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added dore handling

pull/3/head
Thomas Knoll 1 year ago
parent
b16e348acb
commit
351a2d3663
3 changed files with 140 additions and 23 deletions
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  1. 21
      util/Grid.cpp
  2. 125
      util/PrismModulesPrinter.cpp
  3. 17
      util/PrismModulesPrinter.h

21
util/Grid.cpp
View File

@ -97,7 +97,7 @@ cells Grid::getGridCells() {
}
bool Grid::isBlocked(coordinates p) {
return isWall(p) || isLockedDoor(p) || isKey(p);
return isWall(p); //|| isLockedDoor(p) || isKey(p);
}
bool Grid::isWall(coordinates p) {
@ -215,9 +215,11 @@ void Grid::printToPrism(std::ostream& os, std::vector<Configuration>& configurat
}
}
}
cells doors;
doors.insert(doors.end(), lockedDoors.begin(), lockedDoors.end());
doors.insert(doors.end(), unlockedDoors.begin(), unlockedDoors.end());
for(auto agentNameAndPosition = agentNameAndPositionMap.begin(); agentNameAndPosition != agentNameAndPositionMap.end(); ++agentNameAndPosition) {
printer.printFormulas(os, agentNameAndPosition->first, northRestriction, eastRestriction, southRestriction, westRestriction, { slipperyNorth, slipperyEast, slipperySouth, slipperyWest }, lava, walls, noTurnFloor, slipperyNorth, slipperyEast, slipperySouth, slipperyWest, keys);
printer.printFormulas(os, agentNameAndPosition->first, northRestriction, eastRestriction, southRestriction, westRestriction, { slipperyNorth, slipperyEast, slipperySouth, slipperyWest }, lava, walls, noTurnFloor, slipperyNorth, slipperyEast, slipperySouth, slipperyWest, keys, doors);
printer.printGoalLabel(os, agentNameAndPosition->first, goals);
printer.printKeysLabels(os, agentNameAndPosition->first, keys);
}
@ -237,7 +239,7 @@ void Grid::printToPrism(std::ostream& os, std::vector<Configuration>& configurat
bool agentWithView = std::find(gridOptions.agentsWithView.begin(), gridOptions.agentsWithView.end(), agentName) != gridOptions.agentsWithView.end();
bool agentWithProbabilisticBehaviour = std::find(gridOptions.agentsWithProbabilisticBehaviour.begin(), gridOptions.agentsWithProbabilisticBehaviour.end(), agentName) != gridOptions.agentsWithProbabilisticBehaviour.end();
std::set<std::string> slipperyActions;
printer.printInitStruct(os, agentName, keys);
printer.printInitStruct(os, agentName, keys, lockedDoors, unlockedDoors);
if(agentWithProbabilisticBehaviour) printer.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView, gridOptions.probabilitiesForActions);
else printer.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView);
for(auto const& c : slipperyNorth) {
@ -272,10 +274,17 @@ void Grid::printToPrism(std::ostream& os, std::vector<Configuration>& configurat
printer.printConfiguration(os, configuration);
}
}
// TODO CHANGE HANDLING
std::string agentName = agentNames.at(0);
for (auto const & key : keys) {
os << "\n";
printer.printKeyModule(os, key, maxBoundaries);
printer.printKeyModule(os, key, maxBoundaries, agentName);
printer.printEndmodule(os);
}
for (auto const& door : lockedDoors) {
os << "\n";
printer.printDoorModule(os, door, maxBoundaries, agentName);
printer.printEndmodule(os);
}

125
util/PrismModulesPrinter.cpp
View File

@ -47,6 +47,7 @@ namespace prism {
os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
}
os << " | " << agentName << "CannotMove" << direction << "BecauseOfKey";
os << " | " << agentName << "CannotMove" << direction << "BecauseOfDoor";
os << ";\n";
return os;
}
@ -62,16 +63,16 @@ namespace prism {
std::string yKey = "yKey" + keyColor;
coordinates coords;
os << "!" << agentName << "_has_" << keyColor << "_key & ";
os << "(!" << agentName << "_has_" << keyColor << "_key & ";
if (direction == "North") {
os << " (x" << agentName << " = " << xKey << "&y" << agentName << "-1 = " << yKey << ")";
os << " x" << agentName << " = " << xKey << "&y" << agentName << "-1 = " << yKey << ")";
} else if (direction == "South") {
os << " (x" << agentName << " = " << xKey << "&y" << agentName << "+1 = " << yKey << ")";
os << " x" << agentName << " = " << xKey << "&y" << agentName << "+1 = " << yKey << ")";
} else if (direction == "East") {
os << " (x" << agentName << "+1 = " << xKey << "&y" << agentName << " = " << yKey << ")";
os << " x" << agentName << "+1 = " << xKey << "&y" << agentName << " = " << yKey << ")";
} else if (direction == "West") {
os << " (x" << agentName << "-1 = " << xKey << "&y" << agentName << " = " << yKey << ")";
os << " x" << agentName << "-1 = " << xKey << "&y" << agentName << " = " << yKey << ")";
} else {
os << "Invalid Direction! in Key Restriction";
}
@ -81,6 +82,38 @@ namespace prism {
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) {
@ -208,7 +241,8 @@ namespace prism {
const cells &slipperyEast,
const cells &slipperySouth,
const cells &slipperyWest,
const cells &keys) {
const cells &keys,
const cells &doors) {
printRestrictionFormula(os, agentName, "North", restrictionNorth);
printRestrictionFormula(os, agentName, "East", restrictionEast);
printRestrictionFormula(os, agentName, "South", restrictionSouth);
@ -221,6 +255,13 @@ namespace prism {
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);
@ -329,10 +370,10 @@ namespace prism {
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) ;";
os << "\n";
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) << "-> ";
@ -371,7 +412,7 @@ namespace prism {
return os;
}
std::ostream& PrismModulesPrinter::printInitStruct(std::ostream &os, const AgentName &agentName, const cells &keys) {
std::ostream& PrismModulesPrinter::printInitStruct(std::ostream &os, const AgentName &agentName, const cells &keys, const cells &lockedDoors, const cells &unlockedDoors) {
os << "init\n";
os << "\t(!AgentIsInGoal & !AgentIsInLava & !AgentDone & !AgentIsOnWall)";
if(enforceOneWays) {
@ -386,6 +427,14 @@ namespace prism {
os << " & ( yKey" << key.getColor() << "=" << key.row << ")";
}
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)";
}
os << " & ( !" << agentName << "_is_carrying_object" << ")";
os << "\nendinit\n\n";
@ -433,7 +482,7 @@ namespace prism {
return os;
}
std::ostream& PrismModulesPrinter::printKeyModule(std::ostream &os, const cell &key, const coordinates &boundaries) {
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";
@ -441,15 +490,14 @@ namespace prism {
os << "\tx" << keyIdentifier << " : [1.." << boundaries.second << "];\n";
os << "\ty" << keyIdentifier << " : [1.." << boundaries.first << "];\n";
os << "\n";
printKeyActions(os, key ,keyIdentifier);
printKeyActions(os, key ,keyIdentifier, agentName);
os << "\n";
return os;
}
std::ostream& PrismModulesPrinter::printKeyActions(std::ostream &os, const cell &key ,const std::string &keyIdentifier) {
std::ostream& PrismModulesPrinter::printKeyActions(std::ostream &os, const cell &key ,const std::string &keyIdentifier, AgentName agentName) {
std::string keyColor = key.getColor();
std::string agentName = "Agent";
os << "\t[drop_" << keyColor << "_key_north]\t" << dropGuard(agentName, keyColor, 3) << "-> ";
os << "(xKey" << keyColor << "'=x" << agentName << ") & (yKey" << keyColor << "'=y" <<agentName << "-1) ;\n";
@ -466,6 +514,57 @@ namespace prism {
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 += "(" + 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) {

17
util/PrismModulesPrinter.h
View File

@ -13,6 +13,7 @@ namespace prism {
std::ostream& printRestrictionFormula(std::ostream& os, const AgentName &agentName, const std::string &direction, const cells &cells);
std::ostream& printKeyRestrictionFormula(std::ostream& os, const AgentName &agentName, const std::string &direction, const cells &keys);
std::ostream& printDoorRestrictionFormula(std::ostream& os, const AgentName &agentName, const std::string &direction, const cells &doors);
std::ostream& 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);
std::ostream& printGoalLabel(std::ostream& os, const AgentName&agentName, const cells &goals);
std::ostream& printCrashLabel(std::ostream &os, const std::vector<AgentName> agentNames);
@ -37,8 +38,15 @@ namespace prism {
const cells &slipperyEast,
const cells &slipperySouth,
const cells &slipperyWest,
const cells &keys);
std::ostream& printKeyModule(std::ostream &os, const cell &key, const coordinates &boundaries);
const cells &keys,
const cells &doors);
std::ostream& printKeyModule(std::ostream &os, const cell &key, const coordinates &boundaries, AgentName agentName);
std::ostream& printKeyActions(std::ostream &os, const cell& key ,const std::string &keyIdentifier, AgentName agentName);
std::ostream& printDoorModule(std::ostream &os, const cell &door, const coordinates &boundaries, AgentName agentName);
std::ostream& printDoorActions(std::ostream &os, const cell &door ,const std::string &doorIdentifier, AgentName agentName);
/*
* Representation for Slippery Tile.
* -) North: Slips from North to South
@ -69,14 +77,13 @@ namespace prism {
std::ostream& printActionsForKeys(std::ostream &os, const AgentName &agentName, const cells &keys);
std::ostream& printBooleansForBackground(std::ostream &os, const AgentName &agentName, const std::map<Color, cells> &backgroundTiles);
std::ostream& printActionsForBackground(std::ostream &os, const AgentName &agentName, const std::map<Color, cells> &backgroundTiles);
std::ostream& printInitStruct(std::ostream &os, const AgentName &agentName, const cells &keys);
std::ostream& printInitStruct(std::ostream &os, const AgentName &agentName, const cells &keys, const cells &lockedDoors, const cells &unlockedDoors);
std::ostream& 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 = {});
std::ostream& printMovementActions(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, const bool agentWithView, const float &probability = 1.0);
std::ostream& printDoneActions(std::ostream &os, const AgentName &agentName, const size_t &agentIndex);
std::ostream& printEndmodule(std::ostream &os);
std::ostream& printPlayerStruct(std::ostream &os, const AgentName &agentName, const bool agentWithView, const std::vector<float> &probabilities = {}, const std::set<std::string> &slipperyActions = {});
std::ostream& printGlobalMoveVariable(std::ostream &os, const size_t &numberOfPlayer);
std::ostream& printKeyActions(std::ostream &os, const cell& key ,const std::string &keyIdentifier);
std::ostream& 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);
std::ostream& printConfiguration(std::ostream &os, const std::vector<Configuration>& configurations);
@ -86,6 +93,8 @@ namespace prism {
std::string pickupGuard(const AgentName &agentName, const std::string keyColor);
std::string dropGuard(const AgentName &agentName, const std::string keyColor, size_t view);
std::string moveUpdate(const size_t &agentIndex);
std::string unlockGuard(const AgentName &agentName, const cell& door);
std::string toggleGuard(const AgentName &agentName, const cell& door);
std::string viewVariable(const AgentName &agentName, const size_t &agentDirection, const bool agentWithView);

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