#include "robot.h"
#include <bits/stdc++.h>
const int DIRECTION = -5;
const int NON_PATH = -4;
const int ALL = -3;
const int WALL = -2;
const int STONE = -1;
const int EMPTY = 0;
const int PATH = 1;
const int VISITED = 2;
const int LEFT = 3;
const int DOWN = 4;
const int RIGHT = 5;
const int UP = 6;
const int VISITED_2 = 7;
const int K_MAX = 7;
using namespace std;
const char DIR_STAY = 'H';
const char DIR_LEFT = 'W';
const char DIR_DOWN = 'S';
const char DIR_RIGHT = 'E';
const char DIR_UP = 'N';
const char DIR_TERM = 'T';
map<vector<int>, pair<int, char>> mp;
vector<int> expand(int T){
if(T == ALL){
return {WALL, STONE, EMPTY, PATH, VISITED, LEFT, DOWN, RIGHT, UP, VISITED_2};
}else if(T == NON_PATH){
vector<int> v; for(int i = -2; i <= K_MAX; i++) if(i != PATH) v.push_back(i);
return v;
}else if(T == DIRECTION){
return {LEFT, DOWN, RIGHT, UP};
}
return {T};
}
// {CELL, LEFT, DOWN, RIGHT, UP}
void instruct(vector<int> A, int colour, char action){
for(auto i0 : expand(A[0]))
for(auto i1 : expand(A[1]))
for(auto i2 : expand(A[2]))
for(auto i3 : expand(A[3]))
for(auto i4 : expand(A[4]))
{
vector<int> a = {i0, i1, i2, i3, i4};
if(mp.count(a)) continue;
mp[a] = {colour, action};
set_instruction(a, colour, action);
}
}
void program_pulibot(){
instruct({PATH, WALL, ALL, ALL, WALL}, PATH, DIR_TERM);
instruct({EMPTY, ALL, WALL, WALL, ALL}, PATH, DIR_STAY);
instruct({EMPTY, ALL, EMPTY, ALL, ALL}, VISITED, DIR_DOWN);
instruct({EMPTY, ALL, ALL, EMPTY, ALL}, VISITED, DIR_RIGHT);
instruct({VISITED, ALL, EMPTY, ALL, ALL}, VISITED, DIR_DOWN);
instruct({VISITED, ALL, ALL, EMPTY, ALL}, VISITED, DIR_RIGHT);
instruct({VISITED_2, RIGHT, ALL, ALL, ALL}, VISITED_2, DIR_LEFT);
instruct({VISITED_2, ALL, UP, ALL, ALL}, VISITED_2, DIR_DOWN);
instruct({VISITED_2, ALL, ALL, LEFT, ALL}, VISITED_2, DIR_RIGHT);
instruct({VISITED_2, ALL, ALL, ALL, DOWN}, VISITED_2, DIR_UP);
instruct({VISITED_2, VISITED, ALL, ALL, ALL}, PATH, DIR_LEFT);
instruct({VISITED_2, ALL, VISITED, ALL, ALL}, PATH, DIR_DOWN);
instruct({VISITED_2, ALL, ALL, VISITED, ALL}, PATH, DIR_RIGHT);
instruct({VISITED_2, ALL, ALL, ALL, VISITED}, PATH, DIR_UP);
instruct({DIRECTION, RIGHT, ALL, ALL, ALL}, VISITED_2, DIR_LEFT);
instruct({DIRECTION, ALL, UP, ALL, ALL}, VISITED_2, DIR_DOWN);
instruct({DIRECTION, ALL, ALL, LEFT, ALL}, VISITED_2, DIR_RIGHT);
instruct({DIRECTION, ALL, ALL, ALL, DOWN}, VISITED_2, DIR_UP);
instruct({DIRECTION, VISITED_2, ALL, ALL, ALL}, EMPTY, DIR_LEFT);
instruct({DIRECTION, ALL, VISITED_2, ALL, ALL}, EMPTY, DIR_DOWN);
instruct({DIRECTION, ALL, ALL, VISITED_2, ALL}, EMPTY, DIR_RIGHT);
instruct({DIRECTION, ALL, ALL, ALL, VISITED_2}, EMPTY, DIR_UP);
instruct({VISITED_2, VISITED_2, ALL, ALL, ALL}, EMPTY, DIR_LEFT);
instruct({VISITED_2, ALL, VISITED_2, ALL, ALL}, EMPTY, DIR_DOWN);
instruct({VISITED_2, ALL, ALL, VISITED_2, ALL}, EMPTY, DIR_RIGHT);
instruct({VISITED_2, ALL, ALL, ALL, VISITED_2}, EMPTY, DIR_UP);
instruct({VISITED, VISITED, PATH, ALL, ALL}, VISITED_2, DIR_STAY);
instruct({VISITED, VISITED, ALL, PATH, ALL}, VISITED_2, DIR_STAY);
instruct({VISITED, VISITED, ALL, ALL, PATH}, VISITED_2, DIR_STAY);
instruct({VISITED, PATH, VISITED, ALL, ALL}, VISITED_2, DIR_STAY);
instruct({VISITED, ALL, VISITED, PATH, ALL}, VISITED_2, DIR_STAY);
instruct({VISITED, ALL, VISITED, ALL, PATH}, VISITED_2, DIR_STAY);
instruct({VISITED, PATH, ALL, VISITED, ALL}, VISITED_2, DIR_STAY);
instruct({VISITED, ALL, PATH, VISITED, ALL}, VISITED_2, DIR_STAY);
instruct({VISITED, ALL, ALL, VISITED, PATH}, VISITED_2, DIR_STAY);
instruct({VISITED, PATH, ALL, ALL, VISITED}, VISITED_2, DIR_STAY);
instruct({VISITED, ALL, PATH, ALL, VISITED}, VISITED_2, DIR_STAY);
instruct({VISITED, ALL, ALL, PATH, VISITED}, VISITED_2, DIR_STAY);
instruct({PATH, VISITED, ALL, ALL, ALL}, PATH, DIR_LEFT);
instruct({PATH, ALL, VISITED, ALL, ALL}, PATH, DIR_DOWN);
instruct({PATH, ALL, ALL, VISITED, ALL}, PATH, DIR_RIGHT);
instruct({PATH, ALL, ALL, ALL, VISITED}, PATH, DIR_UP);
instruct({ALL, LEFT, ALL, ALL, ALL}, VISITED, DIR_LEFT);
instruct({ALL, ALL, DOWN, ALL, ALL}, VISITED, DIR_DOWN);
instruct({ALL, ALL, ALL, RIGHT, ALL}, VISITED, DIR_RIGHT);
instruct({ALL, ALL, ALL, ALL, UP}, VISITED, DIR_UP);
instruct({ALL, VISITED, ALL, ALL, ALL}, LEFT, DIR_LEFT);
instruct({ALL, ALL, VISITED, ALL, ALL}, DOWN, DIR_DOWN);
instruct({ALL, ALL, ALL, VISITED, ALL}, RIGHT, DIR_RIGHT);
instruct({ALL, ALL, ALL, ALL, VISITED}, UP, DIR_UP);
instruct({VISITED, WALL, ALL, ALL, WALL}, VISITED_2, DIR_STAY);
instruct({VISITED_2, WALL, ALL, ALL, WALL}, PATH, DIR_TERM);
}
