#include "robot.h"
#include <bits/stdc++.h>
using namespace std;
#define pb push_back
#define sz(a) (int)a.size()
#define all(a) begin(a),end(a)
using ll = long long;
using vi = vector<int>;
using vll = vector<ll>;
int boundary = -2, obstacle = -1, white = 0, yellow = 1, blue = 2, red = 3;
string dir = "WSENHT";
int i, j, k, l, m;
char get_dir(int col, vector<int> subset={1,2,3,4}){
int pos = 4;
for(auto u : subset){
if(u==1 and j==col) pos=0;
else if(u==2 and k==col) pos=1;
else if(u==3 and l==col) pos=2;
else if(u==4 and m==col) pos=3;
}
return dir[pos];
}
bool exists_neighbour(int col, vector<int> subset={1,2,3,4}){
for(auto u : subset){
if(u==1 and j==col) return true;
if(u==2 and k==col) return true;
if(u==3 and l==col) return true;
if(u==4 and m==col) return true;
}
return false;
}
void program_pulibot()
{
for(i = 0; i <= 3; i++){
for(j = -2; j <= 3; j++){
for(k = -2; k <= 3; k++){
for(l = -2; l <= 3; l++){
for(m = -2; m <= 3; m++){
if(k==boundary and l==boundary){
// final location, start coloring with yellow, go back to last blue
set_instruction({i,j,k,l,m},yellow,get_dir(blue));
}
else if(exists_neighbour(yellow)){
// if yellow somewhere, we are in the final phase
// in this phase, we are going to remove all the extraneous colors
if(exists_neighbour(red, {2,1})){
// firstly if there's red cell, go there while marking here as yellow
// if i'm already on a red cell tho, paint it green
set_instruction({i,j,k,l,m},yellow,get_dir(red,{2,1}));
}
else if(i==red){
set_instruction({i,j,k,l,m},white,get_dir(yellow));
}
else if(exists_neighbour(blue)){
// if no red cell, but there are blue cells, go there
set_instruction({i,j,k,l,m},yellow,get_dir(blue));
}
else if(j==boundary and m==boundary){
// starting location we can terminate now
set_instruction({i,j,k,l,m},yellow,'T');
}
else{
// if we are in a blocked place already, clear it, traverse back
set_instruction({i,j,k,l,m},white,get_dir(yellow));
}
}
else if(exists_neighbour(white,{2,3})){
// if still in the exploration phase and we can explore down or right:
// go to the next unvisited position
set_instruction({i,j,k,l,m},blue,get_dir(white,{2,3}));
}
else if(exists_neighbour(blue)){
// no where to go, mark as blocked, backtrack
set_instruction({i,j,k,l,m},red,get_dir(blue));
}
}
}
}
}
}
}
