#include "robot.h"
#include<bits/stdc++.h>
using namespace std;
const int BLANK=0;
const int PATH=1;
const int WEST=2;
const int SOUTH=3;
const int EAST=4;
const int NORTH=5;
string dir_char="WSENTH";
int dir_col[4]={WEST,SOUTH,EAST,NORTH};
int getDir(int col){
return col>=2?col-2:-1;
}
void solve(vector<int> state,int &next_col,int &next_dir){
bool is_start=state[1]==-2&&state[4]==-2;
bool is_end=state[2]==-2&&state[3]==-2;
int cur_dir=getDir(state[0]);
if(cur_dir!=-1){
bool cleanup=state[cur_dir+1]!=BLANK&&getDir(state[cur_dir+1])!=(cur_dir^2);
if(!cleanup){
for(int i=1;i<=4;i++){
int new_dir=(cur_dir+i)%4;
if(state[new_dir+1]==BLANK||getDir(state[new_dir+1])==(new_dir^2)){
next_col=dir_col[new_dir];
next_dir=new_dir;
return;
}
}
return;
}
for(int i=1;i<=4;i++){
int new_dir=(cur_dir+i)%4;
if(getDir(state[new_dir+1])==(new_dir^2)){
next_dir=new_dir;
return;
}
}
bool fillup=is_start;
for(int i=1;i<=4;i++)if(state[i]==PATH)fillup=true;
if(fillup){
next_col=PATH;
next_dir=is_end?4:cur_dir;
return;
}
next_col=BLANK;
next_dir=cur_dir;
return;
}
if(is_start){
next_col=state[2]==BLANK?SOUTH:EAST;
next_dir=state[2]==BLANK?1:2;
return;
}
if(is_end){
next_col=EAST;
return;
}
for(int new_dir=0;new_dir<4;new_dir++){
if(getDir(state[new_dir+1])==(new_dir^2)){
next_col=dir_col[new_dir];
next_dir=new_dir;
return;
}
}
}
void program_pulibot(){
for(int c=0;c<=5;c++){
for(int w=-2;w<=5;w++){
for(int s=-2;s<=5;s++){
for(int e=-2;e<=5;e++){
for(int n=-2;n<=5;n++){
vector<int> state={c,w,s,e,n};
int next_col=c,next_dir=5;
solve(state,next_col,next_dir);
set_instruction(state,next_col,dir_char[next_dir]);
}
}
}
}
}
};
