


import heapq
import sys

import numpy as np

lowerCAmelCase       =							tuple[int, int]


class        _a							:

							def __init__(							self:	int							)			->   Optional[int]:





									"""simple docstring"""







									lowercase__            =      []
									lowercase__            =      set()

							def       lowerCamelCase_ (							self:	Optional[int]							)			->   Tuple:





									"""simple docstring"""







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

							def       lowerCamelCase_ (							self:	Dict							)			->   List[str]:





									"""simple docstring"""







									return len(self.elements							) == 0

							def       lowerCamelCase_ (							self:	Tuple    ,						UpperCamelCase_:	Union[str, Any]    ,						UpperCamelCase_:	List[str]							)			->   str:





									"""simple docstring"""







									if item not in self.set:
											heapq.heappush(self.elements    ,						(priority, item)							)
											self.set.add(UpperCamelCase_							)
									else:
											# update
											# print("update", item)
											lowercase__            =      []
											((lowercase__)     ,		(lowercase__))            =      heapq.heappop(self.elements							)
											while x != item:
													temp.append((pri, x)							)
													((lowercase__)     ,		(lowercase__))            =      heapq.heappop(self.elements							)
											temp.append((priority, item)							)
											for pro, xxx in temp:
													heapq.heappush(self.elements    ,						(pro, xxx)							)

							def       lowerCamelCase_ (							self:	Optional[int]    ,						UpperCamelCase_:	Tuple							)			->   Optional[Any]:





									"""simple docstring"""







									if item in self.set:
											self.set.remove(UpperCamelCase_							)
											lowercase__            =      []
											((lowercase__)     ,		(lowercase__))            =      heapq.heappop(self.elements							)
											while x != item:
													temp.append((pro, x)							)
													((lowercase__)     ,		(lowercase__))            =      heapq.heappop(self.elements							)
											for prito, yyy in temp:
													heapq.heappush(self.elements    ,						(prito, yyy)							)

							def       lowerCamelCase_ (							self:	Dict							)			->   Optional[int]:





									"""simple docstring"""







									return self.elements[0][1]


							def       lowerCamelCase_ (							self:	List[Any]							)			->   List[str]:





									"""simple docstring"""







									((lowercase__)     ,		(lowercase__))            =      heapq.heappop(self.elements							)
									self.set.remove(UpperCamelCase_							)
									return (priority, item)
def 			_a (      SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE     ):


		"""simple docstring"""




		lowercase__            =      np.array(SCREAMING_SNAKE_CASE     )
		lowercase__            =      np.array(SCREAMING_SNAKE_CASE     )
		return np.linalg.norm(a - b     )
def 			_a (      SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE     ):


		"""simple docstring"""




		return consistent_heuristic(SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE     ) // t
def 			_a (      SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE     ):


		"""simple docstring"""




		return abs(p[0] - goal[0]     ) + abs(p[1] - goal[1]     )
def 			_a (      SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE     ):


		"""simple docstring"""




		lowercase__            =      g_function[start] + Wa * heuristics[i](SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE     )
		return ans
def 			_a (      SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE     ):


		"""simple docstring"""




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

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

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

		for i in range(SCREAMING_SNAKE_CASE     ):
				for j in range(SCREAMING_SNAKE_CASE     ):
						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:-'''     )
		lowercase__            =      back_pointer[goal]
		while x != start:
				print(SCREAMING_SNAKE_CASE						,				end=''' '''     )
				lowercase__            =      back_pointer[x]
		print(SCREAMING_SNAKE_CASE     )
		sys.exit()
def 			_a (      SCREAMING_SNAKE_CASE     ):


		"""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 			_a (      SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				):


		"""simple docstring"""




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

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

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


		"""simple docstring"""




		lowercase__            =      []
		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


lowerCAmelCase       =							{0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

lowerCAmelCase       =							[
    (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),
]
lowerCAmelCase       =							make_common_ground()


lowerCAmelCase       =							blocks_blk
# hyper parameters
lowerCAmelCase       =							1
lowerCAmelCase       =							1
lowerCAmelCase       =							20
lowerCAmelCase       =							3  # one consistent and two other inconsistent

# start and end destination
lowerCAmelCase       =							(0, 0)
lowerCAmelCase       =							(n - 1, n - 1)

lowerCAmelCase       =							1
def 			_a (      SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE     ):


		"""simple docstring"""




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

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

		lowercase__            =      []
		lowercase__            =      []
		while open_list[0].minkey() < float('''inf'''     ):
				for i in range(1						,				SCREAMING_SNAKE_CASE     ):
						# 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(SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE     )
								else:
										lowercase__     ,		lowercase__            =      open_list[i].top_show()
										visited.add(SCREAMING_SNAKE_CASE     )
										expand_state(
										    SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				)
										close_list_inad.append(SCREAMING_SNAKE_CASE     )
						else:
								if g_function[goal] <= open_list[0].minkey():
										if g_function[goal] < float('''inf'''     ):
												do_something(SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE     )
								else:
										lowercase__            =      open_list[0].top_show()
										visited.add(SCREAMING_SNAKE_CASE     )
										expand_state(
										    SCREAMING_SNAKE_CASE						,				0						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				SCREAMING_SNAKE_CASE						,				)
										close_list_anchor.append(SCREAMING_SNAKE_CASE     )
		print('''No path found to goal'''     )
		print()
		for i in range(n - 1						,				-1						,				-1     ):
				for j in range(SCREAMING_SNAKE_CASE     ):
						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)






import socket
def 			_a (      ):


		"""simple docstring"""




		lowercase__            =      socket.socket(socket.AF_INET						,				socket.SOCK_STREAM     )
		lowercase__            =      socket.gethostname()
		lowercase__            =      1_23_12

		sock.connect((host, port)     )
		sock.send(B'''Hello server!'''     )

		with open('''Received_file'''						,				'''wb'''     ) as out_file:
				print('''File opened'''     )
				print('''Receiving data...'''     )
				while True:
						lowercase__            =      sock.recv(10_24     )
						if not data:
								break
						out_file.write(SCREAMING_SNAKE_CASE     )

		print('''Successfully received the file'''     )
		sock.close()
		print('''Connection closed'''     )


if __name__ == "__main__":
			main()


