/* colors.txt:
#ffffff 0
#0000ff 1
#ffff00 T
#ff0000 H
#005500 <
#005500 v
#005500 >
#005500 ^
*/
#define return_if(x) do { \
auto v = x;\
if(v.size())return v;\
} while(0)
#include "robot.h"
#include <string>
#include <map>
#include <set>
#include <array>
#include <algorithm>
#include <optional>
#include <iostream>
static std::map<char,std::set<int>> symbols{
{'0',{0}},
{' ',{0}},
{'1',{1}},
{'T',{2}},
{'H',{3}},
{'<',{4}},
{'v',{5}},
{'>',{6}},
{'^',{7}},
{'#',{-1,-2}},
{'$',{-2}},
{'*',{-2,-1,0,1,2,3,4,5,6,7}},
{'a',{0,4,5,6,7}},
{'b',{-2,-1,0,4,5,6,7}},
{'u',{-2,-1,0,2,3,4,5,6,7}},
{'h',{-2,-1,0,1,2,4,5,6,7}},
{'t',{-2,-1,0,1,3,4,5,6,7}},
{'s',{-1,0}}
};
static std::map<int,char> cosymbol = {
{-2,'$'},
{-1,'#'},
{0,'0'},
{1,'1'},
{2,'T'},
{3,'H'},
{4,'<'},
{5,'v'},
{6,'>'},
{7,'^'},
};
static std::map<int,int> rotate = {
{4,5}, // <v
{5,6}, // v>
{6,7}, // >^
{7,4}, // ^<
{'W','S'},
{'S','E'},
{'E','N'},
{'N','W'}
};
static const std::vector<std::string> or_rules = {
"$\
$0*\
* ^H",
"$\
$1*\
* 1T",
"*\
>0$\
$ HW",
"v\
*0$\
$ HN",
"H\
*T$\
$ ^N",
"*\
HT$\
$ <W",
"$\
$T*\
H vS",
"$\
$TH\
* >E",
"T\
*H$\
$ 1N",
"*\
TH$\
$ 1W",
"$\
$*1\
* 1T",
"$\
$**\
1 1T",
};
static const std::vector<std::string> rules = {
"v\
hHT\
h HN",
"v\
hHh\
T HN",
"v\
THh\
h HN",
"H\
*HT\
* HE",
"H\
*H*\
T HS",
"H\
TH*\
* HW",
"H\
tHt\
t TN",
"H\
hah\
h HN",
"H\
*T<\
* ^N",
"H\
*T*\
^ ^N",
"H\
>T*\
* ^N",
"H\
*T*\
* 0N",
"T\
*H*\
* TN",
"T\
*T*\
* HH",
"b\
bv<\
b >E", // these might include start/end, fix
"b\
bv0\
b >E",
"b\
bvb\
b >H",
"v\
*0*\
* ^N",
"v\
**1\
* 1N",
"v\
***\
1 1N",
"v\
1**\
* 1N",
};
/*
3,2 slider
<^>v rooted tree at robot
*/
// curr, west, south, east, north
void rotate_match_string(std::string& s)
{
std::string rs = "<v>^<";
for(auto i : {2,1,5,3,0,7})
{
auto& v = s[i];
auto r = rs.find_first_of(v);
if(r!=rs.npos) v = rs[r+1];
}
auto t = s[0];
s[0] = s[3];
s[3] = s[5];
s[5] = s[1];
s[1] = t;
rs = "WSENW";
auto r = rs.find_first_of(s[8]);
if(r!=rs.npos) s[8] = rs[r+1];
}
std::string match(const std::array<int,5>& S,std::string s,bool oriented)
{
for(int i = 0; i < 4; i++,rotate_match_string(s))
{
if(oriented && i > 0) return "";
std::array<char,5> sym = {s[2],s[1],s[5],s[3],s[0]};
bool b = true;
for(int i = 0; i < 5; i++)
if (!symbols[sym[i]].count(S[i]))
b = false;
if(b) return s.substr(7);
}
return "";
}
void rotate_state_list(std::array<int,5>& S)
{
for(int i = 0; i < 5; i++)
{
if(rotate.count(S[i])) S[i] = rotate[S[i]];
}
std::rotate(S.begin()+1,S.begin()+4,S.end());
}
struct action
{
std::array<int,5> state;
int new_state;
char act;
action(std::array<int,5> a,int s,char b) : state(a),new_state(s),act(b) {}
};
std::vector<action> gen_all_action(std::string s,bool oriented)
{
std::vector<action> o;
for(int i = 0; i < (oriented ? 1 : 4); i++,rotate_match_string(s))
{
int symb = *symbols[s[7]].begin();
char act = s[8];
std::array<const std::set<int>*,5> poss;
int ct = 0;
for(auto i : {2,1,5,3,0}) poss[ct++] = &symbols[s[i]];
#define foring(i) for(auto c##i : *poss[i])
foring(0) foring(1) foring(2) foring(3) foring(4)
o.emplace_back(std::array<int,5>{c0,c1,c2,c3,c4},symb,act);
}
return o;
}
void print_s(int* S)
{
std::cout << " " << cosymbol[S[4]] << "\n"
<< cosymbol[S[1]] << cosymbol[S[0]] << cosymbol[S[3]] << "\n"
<< " " << cosymbol[S[2]] << "\n";
}
std::string get_move(std::array<int,5>);
std::pair<int,char> get_move_rot(std::vector<int> S,int d=5)
{
// if(d==0) return {-1,0};
std::array<int,5> S2;
for(int i = 0; i < 5; i++) S2[i] = S[i];
// auto[c,w,s,e,n] = S2;
// if(!(c==7 && w == -2 && s == 0 && e == 0 && n == -2)) continue;
// if(c==4 && w == -2 && s == 0 && e == 0 && n == -2)
// {
// std::cout << "now\n";
// print_s(S2);
// }
// print_s(S2.data());
// std::cout << "\n";
auto s = get_move(S2);
if (s!=""){
int new_symbol = s[0];
char action = s[1];
new_symbol = *symbols[new_symbol].begin();
// std::cout << cosymbol[new_symbol] << action << "\n";
// print_s(S2.data());
// std::cout << new_symbol << " " << action << "\n";
if(/*false && */d>0 && action=='H')
{
S[0] = new_symbol;
return get_move_rot(S,d-1);
}
return {new_symbol,action};
}
return {-1,0};
}
// curr, west, south, east, north
std::string get_move(std::array<int,5> S)
{
auto[c,w,s,e,n] = S;
for(const auto& i : or_rules) return_if(match(S,i,true));
for(const auto& i : rules) return_if(match(S,i,false));
return "";
/*
no 321 nor end:
if current arrow:
rotate arrow cw
if can move there: go there
else:
set arrow towards other in-arrow
go there
*/
}
void program_pulibot()
{
// std::vector<int> S(5);
// std::cin.tie(0)->sync_with_stdio(false);
// std::cout << "std::map<std::array<int,5>,std::pair<int,char> = {\n";
// #define LOOP(i) for (S[i] = -2; S[i] < 8; S[i]++)
// LOOP(0) LOOP(1) LOOP(2) LOOP(3) LOOP(4)
// {
// if(S[0]<0) continue;
// auto[Z,A] = get_move_rot(S);
// if(Z!=-1)
// {
// // std::cout << "{{";
// // for(auto i : S)
// // {
// // std::cout << i << ",";
// // }
// // std::cout << "},{" << Z << ",'" << A << "'}},\n";
// set_instruction(S,Z,A);
// }
// }
std::set<std::array<int,5>> seen;
std::vector<int> _s(5);
for(auto& r : or_rules)
{
for(auto[s,z,a] : gen_all_action(r,true))
{
if(seen.count(s)) continue;
seen.insert(s);
for(int i = 0; i < 5; i++) _s[i] = s[i];
set_instruction(_s,z,a);
}
}
for(auto& r : rules)
{
for(auto[s,z,a] : gen_all_action(r,false))
{
if(seen.count(s)) continue;
seen.insert(s);
for(int i = 0; i < 5; i++) _s[i] = s[i];
set_instruction(_s,z,a);
}
}
// std::cout << "};\n";
}
