


"""simple docstring"""




import re

import jax.numpy as jnp
from flax.traverse_util import flatten_dict, unflatten_dict
from jax.random import PRNGKey

from ..utils import logging


UpperCAmelCase      =   logging.get_logger(__name__)






def 	__lowerCAmelCase   (SCREAMING_SNAKE_CASE )->  Dict:




      """simple docstring"""

      snake_case_	=				R'''\w+[.]\d+'''
      snake_case_	=				re.findall(SCREAMING_SNAKE_CASE , SCREAMING_SNAKE_CASE )
      for pat in pats:
            snake_case_	=				key.replace(SCREAMING_SNAKE_CASE , '''_'''.join(pat.split('''.''' ) ) )
      return key






def 	__lowerCAmelCase   (SCREAMING_SNAKE_CASE , SCREAMING_SNAKE_CASE , SCREAMING_SNAKE_CASE )->  Optional[int]:




      """simple docstring"""

      snake_case_	=				pt_tuple_key[:-1] + ('''scale''',)
      if (
          any('''norm''' in str_ for str_ in pt_tuple_key )
          and (pt_tuple_key[-1] == "bias")
          and (pt_tuple_key[:-1] + ("bias",) not in random_flax_state_dict)
          and (pt_tuple_key[:-1] + ("scale",) in random_flax_state_dict)
      ):
            snake_case_	=				pt_tuple_key[:-1] + ('''scale''',)
            return renamed_pt_tuple_key, pt_tensor
      elif pt_tuple_key[-1] in ["weight", "gamma"] and pt_tuple_key[:-1] + ("scale",) in random_flax_state_dict:
            snake_case_	=				pt_tuple_key[:-1] + ('''scale''',)
            return renamed_pt_tuple_key, pt_tensor

      # embedding
      if pt_tuple_key[-1] == "weight" and pt_tuple_key[:-1] + ("embedding",) in random_flax_state_dict:
            snake_case_	=				pt_tuple_key[:-1] + ('''embedding''',)
            return renamed_pt_tuple_key, pt_tensor

      # conv layer
      snake_case_	=				pt_tuple_key[:-1] + ('''kernel''',)
      if pt_tuple_key[-1] == "weight" and pt_tensor.ndim == 4:
            snake_case_	=				pt_tensor.transpose(2 , 3 , 1 , 0 )
            return renamed_pt_tuple_key, pt_tensor

      # linear layer
      snake_case_	=				pt_tuple_key[:-1] + ('''kernel''',)
      if pt_tuple_key[-1] == "weight":
            snake_case_	=				pt_tensor.T
            return renamed_pt_tuple_key, pt_tensor

      # old PyTorch layer norm weight
      snake_case_	=				pt_tuple_key[:-1] + ('''weight''',)
      if pt_tuple_key[-1] == "gamma":
            return renamed_pt_tuple_key, pt_tensor

      # old PyTorch layer norm bias
      snake_case_	=				pt_tuple_key[:-1] + ('''bias''',)
      if pt_tuple_key[-1] == "beta":
            return renamed_pt_tuple_key, pt_tensor

      return pt_tuple_key, pt_tensor






def 	__lowerCAmelCase   (SCREAMING_SNAKE_CASE , SCREAMING_SNAKE_CASE , SCREAMING_SNAKE_CASE=42 )->  Union[str, Any]:




      """simple docstring"""

      snake_case_	=				{k: v.numpy() for k, v in pt_state_dict.items()}

      # Step 2: Since the model is stateless, get random Flax params
      snake_case_	=				flax_model.init_weights(PRNGKey(SCREAMING_SNAKE_CASE ) )

      snake_case_	=				flatten_dict(SCREAMING_SNAKE_CASE )
      snake_case_	=				{}

      # Need to change some parameters name to match Flax names
      for pt_key, pt_tensor in pt_state_dict.items():
            snake_case_	=				rename_key(SCREAMING_SNAKE_CASE )
            snake_case_	=				tuple(renamed_pt_key.split('''.''' ) )

            # Correctly rename weight parameters
            snake_case_	,   snake_case_	=				rename_key_and_reshape_tensor(SCREAMING_SNAKE_CASE , SCREAMING_SNAKE_CASE , SCREAMING_SNAKE_CASE )

            if flax_key in random_flax_state_dict:
                  if flax_tensor.shape != random_flax_state_dict[flax_key].shape:
                        raise ValueError(
                            f'''PyTorch checkpoint seems to be incorrect. Weight {pt_key} was expected to be of shape '''
                            f'''{random_flax_state_dict[flax_key].shape}, but is {flax_tensor.shape}.''' )

        # also add unexpected weight so that warning is thrown
            snake_case_	=				jnp.asarray(SCREAMING_SNAKE_CASE )

      return unflatten_dict(SCREAMING_SNAKE_CASE )



from __future__ import annotations

import time

UpperCAmelCase      =   list[tuple[int, int]]

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







class lowerCAmelCase_						:

 '''simple docstring'''

 def __init__(     self		,				_UpperCAmelCase		,				_UpperCAmelCase		,				_UpperCAmelCase		,				_UpperCAmelCase		,				_UpperCAmelCase ):
       snake_case_	=				pos_x
       snake_case_	=				pos_y
       snake_case_	=				(pos_y, pos_x)
       snake_case_	=				goal_x
       snake_case_	=				goal_y
       snake_case_	=				parent







class lowerCAmelCase_						:

 '''simple docstring'''

 def __init__(     self		,				_UpperCAmelCase		,				_UpperCAmelCase ):
       snake_case_	=				Node(start[1]		,				start[0]		,				goal[1]		,				goal[0]		,				_UpperCAmelCase )
       snake_case_	=				Node(goal[1]		,				goal[0]		,				goal[1]		,				goal[0]		,				_UpperCAmelCase )

       snake_case_	=				[self.start]
       snake_case_	=				False



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

             if current_node.pos == self.target.pos:
                   snake_case_	=				True
                   return self.retrace_path(_UpperCAmelCase )

             snake_case_	=				self.get_successors(_UpperCAmelCase )

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

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



 def 						UpperCamelCase__					(     self		,				_UpperCAmelCase ):
       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(_UpperCAmelCase ) - 1):
                   continue

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

             successors.append(
                 Node(_UpperCAmelCase		,				_UpperCAmelCase		,				self.target.pos_y		,				self.target.pos_x		,				_UpperCAmelCase ) )
       return successors





 def 						UpperCamelCase__					(     self		,				_UpperCAmelCase ):
       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_						:

 '''simple docstring'''

 def __init__(     self		,				_UpperCAmelCase		,				_UpperCAmelCase ):
       snake_case_	=				BreadthFirstSearch(_UpperCAmelCase		,				_UpperCAmelCase )
       snake_case_	=				BreadthFirstSearch(_UpperCAmelCase		,				_UpperCAmelCase )
       snake_case_	=				False



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

             if current_bwd_node.pos == current_fwd_node.pos:
                   snake_case_	=				True
                   return self.retrace_bidirectional_path(
                       _UpperCAmelCase		,				_UpperCAmelCase )

             snake_case_	=				current_bwd_node
             snake_case_	=				current_fwd_node

             snake_case_	=				{
                 self.fwd_bfs: self.fwd_bfs.get_successors(_UpperCAmelCase ),
                 self.bwd_bfs: self.bwd_bfs.get_successors(_UpperCAmelCase ),
             }

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

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





 def 						UpperCamelCase__					(     self		,				_UpperCAmelCase		,				_UpperCAmelCase ):
       snake_case_	=				self.fwd_bfs.retrace_path(_UpperCAmelCase )
       snake_case_	=				self.bwd_bfs.retrace_path(_UpperCAmelCase )
       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]
   import doctest

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

   UpperCAmelCase      =   time.time()
   UpperCAmelCase      =   BreadthFirstSearch(init, goal)
   UpperCAmelCase      =   bfs.search()
   UpperCAmelCase      =   time.time() - start_bfs_time

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

   UpperCAmelCase      =   time.time()
   UpperCAmelCase      =   BidirectionalBreadthFirstSearch(init, goal)
   UpperCAmelCase      =   bd_bfs.search()
   UpperCAmelCase      =   time.time() - start_bd_bfs_time

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