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  1. #include "Grid.h"
  2. #include <algorithm>
  3. Grid::Grid(cells gridCells, cells background, const GridOptions &gridOptions, const std::map<coordinates, float> &stateRewards)
  4. : allGridCells(gridCells), background(background), gridOptions(gridOptions), stateRewards(stateRewards)
  5. {
  6. cell max = allGridCells.at(allGridCells.size() - 1);
  7. maxBoundaries = std::make_pair(max.row - 1, max.column - 1);
  8. std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(walls), [](cell c) {
  9. return c.type == Type::Wall;
  10. });
  11. std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(lava), [](cell c) {
  12. return c.type == Type::Lava;
  13. });
  14. std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(floor), [](cell c) {
  15. return c.type == Type::Floor;
  16. });
  17. std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyNorth), [](cell c) {
  18. return c.type == Type::SlipperyNorth;
  19. });
  20. std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyEast), [](cell c) {
  21. return c.type == Type::SlipperyEast;
  22. });
  23. std::copy_if(background.begin(), background.end(), std::back_inserter(slipperySouth), [](cell c) {
  24. return c.type == Type::SlipperySouth;
  25. });
  26. std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyWest), [](cell c) {
  27. return c.type == Type::SlipperyWest;
  28. });
  29. std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(lockedDoors), [](cell c) {
  30. return c.type == Type::LockedDoor;
  31. });
  32. std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(unlockedDoors), [](cell c) {
  33. return c.type == Type::Door;
  34. });
  35. std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(goals), [](cell c) {
  36. return c.type == Type::Goal;
  37. });
  38. std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(keys), [](cell c) {
  39. return c.type == Type::Key;
  40. });
  41. std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(boxes), [](cell c) {
  42. return c.type == Type::Box;
  43. });
  44. agent = *std::find_if(gridCells.begin(), gridCells.end(), [](cell c) {
  45. return c.type == Type::Agent;
  46. });
  47. std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(adversaries), [](cell c) {
  48. return c.type == Type::Adversary;
  49. });
  50. agentNameAndPositionMap.insert({ "Agent", agent.getCoordinates() });
  51. for(auto const& adversary : adversaries) {
  52. std::string color = adversary.getColor();
  53. color.at(0) = std::toupper(color.at(0));
  54. try {
  55. if(gridOptions.agentsToBeConsidered.size() != 0 && std::find(gridOptions.agentsToBeConsidered.begin(), gridOptions.agentsToBeConsidered.end(), color) == gridOptions.agentsToBeConsidered.end()) continue;
  56. auto success = agentNameAndPositionMap.insert({ color, adversary.getCoordinates() });
  57. if(!success.second) {
  58. throw std::logic_error("Agent with " + color + " already present\n");
  59. }
  60. } catch(const std::logic_error& e) {
  61. std::cerr << "Expected agents colors to be different. Agent with color : '" << color << "' already present." << std::endl;
  62. throw;
  63. }
  64. }
  65. for(auto const& color : allColors) {
  66. cells cellsOfColor;
  67. std::copy_if(background.begin(), background.end(), std::back_inserter(cellsOfColor), [&color](cell c) {
  68. return c.type == Type::Floor && c.color == color;
  69. });
  70. if(cellsOfColor.size() > 0) {
  71. backgroundTiles.emplace(color, cellsOfColor);
  72. }
  73. }
  74. }
  75. std::ostream& operator<<(std::ostream& os, const Grid& grid) {
  76. int lastRow = 1;
  77. for(auto const& cell : grid.allGridCells) {
  78. if(lastRow != cell.row)
  79. os << std::endl;
  80. os << static_cast<char>(cell.type) << static_cast<char>(cell.color);
  81. lastRow = cell.row;
  82. }
  83. return os;
  84. }
  85. cells Grid::getGridCells() {
  86. return allGridCells;
  87. }
  88. bool Grid::isBlocked(coordinates p) {
  89. return isWall(p) || isLockedDoor(p) || isKey(p);
  90. }
  91. bool Grid::isWall(coordinates p) {
  92. return std::find_if(walls.begin(), walls.end(),
  93. [p](cell cell) {
  94. return cell.row == p.first && cell.column == p.second;
  95. }) != walls.end();
  96. }
  97. bool Grid::isLockedDoor(coordinates p) {
  98. return std::find_if(lockedDoors.begin(), lockedDoors.end(),
  99. [p](cell cell) {
  100. return cell.row == p.first && cell.column == p.second;
  101. }) != lockedDoors.end();
  102. }
  103. bool Grid::isUnlockedDoor(coordinates p) {
  104. return std::find_if(unlockedDoors.begin(), unlockedDoors.end(),
  105. [p](cell cell) {
  106. return cell.row == p.first && cell.column == p.second;
  107. }) != unlockedDoors.end();
  108. }
  109. bool Grid::isKey(coordinates p) {
  110. return std::find_if(keys.begin(), keys.end(),
  111. [p](cell cell) {
  112. return cell.row == p.first && cell.column == p.second;
  113. }) != keys.end();
  114. }
  115. bool Grid::isBox(coordinates p) {
  116. return std::find_if(boxes.begin(), boxes.end(),
  117. [p](cell cell) {
  118. return cell.row == p.first && cell.column == p.second;
  119. }) != boxes.end();
  120. }
  121. void Grid::printToPrism(std::ostream& os, const prism::ModelType& modelType) {
  122. cells northRestriction;
  123. cells eastRestriction;
  124. cells southRestriction;
  125. cells westRestriction;
  126. cells walkable = floor;
  127. walkable.insert(walkable.end(), goals.begin(), goals.end());
  128. walkable.insert(walkable.end(), boxes.begin(), boxes.end());
  129. walkable.push_back(agent);
  130. walkable.insert(walkable.end(), adversaries.begin(), adversaries.end());
  131. walkable.insert(walkable.end(), lava.begin(), lava.end());
  132. walkable.insert(walkable.end(), keys.begin(), keys.end());
  133. walkable.insert(walkable.end(), lockedDoors.begin(), lockedDoors.end());
  134. walkable.insert(walkable.end(), unlockedDoors.begin(), unlockedDoors.end());
  135. for(auto const& c : walkable) {
  136. if(isBlocked(c.getNorth())) northRestriction.push_back(c);
  137. if(isBlocked(c.getEast())) eastRestriction.push_back(c);
  138. if(isBlocked(c.getSouth())) southRestriction.push_back(c);
  139. if(isBlocked(c.getWest())) westRestriction.push_back(c);
  140. }
  141. prism::PrismModulesPrinter printer(modelType, agentNameAndPositionMap.size(), gridOptions.enforceOneWays);
  142. printer.printModel(os, modelType);
  143. if(modelType == prism::ModelType::SMG) {
  144. printer.printGlobalMoveVariable(os, agentNameAndPositionMap.size());
  145. }
  146. for(auto const &backgroundTilesOfColor : backgroundTiles) {
  147. for(auto agentNameAndPosition = agentNameAndPositionMap.begin(); agentNameAndPosition != agentNameAndPositionMap.end(); ++agentNameAndPosition) {
  148. printer.printBackgroundLabels(os, agentNameAndPosition->first, backgroundTilesOfColor);
  149. }
  150. }
  151. cells noTurnFloor;
  152. if(gridOptions.enforceOneWays) {
  153. for(auto const& c : floor) {
  154. cell east = c.getEast(allGridCells);
  155. cell south = c.getSouth(allGridCells);
  156. cell west = c.getWest(allGridCells);
  157. cell north = c.getNorth(allGridCells);
  158. if( (east.type == Type::Wall && west.type == Type::Wall) or
  159. (north.type == Type::Wall && south.type == Type::Wall) ) {
  160. noTurnFloor.push_back(c);
  161. }
  162. }
  163. }
  164. for(auto agentNameAndPosition = agentNameAndPositionMap.begin(); agentNameAndPosition != agentNameAndPositionMap.end(); ++agentNameAndPosition) {
  165. printer.printFormulas(os, agentNameAndPosition->first, northRestriction, eastRestriction, southRestriction, westRestriction, { slipperyNorth, slipperyEast, slipperySouth, slipperyWest }, lava, walls, noTurnFloor, slipperyNorth, slipperyEast, slipperySouth, slipperyWest);
  166. printer.printGoalLabel(os, agentNameAndPosition->first, goals);
  167. printer.printKeysLabels(os, agentNameAndPosition->first, keys);
  168. }
  169. std::vector<AgentName> agentNames;
  170. std::transform(agentNameAndPositionMap.begin(),
  171. agentNameAndPositionMap.end(),
  172. std::back_inserter(agentNames),
  173. [](const std::map<AgentNameAndPosition::first_type,AgentNameAndPosition::second_type>::value_type &pair){return pair.first;});
  174. if(modelType == prism::ModelType::SMG) {
  175. printer.printCrashLabel(os, agentNames);
  176. }
  177. size_t agentIndex = 0;
  178. for(auto agentNameAndPosition = agentNameAndPositionMap.begin(); agentNameAndPosition != agentNameAndPositionMap.end(); ++agentNameAndPosition, agentIndex++) {
  179. AgentName agentName = agentNameAndPosition->first;
  180. //std::cout << "Agent Name: " << agentName << std::endl;
  181. bool agentWithView = std::find(gridOptions.agentsWithView.begin(), gridOptions.agentsWithView.end(), agentName) != gridOptions.agentsWithView.end();
  182. bool agentWithProbabilisticBehaviour = std::find(gridOptions.agentsWithProbabilisticBehaviour.begin(), gridOptions.agentsWithProbabilisticBehaviour.end(), agentName) != gridOptions.agentsWithProbabilisticBehaviour.end();
  183. std::set<std::string> slipperyActions;
  184. printer.printInitStruct(os, agentName, keys);
  185. if(agentWithProbabilisticBehaviour) printer.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView, gridOptions.probabilitiesForActions);
  186. else printer.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView);
  187. for(auto const& c : slipperyNorth) {
  188. printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
  189. if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
  190. }
  191. for(auto const& c : slipperyEast) {
  192. printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
  193. if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
  194. }
  195. for(auto const& c : slipperySouth) {
  196. printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
  197. if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
  198. }
  199. for(auto const& c : slipperyWest) {
  200. printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
  201. if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
  202. }
  203. printer.printEndmodule(os);
  204. if(modelType == prism::ModelType::SMG) {
  205. if(agentWithProbabilisticBehaviour) printer.printPlayerStruct(os, agentNameAndPosition->first, agentWithView, gridOptions.probabilitiesForActions, slipperyActions);
  206. else printer.printPlayerStruct(os, agentNameAndPosition->first, agentWithView, {}, slipperyActions);
  207. }
  208. //if(!stateRewards.empty()) {
  209. printer.printRewards(os, agentName, stateRewards, lava, goals, backgroundTiles);
  210. //}
  211. }
  212. }
  213. std::array<bool, 8> Grid::getWalkableDirOf8Neighborhood(cell c) /* const */ {
  214. return (std::array<bool, 8>)
  215. {
  216. !isBlocked(c.getNorth()),
  217. !isBlocked(c.getNorth(allGridCells).getEast()),
  218. !isBlocked(c.getEast()),
  219. !isBlocked(c.getSouth(allGridCells).getEast()),
  220. !isBlocked(c.getSouth()),
  221. !isBlocked(c.getSouth(allGridCells).getWest()),
  222. !isBlocked(c.getWest()),
  223. !isBlocked(c.getNorth(allGridCells).getWest())
  224. };
  225. }