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added const to config + const prop handling

pull/3/head
Thomas Knoll 1 year ago
parent
707d4051f0
commit
7cdbff0970
5 changed files with 127 additions and 33 deletions
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  1. 51
      util/ConfigYaml.cpp
  2. 21
      util/ConfigYaml.h
  3. 39
      util/Grid.cpp
  4. 43
      util/PrismModulesPrinter.cpp
  5. 6
      util/PrismModulesPrinter.h

51
util/ConfigYaml.cpp
View File

@ -16,6 +16,11 @@ std::ostream& operator << (std::ostream& os, const Action& action) {
return os;
}
std::ostream& operator << (std::ostream& os, const Constant& constant) {
os << "const " << constant.type_ << " " << constant.constant_ << " = " << constant.value_;
return os;
}
std::ostream& operator << (std::ostream& os, const Module& module) {
os << "Module: " << module.module_ << std::endl;
for (auto& action : module.actions_) {
@ -48,6 +53,14 @@ std::string Action::createExpression() const {
return "\t" + action_ + "\t" + guard_ + "-> " + update_+ Configuration::configuration_identifier_;
}
std::string Constant::createExpression() const {
if (overwrite_) {
return "const " + type_ + " " + constant_ + " = " + value_ + Configuration::overwrite_identifier_;
}
return "const " + type_ + " " + constant_ + " = " + value_ + Configuration::configuration_identifier_;
}
YAML::Node YAML::convert<Module>::encode(const Module& rhs) {
YAML::Node node;
@ -145,6 +158,33 @@ bool YAML::convert<Formula>::decode(const YAML::Node& node, Formula& rhs) {
return true;
}
YAML::Node YAML::convert<Constant>::encode(const Constant& rhs) {
YAML::Node node;
node.push_back(rhs.constant_);
node.push_back(rhs.value_);
node.push_back(rhs.type_);
node.push_back(rhs.overwrite_);
return node;
}
bool YAML::convert<Constant>::decode(const YAML::Node& node, Constant& rhs) {
if (!node.IsDefined() || !node.Type() == NodeType::Map || !node["constant"] || !node["type"] || !node["value"]) {
return false;
}
rhs.constant_ = node["constant"].as<std::string>();
rhs.type_ = node["type"].as<std::string>();
rhs.value_ = node["value"].as<std::string>();
if(node["overwrite"]) {
rhs.overwrite_ = node["overwrite"].as<bool>();
}
return true;
}
const std::string Configuration::configuration_identifier_ { "; // created through configuration"};
const std::string Configuration::overwrite_identifier_{"; // Overwritten through configuration"};
@ -156,6 +196,7 @@ const std::string Configuration::overwrite_identifier_{"; // Overwritten through
std::vector<Label> labels;
std::vector<Formula> formulas;
std::vector<Module> modules;
std::vector<Constant> constants;
if (config["labels"]) {
labels = config["labels"].as<std::vector<Label>>();
@ -166,6 +207,10 @@ const std::string Configuration::overwrite_identifier_{"; // Overwritten through
if (config["modules"]) {
modules = config["modules"].as<std::vector<Module>>();
}
if (config["constants"]) {
constants = config["constants"].as<std::vector<Constant>>();
}
for (auto& label : labels) {
configuration.push_back({label.createExpression(), label.label_ , ConfigType::Label, label.overwrite_});
@ -178,8 +223,10 @@ const std::string Configuration::overwrite_identifier_{"; // Overwritten through
configuration.push_back({action.createExpression(), action.action_, ConfigType::Module, action.overwrite_, module.module_, action.index_});
}
}
for (auto& constant : constants) {
// std::cout << constant.constant_ << std::endl;
configuration.push_back({constant.createExpression(), "const " + constant.type_ + " " + constant.constant_, ConfigType::Constant, constant.overwrite_});
}
}
catch(const std::exception& e) {
std::cout << "Exception '" << typeid(e).name() << "' caught:" << std::endl;

21
util/ConfigYaml.h
View File

@ -9,7 +9,8 @@
enum class ConfigType : char {
Label = 'L',
Formula = 'F',
Module = 'M'
Module = 'M',
Constant = 'C'
};
struct Configuration
@ -42,7 +43,19 @@ struct Configuration
}
};
struct Constant {
private:
public:
std::string constant_;
std::string type_;
std::string value_;
bool overwrite_{false};
std::string createExpression() const;
friend std::ostream& operator <<(std::ostream &os, const Constant& constant);
};
struct Label {
private:
@ -118,6 +131,12 @@ struct YAML::convert<Formula> {
static bool decode(const YAML::Node& node, Formula& rhs);
};
template<>
struct YAML::convert<Constant> {
static YAML::Node encode(const Constant& rhs);
static bool decode(const YAML::Node& node, Constant& rhs);
};
struct YamlConfigParser {
public:

39
util/Grid.cpp
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@ -166,6 +166,9 @@ void Grid::applyOverwrites(std::string& str, std::vector<Configuration>& configu
auto iter = boost::find_nth(str, config.identifier_, config.index_);
start_pos = std::distance(str.begin(), iter.begin());
}
else if (config.type_ == ConfigType::Constant) {
start_pos = str.find(config.identifier_);
}
size_t end_pos = str.find(';', start_pos) + 1;
@ -240,6 +243,13 @@ void Grid::printToPrism(std::ostream& os, std::vector<Configuration>& configurat
printer.printGoalLabel(os, agentNameAndPosition->first, goals);
printer.printKeysLabels(os, agentNameAndPosition->first, keys);
}
std::vector<std::string> constants {"const double prop_zero = 0/9;",
"const double prop_adj = 1/9;",
"const double prop_slippery_move_forward = 3/9;",
"const double prop_slippery_turn = 6/9;",
"const double prop_neighbour = 2/9;",
"const double total_prop = 9;"};
printer.printConstants(os, constants);
std::vector<AgentName> agentNames;
std::transform(agentNameAndPositionMap.begin(),
@ -262,25 +272,22 @@ void Grid::printToPrism(std::ostream& os, std::vector<Configuration>& configurat
std::set<std::string> slipperyActions; // TODO AGENT POSITION INITIALIZATIN
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);
if (!slipperyNorth.empty()) {
auto c = slipperyNorth.at(0);
printer.printSlipperyMove(os, agentName, agentIndex, slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
for(auto const& c : slipperyNorth) {
printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
}
if (!slipperyEast.empty()) {
auto c = slipperyEast.at(0);
printer.printSlipperyMove(os, agentName, agentIndex, slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
for(auto const& c : slipperyEast) {
printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
}
if (!slipperySouth.empty()) {
auto c = slipperySouth.at(0);
printer.printSlipperyMove(os, agentName, agentIndex, slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
for(auto const& c : slipperySouth) {
printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
}
if (!slipperyWest.empty()) {
auto c = slipperyWest.at(0);
printer.printSlipperyMove(os, agentName, agentIndex, slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
for(auto const& c : slipperyWest) {
printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
}
printer.printEndmodule(os);

43
util/PrismModulesPrinter.cpp
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@ -361,6 +361,16 @@ namespace prism {
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;
@ -681,7 +691,7 @@ namespace prism {
return os;
}
std::ostream& PrismModulesPrinter::printSlipperyTurn(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, std::set<std::string> &slipperyActions, const std::array<bool, 8>& neighborhood, SlipperyType orientation) {
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 = {
@ -712,6 +722,7 @@ namespace prism {
std::string positionGuard;
std::size_t remainPosIndex = 8;
std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir; // { n, ne, w, se, s, sw, w, nw, CURRENT POS }
std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants;
switch (orientation)
{
@ -719,24 +730,28 @@ namespace prism {
actionName = "\t[" + agentName + "turn_at_slip_north";
positionGuard = "\t" + agentName + "IsOnSlipperyNorth";
prob_piece_dir = { 0, 0, 0, 1, 1, 1, 0, 0, 0 /* <- R */ };
prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_zero", "prop_adj", "prop_adj" /* <- R */, "prop_adj", "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, 1, 0, 0, 0, 0, 0, 1, 0 /* <- R */ };
prob_piece_dir_constants = { "prop_adj", "prop_adj", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_adj", "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, 1, 1, 1, 0 /* <- R */ };
prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_adj", "prop_adj", "prop_adj", "prop_zero" };
break;
case SlipperyType::West:
actionName = "\t[" + agentName + "turn_at_slip_west";
positionGuard = "\t" + agentName + "IsOnSlipperyWest";
prob_piece_dir = { 0, 1, 1, 1, 0, 0, 0, 0, 0 /* <- R */ };
prob_piece_dir_constants = { "prop_zero", "prop_adj", "prop_adj", "prop_adj", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" };
break;
}
@ -753,7 +768,7 @@ namespace prism {
// 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_slippery_turn";
// <DEBUG_AREA>
{
assert(prob_piece_dir.at(remainPosIndex) <= 9 && prob_piece_dir.at(remainPosIndex) >= 6 && "Value not in Range!");
@ -763,18 +778,17 @@ namespace prism {
// 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) << positionGuard << std::get<0>(viewTransition.at(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));
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++) {
os << (i == 0 ? " -> " : " + ") << prob_piece_dir.at(i) << "/" << PROB_PIECES << " : " << positionTransition.at(i) << std::get<1>(viewTransition.at(v)) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
// os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants.at(i) << "/" << "total_prob" << " : " << positionTransition.at(i) << std::get<1>(viewTransition.at(v)) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
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");
}
}
return os;
}
std::ostream& PrismModulesPrinter::printSlipperyMove(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, std::set<std::string> &slipperyActions, const std::array<bool, 8>& neighborhood, SlipperyType orientation) {
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 = {
@ -794,13 +808,15 @@ namespace prism {
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, w, se, s, sw, w, nw }
std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants;
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_constants = { "prop_zero", "prop_zero", "prop_adj", "prop_neighbour", "prop_zero" /* <- R */, "prop_neighbour", "prop_adj", "prop_zero" };
straightPosIndex = 4;
specialTransition = "(y" + agentName + "'=y" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "+1)");
break;
@ -809,6 +825,7 @@ namespace prism {
actionName = "\t[" + agentName + "move_on_slip_south]";
positionGuard = "\t" + agentName + "IsOnSlipperySouth";
prob_piece_dir = { 0 /* <- R */, 2, 1, 0, 0, 0, 1, 2 };
prob_piece_dir_constants = { "prop_zero" /* <- R */, "prop_neighbour", "prop_adj", "prop_zero", "prop_zero", "prop_zero", "prop_adj", "prop_neighbour" };
straightPosIndex = 0; // always north
specialTransition = "(y" + agentName + "'=y" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "-1)");
break;
@ -817,6 +834,7 @@ namespace prism {
actionName = "\t[" + agentName + "move_on_slip_east]";
positionGuard = "\t" + agentName + "IsOnSlipperyEast";
prob_piece_dir = { 1, 0, 0, 0, 1, 2, 0 /* <- R */, 2 };
prob_piece_dir_constants = { "prop_adj", "prop_zero", "prop_zero", "prop_zero", "prop_adj", "prop_neighbour", "prop_zero" /* <- R */, "prop_neighbour" };
straightPosIndex = 6;
specialTransition = "(x" + agentName + "'=x" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "-1)");
break;
@ -825,6 +843,7 @@ namespace prism {
actionName = "\t[" + agentName + "move_on_slip_west]";
positionGuard = "\t" + agentName + "IsOnSlipperyWest";
prob_piece_dir = { 1, 2, 0 /* <- R */, 2, 1, 0, 0, 0 };
prob_piece_dir_constants = {"prop_adj", "prop_neighbour", "prop_zero" /* <- R */, "prop_neighbour", "prop_adj", "prop_zero","prop_zero", "prop_zero" };
straightPosIndex = 2;
specialTransition = "(x" + agentName + "'=x" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "+1)");
break;
@ -842,9 +861,10 @@ namespace prism {
// 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_slippery_move_forward";
// <DEBUG_AREA>
{
assert(prob_piece_dir.at(straightPosIndex) <= 9 && prob_piece_dir.at(straightPosIndex) >= 3 && "Value not in Range!");
@ -862,10 +882,11 @@ namespace prism {
// generic output (for every view and every possible view direction)
os << actionName << moveGuard(agentIndex) << positionGuard << " & " << agentName << "SlipperyMoveForwardAllowed ";
os << actionName << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << " & " << agentName << "SlipperyMoveForwardAllowed ";
for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) {
os << (i == 0 ? " -> " : " + ") << prob_piece_dir.at(i) << "/" << PROB_PIECES << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants.at(i) << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
// os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants.at(i) << "/" << "total_prob" << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
}
return os;

6
util/PrismModulesPrinter.h
View File

@ -46,7 +46,7 @@ namespace prism {
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);
std::ostream& printConstants(std::ostream &os, const std::vector<std::string> &constants);
/*
* Representation for Slippery Tile.
* -) North: Slips from North to South
@ -62,7 +62,7 @@ namespace prism {
* @param neighborhood: Information of wall-blocks in 8-neighborhood { n, nw, e, se, s, sw, w, nw }. If entry is false, then corresponding neighboorhood position is a wall.
* @param orientation: Information of slippery type (either north, south, east, west).
*/
std::ostream& printSlipperyMove(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, std::set<std::string> &slipperyActions, const std::array<bool, 8>& neighborhood, SlipperyType orientation);
std::ostream& 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);
/*
* Prints Slippery on turn action.
@ -70,7 +70,7 @@ namespace prism {
* @param neighborhood: Information of wall-blocks in 8-neighborhood { n, nw, e, se, s, sw, w, nw }. If entry is false, then corresponding neighboorhood position is a wall.
* @param orientation: Information of slippery type (either north, south, east, west).
*/
std::ostream& printSlipperyTurn(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, std::set<std::string> &slipperyActions, const std::array<bool, 8>& neighborhood, SlipperyType orientation);
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& printModel(std::ostream &os, const ModelType &modelType);
std::ostream& printBooleansForKeys(std::ostream &os, const AgentName &agentName, const cells &keys);

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