UVA 1600 Patrol Robot

#include<bits/stdc++.h>
using namespace std;
#define ll long long
#define P pair<int,int>
int dx[5]={-1,0,0,1};
int dy[5]={0,-1,1,0};
int d[25][25];
int a[25][25];
int vis[25][25][25];
int n,m,k;
struct Point{
    int x;int y;
};
struct Stat{
    Point pos;
    int turbo;
};
int  bfs(int x1,int y1,int x2,int y2)
{
    Stat s;
    memset(d,0,sizeof(d));
    memset(vis,0,sizeof(vis));
    queue<Stat>que;
    s.pos.x=x1;
    s.pos.y=y1;
    if(a[x1][y1]==1)
    s.turbo=1;
    else
    s.turbo=0;
    if(s.turbo==1&&k==0)
    return -1;
    que.push(s);
    int ex,ey,size;
    while(que.size()>0)
    {
        Stat s1;
        s1=que.front();
        ex=s1.pos.x;
        ey=s1.pos.y;
        size=s1.turbo;
        que.pop();
        if(ex==x2&&ey==y2)
        {
            return d[ex][ey];
        }
        for(int i=0;i<4;i++)
        {
            int nx=ex+dx[i];
            int ny=ey+dy[i];
            Stat s2;
            s2.pos.x=nx;s2.pos.y=ny;
            if(size<=k)
                {
                    if(a[nx][ny]==0)
                    {
                        s2.turbo=0;
                    }
                    else
                    {
                        s2.turbo=size+1;
                    }
                }
            if(nx>=1&&nx<=n&&ny>=1&&ny<=m&&vis[nx][ny][s2.turbo]==0)
            {
                if(s2.turbo<=k)
                {
                    que.push(s2);
                    vis[nx][ny][s2.turbo]=1;
                    d[nx][ny]=d[ex][ey]+1;        
                }        
            }
        }
     }
     return -1; 
}
int main()
{ 
    int T,ans;
    cin>>T;
    while(T--)
    {
        cin>>n>>m>>k;
        for(int i=1;i<=n;i++)
        {
            for(int j=1;j<=m;j++)
            {
                cin>>a[i][j];
            }
        }
        ans=bfs(1,1,n,m);
        cout<<ans<<"\n";
    }
    return 0;
}