





'''simple docstring'''






from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
A__    :       Any              =0

A__    :       List[str]              =[
    [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__    :       Optional[Any]              =[[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

A__    :       List[Any]              =tuple[int, int]




class 			UpperCAmelCase					:




      def __init__(      self      :			Tuple      ,      __snake_case      :			str      ,      __snake_case      :			Any      ,      __snake_case      :			List[str]      ,      __snake_case      :			Tuple      ,      __snake_case      :			int      ,      __snake_case      :			Tuple      ,      )    ->				Optional[int]:
            _lowerCAmelCase												=							pos_x
            _lowerCAmelCase												=							pos_y
            _lowerCAmelCase												=							(pos_y, pos_x)
            _lowerCAmelCase												=							goal_x
            _lowerCAmelCase												=							goal_y
            _lowerCAmelCase												=							g_cost
            _lowerCAmelCase												=							parent
            _lowerCAmelCase												=							self.calculate_heuristic()
            _lowerCAmelCase												=							self.g_cost + self.h_cost




      def     lowercase__   (      self      :			Any  )    ->				Union[str, Any]:
            _lowerCAmelCase												=							self.pos_x - self.goal_x
            _lowerCAmelCase												=							self.pos_y - self.goal_y
            if HEURISTIC == 1:
                  return abs(a_  ) + abs(a_  )
            else:
                  return sqrt(dy**2 + dx**2  )




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




class 			UpperCAmelCase					:




      def __init__(      self      :			List[Any]      ,      __snake_case      :			str      ,      __snake_case      :			int  )    ->				Optional[Any]:
            _lowerCAmelCase												=							Node(start[1]      ,      start[0]      ,      goal[1]      ,      goal[0]      ,      0      ,      a_  )
            _lowerCAmelCase												=							Node(goal[1]      ,      goal[0]      ,      goal[1]      ,      goal[0]      ,      9_99_99      ,      a_  )

            _lowerCAmelCase												=							[self.start]
            _lowerCAmelCase												=							[]

            _lowerCAmelCase												=							False




      def     lowercase__   (      self      :			Any  )    ->				Any:

            while self.open_nodes:
                  # Open Nodes are sorted using __lt__
                  self.open_nodes.sort()
                  _lowerCAmelCase												=							self.open_nodes.pop(0  )

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

                  self.closed_nodes.append(a_  )
                  _lowerCAmelCase												=							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
                              _lowerCAmelCase												=							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     lowercase__   (      self      :			Optional[int]      ,      __snake_case      :			List[Any]  )    ->				Optional[Any]:
            _lowerCAmelCase												=							[]
            for action in delta:
                  _lowerCAmelCase												=							parent.pos_x + action[1]
                  _lowerCAmelCase												=							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     lowercase__   (      self      :			int      ,      __snake_case      :			Union[str, Any]  )    ->				Tuple:
            _lowerCAmelCase												=							node
            _lowerCAmelCase												=							[]
            while current_node is not None:
                  path.append((current_node.pos_y, current_node.pos_x)  )
                  _lowerCAmelCase												=							current_node.parent
            path.reverse()
            return path




class 			UpperCAmelCase					:




      def __init__(      self      :			Dict      ,      __snake_case      :			Any      ,      __snake_case      :			List[Any]  )    ->				Optional[Any]:
            _lowerCAmelCase												=							AStar(a_      ,      a_  )
            _lowerCAmelCase												=							AStar(a_      ,      a_  )
            _lowerCAmelCase												=							False




      def     lowercase__   (      self      :			Tuple  )    ->				Dict:

            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												=							self.fwd_astar.open_nodes.pop(0  )
                  _lowerCAmelCase												=							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_  )

                  _lowerCAmelCase												=							current_bwd_node
                  _lowerCAmelCase												=							current_fwd_node

                  _lowerCAmelCase												=							{
                      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
                                    _lowerCAmelCase												=							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     lowercase__   (      self      :			Tuple      ,      __snake_case      :			Any      ,      __snake_case      :			Optional[Any]  )    ->				List[Any]:
            _lowerCAmelCase												=							self.fwd_astar.retrace_path(a_  )
            _lowerCAmelCase												=							self.bwd_astar.retrace_path(a_  )
            bwd_path.pop()
            bwd_path.reverse()
            _lowerCAmelCase												=							fwd_path + bwd_path
            return path


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

     A__    :       List[str]              =time.time()
     A__    :       str              =AStar(init, goal)
     A__    :       Tuple              =a_star.search()
     A__    :       int              =time.time() - start_time
     print(F"""AStar execution time = {end_time:f} seconds""")

     A__    :       Dict              =time.time()
     A__    :       List[str]              =BidirectionalAStar(init, goal)
     A__    :       Tuple              =time.time() - bd_start_time
     print(F"""BidirectionalAStar execution time = {bd_end_time:f} seconds""")













'''simple docstring'''






import json
import os
import shutil
import tempfile
import unittest

import numpy as np
import pytest

from transformers import CLIPTokenizer, CLIPTokenizerFast
from transformers.models.clip.tokenization_clip import VOCAB_FILES_NAMES
from transformers.testing_utils import require_vision
from transformers.utils import IMAGE_PROCESSOR_NAME, is_vision_available


if is_vision_available():
      from PIL import Image

      from transformers import CLIPSegProcessor, ViTImageProcessor




@require_vision
class 			UpperCAmelCase					(      unittest.TestCase       ):




      def     lowercase__   (      self      :			List[str]  )    ->				Dict:
            _lowerCAmelCase												=							tempfile.mkdtemp()

            # fmt: off
            _lowerCAmelCase												=							["""l""", """o""", """w""", """e""", """r""", """s""", """t""", """i""", """d""", """n""", """lo""", """l</w>""", """w</w>""", """r</w>""", """t</w>""", """low</w>""", """er</w>""", """lowest</w>""", """newer</w>""", """wider""", """<unk>""", """<|startoftext|>""", """<|endoftext|>"""]
            # fmt: on
            _lowerCAmelCase												=							dict(zip(__snake_case      ,      range(len(__snake_case  )  )  )  )
            _lowerCAmelCase												=							["""#version: 0.2""", """l o""", """lo w</w>""", """e r</w>""", """"""]
            _lowerCAmelCase												=							{"""unk_token""": """<unk>"""}

            _lowerCAmelCase												=							os.path.join(self.tmpdirname      ,      VOCAB_FILES_NAMES["""vocab_file"""]  )
            _lowerCAmelCase												=							os.path.join(self.tmpdirname      ,      VOCAB_FILES_NAMES["""merges_file"""]  )
            with open(self.vocab_file      ,      """w"""      ,      encoding="""utf-8"""  ) as fp:
                  fp.write(json.dumps(__snake_case  ) + """\n"""  )
            with open(self.merges_file      ,      """w"""      ,      encoding="""utf-8"""  ) as fp:
                  fp.write("""\n""".join(__snake_case  )  )

            _lowerCAmelCase												=							{
                """do_resize""": True,
                """size""": 20,
                """do_center_crop""": True,
                """crop_size""": 18,
                """do_normalize""": True,
                """image_mean""": [0.48_14_54_66, 0.4_57_82_75, 0.40_82_10_73],
                """image_std""": [0.26_86_29_54, 0.26_13_02_58, 0.27_57_77_11],
            }
            _lowerCAmelCase												=							os.path.join(self.tmpdirname      ,      __snake_case  )
            with open(self.image_processor_file      ,      """w"""      ,      encoding="""utf-8"""  ) as fp:
                  json.dump(__snake_case      ,      __snake_case  )




      def     lowercase__   (      self      :			Optional[int]      ,      **__snake_case      :			Dict  )    ->				List[str]:
            return CLIPTokenizer.from_pretrained(self.tmpdirname      ,      **__snake_case  )




      def     lowercase__   (      self      :			List[str]      ,      **__snake_case      :			Any  )    ->				List[Any]:
            return CLIPTokenizerFast.from_pretrained(self.tmpdirname      ,      **__snake_case  )




      def     lowercase__   (      self      :			Tuple      ,      **__snake_case      :			List[str]  )    ->				int:
            return ViTImageProcessor.from_pretrained(self.tmpdirname      ,      **__snake_case  )




      def     lowercase__   (      self      :			str  )    ->				Optional[Any]:
            shutil.rmtree(self.tmpdirname  )




      def     lowercase__   (      self      :			str  )    ->				List[Any]:
            _lowerCAmelCase												=							[np.random.randint(2_55      ,      size=(3, 30, 4_00)      ,      dtype=np.uinta  )]

            _lowerCAmelCase												=							[Image.fromarray(np.moveaxis(__snake_case      ,      0      ,      -1  )  ) for x in image_inputs]

            return image_inputs




      def     lowercase__   (      self      :			Optional[Any]  )    ->				List[str]:
            _lowerCAmelCase												=							self.get_tokenizer()
            _lowerCAmelCase												=							self.get_rust_tokenizer()
            _lowerCAmelCase												=							self.get_image_processor()

            _lowerCAmelCase												=							CLIPSegProcessor(tokenizer=__snake_case      ,      image_processor=__snake_case  )
            processor_slow.save_pretrained(self.tmpdirname  )
            _lowerCAmelCase												=							CLIPSegProcessor.from_pretrained(self.tmpdirname      ,      use_fast=__snake_case  )

            _lowerCAmelCase												=							CLIPSegProcessor(tokenizer=__snake_case      ,      image_processor=__snake_case  )
            processor_fast.save_pretrained(self.tmpdirname  )
            _lowerCAmelCase												=							CLIPSegProcessor.from_pretrained(self.tmpdirname  )

            self.assertEqual(processor_slow.tokenizer.get_vocab()      ,      tokenizer_slow.get_vocab()  )
            self.assertEqual(processor_fast.tokenizer.get_vocab()      ,      tokenizer_fast.get_vocab()  )
            self.assertEqual(tokenizer_slow.get_vocab()      ,      tokenizer_fast.get_vocab()  )
            self.assertIsInstance(processor_slow.tokenizer      ,      __snake_case  )
            self.assertIsInstance(processor_fast.tokenizer      ,      __snake_case  )

            self.assertEqual(processor_slow.image_processor.to_json_string()      ,      image_processor.to_json_string()  )
            self.assertEqual(processor_fast.image_processor.to_json_string()      ,      image_processor.to_json_string()  )
            self.assertIsInstance(processor_slow.image_processor      ,      __snake_case  )
            self.assertIsInstance(processor_fast.image_processor      ,      __snake_case  )




      def     lowercase__   (      self      :			Optional[int]  )    ->				Dict:
            _lowerCAmelCase												=							CLIPSegProcessor(tokenizer=self.get_tokenizer()      ,      image_processor=self.get_image_processor()  )
            processor.save_pretrained(self.tmpdirname  )

            _lowerCAmelCase												=							self.get_tokenizer(bos_token="""(BOS)"""      ,      eos_token="""(EOS)"""  )
            _lowerCAmelCase												=							self.get_image_processor(do_normalize=__snake_case      ,      padding_value=1.0  )

            _lowerCAmelCase												=							CLIPSegProcessor.from_pretrained(
                self.tmpdirname      ,      bos_token="""(BOS)"""      ,      eos_token="""(EOS)"""      ,      do_normalize=__snake_case      ,      padding_value=1.0  )

            self.assertEqual(processor.tokenizer.get_vocab()      ,      tokenizer_add_kwargs.get_vocab()  )
            self.assertIsInstance(processor.tokenizer      ,      __snake_case  )

            self.assertEqual(processor.image_processor.to_json_string()      ,      image_processor_add_kwargs.to_json_string()  )
            self.assertIsInstance(processor.image_processor      ,      __snake_case  )




      def     lowercase__   (      self      :			Tuple  )    ->				List[Any]:
            _lowerCAmelCase												=							self.get_image_processor()
            _lowerCAmelCase												=							self.get_tokenizer()

            _lowerCAmelCase												=							CLIPSegProcessor(tokenizer=__snake_case      ,      image_processor=__snake_case  )

            _lowerCAmelCase												=							self.prepare_image_inputs()

            _lowerCAmelCase												=							image_processor(__snake_case      ,      return_tensors="""np"""  )
            _lowerCAmelCase												=							processor(images=__snake_case      ,      return_tensors="""np"""  )

            for key in input_feat_extract.keys():
                  self.assertAlmostEqual(input_feat_extract[key].sum()      ,      input_processor[key].sum()      ,      delta=1E-2  )




      def     lowercase__   (      self      :			Any  )    ->				str:
            _lowerCAmelCase												=							self.get_image_processor()
            _lowerCAmelCase												=							self.get_tokenizer()

            _lowerCAmelCase												=							CLIPSegProcessor(tokenizer=__snake_case      ,      image_processor=__snake_case  )

            _lowerCAmelCase												=							"""lower newer"""

            _lowerCAmelCase												=							processor(text=__snake_case  )

            _lowerCAmelCase												=							tokenizer(__snake_case  )

            for key in encoded_tok.keys():
                  self.assertListEqual(encoded_tok[key]      ,      encoded_processor[key]  )




      def     lowercase__   (      self      :			str  )    ->				Union[str, Any]:
            _lowerCAmelCase												=							self.get_image_processor()
            _lowerCAmelCase												=							self.get_tokenizer()

            _lowerCAmelCase												=							CLIPSegProcessor(tokenizer=__snake_case      ,      image_processor=__snake_case  )

            _lowerCAmelCase												=							"""lower newer"""
            _lowerCAmelCase												=							self.prepare_image_inputs()

            _lowerCAmelCase												=							processor(text=__snake_case      ,      images=__snake_case  )

            self.assertListEqual(list(inputs.keys()  )      ,      ["""input_ids""", """attention_mask""", """pixel_values"""]  )

            # test if it raises when no input is passed
            with pytest.raises(__snake_case  ):
                  processor()




      def     lowercase__   (      self      :			Union[str, Any]  )    ->				Dict:
            _lowerCAmelCase												=							self.get_image_processor()
            _lowerCAmelCase												=							self.get_tokenizer()

            _lowerCAmelCase												=							CLIPSegProcessor(tokenizer=__snake_case      ,      image_processor=__snake_case  )

            _lowerCAmelCase												=							self.prepare_image_inputs()
            _lowerCAmelCase												=							self.prepare_image_inputs()

            _lowerCAmelCase												=							processor(images=__snake_case      ,      visual_prompt=__snake_case  )

            self.assertListEqual(list(inputs.keys()  )      ,      ["""pixel_values""", """conditional_pixel_values"""]  )

            # test if it raises when no input is passed
            with pytest.raises(__snake_case  ):
                  processor()




      def     lowercase__   (      self      :			int  )    ->				Tuple:
            _lowerCAmelCase												=							self.get_image_processor()
            _lowerCAmelCase												=							self.get_tokenizer()

            _lowerCAmelCase												=							CLIPSegProcessor(tokenizer=__snake_case      ,      image_processor=__snake_case  )

            _lowerCAmelCase												=							[[1, 4, 5, 8, 1, 0, 8], [3, 4, 3, 1, 1, 8, 9]]

            _lowerCAmelCase												=							processor.batch_decode(__snake_case  )
            _lowerCAmelCase												=							tokenizer.batch_decode(__snake_case  )

            self.assertListEqual(__snake_case      ,      __snake_case  )






