#include "robot.h"
#include <bits/stdc++.h>
using namespace std;
#define pb push_back
#define sz(a) (int)a.size()
using vi = vector<int>;
const int BOUNDARY=-2, OBSTACLE=-1, WHITE=0, YELLOW=1, PURPLE=2, RED=3, ORANGE=4, PINK=5;
const int HERE=0, LEFT=1, DOWN=2, RIGHT=3, UP=4, END=5;
char dir[] = {'H','W','S','E','N','T'};
void Set(vi state, int col, int di){
set_instruction(state, col, di==-1?'T':dir[di]);
}
int findFirstNeighbour(vi state, int col, vi neigh={1,2,3,4}){
for(int i : neigh)
if(state[i]==col)
return i;
return -1;
}
bool state_contains(vi state, int col, vi pick={0,1,2,3,4}){
for(int i : pick)
if(state[i]==col)
return 1;
return 0;
}
void program_pulibot(){
int lb = -2, ub = 5;
for(int here = lb; here <= ub; here++){
for(int west = lb; west <= ub; west++){
for(int south = lb; south <= ub; south++){
for(int east = lb; east <= ub; east++){
for(int north = lb; north <= ub; north++){
vi state = vi({here,west,south,east,north});
bool white_exists=state_contains(state, WHITE);
bool yellow_exists=state_contains(state, YELLOW);
bool purple_exists=state_contains(state, PURPLE);
bool red_exists=state_contains(state, RED);
bool orange_exists=state_contains(state, ORANGE);
bool pink_exists=state_contains(state, PINK);
bool is_start_cell = (state[LEFT]==state[UP] and state[LEFT]==BOUNDARY);
bool is_end_cell = (state[DOWN]==state[RIGHT] and state[DOWN]==BOUNDARY);
if(!yellow_exists and !orange_exists and !pink_exists){
// phase 1, get to final cell
int x = findFirstNeighbour(state, WHITE, {RIGHT,DOWN});
if(x!=-1) Set(state,PURPLE,x);
else{
if(!is_end_cell){
Set(state,RED,findFirstNeighbour(state,PURPLE));
}
else{
// begin phase 2
Set(state,ORANGE,findFirstNeighbour(state,PURPLE));
}
}
}
else{
if(!yellow_exists and !pink_exists){
// phase 2, get back to start cell
if(!is_start_cell){
Set(state,ORANGE,findFirstNeighbour(state,PURPLE));
}
else{
// begin phase 3
int deadEnd = findFirstNeighbour(state,RED);
int orangeCell = findFirstNeighbour(state,ORANGE);
if(deadEnd!=-1) Set(state,YELLOW,deadEnd);
else Set(state,YELLOW,orangeCell);
}
}
else{
// phase 3, color all obstacles to white, then color orange path to yellow
if(!is_end_cell){
int deadEnd = findFirstNeighbour(state,RED);
int orangeCell = findFirstNeighbour(state,ORANGE);
int pinkCell = findFirstNeighbour(state,PINK);
int yellowCell = findFirstNeighbour(state,YELLOW);
int x;
bool is_pink_cell = state_contains(state,PINK,{0});
bool is_red_cell = state_contains(state,RED,{0});
if(is_pink_cell or is_red_cell){
if(deadEnd!=-1) Set(state,PINK,deadEnd);
else{
if(pinkCell!=-1) x=pinkCell;
else x=yellowCell;
Set(state, WHITE, x);
}
}
else{
if(deadEnd!=-1) Set(state,YELLOW,deadEnd);
else Set(state, YELLOW, orangeCell);
}
}
else{
// we are done!
Set(state,YELLOW,END);
}
}
}
}
}
}
}
}
}
