sp
8 months ago
1 changed files with 84 additions and 0 deletions
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mdp |
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const int initY = 40; |
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const int initX = 80; |
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const int maxY = 580; |
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const int minX = 10; |
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const int maxX = 144; |
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formula Gate_1 = (((42<x & x<50) | (74<x & x<82)) & 164<y & y<172); |
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formula Gate_2 = (((72<x & x<80) | (104<x & x<112)) & 256<y & y<264); |
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formula Gate_3 = (((80<x & x<88) | (112<x & x<120)) & 349<y & y<357); |
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formula Gate_4 = (((54<x & x<62) | (88<x & x<96)) & 442<y & y<450); |
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formula Gate_5 = (((80<x & x<88) | (112<x & x<120)) & 530<y & y<538); |
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formula Tree_1 = ((x>=124 & x<=142) & (y>=190 & y<=200)); |
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formula Tree_2 = ((x>=32 & x<=49) & (y>=284 & y<=295)); |
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formula Tree_3 = ((x>=30 & x<=49) & (y>=317 & y<=327)); |
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formula Tree_4 = ((x>=12 & x<=30) & (y>=408 & y<=418)); |
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formula Tree_5 = ((x>=129 & x<=146) & (y>=468 & y<=480)); |
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formula Tree_6 = ((x>=140 & x<=152) & (y>=496 & y<=510)); |
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formula Hit_Tree = Tree_1 | Tree_2 | Tree_3 | Tree_4 | Tree_5 | Tree_6; |
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formula Hit_Gate = Gate_1 | Gate_2 | Gate_3 | Gate_4 | Gate_5; |
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global move : [0..3]; |
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module skier |
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ski_position : [1..8] ; |
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done : bool ; |
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[left] !Safe & !Unsafe & move=0 & ski_position>1 -> (ski_position'=ski_position-1) & (move'=1) & (done'=(Hit_Tree|Hit_Gate)); |
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[right] !Safe & !Unsafe & move=0 & ski_position<8 -> (ski_position'=ski_position+1) & (move'=1) & (done'=(Hit_Tree|Hit_Gate)); |
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[noop] !Safe & !Unsafe & move=0 -> (move'=1) & (done'=(Hit_Tree|Hit_Gate)); |
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[done] Safe | Unsafe | done -> true; |
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endmodule |
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module updateY |
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y : [initY..maxY] ; |
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velocity: [0..16]; |
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standstill : [0..8] ; |
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[update_y] move=1 & standstill>=5 -> (y'=y) & (move'=2); |
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[update_y] move=1 & standstill<5 -> (y'=min(maxY,y+velocity)) & (move'=2); |
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[update_y] move=2 & (ski_position=1 | ski_position = 8) & standstill>=5 -> (standstill'=min(8,standstill+1)) & (move'=3); |
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[update_y] move=2 & (ski_position=1 | ski_position = 8) & standstill<5 -> (velocity'=max(0,velocity-4)) &(move'=3); |
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[update_y] move=2 & (ski_position=2 | ski_position = 7) -> (velocity'=max(0 ,velocity-2)) & (standstill'=0) & (move'=3); |
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[update_y] move=2 & (ski_position=3 | ski_position = 6) -> (velocity'=min(8,velocity+2)) & (standstill'=0) & (move'=3); |
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[update_y] move=2 & (ski_position=4 | ski_position = 5) -> (velocity'=min(8,velocity+4)) & (standstill'=0) & (move'=3); |
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endmodule |
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module updateX |
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x : [minX..maxX] ; |
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[update_x] move=3 & standstill>=8 -> (move'=0); |
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[update_x] move=3 & standstill<8 & (ski_position=4 | ski_position=5) -> (move'=0); |
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[update_x] move=3 & standstill<8 & (ski_position=3) -> 0.4: (x'=max(minX,x-0)) & (move'=0) + 0.6: (x'=max(minX,x-1)) & (move'=0); |
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[update_x] move=3 & standstill<8 & (ski_position=6) -> 0.4: (x'=min(maxX,x+0)) & (move'=0) + 0.6: (x'=min(maxX,x+1)) & (move'=0); |
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[update_x] move=3 & standstill<8 & (ski_position=2) -> 0.3: (x'=max(minX,x-0)) & (move'=0) + 0.7: (x'=max(minX,x-1)) & (move'=0); |
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[update_x] move=3 & standstill<8 & (ski_position=7) -> 0.3: (x'=min(maxX,x+0)) & (move'=0) + 0.7: (x'=min(maxX,x+1)) & (move'=0); |
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[update_x] move=3 & standstill<8 & (ski_position=1) -> 0.2: (x'=max(minX,x-0)) & (move'=0) + 0.8: (x'=max(minX,x-1)) & (move'=0); |
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[update_x] move=3 & standstill<8 & (ski_position=8) -> 0.2: (x'=min(maxX,x+0)) & (move'=0) + 0.8: (x'=min(maxX,x+1)) & (move'=0); |
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endmodule |
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rewards |
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[left] !done & (Hit_Tree) : -100; |
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[right] !done & (Hit_Tree) : -100; |
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[noop] !done & (Hit_Tree) : -100; |
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[left] !done & (Hit_Gate) : -100; |
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[right] !done & (Hit_Gate) : -100; |
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[noop] !done & (Hit_Gate) : -100; |
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[done] Unsafe : -100; |
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endrewards |
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