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Minigrid2PRISM
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use init struct 

We do not know the view direction of all of the agents, hence we
iterate over all possible combinations as initial states
pull/16/head
sp 11 months ago
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4b8444f6aa
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ec5480f670
5 changed files with 81 additions and 29 deletions
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  1. 14
      util/Grid.cpp
  2. 52
      util/PrismFormulaPrinter.cpp
  3. 11
      util/PrismFormulaPrinter.h
  4. 27
      util/PrismModulesPrinter.cpp
  5. 6
      util/PrismPrinter.h

14
util/Grid.cpp
View File

@ -154,22 +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;});
std::string agentName = agentNames.at(0);
prism::PrismFormulaPrinter formulas(os, wallRestrictions, walls, boxes, balls, lockedDoors, unlockedDoors, keys, slipperyTiles, lava, goals);
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());
modules.printModelType(modelType);
for(const auto &agentName : agentNames) {
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);
formulas.printCollisionFormula(agentName);
formulas.printInitStruct();
modules.print();

52
util/PrismFormulaPrinter.cpp
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@ -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)
: 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 &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)
{ }
void PrismFormulaPrinter::print(const AgentName &agentName) {
@ -159,6 +159,54 @@ namespace prism {
if(!semicolon) os << ";\n";
}
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+")";
}
os << ";\n";
printCollisionLabel();
}
}
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 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)+") ";
}
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)+") ";
}
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)+") ";
}
os << "endinit\n\n";
}
std::string PrismFormulaPrinter::buildFormula(const std::string &formulaName, const std::string &formula, const bool semicolon) {
return "formula " + formulaName + " = " + formula + (semicolon ? ";\n": "");
}

11
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);
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);
void print(const AgentName &agentName);
@ -31,6 +31,11 @@ namespace prism {
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 printSlipRestrictionFormula(const AgentName &agentName, const std::string &direction);
void printCollisionFormula(const std::string &agentName);
void printCollisionLabel();
void printInitStruct();
private:
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);
@ -55,7 +60,11 @@ namespace prism {
cells lava;
cells goals;
AgentNameAndPositionMap agentNameAndPositionMap;
std::vector<std::string> conditionalMovementRestrictions;
std::vector<std::string> portableObjects;
bool faulty;
};
}

27
util/PrismModulesPrinter.cpp
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@ -3,11 +3,6 @@
#include <map>
#include <string>
#define NOFAULT 3
#define LEFT 0
#define RIGHT 1
#define FORWARD 2
std::string northUpdate(const AgentName &a) { return "(row"+a+"'=row"+a+"-1)"; }
std::string southUpdate(const AgentName &a) { return "(row"+a+"'=row"+a+"+1)"; }
@ -104,8 +99,8 @@ namespace prism {
void PrismModulesPrinter::printPortableObjectModule(const cell &object) {
std::string identifier = capitalize(object.getColor()) + object.getType();
os << "\nmodule " << identifier << std::endl;
os << " col" << identifier << " : [-1.." << maxBoundaries.first << "] init " << object.column << ";\n";
os << " row" << identifier << " : [-1.." << maxBoundaries.second << "] init " << object.row << ";\n";
os << " col" << identifier << " : [-1.." << maxBoundaries.first << "];\n";
os << " row" << identifier << " : [-1.." << maxBoundaries.second << "];\n";
os << " " << identifier << "PickedUp : bool;\n";
os << "\n";
@ -136,7 +131,7 @@ namespace prism {
void PrismModulesPrinter::printDoorModule(const cell &door, const bool &opened) {
std::string identifier = capitalize(door.getColor()) + door.getType();
os << "\nmodule " << identifier << std::endl;
os << " " << identifier << "Open : bool init false;\n";
os << " " << identifier << "Open : bool;\n";
os << "\n";
if(opened) {
@ -171,9 +166,9 @@ namespace prism {
void PrismModulesPrinter::printRobotModule(const AgentName &agentName, const coordinates &initialPosition) {
os << "\nmodule " << agentName << std::endl;
os << " col" << agentName << " : [1.." << maxBoundaries.first << "] init " << initialPosition.first << ";\n";
os << " row" << agentName << " : [1.." << maxBoundaries.second << "] init " << initialPosition.second << ";\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);
printMovementActionsForRobot(agentName);
@ -192,19 +187,19 @@ namespace prism {
for(const auto &key : keys) {
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);
}
for(const auto &ball : balls) {
std::string identifier = capitalize(ball.getColor()) + ball.getType();
os << " " << agentName << "Carrying" << identifier << " : bool init false;\n";
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 init false;\n";
os << " " << agentName << "Carrying" << identifier << " : bool;\n";
printPortableObjectActionsForRobot(agentName, identifier);
}
@ -464,7 +459,7 @@ namespace prism {
void PrismModulesPrinter::printFaultyMovementModule(const AgentName &a) {
os << "\nmodule " << a << "FaultyBehaviour" << std::endl;
os << " previousAction" << a << " : [0.." + std::to_string(NOFAULT) + "] init " + std::to_string(NOFAULT) + ";\n";
os << " previousAction" << a << " : [0.." + std::to_string(NOFAULT) + "];\n";
for(const auto [actionId, actionName] : agentNameActionMap.at(a)) {
os << " " << actionName << faultyBehaviourGuard(a, actionId) << " -> " << faultyBehaviourUpdate(a, actionId) << ";\n";
@ -474,7 +469,7 @@ namespace prism {
void PrismModulesPrinter::printMoveModule() {
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 [actionId, actionName] : actions) {

6
util/PrismPrinter.h
View File

@ -5,6 +5,12 @@
#include "cell.h"
#define NOFAULT 3
#define LEFT 0
#define RIGHT 1
#define FORWARD 2
typedef std::string AgentName;
typedef size_t ViewDirection;
typedef std::pair<std::string, coordinates> AgentNameAndPosition;

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