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added turn actions for robots 

also removed some old methods
pull/1/head
sp 12 months ago
parent
7faa8d1efb
commit
3999e778fe
2 changed files with 109 additions and 109 deletions
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  1. 182
      util/PrismModulesPrinter.cpp
  2. 36
      util/PrismModulesPrinter.h

182
util/PrismModulesPrinter.cpp
View File

@ -3,9 +3,14 @@
#include <map>
#include <string>
#define NOFAULT -1
#define LEFT 0
#define RIGHT 1
#define FORWARD 2
namespace prism {
PrismModulesPrinter::PrismModulesPrinter(std::ostream& os, const ModelType &modelType, const coordinates &maxBoundaries, const cells &boxes, const cells &balls, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const AgentNameAndPositionMap &agentNameAndPositionMap, std::vector<Configuration> config, const float &faultyProbability)
PrismModulesPrinter::PrismModulesPrinter(std::ostream& os, const ModelType &modelType, const coordinates &maxBoundaries, const cells &boxes, const cells &balls, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const AgentNameAndPositionMap &agentNameAndPositionMap, std::vector<Configuration> config, const float faultyProbability)
: os(os), modelType(modelType), maxBoundaries(maxBoundaries), boxes(boxes), balls(balls), lockedDoors(lockedDoors), unlockedDoors(unlockedDoors), keys(keys), agentNameAndPositionMap(agentNameAndPositionMap), configuration(config), faultyProbability(faultyProbability), viewDirectionMapping({{0, "East"}, {1, "South"}, {2, "West"}, {3, "North"}}) {
numberOfPlayer = agentNameAndPositionMap.size();
size_t index = 0;
@ -68,70 +73,6 @@ namespace prism {
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";
@ -176,7 +117,7 @@ namespace prism {
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) {
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 float faultyProbability) {
/*
os << "module " << agentName << "\n";
os << "\tx" << agentName << " : [1.." << boundaries.second << "];\n";
@ -276,6 +217,9 @@ namespace prism {
os << "\ty" << agentName << " : [0.." << maxBoundaries.first << "] init " << initialPosition.first << ";\n";
os << "\tview" << agentName << " : [0..3] init 1;\n";
if(faultyBehaviour()) os << "\tpreviousAction" << agentName << " : [-1..2] init -1;\n";
printTurnActionsForRobot(agentName);
printMovementActionsForRobot(agentName);
for(const auto &door : unlockedDoors) {
@ -295,51 +239,83 @@ namespace prism {
printPortableObjectActionsForRobot(agentName, identifier);
}
for(const auto &ball : balls) {
std::string identifier = capitalize(ball.getColor()) + ball.getType();
os << "\t" << agentName << "Carrying" << identifier << " : bool init false;\n";
printPortableObjectActionsForRobot(agentName, identifier);
}
for(const auto &box : boxes) {
std::string identifier = capitalize(box.getColor()) + box.getType();
os << "\t" << agentName << "Carrying" << identifier << " : bool init false;\n";
printPortableObjectActionsForRobot(agentName, identifier);
}
os << "\n" << actionStream.str();
actionStream.str(std::string());
os << "endmodule\n\n";
}
void PrismModulesPrinter::printPortableObjectActionsForRobot(const std::string &a, const std::string &i) {
actionStream << "\t[" << a << "_pickup_" << i << "] " << a << "CannotMove" << i << " -> (" << a << "Carrying" << i << "'=true);\n";
actionStream << "\t[" << a << "_drop_" << i << "_north]\t" << a << "Carrying" << i << " & view" << a << "=3 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveNorthWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\t[" << a << "_drop_" << i << "_west] \t" << a << "Carrying" << i << " & view" << a << "=2 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveWestWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\t[" << a << "_drop_" << i << "_south]\t" << a << "Carrying" << i << " & view" << a << "=1 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveSouthWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\t[" << a << "_drop_" << i << "_east] \t" << a << "Carrying" << i << " & view" << a << "=0 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveEastWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\t[" << a << "_pickup_" << i << "] " << faultyBehaviourGuard(a, NOFAULT) << moveGuard(a) << " !" << a << "IsCarrying & " << a << "CannotMove" << i << " -> (" << a << "Carrying" << i << "'=true);\n";
actionStream << "\t[" << a << "_drop_" << i << "_north]\t" << faultyBehaviourGuard(a, NOFAULT) << moveGuard(a) << a << "Carrying" << i << " & view" << a << "=3 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveNorthWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\t[" << a << "_drop_" << i << "_west] \t" << faultyBehaviourGuard(a, NOFAULT) << moveGuard(a) << a << "Carrying" << i << " & view" << a << "=2 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveWestWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\t[" << a << "_drop_" << i << "_south]\t" << faultyBehaviourGuard(a, NOFAULT) << moveGuard(a) << a << "Carrying" << i << " & view" << a << "=1 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveSouthWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\t[" << a << "_drop_" << i << "_east] \t" << faultyBehaviourGuard(a, NOFAULT) << moveGuard(a) << a << "Carrying" << i << " & view" << a << "=0 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveEastWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\n";
}
void PrismModulesPrinter::printUnlockedDoorActionsForRobot(const std::string &agentName, const std::string &identifier) {
actionStream << "\t[" << agentName << "_open_" << identifier << "] " << agentName << "CannotMove" << identifier << " -> true;\n";
actionStream << "\t[" << agentName << "_close_" << identifier << "] " << agentName << "IsNextTo" << identifier << " -> true;\n";
actionStream << "\t[" << agentName << "_open_" << identifier << "] " << faultyBehaviourGuard(agentName, NOFAULT) << moveGuard(agentName) << agentName << "CannotMove" << identifier << " -> true;\n";
actionStream << "\t[" << agentName << "_close_" << identifier << "] " << faultyBehaviourGuard(agentName, NOFAULT) << moveGuard(agentName) << agentName << "IsNextTo" << identifier << " -> true;\n";
actionStream << "\n";
}
void PrismModulesPrinter::printLockedDoorActionsForRobot(const std::string &agentName, const std::string &identifier, const std::string &key) {
actionStream << "\t[" << agentName << "_unlock_" << identifier << "] " << agentName << "CannotMove" << identifier << " & " << agentName << "Carrying" << key << " -> true;\n";
actionStream << "\t[" << agentName << "_close_" << identifier << "] " << agentName << "IsNextTo" << identifier << " & " << agentName << "Carrying" << key << " -> true;\n";
actionStream << "\t[" << agentName << "_unlock_" << identifier << "] " << faultyBehaviourGuard(agentName, NOFAULT) << moveGuard(agentName) << agentName << "CannotMove" << identifier << " & " << agentName << "Carrying" << key << " -> true;\n";
actionStream << "\t[" << agentName << "_close_" << identifier << "] " << faultyBehaviourGuard(agentName, NOFAULT) << moveGuard(agentName) << agentName << "IsNextTo" << identifier << " & " << agentName << "Carrying" << key << " -> true;\n";
actionStream << "\n";
}
void PrismModulesPrinter::printTurningActionsForRobot(const AgentName &a) {
void PrismModulesPrinter::printTurnActionsForRobot(const AgentName &a) {
actionStream << printTurnGuard(a, "right", RIGHT, "true") << printTurnUpdate(a, {1.0, "(view"+a+"'=mod(view"+a+"+1,4))"}, RIGHT);
actionStream << printTurnGuard(a, "left", LEFT, "view"+a+">0") << printTurnUpdate(a, {1.0, "(view"+a+"'=view"+a+"-1)"}, LEFT);
actionStream << printTurnGuard(a, "left", LEFT, "view"+a+"=0") << printTurnUpdate(a, {1.0, "(view"+a+"'=3)"}, LEFT);
}
void PrismModulesPrinter::printMovementActionsForRobot(const AgentName &a) {
if(faultyProbability <= 0.0) {
actionStream << printMovementGuard(a, "North", 3) << printMovementUpdate(a, "y" + a + "'=y" + a + "-1");
actionStream << printMovementGuard(a, "East", 0) << printMovementUpdate(a, "x" + a + "'=x" + a + "+1");
actionStream << printMovementGuard(a, "South", 1) << printMovementUpdate(a, "y" + a + "'=y" + a + "+1");
actionStream << printMovementGuard(a, "West", 2) << printMovementUpdate(a, "x" + a + "'=x" + a + "-1");
actionStream << printMovementGuard(a, "North", 3) << printMovementUpdate(a, {1.0, "(y"+a+"'=y"+a+"-1)"});
actionStream << printMovementGuard(a, "East", 0) << printMovementUpdate(a, {1.0, "(x"+a+"'=x"+a+"+1)"});
actionStream << printMovementGuard(a, "South", 1) << printMovementUpdate(a, {1.0, "(y"+a+"'=y"+a+"+1)"});
actionStream << printMovementGuard(a, "West", 2) << printMovementUpdate(a, {1.0, "(x"+a+"'=x"+a+"-1)"});
}
std::string PrismModulesPrinter::printMovementGuard(const AgentName &a, const std::string &direction, const size_t &viewDirection) const {
return "\t[" + a + "_move_" + direction + "]" + moveGuard(a) + viewVariable(a, 3) + faultyBehaviourGuard(a, FORWARD) + " !" + a + "IsOnSlippery & !" + a + "IsOnLava & !" + a + "IsOnGoal & !" + a + "CannotMove" + direction + "Wall -> ";
}
std::string PrismModulesPrinter::printMovementUpdate(const AgentName &a, const update &u) const {
if(!faultyBehaviour()) {
return updateToString(u) + ";\n";
} else {
update nonFaultyUpdate = {u.first - faultyProbability, u.second + " & " + faultyBehaviourUpdate(a, NOFAULT)};
update faultyUpdate = {faultyProbability, u.second + " & " + faultyBehaviourUpdate(a, FORWARD)};
return updateToString(nonFaultyUpdate) + " + " + updateToString(faultyUpdate) + ";\n";
}
}
std::string PrismModulesPrinter::printMovementGuard(const AgentName &a, const std::string &direction, const size_t &viewDirection) {
return "\t[" + a + "_move_" + direction + "]" + moveGuard(a) + viewVariable(a, 3) + " !" + a + "IsOnSlippery & !" + a + "IsOnLava & !" + a + "IsOnGoal & !" + a + "CannotMove" + direction + "Wall -> ";
std::string PrismModulesPrinter::printTurnGuard(const AgentName &a, const std::string &direction, const ActionId &actionId, const std::string &cond) const {
return "\t[" + a + "_turn_" + direction + "]" + moveGuard(a) + faultyBehaviourGuard(a, actionId) + cond + " -> ";
}
std::string PrismModulesPrinter::printMovementUpdate(const AgentName &a, const std::string &update) {
return "(" + update + ") & " + moveUpdate(a) + ";\n";
std::string PrismModulesPrinter::printTurnUpdate(const AgentName &a, const update &u, const ActionId &actionId) const {
if(!faultyBehaviour()) {
return updateToString(u) + ";\n";
} else {
update nonFaultyUpdate = {u.first - faultyProbability, u.second + " & " + faultyBehaviourUpdate(a, NOFAULT)};
update faultyUpdate = {faultyProbability, u.second + " & " + faultyBehaviourUpdate(a, actionId)};
return updateToString(nonFaultyUpdate) + " + " + updateToString(faultyUpdate) + ";\n";
}
}
std::ostream& PrismModulesPrinter::printConfiguredActions(std::ostream &os, const AgentName &agentName) {
@ -817,12 +793,24 @@ namespace prism {
return os;
}
std::string PrismModulesPrinter::moveGuard(const AgentName &agentName) {
return isGame() ? " move=" + std::to_string(agentIndexMap[agentName]) + " & " : " ";
std::string PrismModulesPrinter::moveGuard(const AgentName &agentName) const {
return isGame() ? " move=" + std::to_string(agentIndexMap.at(agentName)) + " & " : " ";
}
std::string PrismModulesPrinter::faultyBehaviourGuard(const AgentName &agentName, const ActionId &actionId) const {
if(actionId == NOFAULT) {
return "(previousAction" + agentName + "=" + std::to_string(NOFAULT) + ") & ";
} else {
return "(previousAction" + agentName + "=" + std::to_string(NOFAULT) + " | previousAction" + agentName + "=" + std::to_string(actionId) + ") & ";
}
}
std::string PrismModulesPrinter::moveUpdate(const AgentName &agentName) {
size_t agentIndex = agentIndexMap[agentName];
std::string PrismModulesPrinter::faultyBehaviourUpdate(const AgentName &agentName, const ActionId &actionId) const {
return "(previousAction" + agentName + "'=" + std::to_string(actionId) + ")";
}
std::string PrismModulesPrinter::moveUpdate(const AgentName &agentName) const {
size_t agentIndex = agentIndexMap.at(agentName);
return isGame() ?
(agentIndex == numberOfPlayer - 1) ?
" & (move'=0) " :
@ -830,10 +818,22 @@ namespace prism {
"";
}
std::string PrismModulesPrinter::viewVariable(const AgentName &agentName, const size_t &agentDirection, const bool agentWithView) {
std::string PrismModulesPrinter::updateToString(const update &u) const {
return std::to_string(u.first) + ": " + u.second;
}
std::string PrismModulesPrinter::viewVariable(const AgentName &agentName, const size_t &agentDirection, const bool agentWithView) const {
return agentWithView ? " view" + agentName + "=" + std::to_string(agentDirection) + " & " : " ";
}
bool PrismModulesPrinter::anyPortableObject() const {
return !keys.empty() || !boxes.empty() || !balls.empty();
}
bool PrismModulesPrinter::faultyBehaviour() const {
return faultyProbability > 0.0f;
}
bool PrismModulesPrinter::isGame() const {
return modelType == ModelType::SMG;
}

36
util/PrismModulesPrinter.h
View File

@ -9,7 +9,7 @@
namespace prism {
class PrismModulesPrinter {
public:
PrismModulesPrinter(std::ostream& os, const ModelType &modelType, const coordinates &maxBoundaries, const cells &boxes, const cells &balls, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const AgentNameAndPositionMap &agentNameAndPositionMap, std::vector<Configuration> config, const float &faultyProbability);
PrismModulesPrinter(std::ostream& os, const ModelType &modelType, const coordinates &maxBoundaries, const cells &boxes, const cells &balls, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const AgentNameAndPositionMap &agentNameAndPositionMap, std::vector<Configuration> config, const float faultyProbability);
std::ostream& print();
@ -24,12 +24,10 @@ namespace prism {
void printRobotModule(const AgentName &agentName, const coordinates &initialPosition);
void printPortableObjectActionsForRobot(const std::string &agentName, const std::string &identifier);
void printUnlockedDoorActionsForRobot(const std::string &agentName, const std::string &identifier);
void printLockedDoorActionsForRobot(const std::string &agentName, const std::string &identifier, const std::string &key);
void printMovementActionsForRobot(const std::string &a);
void printTurningActionsForRobot(const std::string &a);
void printTurnActionsForRobot(const std::string &a);
std::ostream& printConstants(std::ostream &os, const std::vector<std::string> &constants);
/*
@ -57,10 +55,6 @@ namespace prism {
*/
std::ostream& 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);
std::ostream& printBooleansForKeys(std::ostream &os, const AgentName &agentName, const cells &keys);
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 AgentNameAndPositionMap &agents, const KeyNameAndPositionMap &keys, const cells &lockedDoors, const cells &unlockedDoors, prism::ModelType modelType);
std::ostream& printModule(std::ostream &os,
const AgentName &agentName,
@ -71,7 +65,7 @@ namespace prism {
const std::map<Color, cells> &backgroundTiles,
const bool agentWithView,
const std::vector<float> &probabilities = {},
const double faultyProbability = 0);
const float faultyProbability = 0);
std::ostream& printMovementActions(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, const bool agentWithView, const float &probability = 1.0, const double &stickyProbability = 0.0);
std::ostream& printDoneActions(std::ostream &os, const AgentName &agentName);
std::ostream& printEndmodule(std::ostream &os);
@ -82,17 +76,23 @@ namespace prism {
std::ostream& printConfiguration(std::ostream &os, const std::vector<Configuration>& configurations);
std::ostream& printConfiguredActions(std::ostream &os, const AgentName &agentName);
std::string moveGuard(const AgentName &agentName);
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 AgentName &agentName);
std::string viewVariable(const AgentName &agentName, const size_t &agentDirection, const bool agentWithView = true);
bool isGame() const;
private:
std::string printMovementGuard(const AgentName &a, const std::string &direction, const size_t &viewDirection);
std::string printMovementUpdate(const AgentName &a, const std::string &update);
std::string printMovementGuard(const AgentName &a, const std::string &direction, const size_t &viewDirection) const;
std::string printMovementUpdate(const AgentName &a, const update &update) const;
std::string printTurnGuard(const AgentName &a, const std::string &direction, const ActionId &actionId, const std::string &cond = "") const;
std::string printTurnUpdate(const AgentName &a, const update &u, const ActionId &actionId) const;
bool anyPortableObject() const;
bool faultyBehaviour() const;
std::string moveGuard(const AgentName &agentName) const;
std::string faultyBehaviourGuard(const AgentName &agentName, const ActionId &actionId) const;
std::string faultyBehaviourUpdate(const AgentName &agentName, const ActionId &actionId) const;
std::string moveUpdate(const AgentName &agentName) const;
std::string updateToString(const update &u) const;
std::string viewVariable(const AgentName &agentName, const size_t &agentDirection, const bool agentWithView = true) const;
std::ostream &os;
@ -110,7 +110,7 @@ namespace prism {
AgentNameAndPositionMap agentNameAndPositionMap;
std::map<AgentName, size_t> agentIndexMap;
size_t numberOfPlayer;
float const &faultyProbability;
float const faultyProbability;
std::vector<Configuration> configuration;
std::map<int, std::string> viewDirectionMapping;
};

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