from __future__ import annotations

_a					:					Tuple=			[
    [-1, 0],  # left
    [0, -1],  # down
    [1, 0],  # right
    [0, 1],  # up
]
def   __UpperCAmelCase    (   UpperCAmelCase_   :    list[list[int]]      ,							UpperCAmelCase_   :    list[int]      ,							UpperCAmelCase_   :    list[int]      ,							UpperCAmelCase_   :    int      ,							UpperCAmelCase_   :    list[list[int]]      ,							)							->      tuple[list[list[int]], list[list[int]]]:

	'''simple docstring'''





	__snake_case      :							Dict						=			[
	    [0 for col in range(len(grid[0]  )  )] for row in range(len(lowerCAmelCase__  )  )
	]  # the reference grid
	__snake_case      :							Tuple						=			1
	__snake_case      :							Union[str, Any]						=			[
	    [0 for col in range(len(grid[0]  )  )] for row in range(len(lowerCAmelCase__  )  )
	]  # the action grid

	__snake_case      :							Any						=			init[0]
	__snake_case      :							Optional[int]						=			init[1]
	__snake_case      :							List[Any]						=			0
	__snake_case      :							Optional[Any]						=			g + heuristic[x][y]  # cost from starting cell to destination cell
	__snake_case      :							Tuple						=			[[f, g, x, y]]

	__snake_case      :							str						=			False  # flag that is set when search is complete
	__snake_case      :							List[Any]						=			False  # flag set if we can't find expand

	while not found and not resign:
		if len(lowerCAmelCase__  ) == 0:
			raise ValueError('Algorithm is unable to find solution'  )
		else:  # to choose the least costliest action so as to move closer to the goal
			cell.sort()
			cell.reverse()
			__snake_case      :							Optional[Any]						=			cell.pop()
			__snake_case      :							Tuple						=			next_cell[2]
			__snake_case      :							Tuple						=			next_cell[3]
			__snake_case      :							Tuple						=			next_cell[1]

			if x == goal[0] and y == goal[1]:
				__snake_case      :							Optional[int]						=			True
			else:
				for i in range(len(lowerCAmelCase__  )  ):  # to try out different valid actions
					__snake_case      :							List[Any]						=			x + DIRECTIONS[i][0]
					__snake_case      :							Any						=			y + DIRECTIONS[i][1]
					if xa >= 0 and xa < len(lowerCAmelCase__  ) and ya >= 0 and ya < len(grid[0]  ):
						if closed[xa][ya] == 0 and grid[xa][ya] == 0:
							__snake_case      :							Union[str, Any]						=			g + cost
							__snake_case      :							Dict						=			ga + heuristic[xa][ya]
							cell.append([fa, ga, xa, ya]  )
							__snake_case      :							Optional[Any]						=			1
							__snake_case      :							Any						=			i
	__snake_case      :							Optional[Any]						=			[]
	__snake_case      :							Optional[int]						=			goal[0]
	__snake_case      :							Dict						=			goal[1]
	invpath.append([x, y]  )  # we get the reverse path from here
	while x != init[0] or y != init[1]:
		__snake_case      :							Union[str, Any]						=			x - DIRECTIONS[action[x][y]][0]
		__snake_case      :							Any						=			y - DIRECTIONS[action[x][y]][1]
		__snake_case      :							Any						=			xa
		__snake_case      :							List[Any]						=			ya
		invpath.append([x, y]  )

	__snake_case      :							List[str]						=			[]
	for i in range(len(lowerCAmelCase__  )  ):
		path.append(invpath[len(lowerCAmelCase__  ) - 1 - i]  )
	return path, action


if __name__ == "__main__":
	_a					:					Optional[Any]=			[
	    [0, 1, 0, 0, 0, 0],
	    [0, 1, 0, 0, 0, 0],  # 0 are free path whereas 1's are obstacles
	    [0, 1, 0, 0, 0, 0],
	    [0, 1, 0, 0, 1, 0],
	    [0, 0, 0, 0, 1, 0],
	]

	_a					:					Optional[Any]=			[0, 0]
	# all coordinates are given in format [y,x]
	_a					:					List[Any]=			[len(grid) - 1, len(grid[0]) - 1]
	_a					:					Optional[Any]=			1

	# the cost map which pushes the path closer to the goal
	_a					:					Union[str, Any]=			[[0 for row in range(len(grid[0]))] for col in range(len(grid))]
	for i in range(len(grid)):
		for j in range(len(grid[0])):
			_a					:					Tuple=			abs(i - goal[0]) + abs(j - goal[1])
			if grid[i][j] == 1:
				# added extra penalty in the heuristic map
				_a					:					Any=			99

	_a,		_a					:					Any=			search(grid, init, goal, cost, heuristic)

	print("ACTION MAP")
	for i in range(len(action)):
		print(action[i])

	for i in range(len(path)):
		print(path[i])






"""simple docstring"""







import gc
import unittest

import numpy as np
import torch
from transformers import CLIPTextConfig, CLIPTextModel, CLIPTokenizer

from diffusers import TransformeraDModel, VQDiffusionPipeline, VQDiffusionScheduler, VQModel
from diffusers.pipelines.vq_diffusion.pipeline_vq_diffusion import LearnedClassifierFreeSamplingEmbeddings
from diffusers.utils import load_numpy, slow, torch_device
from diffusers.utils.testing_utils import require_torch_gpu


_a					:					List[str]=			False

class 		UpperCamelCase      (   unittest.TestCase						):



				def  _lowercase					(self    :				List[str])   ->     List[Any]:
					# clean up the VRAM after each test
					super().tearDown()
					gc.collect()
					torch.cuda.empty_cache()



				@property
				def  _lowercase					(self    :				Optional[Any])   ->     Union[str, Any]:
					return 12



				@property
				def  _lowercase					(self    :				Dict)   ->     Union[str, Any]:
					return 12



				@property
				def  _lowercase					(self    :				int)   ->     Tuple:
					return 32



				@property
				def  _lowercase					(self    :				Optional[int])   ->     Dict:
					torch.manual_seed(0)
					__snake_case      :							Any						=			VQModel(
					    block_out_channels=[32, 64]     ,  in_channels=3     ,  out_channels=3     ,  down_block_types=['DownEncoderBlock2D', 'DownEncoderBlock2D']     ,  up_block_types=['UpDecoderBlock2D', 'UpDecoderBlock2D']     ,  latent_channels=3     ,  num_vq_embeddings=self.num_embed     ,  vq_embed_dim=3     ,  )
					return model



				@property
				def  _lowercase					(self    :				List[Any])   ->     Optional[int]:
					__snake_case      :							Dict						=			CLIPTokenizer.from_pretrained('hf-internal-testing/tiny-random-clip')
					return tokenizer



				@property
				def  _lowercase					(self    :				Union[str, Any])   ->     Optional[int]:
					torch.manual_seed(0)
					__snake_case      :							Any						=			CLIPTextConfig(
					    bos_token_id=0     ,  eos_token_id=2     ,  hidden_size=self.text_embedder_hidden_size     ,  intermediate_size=37     ,  layer_norm_eps=1E-05     ,  num_attention_heads=4     ,  num_hidden_layers=5     ,  pad_token_id=1     ,  vocab_size=10_00     ,  )
					return CLIPTextModel(_A)



				@property
				def  _lowercase					(self    :				Union[str, Any])   ->     Dict:
					torch.manual_seed(0)

					__snake_case      :							Any						=			12
					__snake_case      :							int						=			12

					__snake_case      :							List[Any]						=			{
					    'attention_bias': True,
					    'cross_attention_dim': 32,
					    'attention_head_dim': height * width,
					    'num_attention_heads': 1,
					    'num_vector_embeds': self.num_embed,
					    'num_embeds_ada_norm': self.num_embeds_ada_norm,
					    'norm_num_groups': 32,
					    'sample_size': width,
					    'activation_fn': 'geglu-approximate',
					}

					__snake_case      :							Union[str, Any]						=			TransformeraDModel(**_A)
					return model



				def  _lowercase					(self    :				Union[str, Any])   ->     Dict:
					__snake_case      :							Tuple						=			'cpu'

					__snake_case      :							List[str]						=			self.dummy_vqvae
					__snake_case      :							str						=			self.dummy_text_encoder
					__snake_case      :							Optional[Any]						=			self.dummy_tokenizer
					__snake_case      :							Dict						=			self.dummy_transformer
					__snake_case      :							Optional[int]						=			VQDiffusionScheduler(self.num_embed)
					__snake_case      :							List[Any]						=			LearnedClassifierFreeSamplingEmbeddings(learnable=_A)

					__snake_case      :							List[Any]						=			VQDiffusionPipeline(
					    vqvae=_A     ,  text_encoder=_A     ,  tokenizer=_A     ,  transformer=_A     ,  scheduler=_A     ,  learned_classifier_free_sampling_embeddings=_A     ,  )
					__snake_case      :							List[Any]						=			pipe.to(_A)
					pipe.set_progress_bar_config(disable=_A)

					__snake_case      :							Optional[Any]						=			'teddy bear playing in the pool'

					__snake_case      :							str						=			torch.Generator(device=_A).manual_seed(0)
					__snake_case      :							Union[str, Any]						=			pipe([prompt]     ,  generator=_A     ,  num_inference_steps=2     ,  output_type='np')
					__snake_case      :							Optional[int]						=			output.images

					__snake_case      :							int						=			torch.Generator(device=_A).manual_seed(0)
					__snake_case      :							Tuple						=			pipe(
					    [prompt]     ,  generator=_A     ,  output_type='np'     ,  return_dict=_A     ,  num_inference_steps=2)[0]

					__snake_case      :							str						=			image[0, -3:, -3:, -1]
					__snake_case      :							Union[str, Any]						=			image_from_tuple[0, -3:, -3:, -1]

					assert image.shape == (1, 24, 24, 3)

					__snake_case      :							str						=			np.array([0.6_551, 0.6_168, 0.5_008, 0.5_676, 0.5_659, 0.4_295, 0.6_073, 0.5_599, 0.4_992])

					assert np.abs(image_slice.flatten() - expected_slice).max() < 1E-2
					assert np.abs(image_from_tuple_slice.flatten() - expected_slice).max() < 1E-2






				def  _lowercase					(self    :				Tuple)   ->     Optional[int]:
					__snake_case      :							Optional[Any]						=			'cpu'

					__snake_case      :							Optional[int]						=			self.dummy_vqvae
					__snake_case      :							List[str]						=			self.dummy_text_encoder
					__snake_case      :							Optional[int]						=			self.dummy_tokenizer
					__snake_case      :							Optional[Any]						=			self.dummy_transformer
					__snake_case      :							Union[str, Any]						=			VQDiffusionScheduler(self.num_embed)
					__snake_case      :							Optional[int]						=			LearnedClassifierFreeSamplingEmbeddings(
					    learnable=_A     ,  hidden_size=self.text_embedder_hidden_size     ,  length=tokenizer.model_max_length)

					__snake_case      :							Union[str, Any]						=			VQDiffusionPipeline(
					    vqvae=_A     ,  text_encoder=_A     ,  tokenizer=_A     ,  transformer=_A     ,  scheduler=_A     ,  learned_classifier_free_sampling_embeddings=_A     ,  )
					__snake_case      :							Union[str, Any]						=			pipe.to(_A)
					pipe.set_progress_bar_config(disable=_A)

					__snake_case      :							Union[str, Any]						=			'teddy bear playing in the pool'

					__snake_case      :							Optional[int]						=			torch.Generator(device=_A).manual_seed(0)
					__snake_case      :							Tuple						=			pipe([prompt]     ,  generator=_A     ,  num_inference_steps=2     ,  output_type='np')
					__snake_case      :							Optional[Any]						=			output.images

					__snake_case      :							str						=			torch.Generator(device=_A).manual_seed(0)
					__snake_case      :							Dict						=			pipe(
					    [prompt]     ,  generator=_A     ,  output_type='np'     ,  return_dict=_A     ,  num_inference_steps=2)[0]

					__snake_case      :							int						=			image[0, -3:, -3:, -1]
					__snake_case      :							Tuple						=			image_from_tuple[0, -3:, -3:, -1]

					assert image.shape == (1, 24, 24, 3)

					__snake_case      :							Optional[Any]						=			np.array([0.6_693, 0.6_075, 0.4_959, 0.5_701, 0.5_583, 0.4_333, 0.6_171, 0.5_684, 0.4_988])

					assert np.abs(image_slice.flatten() - expected_slice).max() < 2.0
					assert np.abs(image_from_tuple_slice.flatten() - expected_slice).max() < 1E-2







@slow
@require_torch_gpu
class 		UpperCamelCase      (   unittest.TestCase						):



				def  _lowercase					(self    :				Any)   ->     Union[str, Any]:
					# clean up the VRAM after each test
					super().tearDown()
					gc.collect()
					torch.cuda.empty_cache()






				def  _lowercase					(self    :				Tuple)   ->     Optional[int]:
					__snake_case      :							List[Any]						=			load_numpy(
					    'https://huggingface.co/datasets/hf-internal-testing/diffusers-images/resolve/main'
					    '/vq_diffusion/teddy_bear_pool_classifier_free_sampling.npy')

					__snake_case      :							Union[str, Any]						=			VQDiffusionPipeline.from_pretrained('microsoft/vq-diffusion-ithq')
					__snake_case      :							Tuple						=			pipeline.to(_A)
					pipeline.set_progress_bar_config(disable=_A)

					# requires GPU generator for gumbel softmax
					# don't use GPU generator in tests though
					__snake_case      :							Optional[int]						=			torch.Generator(device=_A).manual_seed(0)
					__snake_case      :							int						=			pipeline(
					    'teddy bear playing in the pool'     ,  num_images_per_prompt=1     ,  generator=_A     ,  output_type='np'     ,  )

					__snake_case      :							int						=			output.images[0]

					assert image.shape == (2_56, 2_56, 3)
					assert np.abs(expected_image - image).max() < 2.0





