






import heapq
import sys

import numpy as np

lowercase  							=					tuple[int, int]




class  UpperCamelCase_      :



	'''simple docstring'''




	def __init__(       self					)       ->    Union[str, Any]:
								snake_case_				=							[]
								snake_case_				=							set()




	def 							_UpperCamelCase			(       self					)       ->    Dict:
								if not self.empty():
															return self.elements[0][0]
								else:
															return float('inf'					)




	def 							_UpperCamelCase			(       self					)       ->    List[str]:
								return len(self.elements					) == 0




	def 							_UpperCamelCase			(       self       ,			a       ,			a					)       ->    int:
								if item not in self.set:
															heapq.heappush(self.elements       ,			(priority, item)					)
															self.set.add(a					)
								else:
															# update
															# print("update", item)
															snake_case_				=							[]
															(snake_case_)				=							heapq.heappop(self.elements					)
															while x != item:
																						temp.append((pri, x)					)
																						(snake_case_)				=							heapq.heappop(self.elements					)
															temp.append((priority, item)					)
															for pro, xxx in temp:
																						heapq.heappush(self.elements       ,			(pro, xxx)					)




	def 							_UpperCamelCase			(       self       ,			a					)       ->    Any:
								if item in self.set:
															self.set.remove(a					)
															snake_case_				=							[]
															(snake_case_)				=							heapq.heappop(self.elements					)
															while x != item:
																						temp.append((pro, x)					)
																						(snake_case_)				=							heapq.heappop(self.elements					)
															for prito, yyy in temp:
																						heapq.heappush(self.elements       ,			(prito, yyy)					)




	def 							_UpperCamelCase			(       self					)       ->    Dict:
								return self.elements[0][1]






	def 							_UpperCamelCase			(       self					)       ->    Any:
								(snake_case_)				=							heapq.heappop(self.elements					)
								self.set.remove(a					)
								return (priority, item)






def 						__UpperCAmelCase			(     a_							,     a_):
							# euclidean distance
							snake_case_				=							np.array(_lowercase)
							snake_case_				=							np.array(_lowercase)
							return np.linalg.norm(a - b)





def 						__UpperCAmelCase			(     a_							,     a_):
							# integer division by time variable
							return consistent_heuristic(_lowercase							,     _lowercase) // t





def 						__UpperCAmelCase			(     a_							,     a_):
							# manhattan distance
							return abs(p[0] - goal[0]) + abs(p[1] - goal[1])





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





def 						__UpperCAmelCase			(     a_							,     a_							,     a_):
							snake_case_				=							np.chararray((n, n))
							for i in range(_lowercase):
														for j in range(_lowercase):
																					snake_case_				=							"""*"""

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

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

							for i in range(_lowercase):
														for j in range(_lowercase):
																					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(_lowercase							,     end=' ')
														snake_case_				=							back_pointer[x]
							print(_lowercase)
							sys.exit()





def 						__UpperCAmelCase			(     a_):
							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 						__UpperCAmelCase			(     a_							,     a_							,     a_							,     a_							,     a_							,     a_							,     a_							,     a_							,     ):
							for itera in range(_lowercase):
														open_list[itera].remove_element(_lowercase)
							# print("s", s)
							# print("j", j)
							(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(_lowercase) and neighbours not in visited:
																												# print("neighbour", neighbours)
																												visited.add(_lowercase)
																												snake_case_				=							-1
																												snake_case_				=							float('inf')

																					if valid(_lowercase) 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(_lowercase							,     key(_lowercase							,     0							,     _lowercase							,     _lowercase))
																																			if neighbours not in close_list_inad:
																																										for var in range(1							,     _lowercase):
																																																	if key(_lowercase							,     _lowercase							,     _lowercase							,     _lowercase) <= Wa * key(
																																																	    _lowercase							,     0							,     _lowercase							,     _lowercase):
																																																								open_list[j].put(
																																																								    _lowercase							,     key(_lowercase							,     _lowercase							,     _lowercase							,     _lowercase))





def 						__UpperCAmelCase			(     ):
							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


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

lowercase  							=					[
    (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),
]
lowercase  							=					make_common_ground()


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

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

lowercase  							=					1





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

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

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










'''simple docstring'''




# Copyright 2023 The HuggingFace Team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import torch

from accelerate import PartialState
from accelerate.utils.operations import broadcast, gather, gather_object, pad_across_processes, reduce



def       __lowerCamelCase  (					_lowercase		)      ->			Tuple:
							return (torch.arange(state.num_processes		) + 1.0 + (state.num_processes * state.process_index)).to(state.device		)



def       __lowerCamelCase  (					_lowercase		)      ->			List[Any]:
							UpperCAmelCase     :		Any							     =		create_tensor(_lowercase		)
							UpperCAmelCase     :		Union[str, Any]							     =		gather(_lowercase		)
							assert gathered_tensor.tolist() == list(range(1	,				state.num_processes**2 + 1		)		)



def       __lowerCamelCase  (					_lowercase		)      ->			Optional[int]:
							UpperCAmelCase     :		Any							     =		[state.process_index]
							UpperCAmelCase     :		Union[str, Any]							     =		gather_object(_lowercase		)
							assert len(_lowercase		) == state.num_processes, F'''{gathered_obj}, {len(_lowercase		)} != {state.num_processes}'''
							assert gathered_obj == list(range(state.num_processes		)		), F'''{gathered_obj} != {list(range(state.num_processes		)		)}'''



def       __lowerCamelCase  (					_lowercase		)      ->			List[Any]:
							UpperCAmelCase     :		Optional[int]							     =		create_tensor(_lowercase		)
							UpperCAmelCase     :		List[str]							     =		broadcast(_lowercase		)
							assert broadcasted_tensor.shape == torch.Size([state.num_processes]		)
							assert broadcasted_tensor.tolist() == list(range(1	,				state.num_processes + 1		)		)



def       __lowerCamelCase  (					_lowercase		)      ->			Tuple:
							# We need to pad the tensor with one more element if we are the main process
							# to ensure that we can pad
							if state.is_main_process:
														UpperCAmelCase     :		Optional[Any]							     =		torch.arange(state.num_processes + 1		).to(state.device		)
							else:
														UpperCAmelCase     :		Tuple							     =		torch.arange(state.num_processes		).to(state.device		)
							UpperCAmelCase     :		Optional[Any]							     =		pad_across_processes(_lowercase		)
							assert padded_tensor.shape == torch.Size([state.num_processes + 1]		)
							if not state.is_main_process:
														assert padded_tensor.tolist() == list(range(0	,				state.num_processes		)		) + [0]



def       __lowerCamelCase  (					_lowercase		)      ->			Dict:
							# For now runs on only two processes
							if state.num_processes != 2:
														return
							UpperCAmelCase     :		Optional[Any]							     =		create_tensor(_lowercase		)
							UpperCAmelCase     :		Optional[Any]							     =		reduce(_lowercase	,				"""sum"""		)
							UpperCAmelCase     :		Optional[Any]							     =		torch.tensor([4.0, 6]		).to(state.device		)
							assert torch.allclose(_lowercase	,				_lowercase		), F'''{reduced_tensor} != {truth_tensor}'''



def       __lowerCamelCase  (					_lowercase		)      ->			Optional[Any]:
							# For now runs on only two processes
							if state.num_processes != 2:
														return
							UpperCAmelCase     :		Tuple							     =		create_tensor(_lowercase		)
							UpperCAmelCase     :		Optional[int]							     =		reduce(_lowercase	,				"""mean"""		)
							UpperCAmelCase     :		str							     =		torch.tensor([2.0, 3]		).to(state.device		)
							assert torch.allclose(_lowercase	,				_lowercase		), F'''{reduced_tensor} != {truth_tensor}'''



def       __lowerCamelCase  (					_lowercase		)      ->			Optional[int]:
							# For xla_spawn (TPUs)
							main()



def       __lowerCamelCase  (					)      ->			int:
							UpperCAmelCase     :		List[Any]							     =		PartialState()
							state.print(F'''State: {state}'''		)
							state.print("""testing gather"""		)
							test_gather(_lowercase		)
							state.print("""testing gather_object"""		)
							test_gather_object(_lowercase		)
							state.print("""testing broadcast"""		)
							test_broadcast(_lowercase		)
							state.print("""testing pad_across_processes"""		)
							test_pad_across_processes(_lowercase		)
							state.print("""testing reduce_sum"""		)
							test_reduce_sum(_lowercase		)
							state.print("""testing reduce_mean"""		)
							test_reduce_mean(_lowercase		)


if __name__ == "__main__":
							main()

