,						lowerCAmelCase_				,						)		->							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 	lowerCAmelCase			(		self  )		->							float:
										_snake_case									=				self.pos_x - self.goal_x
										_snake_case									=				self.pos_y - self.goal_y
										if HEURISTIC == 1:
															return abs(lowerCAmelCase_  ) + abs(lowerCAmelCase_  )
										else:
															return sqrt(dy**2 + dx**2  )






					def __lt__(		self				,						lowerCAmelCase_  )		->							bool:
										return self.f_cost < other.f_cost





class 			UpperCamelCase_		:




					def __init__(		self				,						lowerCAmelCase_				,						lowerCAmelCase_  )		->							Dict:
										_snake_case									=				Node(start[1]				,						start[0]				,						goal[1]				,						goal[0]				,						0				,						lowerCAmelCase_  )
										_snake_case									=				Node(goal[1]				,						goal[0]				,						goal[1]				,						goal[0]				,						9_9999				,						lowerCAmelCase_  )

										_snake_case									=				[self.start]
										_snake_case									=				[]

										_snake_case									=				False




					def 	lowerCAmelCase			(		self  )		->							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(lowerCAmelCase_  )

															self.closed_nodes.append(lowerCAmelCase_  )
															_snake_case									=				self.get_successors(lowerCAmelCase_  )

															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(lowerCAmelCase_  )
																				else:
																									# retrieve the best current path
																									_snake_case									=				self.open_nodes.pop(self.open_nodes.index(lowerCAmelCase_  )  )

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

										return [self.start.pos]




					def 	lowerCAmelCase			(		self				,						lowerCAmelCase_  )		->							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(lowerCAmelCase_  ) - 1):
																				continue

															if grid[pos_y][pos_x] != 0:
																				continue

															successors.append(
															    Node(
															        lowerCAmelCase_				,						lowerCAmelCase_				,						self.target.pos_y				,						self.target.pos_x				,						parent.g_cost + 1				,						lowerCAmelCase_				,						)  )
										return successors






					def 	lowerCAmelCase			(		self				,						lowerCAmelCase_  )		->							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 			UpperCamelCase_		:




					def __init__(		self				,						lowerCAmelCase_				,						lowerCAmelCase_  )		->							None:
										_snake_case									=				AStar(lowerCAmelCase_				,						lowerCAmelCase_  )
										_snake_case									=				AStar(lowerCAmelCase_				,						lowerCAmelCase_  )
										_snake_case									=				False




					def 	lowerCAmelCase			(		self  )		->							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(
																				    lowerCAmelCase_				,						lowerCAmelCase_  )

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

															_snake_case									=				current_bwd_node
															_snake_case									=				current_fwd_node

															_snake_case									=				{
															    self.fwd_astar: self.fwd_astar.get_successors(lowerCAmelCase_  ),
															    self.bwd_astar: self.bwd_astar.get_successors(lowerCAmelCase_  ),
															}

															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(lowerCAmelCase_  )
																									else:
																														# retrieve the best current path
																														_snake_case									=				astar.open_nodes.pop(
																														    astar.open_nodes.index(lowerCAmelCase_  )  )

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

										return [self.fwd_astar.start.pos]






					def 	lowerCAmelCase			(		self				,						lowerCAmelCase_				,						lowerCAmelCase_  )		->							list[TPosition]:
										_snake_case									=				self.fwd_astar.retrace_path(lowerCAmelCase_  )
										_snake_case									=				self.bwd_astar.retrace_path(lowerCAmelCase_  )
										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]
					UpperCAmelCase_      							=     (0, 0)
					UpperCAmelCase_      							=     (len(grid) - 1, len(grid[0]) - 1)
					for elem in grid:
										print(elem)

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

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










import unittest

from accelerate import debug_launcher
from accelerate.test_utils import require_cpu, test_ops, test_script
@require_cpu
class 			UpperCamelCase_		(  unittest.TestCase					):




					def 	lowerCAmelCase			(		self  )		->							List[Any]:
										debug_launcher(test_script.main  )






					def 	lowerCAmelCase			(		self  )		->							Optional[Any]:
										debug_launcher(test_ops.main  )



