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first steps towards robots modules 

This includes:
 - PrismFormulaPrinter.print takes agentName as argument
 - added formulas for goals, isnextto, portableobjects
 - added movement helper for deterministic movement
 - removed enforceOneWays (for now)
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sp 6 months ago
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26a7808eeb
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4d548f9502
4 changed files with 384 additions and 360 deletions
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  1. 47
      util/PrismFormulaPrinter.cpp
  2. 15
      util/PrismFormulaPrinter.h
  3. 658
      util/PrismModulesPrinter.cpp
  4. 24
      util/PrismModulesPrinter.h

47
util/PrismFormulaPrinter.cpp
View File

@ -28,65 +28,72 @@ std::map<ViewDirection, coordinates> getSurroundingCells(const cell &c) {
}
namespace prism {
PrismFormulaPrinter::PrismFormulaPrinter(std::ostream &os, const AgentName &agentName, const std::map<std::string, cells> &restrictions, const cells &boxes, const cells &balls, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const std::map<std::string, cells> &slipperyTiles, const cells &lava)
: os(os), agentName(agentName), restrictions(restrictions), boxes(boxes), balls(balls), lockedDoors(lockedDoors), unlockedDoors(unlockedDoors), keys(keys), slipperyTiles(slipperyTiles), lava(lava)
PrismFormulaPrinter::PrismFormulaPrinter(std::ostream &os, const std::map<std::string, cells> &restrictions, const cells &boxes, const cells &balls, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const std::map<std::string, cells> &slipperyTiles, const cells &lava, const cells &goals)
: os(os), restrictions(restrictions), boxes(boxes), balls(balls), lockedDoors(lockedDoors), unlockedDoors(unlockedDoors), keys(keys), slipperyTiles(slipperyTiles), lava(lava), goals(goals)
{ }
void PrismFormulaPrinter::print() {
void PrismFormulaPrinter::print(const AgentName &agentName) {
for(const auto& [direction, cells] : restrictions) {
printRestrictionFormula(direction, cells);
printRestrictionFormula(agentName, direction, cells);
}
for(const auto& [direction, cells] : slipperyTiles) {
printIsOnFormula("Slippery", cells, direction);
printIsOnFormula(agentName, "Slippery", cells, direction);
}
printIsOnFormula("Lava", lava);
std::vector<std::string> allSlipperyDirections = {agentName + "IsOnSlipperyNorth", agentName + "IsOnSlipperyEast", agentName + "IsOnSlipperySouth", agentName + "IsOnSlipperyWest"};
os << buildFormula(agentName + "IsOnSlippery", vectorToDisjunction(allSlipperyDirections));
printIsOnFormula(agentName, "Lava", lava);
printIsOnFormula(agentName, "Goal", goals);
for(const auto& ball : balls) {
std::string color = capitalize(ball.getColor());
printRestrictionFormulaWithCondition(color + "Ball", getSurroundingCells(ball), "!" + color + "BallPickedUp");
std::string identifier = capitalize(ball.getColor()) + ball.getType();
printRestrictionFormulaWithCondition(agentName, identifier, getSurroundingCells(ball), "!" + identifier + "PickedUp");
portableObjects.push_back(agentName + "Carrying" + identifier);
}
for(const auto& box : boxes) {
std::string color = capitalize(box.getColor());
printRestrictionFormulaWithCondition(color + "Box", getSurroundingCells(box), "!" + color + "BoxPickedUp");
std::string identifier = capitalize(box.getColor()) + box.getType();
printRestrictionFormulaWithCondition(agentName, identifier, getSurroundingCells(box), "!" + identifier + "PickedUp");
portableObjects.push_back(agentName + "Carrying" + identifier);
}
for(const auto& key : keys) {
std::string color = capitalize(key.getColor());
printRestrictionFormulaWithCondition(color + "Key", getSurroundingCells(key), "!" + color + "KeyPickedUp");
std::string identifier = capitalize(key.getColor()) + key.getType();
printRestrictionFormulaWithCondition(agentName, identifier, getSurroundingCells(key), "!" + identifier + "PickedUp");
portableObjects.push_back(agentName + "Carrying" + identifier);
}
for(const auto& door : unlockedDoors) {
std::string identifier = capitalize(door.getColor()) + door.getType();
printRestrictionFormulaWithCondition(identifier, getSurroundingCells(door), "!" + identifier + "Open");
printIsNextToFormula(identifier, getSurroundingCells(door));
printRestrictionFormulaWithCondition(agentName, identifier, getSurroundingCells(door), "!" + identifier + "Open");
printIsNextToFormula(agentName, identifier, getSurroundingCells(door));
}
for(const auto& door : lockedDoors) {
std::string identifier = capitalize(door.getColor()) + door.getType();
printRestrictionFormulaWithCondition(identifier, getSurroundingCells(door), "!" + identifier + "Open");
printIsNextToFormula(identifier, getSurroundingCells(door));
printRestrictionFormulaWithCondition(agentName, identifier, getSurroundingCells(door), "!" + identifier + "Open");
printIsNextToFormula(agentName, identifier, getSurroundingCells(door));
}
if(conditionalMovementRestrictions.size() > 0) {
os << buildFormula(agentName + "CannotMoveConditionally", vectorToDisjunction(conditionalMovementRestrictions));
os << buildFormula(agentName + "IsCarrying", vectorToDisjunction(portableObjects));
}
}
void PrismFormulaPrinter::printRestrictionFormula(const std::string &direction, const cells &grid_cells) {
void PrismFormulaPrinter::printRestrictionFormula(const AgentName &agentName, const std::string &direction, const cells &grid_cells) {
os << buildFormula(agentName + "CannotMove" + direction + "Wall", buildDisjunction(agentName, grid_cells));
}
void PrismFormulaPrinter::printIsOnFormula(const std::string &type, const cells &grid_cells, const std::string &direction) {
void PrismFormulaPrinter::printIsOnFormula(const AgentName &agentName, const std::string &type, const cells &grid_cells, const std::string &direction) {
os << buildFormula(agentName + "IsOn" + type + direction, buildDisjunction(agentName, grid_cells));
}
void PrismFormulaPrinter::printIsNextToFormula(const std::string &type, const std::map<ViewDirection, coordinates> &coordinates) {
void PrismFormulaPrinter::printIsNextToFormula(const AgentName &agentName, const std::string &type, const std::map<ViewDirection, coordinates> &coordinates) {
os << buildFormula(agentName + "IsNextTo" + type, buildDisjunction(agentName, coordinates));
}
void PrismFormulaPrinter::printRestrictionFormulaWithCondition(const std::string &reason, const std::map<ViewDirection, coordinates> &coordinates, const std::string &condition) {
void PrismFormulaPrinter::printRestrictionFormulaWithCondition(const AgentName &agentName, const std::string &reason, const std::map<ViewDirection, coordinates> &coordinates, const std::string &condition) {
os << buildFormula(agentName + "CannotMove" + reason, "(" + buildDisjunction(agentName, coordinates) + ") & " + condition);
conditionalMovementRestrictions.push_back(agentName + "CannotMove" + reason);
}

15
util/PrismFormulaPrinter.h
View File

@ -15,14 +15,14 @@ std::map<ViewDirection, coordinates> getSurroundingCells(const cell &c);
namespace prism {
class PrismFormulaPrinter {
public:
PrismFormulaPrinter(std::ostream &os, const AgentName &agentName, const std::map<std::string, cells> &restrictions, const cells &boxes, const cells &balls, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const std::map<std::string, cells> &slipperyTiles, const cells &lava);
PrismFormulaPrinter(std::ostream &os, const std::map<std::string, cells> &restrictions, const cells &boxes, const cells &balls, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const std::map<std::string, cells> &slipperyTiles, const cells &lava, const cells &goals);
void print();
void print(const AgentName &agentName);
void printRestrictionFormula(const std::string &direction, const cells &grid_cells);
void printIsOnFormula(const std::string &type, const cells &grid_cells, const std::string &direction = "");
void printIsNextToFormula(const std::string &type, const std::map<ViewDirection, coordinates> &coordinates);
void printRestrictionFormulaWithCondition(const std::string &reason, const std::map<ViewDirection, coordinates> &coordinates, const std::string &condition);
void printRestrictionFormula(const AgentName &agentName, const std::string &direction, const cells &grid_cells);
void printIsOnFormula(const AgentName &agentName, const std::string &type, const cells &grid_cells, const std::string &direction = "");
void printIsNextToFormula(const AgentName &agentName, const std::string &type, const std::map<ViewDirection, coordinates> &coordinates);
void printRestrictionFormulaWithCondition(const AgentName &agentName, const std::string &reason, const std::map<ViewDirection, coordinates> &coordinates, const std::string &condition);
private:
std::string buildFormula(const std::string &formulaName, const std::string &formula);
std::string buildLabel(const std::string &labelName, const std::string &label);
@ -30,7 +30,6 @@ namespace prism {
std::string buildDisjunction(const AgentName &agentName, const cells &cells, const std::vector<std::string> &conditions = {});
std::ostream &os;
AgentName agentName; // move this to functions
std::map<std::string, cells> restrictions;
cells boxes;
cells balls;
@ -39,7 +38,9 @@ namespace prism {
cells keys;
std::map<std::string, cells> slipperyTiles;
cells lava;
cells goals;
std::vector<std::string> conditionalMovementRestrictions;
std::vector<std::string> portableObjects;
};
}

658
util/PrismModulesPrinter.cpp
View File

@ -5,9 +5,13 @@
namespace prism {
PrismModulesPrinter::PrismModulesPrinter(std::ostream& os, const ModelType &modelType, const coordinates &maxBoundaries, const cells &boxes, const cells &balls, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const AgentNameAndPositionMap &agentNameAndPositionMap, std::vector<Configuration> config, const bool enforceOneWays)
: os(os), modelType(modelType), maxBoundaries(maxBoundaries), boxes(boxes), balls(balls), lockedDoors(lockedDoors), unlockedDoors(unlockedDoors), keys(keys), agentNameAndPositionMap(agentNameAndPositionMap), enforceOneWays(enforceOneWays), configuration(config), viewDirectionMapping({{0, "East"}, {1, "South"}, {2, "West"}, {3, "North"}}) {
PrismModulesPrinter::PrismModulesPrinter(std::ostream& os, const ModelType &modelType, const coordinates &maxBoundaries, const cells &boxes, const cells &balls, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const AgentNameAndPositionMap &agentNameAndPositionMap, std::vector<Configuration> config, const float &faultyProbability)
: os(os), modelType(modelType), maxBoundaries(maxBoundaries), boxes(boxes), balls(balls), lockedDoors(lockedDoors), unlockedDoors(unlockedDoors), keys(keys), agentNameAndPositionMap(agentNameAndPositionMap), configuration(config), faultyProbability(faultyProbability), viewDirectionMapping({{0, "East"}, {1, "South"}, {2, "West"}, {3, "North"}}) {
numberOfPlayer = agentNameAndPositionMap.size();
size_t index = 0;
for(auto begin = agentNameAndPositionMap.begin(); begin != agentNameAndPositionMap.end(); begin++, index++) {
agentIndexMap[begin->first] = index;
}
}
std::ostream& PrismModulesPrinter::printModelType(const ModelType &modelType) {
@ -129,6 +133,7 @@ namespace prism {
}
std::ostream& PrismModulesPrinter::printInitStruct(std::ostream &os, const AgentNameAndPositionMap &agents, const KeyNameAndPositionMap &keys, const cells &lockedDoors, const cells &unlockedDoors, prism::ModelType modelType) {
/*
os << "init\n";
os << "\t";
@ -139,9 +144,6 @@ namespace prism {
os << "(!" << agent.first << "IsInGoal & !" << agent.first << "IsInLava & !" << agent.first << "Done & !" << agent.first << "IsOnWall & ";
os << "x" << agent.first << "=" << agent.second.second << " & y" << agent.first << "=" << agent.second.first << ")";
os << " & !" << agent.first << "_is_carrying_object";
if(enforceOneWays) {
os << " & ( !AgentCannotTurn ) ";
} else {
// os << " & ( !AgentIsOnSlippery ) ";
}
@ -170,11 +172,12 @@ namespace prism {
os << "\nendinit\n\n";
*/
return os;
}
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, const double faultyProbability) {
/*
os << "module " << agentName << "\n";
os << "\tx" << agentName << " : [1.." << boundaries.second << "];\n";
os << "\ty" << agentName << " : [1.." << boundaries.first << "];\n";
@ -196,12 +199,6 @@ namespace prism {
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";
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";
}
if(enforceOneWays) {
os << "\t[" << agentName << "_stuck] !" << agentName << "IsFixed & " << agentName << "CannotTurn & view" << agentName << " = 0 & " << agentName << "CannotMoveEast -> true;\n";
os << "\t[" << agentName << "_stuck] !" << agentName << "IsFixed & " << agentName << "CannotTurn & view" << agentName << " = 1 & " << agentName << "CannotMoveSouth -> true;\n";
os << "\t[" << agentName << "_stuck] !" << agentName << "IsFixed & " << agentName << "CannotTurn & view" << agentName << " = 2 & " << agentName << "CannotMoveWest -> true;\n";
os << "\t[" << agentName << "_stuck] !" << agentName << "IsFixed & " << agentName << "CannotTurn & view" << agentName << " = 3 & " << agentName << "CannotMoveNorth -> true;\n";
}
} else {
os << "\t[" << agentName << "_turns] " << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << moveGuard(agentIndex) << " true -> (x" << agentName << "'=x" << agentName << ")" << moveUpdate(agentIndex) << ";\n";
}
@ -218,6 +215,7 @@ namespace prism {
printConfiguredActions(os, agentName);
os << "\n";
*/
return os;
}
@ -278,6 +276,8 @@ namespace prism {
os << "\ty" << agentName << " : [0.." << maxBoundaries.first << "] init " << initialPosition.first << ";\n";
os << "\tview" << agentName << " : [0..3] init 1;\n";
printMovementActionsForRobot(agentName);
for(const auto &door : unlockedDoors) {
std::string identifier = capitalize(door.getColor()) + door.getType();
printUnlockedDoorActionsForRobot(agentName, identifier);
@ -296,6 +296,7 @@ namespace prism {
}
os << "\n" << actionStream.str();
actionStream.str(std::string());
os << "endmodule\n\n";
}
@ -320,18 +321,26 @@ namespace prism {
actionStream << "\n";
}
void PrismModulesPrinter::printTurningActionsForRobot(const AgentName &a) {
}
void PrismModulesPrinter::printMovementActionsForRobot(const AgentName &a) {
if(faultyProbability <= 0.0) {
actionStream << printMovementGuard(a, "North", 3) << printMovementUpdate(a, "y" + a + "'=y" + a + "-1");
actionStream << printMovementGuard(a, "East", 0) << printMovementUpdate(a, "x" + a + "'=x" + a + "+1");
actionStream << printMovementGuard(a, "South", 1) << printMovementUpdate(a, "y" + a + "'=y" + a + "+1");
actionStream << printMovementGuard(a, "West", 2) << printMovementUpdate(a, "x" + a + "'=x" + a + "-1");
}
}
std::string PrismModulesPrinter::printMovementGuard(const AgentName &a, const std::string &direction, const size_t &viewDirection) {
return "\t[" + a + "_move_" + direction + "]" + moveGuard(a) + viewVariable(a, 3) + " !" + a + "IsOnSlippery & !" + a + "IsOnLava & !" + a + "IsOnGoal & !" + a + "CannotMove" + direction + "Wall -> ";
}
std::string PrismModulesPrinter::printMovementUpdate(const AgentName &a, const std::string &update) {
return "(" + update + ") & " + moveUpdate(a) + ";\n";
}
std::ostream& PrismModulesPrinter::printConfiguredActions(std::ostream &os, const AgentName &agentName) {
for (auto& config : configuration) {
@ -346,6 +355,7 @@ namespace prism {
}
std::ostream& PrismModulesPrinter::printMovementActions(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, const bool agentWithView, const float &probability, const double &stickyProbability) {
/*
if(stickyProbability != 0.0) {
os << "\t[" << agentName << "_move_north]" << moveGuard(agentIndex) << viewVariable(agentName, 3, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveNorth -> " << (100 - stickyProbability) << "/100:" << "(y" << agentName << "'=y" << agentName << "-1)" << moveUpdate(agentIndex) << "\n+ " << (stickyProbability) << "/100:" << "(y" << agentName << "'=max(y" << agentName << "-2, 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 -> " << (100 - stickyProbability) << "/100:" << "(x" << agentName << "'=x" << agentName << "+1)" << moveUpdate(agentIndex) << "\n+ " << (stickyProbability) << "/100:" << "(x" << agentName << "'=min(x" << agentName << "+2, width))" << moveUpdate(agentIndex) << ";\n";
@ -381,323 +391,320 @@ namespace prism {
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";
std::ostream& PrismModulesPrinter::printDoneActions(std::ostream &os, const AgentName &agentName) {
os << "\t[" << agentName << "_done]" << moveGuard(agentName) << 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::tuple<std::string, std::string, std::string>, 3> viewTransition = {
std::make_tuple(" & " + agentName + "SlipperyTurnRightAllowed ", " & (view" + agentName + "'=mod(view" + agentName + " + 1, 4))", "_right]"),
std::make_tuple(" & " + agentName + "SlipperyTurnLeftAllowed & view" + agentName + ">0", " & (view" + agentName + "'=view" + agentName + " - 1)", "_left]"),
std::make_tuple(" & " + agentName + "SlipperyTurnLeftAllowed & view" + agentName + "=0", " & (view" + agentName + "'=3)", "_left]")
};
// direction specifics
std::string actionName;
std::string positionGuard;
std::size_t remainPosIndex = 8;
std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir; // { n, ne, e, se, s, sw, w, nw, CURRENT POS }
std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants;
switch (orientation)
{
case SlipperyType::North:
actionName = "\t[" + agentName + "turn_at_slip_north";
positionGuard = "\t" + agentName + "IsOnSlipperyNorth";
prob_piece_dir = { 0, 0, 0, 0, 1, 0, 0, 0, 0 /* <- R */ };
prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_turn_displacement" /* <- R */, "prop_zero", "prop_zero", "prop_zero","prop_zero" };
break;
case SlipperyType::South:
actionName = "\t[" + agentName + "turn_at_slip_south";
positionGuard = "\t" + agentName + "IsOnSlipperySouth";
prob_piece_dir = { 1, 0, 0, 0, 0, 0, 0, 0, 0 /* <- R */ };
prob_piece_dir_constants = { "prop_turn_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" };
break;
case SlipperyType::East:
actionName = "\t[" + agentName + "turn_at_slip_east";
positionGuard = "\t" + agentName + "IsOnSlipperyEast";
prob_piece_dir = { 0, 0, 0, 0, 0, 0, 1, 0, 0 /* <- R */ };
prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_turn_displacement", "prop_zero", "prop_zero" };
break;
case SlipperyType::West:
actionName = "\t[" + agentName + "turn_at_slip_west";
positionGuard = "\t" + agentName + "IsOnSlipperyWest";
prob_piece_dir = { 0, 0, 1, 0, 0, 0, 0, 0, 0 /* <- R */ };
prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_turn_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" };
break;
}
slipperyActions.insert(actionName + "_left]");
slipperyActions.insert(actionName + "_right]");
// 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);
prob_piece_dir_constants.at(remainPosIndex) = "prop_turn_intended";
// <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 << std::get<2>(viewTransition.at(v)) << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << std::get<0>(viewTransition.at(v));
for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) {
if (i == remainPosIndex) {
os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants.at(i) << " : " << positionTransition.at(i) << std::get<1>(viewTransition.at(v)) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
} else {
os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants.at(i) << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
}
}
}
// 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::tuple<std::string, std::string, std::string>, 3> viewTransition = {
// std::make_tuple(" & " + agentName + "SlipperyTurnRightAllowed ", " & (view" + agentName + "'=mod(view" + agentName + " + 1, 4))", "_right]"),
// std::make_tuple(" & " + agentName + "SlipperyTurnLeftAllowed & view" + agentName + ">0", " & (view" + agentName + "'=view" + agentName + " - 1)", "_left]"),
// std::make_tuple(" & " + agentName + "SlipperyTurnLeftAllowed & view" + agentName + "=0", " & (view" + agentName + "'=3)", "_left]")
// };
// // direction specifics
// std::string actionName;
// std::string positionGuard;
// std::size_t remainPosIndex = 8;
// std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir; // { n, ne, e, se, s, sw, w, nw, CURRENT POS }
// std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants;
// switch (orientation)
// {
// case SlipperyType::North:
// actionName = "\t[" + agentName + "turn_at_slip_north";
// positionGuard = "\t" + agentName + "IsOnSlipperyNorth";
// prob_piece_dir = { 0, 0, 0, 0, 1, 0, 0, 0, 0 /* <- R */ };
// prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_turn_displacement" /* <- R */, "prop_zero", "prop_zero", "prop_zero","prop_zero" };
// break;
// case SlipperyType::South:
// actionName = "\t[" + agentName + "turn_at_slip_south";
// positionGuard = "\t" + agentName + "IsOnSlipperySouth";
// prob_piece_dir = { 1, 0, 0, 0, 0, 0, 0, 0, 0 /* <- R */ };
// prob_piece_dir_constants = { "prop_turn_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" };
// break;
// case SlipperyType::East:
// actionName = "\t[" + agentName + "turn_at_slip_east";
// positionGuard = "\t" + agentName + "IsOnSlipperyEast";
// prob_piece_dir = { 0, 0, 0, 0, 0, 0, 1, 0, 0 /* <- R */ };
// prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_turn_displacement", "prop_zero", "prop_zero" };
// break;
// case SlipperyType::West:
// actionName = "\t[" + agentName + "turn_at_slip_west";
// positionGuard = "\t" + agentName + "IsOnSlipperyWest";
// prob_piece_dir = { 0, 0, 1, 0, 0, 0, 0, 0, 0 /* <- R */ };
// prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_turn_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" };
// break;
// }
// slipperyActions.insert(actionName + "_left]");
// slipperyActions.insert(actionName + "_right]");
// // 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);
// prob_piece_dir_constants.at(remainPosIndex) = "prop_turn_intended";
// // <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 << std::get<2>(viewTransition.at(v)) << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << std::get<0>(viewTransition.at(v));
// for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) {
// if (i == remainPosIndex) {
// os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants.at(i) << " : " << positionTransition.at(i) << std::get<1>(viewTransition.at(v)) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
// } else {
// os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants.at(i) << " : " << positionTransition.at(i) << 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, straightPosIndex_east, straightPosIndex_south, straightPosIndex_west, straightPosIndex_north;
std::string actionName, specialTransition; // if straight ahead is blocked
std::string positionGuard;
std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir; // { n, ne, e, se, s, sw, w, nw }
std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir_agent_north; // { n, ne, e, se, s, sw, w, nw }
std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir_agent_east; // { n, ne, e, se, s, sw, w, nw }
std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir_agent_south; // { n, ne, e, se, s, sw, w, nw }
std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir_agent_west; // { n, ne, e, se, s, sw, w, nw }
std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants;
std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants_agent_north;
std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants_agent_east;
std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants_agent_south;
std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants_agent_west;
switch (orientation)
{
case SlipperyType::North:
actionName = "\t[" + agentName + "move_on_slip_north]";
positionGuard = "\t" + agentName + "IsOnSlipperyNorth";
prob_piece_dir = { 0, 0, 1, 2, 0 /* <- R */, 2, 1, 0 };
prob_piece_dir_agent_south = { 0 , 0, 0, 1, 0 /*s <- R */, 1, 0, 0};
prob_piece_dir_agent_east = { 0, 0, 0 /*e <- R */, 2, 0, 0, 0, 0 };
prob_piece_dir_agent_north = { 0 /*n <- R */, 0, 0, 0, 2 , 0, 0, 0 };
prob_piece_dir_agent_west = { 0, 0, 0, 0, 0, 2, 0 /* <- R */, 0 };
prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_displacement", "prop_zero" /* <- R */, "prop_displacement", "prop_displacement * 1/2", "prop_zero" };
prob_piece_dir_constants_agent_north = { "prop_zero", "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_zero" /* <- R */, "prop_displacement * 1/2", "prop_zero", "prop_zero" };
prob_piece_dir_constants_agent_east = { "prop_zero", "prop_zero", "prop_zero", "prop_displacement", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" };
prob_piece_dir_constants_agent_south = { "prop_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" } ;
prob_piece_dir_constants_agent_west ={ "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_displacement", "prop_zero", "prop_zero" } ;
straightPosIndex = 4;
straightPosIndex_east = 2;
straightPosIndex_south = 4;
straightPosIndex_west = 6;
straightPosIndex_north = 0;
specialTransition = "(y" + agentName + "'=y" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "+1)");
break;
//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, straightPosIndex_east, straightPosIndex_south, straightPosIndex_west, straightPosIndex_north;
//std::string actionName, specialTransition; // if straight ahead is blocked
//std::string positionGuard;
//std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir; // { n, ne, e, se, s, sw, w, nw }
//std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir_agent_north; // { n, ne, e, se, s, sw, w, nw }
//std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir_agent_east; // { n, ne, e, se, s, sw, w, nw }
//std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir_agent_south; // { n, ne, e, se, s, sw, w, nw }
//std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir_agent_west; // { n, ne, e, se, s, sw, w, nw }
//std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants;
//std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants_agent_north;
//std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants_agent_east;
//std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants_agent_south;
//std::array<std::string, ALL_POSS_DIRECTIONS> prob_piece_dir_constants_agent_west;
//switch (orientation)
//{
// case SlipperyType::North:
// actionName = "\t[" + agentName + "move_on_slip_north]";
// positionGuard = "\t" + agentName + "IsOnSlipperyNorth";
// prob_piece_dir = { 0, 0, 1, 2, 0 /* <- R */, 2, 1, 0 };
// prob_piece_dir_agent_south = { 0 , 0, 0, 1, 0 /*s <- R */, 1, 0, 0};
// prob_piece_dir_agent_east = { 0, 0, 0 /*e <- R */, 2, 0, 0, 0, 0 };
// prob_piece_dir_agent_north = { 0 /*n <- R */, 0, 0, 0, 2 , 0, 0, 0 };
// prob_piece_dir_agent_west = { 0, 0, 0, 0, 0, 2, 0 /* <- R */, 0 };
// prob_piece_dir_constants = { "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_displacement", "prop_zero" /* <- R */, "prop_displacement", "prop_displacement * 1/2", "prop_zero" };
// prob_piece_dir_constants_agent_north = { "prop_zero", "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_zero" /* <- R */, "prop_displacement * 1/2", "prop_zero", "prop_zero" };
// prob_piece_dir_constants_agent_east = { "prop_zero", "prop_zero", "prop_zero", "prop_displacement", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" };
// prob_piece_dir_constants_agent_south = { "prop_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" } ;
// prob_piece_dir_constants_agent_west ={ "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_displacement", "prop_zero", "prop_zero" } ;
// straightPosIndex = 4;
// straightPosIndex_east = 2;
// straightPosIndex_south = 4;
// straightPosIndex_west = 6;
// straightPosIndex_north = 0;
// specialTransition = "(y" + agentName + "'=y" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "+1)");
// break;
// case SlipperyType::South:
// actionName = "\t[" + agentName + "move_on_slip_south]";
// positionGuard = "\t" + agentName + "IsOnSlipperySouth";
// prob_piece_dir = { 0 /* <- R */, 2, 1, 0, 0, 0, 1, 2 };
// // { n, ne, e, se, s, sw, w, nw }
// prob_piece_dir_agent_north = { 0 /*n <- R */, 1, 0, 0, 0, 0, 0, 1};
// prob_piece_dir_agent_east = { 0, 2, 0 /*e <- R */, 0, 0, 0, 0, 0 };
// prob_piece_dir_agent_south = { 2, 0, 0, 0, 0 /*s <- R */, 0, 0, 0 };
// prob_piece_dir_agent_west = { 0, 0, 0, 0, 0, 0, 0 /* <- R */, 2 };
// prob_piece_dir_constants = { "prop_zero" /* <- R */, "prop_displacement", "prop_displacement * 1/2", "prop_zero", "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_displacement" };
// prob_piece_dir_constants_agent_north = { "prop_zero", "prop_displacement * 1/2", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_displacement * 1/2" };
// prob_piece_dir_constants_agent_east = { "prop_zero", "prop_displacement", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" };
// prob_piece_dir_constants_agent_south = { "prop_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" } ;
// prob_piece_dir_constants_agent_west ={ "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_displacement" } ;
// straightPosIndex = 0; // always north
// straightPosIndex_east = 2;
// straightPosIndex_south = 4;
// straightPosIndex_west = 6;
// straightPosIndex_north = 0;
// specialTransition = "(y" + agentName + "'=y" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "-1)");
// break;
// case SlipperyType::East:
// actionName = "\t[" + agentName + "move_on_slip_east]";
// positionGuard = "\t" + agentName + "IsOnSlipperyEast";
// // { n, ne, e, se, s, sw, w, nw }
// prob_piece_dir = { 1, 0, 0, 0, 1, 2, 0 /* <- R */, 2 };
// // TODO
// prob_piece_dir_agent_north = { 0 /*n <- R */, 1, 0, 0, 0, 0, 0, 1};
// prob_piece_dir_agent_east = { 0, 2, 0 /*e <- R */, 0, 0, 0, 0, 0 };
// prob_piece_dir_agent_south = { 2, 0, 0, 0, 0 /*s <- R */, 0, 0, 0 };
// prob_piece_dir_agent_west = { 0, 0, 0, 0, 0, 0, 0 /* <- R */, 2 };
// prob_piece_dir_constants = { "prop_displacement * 1/2", "prop_zero", "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_displacement", "prop_zero" /* <- R */, "prop_displacement" };
// prob_piece_dir_constants_agent_north = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_displacement * 1/2", "prop_displacement * 1/2" };
// prob_piece_dir_constants_agent_east = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_displacement", "prop_zero" };
// prob_piece_dir_constants_agent_south = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_displacement * 1/2", "prop_displacement * 1/2", "prop_zero" } ;
// prob_piece_dir_constants_agent_west ={ "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_displacement * 1/2", "prop_zero", "prop_displacement * 1/2" } ;
// straightPosIndex = 6;
// straightPosIndex_east = 2;
// straightPosIndex_south = 4;
// straightPosIndex_west = 6;
// straightPosIndex_north = 0;
// specialTransition = "(x" + agentName + "'=x" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "-1)");
// break;
// case SlipperyType::West:
// actionName = "\t[" + agentName + "move_on_slip_west]";
// positionGuard = "\t" + agentName + "IsOnSlipperyWest";
// prob_piece_dir = { 1, 2, 0 /* <- R */, 2, 1, 0, 0, 0 };
// // TODO
// // { n, ne, e, se, s, sw, w, nw }
// prob_piece_dir_agent_north = { 0 /*n <- R */, 1, 0, 0, 0, 0, 0, 1};
// prob_piece_dir_agent_east = { 0, 2, 0 /*e <- R */, 0, 0, 0, 0, 0 };
// prob_piece_dir_agent_south = { 2, 0, 0, 0, 0 /*s <- R */, 0, 0, 0 };
// prob_piece_dir_agent_west = { 0, 0, 0, 0, 0, 0, 0 /* <- R */, 2 };
// prob_piece_dir_constants = {"prop_displacement * 1/2", "prop_displacement", "prop_zero" /* <- R */, "prop_displacement", "prop_displacement * 1/2", "prop_zero","prop_zero", "prop_zero" };
// prob_piece_dir_constants_agent_north = { "prop_zero", "prop_displacement * 1/2", "prop_displacement * 1/2", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" };
// prob_piece_dir_constants_agent_east = { "prop_zero", "prop_displacement * 1/2", "prop_zero", "prop_displacement * 1/2", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" };
// prob_piece_dir_constants_agent_south = { "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_displacement * 1/2", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" } ;
// prob_piece_dir_constants_agent_west ={ "prop_zero", "prop_zero", "prop_displacement", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" } ;
// straightPosIndex = 2;
// straightPosIndex_east = 2;
// straightPosIndex_south = 4;
// straightPosIndex_west = 6;
// straightPosIndex_north = 0;
// 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)
//prob_piece_dir.at(straightPosIndex) = PROB_PIECES - std::accumulate(prob_piece_dir.begin(), prob_piece_dir.end(), 0);
//prob_piece_dir_constants.at(straightPosIndex) = "prop_intended";
//prob_piece_dir_constants_agent_east.at(straightPosIndex_east) = "prop_intended";
//prob_piece_dir_constants_agent_south.at(straightPosIndex_south) = "prop_intended";
//prob_piece_dir_constants_agent_west.at(straightPosIndex_west) = "prop_intended";
//prob_piece_dir_constants_agent_north.at(straightPosIndex_north) = "prop_intended";
//// <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)
//size_t current_dir = 0; // East
//os << actionName << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << " & " << agentName << "SlipperyMoveForwardAllowed " << "& " << "view" << agentName << "=" << current_dir;
//for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) {
// os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants_agent_east.at(i) << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
//}
//current_dir = 1; // South
//os << actionName << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << " & " << agentName << "SlipperyMoveForwardAllowed " << "& " << "view" << agentName << "=" << current_dir;
//for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) {
// os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants_agent_south.at(i) << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
//}
//current_dir = 2; // West
//os << actionName << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << " & " << agentName << "SlipperyMoveForwardAllowed " << "& " << "view" << agentName << "=" << current_dir;
//for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) {
// os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants_agent_west.at(i) << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
//}
case SlipperyType::South:
actionName = "\t[" + agentName + "move_on_slip_south]";
positionGuard = "\t" + agentName + "IsOnSlipperySouth";
prob_piece_dir = { 0 /* <- R */, 2, 1, 0, 0, 0, 1, 2 };
// { n, ne, e, se, s, sw, w, nw }
prob_piece_dir_agent_north = { 0 /*n <- R */, 1, 0, 0, 0, 0, 0, 1};
prob_piece_dir_agent_east = { 0, 2, 0 /*e <- R */, 0, 0, 0, 0, 0 };
prob_piece_dir_agent_south = { 2, 0, 0, 0, 0 /*s <- R */, 0, 0, 0 };
prob_piece_dir_agent_west = { 0, 0, 0, 0, 0, 0, 0 /* <- R */, 2 };
//current_dir = 3; // North
prob_piece_dir_constants = { "prop_zero" /* <- R */, "prop_displacement", "prop_displacement * 1/2", "prop_zero", "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_displacement" };
prob_piece_dir_constants_agent_north = { "prop_zero", "prop_displacement * 1/2", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_displacement * 1/2" };
prob_piece_dir_constants_agent_east = { "prop_zero", "prop_displacement", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" };
prob_piece_dir_constants_agent_south = { "prop_displacement", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" } ;
prob_piece_dir_constants_agent_west ={ "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_displacement" } ;
straightPosIndex = 0; // always north
straightPosIndex_east = 2;
straightPosIndex_south = 4;
straightPosIndex_west = 6;
straightPosIndex_north = 0;
specialTransition = "(y" + agentName + "'=y" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "-1)");
break;
case SlipperyType::East:
actionName = "\t[" + agentName + "move_on_slip_east]";
positionGuard = "\t" + agentName + "IsOnSlipperyEast";
// { n, ne, e, se, s, sw, w, nw }
prob_piece_dir = { 1, 0, 0, 0, 1, 2, 0 /* <- R */, 2 };
// TODO
prob_piece_dir_agent_north = { 0 /*n <- R */, 1, 0, 0, 0, 0, 0, 1};
prob_piece_dir_agent_east = { 0, 2, 0 /*e <- R */, 0, 0, 0, 0, 0 };
prob_piece_dir_agent_south = { 2, 0, 0, 0, 0 /*s <- R */, 0, 0, 0 };
prob_piece_dir_agent_west = { 0, 0, 0, 0, 0, 0, 0 /* <- R */, 2 };
prob_piece_dir_constants = { "prop_displacement * 1/2", "prop_zero", "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_displacement", "prop_zero" /* <- R */, "prop_displacement" };
prob_piece_dir_constants_agent_north = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_displacement * 1/2", "prop_displacement * 1/2" };
prob_piece_dir_constants_agent_east = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_displacement", "prop_zero" };
prob_piece_dir_constants_agent_south = { "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_displacement * 1/2", "prop_displacement * 1/2", "prop_zero" } ;
prob_piece_dir_constants_agent_west ={ "prop_zero", "prop_zero", "prop_zero", "prop_zero", "prop_zero" /* <- R */, "prop_displacement * 1/2", "prop_zero", "prop_displacement * 1/2" } ;
straightPosIndex = 6;
straightPosIndex_east = 2;
straightPosIndex_south = 4;
straightPosIndex_west = 6;
straightPosIndex_north = 0;
specialTransition = "(x" + agentName + "'=x" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "-1)");
break;
case SlipperyType::West:
actionName = "\t[" + agentName + "move_on_slip_west]";
positionGuard = "\t" + agentName + "IsOnSlipperyWest";
prob_piece_dir = { 1, 2, 0 /* <- R */, 2, 1, 0, 0, 0 };
// TODO
// { n, ne, e, se, s, sw, w, nw }
prob_piece_dir_agent_north = { 0 /*n <- R */, 1, 0, 0, 0, 0, 0, 1};
prob_piece_dir_agent_east = { 0, 2, 0 /*e <- R */, 0, 0, 0, 0, 0 };
prob_piece_dir_agent_south = { 2, 0, 0, 0, 0 /*s <- R */, 0, 0, 0 };
prob_piece_dir_agent_west = { 0, 0, 0, 0, 0, 0, 0 /* <- R */, 2 };
prob_piece_dir_constants = {"prop_displacement * 1/2", "prop_displacement", "prop_zero" /* <- R */, "prop_displacement", "prop_displacement * 1/2", "prop_zero","prop_zero", "prop_zero" };
prob_piece_dir_constants_agent_north = { "prop_zero", "prop_displacement * 1/2", "prop_displacement * 1/2", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" };
prob_piece_dir_constants_agent_east = { "prop_zero", "prop_displacement * 1/2", "prop_zero", "prop_displacement * 1/2", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" };
prob_piece_dir_constants_agent_south = { "prop_zero", "prop_zero", "prop_displacement * 1/2", "prop_displacement * 1/2", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" } ;
prob_piece_dir_constants_agent_west ={ "prop_zero", "prop_zero", "prop_displacement", "prop_zero", "prop_zero" /* <- R */, "prop_zero", "prop_zero", "prop_zero" } ;
straightPosIndex = 2;
straightPosIndex_east = 2;
straightPosIndex_south = 4;
straightPosIndex_west = 6;
straightPosIndex_north = 0;
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_constants = {"zero","zero","zero","zero","zero","zero","zero","zero"};
}
prob_piece_dir.at(straightPosIndex) = PROB_PIECES - std::accumulate(prob_piece_dir.begin(), prob_piece_dir.end(), 0);
prob_piece_dir_constants.at(straightPosIndex) = "prop_intended";
prob_piece_dir_constants_agent_east.at(straightPosIndex_east) = "prop_intended";
prob_piece_dir_constants_agent_south.at(straightPosIndex_south) = "prop_intended";
prob_piece_dir_constants_agent_west.at(straightPosIndex_west) = "prop_intended";
prob_piece_dir_constants_agent_north.at(straightPosIndex_north) = "prop_intended";
// <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)
size_t current_dir = 0; // East
os << actionName << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << " & " << agentName << "SlipperyMoveForwardAllowed " << "& " << "view" << agentName << "=" << current_dir;
for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) {
os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants_agent_east.at(i) << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
}
current_dir = 1; // South
os << actionName << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << " & " << agentName << "SlipperyMoveForwardAllowed " << "& " << "view" << agentName << "=" << current_dir;
for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) {
os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants_agent_south.at(i) << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
}
current_dir = 2; // West
os << actionName << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << " & " << agentName << "SlipperyMoveForwardAllowed " << "& " << "view" << agentName << "=" << current_dir;
for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) {
os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants_agent_west.at(i) << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
}
current_dir = 3; // North
os << actionName << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << " & " << agentName << "SlipperyMoveForwardAllowed " << "& " << "view" << agentName << "=" << current_dir;
for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) {
os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants_agent_north.at(i) << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
}
//os << actionName << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << " & " << agentName << "SlipperyMoveForwardAllowed " << "& " << "view" << agentName << "=" << current_dir;
//for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) {
// os << (i == 0 ? " -> " : " + ") << prob_piece_dir_constants_agent_north.at(i) << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
//}
return os;
}
@ -810,11 +817,12 @@ namespace prism {
return os;
}
std::string PrismModulesPrinter::moveGuard(const size_t &agentIndex) {
return isGame() ? " move=" + std::to_string(agentIndex) + " & " : " ";
std::string PrismModulesPrinter::moveGuard(const AgentName &agentName) {
return isGame() ? " move=" + std::to_string(agentIndexMap[agentName]) + " & " : " ";
}
std::string PrismModulesPrinter::moveUpdate(const size_t &agentIndex) {
std::string PrismModulesPrinter::moveUpdate(const AgentName &agentName) {
size_t agentIndex = agentIndexMap[agentName];
return isGame() ?
(agentIndex == numberOfPlayer - 1) ?
" & (move'=0) " :

24
util/PrismModulesPrinter.h
View File

@ -9,7 +9,7 @@
namespace prism {
class PrismModulesPrinter {
public:
PrismModulesPrinter(std::ostream &os, const ModelType &modelType, const coordinates &maxBoundaries, const cells &boxes, const cells &balls, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const AgentNameAndPositionMap &agentNameAndPositionMap, std::vector<Configuration> config, const bool enforceOneWays = false);
PrismModulesPrinter(std::ostream& os, const ModelType &modelType, const coordinates &maxBoundaries, const cells &boxes, const cells &balls, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const AgentNameAndPositionMap &agentNameAndPositionMap, std::vector<Configuration> config, const float &faultyProbability);
std::ostream& print();
@ -28,6 +28,9 @@ namespace prism {
void printUnlockedDoorActionsForRobot(const std::string &agentName, const std::string &identifier);
void printLockedDoorActionsForRobot(const std::string &agentName, const std::string &identifier, const std::string &key);
void printMovementActionsForRobot(const std::string &a);
void printTurningActionsForRobot(const std::string &a);
std::ostream& printConstants(std::ostream &os, const std::vector<std::string> &constants);
/*
* Representation for Slippery Tile.
@ -70,7 +73,7 @@ namespace prism {
const std::vector<float> &probabilities = {},
const double faultyProbability = 0);
std::ostream& printMovementActions(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, const bool agentWithView, const float &probability = 1.0, const double &stickyProbability = 0.0);
std::ostream& printDoneActions(std::ostream &os, const AgentName &agentName, const size_t &agentIndex);
std::ostream& printDoneActions(std::ostream &os, const AgentName &agentName);
std::ostream& printEndmodule(std::ostream &os);
std::ostream& printPlayerStruct(std::ostream &os, const AgentName &agentName, const bool agentWithView, const std::vector<float> &probabilities = {}, const std::set<std::string> &slipperyActions = {});
std::ostream& printGlobalMoveVariable(std::ostream &os, const size_t &numberOfPlayer);
@ -79,20 +82,24 @@ namespace prism {
std::ostream& printConfiguration(std::ostream &os, const std::vector<Configuration>& configurations);
std::ostream& printConfiguredActions(std::ostream &os, const AgentName &agentName);
std::string moveGuard(const size_t &agentIndex);
std::string moveGuard(const AgentName &agentName);
std::string pickupGuard(const AgentName &agentName, const std::string keyColor);
std::string dropGuard(const AgentName &agentName, const std::string keyColor, size_t view);
std::string moveUpdate(const size_t &agentIndex);
std::string moveUpdate(const AgentName &agentName);
std::string viewVariable(const AgentName &agentName, const size_t &agentDirection, const bool agentWithView);
std::string viewVariable(const AgentName &agentName, const size_t &agentDirection, const bool agentWithView = true);
bool isGame() const;
private:
std::string printMovementGuard(const AgentName &a, const std::string &direction, const size_t &viewDirection);
std::string printMovementUpdate(const AgentName &a, const std::string &update);
std::ostream &os;
std::stringstream actionStream;
ModelType const& modelType;
coordinates const& maxBoundaries;
ModelType const &modelType;
coordinates const &maxBoundaries;
AgentName agentName;
cells boxes;
cells balls;
@ -101,8 +108,9 @@ namespace prism {
cells keys;
AgentNameAndPositionMap agentNameAndPositionMap;
std::map<AgentName, size_t> agentIndexMap;
size_t numberOfPlayer;
bool enforceOneWays;
float const &faultyProbability;
std::vector<Configuration> configuration;
std::map<int, std::string> viewDirectionMapping;
};

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