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#include "PrismModulesPrinter.h"
#include <map>
#include <string>
namespace prism {
PrismModulesPrinter::PrismModulesPrinter(const ModelType &modelType, const size_t &numberOfPlayer, std::vector<Configuration> config, const bool enforceOneWays) : modelType(modelType), numberOfPlayer(numberOfPlayer), enforceOneWays(enforceOneWays), configuration(config), viewDirectionMapping({{0, "East"}, {1, "South"}, {2, "West"}, {3, "North"}}) { }
std::ostream& PrismModulesPrinter::printModel(std::ostream &os, const ModelType &modelType) { switch(modelType) { case(ModelType::MDP): os << "mdp"; break; case(ModelType::SMG): os << "smg"; break; } os << "\n\n"; return os; }
std::ostream& PrismModulesPrinter::printBackgroundLabels(std::ostream &os, const AgentName &agentName, const std::pair<Color, cells> &backgroundTiles) { if(backgroundTiles.second.size() == 0) return os;
bool first = true; std::string color = getColor(backgroundTiles.first); color.at(0) = std::toupper(color.at(0)); os << "formula " << agentName << "On" << color << " = "; for(auto const& cell : backgroundTiles.second) { if(first) first = false; else os << " | "; os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")"; } os << ";\n"; os << "label \"" << agentName << "On" << color << "\" = " << agentName << "On" << color << ";\n"; return os; }
std::ostream& PrismModulesPrinter::printRestrictionFormula(std::ostream& os, const AgentName &agentName, const std::string &direction, const cells &grid_cells, const cells &keys, const cells &doors) { bool first = true; os << "formula " << agentName << "CannotMove" << direction << " = " ; for(auto const& cell : grid_cells) { if(first) first = false; else os << " | "; os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")"; }
if (!keys.empty()) { os << " | " << agentName << "CannotMove" << direction << "BecauseOfKey"; } if (!doors.empty()) { os << " | " << agentName << "CannotMove" << direction << "BecauseOfDoor"; } os << ";\n"; return os; } std::ostream& PrismModulesPrinter::printKeyRestrictionFormula(std::ostream& os, const AgentName &agentName, const std::string &direction, const cells &keys) { bool first = true; os << "formula " << agentName << "CannotMove" << direction << "BecauseOfKey" << " = "; for (auto const& key : keys) { if(first) first = false; else os << " | "; std::string keyColor = key.getColor(); std::string xKey = "xKey" + keyColor; std::string yKey = "yKey" + keyColor; coordinates coords; os << "(!" << agentName << "_has_" << keyColor << "_key & ";
if (direction == "North") { os << " x" << agentName << " = " << xKey << "&y" << agentName << "-1 = " << yKey << ")"; } else if (direction == "South") { os << " x" << agentName << " = " << xKey << "&y" << agentName << "+1 = " << yKey << ")"; } else if (direction == "East") { os << " x" << agentName << "+1 = " << xKey << "&y" << agentName << " = " << yKey << ")"; } else if (direction == "West") { os << " x" << agentName << "-1 = " << xKey << "&y" << agentName << " = " << yKey << ")"; } else { os << "Invalid Direction! in Key Restriction"; } }
os << ";\n"; return os; }
std::ostream& PrismModulesPrinter::printDoorRestrictionFormula(std::ostream& os, const AgentName &agentName, const std::string &direction, const cells &doors) { bool first = true;
os << "formula " << agentName << "CannotMove" << direction << "BecauseOfDoor" << " = "; for (auto const& door : doors) { if (first) first = false; else os << " | ";
std::string doorColor = door.getColor(); size_t y = door.getCoordinates().first; size_t x = door.getCoordinates().second;
os << "(!Door" << doorColor << "open & ";
if (direction == "North") { os << " x" << agentName << " = " << x << "&y" << agentName << "-1 = " << y << ")"; } else if (direction == "South") { os << " x" << agentName << " = " << x << "&y" << agentName << "+1 = " << y << ")"; } else if (direction == "East") { os << " x" << agentName << "+1 = " << x << "&y" << agentName << " = " << y << ")"; } else if (direction == "West") { os << " x" << agentName << "-1 = " << y << "&y" << agentName << " = " << y << ")"; } else { os << "Invalid Direction! in Key Restriction"; }
}
os << ";\n"; return os; }
std::ostream& PrismModulesPrinter::printIsOnSlipperyFormula(std::ostream& os, const AgentName &agentName, const std::vector<std::reference_wrapper<cells>> &slipperyCollection, const cells &slipperyNorth, const cells &slipperyEast, const cells &slipperySouth, const cells &slipperyWest) { if(std::find_if(slipperyCollection.cbegin(), slipperyCollection.cend(), [=](const std::reference_wrapper<cells>& c) { return !c.get().empty(); }) == slipperyCollection.cend()) { os << "formula " << agentName << "IsOnSlippery = false;\n"; return os; } bool first = true; if (!slipperyNorth.empty()) { os << "formula " << agentName << "IsOnSlipperyNorth = "; for (const auto& cell : slipperyNorth) { if(first) first = false; else os << " | "; os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")"; } os << ";\n"; }
if (!slipperyEast.empty()) { first = true; os << "formula " << agentName << "IsOnSlipperyEast = "; for (const auto& cell : slipperyEast) { if(first) first = false; else os << " | "; os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")"; } os << ";\n";
}
if (!slipperySouth.empty()) { first = true; os << "formula " << agentName << "IsOnSlipperySouth = "; for (const auto& cell : slipperySouth) { if(first) first = false; else os << " | "; os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")"; } os << ";\n"; }
if (!slipperyWest.empty()) { first = true; os << "formula " << agentName << "IsOnSlipperyWest = "; for (const auto& cell : slipperyWest) { if(first) first = false; else os << " | "; os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")"; } os << ";\n"; }
first = true; os << "formula " << agentName << "IsOnSlippery = ";
for (const auto& slippery: slipperyCollection) { for(const auto& cell : slippery.get()) { if(first) first = false; else os << " | "; os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")"; } } os << ";\n"; if(enforceOneWays) { first = true; os << "formula " << agentName << "IsOnSlipperyNorth = ";
for (const auto& cell: slipperyNorth) { if(first) first = false; else os << " | "; os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")"; } os << ";\n"; first = true; os << "formula " << agentName << "IsOnSlipperyEast = ";
for (const auto& cell: slipperyEast) { if(first) first = false; else os << " | "; os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")"; } os << ";\n"; first = true; os << "formula " << agentName << "IsOnSlipperySouth = ";
for (const auto& cell: slipperySouth) { if(first) first = false; else os << " | "; os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")"; } os << ";\n"; first = true; os << "formula " << agentName << "IsOnSlipperyWest = "; for (const auto& cell: slipperyWest) { if(first) first = false; else os << " | "; os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")"; } os << ";\n"; } return os; }
std::ostream& PrismModulesPrinter::printIsInLavaFormula(std::ostream& os, const AgentName &agentName, const cells &lava) { if(lava.size() == 0) { os << "formula " << agentName << "IsInLava = false;\n"; return os; } bool first = true; os << "formula " << agentName << "IsInLava = "; for(auto const& cell : lava) { if(first) first = false; else os << " | "; os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")"; } os << ";\n"; os << "formula " << agentName << "IsInLavaAndNotDone = " << agentName << "IsInLava & !" << agentName << "Done;\n"; os << "label \"" << agentName << "IsInLavaAndNotDone\" = " << agentName << "IsInLava & !" << agentName << "Done;\n"; return os; }
std::ostream& PrismModulesPrinter::printTurningNotAllowedFormulas(std::ostream& os, const AgentName &agentName, const cells &noTurnFloor) { if( (!enforceOneWays or noTurnFloor.size() == 0) or (noTurnFloor.size() == 0) ) { os << "formula " << agentName << "CannotTurn = false;\n"; return os; } bool first = true; os << "formula " << agentName << "CannotTurn = "; for(auto const& cell : noTurnFloor) { if(first) first = false; else os << " | "; os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")"; } os << " | " << agentName << "IsOnSlippery;\n"; return os; }
std::ostream& PrismModulesPrinter::printIsFixedFormulas(std::ostream& os, const AgentName &agentName) { os << "formula " << agentName << "IsFixed = false;\n"; os << "formula " << agentName << "SlipperyTurnLeftAllowed = true;\n"; os << "formula " << agentName << "SlipperyTurnRightAllowed = true;\n"; os << "formula " << agentName << "SlipperyMoveForwardAllowed = true;\n"; os << "label \"FixedStates" << agentName << "\" = " << agentName << "IsFixed | !" << agentName << "SlipperyTurnRightAllowed | !" << agentName << "SlipperyTurnLeftAllowed | !" << agentName << "SlipperyMoveForwardAllowed | " << agentName << "IsInGoal | " << agentName << "IsInLava"; if(enforceOneWays) { os << " | " << agentName << "CannotTurn"; } os << ";\n"; //os << "label \"FixedStates\" = " << agentName << "IsFixed | " << agentName << "IsOnSlippery | " << agentName << "IsInGoal | " << agentName << "IsInLava;\n";
return os; }
std::ostream& PrismModulesPrinter::printWallFormula(std::ostream& os, const AgentName &agentName, const cells &walls) { os << "formula " << agentName << "IsOnWall = "; bool first = true; for(auto const& cell : walls) { if(first) first = false; else os << " | "; os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")"; } os << ";\n"; return os; }
std::ostream& PrismModulesPrinter::printFormulas(std::ostream& os, const AgentName &agentName, const cells &restrictionNorth, const cells &restrictionEast, const cells &restrictionSouth, const cells &restrictionWest, const std::vector<std::reference_wrapper<cells>> &slipperyCollection, const cells &lava, const cells &walls, const cells &noTurnFloor, const cells &slipperyNorth, const cells &slipperyEast, const cells &slipperySouth, const cells &slipperyWest, const cells &keys, const cells &doors) { printRestrictionFormula(os, agentName, "North", restrictionNorth, keys, doors); printRestrictionFormula(os, agentName, "East", restrictionEast, keys, doors); printRestrictionFormula(os, agentName, "South", restrictionSouth, keys, doors); printRestrictionFormula(os, agentName, "West", restrictionWest, keys, doors); if (!keys.empty()) { printKeyRestrictionFormula(os, agentName, "North", keys); printKeyRestrictionFormula(os, agentName, "East", keys); printKeyRestrictionFormula(os, agentName, "South", keys); printKeyRestrictionFormula(os, agentName, "West", keys); }
if (!doors.empty()) { printDoorRestrictionFormula(os, agentName, "North", doors); printDoorRestrictionFormula(os, agentName, "East", doors); printDoorRestrictionFormula(os, agentName, "South", doors); printDoorRestrictionFormula(os, agentName, "West", doors); } printIsOnSlipperyFormula(os, agentName, slipperyCollection, slipperyNorth, slipperyEast, slipperySouth, slipperyWest); printIsInLavaFormula(os, agentName, lava); printWallFormula(os, agentName, walls); printTurningNotAllowedFormulas(os, agentName, noTurnFloor); printIsFixedFormulas(os, agentName); os << "\n"; return os; }
std::ostream& PrismModulesPrinter::printGoalLabel(std::ostream& os, const AgentName &agentName, const cells &goals) { if(goals.size() == 0) { os << "formula " << agentName << "IsInGoal = false;\n"; return os; }
bool first = true; os << "formula " << agentName << "IsInGoal = "; for(auto const& cell : goals) { if(first) first = false; else os << " | "; os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")"; } os << ";\n"; os << "formula " << agentName << "IsInGoalAndNotDone = " << agentName << "IsInGoal & !" << agentName << "Done;\n"; os << "label \"" << agentName << "IsInGoalAndNotDone\" = " << agentName << "IsInGoal & !" << agentName << "Done;\n"; return os; }
std::ostream& PrismModulesPrinter::printCrashLabel(std::ostream &os, const std::vector<AgentName> agentNames) { os << "label crash = "; bool first = true; for(auto const& agentName : agentNames) { if(agentName == "Agent") continue; if(first) first = false; else os << " | "; os << "(xAgent=x" << agentName << ")&(yAgent=y" << agentName << ")"; } os << ";\n\n"; return os; }
std::ostream& PrismModulesPrinter::printConfiguration(std::ostream& os, const std::vector<Configuration>& configurations) { for (auto& configuration : configurations) { if (configuration.overwrite_ || configuration.type_ == ConfigType::Module) { continue; } os << configuration.expression_ << std::endl; }
return os; }
std::ostream& PrismModulesPrinter::printConstants(std::ostream &os, const std::vector<std::string> &constants) {
for (auto& constant : constants) { os << constant << std::endl; }
return os; }
std::ostream& PrismModulesPrinter::printAvoidanceLabel(std::ostream &os, const std::vector<AgentName> agentNames, const int &distance) { os << "label avoidance = "; bool first = true; for(auto const& agentName : agentNames) { if(agentName == "Agent") continue; if(first) first = false; else os << " | "; os << "max(xAgent-x" << agentName << ",x" << agentName << "-xAgent)+"; os << "max(yAgent-y" << agentName << ",y" << agentName << "-yAgent) "; } os << ";\n\n"; return os; }
// TODO this does not account for multiple agents yet, i.e. key can be picked up multiple times
std::ostream& PrismModulesPrinter::printKeysLabels(std::ostream& os, const AgentName &agentName, const cells &keys) { if(keys.size() == 0) return os;
for(auto const& key : keys) { std::string keyColor = key.getColor(); std::string xKey = "xKey" + keyColor; std::string yKey = "yKey" + keyColor; os << "label \"" << agentName << "PickedUp" << keyColor << "Key\" = " << agentName << "_has_" << keyColor << "_key = true;\n"; os << "formula " << agentName << "CanPickUp" << keyColor << "Key = "; os << "((x" << agentName << "-1 = " << xKey << "&y" << agentName << " = " << yKey << "&view" << agentName << " = 2) |"; os << " (x" << agentName << "+1 = " << xKey << "&y" << agentName << " = " << yKey << "&view" << agentName << " = 0) |"; os << " (x" << agentName << " = " << xKey << "&y" << agentName << "-1 = " << yKey << "&view" << agentName << " = 3) |"; os << " (x" << agentName << " = " << xKey << "&y" << agentName << "+1 = " << yKey << "&view" << agentName << " = 1) ) &"; os << "!" << agentName << "_has_" << keyColor << "_key;"; } os << "\n"; return os; }
std::ostream& PrismModulesPrinter::printBooleansForKeys(std::ostream &os, const AgentName &agentName, const cells &keys) { for(auto const& key : keys) { os << "\t" << agentName << "_has_"<< key.getColor() << "_key : bool;\n";//init false;\n";
}
os << "\n"; return os; }
std::ostream& PrismModulesPrinter::printBooleansForBackground(std::ostream &os, const AgentName &agentName, const std::map<Color, cells> &backgroundTiles) { for(auto const& [color, cells] : backgroundTiles) { if(cells.size() == 0) continue; std::string c = getColor(color); c.at(0) = std::toupper(c.at(0)); os << "\t" << agentName << "_picked_up_" << c << " : bool init false;\n"; } os << "\n"; return os; }
std::ostream& PrismModulesPrinter::printActionsForKeys(std::ostream &os, const AgentName &agentName, const cells &keys) { for(auto const& key : keys) { // TODO ADD Drop action and enforce that pickup only possible if pockets empty (nothing picked up already)
os << "\n"; std::string keyColor = key.getColor(); os << "\t[pickup_" << keyColor << "_key]\t" << pickupGuard(agentName, keyColor) << "-> "; os << "(" << agentName << "_has_" << keyColor << "_key'=true) & (" << agentName << "_is_carrying_object'=true);\n"; os << "\n"; os << "\t[drop_" << keyColor << "_key_north]\t" << dropGuard(agentName, keyColor, 3) << "-> "; os << "(" << agentName << "_has_" << keyColor << "_key'=false) & (" << agentName << "_is_carrying_object'=false);\n";
os << "\t[drop_" << keyColor << "_key_west]\t" << dropGuard(agentName, keyColor, 2) << "-> "; os << "(" << agentName << "_has_" << keyColor << "_key'=false) & (" << agentName << "_is_carrying_object'=false);\n";
os << "\t[drop_" << keyColor << "_key_south]\t" << dropGuard(agentName, keyColor, 1) << "-> "; os << "(" << agentName << "_has_" << keyColor << "_key'=false) & (" << agentName << "_is_carrying_object'=false);\n";
os << "\t[drop_" << keyColor << "_key_east]\t" << dropGuard(agentName, keyColor, 0) << "-> "; os << "(" << agentName << "_has_" << keyColor << "_key'=false) & (" << agentName << "_is_carrying_object'=false);\n"; }
return os; }
std::string PrismModulesPrinter::pickupGuard(const AgentName &agentName, const std::string keyColor ) { return "!" + agentName + "_is_carrying_object &\t" + agentName + "CanPickUp" + keyColor + "Key "; }
std::string PrismModulesPrinter::dropGuard(const AgentName &agentName, const std::string keyColor, size_t view) { return viewVariable(agentName, view, true) + "\t!" + agentName + "CannotMove" + viewDirectionMapping.at(view) + "\t&\t" + agentName + "_has_" + keyColor + "_key\t"; }
std::ostream& PrismModulesPrinter::printActionsForBackground(std::ostream &os, const AgentName &agentName, const std::map<Color, cells> &backgroundTiles) { for(auto const& [color, cells] : backgroundTiles) { if(cells.size() == 0) continue; std::string c = getColor(color); c.at(0) = std::toupper(c.at(0)); os << "\t[" << agentName << "_pickup_" << c << "] " << agentName << "On" << c << " & !" << agentName << "_picked_up_" << c << " -> "; os << "(" << agentName << "_picked_up_" << c << "'=true);\n"; } os << "\n"; return os; }
std::ostream& PrismModulesPrinter::printInitStruct(std::ostream &os, const AgentNameAndPositionMap &agents, const KeyNameAndPositionMap &keys, const cells &lockedDoors, const cells &unlockedDoors, prism::ModelType modelType) { os << "init\n"; os << "\t"; bool first = true; for (auto const& agent : agents) { if (first) first = false; else os << " & "; os << "(!" << agent.first << "IsInGoal & !" << agent.first << "IsInLava & !" << agent.first << "Done & !" << agent.first << "IsOnWall & "; os << "x" << agent.first << "=" << agent.second.second << " & y" << agent.first << "=" << agent.second.first << ")"; os << " & !" << agent.first << "_is_carrying_object"; if(enforceOneWays) { os << " & ( !AgentCannotTurn ) "; } else { // os << " & ( !AgentIsOnSlippery ) ";
}
for (auto const& key : keys) { os << " & ( !" << agent.first << "_has_" << key.first << "_key )"; } } for (auto const& key : keys) { os << " & ( xKey" << key.first << "="<< key.second.second<< ")"; os << " & ( yKey" << key.first << "=" << key.second.first << ")"; }
for (auto const& locked : lockedDoors) { os << " & (Door" << locked.getColor() << "locked & !Door" << locked.getColor() << "open)"; }
for (auto const& unlocked : unlockedDoors) { os << " & (!Door" << unlocked.getColor() << "locked & !Door" << unlocked.getColor() << "open)"; }
if (modelType == ModelType::SMG) { os << " & move=0"; }
os << "\nendinit\n\n";
return os; }
std::ostream& PrismModulesPrinter::printModule(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, const coordinates &boundaries, const coordinates& initialPosition, const cells &keys, const std::map<Color, cells> &backgroundTiles, const bool agentWithView, const std::vector<float> &probabilities, const double faultyProbability) { os << "module " << agentName << "\n"; os << "\tx" << agentName << " : [1.." << boundaries.second << "];\n"; os << "\ty" << agentName << " : [1.." << boundaries.first << "];\n"; os << "\t" << agentName << "_is_carrying_object : bool;\n";
printBooleansForKeys(os, agentName, keys); printBooleansForBackground(os, agentName, backgroundTiles); os << "\t" << agentName << "Done : bool;\n"; if(agentWithView) { os << "\tview" << agentName << " : [0..3];\n"; os << "\n"; if (faultyProbability != 0.0) { os << "\t[" << agentName << "_turn_right] " << moveGuard(agentIndex) << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << " !" << agentName << "IsInGoal & !" << agentName << "IsInLava & !" << agentName << "IsOnSlippery -> " << 100 - faultyProbability << "/100:" << "(view" << agentName << "'=mod(view" << agentName << " + 1, 4))" << moveUpdate(agentIndex) << "\n + " << faultyProbability << "/100:" << "(view" << agentName << "'=mod(view" << agentName << " + 2, 4))" << ";\n"; os << "\t[" << agentName << "_turn_left] " << moveGuard(agentIndex) << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << " !" << agentName << "IsInGoal & !" << agentName << "IsInLava & !" << agentName << "IsOnSlippery & view" << agentName << ">1 -> " << 100 - faultyProbability << "/100:" << "(view" << agentName << "'=mod(view" << agentName << " - 1, 4))" << moveUpdate(agentIndex) << "\n + " << faultyProbability << "/100:" << "(view" << agentName << "'=mod(view" << agentName << " - 2, 4))" << ";\n"; os << "\t[" << agentName << "_turn_left] " << moveGuard(agentIndex) << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << " !" << agentName << "IsInGoal & !" << agentName << "IsInLava & !" << agentName << "IsOnSlippery & view" << agentName << "=0 -> " << 100 - faultyProbability << "/100:" << "(view" << agentName << "'=3)" << moveUpdate(agentIndex) << "\n + " << faultyProbability << "/100:" << "(view" << agentName << "'=2)" << ";\n"; os << "\t[" << agentName << "_turn_left] " << moveGuard(agentIndex) << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << " !" << agentName << "IsInGoal & !" << agentName << "IsInLava & !" << agentName << "IsOnSlippery & view" << agentName << "=1 -> " << 100 - faultyProbability << "/100:" << "(view" << agentName << "'=0)" << moveUpdate(agentIndex) << "\n + " << faultyProbability << "/100:" << "(view" << agentName << "'=3)" << ";\n"; } else { os << "\t[" << agentName << "_turn_right] " << moveGuard(agentIndex) << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << " !" << agentName << "IsInGoal & !" << agentName << "IsInLava & !" << agentName << "IsOnSlippery -> (view" << agentName << "'=mod(view" << agentName << " + 1, 4)) " << moveUpdate(agentIndex) << ";\n"; os << "\t[" << agentName << "_turn_left] " << moveGuard(agentIndex) << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << " !" << agentName << "IsInGoal & !" << agentName << "IsInLava & !" << agentName << "IsOnSlippery & view" << agentName << ">0 -> (view" << agentName << "'=view" << agentName << " - 1) " << moveUpdate(agentIndex) << ";\n"; os << "\t[" << agentName << "_turn_left] " << moveGuard(agentIndex) << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << " !" << agentName << "IsInGoal & !" << agentName << "IsInLava & !" << agentName << "IsOnSlippery & view" << agentName << "=0 -> (view" << agentName << "'=3) " << moveUpdate(agentIndex) << ";\n"; } if(enforceOneWays) { os << "\t[" << agentName << "_stuck] !" << agentName << "IsFixed & " << agentName << "CannotTurn & view" << agentName << " = 0 & " << agentName << "CannotMoveEast -> true;\n"; os << "\t[" << agentName << "_stuck] !" << agentName << "IsFixed & " << agentName << "CannotTurn & view" << agentName << " = 1 & " << agentName << "CannotMoveSouth -> true;\n"; os << "\t[" << agentName << "_stuck] !" << agentName << "IsFixed & " << agentName << "CannotTurn & view" << agentName << " = 2 & " << agentName << "CannotMoveWest -> true;\n"; os << "\t[" << agentName << "_stuck] !" << agentName << "IsFixed & " << agentName << "CannotTurn & view" << agentName << " = 3 & " << agentName << "CannotMoveNorth -> true;\n"; } } else { os << "\t[" << agentName << "_turns] " << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << moveGuard(agentIndex) << " true -> (x" << agentName << "'=x" << agentName << ")" << moveUpdate(agentIndex) << ";\n"; } printActionsForKeys(os, agentName, keys); printActionsForBackground(os, agentName, backgroundTiles); os << "\n";
printMovementActions(os, agentName, agentIndex, agentWithView, 1.0, faultyProbability); for(auto const& probability : probabilities) { printMovementActions(os, agentName, agentIndex, agentWithView, probability); } printDoneActions(os, agentName, agentIndex);
printConfiguredActions(os, agentName);
os << "\n"; return os; }
std::ostream& PrismModulesPrinter::printKeyModule(std::ostream &os, const cell &key, const coordinates &boundaries, AgentName agentName) { std::string keyIdentifier = "Key" + key.getColor();
os << "module " << keyIdentifier << "\n";
os << "\tx" << keyIdentifier << " : [-1.." << boundaries.second << "];\n"; os << "\ty" << keyIdentifier << " : [-1.." << boundaries.first << "];\n"; os << "\n"; printKeyActions(os, key ,keyIdentifier, agentName);
os << "\n"; return os; } std::ostream& PrismModulesPrinter::printKeyActions(std::ostream &os, const cell &key ,const std::string &keyIdentifier, AgentName agentName) { std::string keyColor = key.getColor();
os << "\t[pickup_" << keyColor << "key]\t" << pickupGuard(agentName, keyColor) << "-> "; os << "(xKey" << keyColor << "'=-1) & (yKey" << keyColor << "'=-1)" << ";\n";
os << "\t[drop_" << keyColor << "_key_north]\t" << dropGuard(agentName, keyColor, 3) << "-> "; os << "(xKey" << keyColor << "'=x" << agentName << ") & (yKey" << keyColor << "'=y" <<agentName << "-1) ;\n";
os << "\t[drop_" << keyColor << "_key_west]\t" << dropGuard(agentName, keyColor, 2) << "-> "; os << "(xKey" << keyColor << "'=x" << agentName << "-1) & (yKey" << keyColor << "'=y" <<agentName << ") ;\n";
os << "\t[drop_" << keyColor << "_key_south]\t" << dropGuard(agentName, keyColor, 1) << "-> "; os << "(xKey" << keyColor << "'=x" << agentName << ") & (yKey" << keyColor << "'=y" <<agentName << "+1) ;\n";
os << "\t[drop_" << keyColor << "_key_east]\t" << dropGuard(agentName, keyColor, 0) << "-> "; os << "(xKey" << keyColor << "'=x" << agentName << "+1) & (yKey" << keyColor << "'=y" <<agentName << ") ;\n";
return os; }
std::ostream& PrismModulesPrinter::printDoorModule(std::ostream &os, const cell &door, const coordinates &boundaries, AgentName agent) { std::string doorIdentifier = "Door" + door.getColor(); os << "module " << doorIdentifier << "\n"; os << "\t" << doorIdentifier << "locked : bool;\n"; os << "\t" << doorIdentifier << "open : bool;\n";
printDoorActions(os, door, doorIdentifier, agent); return os; }
std::ostream& PrismModulesPrinter::printDoorActions(std::ostream &os, const cell &door ,const std::string &doorIdentifier, AgentName agentName) { os << "\t[" << "unlock_" << doorIdentifier << "]\t" << unlockGuard(agentName, door) << " -> "; os << "(" << doorIdentifier << "locked'=false) & (" << doorIdentifier << "open'=true) ;\n";
os << "\t[" << "toggle_" << doorIdentifier << "]\t" << toggleGuard(agentName, door) << " -> "; os << "(" << doorIdentifier << "open'=!" << doorIdentifier << "open) ;\n";
return os; }
std::string PrismModulesPrinter::unlockGuard(const AgentName &agentName, const cell& door) { std::string doorColor = door.getColor(); std::string ret; ret += agentName + "_has_" + doorColor + "_key & "; ret += "((" + viewVariable(agentName, 0, true) + "x" + agentName + "+ 1 = " + std::to_string(door.column) + " & y" + agentName + "= " + std::to_string(door.row) + ")"; ret += " | (" + viewVariable(agentName, 1, true) + "x" + agentName + " = " + std::to_string(door.column) + " & y" + agentName + " + 1 = " + std::to_string(door.row) + ")"; ret += " | (" + viewVariable(agentName, 2, true) + "x" + agentName + "- 1 = " + std::to_string(door.column) + " & y" + agentName + "= " + std::to_string(door.row) + ")"; ret += " | (" + viewVariable(agentName, 3, true) + "x" + agentName + " = " + std::to_string(door.column) + " & y" + agentName + " - 1 = " + std::to_string(door.row) + "))";
return ret; }
std::string PrismModulesPrinter::toggleGuard(const AgentName &agentName, const cell& door) { std::string doorColor = door.getColor(); std::string ret; ret += "!Door" + doorColor + "locked & ("; ret += "(" + viewVariable(agentName, 0, true) + "x" + agentName + "+ 1 = " + std::to_string(door.column) + " & y" + agentName + "= " + std::to_string(door.row) + ")"; ret += " | (" + viewVariable(agentName, 1, true) + "x" + agentName + " = " + std::to_string(door.column) + " & y" + agentName + " + 1 = " + std::to_string(door.row) + ")"; ret += " | (" + viewVariable(agentName, 2, true) + "x" + agentName + "- 1 = " + std::to_string(door.column) + " & y" + agentName + "= " + std::to_string(door.row) + ")"; ret += " | (" + viewVariable(agentName, 3, true) + "x" + agentName + " = " + std::to_string(door.column) + " & y" + agentName + " - 1 = " + std::to_string(door.row) + "))"; return ret; }
std::ostream& PrismModulesPrinter::printConfiguredActions(std::ostream &os, const AgentName &agentName) { for (auto& config : configuration) { if (config.type_ == ConfigType::Module && !config.overwrite_ && agentName == config.module_) { os << config.expression_ ; } }
os << "\n";
return os; }
std::ostream& PrismModulesPrinter::printMovementActions(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, const bool agentWithView, const float &probability, const double &stickyProbability) { if(stickyProbability != 0.0) { os << "\t[" << agentName << "_move_north]" << moveGuard(agentIndex) << viewVariable(agentName, 3, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveNorth -> " << (100 - stickyProbability) << "/100:" << "(y" << agentName << "'=y" << agentName << "-1)" << moveUpdate(agentIndex) << "\n+ " << (stickyProbability) << "/100:" << "(y" << agentName << "'=max(y" << agentName << "-2, 1 ))" << moveUpdate(agentIndex) << ";\n"; os << "\t[" << agentName << "_move_east] " << moveGuard(agentIndex) << viewVariable(agentName, 0, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveEast -> " << (100 - stickyProbability) << "/100:" << "(x" << agentName << "'=x" << agentName << "+1)" << moveUpdate(agentIndex) << "\n+ " << (stickyProbability) << "/100:" << "(x" << agentName << "'=min(x" << agentName << "+2, width))" << moveUpdate(agentIndex) << ";\n"; os << "\t[" << agentName << "_move_south]" << moveGuard(agentIndex) << viewVariable(agentName, 1, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveSouth -> " << (100 - stickyProbability) << "/100:" << "(y" << agentName << "'=y" << agentName << "+1)" << moveUpdate(agentIndex) << "\n+ " << (stickyProbability) << "/100:" << "(y" << agentName << "'=min(y" << agentName << "+2, height))" << moveUpdate(agentIndex) << ";\n"; os << "\t[" << agentName << "_move_west] " << moveGuard(agentIndex) << viewVariable(agentName, 2, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveWest -> " << (100 - stickyProbability) << "/100:" << "(x" << agentName << "'=x" << agentName << "-1)" << moveUpdate(agentIndex) << "\n+ " << (stickyProbability) << "/100:" << "(x" << agentName << "'=max(x" << agentName << "-1, 1))" << moveUpdate(agentIndex) << ";\n"; } else if(probability >= 1) { os << "\t[" << agentName << "_move_north]" << moveGuard(agentIndex) << viewVariable(agentName, 3, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveNorth -> (y" << agentName << "'=y" << agentName << "-1)" << moveUpdate(agentIndex) << ";\n"; os << "\t[" << agentName << "_move_east] " << moveGuard(agentIndex) << viewVariable(agentName, 0, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveEast -> (x" << agentName << "'=x" << agentName << "+1)" << moveUpdate(agentIndex) << ";\n"; os << "\t[" << agentName << "_move_south]" << moveGuard(agentIndex) << viewVariable(agentName, 1, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveSouth -> (y" << agentName << "'=y" << agentName << "+1)" << moveUpdate(agentIndex) << ";\n"; os << "\t[" << agentName << "_move_west] " << moveGuard(agentIndex) << viewVariable(agentName, 2, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveWest -> (x" << agentName << "'=x" << agentName << "-1)" << moveUpdate(agentIndex) << ";\n"; } else { std::string probabilityString = std::to_string(probability); std::string percentageString = std::to_string((int)(100 * probability)); std::string complementProbabilityString = std::to_string(1 - probability); os << "\t[" << agentName << "_move_north_" << percentageString << "] "; os << moveGuard(agentIndex) << viewVariable(agentName, 3, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava & !" << agentName << "CannotMoveNorth -> "; os << probabilityString << ": (y" << agentName << "'=y" << agentName << "-1)" << moveUpdate(agentIndex) << " + "; os << complementProbabilityString << ": (y" << agentName << "'=y" << agentName << ") " << moveUpdate(agentIndex) << ";\n";
os << "\t[" << agentName << "_move_east_" << percentageString << "] "; os << moveGuard(agentIndex) << viewVariable(agentName, 0, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava & !" << agentName << "CannotMoveEast -> "; os << probabilityString << ": (x" << agentName << "'=x" << agentName << "+1)" << moveUpdate(agentIndex) << " + "; os << complementProbabilityString << ": (x" << agentName << "'=x" << agentName << ") " << moveUpdate(agentIndex) << ";\n";
os << "\t[" << agentName << "_move_south_" << percentageString << "] "; os << moveGuard(agentIndex) << viewVariable(agentName, 1, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava & !" << agentName << "CannotMoveSouth -> "; os << probabilityString << ": (y" << agentName << "'=y" << agentName << "+1)" << moveUpdate(agentIndex) << " + "; os << complementProbabilityString << ": (y" << agentName << "'=y" << agentName << ") " << moveUpdate(agentIndex) << ";\n";
os << "\t[" << agentName << "_move_west_" << percentageString << "] "; os << moveGuard(agentIndex) << viewVariable(agentName, 2, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava & !" << agentName << "CannotMoveWest -> "; os << probabilityString << ": (x" << agentName << "'=x" << agentName << "-1)" << moveUpdate(agentIndex) << " + "; os << complementProbabilityString << ": (x" << agentName << "'=x" << agentName << ") " << moveUpdate(agentIndex) << ";\n"; } return os; }
std::ostream& PrismModulesPrinter::printDoneActions(std::ostream &os, const AgentName &agentName, const size_t &agentIndex) { os << "\t[" << agentName << "_done]" << moveGuard(agentIndex) << agentName << "IsInGoal | " << agentName << "IsInLava -> (" << agentName << "Done'=true);\n"; return os; }
std::ostream& PrismModulesPrinter::printSlipperyTurn(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, const coordinates &c, std::set<std::string> &slipperyActions, const std::array<bool, 8>& neighborhood, SlipperyType orientation) { constexpr std::size_t PROB_PIECES = 9, ALL_POSS_DIRECTIONS = 9;
std::array<std::string, ALL_POSS_DIRECTIONS> positionTransition = { /* north */ "(y" + agentName + "'=y" + agentName + "-1)", /* north east */ "(x" + agentName + "'=x" + agentName + "+1) & (y" + agentName + "'=y" + agentName + "-1)", /* east */ "(x" + agentName + "'=x" + agentName + "+1)", /* east south */ "(x" + agentName + "'=x" + agentName + "+1) & (y" + agentName + "'=y" + agentName + "+1)", /* south */ "(y" + agentName + "'=y" + agentName + "+1)", /* south west */ "(x" + agentName + "'=x" + agentName + "-1) & (y" + agentName + "'=y" + agentName + "+1)", /* west */ "(x" + agentName + "'=x" + agentName + "-1)", /* north west */ "(x" + agentName + "'=x" + agentName + "-1) & (y" + agentName + "'=y" + agentName + "-1)", /* own position */ "(x" + agentName + "'=x" + agentName + ") & (y" + agentName + "'=y" + agentName + ")" };
// view transition appdx in form (guard, update part)
// IMPORTANT: No mod() usage for turn left due to bug in mod() function for decrement
std::array<std::tuple<std::string, std::string, std::string>, 3> viewTransition = { std::make_tuple(" & " + agentName + "SlipperyTurnRightAllowed ", " & (view" + agentName + "'=mod(view" + agentName + " + 1, 4))", "_right]"), std::make_tuple(" & " + agentName + "SlipperyTurnLeftAllowed & view" + agentName + ">0", " & (view" + agentName + "'=view" + agentName + " - 1)", "_left]"), std::make_tuple(" & " + agentName + "SlipperyTurnLeftAllowed & view" + agentName + "=0", " & (view" + agentName + "'=3)", "_left]") };
// direction specifics
std::string actionName; std::string positionGuard; std::size_t remainPosIndex = 8; std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir; // { n, ne, e, se, s, sw, w, nw, CURRENT POS }
std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants;
switch (orientation) { case SlipperyType::North: actionName = "\t[" + agentName + "turn_at_slip_north"; positionGuard = "\t" + agentName + "IsOnSlipperyNorth"; prob_piece_dir = { 0, 0, 0, 0, 1, 0, 0, 0, 0 /* <- R */ }; prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_turn_displacement" /* <- R */, "prop_zero", "prop_zero", "prop_zero","prop_zero" }; break;
case SlipperyType::South: actionName = "\t[" + agentName + "turn_at_slip_south"; positionGuard = "\t" + agentName + "IsOnSlipperySouth"; prob_piece_dir = { 1, 0, 0, 0, 0, 0, 0, 0, 0 /* <- R */ }; prob_piece_dir_constants = { "prop_turn_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" }; break;
case SlipperyType::East: actionName = "\t[" + agentName + "turn_at_slip_east"; positionGuard = "\t" + agentName + "IsOnSlipperyEast"; prob_piece_dir = { 0, 0, 0, 0, 0, 0, 1, 0, 0 /* <- R */ }; prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_turn_displacement", "prop_zero", "prop_zero" }; break;
case SlipperyType::West: actionName = "\t[" + agentName + "turn_at_slip_west"; positionGuard = "\t" + agentName + "IsOnSlipperyWest"; prob_piece_dir = { 0, 0, 1, 0, 0, 0, 0, 0, 0 /* <- R */ }; prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_turn_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" }; break; }
slipperyActions.insert(actionName + "_left]"); slipperyActions.insert(actionName + "_right]");
// override probability to 0 if corresp. direction is blocked
for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS - 1; i++) { if (!neighborhood.at(i)) prob_piece_dir.at(i) = 0; }
// determine residual probability (R) by replacing 0 with (1 - overall sum)
prob_piece_dir.at(remainPosIndex) = PROB_PIECES - std::accumulate(prob_piece_dir.begin(), prob_piece_dir.end(), 0); prob_piece_dir_constants.at(remainPosIndex) = "prop_turn_intended"; // <DEBUG_AREA>
{ assert(prob_piece_dir.at(remainPosIndex) <= 9 && prob_piece_dir.at(remainPosIndex) >= 6 && "Value not in Range!"); assert(std::accumulate(prob_piece_dir.begin(), prob_piece_dir.end(), 0) == PROB_PIECES && "Does not sum up to 1!"); } // </DEBUG_AREA>
// generic output (for every view transition)
for (std::size_t v = 0; v < viewTransition.size(); v++) { os << actionName << std::get<2>(viewTransition.at(v)) << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << std::get<0>(viewTransition.at(v)); for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) { if (i == remainPosIndex) { os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants.at(i) << " : " << positionTransition.at(i) << std::get<1>(viewTransition.at(v)) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n"); } else { os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants.at(i) << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n"); } } }
return os; }
std::ostream& PrismModulesPrinter::printSlipperyMove(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, const coordinates &c, std::set<std::string> &slipperyActions, const std::array<bool, 8>& neighborhood, SlipperyType orientation) { constexpr std::size_t PROB_PIECES = 9, ALL_POSS_DIRECTIONS = 8;
std::array<std::string, ALL_POSS_DIRECTIONS> positionTransition = { /* north */ "(y" + agentName + "'=y" + agentName + "-1)", /* north east */ "(x" + agentName + "'=x" + agentName + "+1) & (y" + agentName + "'=y" + agentName + "-1)", /* east */ "(x" + agentName + "'=x" + agentName + "+1)", /* east south */ "(x" + agentName + "'=x" + agentName + "+1) & (y" + agentName + "'=y" + agentName + "+1)", /* south */ "(y" + agentName + "'=y" + agentName + "+1)", /* south west */ "(x" + agentName + "'=x" + agentName + "-1) & (y" + agentName + "'=y" + agentName + "+1)", /* west */ "(x" + agentName + "'=x" + agentName + "-1)", /* north west */ "(x" + agentName + "'=x" + agentName + "-1) & (y" + agentName + "'=y" + agentName + "-1)" };
// direction specifics
std::size_t straightPosIndex, straightPosIndex_east, straightPosIndex_south, straightPosIndex_west, straightPosIndex_north; std::string actionName, specialTransition; // if straight ahead is blocked
std::string positionGuard; std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir; // { n, ne, e, se, s, sw, w, nw }
std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir_agent_north; // { n, ne, e, se, s, sw, w, nw }
std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir_agent_east; // { n, ne, e, se, s, sw, w, nw }
std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir_agent_south; // { n, ne, e, se, s, sw, w, nw }
std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir_agent_west; // { n, ne, e, se, s, sw, w, nw }
std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants; std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants_agent_north; std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants_agent_east; std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants_agent_south; std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants_agent_west; switch (orientation) { case SlipperyType::North: actionName = "\t[" + agentName + "move_on_slip_north]"; positionGuard = "\t" + agentName + "IsOnSlipperyNorth"; prob_piece_dir = { 0, 0, 1, 2, 0 /* <- R */, 2, 1, 0 };
prob_piece_dir_agent_south = { 0 , 0, 0, 1, 0 /*s <- R */, 1, 0, 0}; prob_piece_dir_agent_east = { 0, 0, 0 /*e <- R */, 2, 0, 0, 0, 0 }; prob_piece_dir_agent_north = { 0 /*n <- R */, 0, 0, 0, 2 , 0, 0, 0 }; prob_piece_dir_agent_west = { 0, 0, 0, 0, 0, 2, 0 /* <- R */, 0 };
prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_displacement", "prop_zero" /* <- R */, "prop_displacement", "prop_displacement * 1/2", "prop_zero" }; prob_piece_dir_constants_agent_north = { "prop_zero", "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_zero" /* <- R */, "prop_displacement * 1/2", "prop_zero", "prop_zero" }; prob_piece_dir_constants_agent_east = { "prop_zero", "prop_zero", "prop_zero", "prop_displacement", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" }; prob_piece_dir_constants_agent_south = { "prop_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" } ; prob_piece_dir_constants_agent_west ={ "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_displacement", "prop_zero", "prop_zero" } ;
straightPosIndex = 4; straightPosIndex_east = 2; straightPosIndex_south = 4; straightPosIndex_west = 6; straightPosIndex_north = 0;
specialTransition = "(y" + agentName + "'=y" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "+1)"); break;
case SlipperyType::South: actionName = "\t[" + agentName + "move_on_slip_south]"; positionGuard = "\t" + agentName + "IsOnSlipperySouth"; prob_piece_dir = { 0 /* <- R */, 2, 1, 0, 0, 0, 1, 2 }; // { n, ne, e, se, s, sw, w, nw }
prob_piece_dir_agent_north = { 0 /*n <- R */, 1, 0, 0, 0, 0, 0, 1}; prob_piece_dir_agent_east = { 0, 2, 0 /*e <- R */, 0, 0, 0, 0, 0 }; prob_piece_dir_agent_south = { 2, 0, 0, 0, 0 /*s <- R */, 0, 0, 0 }; prob_piece_dir_agent_west = { 0, 0, 0, 0, 0, 0, 0 /* <- R */, 2 }; prob_piece_dir_constants = { "prop_zero" /* <- R */, "prop_displacement", "prop_displacement * 1/2", "prop_zero", "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_displacement" }; prob_piece_dir_constants_agent_north = { "prop_zero", "prop_displacement * 1/2", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_displacement * 1/2" }; prob_piece_dir_constants_agent_east = { "prop_zero", "prop_displacement", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" }; prob_piece_dir_constants_agent_south = { "prop_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" } ; prob_piece_dir_constants_agent_west ={ "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_displacement" } ;
straightPosIndex = 0; // always north
straightPosIndex_east = 2; straightPosIndex_south = 4; straightPosIndex_west = 6; straightPosIndex_north = 0; specialTransition = "(y" + agentName + "'=y" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "-1)"); break;
case SlipperyType::East: actionName = "\t[" + agentName + "move_on_slip_east]"; positionGuard = "\t" + agentName + "IsOnSlipperyEast"; // { n, ne, e, se, s, sw, w, nw }
prob_piece_dir = { 1, 0, 0, 0, 1, 2, 0 /* <- R */, 2 }; // TODO
prob_piece_dir_agent_north = { 0 /*n <- R */, 1, 0, 0, 0, 0, 0, 1}; prob_piece_dir_agent_east = { 0, 2, 0 /*e <- R */, 0, 0, 0, 0, 0 }; prob_piece_dir_agent_south = { 2, 0, 0, 0, 0 /*s <- R */, 0, 0, 0 }; prob_piece_dir_agent_west = { 0, 0, 0, 0, 0, 0, 0 /* <- R */, 2 };
prob_piece_dir_constants = { "prop_displacement * 1/2", "prop_zero", "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_displacement", "prop_zero" /* <- R */, "prop_displacement" };
prob_piece_dir_constants_agent_north = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_displacement * 1/2", "prop_displacement * 1/2" }; prob_piece_dir_constants_agent_east = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_displacement", "prop_zero" }; prob_piece_dir_constants_agent_south = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_displacement * 1/2", "prop_displacement * 1/2", "prop_zero" } ; prob_piece_dir_constants_agent_west ={ "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_displacement * 1/2", "prop_zero", "prop_displacement * 1/2" } ;
straightPosIndex = 6; straightPosIndex_east = 2; straightPosIndex_south = 4; straightPosIndex_west = 6; straightPosIndex_north = 0;
specialTransition = "(x" + agentName + "'=x" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "-1)"); break;
case SlipperyType::West: actionName = "\t[" + agentName + "move_on_slip_west]"; positionGuard = "\t" + agentName + "IsOnSlipperyWest"; prob_piece_dir = { 1, 2, 0 /* <- R */, 2, 1, 0, 0, 0 }; // TODO
// { n, ne, e, se, s, sw, w, nw }
prob_piece_dir_agent_north = { 0 /*n <- R */, 1, 0, 0, 0, 0, 0, 1}; prob_piece_dir_agent_east = { 0, 2, 0 /*e <- R */, 0, 0, 0, 0, 0 }; prob_piece_dir_agent_south = { 2, 0, 0, 0, 0 /*s <- R */, 0, 0, 0 }; prob_piece_dir_agent_west = { 0, 0, 0, 0, 0, 0, 0 /* <- R */, 2 };
prob_piece_dir_constants = {"prop_displacement * 1/2", "prop_displacement", "prop_zero" /* <- R */, "prop_displacement", "prop_displacement * 1/2", "prop_zero","prop_zero", "prop_zero" }; prob_piece_dir_constants_agent_north = { "prop_zero", "prop_displacement * 1/2", "prop_displacement * 1/2", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" }; prob_piece_dir_constants_agent_east = { "prop_zero", "prop_displacement * 1/2", "prop_zero", "prop_displacement * 1/2", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" }; prob_piece_dir_constants_agent_south = { "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_displacement * 1/2", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" } ; prob_piece_dir_constants_agent_west ={ "prop_zero", "prop_zero", "prop_displacement", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" } ;
straightPosIndex = 2; straightPosIndex_east = 2; straightPosIndex_south = 4; straightPosIndex_west = 6; straightPosIndex_north = 0; specialTransition = "(x" + agentName + "'=x" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "+1)"); break; }
slipperyActions.insert(actionName);
// override probability to 0 if corresp. direction is blocked
for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) { if (!neighborhood.at(i)) prob_piece_dir.at(i) = 0; }
// determine residual probability (R) by replacing 0 with (1 - overall sum)
if(enforceOneWays) { prob_piece_dir = {0,0,0,0,0,0,0,0}; prob_piece_dir_constants = {"zero","zero","zero","zero","zero","zero","zero","zero"}; } prob_piece_dir.at(straightPosIndex) = PROB_PIECES - std::accumulate(prob_piece_dir.begin(), prob_piece_dir.end(), 0); prob_piece_dir_constants.at(straightPosIndex) = "prop_intended"; prob_piece_dir_constants_agent_east.at(straightPosIndex_east) = "prop_intended"; prob_piece_dir_constants_agent_south.at(straightPosIndex_south) = "prop_intended"; prob_piece_dir_constants_agent_west.at(straightPosIndex_west) = "prop_intended"; prob_piece_dir_constants_agent_north.at(straightPosIndex_north) = "prop_intended"; // <DEBUG_AREA>
{ assert(prob_piece_dir.at(straightPosIndex) <= 9 && prob_piece_dir.at(straightPosIndex) >= 3 && "Value not in Range!"); assert(std::accumulate(prob_piece_dir.begin(), prob_piece_dir.end(), 0) == PROB_PIECES && "Does not sum up to 1!"); assert(orientation != SlipperyType::North || (prob_piece_dir.at(7) == 0 && prob_piece_dir.at(0) == 0 && prob_piece_dir.at(1) == 0 && "Slippery up should be impossible!")); assert(orientation != SlipperyType::South || (prob_piece_dir.at(3) == 0 && prob_piece_dir.at(4) == 0 && prob_piece_dir.at(5) == 0 && "Slippery down should be impossible!")); assert(orientation != SlipperyType::East || (prob_piece_dir.at(1) == 0 && prob_piece_dir.at(2) == 0 && prob_piece_dir.at(3) == 0 && "Slippery right should be impossible!")); assert(orientation != SlipperyType::West || (prob_piece_dir.at(5) == 0 && prob_piece_dir.at(6) == 0 && prob_piece_dir.at(7) == 0 && "Slippery left should be impossible!")); } // </DEBUG_AREA>
// special case: straight forward is blocked (then remain in same position)
positionTransition.at(straightPosIndex) = specialTransition;
// generic output (for every view and every possible view direction)
size_t current_dir = 0; // East
os << actionName << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << " & " << agentName << "SlipperyMoveForwardAllowed " << "& " << "view" << agentName << "=" << current_dir; for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) { os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants_agent_east.at(i) << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n"); }
current_dir = 1; // South
os << actionName << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << " & " << agentName << "SlipperyMoveForwardAllowed " << "& " << "view" << agentName << "=" << current_dir; for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) { os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants_agent_south.at(i) << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n"); }
current_dir = 2; // West
os << actionName << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << " & " << agentName << "SlipperyMoveForwardAllowed " << "& " << "view" << agentName << "=" << current_dir; for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) { os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants_agent_west.at(i) << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n"); }
current_dir = 3; // North
os << actionName << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << " & " << agentName << "SlipperyMoveForwardAllowed " << "& " << "view" << agentName << "=" << current_dir; for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) { os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants_agent_north.at(i) << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n"); }
return os; }
std::ostream& PrismModulesPrinter::printEndmodule(std::ostream &os) { os << "endmodule\n"; os << "\n"; return os; }
std::ostream& PrismModulesPrinter::printPlayerStruct(std::ostream &os, const AgentName &agentName, const bool agentWithView, const std::vector<float> &probabilities, const std::set<std::string> &slipperyActions) { os << "player " << agentName << "\n\t"; bool first = true; std::list<std::string> allActions = { "_move_north", "_move_east", "_move_south", "_move_west" }; std::list<std::string> movementActions = allActions; for(auto const& probability : probabilities) { std::string percentageString = std::to_string((int)(100 * probability)); for(auto const& movement : movementActions) { allActions.push_back(movement + "_" + percentageString); } } if(agentWithView) { allActions.push_back("_turn_left"); allActions.push_back("_turn_right"); } else { allActions.push_back("_turns"); }
for(auto const& action : allActions) { if(first) first = false; else os << ", "; os << "[" << agentName << action << "]"; } for(auto const& action : slipperyActions) { os << ", " << action; }
os << ", [" << agentName << "_done]"; os << "\nendplayer\n"; return os; }
std::ostream& PrismModulesPrinter::printGlobalMoveVariable(std::ostream &os, const size_t &numberOfPlayer) { os << "\nglobal move : [0.." << std::to_string(numberOfPlayer - 1) << "];\n\n"; return os; }
std::ostream& PrismModulesPrinter::printRewards(std::ostream &os, const AgentName &agentName, const std::map<coordinates, float> &stateRewards, const cells &lava, const cells &goals, const std::map<Color, cells> &backgroundTiles) { if(lava.size() != 0) { os << "rewards \"" << agentName << "SafetyNoBFS\"\n"; os << "\t" <<agentName << "IsInLavaAndNotDone: -100;\n"; os << "endrewards\n"; }
if (!goals.empty() || !lava.empty()) { os << "rewards \"" << agentName << "SafetyNoBFSAndGoal\"\n"; if(goals.size() != 0) os << "\t" << agentName << "IsInGoalAndNotDone: 100;\n"; if(lava.size() != 0) os << "\t" << agentName << "IsInLavaAndNotDone: -100;\n"; os << "endrewards\n"; }
os << "rewards \"" << agentName << "Time\"\n"; os << "\t!" << agentName << "IsInGoal : -1;\n"; if(goals.size() != 0) os << "\t" << agentName << "IsInGoalAndNotDone: 100;\n"; if(lava.size() != 0) os << "\t" << agentName << "IsInLavaAndNotDone: -100;\n"; os << "endrewards\n";
if(stateRewards.size() > 0) { os << "rewards \"" << agentName << "SafetyWithBFS\"\n"; if(lava.size() != 0) os << "\t" << agentName << "IsInLavaAndNotDone: -100;\n"; for(auto const [coordinates, reward] : stateRewards) { os << "\txAgent=" << coordinates.first << "&yAgent=" << coordinates.second << " : " << reward << ";\n"; } os << "endrewards\n"; } if(stateRewards.size() > 0) { os << "rewards \"" << agentName << "SafetyWithBFSAndGoal\"\n"; if(goals.size() != 0) os << "\tAgentIsInGoalAndNotDone: 100;\n"; if(lava.size() != 0) os << "\tAgentIsInLavaAndNotDone: -100;\n"; for(auto const [coordinates, reward] : stateRewards) { os << "\txAgent=" << coordinates.first << "&yAgent=" << coordinates.second << " : " << reward << ";\n"; } os << "endrewards\n"; }
for(auto const entry : backgroundTiles) { std::cout << getColor(entry.first) << " "; for(auto const cell : entry.second){ std::cout << cell.getCoordinates().first << " " << cell.getCoordinates().second << std::endl; } } if(backgroundTiles.size() > 0) { os << "rewards \"TaxiReward\"\n"; os << "\t!AgentIsInGoal : -1;\n"; std::string allPassengersPickedUp = ""; bool first = true; for(auto const [color, cells] : backgroundTiles) { if(cells.size() == 0) continue; if(first) first = false; else allPassengersPickedUp += "&"; std::string c = getColor(color); c.at(0) = std::toupper(c.at(0)); std::string visitedLabel = agentName + "_picked_up_" + c; allPassengersPickedUp += visitedLabel; os << "[" << agentName << "_pickup_" << c << "] true : 100;\n"; } if(goals.size() != 0) os << "\tAgentIsInGoalAndNotDone & " << allPassengersPickedUp << " : 100;\n"; if(goals.size() != 0) os << "\tAgentIsInGoalAndNotDone & !(" << allPassengersPickedUp << ") : -100;\n"; os << "endrewards"; } return os; }
std::string PrismModulesPrinter::moveGuard(const size_t &agentIndex) { return isGame() ? " move=" + std::to_string(agentIndex) + " & " : " "; }
std::string PrismModulesPrinter::moveUpdate(const size_t &agentIndex) { return isGame() ? (agentIndex == numberOfPlayer - 1) ? " & (move'=0) " : " & (move'=" + std::to_string(agentIndex + 1) + ") " : ""; }
std::string PrismModulesPrinter::viewVariable(const AgentName &agentName, const size_t &agentDirection, const bool agentWithView) { return agentWithView ? " view" + agentName + "=" + std::to_string(agentDirection) + " & " : " "; }
bool PrismModulesPrinter::isGame() const { return modelType == ModelType::SMG; }}
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