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Minigrid2PRISM
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Towards First Stable Version #16

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sp merged 21 commits from modeltype into main 11 months ago
Conversation 2 Commits 21 Files Changed 8
8 changed files with 174 additions and 168 deletions
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  1. 28
      main.cpp
  2. 40
      util/Grid.cpp
  3. 19
      util/Grid.h
  4. 73
      util/PrismFormulaPrinter.cpp
  5. 15
      util/PrismFormulaPrinter.h
  6. 141
      util/PrismModulesPrinter.cpp
  7. 10
      util/PrismModulesPrinter.h
  8. 10
      util/PrismPrinter.h

28
main.cpp
View File

@ -23,15 +23,15 @@ std::vector<std::string> parseCommaSeparatedString(std::string const& str) {
struct printer {
typedef boost::spirit::utf8_string string;
typedef boost::spirit::utf8_string string;
void element(string const& tag, string const& value, int depth) const {
for (int i = 0; i < (depth*4); ++i) std::cout << ' ';
void element(string const& tag, string const& value, int depth) const {
for (int i = 0; i < (depth*4); ++i) std::cout << ' ';
std::cout << "tag: " << tag;
if (value != "") std::cout << ", value: " << value;
std::cout << std::endl;
}
std::cout << "tag: " << tag;
if (value != "") std::cout << ", value: " << value;
std::cout << std::endl;
}
};
void print_info(boost::spirit::info const& what) {
@ -83,7 +83,6 @@ int main(int argc, char* argv[]) {
return EXIT_FAILURE;
}
GridOptions gridOptions = { {}, {} };
std::fstream file {outputFilename->value(0), file.trunc | file.out};
std::fstream infile {inputFilename->value(0), infile.in};
std::string line, content, background, rewards, properties;
@ -130,9 +129,9 @@ int main(int argc, char* argv[]) {
std::vector<Configuration> configurations;
std::vector<Probability> probabilities;
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 {
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);
}
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;
// grid.printToPrism(file, configurations ,prism::ModelType::MDP);
grid.printToPrism(ss, configurations , gridOptions.getModelType());
grid.printToPrism(ss, configurations);
std::string str = ss.str();
grid.applyOverwrites(str, configurations);
file << str;

40
util/Grid.cpp
View File

@ -3,19 +3,11 @@
#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);
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(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
@ -38,7 +30,6 @@ Grid::Grid(cells gridCells, cells background, const GridOptions &gridOptions, co
std::string color = adversary.getColor();
color.at(0) = std::toupper(color.at(0));
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() });
floor.push_back(adversary);
if(!success.second) {
@ -70,6 +61,12 @@ Grid::Grid(cells gridCells, cells background, const GridOptions &gridOptions, co
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) {
@ -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 walkable = floor;
walkable.insert(walkable.end(), goals.begin(), goals.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;});
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);
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);
if(agentNameAndPositionMap.size() > 1) formulas.printCollisionFormula(agentName);
formulas.printInitStruct();
modules.print();

19
util/Grid.h
View File

@ -6,29 +6,20 @@
#include <utility>
#include "MinigridGrammar.h"
#include "PrismPrinter.h"
#include "PrismModulesPrinter.h"
#include "PrismFormulaPrinter.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 {
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();
bool isBlocked(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);
std::array<bool, 8> getWalkableDirOf8Neighborhood(cell c);
@ -36,12 +27,12 @@ class Grid {
friend std::ostream& operator<<(std::ostream& os, const Grid &grid);
private:
GridOptions gridOptions;
cells allGridCells;
cells background;
coordinates maxBoundaries;
prism::ModelType modelType;
cell agent;
cells adversaries;
AgentNameAndPositionMap agentNameAndPositionMap;

73
util/PrismFormulaPrinter.cpp
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@ -57,11 +57,12 @@ 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 &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) {
conditionalMovementRestrictions.clear();
for(const auto& [direction, cells] : restrictions) {
printRestrictionFormula(agentName, direction, cells);
}
@ -82,21 +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);
}
@ -135,30 +125,57 @@ 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);
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();
}
for(auto const ball : balls) {
std::string identifier = capitalize(ball.getColor()) + ball.getType();
os << " | " << objectPositionToConjunction(agentName, identifier, slipCell);
}
void PrismFormulaPrinter::printCollisionLabel() {
if(!agentNameAndPositionMap.empty()) {
os << "label \"collision\" = collision;\n";
}
for(auto const box : boxes) {
std::string identifier = capitalize(box.getColor()) + box.getType();
os << " | " << objectPositionToConjunction(agentName, identifier, slipCell);
}
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 << ")";
}
if(!semicolon) os << ";\n";
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) {
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();
}
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 {
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 &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);
@ -29,8 +29,13 @@ 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);
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);
@ -46,8 +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;
@ -55,7 +58,11 @@ namespace prism {
cells lava;
cells goals;
AgentNameAndPositionMap agentNameAndPositionMap;
std::vector<std::string> conditionalMovementRestrictions;
std::vector<std::string> portableObjects;
bool faulty;
};
}

141
util/PrismModulesPrinter.cpp
View File

@ -3,11 +3,6 @@
#include <map>
#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 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 {
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++) {
@ -45,12 +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);
}
@ -104,8 +93,8 @@ namespace prism {
void PrismModulesPrinter::printPortableObjectModule(const cell &object) {
std::string identifier = capitalize(object.getColor()) + object.getType();
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 << "\n";
@ -115,28 +104,30 @@ 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});
os << " " << actionName << " true -> (x" << identifier << "'=-1) & (y" << identifier << "'=-1) & (" << identifier << "PickedUp'=true);\n";
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";
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";
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";
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({PICKUP, actionName});
os << " " << actionName << " true -> (col" << identifier << "'=-1) & (row" << identifier << "'=-1) & (" << identifier << "PickedUp'=true);\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) {
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 +162,9 @@ namespace prism {
void PrismModulesPrinter::printRobotModule(const AgentName &agentName, const coordinates &initialPosition) {
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);
printMovementActionsForRobot(agentName);
@ -192,34 +183,29 @@ 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";
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();
actionStream.str(std::string());
if(agentNameAndPositionMap.size() > 1 && agentName == "Agent") printDoneActions(agentName);
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) {
@ -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 actionName = "[" + a + "_turn_" + direction + "]";
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 {
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) {
if(!slipperyTiles.at("North").empty()) {
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", {}) << ";\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) {
@ -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", {}) << ";\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) {
@ -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", {}) << ";\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) {
@ -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", {}) << ";\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) {
@ -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 actionName = "[" + a + "_turn_" + direction + "]";
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) {
@ -468,9 +458,11 @@ namespace prism {
void PrismModulesPrinter::printFaultyMovementModule(const AgentName &a) {
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)) {
if(exclude.count(actionId) > 0) continue;
os << " " << actionName << faultyBehaviourGuard(a, actionId) << " -> " << faultyBehaviourUpdate(a, actionId) << ";\n";
}
os << "endmodule\n\n";
@ -478,7 +470,7 @@ 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) {
@ -499,7 +491,7 @@ namespace prism {
}
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) {
@ -510,6 +502,7 @@ namespace prism {
else os << ", ";
os << actionName;
}
if(agentName == "Agent") os << ", [Agent_on_goal]";
os << "\nendplayer\n";
}
@ -629,7 +622,7 @@ namespace prism {
}
bool PrismModulesPrinter::anyPortableObject() const {
return !keys.empty() || !boxes.empty() || !balls.empty();
return !keys.empty();
}
bool PrismModulesPrinter::faultyBehaviour() const {

10
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();
@ -26,18 +26,19 @@ 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);
void printTurnActionsForRobot(const std::string &a);
void printNonMovementActionsForRobot(const AgentName &agentName);
void printSlipperyMovementActionsForRobot(const AgentName &a);
void printSlipperyMovementActionsForNorth(const AgentName &a);
void printSlipperyMovementActionsForEast(const AgentName &a);
@ -91,8 +92,6 @@ namespace prism {
ModelType const &modelType;
coordinates const &maxBoundaries;
AgentName agentName;
cells boxes;
cells balls;
cells lockedDoors;
cells unlockedDoors;
cells keys;
@ -109,6 +108,7 @@ namespace prism {
std::vector<Configuration> configuration;
std::vector<ViewDirection> viewDirections = {0, 1, 2, 3};
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;
};

10
util/PrismPrinter.h
View File

@ -5,6 +5,16 @@
#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 size_t ViewDirection;
typedef std::pair<std::string, coordinates> AgentNameAndPosition;

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