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432 lines
26 KiB
432 lines
26 KiB
#include "storm/utility/initialize.h"
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#include "storm/settings/modules/GeneralSettings.h"
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#include "storm/settings/modules/DebugSettings.h"
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#include "storm-pomdp-cli/settings/modules/POMDPSettings.h"
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#include "storm-pomdp-cli/settings/modules/GridApproximationSettings.h"
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#include "storm-pomdp-cli/settings/modules/QualitativePOMDPAnalysisSettings.h"
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#include "storm-pomdp-cli/settings/PomdpSettings.h"
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#include "storm/analysis/GraphConditions.h"
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#include "storm-cli-utilities/cli.h"
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#include "storm-cli-utilities/model-handling.h"
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#include "storm-pomdp/transformer/KnownProbabilityTransformer.h"
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#include "storm-pomdp/transformer/ApplyFiniteSchedulerToPomdp.h"
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#include "storm-pomdp/transformer/GlobalPOMDPSelfLoopEliminator.h"
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#include "storm-pomdp/transformer/GlobalPomdpMecChoiceEliminator.h"
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#include "storm-pomdp/transformer/PomdpMemoryUnfolder.h"
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#include "storm-pomdp/transformer/BinaryPomdpTransformer.h"
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#include "storm-pomdp/transformer/MakePOMDPCanonic.h"
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#include "storm-pomdp/analysis/UniqueObservationStates.h"
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#include "storm-pomdp/analysis/QualitativeAnalysisOnGraphs.h"
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#include "storm-pomdp/modelchecker/ApproximatePOMDPModelchecker.h"
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#include "storm-pomdp/analysis/FormulaInformation.h"
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#include "storm-pomdp/analysis/MemlessStrategySearchQualitative.h"
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#include "storm-pomdp/analysis/QualitativeStrategySearchNaive.h"
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#include "storm/api/storm.h"
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#include "storm/modelchecker/results/ExplicitQuantitativeCheckResult.h"
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#include "storm/modelchecker/results/ExplicitQualitativeCheckResult.h"
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#include "storm/utility/NumberTraits.h"
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#include "storm/utility/Stopwatch.h"
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#include "storm/utility/SignalHandler.h"
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#include "storm/exceptions/UnexpectedException.h"
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#include "storm/exceptions/NotSupportedException.h"
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#include <typeinfo>
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namespace storm {
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namespace pomdp {
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namespace cli {
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/// Perform preprocessings based on the graph structure (if requested or necessary). Return true, if some preprocessing has been done
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template<typename ValueType, storm::dd::DdType DdType>
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bool performPreprocessing(std::shared_ptr<storm::models::sparse::Pomdp<ValueType>>& pomdp, storm::pomdp::analysis::FormulaInformation& formulaInfo, storm::logic::Formula const& formula) {
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auto const& pomdpSettings = storm::settings::getModule<storm::settings::modules::POMDPSettings>();
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bool preprocessingPerformed = false;
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if (pomdpSettings.isSelfloopReductionSet()) {
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bool apply = formulaInfo.isNonNestedReachabilityProbability() && formulaInfo.maximize();
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apply = apply || (formulaInfo.isNonNestedExpectedRewardFormula() && formulaInfo.minimize());
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if (apply) {
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STORM_PRINT_AND_LOG("Eliminating self-loop choices ...");
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uint64_t oldChoiceCount = pomdp->getNumberOfChoices();
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storm::transformer::GlobalPOMDPSelfLoopEliminator<ValueType> selfLoopEliminator(*pomdp);
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pomdp = selfLoopEliminator.transform();
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STORM_PRINT_AND_LOG(oldChoiceCount - pomdp->getNumberOfChoices() << " choices eliminated through self-loop elimination." << std::endl);
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preprocessingPerformed = true;
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}
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}
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if (pomdpSettings.isQualitativeReductionSet() && formulaInfo.isNonNestedReachabilityProbability()) {
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storm::analysis::QualitativeAnalysisOnGraphs<ValueType> qualitativeAnalysis(*pomdp);
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STORM_PRINT_AND_LOG("Computing states with probability 0 ...");
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storm::storage::BitVector prob0States = qualitativeAnalysis.analyseProb0(formula.asProbabilityOperatorFormula());
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std::cout << prob0States << std::endl;
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STORM_PRINT_AND_LOG(" done." << std::endl);
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STORM_PRINT_AND_LOG("Computing states with probability 1 ...");
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storm::storage::BitVector prob1States = qualitativeAnalysis.analyseProb1(formula.asProbabilityOperatorFormula());
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std::cout << prob1States << std::endl;
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STORM_PRINT_AND_LOG(" done." << std::endl);
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storm::pomdp::transformer::KnownProbabilityTransformer<ValueType> kpt = storm::pomdp::transformer::KnownProbabilityTransformer<ValueType>();
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pomdp = kpt.transform(*pomdp, prob0States, prob1States);
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// Update formulaInfo to changes from Preprocessing
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formulaInfo.updateTargetStates(*pomdp, std::move(prob1States));
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formulaInfo.updateSinkStates(*pomdp, std::move(prob0States));
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preprocessingPerformed = true;
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}
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return preprocessingPerformed;
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}
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template<typename ValueType>
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void printResult(ValueType const& lowerBound, ValueType const& upperBound) {
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if (lowerBound == upperBound) {
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STORM_PRINT_AND_LOG(lowerBound);
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} else {
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STORM_PRINT_AND_LOG("[" << lowerBound << ", " << upperBound << "] (width=" << ValueType(upperBound - lowerBound) << ")");
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}
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if (storm::NumberTraits<ValueType>::IsExact) {
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STORM_PRINT_AND_LOG(" (approx. ");
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printResult(storm::utility::convertNumber<double>(lowerBound), storm::utility::convertNumber<double>(upperBound));
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STORM_PRINT_AND_LOG(")");
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}
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}
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MemlessSearchOptions fillMemlessSearchOptionsFromSettings() {
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storm::pomdp::MemlessSearchOptions options;
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auto const& qualSettings = storm::settings::getModule<storm::settings::modules::QualitativePOMDPAnalysisSettings>();
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options.onlyDeterministicStrategies = qualSettings.isOnlyDeterministicSet();
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uint64_t loglevel = 0;
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// TODO a big ugly, but we have our own loglevels.
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if(storm::utility::getLogLevel() == l3pp::LogLevel::INFO) {
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loglevel = 1;
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}
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else if(storm::utility::getLogLevel() == l3pp::LogLevel::DEBUG) {
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loglevel = 2;
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}
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else if(storm::utility::getLogLevel() == l3pp::LogLevel::TRACE) {
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loglevel = 3;
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options.validateEveryStep = true;
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}
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options.setDebugLevel(loglevel);
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if (qualSettings.isExportSATCallsSet()) {
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options.setExportSATCalls(qualSettings.getExportSATCallsPath());
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}
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return options;
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}
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template<typename ValueType>
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void performQualitativeAnalysis(std::shared_ptr<storm::models::sparse::Pomdp<ValueType>> const& pomdp, storm::pomdp::analysis::FormulaInformation const& formulaInfo, storm::logic::Formula const& formula) {
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auto const& pomdpSettings = storm::settings::getModule<storm::settings::modules::POMDPSettings>();
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auto const& qualSettings = storm::settings::getModule<storm::settings::modules::QualitativePOMDPAnalysisSettings>();
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STORM_LOG_THROW(formulaInfo.isNonNestedReachabilityProbability(), storm::exceptions::NotSupportedException, "Qualitative memoryless scheduler search is not implemented for this property type.");
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STORM_LOG_TRACE("Run qualitative preprocessing...");
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storm::analysis::QualitativeAnalysisOnGraphs<ValueType> qualitativeAnalysis(*pomdp);
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// After preprocessing, this might be done cheaper.
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storm::storage::BitVector targetStates = qualitativeAnalysis.analyseProb1(formula.asProbabilityOperatorFormula());
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storm::storage::BitVector surelyNotAlmostSurelyReachTarget = qualitativeAnalysis.analyseProbSmaller1(formula.asProbabilityOperatorFormula());
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storm::expressions::ExpressionManager expressionManager;
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std::shared_ptr<storm::utility::solver::SmtSolverFactory> smtSolverFactory = std::make_shared<storm::utility::solver::Z3SmtSolverFactory>();
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storm::pomdp::MemlessSearchOptions options = fillMemlessSearchOptionsFromSettings();
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uint64_t lookahead = qualSettings.getLookahead();
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if (lookahead == 0) {
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lookahead = pomdp->getNumberOfStates();
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}
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STORM_LOG_TRACE("target states: " << targetStates);
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if (pomdpSettings.getMemlessSearchMethod() == "ccd-memless") {
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storm::pomdp::QualitativeStrategySearchNaive<ValueType> memlessSearch(*pomdp, targetStates, surelyNotAlmostSurelyReachTarget, smtSolverFactory);
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if (qualSettings.isWinningRegionSet()) {
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STORM_LOG_ERROR("Computing winning regions is not supported by ccd-memless.");
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} else {
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memlessSearch.analyzeForInitialStates(lookahead);
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}
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} else if (pomdpSettings.getMemlessSearchMethod() == "iterative") {
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storm::pomdp::MemlessStrategySearchQualitative<ValueType> search(*pomdp, targetStates, surelyNotAlmostSurelyReachTarget, smtSolverFactory, options);
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if (qualSettings.isWinningRegionSet()) {
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search.computeWinningRegion(lookahead);
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} else {
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search.analyzeForInitialStates(lookahead);
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}
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search.finalizeStatistics();
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search.getStatistics().print();
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} else {
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STORM_LOG_ERROR("This method is not implemented.");
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}
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}
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template<typename ValueType, storm::dd::DdType DdType>
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bool performAnalysis(std::shared_ptr<storm::models::sparse::Pomdp<ValueType>> const& pomdp, storm::pomdp::analysis::FormulaInformation const& formulaInfo, storm::logic::Formula const& formula) {
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auto const& pomdpSettings = storm::settings::getModule<storm::settings::modules::POMDPSettings>();
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bool analysisPerformed = false;
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if (pomdpSettings.isGridApproximationSet()) {
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STORM_PRINT_AND_LOG("Applying grid approximation... ");
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auto const& gridSettings = storm::settings::getModule<storm::settings::modules::GridApproximationSettings>();
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typename storm::pomdp::modelchecker::ApproximatePOMDPModelchecker<storm::models::sparse::Pomdp<ValueType>>::Options options;
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options.initialGridResolution = gridSettings.getGridResolution();
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options.explorationThreshold = storm::utility::convertNumber<ValueType>(gridSettings.getExplorationThreshold());
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options.doRefinement = gridSettings.isRefineSet();
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options.refinementPrecision = storm::utility::convertNumber<ValueType>(gridSettings.getRefinementPrecision());
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options.numericPrecision = storm::utility::convertNumber<ValueType>(gridSettings.getNumericPrecision());
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options.cacheSubsimplices = gridSettings.isCacheSimplicesSet();
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if (gridSettings.isUnfoldBeliefMdpSizeThresholdSet()) {
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options.beliefMdpSizeThreshold = gridSettings.getUnfoldBeliefMdpSizeThreshold();
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}
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if (storm::NumberTraits<ValueType>::IsExact) {
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if (gridSettings.isNumericPrecisionSetFromDefault()) {
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STORM_LOG_WARN_COND(storm::utility::isZero(options.numericPrecision), "Setting numeric precision to zero because exact arithmethic is used.");
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options.numericPrecision = storm::utility::zero<ValueType>();
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} else {
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STORM_LOG_WARN_COND(storm::utility::isZero(options.numericPrecision), "A non-zero numeric precision was set although exact arithmethic is used. Results might be inexact.");
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}
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}
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storm::pomdp::modelchecker::ApproximatePOMDPModelchecker<storm::models::sparse::Pomdp<ValueType>> checker(*pomdp, options);
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auto result = checker.check(formula);
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checker.printStatisticsToStream(std::cout);
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if (storm::utility::resources::isTerminate()) {
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STORM_PRINT_AND_LOG("\nResult till abort: ")
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} else {
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STORM_PRINT_AND_LOG("\nResult: ")
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}
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printResult(result.lowerBound, result.upperBound);
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STORM_PRINT_AND_LOG(std::endl);
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analysisPerformed = true;
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}
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if (pomdpSettings.isMemlessSearchSet()) {
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performQualitativeAnalysis(pomdp, formulaInfo, formula);
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analysisPerformed = true;
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}
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if (pomdpSettings.isCheckFullyObservableSet()) {
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STORM_PRINT_AND_LOG("Analyzing the formula on the fully observable MDP ... ");
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auto resultPtr = storm::api::verifyWithSparseEngine<ValueType>(pomdp->template as<storm::models::sparse::Mdp<ValueType>>(), storm::api::createTask<ValueType>(formula.asSharedPointer(), true));
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if (resultPtr) {
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auto result = resultPtr->template asExplicitQuantitativeCheckResult<ValueType>();
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result.filter(storm::modelchecker::ExplicitQualitativeCheckResult(pomdp->getInitialStates()));
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if (storm::utility::resources::isTerminate()) {
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STORM_PRINT_AND_LOG("\nResult till abort: ")
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} else {
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STORM_PRINT_AND_LOG("\nResult: ")
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}
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printResult(result.getMin(), result.getMax());
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STORM_PRINT_AND_LOG(std::endl);
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} else {
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STORM_PRINT_AND_LOG("\nResult: Not available." << std::endl);
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}
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analysisPerformed = true;
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}
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return analysisPerformed;
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}
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template<typename ValueType, storm::dd::DdType DdType>
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bool performTransformation(std::shared_ptr<storm::models::sparse::Pomdp<ValueType>>& pomdp, storm::logic::Formula const& formula) {
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auto const& pomdpSettings = storm::settings::getModule<storm::settings::modules::POMDPSettings>();
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bool transformationPerformed = false;
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bool memoryUnfolded = false;
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if (pomdpSettings.getMemoryBound() > 1) {
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STORM_PRINT_AND_LOG("Computing the unfolding for memory bound " << pomdpSettings.getMemoryBound() << " and memory pattern '" << storm::storage::toString(pomdpSettings.getMemoryPattern()) << "' ...");
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storm::storage::PomdpMemory memory = storm::storage::PomdpMemoryBuilder().build(pomdpSettings.getMemoryPattern(), pomdpSettings.getMemoryBound());
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std::cout << memory.toString() << std::endl;
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storm::transformer::PomdpMemoryUnfolder<ValueType> memoryUnfolder(*pomdp, memory);
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pomdp = memoryUnfolder.transform();
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STORM_PRINT_AND_LOG(" done." << std::endl);
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pomdp->printModelInformationToStream(std::cout);
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transformationPerformed = true;
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memoryUnfolded = true;
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}
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// From now on the pomdp is considered memoryless
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if (pomdpSettings.isMecReductionSet()) {
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STORM_PRINT_AND_LOG("Eliminating mec choices ...");
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// Note: Elimination of mec choices only preserves memoryless schedulers.
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uint64_t oldChoiceCount = pomdp->getNumberOfChoices();
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storm::transformer::GlobalPomdpMecChoiceEliminator<ValueType> mecChoiceEliminator(*pomdp);
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pomdp = mecChoiceEliminator.transform(formula);
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STORM_PRINT_AND_LOG(" done." << std::endl);
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STORM_PRINT_AND_LOG(oldChoiceCount - pomdp->getNumberOfChoices() << " choices eliminated through MEC choice elimination." << std::endl);
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pomdp->printModelInformationToStream(std::cout);
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transformationPerformed = true;
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}
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if (pomdpSettings.isTransformBinarySet() || pomdpSettings.isTransformSimpleSet()) {
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if (pomdpSettings.isTransformSimpleSet()) {
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STORM_PRINT_AND_LOG("Transforming the POMDP to a simple POMDP.");
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pomdp = storm::transformer::BinaryPomdpTransformer<ValueType>().transform(*pomdp, true);
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} else {
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STORM_PRINT_AND_LOG("Transforming the POMDP to a binary POMDP.");
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pomdp = storm::transformer::BinaryPomdpTransformer<ValueType>().transform(*pomdp, false);
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}
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pomdp->printModelInformationToStream(std::cout);
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STORM_PRINT_AND_LOG(" done." << std::endl);
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transformationPerformed = true;
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}
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if (pomdpSettings.isExportToParametricSet()) {
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STORM_PRINT_AND_LOG("Transforming memoryless POMDP to pMC...");
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storm::transformer::ApplyFiniteSchedulerToPomdp<ValueType> toPMCTransformer(*pomdp);
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std::string transformMode = pomdpSettings.getFscApplicationTypeString();
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auto pmc = toPMCTransformer.transform(storm::transformer::parsePomdpFscApplicationMode(transformMode));
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STORM_PRINT_AND_LOG(" done." << std::endl);
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pmc->printModelInformationToStream(std::cout);
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STORM_PRINT_AND_LOG("Simplifying pMC...");
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//if (generalSettings.isBisimulationSet()) {
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pmc = storm::api::performBisimulationMinimization<storm::RationalFunction>(pmc->template as<storm::models::sparse::Dtmc<storm::RationalFunction>>(),{formula.asSharedPointer()}, storm::storage::BisimulationType::Strong)->template as<storm::models::sparse::Dtmc<storm::RationalFunction>>();
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//}
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STORM_PRINT_AND_LOG(" done." << std::endl);
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pmc->printModelInformationToStream(std::cout);
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STORM_PRINT_AND_LOG("Exporting pMC...");
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storm::analysis::ConstraintCollector<storm::RationalFunction> constraints(*pmc);
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auto const& parameterSet = constraints.getVariables();
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std::vector<storm::RationalFunctionVariable> parameters(parameterSet.begin(), parameterSet.end());
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std::vector<std::string> parameterNames;
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for (auto const& parameter : parameters) {
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parameterNames.push_back(parameter.name());
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}
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storm::api::exportSparseModelAsDrn(pmc, pomdpSettings.getExportToParametricFilename(), parameterNames);
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STORM_PRINT_AND_LOG(" done." << std::endl);
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transformationPerformed = true;
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}
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if (transformationPerformed && !memoryUnfolded) {
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STORM_PRINT_AND_LOG("Implicitly assumed restriction to memoryless schedulers for at least one transformation." << std::endl);
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}
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return transformationPerformed;
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}
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template<typename ValueType, storm::dd::DdType DdType>
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void processOptionsWithValueTypeAndDdLib(storm::cli::SymbolicInput const& symbolicInput, storm::cli::ModelProcessingInformation const& mpi) {
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auto const& pomdpSettings = storm::settings::getModule<storm::settings::modules::POMDPSettings>();
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auto model = storm::cli::buildPreprocessExportModelWithValueTypeAndDdlib<DdType, ValueType>(symbolicInput, mpi);
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if (!model) {
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STORM_PRINT_AND_LOG("No input model given." << std::endl);
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return;
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}
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STORM_LOG_THROW(model->getType() == storm::models::ModelType::Pomdp && model->isSparseModel(), storm::exceptions::WrongFormatException, "Expected a POMDP in sparse representation.");
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std::shared_ptr<storm::models::sparse::Pomdp<ValueType>> pomdp = model->template as<storm::models::sparse::Pomdp<ValueType>>();
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if (!pomdpSettings.isNoCanonicSet()) {
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storm::transformer::MakePOMDPCanonic<ValueType> makeCanonic(*pomdp);
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pomdp = makeCanonic.transform();
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}
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std::shared_ptr<storm::logic::Formula const> formula;
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if (!symbolicInput.properties.empty()) {
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formula = symbolicInput.properties.front().getRawFormula();
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STORM_PRINT_AND_LOG("Analyzing property '" << *formula << "'" << std::endl);
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STORM_LOG_WARN_COND(symbolicInput.properties.size() == 1, "There is currently no support for multiple properties. All other properties will be ignored.");
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}
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if (pomdpSettings.isAnalyzeUniqueObservationsSet()) {
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STORM_PRINT_AND_LOG("Analyzing states with unique observation ..." << std::endl);
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storm::analysis::UniqueObservationStates<ValueType> uniqueAnalysis(*pomdp);
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std::cout << uniqueAnalysis.analyse() << std::endl;
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}
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if (formula) {
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auto formulaInfo = storm::pomdp::analysis::getFormulaInformation(*pomdp, *formula);
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STORM_LOG_THROW(!formulaInfo.isUnsupported(), storm::exceptions::InvalidPropertyException, "The formula '" << *formula << "' is not supported by storm-pomdp.");
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storm::utility::Stopwatch sw(true);
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// Note that formulaInfo contains state-based information which potentially needs to be updated during preprocessing
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if (performPreprocessing<ValueType, DdType>(pomdp, formulaInfo, *formula)) {
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sw.stop();
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STORM_PRINT_AND_LOG("Time for graph-based POMDP (pre-)processing: " << sw << "s." << std::endl);
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pomdp->printModelInformationToStream(std::cout);
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}
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sw.restart();
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if (performTransformation<ValueType, DdType>(pomdp, *formula)) {
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sw.stop();
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STORM_PRINT_AND_LOG("Time for POMDP transformation(s): " << sw << "s." << std::endl);
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}
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sw.restart();
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if (performAnalysis<ValueType, DdType>(pomdp, formulaInfo, *formula)) {
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sw.stop();
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STORM_PRINT_AND_LOG("Time for POMDP analysis: " << sw << "s." << std::endl);
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}
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} else {
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STORM_LOG_WARN("Nothing to be done. Did you forget to specify a formula?");
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}
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}
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template <storm::dd::DdType DdType>
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void processOptionsWithDdLib(storm::cli::SymbolicInput const& symbolicInput, storm::cli::ModelProcessingInformation const& mpi) {
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STORM_LOG_ERROR_COND(mpi.buildValueType == mpi.verificationValueType, "Build value type differs from verification value type. Will ignore Verification value type.");
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switch (mpi.buildValueType) {
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case storm::cli::ModelProcessingInformation::ValueType::FinitePrecision:
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|
processOptionsWithValueTypeAndDdLib<double, DdType>(symbolicInput, mpi);
|
|
break;
|
|
case storm::cli::ModelProcessingInformation::ValueType::Exact:
|
|
STORM_LOG_THROW(DdType == storm::dd::DdType::Sylvan, storm::exceptions::UnexpectedException, "Exact arithmetic is only supported with Dd library Sylvan.");
|
|
processOptionsWithValueTypeAndDdLib<storm::RationalNumber, storm::dd::DdType::Sylvan>(symbolicInput, mpi);
|
|
break;
|
|
default:
|
|
STORM_LOG_THROW(false, storm::exceptions::UnexpectedException, "Unexpected ValueType for model building.");
|
|
}
|
|
}
|
|
|
|
void processOptions() {
|
|
auto symbolicInput = storm::cli::parseSymbolicInput();
|
|
storm::cli::ModelProcessingInformation mpi;
|
|
std::tie(symbolicInput, mpi) = storm::cli::preprocessSymbolicInput(symbolicInput);
|
|
switch (mpi.ddType) {
|
|
case storm::dd::DdType::CUDD:
|
|
processOptionsWithDdLib<storm::dd::DdType::CUDD>(symbolicInput, mpi);
|
|
break;
|
|
case storm::dd::DdType::Sylvan:
|
|
processOptionsWithDdLib<storm::dd::DdType::Sylvan>(symbolicInput, mpi);
|
|
break;
|
|
default:
|
|
STORM_LOG_THROW(false, storm::exceptions::UnexpectedException, "Unexpected Dd Type.");
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/*!
|
|
* Entry point for the pomdp backend.
|
|
*
|
|
* @param argc The argc argument of main().
|
|
* @param argv The argv argument of main().
|
|
* @return Return code, 0 if successfull, not 0 otherwise.
|
|
*/
|
|
int main(const int argc, const char** argv) {
|
|
//try {
|
|
storm::utility::setUp();
|
|
storm::cli::printHeader("Storm-pomdp", argc, argv);
|
|
storm::settings::initializePomdpSettings("Storm-POMDP", "storm-pomdp");
|
|
|
|
bool optionsCorrect = storm::cli::parseOptions(argc, argv);
|
|
if (!optionsCorrect) {
|
|
return -1;
|
|
}
|
|
storm::cli::setUrgentOptions();
|
|
|
|
// Invoke storm-pomdp with obtained settings
|
|
storm::pomdp::cli::processOptions();
|
|
|
|
// All operations have now been performed, so we clean up everything and terminate.
|
|
storm::utility::cleanUp();
|
|
return 0;
|
|
// } catch (storm::exceptions::BaseException const &exception) {
|
|
// STORM_LOG_ERROR("An exception caused Storm-pomdp to terminate. The message of the exception is: " << exception.what());
|
|
// return 1;
|
|
//} catch (std::exception const &exception) {
|
|
// STORM_LOG_ERROR("An unexpected exception occurred and caused Storm-pomdp to terminate. The message of this exception is: " << exception.what());
|
|
// return 2;
|
|
//}
|
|
}
|