/*
 https://codeforces.com/blog/entry/120252
*/
// what is matter? never mind.
#include"robot.h" 
#pragma GCC optimize("Ofast")
#pragma GCC optimize("unroll-loops")
//#pragma GCC target("sse,sse2,sse3,sse4,popcnt,abm,mmx,avx,avx2") 
#include<bits/stdc++.h>
#define For(i,a,b) for(int i=(a);i<=(b);++i)
#define Rep(i,a,b) for(int i=(a);i>=(b);--i)
#define ll long long
//#define int long long
#define ull unsigned long long
using namespace std;

#define fi first
#define se second
#define pb push_back
#define mkp make_pair
typedef pair<int,int>pii;
typedef vector<int>vi;

#define maxn 400005
#define inf 0x3f3f3f3f

int z,to;

int dx[7]={0,0,1,0,-1};
int dy[7]={0,-1,0,1,0};
int id[4][4];

int mp[4][4];
bool work(vi o)
{
	For(i,0,4) mp[1+dx[i]][1+dy[i]]=o[i];
	z=114,to=-1;
	
	if(mp[1][1]==0){
		if(mp[1][0]==-2 && mp[0][1]==-2){
			// start.
			if(mp[2][1]==0) z=to=3;
			else z=to=4;
			return 1;
		}
		else if(mp[2][1]!=-2 || mp[1][2]!=-2){
			// go.
			For(i,0,3)
				if((i+2)%4==o[i+1]-2){
					to=z=i+2;
					return 1;
				}
		}
		else{
			z=3,to=1;
			return 1;
		}
		return 0;
	}
	
	if(mp[1][1]>=2 && mp[1][1]<=5){
		int d=mp[1][1]-2;
		if(o[d+1]-2==(d+2)%4){
			// go ahead.
			For(_,1,4){
				int i=(d+_)%4;
				if(o[i+1]==0 || o[i+1]-2==(i+2)%4){
					z=to=i+2;
					return 1;
				}
			}
			return 0;
		}else{
			// prune leaf.
			bool path=0;
			if(mp[0][1]==-2 && mp[1][0]==-2)
				path=1;
			For(_,1,4){
				int i=(d+_)%4;
				if(o[i+1]==1) path=1;
				if(o[i+1]-2==(i+2)%4){
					z=mp[1][1];
					to=i+2;
					return 1;
				}
			}
			if(mp[2][1]==-2 && mp[1][2]==-2){
				z=1,to=0;
				return 1;
			}
			z=path;
			to=mp[1][1];
			return 1;
		}
	}
	
	return 0;
}

void program_pulibot(){
	For(i,0,2)For(j,0,2)id[i][j]=-1;
	For(i,0,4){
		int x=1+dx[i],y=1+dy[i];
		id[x][y]=i;
	}
	For(i,-2,5)For(j,-2,5)For(k,-2,5)For(l,-2,5)For(p,-2,5){
		if(i==-2 && k==-2)continue;
		if(j==-2 && l==-2)continue;
		vi o={i,j,k,l,p};
		if(work(o) && z>=0 && z<=6) set_instruction(o,z,"THWSEN"[to]);
	}
}