


from __future__ import annotations

import time

lowerCAmelCase	=							list[tuple[int, int]]

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


class 	_a							:

							def __init__(							self:     str   ,						UpperCamelCase_:     int   ,						UpperCamelCase_:     int   ,						UpperCamelCase_:     int   ,						UpperCamelCase_:     int   ,						UpperCamelCase_:     Node | None							)      ->       Dict:





									"""simple docstring"""







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


class 	_a							:

							def __init__(							self:     str   ,						UpperCamelCase_:     tuple[int, int]   ,						UpperCamelCase_:     tuple[int, int]							)      ->       List[Any]:





									"""simple docstring"""







									lowercase__						=				Node(start[1]   ,						start[0]   ,						goal[1]   ,						goal[0]   ,						UpperCamelCase_							)
									lowercase__						=				Node(goal[1]   ,						goal[0]   ,						goal[1]   ,						goal[0]   ,						UpperCamelCase_							)

									lowercase__						=				[self.start]
									lowercase__						=				False

							def 				lowerCamelCase_			(							self:     Any							)      ->       Path | None:





									"""simple docstring"""







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

											if current_node.pos == self.target.pos:
													lowercase__						=				True
													return self.retrace_path(UpperCamelCase_							)

											lowercase__						=				self.get_successors(UpperCamelCase_							)

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

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

							def 				lowerCamelCase_			(							self:     Dict   ,						UpperCamelCase_:     Node							)      ->       list[Node]:





									"""simple docstring"""







									lowercase__						=				[]
									for action in delta:
											lowercase__						=				parent.pos_x + action[1]
											lowercase__						=				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 				lowerCamelCase_			(							self:     Optional[Any]   ,						UpperCamelCase_:     Node | None							)      ->       Path:





									"""simple docstring"""







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


class 	_a							:

							def __init__(							self:     Union[str, Any]   ,						UpperCamelCase_:     Dict   ,						UpperCamelCase_:     Any							)      ->       Tuple:





									"""simple docstring"""







									lowercase__						=				BreadthFirstSearch(UpperCamelCase_   ,						UpperCamelCase_							)
									lowercase__						=				BreadthFirstSearch(UpperCamelCase_   ,						UpperCamelCase_							)
									lowercase__						=				False

							def 				lowerCamelCase_			(							self:     Any							)      ->       Path | None:





									"""simple docstring"""







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

											if current_bwd_node.pos == current_fwd_node.pos:
													lowercase__						=				True
													return self.retrace_bidirectional_path(
													    UpperCamelCase_   ,						UpperCamelCase_							)

											lowercase__						=				current_bwd_node
											lowercase__						=				current_fwd_node

											lowercase__						=				{
											    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 				lowerCamelCase_			(							self:     int   ,						UpperCamelCase_:     Node   ,						UpperCamelCase_:     Node							)      ->       Path:





									"""simple docstring"""







									lowercase__						=				self.fwd_bfs.retrace_path(UpperCamelCase_							)
									lowercase__						=				self.bwd_bfs.retrace_path(UpperCamelCase_							)
									bwd_path.pop()
									bwd_path.reverse()
									lowercase__						=				fwd_path + bwd_path
									return path


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

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

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

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

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

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






import argparse
from collections import defaultdict

import yaml


lowerCAmelCase	=							'docs/source/en/_toctree.yml'
def       _a			(				SCREAMING_SNAKE_CASE					):


		"""simple docstring"""




		lowercase__						=				defaultdict(SCREAMING_SNAKE_CASE					)
		lowercase__						=				[]
		lowercase__						=				[]
		for doc in doc_list:
				if "local" in doc:
						counts[doc["local"]] += 1

				if doc["title"].lower() == "overview":
						overview_doc.append({'''local''': doc['''local'''], '''title''': doc['''title''']}					)
				else:
						new_doc_list.append(SCREAMING_SNAKE_CASE					)

		lowercase__						=				new_doc_list
		lowercase__						=				[key for key, value in counts.items() if value > 1]

		lowercase__						=				[]
		for duplicate_key in duplicates:
				lowercase__						=				list({doc['''title'''] for doc in doc_list if doc['''local'''] == duplicate_key}					)
				if len(SCREAMING_SNAKE_CASE					) > 1:
						raise ValueError(
						    f'{duplicate_key} is present several times in the documentation table of content at '
						    '''`docs/source/en/_toctree.yml` with different *Title* values. Choose one of those and remove the '''
						    '''others.'''					)
				# Only add this once
				new_doc.append({'''local''': duplicate_key, '''title''': titles[0]}					)

		# Add none duplicate-keys
		new_doc.extend([doc for doc in doc_list if '''local''' not in counts or counts[doc['''local''']] == 1]					)
		lowercase__						=				sorted(SCREAMING_SNAKE_CASE						,    key=lambda SCREAMING_SNAKE_CASE					: s["title"].lower()					)

		# "overview" gets special treatment and is always first
		if len(SCREAMING_SNAKE_CASE					) > 1:
				raise ValueError('''{doc_list} has two \'overview\' docs which is not allowed.'''					)

		overview_doc.extend(SCREAMING_SNAKE_CASE					)

		# Sort
		return overview_doc
def       _a			(				SCREAMING_SNAKE_CASE=False					):


		"""simple docstring"""




		with open(SCREAMING_SNAKE_CASE						,    encoding='''utf-8'''					) as f:
				lowercase__						=				yaml.safe_load(f.read()					)

		# Get to the API doc
		lowercase__						=				0
		while content[api_idx]["title"] != "API":
				api_idx += 1
		lowercase__						=				content[api_idx]['''sections''']

		# Then to the model doc
		lowercase__						=				0
		while api_doc[scheduler_idx]["title"] != "Schedulers":
				scheduler_idx += 1

		lowercase__						=				api_doc[scheduler_idx]['''sections''']
		lowercase__						=				clean_doc_toc(SCREAMING_SNAKE_CASE					)

		lowercase__						=				False
		if new_scheduler_doc != scheduler_doc:
				lowercase__						=				True
				if overwrite:
						lowercase__						=				new_scheduler_doc

		if diff:
				if overwrite:
						lowercase__						=				api_doc
						with open(SCREAMING_SNAKE_CASE						,    '''w'''						,    encoding='''utf-8'''					) as f:
								f.write(yaml.dump(SCREAMING_SNAKE_CASE						,    allow_unicode=SCREAMING_SNAKE_CASE					)					)
				else:
						raise ValueError(
						    '''The model doc part of the table of content is not properly sorted, run `make style` to fix this.'''					)
def       _a			(				SCREAMING_SNAKE_CASE=False					):


		"""simple docstring"""




		with open(SCREAMING_SNAKE_CASE						,    encoding='''utf-8'''					) as f:
				lowercase__						=				yaml.safe_load(f.read()					)

		# Get to the API doc
		lowercase__						=				0
		while content[api_idx]["title"] != "API":
				api_idx += 1
		lowercase__						=				content[api_idx]['''sections''']

		# Then to the model doc
		lowercase__						=				0
		while api_doc[pipeline_idx]["title"] != "Pipelines":
				pipeline_idx += 1

		lowercase__						=				False
		lowercase__						=				api_doc[pipeline_idx]['''sections''']
		lowercase__						=				[]

		# sort sub pipeline docs
		for pipeline_doc in pipeline_docs:
				if "section" in pipeline_doc:
						lowercase__						=				pipeline_doc['''section''']
						lowercase__						=				clean_doc_toc(SCREAMING_SNAKE_CASE					)
						if overwrite:
								lowercase__						=				new_sub_pipeline_doc
				new_pipeline_docs.append(SCREAMING_SNAKE_CASE					)

		# sort overall pipeline doc
		lowercase__						=				clean_doc_toc(SCREAMING_SNAKE_CASE					)

		if new_pipeline_docs != pipeline_docs:
				lowercase__						=				True
				if overwrite:
						lowercase__						=				new_pipeline_docs

		if diff:
				if overwrite:
						lowercase__						=				api_doc
						with open(SCREAMING_SNAKE_CASE						,    '''w'''						,    encoding='''utf-8'''					) as f:
								f.write(yaml.dump(SCREAMING_SNAKE_CASE						,    allow_unicode=SCREAMING_SNAKE_CASE					)					)
				else:
						raise ValueError(
						    '''The model doc part of the table of content is not properly sorted, run `make style` to fix this.'''					)


if __name__ == "__main__":
			lowerCAmelCase	=							argparse.ArgumentParser()
			parser.add_argument('--fix_and_overwrite', action='store_true', help='Whether to fix inconsistencies.')
			lowerCAmelCase	=							parser.parse_args()

			check_scheduler_doc(args.fix_and_overwrite)
			check_pipeline_doc(args.fix_and_overwrite)


