#include "robot.h"
#include <bits/stdc++.h>
using namespace std;
#define FOR(i,a,b) for(int i=(a),_##i##_b=(b); i<=_##i##_b; i++)
#define SET(color, action) { set_instruction(state, color, action); continue; }
void subtask3() {
const int MAX_COLOR = 10;
const int BOUNDARY = -2;
const int BLOCKED = -1;
const int FINAL = 1;
// directions
const int TO_SOUTH = 2;
const int TO_EAST = 3;
const int TO_NORTH = 4;
const int TO_WEST = 5;
// phase 2
const int PHASE2 = 6;
FOR(cur,0,MAX_COLOR) FOR(west,-2,MAX_COLOR) FOR(south,-2,MAX_COLOR) FOR(east,-2,MAX_COLOR) FOR(north,-2,MAX_COLOR) {
vector<int> state {cur, west, south, east, north};
// Phase 3
if (cur == FINAL) {
if (south == BOUNDARY && east == BOUNDARY) SET(FINAL, 'T');
if (north == PHASE2) SET(FINAL, 'N');
if (south == PHASE2) SET(FINAL, 'S');
if (east == PHASE2) SET(FINAL, 'E');
if (west == PHASE2) SET(FINAL, 'W');
}
// Phase 2
if (north == PHASE2 || south == PHASE2 || east == PHASE2 || west == PHASE2 || cur == PHASE2) {
if (north == BOUNDARY && west == BOUNDARY) SET(FINAL, 'H');
if (north == FINAL || south == FINAL || east == FINAL || west == FINAL) SET(FINAL, 'H');
if (north == TO_SOUTH) SET(PHASE2, 'N');
if (south == TO_NORTH) SET(PHASE2, 'S');
if (east == TO_WEST) SET(PHASE2, 'E');
if (west == TO_EAST) SET(PHASE2, 'W');
if (north == PHASE2) SET(0, 'N');
if (south == PHASE2) SET(0, 'S');
if (east == PHASE2) SET(0, 'E');
if (west == PHASE2) SET(0, 'W');
}
// Reached final state
if (south == BOUNDARY && east == BOUNDARY) {
SET(PHASE2, 'H');
}
// Starting state
if (cur == 0 && north == BOUNDARY && west == BOUNDARY) {
if (south == 0) SET(TO_SOUTH, 'S');
if (east == 0) SET(TO_EAST, 'E');
}
// BFS
if (cur == TO_SOUTH) {
if (east == 0 || east == TO_WEST) SET(TO_EAST, 'E');
if (north == 0 || north == TO_SOUTH) SET(TO_NORTH, 'N');
if (west == 0 || west == TO_EAST) SET(TO_WEST, 'W');
if (south == 0 || south == TO_NORTH) SET(TO_SOUTH, 'S');
}
if (cur == TO_EAST) {
if (north == 0 || north == TO_SOUTH) SET(TO_NORTH, 'N');
if (west == 0 || west == TO_EAST) SET(TO_WEST, 'W');
if (south == 0 || south == TO_NORTH) SET(TO_SOUTH, 'S');
if (east == 0 || east == TO_WEST) SET(TO_EAST, 'E');
}
if (cur == TO_NORTH) {
if (west == 0 || west == TO_EAST) SET(TO_WEST, 'W');
if (south == 0 || south == TO_NORTH) SET(TO_SOUTH, 'S');
if (east == 0 || east == TO_WEST) SET(TO_EAST, 'E');
if (north == 0 || north == TO_SOUTH) SET(TO_NORTH, 'N');
}
if (cur == TO_WEST) {
if (south == 0 || south == TO_NORTH) SET(TO_SOUTH, 'S');
if (east == 0 || east == TO_WEST) SET(TO_EAST, 'E');
if (north == 0 || north == TO_SOUTH) SET(TO_NORTH, 'N');
if (west == 0 || west == TO_EAST) SET(TO_WEST, 'W');
}
if (cur == 0) {
if (north == TO_SOUTH) SET(TO_NORTH, 'N');
if (south == TO_NORTH) SET(TO_SOUTH, 'S');
if (east == TO_WEST) SET(TO_EAST, 'E');
if (west == TO_EAST) SET(TO_WEST, 'W');
}
}
}
void program_pulibot() {
subtask3();
}
