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721 lines
36 KiB
721 lines
36 KiB
#include "PrismModulesPrinter.h"
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#include <map>
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#include <string>
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namespace prism {
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PrismModulesPrinter::PrismModulesPrinter(const ModelType &modelType, const size_t &numberOfPlayer, std::vector<Configuration> config, const bool enforceOneWays)
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: modelType(modelType), numberOfPlayer(numberOfPlayer), enforceOneWays(enforceOneWays), configuration(config) {
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}
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std::ostream& PrismModulesPrinter::printModel(std::ostream &os, const ModelType &modelType) {
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switch(modelType) {
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case(ModelType::MDP):
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os << "mdp";
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break;
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case(ModelType::SMG):
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os << "smg";
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break;
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}
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os << "\n\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printBackgroundLabels(std::ostream &os, const AgentName &agentName, const std::pair<Color, cells> &backgroundTiles) {
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if(backgroundTiles.second.size() == 0) return os;
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bool first = true;
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std::string color = getColor(backgroundTiles.first);
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color.at(0) = std::toupper(color.at(0));
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os << "formula " << agentName << "On" << color << " = ";
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for(auto const& cell : backgroundTiles.second) {
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if(first) first = false; else os << " | ";
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os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
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}
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os << ";\n";
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os << "label \"" << agentName << "On" << color << "\" = " << agentName << "On" << color << ";\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printRestrictionFormula(std::ostream& os, const AgentName &agentName, const std::string &direction, const cells &cells) {
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bool first = true;
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os << "formula " << agentName << "CannotMove" << direction << " = " ;
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for(auto const& cell : cells) {
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if(first) first = false;
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else os << " | ";
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os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
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}
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os << ";\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printIsOnSlipperyFormula(std::ostream& os, const AgentName &agentName, const std::vector<std::reference_wrapper<cells>> &slipperyCollection, const cells &slipperyNorth, const cells &slipperyEast, const cells &slipperySouth, const cells &slipperyWest) {
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if(std::find_if(slipperyCollection.cbegin(), slipperyCollection.cend(), [=](const std::reference_wrapper<cells>& c) { return !c.get().empty(); }) == slipperyCollection.cend()) {
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os << "formula " << agentName << "IsOnSlippery = false;\n";
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return os;
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}
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bool first = true;
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os << "formula " << agentName << "IsOnSlippery = ";
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for (const auto& slippery: slipperyCollection) {
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for(const auto& cell : slippery.get()) {
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if(first) first = false; else os << " | ";
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os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
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}
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}
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os << ";\n";
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if(enforceOneWays) {
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first = true;
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os << "formula " << agentName << "IsOnSlipperyNorth = ";
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for (const auto& cell: slipperyNorth) {
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if(first) first = false; else os << " | ";
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os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
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}
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os << ";\n";
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first = true;
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os << "formula " << agentName << "IsOnSlipperyEast = ";
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for (const auto& cell: slipperyEast) {
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if(first) first = false; else os << " | ";
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os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
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}
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os << ";\n";
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first = true;
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os << "formula " << agentName << "IsOnSlipperySouth = ";
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for (const auto& cell: slipperySouth) {
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if(first) first = false; else os << " | ";
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os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
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}
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os << ";\n";
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first = true;
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os << "formula " << agentName << "IsOnSlipperyWest = ";
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for (const auto& cell: slipperyWest) {
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if(first) first = false; else os << " | ";
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os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
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}
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os << ";\n";
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}
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return os;
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}
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std::ostream& PrismModulesPrinter::printIsInLavaFormula(std::ostream& os, const AgentName &agentName, const cells &lava) {
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if(lava.size() == 0) {
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os << "formula " << agentName << "IsInLava = false;\n";
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return os;
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}
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bool first = true;
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os << "formula " << agentName << "IsInLava = ";
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for(auto const& cell : lava) {
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if(first) first = false; else os << " | ";
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os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
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}
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os << ";\n";
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os << "formula " << agentName << "IsInLavaAndNotDone = " << agentName << "IsInLava & !" << agentName << "Done;\n";
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os << "label \"" << agentName << "IsInLavaAndNotDone\" = " << agentName << "IsInLava & !" << agentName << "Done;\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printTurningNotAllowedFormulas(std::ostream& os, const AgentName &agentName, const cells &noTurnFloor) {
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if( (!enforceOneWays or noTurnFloor.size() == 0) or (noTurnFloor.size() == 0) ) {
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os << "formula " << agentName << "CannotTurn = false;\n";
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return os;
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}
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bool first = true;
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os << "formula " << agentName << "CannotTurn = ";
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for(auto const& cell : noTurnFloor) {
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if(first) first = false; else os << " | ";
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os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
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}
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os << " | " << agentName << "IsOnSlippery;\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printIsFixedFormulas(std::ostream& os, const AgentName &agentName) {
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os << "formula " << agentName << "IsFixed = false;\n";
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os << "formula " << agentName << "SlipperyTurnLeftAllowed = true;\n";
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os << "formula " << agentName << "SlipperyTurnRightAllowed = true;\n";
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os << "formula " << agentName << "SlipperyMoveForwardAllowed = true;\n";
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os << "label \"FixedStates\" = " << agentName << "IsFixed | !" << agentName << "SlipperyTurnRightAllowed | !" << agentName << "SlipperyTurnLeftAllowed | !" << agentName << "SlipperyMoveForwardAllowed | " << agentName << "IsInGoal | " << agentName << "IsInLava";
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if(enforceOneWays) {
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os << " | " << agentName << "CannotTurn";
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}
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os << ";\n";
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//os << "label \"FixedStates\" = " << agentName << "IsFixed | " << agentName << "IsOnSlippery | " << agentName << "IsInGoal | " << agentName << "IsInLava;\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printWallFormula(std::ostream& os, const AgentName &agentName, const cells &walls) {
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os << "formula " << agentName << "IsOnWall = ";
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bool first = true;
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for(auto const& cell : walls) {
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if(first) first = false; else os << " | ";
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os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
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}
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os << ";\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printFormulas(std::ostream& os,
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const AgentName &agentName,
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const cells &restrictionNorth,
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const cells &restrictionEast,
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const cells &restrictionSouth,
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const cells &restrictionWest,
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const std::vector<std::reference_wrapper<cells>> &slipperyCollection,
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const cells &lava,
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const cells &walls,
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const cells &noTurnFloor,
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const cells &slipperyNorth,
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const cells &slipperyEast,
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const cells &slipperySouth,
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const cells &slipperyWest) {
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printRestrictionFormula(os, agentName, "North", restrictionNorth);
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printRestrictionFormula(os, agentName, "East ", restrictionEast);
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printRestrictionFormula(os, agentName, "South", restrictionSouth);
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printRestrictionFormula(os, agentName, "West ", restrictionWest);
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printIsOnSlipperyFormula(os, agentName, slipperyCollection, slipperyNorth, slipperyEast, slipperySouth, slipperyWest);
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printIsInLavaFormula(os, agentName, lava);
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printWallFormula(os, agentName, walls);
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printTurningNotAllowedFormulas(os, agentName, noTurnFloor);
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printIsFixedFormulas(os, agentName);
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os << "\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printGoalLabel(std::ostream& os, const AgentName &agentName, const cells &goals) {
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if(goals.size() == 0) {
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os << "formula " << agentName << "IsInGoal = false;\n";
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return os;
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}
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bool first = true;
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os << "formula " << agentName << "IsInGoal = ";
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for(auto const& cell : goals) {
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if(first) first = false; else os << " | ";
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os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
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}
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os << ";\n";
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os << "formula " << agentName << "IsInGoalAndNotDone = " << agentName << "IsInGoal & !" << agentName << "Done;\n";
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os << "label \"" << agentName << "IsInGoalAndNotDone\" = " << agentName << "IsInGoal & !" << agentName << "Done;\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printCrashLabel(std::ostream &os, const std::vector<AgentName> agentNames) {
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os << "label crash = ";
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bool first = true;
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for(auto const& agentName : agentNames) {
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if(agentName == "Agent") continue;
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if(first) first = false; else os << " | ";
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os << "(xAgent=x" << agentName << ")&(yAgent=y" << agentName << ")";
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}
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os << ";\n\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printConfiguration(std::ostream& os, const std::vector<Configuration>& configurations) {
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os << "\n// Configuration\n";
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for (auto& configuration : configurations) {
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if (configuration.overwrite_ || configuration.type_ == ConfigType::Module) {
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continue;
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}
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os << configuration.expression_ << std::endl;
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}
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return os;
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}
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std::ostream& PrismModulesPrinter::printAvoidanceLabel(std::ostream &os, const std::vector<AgentName> agentNames, const int &distance) {
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os << "label avoidance = ";
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bool first = true;
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for(auto const& agentName : agentNames) {
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if(agentName == "Agent") continue;
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if(first) first = false; else os << " | ";
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os << "max(xAgent-x" << agentName << ",x" << agentName << "-xAgent)+";
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os << "max(yAgent-y" << agentName << ",y" << agentName << "-yAgent) ";
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}
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os << ";\n\n";
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return os;
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}
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// TODO this does not account for multiple agents yet, i.e. key can be picked up multiple times
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std::ostream& PrismModulesPrinter::printKeysLabels(std::ostream& os, const AgentName &agentName, const cells &keys) {
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if(keys.size() == 0) return os;
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for(auto const& key : keys) {
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int xKey = key.getCoordinates().first;
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int yKey = key.getCoordinates().second;
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std::string keyColor = key.getColor();
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os << "label \"" << agentName << "PickedUp" << keyColor << "Key\" = " << agentName << "_has_" << keyColor << "_key = true;\n";
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os << "formula " << agentName << "CanPickUp" << keyColor << "Key = ";
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os << "((x" << agentName << "-1 = " << xKey << "&y" << agentName << " = " << yKey << "&view" << agentName << " = 1) |";
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os << " (x" << agentName << "+1 = " << xKey << "&y" << agentName << " = " << yKey << "&view" << agentName << " = 3) |";
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os << " (x" << agentName << " = " << xKey << "&y" << agentName << "-1 = " << yKey << "&view" << agentName << " = 0) |";
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os << " (x" << agentName << " = " << xKey << "&y" << agentName << "+1 = " << yKey << "&view" << agentName << " = 2) ) &";
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os << "!" << agentName << "_has_" << keyColor << "_key;";
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}
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os << "\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printBooleansForKeys(std::ostream &os, const AgentName &agentName, const cells &keys) {
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for(auto const& key : keys) {
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os << "\t" << agentName << "_has_"<< key.getColor() << "_key : bool;\n";//init false;\n";
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}
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os << "\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printBooleansForBackground(std::ostream &os, const AgentName &agentName, const std::map<Color, cells> &backgroundTiles) {
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for(auto const& [color, cells] : backgroundTiles) {
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if(cells.size() == 0) continue;
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std::string c = getColor(color);
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c.at(0) = std::toupper(c.at(0));
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os << "\t" << agentName << "_picked_up_" << c << " : bool init false;\n";
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}
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os << "\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printActionsForKeys(std::ostream &os, const AgentName &agentName, const cells &keys) {
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for(auto const& key : keys) {
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std::string keyColor = key.getColor();
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os << "\t[pickup_" << keyColor << "_key] " << agentName << "CanPickUp" << keyColor << "Key -> ";
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os << "(" << agentName << "_has_" << keyColor << "_key'=true);";
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}
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os << "\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printActionsForBackground(std::ostream &os, const AgentName &agentName, const std::map<Color, cells> &backgroundTiles) {
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for(auto const& [color, cells] : backgroundTiles) {
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if(cells.size() == 0) continue;
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std::string c = getColor(color);
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c.at(0) = std::toupper(c.at(0));
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os << "\t[" << agentName << "_pickup_" << c << "] " << agentName << "On" << c << " & !" << agentName << "_picked_up_" << c << " -> ";
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os << "(" << agentName << "_picked_up_" << c << "'=true);\n";
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}
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os << "\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printInitStruct(std::ostream &os, const AgentName &agentName, const cells &keys) {
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os << "init\n";
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os << "\t(!AgentIsInGoal & !AgentIsInLava & !AgentDone & !AgentIsOnWall)";
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if(enforceOneWays) {
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os << " & ( !AgentCannotTurn ) ";
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} else {
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os << " & ( !AgentIsOnSlippery ) ";
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}
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for (auto const& key : keys) {
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os << " & ( !" << agentName << "_has_" << key.getColor() << "_key )";
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}
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os << "\nendinit\n\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printModule(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, const coordinates &boundaries, const coordinates& initialPosition, const cells &keys, const std::map<Color, cells> &backgroundTiles, const bool agentWithView, const std::vector<float> &probabilities) {
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os << "module " << agentName << "\n";
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os << "\tx" << agentName << " : [1.." << boundaries.second << "];\n";
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os << "\ty" << agentName << " : [1.." << boundaries.first << "];\n";
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printBooleansForKeys(os, agentName, keys);
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printBooleansForBackground(os, agentName, backgroundTiles);
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os << "\t" << agentName << "Done : bool;\n";
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if(agentWithView) {
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os << "\tview" << agentName << " : [0..3];\n";
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os << "\n";
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os << "\t[" << agentName << "_turn_right] " << moveGuard(agentIndex) << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << " !" << agentName << "IsInGoal & !" << agentName << "IsInLava & !" << agentName << "IsOnSlippery -> (view" << agentName << "'=mod(view" << agentName << " + 1, 4)) " << moveUpdate(agentIndex) << ";\n";
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os << "\t[" << agentName << "_turn_left] " << moveGuard(agentIndex) << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << " !" << agentName << "IsInGoal & !" << agentName << "IsInLava & !" << agentName << "IsOnSlippery & view" << agentName << ">0 -> (view" << agentName << "'=view" << agentName << " - 1) " << moveUpdate(agentIndex) << ";\n";
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os << "\t[" << agentName << "_turn_left] " << moveGuard(agentIndex) << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << " !" << agentName << "IsInGoal & !" << agentName << "IsInLava & !" << agentName << "IsOnSlippery & view" << agentName << "=0 -> (view" << agentName << "'=3) " << moveUpdate(agentIndex) << ";\n";
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if(enforceOneWays) {
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os << "\t[" << agentName << "_stuck] !" << agentName << "IsFixed & " << agentName << "CannotTurn & view" << agentName << " = 0 & " << agentName << "CannotMoveEast -> true;\n";
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os << "\t[" << agentName << "_stuck] !" << agentName << "IsFixed & " << agentName << "CannotTurn & view" << agentName << " = 1 & " << agentName << "CannotMoveSouth -> true;\n";
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os << "\t[" << agentName << "_stuck] !" << agentName << "IsFixed & " << agentName << "CannotTurn & view" << agentName << " = 2 & " << agentName << "CannotMoveWest -> true;\n";
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os << "\t[" << agentName << "_stuck] !" << agentName << "IsFixed & " << agentName << "CannotTurn & view" << agentName << " = 3 & " << agentName << "CannotMoveNorth -> true;\n";
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}
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} else {
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os << "\t[" << agentName << "_turns] " << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << moveGuard(agentIndex) << " true -> (x" << agentName << "'=x" << agentName << ")" << moveUpdate(agentIndex) << ";\n";
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}
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printActionsForKeys(os, agentName, keys);
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printActionsForBackground(os, agentName, backgroundTiles);
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os << "\n";
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printMovementActions(os, agentName, agentIndex, agentWithView);
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for(auto const& probability : probabilities) {
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printMovementActions(os, agentName, agentIndex, agentWithView, probability);
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}
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printDoneActions(os, agentName, agentIndex);
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printConfiguredActions(os, agentName);
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os << "\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printConfiguredActions(std::ostream &os, const AgentName &agentName) {
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os << "\t//Configuration \n";
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for (auto& config : configuration) {
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if (config.type_ == ConfigType::Module && !config.overwrite_ && agentName == config.module_) {
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os << config.expression_ ;
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}
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}
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os << "\n";
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return os;
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}
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std::ostream& PrismModulesPrinter::printMovementActions(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, const bool agentWithView, const float &probability) {
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if(probability >= 1) {
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os << "\t[" << agentName << "_move_north]" << moveGuard(agentIndex) << viewVariable(agentName, 3, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveNorth -> (y" << agentName << "'=y" << agentName << "-1)" << moveUpdate(agentIndex) << ";\n";
|
|
os << "\t[" << agentName << "_move_east] " << moveGuard(agentIndex) << viewVariable(agentName, 0, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveEast -> (x" << agentName << "'=x" << agentName << "+1)" << moveUpdate(agentIndex) << ";\n";
|
|
os << "\t[" << agentName << "_move_south]" << moveGuard(agentIndex) << viewVariable(agentName, 1, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveSouth -> (y" << agentName << "'=y" << agentName << "+1)" << moveUpdate(agentIndex) << ";\n";
|
|
os << "\t[" << agentName << "_move_west] " << moveGuard(agentIndex) << viewVariable(agentName, 2, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveWest -> (x" << agentName << "'=x" << agentName << "-1)" << moveUpdate(agentIndex) << ";\n";
|
|
} else {
|
|
std::string probabilityString = std::to_string(probability);
|
|
std::string percentageString = std::to_string((int)(100 * probability));
|
|
std::string complementProbabilityString = std::to_string(1 - probability);
|
|
os << "\t[" << agentName << "_move_north_" << percentageString << "] ";
|
|
os << moveGuard(agentIndex) << viewVariable(agentName, 3, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava & !" << agentName << "CannotMoveNorth -> ";
|
|
os << probabilityString << ": (y" << agentName << "'=y" << agentName << "-1)" << moveUpdate(agentIndex) << " + ";
|
|
os << complementProbabilityString << ": (y" << agentName << "'=y" << agentName << ") " << moveUpdate(agentIndex) << ";\n";
|
|
|
|
os << "\t[" << agentName << "_move_east_" << percentageString << "] ";
|
|
os << moveGuard(agentIndex) << viewVariable(agentName, 0, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava & !" << agentName << "CannotMoveEast -> ";
|
|
os << probabilityString << ": (x" << agentName << "'=x" << agentName << "+1)" << moveUpdate(agentIndex) << " + ";
|
|
os << complementProbabilityString << ": (x" << agentName << "'=x" << agentName << ") " << moveUpdate(agentIndex) << ";\n";
|
|
|
|
os << "\t[" << agentName << "_move_south_" << percentageString << "] ";
|
|
os << moveGuard(agentIndex) << viewVariable(agentName, 1, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava & !" << agentName << "CannotMoveSouth -> ";
|
|
os << probabilityString << ": (y" << agentName << "'=y" << agentName << "+1)" << moveUpdate(agentIndex) << " + ";
|
|
os << complementProbabilityString << ": (y" << agentName << "'=y" << agentName << ") " << moveUpdate(agentIndex) << ";\n";
|
|
|
|
os << "\t[" << agentName << "_move_west_" << percentageString << "] ";
|
|
os << moveGuard(agentIndex) << viewVariable(agentName, 2, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava & !" << agentName << "CannotMoveWest -> ";
|
|
os << probabilityString << ": (x" << agentName << "'=x" << agentName << "-1)" << moveUpdate(agentIndex) << " + ";
|
|
os << complementProbabilityString << ": (x" << agentName << "'=x" << agentName << ") " << moveUpdate(agentIndex) << ";\n";
|
|
}
|
|
return os;
|
|
}
|
|
|
|
std::ostream& PrismModulesPrinter::printDoneActions(std::ostream &os, const AgentName &agentName, const size_t &agentIndex) {
|
|
os << "\t[" << agentName << "_done]" << moveGuard(agentIndex) << agentName << "IsInGoal | " << agentName << "IsInLava -> (" << agentName << "Done'=true);\n";
|
|
return os;
|
|
}
|
|
|
|
std::ostream& PrismModulesPrinter::printSlipperyTurn(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, const coordinates &c, std::set<std::string> &slipperyActions, const std::array<bool, 8>& neighborhood, SlipperyType orientation) {
|
|
constexpr std::size_t PROB_PIECES = 9, ALL_POSS_DIRECTIONS = 9;
|
|
|
|
std::array<std::string, ALL_POSS_DIRECTIONS> positionTransition = {
|
|
/* north */ "(y" + agentName + "'=y" + agentName + "-1)",
|
|
/* north east */ "(x" + agentName + "'=x" + agentName + "+1) & (y" + agentName + "'=y" + agentName + "-1)",
|
|
/* east */ "(x" + agentName + "'=x" + agentName + "+1)",
|
|
/* east south */ "(x" + agentName + "'=x" + agentName + "+1) & (y" + agentName + "'=y" + agentName + "+1)",
|
|
/* south */ "(y" + agentName + "'=y" + agentName + "+1)",
|
|
/* south west */ "(x" + agentName + "'=x" + agentName + "-1) & (y" + agentName + "'=y" + agentName + "+1)",
|
|
/* west */ "(x" + agentName + "'=x" + agentName + "-1)",
|
|
/* north west */ "(x" + agentName + "'=x" + agentName + "-1) & (y" + agentName + "'=y" + agentName + "-1)",
|
|
/* own position */ "(x" + agentName + "'=x" + agentName + ") & (y" + agentName + "'=y" + agentName + ")"
|
|
};
|
|
|
|
// view transition appdx in form (guard, update part)
|
|
// IMPORTANT: No mod() usage for turn left due to bug in mod() function for decrement
|
|
|
|
std::array<std::pair<std::string, std::string>, 3> viewTransition = {
|
|
/* turn to right */ std::make_pair(" & " + agentName + "SlipperyTurnRightAllowed ", " & (view" + agentName + "'=mod(view" + agentName + " + 1, 4))"),
|
|
/* turn to left */ std::make_pair(" & " + agentName + "SlipperyTurnLeftAllowed & view" + agentName + ">0", " & (view" + agentName + "'=view" + agentName + " - 1)"),
|
|
/* turn to left */ std::make_pair(" & " + agentName + "SlipperyTurnLeftAllowed & view" + agentName + "=0", " & (view" + agentName + "'=3)")
|
|
};
|
|
|
|
// direction specifics
|
|
|
|
std::string actionName;
|
|
std::size_t remainPosIndex = 8;
|
|
std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir; // { n, ne, w, se, s, sw, w, nw, CURRENT POS }
|
|
|
|
switch (orientation)
|
|
{
|
|
case SlipperyType::North:
|
|
actionName = "\t[" + agentName + "turn_at_slip_north]";
|
|
prob_piece_dir = { 0, 0, 0, 1, 1, 1, 0, 0, 0 /* <- R */ };
|
|
break;
|
|
|
|
case SlipperyType::South:
|
|
actionName = "\t[" + agentName + "turn_at_slip_south]";
|
|
prob_piece_dir = { 1, 1, 0, 0, 0, 0, 0, 1, 0 /* <- R */ };
|
|
break;
|
|
|
|
case SlipperyType::East:
|
|
actionName = "\t[" + agentName + "turn_at_slip_east]";
|
|
prob_piece_dir = { 0, 0, 0, 0, 0, 1, 1, 1, 0 /* <- R */ };
|
|
break;
|
|
|
|
case SlipperyType::West:
|
|
actionName = "\t[" + agentName + "turn_at_slip_west]";
|
|
prob_piece_dir = { 0, 1, 1, 1, 0, 0, 0, 0, 0 /* <- R */ };
|
|
break;
|
|
}
|
|
|
|
slipperyActions.insert(actionName);
|
|
|
|
// override probability to 0 if corresp. direction is blocked
|
|
|
|
for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS - 1; i++) {
|
|
if (!neighborhood.at(i))
|
|
prob_piece_dir.at(i) = 0;
|
|
}
|
|
|
|
// determine residual probability (R) by replacing 0 with (1 - overall sum)
|
|
|
|
prob_piece_dir.at(remainPosIndex) = PROB_PIECES - std::accumulate(prob_piece_dir.begin(), prob_piece_dir.end(), 0);
|
|
|
|
// <DEBUG_AREA>
|
|
{
|
|
assert(prob_piece_dir.at(remainPosIndex) <= 9 && prob_piece_dir.at(remainPosIndex) >= 6 && "Value not in Range!");
|
|
assert(std::accumulate(prob_piece_dir.begin(), prob_piece_dir.end(), 0) == PROB_PIECES && "Does not sum up to 1!");
|
|
}
|
|
// </DEBUG_AREA>
|
|
|
|
|
|
// generic output (for every view transition)
|
|
for (std::size_t v = 0; v < viewTransition.size(); v++) {
|
|
|
|
os << actionName << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << viewTransition.at(v).first;
|
|
for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) {
|
|
os << (i == 0 ? " -> " : " + ") << prob_piece_dir.at(i) << "/" << PROB_PIECES << " : " << positionTransition.at(i) << viewTransition.at(v).second << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
|
|
}
|
|
}
|
|
|
|
return os;
|
|
}
|
|
|
|
std::ostream& PrismModulesPrinter::printSlipperyMove(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, const coordinates &c, std::set<std::string> &slipperyActions, const std::array<bool, 8>& neighborhood, SlipperyType orientation) {
|
|
constexpr std::size_t PROB_PIECES = 9, ALL_POSS_DIRECTIONS = 8;
|
|
|
|
std::array<std::string, ALL_POSS_DIRECTIONS> positionTransition = {
|
|
/* north */ "(y" + agentName + "'=y" + agentName + "-1)",
|
|
/* north east */ "(x" + agentName + "'=x" + agentName + "+1) & (y" + agentName + "'=y" + agentName + "-1)",
|
|
/* east */ "(x" + agentName + "'=x" + agentName + "+1)",
|
|
/* east south */ "(x" + agentName + "'=x" + agentName + "+1) & (y" + agentName + "'=y" + agentName + "+1)",
|
|
/* south */ "(y" + agentName + "'=y" + agentName + "+1)",
|
|
/* south west */ "(x" + agentName + "'=x" + agentName + "-1) & (y" + agentName + "'=y" + agentName + "+1)",
|
|
/* west */ "(x" + agentName + "'=x" + agentName + "-1)",
|
|
/* north west */ "(x" + agentName + "'=x" + agentName + "-1) & (y" + agentName + "'=y" + agentName + "-1)"
|
|
};
|
|
|
|
// direction specifics
|
|
|
|
std::size_t straightPosIndex;
|
|
std::string actionName, specialTransition; // if straight ahead is blocked
|
|
std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir; // { n, ne, w, se, s, sw, w, nw }
|
|
|
|
switch (orientation)
|
|
{
|
|
case SlipperyType::North:
|
|
actionName = "\t[" + agentName + "move_on_slip_north]";
|
|
prob_piece_dir = { 0, 0, 1, 2, 0 /* <- R */, 2, 1, 0 };
|
|
straightPosIndex = 4;
|
|
specialTransition = "(y" + agentName + "'=y" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "+1)");
|
|
break;
|
|
|
|
case SlipperyType::South:
|
|
actionName = "\t[" + agentName + "move_on_slip_south]";
|
|
prob_piece_dir = { 0 /* <- R */, 2, 1, 0, 0, 0, 1, 2 };
|
|
straightPosIndex = 0; // always north
|
|
specialTransition = "(y" + agentName + "'=y" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "-1)");
|
|
break;
|
|
|
|
case SlipperyType::East:
|
|
actionName = "\t[" + agentName + "move_on_slip_east]";
|
|
prob_piece_dir = { 1, 0, 0, 0, 1, 2, 0 /* <- R */, 2 };
|
|
straightPosIndex = 6;
|
|
specialTransition = "(x" + agentName + "'=x" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "-1)");
|
|
break;
|
|
|
|
case SlipperyType::West:
|
|
actionName = "\t[" + agentName + "move_on_slip_west]";
|
|
prob_piece_dir = { 1, 2, 0 /* <- R */, 2, 1, 0, 0, 0 };
|
|
straightPosIndex = 2;
|
|
specialTransition = "(x" + agentName + "'=x" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "+1)");
|
|
break;
|
|
}
|
|
|
|
slipperyActions.insert(actionName);
|
|
|
|
// override probability to 0 if corresp. direction is blocked
|
|
|
|
for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) {
|
|
if (!neighborhood.at(i))
|
|
prob_piece_dir.at(i) = 0;
|
|
}
|
|
|
|
// determine residual probability (R) by replacing 0 with (1 - overall sum)
|
|
if(enforceOneWays) {
|
|
prob_piece_dir = {0,0,0,0,0,0,0,0};
|
|
}
|
|
prob_piece_dir.at(straightPosIndex) = PROB_PIECES - std::accumulate(prob_piece_dir.begin(), prob_piece_dir.end(), 0);
|
|
|
|
// <DEBUG_AREA>
|
|
{
|
|
assert(prob_piece_dir.at(straightPosIndex) <= 9 && prob_piece_dir.at(straightPosIndex) >= 3 && "Value not in Range!");
|
|
assert(std::accumulate(prob_piece_dir.begin(), prob_piece_dir.end(), 0) == PROB_PIECES && "Does not sum up to 1!");
|
|
assert(orientation != SlipperyType::North || (prob_piece_dir.at(7) == 0 && prob_piece_dir.at(0) == 0 && prob_piece_dir.at(1) == 0 && "Slippery up should be impossible!"));
|
|
assert(orientation != SlipperyType::South || (prob_piece_dir.at(3) == 0 && prob_piece_dir.at(4) == 0 && prob_piece_dir.at(5) == 0 && "Slippery down should be impossible!"));
|
|
assert(orientation != SlipperyType::East || (prob_piece_dir.at(1) == 0 && prob_piece_dir.at(2) == 0 && prob_piece_dir.at(3) == 0 && "Slippery right should be impossible!"));
|
|
assert(orientation != SlipperyType::West || (prob_piece_dir.at(5) == 0 && prob_piece_dir.at(6) == 0 && prob_piece_dir.at(7) == 0 && "Slippery left should be impossible!"));
|
|
}
|
|
// </DEBUG_AREA>
|
|
|
|
// special case: straight forward is blocked (then remain in same position)
|
|
|
|
positionTransition.at(straightPosIndex) = specialTransition;
|
|
|
|
// generic output (for every view and every possible view direction)
|
|
|
|
os << actionName << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << " & " << agentName << "SlipperyMoveForwardAllowed ";
|
|
|
|
for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) {
|
|
os << (i == 0 ? " -> " : " + ") << prob_piece_dir.at(i) << "/" << PROB_PIECES << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
|
|
}
|
|
|
|
return os;
|
|
}
|
|
|
|
std::ostream& PrismModulesPrinter::printEndmodule(std::ostream &os) {
|
|
os << "endmodule\n";
|
|
os << "\n";
|
|
return os;
|
|
}
|
|
|
|
std::ostream& PrismModulesPrinter::printPlayerStruct(std::ostream &os, const AgentName &agentName, const bool agentWithView, const std::vector<float> &probabilities, const std::set<std::string> &slipperyActions) {
|
|
os << "player " << agentName << "\n\t";
|
|
bool first = true;
|
|
std::list<std::string> allActions = { "_move_north", "_move_east", "_move_south", "_move_west" };
|
|
std::list<std::string> movementActions = allActions;
|
|
for(auto const& probability : probabilities) {
|
|
std::string percentageString = std::to_string((int)(100 * probability));
|
|
for(auto const& movement : movementActions) {
|
|
allActions.push_back(movement + "_" + percentageString);
|
|
}
|
|
}
|
|
if(agentWithView) {
|
|
allActions.push_back("_turn_left");
|
|
allActions.push_back("_turn_right");
|
|
} else {
|
|
allActions.push_back("_turns");
|
|
}
|
|
|
|
for(auto const& action : allActions) {
|
|
if(first) first = false; else os << ", ";
|
|
os << "[" << agentName << action << "]";
|
|
}
|
|
for(auto const& action : slipperyActions) {
|
|
os << ", " << action;
|
|
}
|
|
os << "\nendplayer\n";
|
|
return os;
|
|
}
|
|
|
|
std::ostream& PrismModulesPrinter::printGlobalMoveVariable(std::ostream &os, const size_t &numberOfPlayer) {
|
|
os << "\nglobal move : [0.." << std::to_string(numberOfPlayer - 1) << "] init 0;\n\n";
|
|
return os;
|
|
}
|
|
|
|
std::ostream& PrismModulesPrinter::printRewards(std::ostream &os, const AgentName &agentName, const std::map<coordinates, float> &stateRewards, const cells &lava, const cells &goals, const std::map<Color, cells> &backgroundTiles) {
|
|
if(lava.size() != 0) {
|
|
os << "rewards \"SafetyNoBFS\"\n";
|
|
os << "\tAgentIsInLavaAndNotDone: -100;\n";
|
|
os << "endrewards\n";
|
|
}
|
|
|
|
if (!goals.empty() || !lava.empty()) {
|
|
os << "rewards \"SafetyNoBFSAndGoal\"\n";
|
|
if(goals.size() != 0) os << "\tAgentIsInGoalAndNotDone: 100;\n";
|
|
if(lava.size() != 0) os << "\tAgentIsInLavaAndNotDone: -100;\n";
|
|
os << "endrewards\n";
|
|
}
|
|
|
|
os << "rewards \"Time\"\n";
|
|
os << "\t!AgentIsInGoal : -1;\n";
|
|
if(goals.size() != 0) os << "\tAgentIsInGoalAndNotDone: 100;\n";
|
|
if(lava.size() != 0) os << "\tAgentIsInLavaAndNotDone: -100;\n";
|
|
os << "endrewards\n";
|
|
|
|
if(stateRewards.size() > 0) {
|
|
os << "rewards \"SafetyWithBFS\"\n";
|
|
if(lava.size() != 0) os << "\tAgentIsInLavaAndNotDone: -100;\n";
|
|
for(auto const [coordinates, reward] : stateRewards) {
|
|
os << "\txAgent=" << coordinates.first << "&yAgent=" << coordinates.second << " : " << reward << ";\n";
|
|
}
|
|
os << "endrewards\n";
|
|
}
|
|
if(stateRewards.size() > 0) {
|
|
os << "rewards \"SafetyWithBFSAndGoal\"\n";
|
|
if(goals.size() != 0) os << "\tAgentIsInGoalAndNotDone: 100;\n";
|
|
if(lava.size() != 0) os << "\tAgentIsInLavaAndNotDone: -100;\n";
|
|
for(auto const [coordinates, reward] : stateRewards) {
|
|
os << "\txAgent=" << coordinates.first << "&yAgent=" << coordinates.second << " : " << reward << ";\n";
|
|
}
|
|
os << "endrewards\n";
|
|
}
|
|
|
|
for(auto const entry : backgroundTiles)
|
|
{
|
|
std::cout << getColor(entry.first) << " ";
|
|
for(auto const cell : entry.second){
|
|
std::cout << cell.getCoordinates().first << " " << cell.getCoordinates().second << std::endl;
|
|
}
|
|
}
|
|
if(backgroundTiles.size() > 0) {
|
|
os << "rewards \"TaxiReward\"\n";
|
|
os << "\t!AgentIsInGoal : -1;\n";
|
|
std::string allPassengersPickedUp = "";
|
|
bool first = true;
|
|
for(auto const [color, cells] : backgroundTiles) {
|
|
if(cells.size() == 0) continue;
|
|
if(first) first = false; else allPassengersPickedUp += "&";
|
|
std::string c = getColor(color);
|
|
c.at(0) = std::toupper(c.at(0));
|
|
std::string visitedLabel = agentName + "_picked_up_" + c;
|
|
allPassengersPickedUp += visitedLabel;
|
|
os << "[" << agentName << "_pickup_" << c << "] true : 100;\n";
|
|
}
|
|
if(goals.size() != 0) os << "\tAgentIsInGoalAndNotDone & " << allPassengersPickedUp << " : 100;\n";
|
|
if(goals.size() != 0) os << "\tAgentIsInGoalAndNotDone & !(" << allPassengersPickedUp << ") : -100;\n";
|
|
os << "endrewards";
|
|
}
|
|
return os;
|
|
}
|
|
|
|
std::string PrismModulesPrinter::moveGuard(const size_t &agentIndex) {
|
|
return isGame() ? " move=" + std::to_string(agentIndex) + " & " : " ";
|
|
}
|
|
|
|
std::string PrismModulesPrinter::moveUpdate(const size_t &agentIndex) {
|
|
return isGame() ?
|
|
(agentIndex == numberOfPlayer - 1) ?
|
|
" & (move'=0) " :
|
|
" & (move'=" + std::to_string(agentIndex + 1) + ") " :
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"";
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}
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std::string PrismModulesPrinter::viewVariable(const AgentName &agentName, const size_t &agentDirection, const bool agentWithView) {
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return agentWithView ? " view" + agentName + "=" + std::to_string(agentDirection) + " & " : " ";
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}
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bool PrismModulesPrinter::isGame() const {
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return modelType == ModelType::SMG;
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}
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}
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