#include "robot.h"
#include <bits/stdc++.h>
using namespace std;
enum Stat {
BOUND = 1,
BLOCK = 2,
EMPTY = 4,
PATH = 8,
BRIGHT = 16,
UP = 32,
DOWN = 64,
LEFT = 128,
RIGHT = 256,
BUP = 512,
BDOWN = 1024,
BLEFT = 2048,
// special
ANY = 4095,
ANP = ANY & ~(EMPTY | PATH | BUP | BDOWN | BLEFT | BRIGHT),
BAD = BOUND | BLOCK,
INIT = BAD | EMPTY,
};
enum Col {
Bound = -2,
Block,
Empty,
Path,
BRight,
Up,
Down,
Left,
Right,
BUp,
BDown,
BLeft,
};
#define OPEN(v,i)\
for (int v = -2; v <= 10; ++v) {\
if (!((S[i]>>(v+2))&1)) continue;
#define CLOS(v,i)\
}
set<array<int,5>> seen;
void si(array<int,5> S, Col Z, char A, bool exc = false) {
OPEN(a,0)
OPEN(b,1)
OPEN(c,2)
OPEN(d,3)
OPEN(e,4)
if (exc && c == Bound && d == Bound) continue;
if (seen.count({a,b,c,d,e})) continue;
set_instruction({a,b,c,d,e},Z,A);
seen.insert({a,b,c,d,e});
CLOS(e,4)
CLOS(d,3)
CLOS(c,2)
CLOS(b,1)
CLOS(a,0)
}
void program_pulibot()
{
// init
si({EMPTY,BOUND,INIT,INIT,BOUND},Left,'H',true);
// cont
si({LEFT,ANP,ANY&~(EMPTY|UP),ANY,ANY},Down,'H');
si({DOWN,ANY,ANP,ANY&~(EMPTY|LEFT),ANY},Right,'H');
si({RIGHT,ANY,ANY,ANP,ANY&~(EMPTY|DOWN)},Up,'H');
si({UP,ANY&~(EMPTY|RIGHT),ANY,ANY,ANP},Left,'H');
// traverse
si({LEFT,ANP,UP,ANY,ANY},Down,'S');
si({DOWN,ANY,ANP,LEFT,ANY},Right,'E');
si({RIGHT,ANY,ANY,ANP,DOWN},Up,'N');
si({UP,RIGHT,ANY,ANY,ANP},Left,'W');
// explore
si({LEFT,ANP,EMPTY,ANY,ANY},Down,'S');
si({DOWN,ANY,ANP,EMPTY,ANY},Right,'E');
si({RIGHT,ANY,ANY,ANP,EMPTY},Up,'N');
si({UP,EMPTY,ANY,ANY,ANP},Left,'W');
// new
si({EMPTY,ANY&~RIGHT,ANY&~UP,ANY&~LEFT,DOWN},Up,'N',true);
si({EMPTY,RIGHT,ANY&~UP,ANY&~LEFT,ANY&~DOWN},Left,'W',true);
si({EMPTY,ANY&~RIGHT,UP,ANY&~LEFT,ANY&~DOWN},Down,'S',true);
si({EMPTY,ANY&~RIGHT,ANY&~UP,LEFT,ANY&~DOWN},Right,'E',true);
// found
si({EMPTY,ANY,BOUND,BOUND,ANY},BUp,'H');
// done
si({ANY,PATH,BOUND,BOUND,ANY},Path,'T');
si({ANY,ANY,BOUND,BOUND,PATH},Path,'T');
// cont
si({BLEFT,ANY,ANY&~(UP|BUP),ANY,ANY},BDown,'H');
si({BDOWN,ANY,ANY,ANY&~(LEFT|BLEFT),ANY},BRight,'H');
si({BRIGHT,ANY,ANY,ANY,ANY&~(DOWN|BDOWN)},BUp,'H');
si({BUP,ANY&~(RIGHT|BRIGHT),ANY,ANY,ANY},BLeft,'H');
// trash path init
si({BLEFT,BOUND,BUP,ANY&~BLEFT,BOUND},Path,'S');
si({BDOWN,BOUND,ANY&~BUP,BLEFT,BOUND},Path,'E');
// trash path
si({BLEFT,PATH,BUP,ANY&~BLEFT,ANY&~BDOWN},Path,'S');
si({BLEFT,ANY&~BRIGHT,BUP,PATH,ANY&~BDOWN},Path,'S');
si({BLEFT,ANY&~BRIGHT,BUP,ANY&~BLEFT,PATH},Path,'S');
si({BDOWN,PATH,ANY&~BUP,BLEFT,ANY&~BDOWN},Path,'E');
si({BDOWN,ANY&~BRIGHT,PATH,BLEFT,ANY&~BDOWN},Path,'E');
si({BDOWN,ANY&~BRIGHT,ANY&~BUP,BLEFT,PATH},Path,'E');
si({BRIGHT,PATH,ANY&~BUP,ANY&~BLEFT,BDOWN},Path,'N');
si({BRIGHT,ANY&~BRIGHT,PATH,ANY&~BLEFT,BDOWN},Path,'N');
si({BRIGHT,ANY&~BRIGHT,ANY&~BUP,PATH,BDOWN},Path,'N');
si({BUP,BRIGHT,PATH,ANY&~BLEFT,ANY&~BDOWN},Path,'W');
si({BUP,BRIGHT,ANY&~BUP,PATH,ANY&~BDOWN},Path,'W');
si({BUP,BRIGHT,ANY&~BUP,ANY&~BLEFT,PATH},Path,'W');
// trash empty
si({BLEFT,ANY&~BRIGHT,BUP,ANY&~BLEFT,ANY&~BDOWN},Empty,'S');
si({BDOWN,ANY&~BRIGHT,ANY&~BUP,BLEFT,ANY&~BDOWN},Empty,'E');
si({BRIGHT,ANY&~BRIGHT,ANY&~BUP,ANY&~BLEFT,BDOWN},Empty,'N');
si({BUP,BRIGHT,ANY&~BUP,ANY&~BLEFT,ANY&~BDOWN},Empty,'W');
// travs
si({BUP,BRIGHT,BUP,ANY,ANY},BLeft,'W');
si({BUP,BRIGHT,ANY&~BUP,BLEFT,ANY},BLeft,'W');
si({BUP,BRIGHT,ANY&~BUP,ANY&~BLEFT,BDOWN},BLeft,'W');
si({BLEFT,ANY&~BRIGHT,BUP,BLEFT,ANY},BDown,'S');
si({BLEFT,ANY&~BRIGHT,BUP,ANY&~BLEFT,BDOWN},BDown,'S');
si({BDOWN,ANY&~BRIGHT,ANY&~BUP,BLEFT,BDOWN},BRight,'E');
// trav fix
si({BLEFT,ANY,UP,ANY,ANY},BDown,'S');
si({BDOWN,ANY,ANY,LEFT,ANY},BRight,'E');
si({BRIGHT,ANY,ANY,ANY,DOWN},BUp,'N');
si({BUP,RIGHT,ANY,ANY,ANY},BLeft,'W');
// fix
si({LEFT,BRIGHT,ANY,ANY,ANY},BLeft,'H');
si({DOWN,ANY,BUP,ANY,ANY},BDown,'H');
si({RIGHT,ANY,ANY,BLEFT,ANY},BRight,'H');
si({UP,ANY,ANY,ANY,BDOWN},BUp,'H');
// // shrink good
// si({CAND,ANY&~RIGHT,BOUND,BOUND,DOWN},Path,'N');
// si({CAND,RIGHT,BOUND,BOUND,ANY&~DOWN},Path,'W');
// // cont shrink
// si({LEFT,EMPTY|PATH,ANY,ANY,ANY},Cand,'H');
// si({DOWN,ANY,EMPTY|PATH,ANY,ANY},Cand,'H');
// si({RIGHT,ANY,ANY,EMPTY|PATH,ANY},Cand,'H');
// si({UP,ANY,ANY,ANY,EMPTY|PATH},Cand,'H');
// // shrink cont
// si({CAND,ANY&~RIGHT,ANY&~UP,ANY&~LEFT,DOWN},Path,'N',true);
// si({CAND,RIGHT,ANY&~UP,ANY&~LEFT,ANY&~DOWN},Path,'W',true);
// si({CAND,ANY&~RIGHT,UP,ANY&~LEFT,ANY&~DOWN},Path,'S',true);
// si({CAND,ANY&~RIGHT,ANY&~UP,LEFT,ANY&~DOWN},Path,'E',true);
// // check
// si({CAND,RIGHT,UP,ANY,ANY},Left,'W',true);
// si({CAND,RIGHT,ANY&~UP,LEFT,ANY},Left,'W',true);
// si({CAND,RIGHT,ANY&~UP,ANY&~LEFT,DOWN},Left,'W',true);
// si({CAND,ANY&~RIGHT,UP,LEFT,ANY},Down,'S',true);
// si({CAND,ANY&~RIGHT,UP,ANY&~LEFT,DOWN},Down,'S',true);
// si({CAND,ANY&~RIGHT,ANY&~UP,LEFT,DOWN},Right,'E',true);
// // extend
// si({LEFT,PATH,ANY,ANY,ANY},Path,'H');
// si({DOWN,ANY,PATH,ANY,ANY},Path,'H');
// si({RIGHT,ANY,ANY,PATH,ANY},Path,'H');
// si({UP,ANY,ANY,ANY,PATH},Path,'H');
}
