


from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
lowerCamelCase						=		0

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

lowerCamelCase						=		tuple[int, int]





class  _a							:




	def __init__( self						:		List[Any]		, _SCREAMING_SNAKE_CASE						:		Union[str, Any]		, _SCREAMING_SNAKE_CASE						:		str		, _SCREAMING_SNAKE_CASE						:		Optional[int]		, _SCREAMING_SNAKE_CASE						:		List[str]		, _SCREAMING_SNAKE_CASE						:		List[Any]		, _SCREAMING_SNAKE_CASE						:		Optional[Any]		, )->	Union[str, Any]:
			lowerCAmelCase__       :      int   					= pos_x
			lowerCAmelCase__       :      List[Any]   					= pos_y
			lowerCAmelCase__       :      Union[str, Any]   					= (pos_y, pos_x)
			lowerCAmelCase__       :      Any   					= goal_x
			lowerCAmelCase__       :      Dict   					= goal_y
			lowerCAmelCase__       :      Any   					= g_cost
			lowerCAmelCase__       :      List[str]   					= parent
			lowerCAmelCase__       :      int   					= self.calculate_heuristic()
			lowerCAmelCase__       :      Any   					= self.g_cost + self.h_cost




	def 							UpperCAmelCase__( self						:		Optional[int]		)->	List[str]:
			lowerCAmelCase__       :      Tuple   					= self.pos_x - self.goal_x
			lowerCAmelCase__       :      Union[str, Any]   					= self.pos_y - self.goal_y
			if HEURISTIC == 1:
					return abs(lowercase_		) + abs(lowercase_		)
			else:
					return sqrt(dy**2 + dx**2		)




	def __lt__( self						:		Optional[int]		, _SCREAMING_SNAKE_CASE						:		List[str]		)->	Dict:
			return self.f_cost < other.f_cost





class  _a							:




	def __init__( self						:		List[str]		, _SCREAMING_SNAKE_CASE						:		Any		, _SCREAMING_SNAKE_CASE						:		Tuple		)->	str:
			lowerCAmelCase__       :      Tuple   					= Node(start[1]		, start[0]		, goal[1]		, goal[0]		, 0		, lowercase_		)
			lowerCAmelCase__       :      List[Any]   					= Node(goal[1]		, goal[0]		, goal[1]		, goal[0]		, 9_9999		, lowercase_		)

			lowerCAmelCase__       :      str   					= [self.start]
			lowerCAmelCase__       :      list[Node]   					= []

			lowerCAmelCase__       :      int   					= False




	def 							UpperCAmelCase__( self						:		int		)->	List[Any]:
			while self.open_nodes:
					# Open Nodes are sorted using __lt__
					self.open_nodes.sort()
					lowerCAmelCase__       :      List[str]   					= self.open_nodes.pop(0		)

					if current_node.pos == self.target.pos:
							return self.retrace_path(lowercase_		)

					self.closed_nodes.append(lowercase_		)
					lowerCAmelCase__       :      str   					= self.get_successors(lowercase_		)

					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(lowercase_		)
							else:
									# retrieve the best current path
									lowerCAmelCase__       :      Union[str, Any]   					= self.open_nodes.pop(self.open_nodes.index(lowercase_		)		)

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

			return [self.start.pos]




	def 							UpperCAmelCase__( self						:		Dict		, _SCREAMING_SNAKE_CASE						:		str		)->	List[str]:
			lowerCAmelCase__       :      Any   					= []
			for action in delta:
					lowerCAmelCase__       :      str   					= parent.pos_x + action[1]
					lowerCAmelCase__       :      int   					= parent.pos_y + action[0]
					if not (0 <= pos_x <= len(grid[0]		) - 1 and 0 <= pos_y <= len(lowercase_		) - 1):
							continue

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

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




	def 							UpperCAmelCase__( self						:		Optional[int]		, _SCREAMING_SNAKE_CASE						:		Dict		)->	Dict:
			lowerCAmelCase__       :      Optional[int]   					= node
			lowerCAmelCase__       :      int   					= []
			while current_node is not None:
					path.append((current_node.pos_y, current_node.pos_x)		)
					lowerCAmelCase__       :      Optional[int]   					= current_node.parent
			path.reverse()
			return path





class  _a							:




	def __init__( self						:		int		, _SCREAMING_SNAKE_CASE						:		Any		, _SCREAMING_SNAKE_CASE						:		Optional[Any]		)->	List[Any]:
			lowerCAmelCase__       :      Dict   					= AStar(lowercase_		, lowercase_		)
			lowerCAmelCase__       :      Optional[Any]   					= AStar(lowercase_		, lowercase_		)
			lowerCAmelCase__       :      Tuple   					= False




	def 							UpperCAmelCase__( self						:		List[Any]		)->	Union[str, Any]:
			while self.fwd_astar.open_nodes or self.bwd_astar.open_nodes:
					self.fwd_astar.open_nodes.sort()
					self.bwd_astar.open_nodes.sort()
					lowerCAmelCase__       :      List[str]   					= self.fwd_astar.open_nodes.pop(0		)
					lowerCAmelCase__       :      List[Any]   					= self.bwd_astar.open_nodes.pop(0		)

					if current_bwd_node.pos == current_fwd_node.pos:
							return self.retrace_bidirectional_path(
							    lowercase_		, lowercase_		)

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

					lowerCAmelCase__       :      Tuple   					= current_bwd_node
					lowerCAmelCase__       :      str   					= current_fwd_node

					lowerCAmelCase__       :      Dict   					= {
					    self.fwd_astar: self.fwd_astar.get_successors(lowercase_		),
					    self.bwd_astar: self.bwd_astar.get_successors(lowercase_		),
					}

					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(lowercase_		)
									else:
											# retrieve the best current path
											lowerCAmelCase__       :      List[Any]   					= astar.open_nodes.pop(
											    astar.open_nodes.index(lowercase_		)		)

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

			return [self.fwd_astar.start.pos]




	def 							UpperCAmelCase__( self						:		List[Any]		, _SCREAMING_SNAKE_CASE						:		int		, _SCREAMING_SNAKE_CASE						:		Optional[Any]		)->	Any:
			lowerCAmelCase__       :      List[Any]   					= self.fwd_astar.retrace_path(lowercase_		)
			lowerCAmelCase__       :      int   					= self.bwd_astar.retrace_path(lowercase_		)
			bwd_path.pop()
			bwd_path.reverse()
			lowerCAmelCase__       :      Any   					= fwd_path + bwd_path
			return path


if __name__ == "__main__":
		# all coordinates are given in format [y,x]
		lowerCamelCase						=		(0, 0)
		lowerCamelCase						=		(len(grid) - 1, len(grid[0]) - 1)
		for elem in grid:
				print(elem)

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

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








import timeit

import numpy as np

import datasets
from datasets.arrow_writer import ArrowWriter
from datasets.features.features import _ArrayXD






def 					lowerCamelCase_   (	_a	):




		"""simple docstring"""






		def wrapper(*_a     ,       **_a	):
				lowerCAmelCase__       :      List[str]   					= timeit.default_timer()
				lowerCAmelCase__       :      List[Any]   					= func(*_a     ,       **_a	)
				lowerCAmelCase__       :      Any   					= timeit.default_timer() - starttime
				return delta

		lowerCAmelCase__       :      Any   					= func.__name__

		return wrapper






def 					lowerCamelCase_   (	_a     ,       _a=100     ,       _a=None	):




		"""simple docstring"""






		lowerCAmelCase__       :      str   					= []
		lowerCAmelCase__       :      str   					= seq_shapes or {}
		for i in range(_a	):
				lowerCAmelCase__       :      List[str]   					= {}
				for col_id, (k, v) in enumerate(features.items()	):
						if isinstance(_a     ,       _ArrayXD	):
								lowerCAmelCase__       :      List[str]   					= np.random.rand(*v.shape	).astype(v.dtype	)
						elif isinstance(_a     ,       datasets.Value	):
								if v.dtype == "string":
										lowerCAmelCase__       :      Dict   					= '''The small grey turtle was surprisingly fast when challenged.'''
								else:
										lowerCAmelCase__       :      Any   					= np.random.randint(10     ,       size=1	).astype(v.dtype	).item()
						elif isinstance(_a     ,       datasets.Sequence	):
								while isinstance(_a     ,       datasets.Sequence	):
										lowerCAmelCase__       :      Optional[int]   					= v.feature
								lowerCAmelCase__       :      str   					= seq_shapes[k]
								lowerCAmelCase__       :      Any   					= np.random.rand(*_a	).astype(v.dtype	)
						lowerCAmelCase__       :      int   					= data

				dummy_data.append((i, example)	)

		return dummy_data






def 					lowerCamelCase_   (	_a     ,       _a     ,       _a=100     ,       _a=None	):




		"""simple docstring"""






		lowerCAmelCase__       :      Optional[Any]   					= generate_examples(_a     ,       num_examples=_a     ,       seq_shapes=_a	)

		with ArrowWriter(features=_a     ,       path=_a	) as writer:
				for key, record in dummy_data:
						lowerCAmelCase__       :      Optional[int]   					= features.encode_example(_a	)
						writer.write(_a	)

				lowerCAmelCase__					,     lowerCAmelCase__       :      List[str]   					= writer.finalize()

		if not num_final_examples == num_examples:
				raise ValueError(
				    f'Error writing the dataset, wrote {num_final_examples} examples but should have written {num_examples}.'	)

		lowerCAmelCase__       :      List[Any]   					= datasets.Dataset.from_file(filename=_a     ,       info=datasets.DatasetInfo(features=_a	)	)

		return dataset




