#include "robot.h"
#include <bits/stdc++.h>
using namespace std;
const string dirs = "NESW";
const int STAY = -1;
const int STOP = -2;
const int OBST = -1;
const int WALL = -2;
const int NORTH = 0;
const int EAST = 1;
const int SOUTH = 2;
const int WEST = 3;
const int EMPTY = 4;
const int PATH = 5;
pair<int, int> calc(int cur, vector<int> adj) {
int phase = ((cur == EMPTY) || (0 <= cur && cur < 4 && adj[cur] == (cur ^ 2)) ? 1 : 2);
if (phase == 1) {
if (cur == EMPTY && adj[NORTH] == WALL && adj[WEST] == WALL) {
for (int d = 0; d < 4; d++) {
if (adj[d] == EMPTY) {
return {d, d};
}
}
return {EMPTY, STOP};
}
if (cur == EMPTY && adj[SOUTH] == WALL && adj[EAST] == WALL) {
return {EAST, STAY};
}
if (cur == EMPTY) {
for (int d = 0; d < 4; d++) {
if (adj[d] == (d ^ 2)) {
return {d, d};
}
}
return {EMPTY, STOP};
}
for (int d = 0; d < 4; d++) {
cur = (cur + 1) % 4;
if (adj[cur] == EMPTY || adj[cur] == (cur ^ 2)) {
return {cur, cur};
}
}
return {EMPTY, STOP};
}
else {
for (int d = 0; d < 4; d++) {
if (adj[d] == (d ^ 2)) {
return {cur, d};
}
}
if (adj[NORTH] == WALL && adj[WEST] == WALL) {
return {PATH, cur};
}
for (int d = 0; d < 4; d++) {
if (adj[d] == PATH) {
if (adj[SOUTH] == WALL && adj[EAST] == WALL) {
return {PATH, STOP};
}
return {PATH, cur};
}
}
return {EMPTY, cur};
}
}
int shift(int Z, int K) {
return (Z < 0 ? Z : (Z + K) % 6);
}
void program_pulibot() {
for (int cur = 0; cur <= 5; cur++) {
if (cur == 1) {
continue;
}
for (int N = -2; N <= 5; N++) {
for (int E = -2; E <= 5; E++) {
for (int S = -2; S <= 5; S++) {
for (int W = -2; W <= 5; W++) {
auto inst = calc(shift(cur, 4), {shift(N, 4), shift(E, 4), shift(S, 4), shift(W, 4)});
int Z = shift(inst.first, 2);
char A = (inst.second == STAY ? 'H' : (inst.second == STOP ? 'T' : dirs[inst.second]));
set_instruction({cur, W, S, E, N}, Z, A);
}
}
}
}
}
}
