From c6cb060448f4c54fb694cc263574ed386b1b4bf4 Mon Sep 17 00:00:00 2001 From: Thomas Knoll Date: Thu, 4 Jan 2024 19:01:08 +0100 Subject: [PATCH] m2p sticky behavior --- .vscode/settings.json | 72 ++++++++++++++++++++++++++++++++++++ main.cpp | 1 - util/Grid.cpp | 4 +- util/PrismModulesPrinter.cpp | 26 ++++++++++--- util/PrismModulesPrinter.h | 2 +- 5 files changed, 96 insertions(+), 9 deletions(-) create mode 100644 .vscode/settings.json diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..5232ae8 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,72 @@ +{ + "files.associations": { + "sstream": "cpp", + "cctype": "cpp", + "clocale": "cpp", + "cmath": "cpp", + "cstdarg": "cpp", + "cstddef": "cpp", + "cstdio": "cpp", + "cstdlib": "cpp", + "cstring": "cpp", + "ctime": "cpp", + "cwchar": "cpp", + "cwctype": "cpp", + "array": "cpp", + "atomic": "cpp", + "bit": "cpp", + "*.tcc": "cpp", + "bitset": "cpp", + "chrono": "cpp", + "codecvt": "cpp", + "compare": "cpp", + "complex": "cpp", + "concepts": "cpp", + "condition_variable": "cpp", + "cstdint": "cpp", + "deque": "cpp", + "list": "cpp", + "map": "cpp", + "set": "cpp", + "string": "cpp", + "unordered_map": "cpp", + "vector": "cpp", + "exception": "cpp", + "algorithm": "cpp", + "functional": "cpp", + "iterator": "cpp", + "memory": "cpp", + "memory_resource": "cpp", + "numeric": "cpp", + "optional": "cpp", + "random": "cpp", + "ratio": "cpp", + "string_view": "cpp", + "system_error": "cpp", + "tuple": "cpp", + "type_traits": "cpp", + "utility": "cpp", + "fstream": "cpp", + "initializer_list": "cpp", + "iomanip": "cpp", + "iosfwd": "cpp", + "iostream": "cpp", + "istream": "cpp", + "limits": "cpp", + "mutex": "cpp", + "new": "cpp", + "numbers": "cpp", + "ostream": "cpp", + "semaphore": "cpp", + "stdexcept": "cpp", + "stop_token": "cpp", + "streambuf": "cpp", + "thread": "cpp", + "cfenv": "cpp", + "cinttypes": "cpp", + "typeindex": "cpp", + "typeinfo": "cpp", + "valarray": "cpp", + "variant": "cpp" + } +} \ No newline at end of file diff --git a/main.cpp b/main.cpp index 7c82aeb..37b3a36 100644 --- a/main.cpp +++ b/main.cpp @@ -178,7 +178,6 @@ int main(int argc, char* argv[]) { auto end_pos = properties.find('\n', start_pos); auto value = properties.substr(start_pos + faultProbabilityIdentifier.length(), end_pos - start_pos - faultProbabilityIdentifier.length()); faultyProbability = std::stod(value); - std::cout << "Probabilty" << faultyProbability << std::endl; } } if(ok) { diff --git a/util/Grid.cpp b/util/Grid.cpp index 3991484..d14a3a0 100644 --- a/util/Grid.cpp +++ b/util/Grid.cpp @@ -252,6 +252,8 @@ void Grid::printToPrism(std::ostream& os, std::vector& configurat "const double prop_turn_intended = 6/9;", "const double prop_displacement = 3/9;", "const double prop_turn_displacement = 3/9;", + "const int width = " + std::to_string(maxBoundaries.first) + ";", + "const int height = " + std::to_string(maxBoundaries.second) + ";" }; printer.printConstants(os, constants); @@ -276,7 +278,7 @@ void Grid::printToPrism(std::ostream& os, std::vector& configurat bool agentWithProbabilisticBehaviour = std::find(gridOptions.agentsWithProbabilisticBehaviour.begin(), gridOptions.agentsWithProbabilisticBehaviour.end(), agentName) != gridOptions.agentsWithProbabilisticBehaviour.end(); std::set 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); + else printer.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView, {} ,faultyProbability); 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); diff --git a/util/PrismModulesPrinter.cpp b/util/PrismModulesPrinter.cpp index 273ae65..9b20dc0 100644 --- a/util/PrismModulesPrinter.cpp +++ b/util/PrismModulesPrinter.cpp @@ -527,9 +527,16 @@ namespace prism { if(agentWithView) { os << "\tview" << agentName << " : [0..3];\n"; os << "\n"; - 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 (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"; @@ -542,7 +549,8 @@ namespace prism { printActionsForKeys(os, agentName, keys); printActionsForBackground(os, agentName, backgroundTiles); os << "\n"; - printMovementActions(os, agentName, agentIndex, agentWithView); + + printMovementActions(os, agentName, agentIndex, agentWithView, 1.0, faultyProbability); for(auto const& probability : probabilities) { printMovementActions(os, agentName, agentIndex, agentWithView, probability); } @@ -653,8 +661,14 @@ namespace prism { return os; } - std::ostream& PrismModulesPrinter::printMovementActions(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, const bool agentWithView, const float &probability) { - if(probability >= 1) { + 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"; diff --git a/util/PrismModulesPrinter.h b/util/PrismModulesPrinter.h index dcae2cb..9e5936c 100644 --- a/util/PrismModulesPrinter.h +++ b/util/PrismModulesPrinter.h @@ -88,7 +88,7 @@ namespace prism { const bool agentWithView, const std::vector &probabilities = {}, const double faultyProbability = 0); - std::ostream& printMovementActions(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, const bool agentWithView, const float &probability = 1.0); + 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, 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 &probabilities = {}, const std::set &slipperyActions = {});