/*************************************
* author: marvinthang *
* created: 20.01.2024 13:51:08 *
*************************************/
#include "robot.h"
#include <bits/stdc++.h>
using namespace std;
#define fi first
#define se second
#define left ___left
#define right ___right
#define TIME (1.0 * clock() / CLOCKS_PER_SEC)
#define MASK(i) (1LL << (i))
#define BIT(x, i) ((x) >> (i) & 1)
#define __builtin_popcount __builtin_popcountll
#define ALL(v) (v).begin(), (v).end()
#define REP(i, n) for (int i = 0, _n = (n); i < _n; ++i)
#define REPD(i, n) for (int i = (n); i-- > 0; )
#define FOR(i, a, b) for (int i = (a), _b = (b); i < _b; ++i)
#define FORD(i, b, a) for (int i = (b), _a = (a); --i >= _a; )
#define FORE(i, a, b) for (int i = (a), _b = (b); i <= _b; ++i)
#define FORDE(i, b, a) for (int i = (b), _a = (a); i >= _a; --i)
#define scan_op(...) istream & operator >> (istream &in, __VA_ARGS__ &u)
#define print_op(...) ostream & operator << (ostream &out, const __VA_ARGS__ &u)
#ifdef LOCAL
#include "debug.h"
#else
#define file(name) if (fopen(name".inp", "r")) { freopen(name".inp", "r", stdin); freopen(name".out", "w", stdout); }
#define DB(...) 23
#define db(...) 23
#define debug(...) 23
#endif
template <class U, class V> scan_op(pair <U, V>) { return in >> u.first >> u.second; }
template <class T> scan_op(vector <T>) { for (size_t i = 0; i < u.size(); ++i) in >> u[i]; return in; }
template <class U, class V> print_op(pair <U, V>) { return out << '(' << u.first << ", " << u.second << ')'; }
template <size_t i, class T> ostream & print_tuple_utils(ostream &out, const T &tup) { if constexpr(i == tuple_size<T>::value) return out << ")"; else return print_tuple_utils<i + 1, T>(out << (i ? ", " : "(") << get<i>(tup), tup); }
template <class ...U> print_op(tuple<U...>) { return print_tuple_utils<0, tuple<U...>>(out, u); }
template <class Con, class = decltype(begin(declval<Con>()))> typename enable_if <!is_same<Con, string>::value, ostream&>::type operator << (ostream &out, const Con &con) { out << '{'; for (__typeof(con.begin()) it = con.begin(); it != con.end(); ++it) out << (it == con.begin() ? "" : ", ") << *it; return out << '}'; }
// end of template
const char cdir[] = {'W', 'S', 'E', 'N'};
const char STAY = 'H';
const char TERMINATE = 'T';
const int BOUNDARY = -2;
const int OBSTACLE = -1;
const int PATH = 4;
const int EMPTY = 5;
void program_pulibot() {
auto get_instruction = [] (int cur, vector <int> S) {
cur = 5 - cur;
for (int &x: S) if (x >= 0) x = 5 - x;
// bfs
bool source = S[0] == BOUNDARY && S[3] == BOUNDARY;
bool sink = S[1] == BOUNDARY && S[2] == BOUNDARY;
if (cur == EMPTY) {
if (source) {
REP(i, 4) if (S[i] == EMPTY) return pair{i, cdir[i]};
} else if (!sink) {
REP(i, 4) if (S[i] == (i ^ 2)) return pair{i, cdir[i]};
} else {
REP(i, 4) if (S[i] == (i ^ 2)) return pair{1, cdir[i]};
}
} else if (S[cur] == (cur ^ 2)) {
REP(love, 4) {
cur = (cur + 1) & 3;
if (S[cur] == EMPTY || S[cur] == (cur ^ 2)) return pair{cur, cdir[cur]};
}
} else {
REP(i, 4) if (S[i] == (i ^ 2)) return pair{cur, cdir[i]};
if (source) return pair{PATH, cdir[cur]};
REP(i, 4) if (S[i] == PATH) return sink ? pair{PATH, TERMINATE} : pair{PATH, cdir[cur]};
return pair{EMPTY, cdir[cur]};
}
return pair{-1, ' '};
};
REP(cur, 6) if (cur != 5 - PATH) FOR(w, -2, 6) FOR(s, -2, 6) FOR(e, -2, 6) FOR(n, -2, 6) {
auto [z, a] = get_instruction(cur, {w, s, e, n});
if (z != -1) set_instruction({cur, w, s, e, n}, 5 - z, a);
}
}
