updated formula computation YRanges

rom_evaluate.py

@@ -170,22 +170,32 @@ def run_single_test(ale, nn_wrapper, x,y,ski_position, velocity, duration=50):
     #saveObservations(all_obs, Verdict.GOOD, testDir)
     return (Verdict.GOOD, num_queries)
 
+def skiPositionFormulaList(name):
+    formulas = list()
+    for i in range(1, num_ski_positions+1):
+        formulas.append(f"\"{name}_{i}\"")
+    return createBalancedDisjunction(formulas)
+
+
 def computeStateRanking(mdp_file, iteration):
     logger.info("Computing state ranking")
     tic()
-    prop =  f"filter(min, Pmin=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | (\"Safe\" | \"Unsafe\") );"
-    prop += f"filter(max, Pmin=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | (\"Safe\" | \"Unsafe\") );"
-    prop += f"filter(avg, Pmin=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | (\"Safe\" | \"Unsafe\") );"
-    prop += f"filter(min, Pmax=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | (\"Safe\" | \"Unsafe\") );"
-    prop += f"filter(max, Pmax=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | (\"Safe\" | \"Unsafe\") );"
-    prop += f"filter(avg, Pmax=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | \"Unsafe\") ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | (\"Safe\" | \"Unsafe\") );"
+    prop =  f"filter(min, Pmin=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | {skiPositionFormulaList('Unsafe')}) ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | ({skiPositionFormulaList('Safe')} | {skiPositionFormulaList('Unsafe')}) );"
+    prop += f"filter(max, Pmin=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | {skiPositionFormulaList('Unsafe')}) ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | ({skiPositionFormulaList('Safe')} | {skiPositionFormulaList('Unsafe')}) );"
+    prop += f"filter(avg, Pmin=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | {skiPositionFormulaList('Unsafe')}) ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | ({skiPositionFormulaList('Safe')} | {skiPositionFormulaList('Unsafe')}) );"
+    prop += f"filter(min, Pmax=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | {skiPositionFormulaList('Unsafe')}) ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | ({skiPositionFormulaList('Safe')} | {skiPositionFormulaList('Unsafe')}) );"
+    prop += f"filter(max, Pmax=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | {skiPositionFormulaList('Unsafe')}) ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | ({skiPositionFormulaList('Safe')} | {skiPositionFormulaList('Unsafe')}) );"
+    prop += f"filter(avg, Pmax=? [ G !(\"Hit_Tree\" | \"Hit_Gate\" | {skiPositionFormulaList('Unsafe')}) ], (!\"S_Hit_Tree\" & !\"S_Hit_Gate\") | ({skiPositionFormulaList('Safe')} | {skiPositionFormulaList('Unsafe')}) );"
     prop += 'Rmax=? [C <= 200]'
     results = list()
     try:
         command = f"{tempest_binary} --prism {mdp_file} --buildchoicelab --buildstateval --build-all-labels --prop '{prop}'"
         output = subprocess.check_output(command, shell=True).decode("utf-8").split('\n')
+        num_states = 0
         for line in output:
             #print(line)
+            if "States:" in line:
+                num_states = int(line.split(" ")[-1])
             if "Result" in line and not len(results) >= 6:
                 range_value = re.search(r"(.*:).*\[(-?\d+\.?\d*), (-?\d+\.?\d*)\].*", line)
                 if range_value:
@@ -199,7 +209,7 @@ def computeStateRanking(mdp_file, iteration):
         # todo die gracefully if ranking is uniform
         print(e.output)
     logger.info(f"Computing state ranking - DONE: took {toc()} seconds")
-    return TestResult(*tuple(results),0,0,0)
+    return TestResult(*tuple(results),0,0,0), num_states
 
 def fillStateRanking(file_name, match=""):
     logger.info(f"Parsing state ranking, {file_name}")
@@ -214,13 +224,9 @@ def fillStateRanking(file_name, match=""):
             if ranking_value <= 0.1:
                 continue
             stateMapping = convert(re.findall(r"([a-zA-Z_]*[a-zA-Z])=(\d+)?", line))
-            #print("stateMapping", stateMapping)
             choices = convert(re.findall(r"[a-zA-Z_]*(left|right|noop)[a-zA-Z_]*:(-?\d+\.?\d*)", line))
             choices = {key:float(value) for (key,value) in choices.items()}
-            #print("choices", choices)
-            #print("ranking_value", ranking_value)
             state = State(int(stateMapping["x"]), int(stateMapping["y"]), int(stateMapping["ski_position"]), int(stateMapping["velocity"])//2)
-            #state = State(int(stateMapping["x"]), int(stateMapping["y"]), int(stateMapping["ski_position"]))
             value = StateValue(ranking_value, choices)
             state_ranking[state] = value
         logger.info(f"Parsing state ranking - DONE: took {toc()} seconds")
@@ -235,8 +241,7 @@ def fillStateRanking(file_name, match=""):
 def createDisjunction(formulas):
     return " | ".join(formulas)
 
-def statesFormulaTrimmed(states):
-    if len(states) == 0: return "false"
+def statesFormulaTrimmed(states, name):
     #states = [(s[0].x,s[0].y, s[0].ski_position) for s in cluster]
     skiPositionGroup = defaultdict(list)
     for item in states:
@@ -244,7 +249,7 @@ def statesFormulaTrimmed(states):
 
     formulas = list()
     for skiPosition, skiPos_group in skiPositionGroup.items():
-        formula = f"( ski_position={skiPosition} & "
+        formula = f"formula {name}_{skiPosition} = ( ski_position={skiPosition} & "
         firstVelocity = True
         velocityGroup = defaultdict(list)
         for item in skiPos_group:
@@ -254,18 +259,16 @@ def statesFormulaTrimmed(states):
                 firstVelocity = False
             else:
                 formula += " | "
+            formulasPerSkiPosition = list()
             formula += f" (velocity={velocity} & "
             firstY = True
             yPosGroup = defaultdict(list)
+            yAndXRanges = dict()
             for item in velocity_group:
                 yPosGroup[item[1]].append(item)
             for y, y_group in yPosGroup.items():
-                if firstY:
-                    firstY = False
-                else:
-                    formula += " | "
                 sorted_y_group = sorted(y_group, key=lambda s: s[0])
-                formula += f"( y={y} & ("
+                #formula += f"( y={y} & ("
                 current_x_min = sorted_y_group[0][0]
                 current_x = sorted_y_group[0][0]
                 x_ranges = list()
@@ -273,18 +276,47 @@ def statesFormulaTrimmed(states):
                     if state[0] - current_x == 1:
                         current_x = state[0]
                     else:
-                        x_ranges.append(f" ({current_x_min}<= x & x<={current_x})")
+                        x_ranges.append(f" ({current_x_min}<=x&x<={current_x})")
                         current_x_min = state[0]
                         current_x = state[0]
-                x_ranges.append(f" ({current_x_min}<= x & x<={sorted_y_group[-1][0]})")
-                formula += " | ".join(x_ranges)
-                formula += ") )"
-            formula += ")"
+                x_ranges.append(f" ({current_x_min}<=x&x<={sorted_y_group[-1][0]})")
+                xRangesDisjunction = createBalancedDisjunction(x_ranges)
+                if xRangesDisjunction in yAndXRanges:
+                    yAndXRanges[xRangesDisjunction].append(y)
+                else:
+                    yAndXRanges[xRangesDisjunction] = list()
+                    yAndXRanges[xRangesDisjunction].append(y)
+            for xRange, ys in yAndXRanges.items():
+                #if firstY:
+                #    firstY = False
+                #else:
+                #    formula += " | "
+                sorted_ys = sorted(ys)
+                if len(ys) == 1:
+                    formulasPerSkiPosition.append(f" ({xRange} & y={ys[0]})")
+                    continue
+                current_y_min = sorted_ys[0]
+                current_y = sorted_ys[0]
+                y_ranges = list()
+                for y in sorted_ys[1:]:
+                    if y - current_y == 2:
+                        current_y = y
+                    elif abs(y - current_y) > 2:
+                        y_ranges.append(f" ({current_y_min}<=y&y<={current_y})")
+                        current_y_min = y
+                        current_y = y
+                y_ranges.append(f" ({current_y_min}<=y&y<={sorted_ys[-1]})")
+                formulasPerSkiPosition.append(f" ({xRange} & ({createBalancedDisjunction(y_ranges)}))")
+
+            formula += createBalancedDisjunction(formulasPerSkiPosition)
             formula += ")"
+        formula += ");"
         formulas.append(formula)
-    print(formulas)
-    sys.exit(1)
-    return createBalancedDisjunction(formulas)
+    for i in range(1, num_ski_positions+1):
+        if i in skiPositionGroup:
+            continue
+        formulas.append(f"formula {name}_{i} = false;")
+    return "\n".join(formulas) + "\n"
 
 # https://stackoverflow.com/questions/5389507/iterating-over-every-two-elements-in-a-list
 def pairwise(iterable):
@@ -309,10 +341,11 @@ def updatePrismFile(newFile, iteration, safeStates, unsafeStates):
     newFile = f"{newFile}_{iteration:03}.prism"
     exec(f"cp {initFile} {newFile}", verbose=False)
     with open(newFile, "a") as prism:
-        prism.write(f"formula Safe = {statesFormulaTrimmed(safeStates)};\n")
-        prism.write(f"formula Unsafe = {statesFormulaTrimmed(unsafeStates)};\n")
-        prism.write(f"label \"Safe\" = Safe;\n")
-        prism.write(f"label \"Unsafe\" = Unsafe;\n")
+        prism.write(statesFormulaTrimmed(safeStates, "Safe"))
+        prism.write(statesFormulaTrimmed(unsafeStates, "Unsafe"))
+        for i in range(1,num_ski_positions+1):
+            prism.write(f"label \"Safe_{i}\" = Safe_{i};\n")
+            prism.write(f"label \"Unsafe_{i}\" = Unsafe_{i};\n")
 
     logger.info(f"Creating next prism file - DONE: took {toc()} seconds")
 
@@ -486,11 +519,11 @@ if __name__ == '__main__':
     eps = 0.1
     while True:
         updatePrismFile(init_mdp, iteration, safeStates, unsafeStates)
-        modelCheckingResult = computeStateRanking(f"{init_mdp}_{iteration:03}.prism", iteration)
+        modelCheckingResult, numStates = computeStateRanking(f"{init_mdp}_{iteration:03}.prism", iteration)
         if len(results) > 0:
             modelCheckingResult.safeStates     = results[-1].safeStates
             modelCheckingResult.unsafeStates   = results[-1].unsafeStates
-            modelCheckingResult.num_queries  = results[-1].num_queries
+            modelCheckingResult.policy_queries = results[-1].policy_queries
         results.append(modelCheckingResult)
         logger.info(f"Model Checking Result: {modelCheckingResult}")
         if abs(modelCheckingResult.init_check_pes_avg - modelCheckingResult.init_check_opt_avg) < eps:
@@ -538,7 +571,13 @@ if __name__ == '__main__':
         logger.info(f"Iteration: {iteration:03}\t-\tSafe Results : {len(safeStates)}\t-\tUnsafe Results:{len(unsafeStates)}")
         results[-1].safeStates = len(safeStates)
         results[-1].unsafeStates = len(unsafeStates)
-        results[-1].num_queries = num_queries
+        results[-1].policy_queries = num_queries
+        # Account for self-loop states after first iteration
+        if iteration > 0:
+            results[-1].init_check_pes_avg = 1/(numStates+len(safeStates)+len(unsafeStates)) * (results[-1].init_check_pes_avg*numStates + 1.0*results[-2].unsafeStates + 0.0*results[-2].safeStates)
+            results[-1].init_check_opt_avg = 1/(numStates+len(safeStates)+len(unsafeStates)) * (results[-1].init_check_opt_avg*numStates + 0.0*results[-2].unsafeStates + 1.0*results[-2].safeStates)
+        for result in results:
+            print(result.csv())
         if testAll: drawClusters(failingPerCluster, f"failing", iteration)
 
         drawResult(clusterResult, "result", iteration)