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changed slippery position, added index in config

pull/3/head
Thomas Knoll 1 year ago
parent
33b738a420
commit
707d4051f0
5 changed files with 87 additions and 24 deletions
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  1. 5
      util/ConfigYaml.cpp
  2. 6
      util/ConfigYaml.h
  3. 39
      util/Grid.cpp
  4. 61
      util/PrismModulesPrinter.cpp
  5. 4
      util/PrismModulesPrinter.h

5
util/ConfigYaml.cpp
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@ -89,6 +89,9 @@ bool YAML::convert<Action>::decode(const YAML::Node& node, Action& rhs) {
if (node["overwrite"]) { if (node["overwrite"]) {
rhs.overwrite_ = node["overwrite"].as<bool>(); rhs.overwrite_ = node["overwrite"].as<bool>();
} }
if (node["index"]) {
rhs.index_ = node["index"].as<int>();
}
return true; return true;
} }
@ -172,7 +175,7 @@ const std::string Configuration::overwrite_identifier_{"; // Overwritten through
} }
for (auto& module : modules) { for (auto& module : modules) {
for (auto& action : module.actions_) { for (auto& action : module.actions_) {
configuration.push_back({action.createExpression(), action.action_, ConfigType::Module, action.overwrite_, module.module_});
configuration.push_back({action.createExpression(), action.action_, ConfigType::Module, action.overwrite_, module.module_, action.index_});
} }
} }

6
util/ConfigYaml.h
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@ -20,6 +20,8 @@ struct Configuration
std::string module_ {}; std::string module_ {};
std::string expression_{}; std::string expression_{};
std::string identifier_{}; std::string identifier_{};
int index_{};
ConfigType type_ {ConfigType::Label}; ConfigType type_ {ConfigType::Label};
bool overwrite_ {false}; bool overwrite_ {false};
@ -28,7 +30,8 @@ struct Configuration
, std::string identifier , std::string identifier
, ConfigType type , ConfigType type
, bool overwrite = false , bool overwrite = false
, std::string module = "") : expression_(expression), identifier_(identifier), type_(type), overwrite_(overwrite), module_{module} {}
, std::string module = ""
, int index = 0) : expression_(expression), identifier_(identifier), type_(type), overwrite_(overwrite), module_{module}, index_(index) {}
~Configuration() = default; ~Configuration() = default;
Configuration(const Configuration&) = default; Configuration(const Configuration&) = default;
@ -72,6 +75,7 @@ struct Action {
std::string action_; std::string action_;
std::string guard_; std::string guard_;
std::string update_; std::string update_;
int index_{0};
bool overwrite_ {false}; bool overwrite_ {false};
std::string createExpression() const; std::string createExpression() const;

39
util/Grid.cpp
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@ -1,4 +1,5 @@
#include "Grid.h" #include "Grid.h"
#include <boost/algorithm/string/find.hpp>
#include <algorithm> #include <algorithm>
@ -162,7 +163,8 @@ void Grid::applyOverwrites(std::string& str, std::vector<Configuration>& configu
} else if (config.type_ == ConfigType::Label) { } else if (config.type_ == ConfigType::Label) {
start_pos = str.find("label " + config.identifier_); start_pos = str.find("label " + config.identifier_);
} else if (config.type_ == ConfigType::Module) { } else if (config.type_ == ConfigType::Module) {
start_pos = str.find(config.identifier_);
auto iter = boost::find_nth(str, config.identifier_, config.index_);
start_pos = std::distance(str.begin(), iter.begin());
} }
size_t end_pos = str.find(';', start_pos) + 1; size_t end_pos = str.find(';', start_pos) + 1;
@ -260,22 +262,25 @@ void Grid::printToPrism(std::ostream& os, std::vector<Configuration>& configurat
std::set<std::string> slipperyActions; // TODO AGENT POSITION INITIALIZATIN std::set<std::string> slipperyActions; // TODO AGENT POSITION INITIALIZATIN
if(agentWithProbabilisticBehaviour) printer.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView, gridOptions.probabilitiesForActions); if(agentWithProbabilisticBehaviour) printer.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView, gridOptions.probabilitiesForActions);
else printer.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView); else printer.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView);
for(auto const& c : slipperyNorth) {
printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
}
for(auto const& c : slipperyEast) {
printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
}
for(auto const& c : slipperySouth) {
printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
}
for(auto const& c : slipperyWest) {
printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
if (!slipperyNorth.empty()) {
auto c = slipperyNorth.at(0);
printer.printSlipperyMove(os, agentName, agentIndex, slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
}
if (!slipperyEast.empty()) {
auto c = slipperyEast.at(0);
printer.printSlipperyMove(os, agentName, agentIndex, slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
}
if (!slipperySouth.empty()) {
auto c = slipperySouth.at(0);
printer.printSlipperyMove(os, agentName, agentIndex, slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
}
if (!slipperyWest.empty()) {
auto c = slipperyWest.at(0);
printer.printSlipperyMove(os, agentName, agentIndex, slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
} }
printer.printEndmodule(os); printer.printEndmodule(os);

61
util/PrismModulesPrinter.cpp
View File

@ -129,6 +129,47 @@ namespace prism {
} }
bool first = true; bool first = true;
if (!slipperyNorth.empty()) {
os << "formula " << agentName << "IsOnSlipperyNorth = ";
for (const auto& cell : slipperyNorth) {
if(first) first = false; else os << " | ";
os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
}
os << ";\n";
}
if (!slipperyEast.empty()) {
first = true;
os << "formula " << agentName << "IsOnSlipperyEast = ";
for (const auto& cell : slipperyEast) {
if(first) first = false; else os << " | ";
os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
}
os << ";\n";
}
if (!slipperySouth.empty()) {
first = true;
os << "formula " << agentName << "IsOnSlipperySouth = ";
for (const auto& cell : slipperySouth) {
if(first) first = false; else os << " | ";
os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
}
os << ";\n";
}
if (!slipperyWest.empty()) {
first = true;
os << "formula " << agentName << "IsOnSlipperyWest = ";
for (const auto& cell : slipperyWest) {
if(first) first = false; else os << " | ";
os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
}
os << ";\n";
}
first = true;
os << "formula " << agentName << "IsOnSlippery = "; os << "formula " << agentName << "IsOnSlippery = ";
for (const auto& slippery: slipperyCollection) { for (const auto& slippery: slipperyCollection) {
@ -640,7 +681,7 @@ namespace prism {
return os; 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) {
std::ostream& PrismModulesPrinter::printSlipperyTurn(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, std::set<std::string> &slipperyActions, const std::array<bool, 8>& neighborhood, SlipperyType orientation) {
constexpr std::size_t PROB_PIECES = 9, ALL_POSS_DIRECTIONS = 9; constexpr std::size_t PROB_PIECES = 9, ALL_POSS_DIRECTIONS = 9;
std::array<std::string, ALL_POSS_DIRECTIONS> positionTransition = { std::array<std::string, ALL_POSS_DIRECTIONS> positionTransition = {
@ -668,6 +709,7 @@ namespace prism {
// direction specifics // direction specifics
std::string actionName; std::string actionName;
std::string positionGuard;
std::size_t remainPosIndex = 8; std::size_t remainPosIndex = 8;
std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir; // { n, ne, w, se, s, sw, w, nw, CURRENT POS } std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir; // { n, ne, w, se, s, sw, w, nw, CURRENT POS }
@ -675,21 +717,25 @@ namespace prism {
{ {
case SlipperyType::North: case SlipperyType::North:
actionName = "\t[" + agentName + "turn_at_slip_north"; actionName = "\t[" + agentName + "turn_at_slip_north";
positionGuard = "\t" + agentName + "IsOnSlipperyNorth";
prob_piece_dir = { 0, 0, 0, 1, 1, 1, 0, 0, 0 /* <- R */ }; prob_piece_dir = { 0, 0, 0, 1, 1, 1, 0, 0, 0 /* <- R */ };
break; break;
case SlipperyType::South: case SlipperyType::South:
actionName = "\t[" + agentName + "turn_at_slip_south"; actionName = "\t[" + agentName + "turn_at_slip_south";
positionGuard = "\t" + agentName + "IsOnSlipperySouth";
prob_piece_dir = { 1, 1, 0, 0, 0, 0, 0, 1, 0 /* <- R */ }; prob_piece_dir = { 1, 1, 0, 0, 0, 0, 0, 1, 0 /* <- R */ };
break; break;
case SlipperyType::East: case SlipperyType::East:
actionName = "\t[" + agentName + "turn_at_slip_east"; actionName = "\t[" + agentName + "turn_at_slip_east";
positionGuard = "\t" + agentName + "IsOnSlipperyEast";
prob_piece_dir = { 0, 0, 0, 0, 0, 1, 1, 1, 0 /* <- R */ }; prob_piece_dir = { 0, 0, 0, 0, 0, 1, 1, 1, 0 /* <- R */ };
break; break;
case SlipperyType::West: case SlipperyType::West:
actionName = "\t[" + agentName + "turn_at_slip_west"; actionName = "\t[" + agentName + "turn_at_slip_west";
positionGuard = "\t" + agentName + "IsOnSlipperyWest";
prob_piece_dir = { 0, 1, 1, 1, 0, 0, 0, 0, 0 /* <- R */ }; prob_piece_dir = { 0, 1, 1, 1, 0, 0, 0, 0, 0 /* <- R */ };
break; break;
} }
@ -715,11 +761,11 @@ namespace prism {
} }
// </DEBUG_AREA> // </DEBUG_AREA>
// generic output (for every view transition) // generic output (for every view transition)
for (std::size_t v = 0; v < viewTransition.size(); v++) { for (std::size_t v = 0; v < viewTransition.size(); v++) {
os << actionName << std::get<2>(viewTransition.at(v)) << moveGuard(agentIndex) << positionGuard << std::get<0>(viewTransition.at(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));
// 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++) { for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) {
os << (i == 0 ? " -> " : " + ") << prob_piece_dir.at(i) << "/" << PROB_PIECES << " : " << positionTransition.at(i) << std::get<1>(viewTransition.at(v)) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n"); os << (i == 0 ? " -> " : " + ") << prob_piece_dir.at(i) << "/" << PROB_PIECES << " : " << positionTransition.at(i) << std::get<1>(viewTransition.at(v)) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");
} }
@ -728,7 +774,7 @@ namespace prism {
return os; 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) {
std::ostream& PrismModulesPrinter::printSlipperyMove(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, std::set<std::string> &slipperyActions, const std::array<bool, 8>& neighborhood, SlipperyType orientation) {
constexpr std::size_t PROB_PIECES = 9, ALL_POSS_DIRECTIONS = 8; constexpr std::size_t PROB_PIECES = 9, ALL_POSS_DIRECTIONS = 8;
std::array<std::string, ALL_POSS_DIRECTIONS> positionTransition = { std::array<std::string, ALL_POSS_DIRECTIONS> positionTransition = {
@ -746,12 +792,14 @@ namespace prism {
std::size_t straightPosIndex; std::size_t straightPosIndex;
std::string actionName, specialTransition; // if straight ahead is blocked 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, w, se, s, sw, w, nw } std::array<std::size_t, ALL_POSS_DIRECTIONS> prob_piece_dir; // { n, ne, w, se, s, sw, w, nw }
switch (orientation) switch (orientation)
{ {
case SlipperyType::North: case SlipperyType::North:
actionName = "\t[" + agentName + "move_on_slip_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 = { 0, 0, 1, 2, 0 /* <- R */, 2, 1, 0 };
straightPosIndex = 4; straightPosIndex = 4;
specialTransition = "(y" + agentName + "'=y" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "+1)"); specialTransition = "(y" + agentName + "'=y" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "+1)");
@ -759,6 +807,7 @@ namespace prism {
case SlipperyType::South: case SlipperyType::South:
actionName = "\t[" + agentName + "move_on_slip_south]"; actionName = "\t[" + agentName + "move_on_slip_south]";
positionGuard = "\t" + agentName + "IsOnSlipperySouth";
prob_piece_dir = { 0 /* <- R */, 2, 1, 0, 0, 0, 1, 2 }; prob_piece_dir = { 0 /* <- R */, 2, 1, 0, 0, 0, 1, 2 };
straightPosIndex = 0; // always north straightPosIndex = 0; // always north
specialTransition = "(y" + agentName + "'=y" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "-1)"); specialTransition = "(y" + agentName + "'=y" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "-1)");
@ -766,6 +815,7 @@ namespace prism {
case SlipperyType::East: case SlipperyType::East:
actionName = "\t[" + agentName + "move_on_slip_east]"; actionName = "\t[" + agentName + "move_on_slip_east]";
positionGuard = "\t" + agentName + "IsOnSlipperyEast";
prob_piece_dir = { 1, 0, 0, 0, 1, 2, 0 /* <- R */, 2 }; prob_piece_dir = { 1, 0, 0, 0, 1, 2, 0 /* <- R */, 2 };
straightPosIndex = 6; straightPosIndex = 6;
specialTransition = "(x" + agentName + "'=x" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "-1)"); specialTransition = "(x" + agentName + "'=x" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "-1)");
@ -773,6 +823,7 @@ namespace prism {
case SlipperyType::West: case SlipperyType::West:
actionName = "\t[" + agentName + "move_on_slip_west]"; actionName = "\t[" + agentName + "move_on_slip_west]";
positionGuard = "\t" + agentName + "IsOnSlipperyWest";
prob_piece_dir = { 1, 2, 0 /* <- R */, 2, 1, 0, 0, 0 }; prob_piece_dir = { 1, 2, 0 /* <- R */, 2, 1, 0, 0, 0 };
straightPosIndex = 2; straightPosIndex = 2;
specialTransition = "(x" + agentName + "'=x" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "+1)"); specialTransition = "(x" + agentName + "'=x" + agentName + (!neighborhood.at(straightPosIndex) ? ")" : "+1)");
@ -811,7 +862,7 @@ namespace prism {
// generic output (for every view and every possible view direction) // generic output (for every view and every possible view direction)
os << actionName << moveGuard(agentIndex) << " x" << agentName << "=" << c.second << " & y" << agentName << "=" << c.first << " & " << agentName << "SlipperyMoveForwardAllowed ";
os << actionName << moveGuard(agentIndex) << positionGuard << " & " << agentName << "SlipperyMoveForwardAllowed ";
for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) { for (std::size_t i = 0; i < ALL_POSS_DIRECTIONS; i++) {
os << (i == 0 ? " -> " : " + ") << prob_piece_dir.at(i) << "/" << PROB_PIECES << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n"); os << (i == 0 ? " -> " : " + ") << prob_piece_dir.at(i) << "/" << PROB_PIECES << " : " << positionTransition.at(i) << moveUpdate(agentIndex) << (i == ALL_POSS_DIRECTIONS - 1 ? ";\n" : "\n");

4
util/PrismModulesPrinter.h
View File

@ -62,7 +62,7 @@ namespace prism {
* @param neighborhood: Information of wall-blocks in 8-neighborhood { n, nw, e, se, s, sw, w, nw }. If entry is false, then corresponding neighboorhood position is a wall. * @param neighborhood: Information of wall-blocks in 8-neighborhood { n, nw, e, se, s, sw, w, nw }. If entry is false, then corresponding neighboorhood position is a wall.
* @param orientation: Information of slippery type (either north, south, east, west). * @param orientation: Information of slippery type (either north, south, east, west).
*/ */
std::ostream& 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);
std::ostream& printSlipperyMove(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, std::set<std::string> &slipperyActions, const std::array<bool, 8>& neighborhood, SlipperyType orientation);
/* /*
* Prints Slippery on turn action. * Prints Slippery on turn action.
@ -70,7 +70,7 @@ namespace prism {
* @param neighborhood: Information of wall-blocks in 8-neighborhood { n, nw, e, se, s, sw, w, nw }. If entry is false, then corresponding neighboorhood position is a wall. * @param neighborhood: Information of wall-blocks in 8-neighborhood { n, nw, e, se, s, sw, w, nw }. If entry is false, then corresponding neighboorhood position is a wall.
* @param orientation: Information of slippery type (either north, south, east, west). * @param orientation: Information of slippery type (either north, south, east, west).
*/ */
std::ostream& 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);
std::ostream& printSlipperyTurn(std::ostream &os, const AgentName &agentName, const size_t &agentIndex, std::set<std::string> &slipperyActions, const std::array<bool, 8>& neighborhood, SlipperyType orientation);
std::ostream& printModel(std::ostream &os, const ModelType &modelType); std::ostream& printModel(std::ostream &os, const ModelType &modelType);
std::ostream& printBooleansForKeys(std::ostream &os, const AgentName &agentName, const cells &keys); std::ostream& printBooleansForKeys(std::ostream &os, const AgentName &agentName, const cells &keys);

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