





# Lint as: python3
import sys
from collections.abc import Mapping
from typing import TYPE_CHECKING, Dict, Optional

import numpy as np
import pyarrow as pa

from .. import config
from ..utils.logging import get_logger
from ..utils.py_utils import map_nested
from .formatting import TensorFormatter


if TYPE_CHECKING:
      import jax
      import jaxlib

snake_case								=							get_logger()

snake_case								=							None





class 					A_					(   TensorFormatter[Mapping, '''jax.Array''', Mapping]						):







       """simple docstring"""





       def __init__(     self						:						List[Any]    ,__A						:						Tuple=None    ,__A						:						int=None    ,**__A						:						Any	)    ->       str:
         super().__init__(features=__A	)
         import jax
         from jaxlib.xla_client import Device

         if isinstance(__A    ,__A	):
           raise ValueError(
               F"""Expected {device} to be a `str` not {type(__A	)}, as `jaxlib.xla_extension.Device` """
               'is not serializable neither with `pickle` nor with `dill`. Instead you can surround '
               'the device with `str()` to get its string identifier that will be internally mapped '
               'to the actual `jaxlib.xla_extension.Device`.'	)
         _lowercase						    =			device if isinstance(__A    ,__A	) else str(jax.devices()[0]	)
         # using global variable since `jaxlib.xla_extension.Device` is not serializable neither
         # with `pickle` nor with `dill`, so we need to use a global variable instead
         global DEVICE_MAPPING
         if DEVICE_MAPPING is None:
           _lowercase						    =			self._map_devices_to_str()
         if self.device not in list(DEVICE_MAPPING.keys()	):
           logger.warning(
               F"""Device with string identifier {self.device} not listed among the available """
               F"""devices: {list(DEVICE_MAPPING.keys()	)}, so falling back to the default """
               F"""device: {str(jax.devices()[0]	)}."""	)
           _lowercase						    =			str(jax.devices()[0]	)
         _lowercase						    =			jnp_array_kwargs







       @staticmethod
       def  __UpperCAmelCase			(     )    ->       Dict[str, "jaxlib.xla_extension.Device"]:
         import jax

         return {str(__A	): device for device in jax.devices()}







       def  __UpperCAmelCase			(     self						:						Union[str, Any]    ,__A						:						Optional[int]	)    ->       Optional[int]:
         import jax
         import jax.numpy as jnp

         if isinstance(__A    ,__A	) and column:
           if all(
               isinstance(__A    ,jax.Array	) and x.shape == column[0].shape and x.dtype == column[0].dtype for x in column	):
             return jnp.stack(__A    ,axis=0	)
         return column







       def  __UpperCAmelCase			(     self						:						Optional[int]    ,__A						:						Optional[int]	)    ->       Dict:
         import jax
         import jax.numpy as jnp

         if isinstance(__A    ,(str, bytes, type(__A	))	):
           return value
         elif isinstance(__A    ,(np.character, np.ndarray)	) and np.issubdtype(value.dtype    ,np.character	):
           return value.tolist()

         _lowercase						    =			{}

         if isinstance(__A    ,(np.number, np.ndarray)	) and np.issubdtype(value.dtype    ,np.integer	):
           # the default int precision depends on the jax config
           # see https://jax.readthedocs.io/en/latest/notebooks/Common_Gotchas_in_JAX.html#double-64bit-precision
           if jax.config.jax_enable_xaa:
             _lowercase						    =			{'dtype': jnp.intaa}
           else:
             _lowercase						    =			{'dtype': jnp.intaa}
         elif isinstance(__A    ,(np.number, np.ndarray)	) and np.issubdtype(value.dtype    ,np.floating	):
           _lowercase						    =			{'dtype': jnp.floataa}
         elif config.PIL_AVAILABLE and "PIL" in sys.modules:
           import PIL.Image

           if isinstance(__A    ,PIL.Image.Image	):
             _lowercase						    =			np.asarray(__A	)

        # using global variable since `jaxlib.xla_extension.Device` is not serializable neither
        # with `pickle` nor with `dill`, so we need to use a global variable instead
         global DEVICE_MAPPING
         if DEVICE_MAPPING is None:
           _lowercase						    =			self._map_devices_to_str()

         with jax.default_device(DEVICE_MAPPING[self.device]	):
           # calling jnp.array on a np.ndarray does copy the data
           # see https://github.com/google/jax/issues/4486
           return jnp.array(__A    ,**{**default_dtype, **self.jnp_array_kwargs}	)







       def  __UpperCAmelCase			(     self						:						Optional[Any]    ,__A						:						int	)    ->       List[str]:
         import jax

         # support for torch, tf, jax etc.
         if config.TORCH_AVAILABLE and "torch" in sys.modules:
           import torch

           if isinstance(__A    ,torch.Tensor	):
             return self._tensorize(data_struct.detach().cpu().numpy()[()]	)
         if hasattr(__A    ,'__array__'	) and not isinstance(__A    ,jax.Array	):
           _lowercase						    =			data_struct.__array__()
         # support for nested types like struct of list of struct
         if isinstance(__A    ,np.ndarray	):
           if data_struct.dtype == object:  # jax arrays cannot be instantied from an array of objects
             return self._consolidate([self.recursive_tensorize(__A	) for substruct in data_struct]	)
         elif isinstance(__A    ,(list, tuple)	):
           return self._consolidate([self.recursive_tensorize(__A	) for substruct in data_struct]	)
         return self._tensorize(__A	)







       def  __UpperCAmelCase			(     self						:						Optional[Any]    ,__A						:						dict	)    ->       Tuple:
         return map_nested(self._recursive_tensorize    ,__A    ,map_list=__A	)







       def  __UpperCAmelCase			(     self						:						List[Any]    ,__A						:						pa.Table	)    ->       Mapping:
         _lowercase						    =			self.numpy_arrow_extractor().extract_row(__A	)
         _lowercase						    =			self.python_features_decoder.decode_row(__A	)
         return self.recursive_tensorize(__A	)







       def  __UpperCAmelCase			(     self						:						Union[str, Any]    ,__A						:						pa.Table	)    ->       "jax.Array":
         _lowercase						    =			self.numpy_arrow_extractor().extract_column(__A	)
         _lowercase						    =			self.python_features_decoder.decode_column(__A    ,pa_table.column_names[0]	)
         _lowercase						    =			self.recursive_tensorize(__A	)
         _lowercase						    =			self._consolidate(__A	)
         return column







       def  __UpperCAmelCase			(     self						:						Dict    ,__A						:						pa.Table	)    ->       Mapping:
         _lowercase						    =			self.numpy_arrow_extractor().extract_batch(__A	)
         _lowercase						    =			self.python_features_decoder.decode_batch(__A	)
         _lowercase						    =			self.recursive_tensorize(__A	)
         for column_name in batch:
           _lowercase						    =			self._consolidate(batch[column_name]	)
         return batch





'''simple docstring'''

import heapq
import sys

import numpy as np

a    :							Dict										=    tuple[int, int]






class 		a							:


				def __init__(						self       :   Dict   ):
									snake_case_		     =							[]
									snake_case_		     =							set()


				def     A_					(						self       :   int   ):
									if not self.empty():
														return self.elements[0][0]
									else:
														return float('''inf'''   )


				def     A_					(						self       :   List[str]   ):
									return len(self.elements   ) == 0


				def     A_					(						self       :   Union[str, Any]			,							lowercase_       :   str			,							lowercase_       :   List[str]   ):
									if item not in self.set:
														heapq.heappush(self.elements			,							(priority, item)   )
														self.set.add(lowercase_   )
									else:
														# update
														# print("update", item)
														snake_case_		     =							[]
														((snake_case_)     ,(snake_case_))		     =							heapq.heappop(self.elements   )
														while x != item:
																			temp.append((pri, x)   )
																			((snake_case_)     ,(snake_case_))		     =							heapq.heappop(self.elements   )
														temp.append((priority, item)   )
														for pro, xxx in temp:
																			heapq.heappush(self.elements			,							(pro, xxx)   )


				def     A_					(						self       :   Union[str, Any]			,							lowercase_       :   List[Any]   ):
									if item in self.set:
														self.set.remove(lowercase_   )
														snake_case_		     =							[]
														((snake_case_)     ,(snake_case_))		     =							heapq.heappop(self.elements   )
														while x != item:
																			temp.append((pro, x)   )
																			((snake_case_)     ,(snake_case_))		     =							heapq.heappop(self.elements   )
														for prito, yyy in temp:
																			heapq.heappush(self.elements			,							(prito, yyy)   )


				def     A_					(						self       :   Optional[int]   ):
									return self.elements[0][1]


				def     A_					(						self       :   Tuple   ):
									((snake_case_)     ,(snake_case_))		     =							heapq.heappop(self.elements   )
									self.set.remove(lowercase_   )
									return (priority, item)







def 						__magic_name__       (      __UpperCAmelCase, __UpperCAmelCase      )						->   Any:

					'''simple docstring'''

					snake_case_		     =							np.array(__UpperCAmelCase      )
					snake_case_		     =							np.array(__UpperCAmelCase      )
					return np.linalg.norm(a - b      )


def 						__magic_name__       (      __UpperCAmelCase, __UpperCAmelCase      )						->   int:

					'''simple docstring'''

					return consistent_heuristic(__UpperCAmelCase, __UpperCAmelCase      ) // t


def 						__magic_name__       (      __UpperCAmelCase, __UpperCAmelCase      )						->   List[str]:

					'''simple docstring'''

					return abs(p[0] - goal[0]      ) + abs(p[1] - goal[1]      )


def 						__magic_name__       (      __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase      )						->   Optional[int]:

					'''simple docstring'''

					snake_case_		     =							g_function[start] + Wa * heuristics[i](__UpperCAmelCase, __UpperCAmelCase      )
					return ans


def 						__magic_name__       (      __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase      )						->   Optional[Any]:

					'''simple docstring'''

					snake_case_		     =							np.chararray((n, n)      )
					for i in range(__UpperCAmelCase      ):
										for j in range(__UpperCAmelCase      ):
															snake_case_		     =							'''*'''

					for i in range(__UpperCAmelCase      ):
										for j in range(__UpperCAmelCase      ):
															if (j, (n - 1) - i) in blocks:
																				snake_case_		     =							'''#'''

					snake_case_		     =							'''-'''
					snake_case_		     =							back_pointer[goal]
					while x != start:
										((snake_case_)     ,(snake_case_))		     =							x
										# print(x)
										snake_case_		     =							'''-'''
										snake_case_		     =							back_pointer[x]
					snake_case_		     =							'''-'''

					for i in range(__UpperCAmelCase      ):
										for j in range(__UpperCAmelCase      ):
															if (i, j) == (0, n - 1):
																				print(grid[i][j], end=''' '''      )
																				print('''<-- End position''', end=''' '''      )
															else:
																				print(grid[i][j], end=''' '''      )
										print()
					print('''^'''      )
					print('''Start position'''      )
					print()
					print('''# is an obstacle'''      )
					print('''- is the path taken by algorithm'''      )
					print('''PATH TAKEN BY THE ALGORITHM IS:-'''      )
					snake_case_		     =							back_pointer[goal]
					while x != start:
										print(__UpperCAmelCase, end=''' '''      )
										snake_case_		     =							back_pointer[x]
					print(__UpperCAmelCase      )
					sys.exit()


def 						__magic_name__       (      __UpperCAmelCase      )						->   int:

					'''simple docstring'''

					if p[0] < 0 or p[0] > n - 1:
										return False
					if p[1] < 0 or p[1] > n - 1:
										return False
					return True


def 						__magic_name__       (      __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, )						->   str:

					'''simple docstring'''

					for itera in range(__UpperCAmelCase      ):
										open_list[itera].remove_element(__UpperCAmelCase      )
					# print("s", s)
					# print("j", j)
					((snake_case_)     ,(snake_case_))		     =							s
					snake_case_		     =							(x - 1, y)
					snake_case_		     =							(x + 1, y)
					snake_case_		     =							(x, y + 1)
					snake_case_		     =							(x, y - 1)

					for neighbours in [left, right, up, down]:
										if neighbours not in blocks:
															if valid(__UpperCAmelCase      ) and neighbours not in visited:
																				# print("neighbour", neighbours)
																				visited.add(__UpperCAmelCase      )
																				snake_case_		     =							-1
																				snake_case_		     =							float('''inf'''      )

															if valid(__UpperCAmelCase      ) and g_function[neighbours] > g_function[s] + 1:
																				snake_case_		     =							g_function[s] + 1
																				snake_case_		     =							s
																				if neighbours not in close_list_anchor:
																									open_list[0].put(__UpperCAmelCase, key(__UpperCAmelCase, 0, __UpperCAmelCase, __UpperCAmelCase      )      )
																									if neighbours not in close_list_inad:
																														for var in range(1, __UpperCAmelCase      ):
																																			if key(__UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase      ) <= Wa * key(
																																			    __UpperCAmelCase, 0, __UpperCAmelCase, __UpperCAmelCase      ):
																																								open_list[j].put(
																																								    __UpperCAmelCase, key(__UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase      )      )


def 						__magic_name__       (      )						->   str:

					'''simple docstring'''

					snake_case_		     =							[]
					for x in range(1, 5      ):
										for y in range(1, 6      ):
															some_list.append((x, y)      )

					for x in range(15, 20      ):
										some_list.append((x, 17)      )

					for x in range(10, 19      ):
										for y in range(1, 15      ):
															some_list.append((x, y)      )

    # L block
					for x in range(1, 4      ):
										for y in range(12, 19      ):
															some_list.append((x, y)      )
					for x in range(3, 13      ):
										for y in range(16, 19      ):
															some_list.append((x, y)      )
					return some_list


a    :							Tuple										=    {0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

a    :							Dict										=    [
    (0, 1),
    (1, 1),
    (2, 1),
    (3, 1),
    (4, 1),
    (5, 1),
    (6, 1),
    (7, 1),
    (8, 1),
    (9, 1),
    (10, 1),
    (11, 1),
    (12, 1),
    (13, 1),
    (14, 1),
    (15, 1),
    (16, 1),
    (17, 1),
    (18, 1),
    (19, 1),
]
a    :							List[str]										=    make_common_ground()


a    :							Optional[int]										=    blocks_blk
# hyper parameters
a    :							Union[str, Any]										=    1
a    :							str										=    1
a    :							int										=    20
a    :							Optional[int]										=    3  # one consistent and two other inconsistent

# start and end destination
a    :							List[str]										=    (0, 0)
a    :							str										=    (n - 1, n - 1)

a    :							str										=    1


def 						__magic_name__       (      __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase      )						->   List[str]:

					'''simple docstring'''

					snake_case_		     =							{start: 0, goal: float('''inf'''      )}
					snake_case_		     =							{start: -1, goal: -1}
					snake_case_		     =							[]
					snake_case_		     =							set()

					for i in range(__UpperCAmelCase      ):
										open_list.append(PriorityQueue()      )
										open_list[i].put(__UpperCAmelCase, key(__UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase      )      )

					snake_case_		     =							[]
					snake_case_		     =							[]
					while open_list[0].minkey() < float('''inf'''      ):
										for i in range(1, __UpperCAmelCase      ):
															# print(open_list[0].minkey(), open_list[i].minkey())
															if open_list[i].minkey() <= Wa * open_list[0].minkey():
																				global t
																				t += 1
																				if g_function[goal] <= open_list[i].minkey():
																									if g_function[goal] < float('''inf'''      ):
																														do_something(__UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase      )
																				else:
																									snake_case_     ,snake_case_		     =							open_list[i].top_show()
																									visited.add(__UpperCAmelCase      )
																									expand_state(
																									    __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, )
																									close_list_inad.append(__UpperCAmelCase      )
															else:
																				if g_function[goal] <= open_list[0].minkey():
																									if g_function[goal] < float('''inf'''      ):
																														do_something(__UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase      )
																				else:
																									snake_case_		     =							open_list[0].top_show()
																									visited.add(__UpperCAmelCase      )
																									expand_state(
																									    __UpperCAmelCase, 0, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, __UpperCAmelCase, )
																									close_list_anchor.append(__UpperCAmelCase      )
					print('''No path found to goal'''      )
					print()
					for i in range(n - 1, -1, -1      ):
										for j in range(__UpperCAmelCase      ):
															if (j, i) in blocks:
																				print('''#''', end=''' '''      )
															elif (j, i) in back_pointer:
																				if (j, i) == (n - 1, n - 1):
																									print('''*''', end=''' '''      )
																				else:
																									print('''-''', end=''' '''      )
															else:
																				print('''*''', end=''' '''      )
															if (j, i) == (n - 1, n - 1):
																				print('''<-- End position''', end=''' '''      )
										print()
					print('''^'''      )
					print('''Start position'''      )
					print()
					print('''# is an obstacle'''      )
					print('''- is the path taken by algorithm'''      )


if __name__ == "__main__":
							multi_a_star(start, goal, n_heuristic)

