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

Merge pull request 'Towards First Stable Version' (#16) from modeltype into main 

Reviewed-on: #16
main
Stefan Pranger 10 months ago
parent
a57420a4ab 82849e5f67
commit
d69b4a41ca
8 changed files with 174 additions and 168 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 14
      main.cpp
  2. 40
      util/Grid.cpp
  3. 19
      util/Grid.h
  4. 73
      util/PrismFormulaPrinter.cpp
  5. 15
      util/PrismFormulaPrinter.h
  6. 123
      util/PrismModulesPrinter.cpp
  7. 10
      util/PrismModulesPrinter.h
  8. 10
      util/PrismPrinter.h

14
main.cpp
View File

@ -83,7 +83,6 @@ int main(int argc, char* argv[]) {
return EXIT_FAILURE; return EXIT_FAILURE;
} }
GridOptions gridOptions = { {}, {} };
std::fstream file {outputFilename->value(0), file.trunc | file.out}; std::fstream file {outputFilename->value(0), file.trunc | file.out};
std::fstream infile {inputFilename->value(0), infile.in}; std::fstream infile {inputFilename->value(0), infile.in};
std::string line, content, background, rewards, properties; std::string line, content, background, rewards, properties;
@ -130,9 +129,9 @@ int main(int argc, char* argv[]) {
std::vector<Configuration> configurations; std::vector<Configuration> configurations;
std::vector<Probability> probabilities; std::vector<Probability> probabilities;
std::map<coordinates, float> stateRewards; std::map<coordinates, float> stateRewards;
float faultyProbability = 0.1;
float probIntended = 0.9;
float probTurnIntended = 1;
float faultyProbability = 0.0;
float probIntended = 1.0;
float probTurnIntended = 1.0;
try { try {
bool ok = phrase_parse(contentIter, contentLast, contentParser, qi::space, contentCells); bool ok = phrase_parse(contentIter, contentLast, contentParser, qi::space, contentCells);
@ -164,12 +163,11 @@ int main(int argc, char* argv[]) {
setProbability(properties, probabilities, probTurnIntendedIdentifier, probTurnIntended); setProbability(properties, probabilities, probTurnIntendedIdentifier, probTurnIntended);
} }
if(ok) { if(ok) {
Grid grid(contentCells, backgroundCells, gridOptions, stateRewards, probIntended, faultyProbability);
Grid grid(contentCells, backgroundCells, stateRewards, probIntended, faultyProbability);
// grid.printToPrism(std::cout, configurations , gridOptions.getModelType());
//grid.printToPrism(std::cout, configurations);
std::stringstream ss; std::stringstream ss;
// grid.printToPrism(file, configurations ,prism::ModelType::MDP);
grid.printToPrism(ss, configurations , gridOptions.getModelType());
grid.printToPrism(ss, configurations);
std::string str = ss.str(); std::string str = ss.str();
grid.applyOverwrites(str, configurations); grid.applyOverwrites(str, configurations);
file << str; file << str;

40
util/Grid.cpp
View File

@ -3,19 +3,11 @@
#include <algorithm> #include <algorithm>
prism::ModelType GridOptions::getModelType() const
{
if (agentsWithView.size() > 1) {
return prism::ModelType::SMG;
}
return prism::ModelType::MDP;
}
Grid::Grid(cells gridCells, cells background, const GridOptions &gridOptions, const std::map<coordinates, float> &stateRewards, const float probIntended, const float faultyProbability)
: allGridCells(gridCells), background(background), gridOptions(gridOptions), stateRewards(stateRewards), probIntended(probIntended), faultyProbability(faultyProbability)
Grid::Grid(cells gridCells, cells background, const std::map<coordinates, float> &stateRewards, const float probIntended, const float faultyProbability)
: allGridCells(gridCells), background(background), stateRewards(stateRewards), probIntended(probIntended), faultyProbability(faultyProbability)
{ {
cell max = allGridCells.at(allGridCells.size() - 1); cell max = allGridCells.at(allGridCells.size() - 1);
maxBoundaries = std::make_pair(max.row - 1, max.column - 1);
maxBoundaries = std::make_pair(max.column - 1, max.row - 1);
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(walls), [](cell c) { return c.type == Type::Wall; }); std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(walls), [](cell c) { return c.type == Type::Wall; });
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(lava), [](cell c) { return c.type == Type::Lava; }); std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(lava), [](cell c) { return c.type == Type::Lava; });
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(floor), [](cell c) { return c.type == Type::Floor; }); // TODO CHECK IF ALL AGENTS ARE ADDED TO FLOOR std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(floor), [](cell c) { return c.type == Type::Floor; }); // TODO CHECK IF ALL AGENTS ARE ADDED TO FLOOR
@ -38,7 +30,6 @@ Grid::Grid(cells gridCells, cells background, const GridOptions &gridOptions, co
std::string color = adversary.getColor(); std::string color = adversary.getColor();
color.at(0) = std::toupper(color.at(0)); color.at(0) = std::toupper(color.at(0));
try { try {
if(gridOptions.agentsToBeConsidered.size() != 0 && std::find(gridOptions.agentsToBeConsidered.begin(), gridOptions.agentsToBeConsidered.end(), color) == gridOptions.agentsToBeConsidered.end()) continue;
auto success = agentNameAndPositionMap.insert({ color, adversary.getCoordinates() }); auto success = agentNameAndPositionMap.insert({ color, adversary.getCoordinates() });
floor.push_back(adversary); floor.push_back(adversary);
if(!success.second) { if(!success.second) {
@ -70,6 +61,12 @@ Grid::Grid(cells gridCells, cells background, const GridOptions &gridOptions, co
backgroundTiles.emplace(color, cellsOfColor); backgroundTiles.emplace(color, cellsOfColor);
} }
} }
if(adversaries.empty()) {
modelType = prism::ModelType::MDP;
} else {
modelType = prism::ModelType::SMG;
}
} }
std::ostream& operator<<(std::ostream& os, const Grid& grid) { std::ostream& operator<<(std::ostream& os, const Grid& grid) {
@ -130,9 +127,8 @@ void Grid::applyOverwrites(std::string& str, std::vector<Configuration>& configu
} }
} }
} }
void Grid::printToPrism(std::ostream& os, std::vector<Configuration>& configuration ,const prism::ModelType& modelType) {
void Grid::printToPrism(std::ostream& os, std::vector<Configuration>& configuration) {
cells northRestriction, eastRestriction, southRestriction, westRestriction; cells northRestriction, eastRestriction, southRestriction, westRestriction;
cells walkable = floor; cells walkable = floor;
walkable.insert(walkable.end(), goals.begin(), goals.end()); walkable.insert(walkable.end(), goals.begin(), goals.end());
walkable.insert(walkable.end(), boxes.begin(), boxes.end()); walkable.insert(walkable.end(), boxes.begin(), boxes.end());
@ -158,22 +154,16 @@ 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;}); [](const std::map<AgentNameAndPosition::first_type,AgentNameAndPosition::second_type>::value_type &pair){return pair.first;});
std::string agentName = agentNames.at(0); std::string agentName = agentNames.at(0);
prism::PrismFormulaPrinter formulas(os, wallRestrictions, walls, boxes, balls, lockedDoors, unlockedDoors, keys, slipperyTiles, lava, goals);
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); modules.printModelType(modelType);
for(const auto &agentName : agentNames) { for(const auto &agentName : agentNames) {
formulas.print(agentName); formulas.print(agentName);
} }
//std::vector<std::string> constants {"const double prop_zero = 0/9;",
// "const double prop_intended = 6/9;",
// "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) + ";"
// };
//modules.printConstants(os, constants);
if(agentNameAndPositionMap.size() > 1) formulas.printCollisionFormula(agentName);
formulas.printInitStruct();
modules.print(); modules.print();

19
util/Grid.h
View File

@ -6,29 +6,20 @@
#include <utility> #include <utility>
#include "MinigridGrammar.h" #include "MinigridGrammar.h"
#include "PrismPrinter.h"
#include "PrismModulesPrinter.h" #include "PrismModulesPrinter.h"
#include "PrismFormulaPrinter.h" #include "PrismFormulaPrinter.h"
#include "ConfigYaml.h" #include "ConfigYaml.h"
struct GridOptions {
std::vector<AgentName> agentsToBeConsidered;
std::vector<AgentName> agentsWithView;
std::vector<AgentName> agentsWithProbabilisticBehaviour;
std::vector<float> probabilitiesForActions;
bool enforceOneWays;
prism::ModelType getModelType() const;
};
class Grid { class Grid {
public: public:
Grid(cells gridCells, cells background, const GridOptions &gridOptions, const std::map<coordinates, float> &stateRewards = {}, const float probIntended = 1.0, const float faultyProbability = 0);
Grid(cells gridCells, cells background, const std::map<coordinates, float> &stateRewards = {}, const float probIntended = 1.0, const float faultyProbability = 0);
cells getGridCells(); cells getGridCells();
bool isBlocked(coordinates p); bool isBlocked(coordinates p);
bool isWall(coordinates p); bool isWall(coordinates p);
void printToPrism(std::ostream &os, std::vector<Configuration>& configuration, const prism::ModelType& modelType);
void printToPrism(std::ostream &os, std::vector<Configuration>& configuration);
void applyOverwrites(std::string& str, std::vector<Configuration>& configuration); void applyOverwrites(std::string& str, std::vector<Configuration>& configuration);
std::array<bool, 8> getWalkableDirOf8Neighborhood(cell c); std::array<bool, 8> getWalkableDirOf8Neighborhood(cell c);
@ -36,12 +27,12 @@ class Grid {
friend std::ostream& operator<<(std::ostream& os, const Grid &grid); friend std::ostream& operator<<(std::ostream& os, const Grid &grid);
private: private:
GridOptions gridOptions;
cells allGridCells; cells allGridCells;
cells background; cells background;
coordinates maxBoundaries; coordinates maxBoundaries;
prism::ModelType modelType;
cell agent; cell agent;
cells adversaries; cells adversaries;
AgentNameAndPositionMap agentNameAndPositionMap; AgentNameAndPositionMap agentNameAndPositionMap;

73
util/PrismFormulaPrinter.cpp
View File

@ -57,11 +57,12 @@ std::map<std::string, std::pair<int, int>> getRelativeSurroundingCells() {
} }
namespace prism { 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)
: os(os), restrictions(restrictions), walls(walls), boxes(boxes), balls(balls), lockedDoors(lockedDoors), unlockedDoors(unlockedDoors), keys(keys), slipperyTiles(slipperyTiles), lava(lava), goals(goals)
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) { void PrismFormulaPrinter::print(const AgentName &agentName) {
conditionalMovementRestrictions.clear();
for(const auto& [direction, cells] : restrictions) { for(const auto& [direction, cells] : restrictions) {
printRestrictionFormula(agentName, direction, cells); printRestrictionFormula(agentName, direction, cells);
} }
@ -82,21 +83,10 @@ namespace prism {
if(!lava.empty()) printIsOnFormula(agentName, "Lava", lava); if(!lava.empty()) printIsOnFormula(agentName, "Lava", lava);
if(!goals.empty()) printIsOnFormula(agentName, "Goal", goals); 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) { for(const auto& key : keys) {
std::string identifier = capitalize(key.getColor()) + key.getType(); std::string identifier = capitalize(key.getColor()) + key.getType();
printRelativeRestrictionFormulaWithCondition(agentName, identifier, "!" + identifier + "PickedUp");
printRelativeIsInFrontOfFormulaWithCondition(agentName, identifier, "!" + identifier + "PickedUp");
portableObjects.push_back(agentName + "Carrying" + identifier); portableObjects.push_back(agentName + "Carrying" + identifier);
} }
@ -135,30 +125,57 @@ namespace prism {
conditionalMovementRestrictions.push_back(agentName + "CannotMove" + reason); 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) { void PrismFormulaPrinter::printSlipRestrictionFormula(const AgentName &agentName, const std::string &direction) {
std::pair<int, int> slipCell = getRelativeSurroundingCells().at(direction); std::pair<int, int> slipCell = getRelativeSurroundingCells().at(direction);
bool semicolon = anyPortableObject() ? false : true; bool semicolon = anyPortableObject() ? false : true;
os << buildFormula(agentName + "CannotSlip" + direction, buildDisjunction(agentName, walls, slipCell), semicolon); 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);
if(!semicolon) os << ";\n";
} }
for(auto const ball : balls) {
std::string identifier = capitalize(ball.getColor()) + ball.getType();
os << " | " << objectPositionToConjunction(agentName, identifier, slipCell);
void PrismFormulaPrinter::printCollisionFormula(const AgentName &agentName) {
if(!agentNameAndPositionMap.empty()) {
os << "formula collision = ";
bool first = true;
for(auto const [name, coordinates] : agentNameAndPositionMap) {
if(name == agentName) continue;
if(first) first = false;
else os << " | ";
os << "(col"+agentName+"=col"+name+"&row"+agentName+"=row"+name+")";
} }
for(auto const box : boxes) {
std::string identifier = capitalize(box.getColor()) + box.getType();
os << " | " << objectPositionToConjunction(agentName, identifier, slipCell);
os << ";\n";
printCollisionLabel();
} }
if(!semicolon) os << ";\n";
} }
void PrismFormulaPrinter::printCollisionLabel() {
if(!agentNameAndPositionMap.empty()) {
os << "label \"collision\" = collision;\n";
}
}
void PrismFormulaPrinter::printInitStruct() {
os << "init\n";
bool first = true;
for(auto const [a, coordinates] : agentNameAndPositionMap) {
if(first) first = false;
else os << " & ";
os << "(col"+a+"="+std::to_string(coordinates.first)+"&row"+a+"="+std::to_string(coordinates.second)+" & ";
os << "(view"+a+"=0|view"+a+"=1|view"+a+"=2|view"+a+"=3) ";
if(faulty) os << " & previousAction"+a+"="+std::to_string(NOFAULT);
os << ")";
}
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) ";
}
os << "endinit\n\n";
}
std::string PrismFormulaPrinter::buildFormula(const std::string &formulaName, const std::string &formula, const bool semicolon) { std::string PrismFormulaPrinter::buildFormula(const std::string &formulaName, const std::string &formula, const bool semicolon) {
return "formula " + formulaName + " = " + formula + (semicolon ? ";\n": ""); return "formula " + formulaName + " = " + formula + (semicolon ? ";\n": "");
} }
@ -215,6 +232,6 @@ namespace prism {
return !slipperyTiles.at("North").empty() || !slipperyTiles.at("East").empty() || !slipperyTiles.at("South").empty() || !slipperyTiles.at("West").empty(); return !slipperyTiles.at("North").empty() || !slipperyTiles.at("East").empty() || !slipperyTiles.at("South").empty() || !slipperyTiles.at("West").empty();
} }
bool PrismFormulaPrinter::anyPortableObject() const { bool PrismFormulaPrinter::anyPortableObject() const {
return !keys.empty() || !boxes.empty() || !balls.empty();
return !keys.empty();
} }
} }

15
util/PrismFormulaPrinter.h
View File

@ -21,7 +21,7 @@ std::map<std::string, std::pair<int, int>> getRelativeSurroundingCells();
namespace prism { namespace prism {
class PrismFormulaPrinter { class PrismFormulaPrinter {
public: 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);
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); void print(const AgentName &agentName);
@ -29,8 +29,13 @@ namespace prism {
void printIsOnFormula(const AgentName &agentName, const std::string &type, const cells &grid_cells, const std::string &direction = ""); 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 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 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 printSlipRestrictionFormula(const AgentName &agentName, const std::string &direction);
void printCollisionFormula(const std::string &agentName);
void printCollisionLabel();
void printInitStruct();
private: private:
std::string buildFormula(const std::string &formulaName, const std::string &formula, const bool semicolon = true); std::string buildFormula(const std::string &formulaName, const std::string &formula, const bool semicolon = true);
std::string buildLabel(const std::string &labelName, const std::string &label); std::string buildLabel(const std::string &labelName, const std::string &label);
@ -46,8 +51,6 @@ namespace prism {
std::ostream &os; std::ostream &os;
std::map<std::string, cells> restrictions; std::map<std::string, cells> restrictions;
cells walls; cells walls;
cells boxes;
cells balls;
cells lockedDoors; cells lockedDoors;
cells unlockedDoors; cells unlockedDoors;
cells keys; cells keys;
@ -55,7 +58,11 @@ namespace prism {
cells lava; cells lava;
cells goals; cells goals;
AgentNameAndPositionMap agentNameAndPositionMap;
std::vector<std::string> conditionalMovementRestrictions; std::vector<std::string> conditionalMovementRestrictions;
std::vector<std::string> portableObjects; std::vector<std::string> portableObjects;
bool faulty;
}; };
} }

123
util/PrismModulesPrinter.cpp
View File

@ -3,11 +3,6 @@
#include <map> #include <map>
#include <string> #include <string>
#define NOFAULT -1
#define LEFT 0
#define RIGHT 1
#define FORWARD 2
std::string northUpdate(const AgentName &a) { return "(row"+a+"'=row"+a+"-1)"; } std::string northUpdate(const AgentName &a) { return "(row"+a+"'=row"+a+"-1)"; }
std::string southUpdate(const AgentName &a) { return "(row"+a+"'=row"+a+"+1)"; } std::string southUpdate(const AgentName &a) { return "(row"+a+"'=row"+a+"+1)"; }
@ -16,8 +11,8 @@ std::string westUpdate(const AgentName &a) { return "(col"+a+"'=col"+a+"-1)"; }
namespace prism { 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(); numberOfPlayer = agentNameAndPositionMap.size();
size_t index = 0; size_t index = 0;
for(auto begin = agentNameAndPositionMap.begin(); begin != agentNameAndPositionMap.end(); begin++, index++) { for(auto begin = agentNameAndPositionMap.begin(); begin != agentNameAndPositionMap.end(); begin++, index++) {
@ -45,12 +40,6 @@ namespace prism {
for(const auto &key : keys) { for(const auto &key : keys) {
printPortableObjectModule(key); printPortableObjectModule(key);
} }
for(const auto &ball : balls) {
printPortableObjectModule(ball);
}
for(const auto &box : boxes) {
printPortableObjectModule(box);
}
for(const auto &door : unlockedDoors) { for(const auto &door : unlockedDoors) {
printDoorModule(door, true); printDoorModule(door, true);
} }
@ -104,8 +93,8 @@ namespace prism {
void PrismModulesPrinter::printPortableObjectModule(const cell &object) { void PrismModulesPrinter::printPortableObjectModule(const cell &object) {
std::string identifier = capitalize(object.getColor()) + object.getType(); std::string identifier = capitalize(object.getColor()) + object.getType();
os << "\nmodule " << identifier << std::endl; os << "\nmodule " << identifier << std::endl;
os << " x" << identifier << " : [-1.." << maxBoundaries.second << "] init " << object.column << ";\n";
os << " y" << identifier << " : [-1.." << maxBoundaries.first << "] init " << object.row << ";\n";
os << " col" << identifier << " : [-1.." << maxBoundaries.first << "];\n";
os << " row" << identifier << " : [-1.." << maxBoundaries.second << "];\n";
os << " " << identifier << "PickedUp : bool;\n"; os << " " << identifier << "PickedUp : bool;\n";
os << "\n"; os << "\n";
@ -115,28 +104,30 @@ namespace prism {
os << "endmodule\n\n"; 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 + "]"; std::string actionName = "[" + agentName + "_pickup_" + identifier + "]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << " " << actionName << " true -> (x" << identifier << "'=-1) & (y" << identifier << "'=-1) & (" << identifier << "PickedUp'=true);\n";
agentNameActionMap.at(agentName).insert({PICKUP, actionName});
os << " " << actionName << " true -> (col" << identifier << "'=-1) & (row" << identifier << "'=-1) & (" << identifier << "PickedUp'=true);\n";
if(canBeDroped) {
actionName = "[" + agentName + "_drop_" + identifier + "_north]"; actionName = "[" + agentName + "_drop_" + identifier + "_north]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << " " << actionName << " " << " true -> (x" << identifier << "'=x" << agentName << ") & (y" << identifier << "'=y" << agentName << "-1) & (" << identifier << "PickedUp'=false);\n";
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]"; actionName = "[" + agentName + "_drop_" + identifier + "_west]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << " " << actionName << " " << " true -> (x" << identifier << "'=x" << agentName << "-1) & (y" << identifier << "'=y" << agentName << ") & (" << identifier << "PickedUp'=false);\n";
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]"; actionName = "[" + agentName + "_drop_" + identifier + "_south]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << " " << actionName << " " << " true -> (x" << identifier << "'=x" << agentName << ") & (y" << identifier << "'=y" << agentName << "+1) & (" << identifier << "PickedUp'=false);\n";
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]"; actionName = "[" + agentName + "_drop_" + identifier + "_east]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << " " << actionName << " " << " ttrue -> (x" << identifier << "'=x" << agentName << "+1) & (y" << identifier << "'=y" << agentName << ") & (" << identifier << "PickedUp'=false);\n";
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) { void PrismModulesPrinter::printDoorModule(const cell &door, const bool &opened) {
std::string identifier = capitalize(door.getColor()) + door.getType(); std::string identifier = capitalize(door.getColor()) + door.getType();
os << "\nmodule " << identifier << std::endl; os << "\nmodule " << identifier << std::endl;
os << " " << identifier << "Open : bool init false;\n";
os << " " << identifier << "Open : bool;\n";
os << "\n"; os << "\n";
if(opened) { if(opened) {
@ -171,9 +162,9 @@ namespace prism {
void PrismModulesPrinter::printRobotModule(const AgentName &agentName, const coordinates &initialPosition) { void PrismModulesPrinter::printRobotModule(const AgentName &agentName, const coordinates &initialPosition) {
os << "\nmodule " << agentName << std::endl; os << "\nmodule " << agentName << std::endl;
os << " col" << agentName << " : [1.." << maxBoundaries.second << "] init " << initialPosition.second << ";\n";
os << " row" << agentName << " : [1.." << maxBoundaries.first << "] init " << initialPosition.first << ";\n";
os << " view" << agentName << " : [0..3] init 1;\n";
os << " col" << agentName << " : [1.." << maxBoundaries.first << "];\n";
os << " row" << agentName << " : [1.." << maxBoundaries.second << "];\n";
os << " view" << agentName << " : [0..3];\n";
printTurnActionsForRobot(agentName); printTurnActionsForRobot(agentName);
printMovementActionsForRobot(agentName); printMovementActionsForRobot(agentName);
@ -192,35 +183,30 @@ namespace prism {
for(const auto &key : keys) { for(const auto &key : keys) {
std::string identifier = capitalize(key.getColor()) + key.getType(); std::string identifier = capitalize(key.getColor()) + key.getType();
os << " " << agentName << "Carrying" << identifier << " : bool init false;\n";
os << " " << agentName << "Carrying" << identifier << " : bool;\n";
printPortableObjectActionsForRobot(agentName, identifier); printPortableObjectActionsForRobot(agentName, identifier);
} }
for(const auto &ball : balls) {
std::string identifier = capitalize(ball.getColor()) + ball.getType();
os << " " << agentName << "Carrying" << identifier << " : bool init false;\n";
printPortableObjectActionsForRobot(agentName, identifier);
}
printNonMovementActionsForRobot(agentName);
for(const auto &box : boxes) {
std::string identifier = capitalize(box.getColor()) + box.getType();
os << " " << agentName << "Carrying" << identifier << " : bool init false;\n";
printPortableObjectActionsForRobot(agentName, identifier);
}
os << "\n" << actionStream.str(); os << "\n" << actionStream.str();
actionStream.str(std::string()); actionStream.str(std::string());
if(agentNameAndPositionMap.size() > 1 && agentName == "Agent") printDoneActions(agentName);
os << "endmodule\n\n"; 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";
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 << "_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 << "_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 << "_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 << " [" << a << "_drop_" << i << "_east] \t" << a << "Carrying" << i << " & view" << a << "=0 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveEastWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\n"; actionStream << "\n";
} }
}
void PrismModulesPrinter::printUnlockedDoorActionsForRobot(const std::string &agentName, const std::string &identifier) { void PrismModulesPrinter::printUnlockedDoorActionsForRobot(const std::string &agentName, const std::string &identifier) {
actionStream << " [" << agentName << "_open_" << identifier << "] " << agentName << "CannotMove" << identifier << " -> true;\n"; actionStream << " [" << agentName << "_open_" << identifier << "] " << agentName << "CannotMove" << identifier << " -> true;\n";
@ -276,13 +262,25 @@ namespace prism {
std::string PrismModulesPrinter::printTurnGuard(const AgentName &a, const std::string &direction, const ActionId &actionId, const std::string &cond) { std::string PrismModulesPrinter::printTurnGuard(const AgentName &a, const std::string &direction, const ActionId &actionId, const std::string &cond) {
std::string actionName = "[" + a + "_turn_" + direction + "]"; std::string actionName = "[" + a + "_turn_" + direction + "]";
agentNameActionMap.at(a).insert({actionId, actionName}); agentNameActionMap.at(a).insert({actionId, actionName});
return " " + actionName + " " + cond + " -> ";
std::string guard = " " + actionName;
if(slipperyBehaviour()) guard += " !" + a + "IsOnSlippery & ";
if(anyLava) guard += " !" + a + "IsOnLava &";
guard += cond + " -> ";
return guard;
} }
std::string PrismModulesPrinter::printTurnUpdate(const AgentName &a, const update &u, const ActionId &actionId) const { std::string PrismModulesPrinter::printTurnUpdate(const AgentName &a, const update &u, const ActionId &actionId) const {
return updateToString(u) + ";\n"; return updateToString(u) + ";\n";
} }
void PrismModulesPrinter::printNonMovementActionsForRobot(const AgentName &agentName) {
for(auto const [actionId, action] : nonMovementActions) {
std::string actionName = "[" + agentName + "_" + action + "]";
agentNameActionMap.at(agentName).insert({actionId, actionName});
actionStream << " " << actionName << " true -> true;\n";
}
}
void PrismModulesPrinter::printSlipperyMovementActionsForRobot(const AgentName &a) { void PrismModulesPrinter::printSlipperyMovementActionsForRobot(const AgentName &a) {
if(!slipperyTiles.at("North").empty()) { if(!slipperyTiles.at("North").empty()) {
printSlipperyMovementActionsForNorth(a); printSlipperyMovementActionsForNorth(a);
@ -322,10 +320,8 @@ namespace prism {
actionStream << printSlipperyMovementGuard(a, "North", 0, {"!"+a+"CannotSlipEast", a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "North", { {1, eastUpdate(a) } }) << ";\n"; actionStream << printSlipperyMovementGuard(a, "North", 0, {"!"+a+"CannotSlipEast", a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "North", { {1, eastUpdate(a) } }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "North", 0, { a+"CannotSlipEast", a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "North", {}) << ";\n"; actionStream << printSlipperyMovementGuard(a, "North", 0, { a+"CannotSlipEast", a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "North", {}) << ";\n";
actionStream << printSlipperyMovementGuard(a, "North", 1, {"!"+a+"CannotSlipSouth", "!"+a+"CannotSlipNorth"}) << printSlipperyMovementUpdate(a, "North", { {probIntended, southUpdate(a) }, {1 - probIntended, northUpdate(a)} }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "North", 1, { a+"CannotSlipSouth", "!"+a+"CannotSlipNorth"}) << printSlipperyMovementUpdate(a, "North", { {1, northUpdate(a)} }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "North", 1, {"!"+a+"CannotSlipSouth", a+"CannotSlipNorth"}) << printSlipperyMovementUpdate(a, "North", { {1, southUpdate(a)} }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "North", 1, { a+"CannotSlipSouth", a+"CannotSlipNorth"}) << printSlipperyMovementUpdate(a, "North", {}) << ";\n";
actionStream << printSlipperyMovementGuard(a, "North", 1, {"!"+a+"CannotSlipSouth"}) << printSlipperyMovementUpdate(a, "North", { {probIntended, southUpdate(a) }, {1 - probIntended, "true"} }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "North", 1, { a+"CannotSlipSouth"}) << printSlipperyMovementUpdate(a, "North", { {1, "true"} }) << ";\n";
} }
void PrismModulesPrinter::printSlipperyMovementActionsForEast(const AgentName &a) { void PrismModulesPrinter::printSlipperyMovementActionsForEast(const AgentName &a) {
@ -348,10 +344,8 @@ namespace prism {
actionStream << printSlipperyMovementGuard(a, "East", 1, {"!"+a+"CannotSlipSouth", a+"CannotSlipSouthEast"}) << printSlipperyMovementUpdate(a, "East", { {1, southUpdate(a) } }) << ";\n"; actionStream << printSlipperyMovementGuard(a, "East", 1, {"!"+a+"CannotSlipSouth", a+"CannotSlipSouthEast"}) << printSlipperyMovementUpdate(a, "East", { {1, southUpdate(a) } }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "East", 1, { a+"CannotSlipSouth", a+"CannotSlipSouthEast"}) << printSlipperyMovementUpdate(a, "East", {}) << ";\n"; actionStream << printSlipperyMovementGuard(a, "East", 1, { a+"CannotSlipSouth", a+"CannotSlipSouthEast"}) << printSlipperyMovementUpdate(a, "East", {}) << ";\n";
actionStream << printSlipperyMovementGuard(a, "East", 2, {"!"+a+"CannotSlipWest", "!"+a+"CannotSlipEast"}) << printSlipperyMovementUpdate(a, "East", { {probIntended, eastUpdate(a) }, {1 - probIntended, westUpdate(a)} }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "East", 2, { a+"CannotSlipWest", "!"+a+"CannotSlipEast"}) << printSlipperyMovementUpdate(a, "East", { {1, eastUpdate(a)} }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "East", 2, {"!"+a+"CannotSlipWest", a+"CannotSlipEast"}) << printSlipperyMovementUpdate(a, "East", { {1, westUpdate(a)} }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "East", 2, { a+"CannotSlipWest", a+"CannotSlipEast"}) << printSlipperyMovementUpdate(a, "East", {}) << ";\n";
actionStream << printSlipperyMovementGuard(a, "East", 2, {"!"+a+"CannotSlipEast"}) << printSlipperyMovementUpdate(a, "East", { {probIntended, eastUpdate(a) }, {1 - probIntended, "true"} }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "East", 2, { a+"CannotSlipEast"}) << printSlipperyMovementUpdate(a, "East", { {1, "true"} }) << ";\n";
} }
void PrismModulesPrinter::printSlipperyMovementActionsForSouth(const AgentName &a) { void PrismModulesPrinter::printSlipperyMovementActionsForSouth(const AgentName &a) {
@ -374,10 +368,8 @@ namespace prism {
actionStream << printSlipperyMovementGuard(a, "South", 0, {"!"+a+"CannotSlipEast", a+"CannotSlipSouthEast"}) << printSlipperyMovementUpdate(a, "South", { {1, eastUpdate(a) } }) << ";\n"; actionStream << printSlipperyMovementGuard(a, "South", 0, {"!"+a+"CannotSlipEast", a+"CannotSlipSouthEast"}) << printSlipperyMovementUpdate(a, "South", { {1, eastUpdate(a) } }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "South", 0, { a+"CannotSlipEast", a+"CannotSlipSouthEast"}) << printSlipperyMovementUpdate(a, "South", {}) << ";\n"; actionStream << printSlipperyMovementGuard(a, "South", 0, { a+"CannotSlipEast", a+"CannotSlipSouthEast"}) << printSlipperyMovementUpdate(a, "South", {}) << ";\n";
actionStream << printSlipperyMovementGuard(a, "South", 3, {"!"+a+"CannotSlipSouth", "!"+a+"CannotSlipNorth"}) << printSlipperyMovementUpdate(a, "South", { {probIntended, southUpdate(a) }, {1 - probIntended, northUpdate(a)} }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "South", 3, { a+"CannotSlipSouth", "!"+a+"CannotSlipNorth"}) << printSlipperyMovementUpdate(a, "South", { {1, northUpdate(a)} }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "South", 3, {"!"+a+"CannotSlipSouth", a+"CannotSlipNorth"}) << printSlipperyMovementUpdate(a, "South", { {1, southUpdate(a)} }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "South", 3, { a+"CannotSlipSouth", a+"CannotSlipNorth"}) << printSlipperyMovementUpdate(a, "South", {}) << ";\n";
actionStream << printSlipperyMovementGuard(a, "South", 3, {"!"+a+"CannotSlipSouth"}) << printSlipperyMovementUpdate(a, "South", { {probIntended, northUpdate(a) }, {1 - probIntended, "true"} }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "South", 3, { a+"CannotSlipSouth"}) << printSlipperyMovementUpdate(a, "South", { {1, "true"} }) << ";\n";
} }
void PrismModulesPrinter::printSlipperyMovementActionsForWest(const AgentName &a) { void PrismModulesPrinter::printSlipperyMovementActionsForWest(const AgentName &a) {
@ -400,10 +392,8 @@ namespace prism {
actionStream << printSlipperyMovementGuard(a, "West", 1, {"!"+a+"CannotSlipSouth", a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "West", { {1, southUpdate(a) } }) << ";\n"; actionStream << printSlipperyMovementGuard(a, "West", 1, {"!"+a+"CannotSlipSouth", a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "West", { {1, southUpdate(a) } }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "West", 1, { a+"CannotSlipSouth", a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "West", {}) << ";\n"; actionStream << printSlipperyMovementGuard(a, "West", 1, { a+"CannotSlipSouth", a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "West", {}) << ";\n";
actionStream << printSlipperyMovementGuard(a, "West", 0, {"!"+a+"CannotSlipEast", "!"+a+"CannotSlipWest"}) << printSlipperyMovementUpdate(a, "West", { {probIntended, westUpdate(a) }, {1 - probIntended, eastUpdate(a)} }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "West", 0, { a+"CannotSlipEast", "!"+a+"CannotSlipWest"}) << printSlipperyMovementUpdate(a, "West", { {1, westUpdate(a)} }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "West", 0, {"!"+a+"CannotSlipEast", a+"CannotSlipWest"}) << printSlipperyMovementUpdate(a, "West", { {1, eastUpdate(a)} }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "West", 0, { a+"CannotSlipEast", a+"CannotSlipWest"}) << printSlipperyMovementUpdate(a, "West", {}) << ";\n";
actionStream << printSlipperyMovementGuard(a, "West", 0, {"!"+a+"CannotSlipWest"}) << printSlipperyMovementUpdate(a, "West", { {probIntended, westUpdate(a) }, {1 - probIntended, "true"} }) << ";\n";
actionStream << printSlipperyMovementGuard(a, "West", 0, { a+"CannotSlipWest"}) << printSlipperyMovementUpdate(a, "West", {{1, "true"}}) << ";\n";
} }
void PrismModulesPrinter::printSlipperyTurnActionsForNorth(const AgentName &a) { void PrismModulesPrinter::printSlipperyTurnActionsForNorth(const AgentName &a) {
@ -459,7 +449,7 @@ namespace prism {
std::string PrismModulesPrinter::printSlipperyTurnGuard(const AgentName &a, const std::string &direction, const ActionId &actionId, const std::vector<std::string> &guards, const std::string &cond) { std::string PrismModulesPrinter::printSlipperyTurnGuard(const AgentName &a, const std::string &direction, const ActionId &actionId, const std::vector<std::string> &guards, const std::string &cond) {
std::string actionName = "[" + a + "_turn_" + direction + "]"; std::string actionName = "[" + a + "_turn_" + direction + "]";
agentNameActionMap.at(a).insert({actionId, actionName}); agentNameActionMap.at(a).insert({actionId, actionName});
return " " + actionName + " " + buildConjunction(a, guards) + " & " + cond + " -> ";
return " " + actionName + " " + a + "IsOnSlippery & " + buildConjunction(a, guards) + " & " + cond + " -> ";
} }
std::string PrismModulesPrinter::printSlipperyTurnUpdate(const AgentName &a, const updates &u) { std::string PrismModulesPrinter::printSlipperyTurnUpdate(const AgentName &a, const updates &u) {
@ -468,9 +458,11 @@ namespace prism {
void PrismModulesPrinter::printFaultyMovementModule(const AgentName &a) { void PrismModulesPrinter::printFaultyMovementModule(const AgentName &a) {
os << "\nmodule " << a << "FaultyBehaviour" << std::endl; os << "\nmodule " << a << "FaultyBehaviour" << std::endl;
os << " previousAction" << a << " : [-1..2] init -1;\n";
os << " previousAction" << a << " : [0.." + std::to_string(NOFAULT) + "];\n";
std::set<size_t> exclude = {PICKUP, DROP, TOGGLE, DONE};
for(const auto [actionId, actionName] : agentNameActionMap.at(a)) { for(const auto [actionId, actionName] : agentNameActionMap.at(a)) {
if(exclude.count(actionId) > 0) continue;
os << " " << actionName << faultyBehaviourGuard(a, actionId) << " -> " << faultyBehaviourUpdate(a, actionId) << ";\n"; os << " " << actionName << faultyBehaviourGuard(a, actionId) << " -> " << faultyBehaviourUpdate(a, actionId) << ";\n";
} }
os << "endmodule\n\n"; os << "endmodule\n\n";
@ -478,7 +470,7 @@ namespace prism {
void PrismModulesPrinter::printMoveModule() { void PrismModulesPrinter::printMoveModule() {
os << "\nmodule " << "Arbiter" << std::endl; os << "\nmodule " << "Arbiter" << std::endl;
os << " clock : [0.." << agentIndexMap.size() - 1 << "] init 0;\n";
os << " clock : [0.." << agentIndexMap.size() - 1 << "];\n";
for(const auto [agentName, actions] : agentNameActionMap) { for(const auto [agentName, actions] : agentNameActionMap) {
for(const auto [actionId, actionName] : actions) { for(const auto [actionId, actionName] : actions) {
@ -499,7 +491,7 @@ namespace prism {
} }
void PrismModulesPrinter::printDoneActions(const AgentName &agentName) { void PrismModulesPrinter::printDoneActions(const AgentName &agentName) {
os << " [" << agentName << "_done]" << moveGuard(agentName) << agentName << "IsInGoal | " << agentName << "IsInLava -> (" << agentName << "Done'=true);\n";
os << " [" << agentName << "_on_goal]" << agentName << "IsOnGoal & clock=0 -> true;\n";
} }
void PrismModulesPrinter::printPlayerStruct(const AgentName &agentName) { void PrismModulesPrinter::printPlayerStruct(const AgentName &agentName) {
@ -510,6 +502,7 @@ namespace prism {
else os << ", "; else os << ", ";
os << actionName; os << actionName;
} }
if(agentName == "Agent") os << ", [Agent_on_goal]";
os << "\nendplayer\n"; os << "\nendplayer\n";
} }
@ -629,7 +622,7 @@ namespace prism {
} }
bool PrismModulesPrinter::anyPortableObject() const { bool PrismModulesPrinter::anyPortableObject() const {
return !keys.empty() || !boxes.empty() || !balls.empty();
return !keys.empty();
} }
bool PrismModulesPrinter::faultyBehaviour() const { bool PrismModulesPrinter::faultyBehaviour() const {

10
util/PrismModulesPrinter.h
View File

@ -16,7 +16,7 @@ std::string westUpdate(const AgentName &a);
namespace prism { namespace prism {
class PrismModulesPrinter { class PrismModulesPrinter {
public: 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(); std::ostream& print();
@ -26,18 +26,19 @@ namespace prism {
bool isGame() const; bool isGame() const;
private: private:
void printPortableObjectModule(const cell &object); 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 printDoorModule(const cell &object, const bool &opened);
void printLockedDoorActions(const std::string &agentName, const std::string &identifier); void printLockedDoorActions(const std::string &agentName, const std::string &identifier);
void printUnlockedDoorActions(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 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 printUnlockedDoorActionsForRobot(const std::string &agentName, const std::string &identifier);
void printLockedDoorActionsForRobot(const std::string &agentName, const std::string &identifier, const std::string &key); void printLockedDoorActionsForRobot(const std::string &agentName, const std::string &identifier, const std::string &key);
void printMovementActionsForRobot(const std::string &a); void printMovementActionsForRobot(const std::string &a);
void printTurnActionsForRobot(const std::string &a); void printTurnActionsForRobot(const std::string &a);
void printNonMovementActionsForRobot(const AgentName &agentName);
void printSlipperyMovementActionsForRobot(const AgentName &a); void printSlipperyMovementActionsForRobot(const AgentName &a);
void printSlipperyMovementActionsForNorth(const AgentName &a); void printSlipperyMovementActionsForNorth(const AgentName &a);
void printSlipperyMovementActionsForEast(const AgentName &a); void printSlipperyMovementActionsForEast(const AgentName &a);
@ -91,8 +92,6 @@ namespace prism {
ModelType const &modelType; ModelType const &modelType;
coordinates const &maxBoundaries; coordinates const &maxBoundaries;
AgentName agentName; AgentName agentName;
cells boxes;
cells balls;
cells lockedDoors; cells lockedDoors;
cells unlockedDoors; cells unlockedDoors;
cells keys; cells keys;
@ -109,6 +108,7 @@ namespace prism {
std::vector<Configuration> configuration; std::vector<Configuration> configuration;
std::vector<ViewDirection> viewDirections = {0, 1, 2, 3}; std::vector<ViewDirection> viewDirections = {0, 1, 2, 3};
std::map<ViewDirection, std::string> viewDirectionToString = {{0, "East"}, {1, "South"}, {2, "West"}, {3, "North"}}; std::map<ViewDirection, std::string> viewDirectionToString = {{0, "East"}, {1, "South"}, {2, "West"}, {3, "North"}};
std::vector<std::pair<size_t, std::string>> nonMovementActions = { {PICKUP, "pickup"}, {DROP, "drop"}, {TOGGLE, "toggle"}, {DONE, "done"} };
std::map<AgentName, std::set<std::pair<ActionId, std::string>>> agentNameActionMap; std::map<AgentName, std::set<std::pair<ActionId, std::string>>> agentNameActionMap;
}; };

10
util/PrismPrinter.h
View File

@ -5,6 +5,16 @@
#include "cell.h" #include "cell.h"
#define NOFAULT 7
#define LEFT 0
#define RIGHT 1
#define FORWARD 2
#define PICKUP 3
#define DROP 4
#define TOGGLE 5
#define DONE 6
typedef std::string AgentName; typedef std::string AgentName;
typedef size_t ViewDirection; typedef size_t ViewDirection;
typedef std::pair<std::string, coordinates> AgentNameAndPosition; typedef std::pair<std::string, coordinates> AgentNameAndPosition;

Write Preview
Loading…
Cancel
Save