#include "robot.h"
#include <bits/stdc++.h>
using namespace std;
int boundary = -2, obstacle = -1, white = 0, green = 1;
int blue = 2, red = 3, yellow = 4, orange = 5;
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 Set(int f, char g){ set_instruction({i,j,k,l,m},f,g); }
void program_pulibot()
{
for(i = 0; i <= 5; i++){
for(j = -2; j <= 5; j++){
for(k = -2; k <= 5; k++){
for(l = -2; l <= 5; l++){
for(m = -2; m <= 5; m++){
if(i==green or exists_neighbour(green) or exists_neighbour(orange)){
if(exists_neighbour(red,{2,3}))
Set(orange,get_dir(red,{2,3}));
else if(exists_neighbour(orange))
Set(white,get_dir(orange));
else if(exists_neighbour(yellow))
Set(green,get_dir(yellow));
else if(k==boundary and l==boundary)
Set(green,'T');
}
else if(k==boundary and l==boundary)
Set(yellow,get_dir(blue));
else if(exists_neighbour(yellow)){
if(exists_neighbour(blue))
Set(yellow,get_dir(blue));
else if(j==boundary and m==boundary)
Set(green,'H');
else
Set(white,get_dir(yellow));
}
else if(exists_neighbour(white,{2,3}))
Set(blue,get_dir(white,{2,3}));
else if(exists_neighbour(blue))
Set(red,get_dir(blue));
}
}
}
}
}
}
