You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
244 lines
12 KiB
244 lines
12 KiB
#include "Grid.h"
|
|
|
|
#include <algorithm>
|
|
|
|
Grid::Grid(cells gridCells, cells background, const GridOptions &gridOptions, const std::map<coordinates, float> &stateRewards)
|
|
: allGridCells(gridCells), background(background), gridOptions(gridOptions), stateRewards(stateRewards)
|
|
{
|
|
cell max = allGridCells.at(allGridCells.size() - 1);
|
|
maxBoundaries = std::make_pair(max.row - 1, max.column - 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;
|
|
});
|
|
std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyNorth), [](cell c) {
|
|
return c.type == Type::SlipperyNorth;
|
|
});
|
|
std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyEast), [](cell c) {
|
|
return c.type == Type::SlipperyEast;
|
|
});
|
|
std::copy_if(background.begin(), background.end(), std::back_inserter(slipperySouth), [](cell c) {
|
|
return c.type == Type::SlipperySouth;
|
|
});
|
|
std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyWest), [](cell c) {
|
|
return c.type == Type::SlipperyWest;
|
|
});
|
|
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(lockedDoors), [](cell c) {
|
|
return c.type == Type::LockedDoor;
|
|
});
|
|
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(unlockedDoors), [](cell c) {
|
|
return c.type == Type::Door;
|
|
});
|
|
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(goals), [](cell c) {
|
|
return c.type == Type::Goal;
|
|
});
|
|
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(keys), [](cell c) {
|
|
return c.type == Type::Key;
|
|
});
|
|
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(boxes), [](cell c) {
|
|
return c.type == Type::Box;
|
|
});
|
|
agent = *std::find_if(gridCells.begin(), gridCells.end(), [](cell c) {
|
|
return c.type == Type::Agent;
|
|
});
|
|
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(adversaries), [](cell c) {
|
|
return c.type == Type::Adversary;
|
|
});
|
|
agentNameAndPositionMap.insert({ "Agent", agent.getCoordinates() });
|
|
for(auto const& adversary : adversaries) {
|
|
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() });
|
|
if(!success.second) {
|
|
throw std::logic_error("Agent with " + color + " already present\n");
|
|
}
|
|
} catch(const std::logic_error& e) {
|
|
std::cerr << "Expected agents colors to be different. Agent with color : '" << color << "' already present." << std::endl;
|
|
throw;
|
|
}
|
|
}
|
|
for(auto const& color : allColors) {
|
|
cells cellsOfColor;
|
|
std::copy_if(background.begin(), background.end(), std::back_inserter(cellsOfColor), [&color](cell c) {
|
|
return c.type == Type::Floor && c.color == color;
|
|
});
|
|
if(cellsOfColor.size() > 0) {
|
|
backgroundTiles.emplace(color, cellsOfColor);
|
|
}
|
|
}
|
|
}
|
|
|
|
std::ostream& operator<<(std::ostream& os, const Grid& grid) {
|
|
int lastRow = 1;
|
|
for(auto const& cell : grid.allGridCells) {
|
|
if(lastRow != cell.row)
|
|
os << std::endl;
|
|
os << static_cast<char>(cell.type) << static_cast<char>(cell.color);
|
|
lastRow = cell.row;
|
|
}
|
|
return os;
|
|
}
|
|
|
|
cells Grid::getGridCells() {
|
|
return allGridCells;
|
|
}
|
|
|
|
bool Grid::isBlocked(coordinates p) {
|
|
return isWall(p) || isLockedDoor(p) || isKey(p);
|
|
}
|
|
|
|
bool Grid::isWall(coordinates p) {
|
|
return std::find_if(walls.begin(), walls.end(),
|
|
[p](cell cell) {
|
|
return cell.row == p.first && cell.column == p.second;
|
|
}) != walls.end();
|
|
}
|
|
|
|
bool Grid::isLockedDoor(coordinates p) {
|
|
return std::find_if(lockedDoors.begin(), lockedDoors.end(),
|
|
[p](cell cell) {
|
|
return cell.row == p.first && cell.column == p.second;
|
|
}) != lockedDoors.end();
|
|
}
|
|
|
|
bool Grid::isUnlockedDoor(coordinates p) {
|
|
return std::find_if(unlockedDoors.begin(), unlockedDoors.end(),
|
|
[p](cell cell) {
|
|
return cell.row == p.first && cell.column == p.second;
|
|
}) != unlockedDoors.end();
|
|
}
|
|
|
|
bool Grid::isKey(coordinates p) {
|
|
return std::find_if(keys.begin(), keys.end(),
|
|
[p](cell cell) {
|
|
return cell.row == p.first && cell.column == p.second;
|
|
}) != keys.end();
|
|
}
|
|
|
|
bool Grid::isBox(coordinates p) {
|
|
return std::find_if(boxes.begin(), boxes.end(),
|
|
[p](cell cell) {
|
|
return cell.row == p.first && cell.column == p.second;
|
|
}) != boxes.end();
|
|
}
|
|
|
|
void Grid::printToPrism(std::ostream& os, const prism::ModelType& modelType) {
|
|
cells northRestriction;
|
|
cells eastRestriction;
|
|
cells southRestriction;
|
|
cells westRestriction;
|
|
cells walkable = floor;
|
|
walkable.insert(walkable.end(), goals.begin(), goals.end());
|
|
walkable.insert(walkable.end(), boxes.begin(), boxes.end());
|
|
walkable.push_back(agent);
|
|
walkable.insert(walkable.end(), adversaries.begin(), adversaries.end());
|
|
walkable.insert(walkable.end(), lava.begin(), lava.end());
|
|
walkable.insert(walkable.end(), keys.begin(), keys.end());
|
|
walkable.insert(walkable.end(), lockedDoors.begin(), lockedDoors.end());
|
|
walkable.insert(walkable.end(), unlockedDoors.begin(), unlockedDoors.end());
|
|
|
|
for(auto const& c : walkable) {
|
|
if(isBlocked(c.getNorth())) northRestriction.push_back(c);
|
|
if(isBlocked(c.getEast())) eastRestriction.push_back(c);
|
|
if(isBlocked(c.getSouth())) southRestriction.push_back(c);
|
|
if(isBlocked(c.getWest())) westRestriction.push_back(c);
|
|
}
|
|
|
|
prism::PrismModulesPrinter printer(modelType, agentNameAndPositionMap.size(), gridOptions.enforceOneWays);
|
|
printer.printModel(os, modelType);
|
|
if(modelType == prism::ModelType::SMG) {
|
|
printer.printGlobalMoveVariable(os, agentNameAndPositionMap.size());
|
|
}
|
|
for(auto const &backgroundTilesOfColor : backgroundTiles) {
|
|
for(auto agentNameAndPosition = agentNameAndPositionMap.begin(); agentNameAndPosition != agentNameAndPositionMap.end(); ++agentNameAndPosition) {
|
|
printer.printBackgroundLabels(os, agentNameAndPosition->first, backgroundTilesOfColor);
|
|
}
|
|
}
|
|
cells noTurnFloor;
|
|
if(gridOptions.enforceOneWays) {
|
|
for(auto const& c : floor) {
|
|
cell east = c.getEast(allGridCells);
|
|
cell south = c.getSouth(allGridCells);
|
|
cell west = c.getWest(allGridCells);
|
|
cell north = c.getNorth(allGridCells);
|
|
if( (east.type == Type::Wall && west.type == Type::Wall) or
|
|
(north.type == Type::Wall && south.type == Type::Wall) ) {
|
|
noTurnFloor.push_back(c);
|
|
}
|
|
}
|
|
}
|
|
|
|
for(auto agentNameAndPosition = agentNameAndPositionMap.begin(); agentNameAndPosition != agentNameAndPositionMap.end(); ++agentNameAndPosition) {
|
|
printer.printFormulas(os, agentNameAndPosition->first, northRestriction, eastRestriction, southRestriction, westRestriction, { slipperyNorth, slipperyEast, slipperySouth, slipperyWest }, lava, walls, noTurnFloor, slipperyNorth, slipperyEast, slipperySouth, slipperyWest);
|
|
printer.printGoalLabel(os, agentNameAndPosition->first, goals);
|
|
printer.printKeysLabels(os, agentNameAndPosition->first, keys);
|
|
}
|
|
|
|
std::vector<AgentName> agentNames;
|
|
std::transform(agentNameAndPositionMap.begin(),
|
|
agentNameAndPositionMap.end(),
|
|
std::back_inserter(agentNames),
|
|
[](const std::map<AgentNameAndPosition::first_type,AgentNameAndPosition::second_type>::value_type &pair){return pair.first;});
|
|
if(modelType == prism::ModelType::SMG) {
|
|
printer.printCrashLabel(os, agentNames);
|
|
}
|
|
size_t agentIndex = 0;
|
|
for(auto agentNameAndPosition = agentNameAndPositionMap.begin(); agentNameAndPosition != agentNameAndPositionMap.end(); ++agentNameAndPosition, agentIndex++) {
|
|
AgentName agentName = agentNameAndPosition->first;
|
|
//std::cout << "Agent Name: " << agentName << std::endl;
|
|
bool agentWithView = std::find(gridOptions.agentsWithView.begin(), gridOptions.agentsWithView.end(), agentName) != gridOptions.agentsWithView.end();
|
|
bool agentWithProbabilisticBehaviour = std::find(gridOptions.agentsWithProbabilisticBehaviour.begin(), gridOptions.agentsWithProbabilisticBehaviour.end(), agentName) != gridOptions.agentsWithProbabilisticBehaviour.end();
|
|
std::set<std::string> slipperyActions;
|
|
printer.printInitStruct(os, agentName, keys);
|
|
if(agentWithProbabilisticBehaviour) printer.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView, gridOptions.probabilitiesForActions);
|
|
else printer.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView);
|
|
for(auto const& c : slipperyNorth) {
|
|
printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
|
|
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
|
|
|
|
}
|
|
for(auto const& c : slipperyEast) {
|
|
printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
|
|
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
|
|
}
|
|
for(auto const& c : slipperySouth) {
|
|
printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
|
|
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
|
|
}
|
|
for(auto const& c : slipperyWest) {
|
|
printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
|
|
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
|
|
}
|
|
|
|
printer.printEndmodule(os);
|
|
if(modelType == prism::ModelType::SMG) {
|
|
if(agentWithProbabilisticBehaviour) printer.printPlayerStruct(os, agentNameAndPosition->first, agentWithView, gridOptions.probabilitiesForActions, slipperyActions);
|
|
else printer.printPlayerStruct(os, agentNameAndPosition->first, agentWithView, {}, slipperyActions);
|
|
}
|
|
//if(!stateRewards.empty()) {
|
|
printer.printRewards(os, agentName, stateRewards, lava, goals, backgroundTiles);
|
|
//}
|
|
}
|
|
}
|
|
|
|
|
|
std::array<bool, 8> Grid::getWalkableDirOf8Neighborhood(cell c) /* const */ {
|
|
return (std::array<bool, 8>)
|
|
{
|
|
!isBlocked(c.getNorth()),
|
|
!isBlocked(c.getNorth(allGridCells).getEast()),
|
|
!isBlocked(c.getEast()),
|
|
!isBlocked(c.getSouth(allGridCells).getEast()),
|
|
!isBlocked(c.getSouth()),
|
|
!isBlocked(c.getSouth(allGridCells).getWest()),
|
|
!isBlocked(c.getWest()),
|
|
!isBlocked(c.getNorth(allGridCells).getWest())
|
|
};
|
|
}
|