sp
/
Minigrid2PRISM
1
0
Fork 0
Code Issues 5 Pull Requests 1 Projects Releases Wiki Activity
Browse Source

portable objects are now traversable 

This is also changes keys to not be dropable anymore.
pull/16/head
sp 11 months ago
parent
43aebc463c
commit
8cc2b0c4da
5 changed files with 41 additions and 91 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      util/Grid.cpp
  2. 44
      util/PrismFormulaPrinter.cpp
  3. 6
      util/PrismFormulaPrinter.h
  4. 70
      util/PrismModulesPrinter.cpp
  5. 8
      util/PrismModulesPrinter.h

4
util/Grid.cpp
View File

@ -154,8 +154,8 @@ void Grid::printToPrism(std::ostream& os, std::vector<Configuration>& configurat
[](const std::map<AgentNameAndPosition::first_type,AgentNameAndPosition::second_type>::value_type &pair){return pair.first;});
std::string agentName = agentNames.at(0);
prism::PrismFormulaPrinter formulas(os, wallRestrictions, walls, boxes, balls, lockedDoors, unlockedDoors, keys, slipperyTiles, lava, goals, agentNameAndPositionMap, faultyProbability > 0.0);
prism::PrismModulesPrinter modules(os, modelType, maxBoundaries, boxes, balls, lockedDoors, unlockedDoors, keys, slipperyTiles, agentNameAndPositionMap, configuration, probIntended, faultyProbability, !lava.empty(), !goals.empty());
prism::PrismFormulaPrinter formulas(os, wallRestrictions, walls, lockedDoors, unlockedDoors, keys, slipperyTiles, lava, goals, agentNameAndPositionMap, faultyProbability > 0.0);
prism::PrismModulesPrinter modules(os, modelType, maxBoundaries, lockedDoors, unlockedDoors, keys, slipperyTiles, agentNameAndPositionMap, configuration, probIntended, faultyProbability, !lava.empty(), !goals.empty());
modules.printModelType(modelType);
for(const auto &agentName : agentNames) {

44
util/PrismFormulaPrinter.cpp
View File

@ -57,8 +57,8 @@ std::map<std::string, std::pair<int, int>> getRelativeSurroundingCells() {
}
namespace prism {
PrismFormulaPrinter::PrismFormulaPrinter(std::ostream &os, const std::map<std::string, cells> &restrictions, const cells &walls, const cells &boxes, const cells &balls, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const std::map<std::string, cells> &slipperyTiles, const cells &lava, const cells &goals, const AgentNameAndPositionMap &agentNameAndPositionMap, const bool faulty)
: os(os), restrictions(restrictions), walls(walls), boxes(boxes), balls(balls), lockedDoors(lockedDoors), unlockedDoors(unlockedDoors), keys(keys), slipperyTiles(slipperyTiles), lava(lava), goals(goals), agentNameAndPositionMap(agentNameAndPositionMap), faulty(faulty)
PrismFormulaPrinter::PrismFormulaPrinter(std::ostream &os, const std::map<std::string, cells> &restrictions, const cells &walls, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const std::map<std::string, cells> &slipperyTiles, const cells &lava, const cells &goals, const AgentNameAndPositionMap &agentNameAndPositionMap, const bool faulty)
: os(os), restrictions(restrictions), walls(walls), lockedDoors(lockedDoors), unlockedDoors(unlockedDoors), keys(keys), slipperyTiles(slipperyTiles), lava(lava), goals(goals), agentNameAndPositionMap(agentNameAndPositionMap), faulty(faulty)
{ }
void PrismFormulaPrinter::print(const AgentName &agentName) {
@ -83,21 +83,10 @@ namespace prism {
if(!lava.empty()) printIsOnFormula(agentName, "Lava", lava);
if(!goals.empty()) printIsOnFormula(agentName, "Goal", goals);
for(const auto& ball : balls) {
std::string identifier = capitalize(ball.getColor()) + ball.getType();
printRelativeRestrictionFormulaWithCondition(agentName, identifier, "!" + identifier + "PickedUp");
portableObjects.push_back(agentName + "Carrying" + identifier);
}
for(const auto& box : boxes) {
std::string identifier = capitalize(box.getColor()) + box.getType();
printRelativeRestrictionFormulaWithCondition(agentName, identifier, "!" + identifier + "PickedUp");
portableObjects.push_back(agentName + "Carrying" + identifier);
}
for(const auto& key : keys) {
std::string identifier = capitalize(key.getColor()) + key.getType();
printRelativeRestrictionFormulaWithCondition(agentName, identifier, "!" + identifier + "PickedUp");
printRelativeIsInFrontOfFormulaWithCondition(agentName, identifier, "!" + identifier + "PickedUp");
portableObjects.push_back(agentName + "Carrying" + identifier);
}
@ -136,27 +125,14 @@ namespace prism {
conditionalMovementRestrictions.push_back(agentName + "CannotMove" + reason);
}
void PrismFormulaPrinter::printRelativeRestrictionFormulaWithCondition(const AgentName &agentName, const std::string &reason, const std::string &condition) {
os << buildFormula(agentName + "CannotMove" + reason, "(" + buildDisjunction(agentName, reason) + ") & " + condition);
conditionalMovementRestrictions.push_back(agentName + "CannotMove" + reason);
void PrismFormulaPrinter::printRelativeIsInFrontOfFormulaWithCondition(const AgentName &agentName, const std::string &reason, const std::string &condition) {
os << buildFormula(agentName + "IsInFrontOf" + reason, "(" + buildDisjunction(agentName, reason) + ") & " + condition);
}
void PrismFormulaPrinter::printSlipRestrictionFormula(const AgentName &agentName, const std::string &direction) {
std::pair<int, int> slipCell = getRelativeSurroundingCells().at(direction);
bool semicolon = anyPortableObject() ? false : true;
os << buildFormula(agentName + "CannotSlip" + direction, buildDisjunction(agentName, walls, slipCell), semicolon);
for(auto const key : keys) {
std::string identifier = capitalize(key.getColor()) + key.getType();
os << " | " << objectPositionToConjunction(agentName, identifier, slipCell);
}
for(auto const ball : balls) {
std::string identifier = capitalize(ball.getColor()) + ball.getType();
os << " | " << objectPositionToConjunction(agentName, identifier, slipCell);
}
for(auto const box : boxes) {
std::string identifier = capitalize(box.getColor()) + box.getType();
os << " | " << objectPositionToConjunction(agentName, identifier, slipCell);
}
if(!semicolon) os << ";\n";
}
@ -192,18 +168,10 @@ namespace prism {
if(faulty) os << " & previousAction"+a+"="+std::to_string(NOFAULT);
os << ")";
}
for(auto const ball : balls) {
std::string identifier = capitalize(ball.getColor()) + ball.getType();
os << " & (col"+identifier+"="+std::to_string(ball.column)+"&row"+identifier+"="+std::to_string(ball.row)+"&"+identifier+"PickedUp=false) ";
}
for(auto const key : keys) {
std::string identifier = capitalize(key.getColor()) + key.getType();
os << " & (col"+identifier+"="+std::to_string(key.column)+"&row"+identifier+"="+std::to_string(key.row)+"&"+identifier+"PickedUp=false) ";
}
for(auto const box : boxes) {
std::string identifier = capitalize(box.getColor()) + box.getType();
os << " & (col"+identifier+"="+std::to_string(box.column)+"&row"+identifier+"="+std::to_string(box.row)+"&"+identifier+"PickedUp=false) ";
}
os << "endinit\n\n";
}
@ -264,6 +232,6 @@ namespace prism {
return !slipperyTiles.at("North").empty() || !slipperyTiles.at("East").empty() || !slipperyTiles.at("South").empty() || !slipperyTiles.at("West").empty();
}
bool PrismFormulaPrinter::anyPortableObject() const {
return !keys.empty() || !boxes.empty() || !balls.empty();
return !keys.empty();
}
}

6
util/PrismFormulaPrinter.h
View File

@ -21,7 +21,7 @@ std::map<std::string, std::pair<int, int>> getRelativeSurroundingCells();
namespace prism {
class PrismFormulaPrinter {
public:
PrismFormulaPrinter(std::ostream &os, const std::map<std::string, cells> &restrictions, const cells &walls, const cells &boxes, const cells &balls, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const std::map<std::string, cells> &slipperyTiles, const cells &lava, const cells &goals, const AgentNameAndPositionMap &agentNameAndPositionMap, const bool faulty);
PrismFormulaPrinter(std::ostream &os, const std::map<std::string, cells> &restrictions, const cells &walls, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const std::map<std::string, cells> &slipperyTiles, const cells &lava, const cells &goals, const AgentNameAndPositionMap &agentNameAndPositionMap, const bool faulty);
void print(const AgentName &agentName);
@ -29,7 +29,7 @@ namespace prism {
void printIsOnFormula(const AgentName &agentName, const std::string &type, const cells &grid_cells, const std::string &direction = "");
void printIsNextToFormula(const AgentName &agentName, const std::string &type, const std::map<ViewDirection, coordinates> &coordinates);
void printRestrictionFormulaWithCondition(const AgentName &agentName, const std::string &reason, const std::map<ViewDirection, coordinates> &coordinates, const std::string &condition);
void printRelativeRestrictionFormulaWithCondition(const AgentName &agentName, const std::string &reason, const std::string &condition);
void printRelativeIsInFrontOfFormulaWithCondition(const AgentName &agentName, const std::string &reason, const std::string &condition);
void printSlipRestrictionFormula(const AgentName &agentName, const std::string &direction);
void printCollisionFormula(const std::string &agentName);
@ -51,8 +51,6 @@ namespace prism {
std::ostream &os;
std::map<std::string, cells> restrictions;
cells walls;
cells boxes;
cells balls;
cells lockedDoors;
cells unlockedDoors;
cells keys;

70
util/PrismModulesPrinter.cpp
View File

@ -11,8 +11,8 @@ std::string westUpdate(const AgentName &a) { return "(col"+a+"'=col"+a+"-1)"; }
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 std::map<std::string, cells> &slipperyTiles, const AgentNameAndPositionMap &agentNameAndPositionMap, std::vector<Configuration> config, const float probIntended, const float faultyProbability, const bool anyLava, const bool anyGoals)
: os(os), modelType(modelType), maxBoundaries(maxBoundaries), boxes(boxes), balls(balls), lockedDoors(lockedDoors), unlockedDoors(unlockedDoors), keys(keys), slipperyTiles(slipperyTiles), agentNameAndPositionMap(agentNameAndPositionMap), configuration(config), probIntended(probIntended), faultyProbability(faultyProbability), anyLava(anyLava), anyGoals(anyGoals) {
PrismModulesPrinter::PrismModulesPrinter(std::ostream& os, const ModelType &modelType, const coordinates &maxBoundaries, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const std::map<std::string, cells> &slipperyTiles, const AgentNameAndPositionMap &agentNameAndPositionMap, std::vector<Configuration> config, const float probIntended, const float faultyProbability, const bool anyLava, const bool anyGoals)
: os(os), modelType(modelType), maxBoundaries(maxBoundaries), lockedDoors(lockedDoors), unlockedDoors(unlockedDoors), keys(keys), slipperyTiles(slipperyTiles), agentNameAndPositionMap(agentNameAndPositionMap), configuration(config), probIntended(probIntended), faultyProbability(faultyProbability), anyLava(anyLava), anyGoals(anyGoals) {
numberOfPlayer = agentNameAndPositionMap.size();
size_t index = 0;
for(auto begin = agentNameAndPositionMap.begin(); begin != agentNameAndPositionMap.end(); begin++, index++) {
@ -40,12 +40,6 @@ namespace prism {
for(const auto &key : keys) {
printPortableObjectModule(key);
}
for(const auto &ball : balls) {
printPortableObjectModule(ball);
}
for(const auto &box : boxes) {
printPortableObjectModule(box);
}
for(const auto &door : unlockedDoors) {
printDoorModule(door, true);
}
@ -110,22 +104,24 @@ namespace prism {
os << "endmodule\n\n";
}
void PrismModulesPrinter::printPortableObjectActions(const std::string &agentName, const std::string &identifier) {
void PrismModulesPrinter::printPortableObjectActions(const std::string &agentName, const std::string &identifier, const bool canBeDroped) {
std::string actionName = "[" + agentName + "_pickup_" + identifier + "]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
agentNameActionMap.at(agentName).insert({PICKUP, actionName});
os << " " << actionName << " true -> (col" << identifier << "'=-1) & (row" << identifier << "'=-1) & (" << identifier << "PickedUp'=true);\n";
actionName = "[" + agentName + "_drop_" + identifier + "_north]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << " " << actionName << " " << " true -> (col" << identifier << "'=col" << agentName << ") & (row" << identifier << "'=row" << agentName << "-1) & (" << identifier << "PickedUp'=false);\n";
actionName = "[" + agentName + "_drop_" + identifier + "_west]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << " " << actionName << " " << " true -> (col" << identifier << "'=col" << agentName << "-1) & (row" << identifier << "'=row" << agentName << ") & (" << identifier << "PickedUp'=false);\n";
actionName = "[" + agentName + "_drop_" + identifier + "_south]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << " " << actionName << " " << " true -> (col" << identifier << "'=col" << agentName << ") & (row" << identifier << "'=row" << agentName << "+1) & (" << identifier << "PickedUp'=false);\n";
actionName = "[" + agentName + "_drop_" + identifier + "_east]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << " " << actionName << " " << " true -> (col" << identifier << "'=col" << agentName << "+1) & (row" << identifier << "'=row" << agentName << ") & (" << identifier << "PickedUp'=false);\n";
if(canBeDroped) {
actionName = "[" + agentName + "_drop_" + identifier + "_north]";
agentNameActionMap.at(agentName).insert({DROP, actionName});
os << " " << actionName << " " << " true -> (col" << identifier << "'=col" << agentName << ") & (row" << identifier << "'=row" << agentName << "-1) & (" << identifier << "PickedUp'=false);\n";
actionName = "[" + agentName + "_drop_" + identifier + "_west]";
agentNameActionMap.at(agentName).insert({DROP, actionName});
os << " " << actionName << " " << " true -> (col" << identifier << "'=col" << agentName << "-1) & (row" << identifier << "'=row" << agentName << ") & (" << identifier << "PickedUp'=false);\n";
actionName = "[" + agentName + "_drop_" + identifier + "_south]";
agentNameActionMap.at(agentName).insert({DROP, actionName});
os << " " << actionName << " " << " true -> (col" << identifier << "'=col" << agentName << ") & (row" << identifier << "'=row" << agentName << "+1) & (" << identifier << "PickedUp'=false);\n";
actionName = "[" + agentName + "_drop_" + identifier + "_east]";
agentNameActionMap.at(agentName).insert({DROP, actionName});
os << " " << actionName << " " << " true -> (col" << identifier << "'=col" << agentName << "+1) & (row" << identifier << "'=row" << agentName << ") & (" << identifier << "PickedUp'=false);\n";
}
}
void PrismModulesPrinter::printDoorModule(const cell &door, const bool &opened) {
@ -191,18 +187,6 @@ namespace prism {
printPortableObjectActionsForRobot(agentName, identifier);
}
for(const auto &ball : balls) {
std::string identifier = capitalize(ball.getColor()) + ball.getType();
os << " " << agentName << "Carrying" << identifier << " : bool;\n";
printPortableObjectActionsForRobot(agentName, identifier);
}
for(const auto &box : boxes) {
std::string identifier = capitalize(box.getColor()) + box.getType();
os << " " << agentName << "Carrying" << identifier << " : bool;\n";
printPortableObjectActionsForRobot(agentName, identifier);
}
printNonMovementActionsForRobot(agentName);
@ -213,13 +197,15 @@ namespace prism {
os << "endmodule\n\n";
}
void PrismModulesPrinter::printPortableObjectActionsForRobot(const std::string &a, const std::string &i) {
actionStream << " [" << a << "_pickup_" << i << "] " << " !" << a << "IsCarrying & " << a << "CannotMove" << i << " -> (" << a << "Carrying" << i << "'=true);\n";
actionStream << " [" << a << "_drop_" << i << "_north]\t" << a << "Carrying" << i << " & view" << a << "=3 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveNorthWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << " [" << a << "_drop_" << i << "_west] \t" << a << "Carrying" << i << " & view" << a << "=2 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveWestWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << " [" << a << "_drop_" << i << "_south]\t" << a << "Carrying" << i << " & view" << a << "=1 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveSouthWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << " [" << a << "_drop_" << i << "_east] \t" << a << "Carrying" << i << " & view" << a << "=0 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveEastWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\n";
void PrismModulesPrinter::printPortableObjectActionsForRobot(const std::string &a, const std::string &i, const bool canBeDroped) {
actionStream << " [" << a << "_pickup_" << i << "] " << " !" << a << "IsCarrying & " << a << "IsInFrontOf" << i << " -> (" << a << "Carrying" << i << "'=true);\n";
if(canBeDroped) {
actionStream << " [" << a << "_drop_" << i << "_north]\t" << a << "Carrying" << i << " & view" << a << "=3 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveNorthWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << " [" << a << "_drop_" << i << "_west] \t" << a << "Carrying" << i << " & view" << a << "=2 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveWestWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << " [" << a << "_drop_" << i << "_south]\t" << a << "Carrying" << i << " & view" << a << "=1 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveSouthWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << " [" << a << "_drop_" << i << "_east] \t" << 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) {
@ -636,7 +622,7 @@ namespace prism {
}
bool PrismModulesPrinter::anyPortableObject() const {
return !keys.empty() || !boxes.empty() || !balls.empty();
return !keys.empty();
}
bool PrismModulesPrinter::faultyBehaviour() const {

8
util/PrismModulesPrinter.h
View File

@ -16,7 +16,7 @@ std::string westUpdate(const AgentName &a);
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 std::map<std::string, cells> &slipperyTiles, const AgentNameAndPositionMap &agentNameAndPositionMap, std::vector<Configuration> config, const float probIntended, const float faultyProbability, const bool anyLava, const bool anyGoals);
PrismModulesPrinter(std::ostream& os, const ModelType &modelType, const coordinates &maxBoundaries, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const std::map<std::string, cells> &slipperyTiles, const AgentNameAndPositionMap &agentNameAndPositionMap, std::vector<Configuration> config, const float probIntended, const float faultyProbability, const bool anyLava, const bool anyGoals);
std::ostream& print();
@ -26,14 +26,14 @@ namespace prism {
bool isGame() const;
private:
void printPortableObjectModule(const cell &object);
void printPortableObjectActions(const std::string &agentName, const std::string &identifier);
void printPortableObjectActions(const std::string &agentName, const std::string &identifier, const bool canBeDroped = false);
void printDoorModule(const cell &object, const bool &opened);
void printLockedDoorActions(const std::string &agentName, const std::string &identifier);
void printUnlockedDoorActions(const std::string &agentName, const std::string &identifier);
void printRobotModule(const AgentName &agentName, const coordinates &initialPosition);
void printPortableObjectActionsForRobot(const std::string &agentName, const std::string &identifier);
void printPortableObjectActionsForRobot(const std::string &agentName, const std::string &identifier, const bool canBeDroped = false);
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);
@ -92,8 +92,6 @@ namespace prism {
ModelType const &modelType;
coordinates const &maxBoundaries;
AgentName agentName;
cells boxes;
cells balls;
cells lockedDoors;
cells unlockedDoors;
cells keys;

Write Preview
Loading…
Cancel
Save