#include "robot.h"
#include <bits/stdc++.h>
using namespace std;
#define POPCOUNT(n) (__builtin_popcountll((n)))
#define CLZ(n) (__builtin_clzll((n)))
#define CTZ(n) (__builtin_ctzll((n)))
#define LOG(n) (63 - __builtin_clzll((n)))
#define BIT(n, i) (((n) >> (i)) & 1ll)
#define MASK(i) (1ll << (i))
#define FLIP(n, i) ((n) ^ (1ll << (i)))
#define ON(n, i) ((n) | MASK(i))
#define OFF(n, i) ((n) & ~MASK(i))
#define Int __int128
#define fi first
#define se second
typedef long long ll;
typedef unsigned long long ull;
typedef long double ld;
typedef pair<int, int> pii;
typedef pair<long long, long long> pll;
typedef pair<long long, int> pli;
typedef pair<int, long long> pil;
typedef vector<pair<int, int>> vii;
typedef vector<pair<long long, long long>> vll;
typedef vector<pair<long long, int>> vli;
typedef vector<pair<int, long long>> vil;
template <class T1, class T2> bool maximize(T1 &x, T2 y) {
if (x < y) {
x = y;
return true;
}
return false;
}
template <class T1, class T2> bool minimize(T1 &x, T2 y) {
if (x > y) {
x = y;
return true;
}
return false;
}
template <class T> void remove_duplicate(vector<T> &ve) {
sort (ve.begin(), ve.end());
ve.resize(unique(ve.begin(), ve.end()) - ve.begin());
}
mt19937_64 rng(chrono::high_resolution_clock::now().time_since_epoch().count());
template <class T1, class T2> T1 random(T1 l, T2 r) {
return uniform_int_distribution<T1>(l, r)(rng);
}
template <class T> T random(T r) {
return rng() % r;
}
const int N = 1e6 + 5;
const int MOD = 1e9 + 7;
const int inf = 1e9;
const long long INF = 1e18;
const char dir[] = {'H', 'W', 'S', 'E', 'N'};
const int order[] = {-1, 3, 2, 1, 4};
const int NOT_36 = -15;
const int NOT_6 = -14;
const int NOT_5 = -13;
const int NOT_4 = -12;
const int NOT_3 = -11;
const int NOT_2 = -10;
const int NOT_1 = -9;
const int NOT_PAR = -8;
const int NOT_VIS = -7;
const int NOT_WALL = -6;
const int VIS = -5;
const int NOT_FREE = -4;
const int ANY = -3;
const int WALL = -2;
const int TRAP = -1;
const int FREE = 0;
void backtrack(int index, vector<int> S, int Z, char A) {
if (index == int(S.size())) {
set_instruction(S, Z, A);
return;
}
if (S[index] == VIS) {
for (int i = 1; i <= 6; ++i) {
S[index] = i;
backtrack(index + 1, S, Z, A);
}
}
else if (S[index] == ANY) {
for (int i = -2; i <= 6; ++i) {
S[index] = i;
backtrack(index + 1, S, Z, A);
}
}
else if (S[index] == NOT_FREE) {
for (int i = -2; i <= 6; ++i) if (i != FREE) {
S[index] = i;
backtrack(index + 1, S, Z, A);
}
}
else if (S[index] == NOT_WALL) {
for (int i = -2; i <= 6; ++i) if (i != WALL) {
S[index] = i;
backtrack(index + 1, S, Z, A);
}
}
else if (S[index] == NOT_VIS) {
for (int i = -2; i <= 0; ++i) if (i != 1 && i != 2) {
S[index] = i;
backtrack(index + 1, S, Z, A);
}
}
else if (S[index] == NOT_PAR) {
for (int i = -2; i <= 6; ++i) if (index <= 0 || i != order[(index + 1) % 4 + 1]) {
S[index] = i;
backtrack(index + 1, S, Z, A);
}
}
else if (S[index] == NOT_1) {
for (int i = -2; i <= 6; ++i) if (i != 1) {
S[index] = i;
backtrack(index + 1, S, Z, A);
}
}
else if (S[index] == NOT_2) {
for (int i = -2; i <= 6; ++i) if (i != 2) {
S[index] = i;
backtrack(index + 1, S, Z, A);
}
}
else if (S[index] == NOT_3) {
for (int i = -2; i <= 6; ++i) if (i != 3) {
S[index] = i;
backtrack(index + 1, S, Z, A);
}
}
else if (S[index] == NOT_4) {
for (int i = -2; i <= 6; ++i) if (i != 4) {
S[index] = i;
backtrack(index + 1, S, Z, A);
}
}
else if (S[index] == NOT_5) {
for (int i = -2; i <= 6; ++i) if (i != 5) {
S[index] = i;
backtrack(index + 1, S, Z, A);
}
}
else if (S[index] == NOT_6) {
for (int i = -2; i <= 6; ++i) if (i != 6) {
S[index] = i;
backtrack(index + 1, S, Z, A);
}
}
else if (S[index] == NOT_36) {
for (int i = -2; i <= 6; ++i) if (i != 3 && i != 6) {
S[index] = i;
backtrack(index + 1, S, Z, A);
}
}
else backtrack(index + 1, S, Z, A);
}
void add(vector<int> S, int Z, char A) {
backtrack(0, S, Z, A);
}
void program_pulibot() {
// Old order: WSEN -> Bad
// New order: ESWN -> Should be better
add({0, NOT_6, NOT_6, FREE, NOT_6}, 1, 'E');
add({0, NOT_6, NOT_WALL, NOT_FREE, NOT_6}, 1, 'H');
add({0, NOT_6, WALL, TRAP, NOT_6}, 1, 'H');
add({0, NOT_6, WALL, VIS, NOT_6}, 1, 'H');
add({1, NOT_6, FREE, NOT_6, NOT_6}, 2, 'S');
add({1, NOT_6, NOT_FREE, NOT_6, NOT_6}, 2, 'H');
add({2, 1, NOT_6, NOT_6, NOT_2}, 3, 'W');
add({2, NOT_1, NOT_6, NOT_6, 2}, 3, 'N');
add({0, VIS, WALL, WALL, NOT_VIS}, 6, 'W');
add({0, NOT_VIS, WALL, WALL, VIS}, 6, 'N');
for (int six : {2, 3}) for (int par : {1, 4}) {
vector<int> S(5);
S[0] = order[six], S[1] = S[4] = NOT_PAR, S[2] = S[3] = NOT_6;
S[six] = 6, S[par] = order[(par + 1) % 4 + 1];
add(S, 6, dir[par]);
}
add({2, WALL, 6, NOT_VIS, WALL}, 6, 'H');
add({1, WALL, NOT_VIS, 6, WALL}, 6, 'H');
add({6, NOT_6, 6, 3, NOT_6}, 6, 'E');
add({3, ANY, ANY, 3, ANY}, 4, 'E');
add({3, ANY, ANY, NOT_3, ANY}, 4, 'H');
add({4, ANY, 3, NOT_3, ANY}, 5, 'S');
add({4, ANY, NOT_3, NOT_3, ANY}, 5, 'H');
add({5, 4, ANY, ANY, NOT_5}, 0, 'W');
add({5, NOT_4, ANY, ANY, 5}, 0, 'N');
add({5, 6, NOT_5, NOT_5, NOT_5}, 0, 'W');
add({6, 6, NOT_36, NOT_36, NOT_36}, 1, 'W');
add({6, NOT_36, 6, NOT_36, NOT_36}, 1, 'S');
add({6, NOT_36, NOT_36, 6, NOT_36}, 1, 'E');
add({6, NOT_36, NOT_36, NOT_36, 6}, 1, 'N');
add({6, 1, WALL, WALL, NOT_VIS}, 1, 'T');
add({6, NOT_VIS, WALL, WALL, 1}, 1, 'T');
}
