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This adds:
 - slippery turn actions
 - agent name to set of actions map
 - modules for faultyBehaviour
pull/1/head
sp 11 months ago
parent
a8ac3098a7
commit
9be03f2701
2 changed files with 119 additions and 78 deletions
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  1. 182
      util/PrismModulesPrinter.cpp
  2. 15
      util/PrismModulesPrinter.h

182
util/PrismModulesPrinter.cpp
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@ -39,6 +39,10 @@ namespace prism {
}
std::ostream& PrismModulesPrinter::print() {
for(const auto [agentName, initialPosition] : agentNameAndPositionMap) {
agentNameActionMap[agentName] = {};
}
for(const auto &key : keys) {
printPortableObjectModule(key);
}
@ -58,6 +62,13 @@ namespace prism {
for(const auto [agentName, initialPosition] : agentNameAndPositionMap) {
printRobotModule(agentName, initialPosition);
}
if(faultyBehaviour()) {
for(const auto [agentName, initialPosition] : agentNameAndPositionMap) {
printFaultyMovementModule(agentName);
}
}
return os;
}
@ -139,11 +150,21 @@ namespace prism {
}
void PrismModulesPrinter::printPortableObjectActions(const std::string &agentName, const std::string &identifier) {
os << "\t[" << agentName << "_pickup_" << identifier << "]\ttrue -> (x" << identifier << "'=-1) & (y" << identifier << "'=-1) & (" << identifier << "PickedUp'=true);\n";
os << "\t[" << agentName << "_drop_" << identifier << "_north]\ttrue -> (x" << identifier << "'=x" << agentName << ") & (y" << identifier << "'=y" << agentName << "-1) & (" << identifier << "PickedUp'=false);\n";
os << "\t[" << agentName << "_drop_" << identifier << "_west]\ttrue -> (x" << identifier << "'=x" << agentName << "-1) & (y" << identifier << "'=y" << agentName << ") & (" << identifier << "PickedUp'=false);\n";
os << "\t[" << agentName << "_drop_" << identifier << "_south]\ttrue -> (x" << identifier << "'=x" << agentName << ") & (y" << identifier << "'=y" << agentName << "+1) & (" << identifier << "PickedUp'=false);\n";
os << "\t[" << agentName << "_drop_" << identifier << "_east]\ttrue -> (x" << identifier << "'=x" << agentName << "+1) & (y" << identifier << "'=y" << agentName << ") & (" << identifier << "PickedUp'=false);\n";
std::string actionName = "[" + agentName + "_pickup_" + identifier + "]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << "\t" << actionName << " true -> (x" << identifier << "'=-1) & (y" << identifier << "'=-1) & (" << identifier << "PickedUp'=true);\n";
actionName = "[" + agentName + "_drop_" + identifier + "_north]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << "\t" << actionName << " " << " true -> (x" << identifier << "'=x" << agentName << ") & (y" << identifier << "'=y" << agentName << "-1) & (" << identifier << "PickedUp'=false);\n";
actionName = "[" + agentName + "_drop_" + identifier + "_west]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << "\t" << actionName << " " << " true -> (x" << identifier << "'=x" << agentName << "-1) & (y" << identifier << "'=y" << agentName << ") & (" << identifier << "PickedUp'=false);\n";
actionName = "[" + agentName + "_drop_" + identifier + "_south]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << "\t" << actionName << " " << " true -> (x" << identifier << "'=x" << agentName << ") & (y" << identifier << "'=y" << agentName << "+1) & (" << identifier << "PickedUp'=false);\n";
actionName = "[" + agentName + "_drop_" + identifier + "_east]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << "\t" << actionName << " " << " ttrue -> (x" << identifier << "'=x" << agentName << "+1) & (y" << identifier << "'=y" << agentName << ") & (" << identifier << "PickedUp'=false);\n";
}
void PrismModulesPrinter::printDoorModule(const cell &door, const bool &opened) {
@ -165,13 +186,21 @@ namespace prism {
}
void PrismModulesPrinter::printLockedDoorActions(const std::string &agentName, const std::string &identifier) {
os << "\t[" << agentName << "_unlock_" << identifier << "] !" << identifier << "Open -> (" << identifier << "Open'=true);\n";
os << "\t[" << agentName << "_close_" << identifier << "] " << identifier << "Open -> (" << identifier << "Open'=false);\n";
std::string actionName = "[" + agentName + "_unlock_" + identifier + "]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << "\t" << actionName << " !" << identifier << "Open -> (" << identifier << "Open'=true);\n";
actionName = "[" + agentName + "_close_" + identifier + "]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << "\t" << actionName << " " << identifier << "Open -> (" << identifier << "Open'=false);\n";
}
void PrismModulesPrinter::printUnlockedDoorActions(const std::string &agentName, const std::string &identifier) {
os << "\t[" << agentName << "_open_" << identifier << "] !" << identifier << "Open -> (" << identifier << "Open'=true);\n";
os << "\t[" << agentName << "_close_" << identifier << "] " << identifier << "Open -> (" << identifier << "Open'=false);\n";
std::string actionName = "[" + agentName + "_open_" + identifier + "]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << "\t !" << identifier << "Open -> (" << identifier << "Open'=true);\n";
actionName = "[" + agentName + "_close_" + identifier + "]";
agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
os << "\t" << agentName << " " << identifier << "Open -> (" << identifier << "Open'=false);\n";
}
void PrismModulesPrinter::printRobotModule(const AgentName &agentName, const coordinates &initialPosition) {
@ -180,8 +209,6 @@ namespace prism {
os << "\ty" << agentName << " : [0.." << maxBoundaries.first << "] init " << initialPosition.first << ";\n";
os << "\tview" << agentName << " : [0..3] init 1;\n";
if(faultyBehaviour()) os << "\tpreviousAction" << agentName << " : [-1..2] init -1;\n";
printTurnActionsForRobot(agentName);
printMovementActionsForRobot(agentName);
if(slipperyBehaviour()) printSlipperyMovementActionsForRobot(agentName);
@ -221,23 +248,23 @@ namespace prism {
}
void PrismModulesPrinter::printPortableObjectActionsForRobot(const std::string &a, const std::string &i) {
actionStream << "\t[" << a << "_pickup_" << i << "] " << faultyBehaviourGuard(a, NOFAULT) << moveGuard(a) << " !" << a << "IsCarrying & " << a << "CannotMove" << i << " -> (" << a << "Carrying" << i << "'=true);\n";
actionStream << "\t[" << a << "_drop_" << i << "_north]\t" << faultyBehaviourGuard(a, NOFAULT) << moveGuard(a) << a << "Carrying" << i << " & view" << a << "=3 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveNorthWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\t[" << a << "_drop_" << i << "_west] \t" << faultyBehaviourGuard(a, NOFAULT) << moveGuard(a) << a << "Carrying" << i << " & view" << a << "=2 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveWestWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\t[" << a << "_drop_" << i << "_south]\t" << faultyBehaviourGuard(a, NOFAULT) << moveGuard(a) << a << "Carrying" << i << " & view" << a << "=1 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveSouthWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\t[" << a << "_drop_" << i << "_east] \t" << faultyBehaviourGuard(a, NOFAULT) << moveGuard(a) << a << "Carrying" << i << " & view" << a << "=0 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveEastWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\t[" << a << "_pickup_" << i << "] " << " !" << a << "IsCarrying & " << a << "CannotMove" << i << " -> (" << a << "Carrying" << i << "'=true);\n";
actionStream << "\t[" << a << "_drop_" << i << "_north]\t" << a << "Carrying" << i << " & view" << a << "=3 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveNorthWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\t[" << a << "_drop_" << i << "_west] \t" << a << "Carrying" << i << " & view" << a << "=2 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveWestWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\t[" << a << "_drop_" << i << "_south]\t" << a << "Carrying" << i << " & view" << a << "=1 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveSouthWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\t[" << a << "_drop_" << i << "_east] \t" << a << "Carrying" << i << " & view" << a << "=0 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveEastWall -> (" << a << "Carrying" << i << "'=false);\n";
actionStream << "\n";
}
void PrismModulesPrinter::printUnlockedDoorActionsForRobot(const std::string &agentName, const std::string &identifier) {
actionStream << "\t[" << agentName << "_open_" << identifier << "] " << faultyBehaviourGuard(agentName, NOFAULT) << moveGuard(agentName) << agentName << "CannotMove" << identifier << " -> true;\n";
actionStream << "\t[" << agentName << "_close_" << identifier << "] " << faultyBehaviourGuard(agentName, NOFAULT) << moveGuard(agentName) << agentName << "IsNextTo" << identifier << " -> true;\n";
actionStream << "\t[" << agentName << "_open_" << identifier << "] " << agentName << "CannotMove" << identifier << " -> true;\n";
actionStream << "\t[" << agentName << "_close_" << identifier << "] " << agentName << "IsNextTo" << identifier << " -> true;\n";
actionStream << "\n";
}
void PrismModulesPrinter::printLockedDoorActionsForRobot(const std::string &agentName, const std::string &identifier, const std::string &key) {
actionStream << "\t[" << agentName << "_unlock_" << identifier << "] " << faultyBehaviourGuard(agentName, NOFAULT) << moveGuard(agentName) << agentName << "CannotMove" << identifier << " & " << agentName << "Carrying" << key << " -> true;\n";
actionStream << "\t[" << agentName << "_close_" << identifier << "] " << faultyBehaviourGuard(agentName, NOFAULT) << moveGuard(agentName) << agentName << "IsNextTo" << identifier << " & " << agentName << "Carrying" << key << " -> true;\n";
actionStream << "\t[" << agentName << "_unlock_" << identifier << "] " << agentName << "CannotMove" << identifier << " & " << agentName << "Carrying" << key << " -> true;\n";
actionStream << "\t[" << agentName << "_close_" << identifier << "] " << agentName << "IsNextTo" << identifier << " & " << agentName << "Carrying" << key << " -> true;\n";
actionStream << "\n";
}
@ -254,32 +281,24 @@ namespace prism {
actionStream << printMovementGuard(a, "West", 2) << printMovementUpdate(a, {1.0, "(x"+a+"'=x"+a+"-1)"});
}
std::string PrismModulesPrinter::printMovementGuard(const AgentName &a, const std::string &direction, const size_t &viewDirection) const {
return "\t[" + a + "_move_" + direction + "]" + moveGuard(a) + viewVariable(a, viewDirection) + faultyBehaviourGuard(a, FORWARD) + " !" + a + "IsOnSlippery & !" + a + "IsOnLava & !" + a + "IsOnGoal & !" + a + "CannotMove" + direction + "Wall &!" + a + "CannotMoveConditionally -> ";
std::string PrismModulesPrinter::printMovementGuard(const AgentName &a, const std::string &direction, const size_t &viewDirection) {
std::string actionName = "[" + a + "_move_" + direction + "]";
agentNameActionMap.at(a).insert({FORWARD, actionName});
return "\t" + actionName + " " + viewVariable(a, viewDirection) + " !" + a + "IsOnSlippery & !" + a + "IsOnLava & !" + a + "IsOnGoal & !" + a + "CannotMove" + direction + "Wall &!" + a + "CannotMoveConditionally -> ";
}
std::string PrismModulesPrinter::printMovementUpdate(const AgentName &a, const update &u) const {
if(!faultyBehaviour()) {
return updateToString(u) + ";\n";
} else {
update nonFaultyUpdate = {u.first - faultyProbability, u.second + " & " + faultyBehaviourUpdate(a, NOFAULT)};
update faultyUpdate = {faultyProbability, u.second + " & " + faultyBehaviourUpdate(a, FORWARD)};
return updateToString(nonFaultyUpdate) + " + " + updateToString(faultyUpdate) + ";\n";
}
return updateToString(u) + ";\n";
}
std::string PrismModulesPrinter::printTurnGuard(const AgentName &a, const std::string &direction, const ActionId &actionId, const std::string &cond) const {
return "\t[" + a + "_turn_" + direction + "]" + moveGuard(a) + faultyBehaviourGuard(a, actionId) + cond + " -> ";
std::string PrismModulesPrinter::printTurnGuard(const AgentName &a, const std::string &direction, const ActionId &actionId, const std::string &cond) {
std::string actionName = "[" + a + "_turn_" + direction + "]";
agentNameActionMap.at(a).insert({actionId, actionName});
return "\t" + actionName + " " + cond + " -> ";
}
std::string PrismModulesPrinter::printTurnUpdate(const AgentName &a, const update &u, const ActionId &actionId) const {
if(!faultyBehaviour()) {
return updateToString(u) + ";\n";
} else {
update nonFaultyUpdate = {u.first - faultyProbability, u.second + " & " + faultyBehaviourUpdate(a, NOFAULT)};
update faultyUpdate = {faultyProbability, u.second + " & " + faultyBehaviourUpdate(a, actionId)};
return updateToString(nonFaultyUpdate) + " + " + updateToString(faultyUpdate) + ";\n";
}
return updateToString(u) + ";\n";
}
void PrismModulesPrinter::printSlipperyMovementActionsForRobot(const AgentName &a) {
@ -406,59 +425,73 @@ namespace prism {
}
void PrismModulesPrinter::printSlipperyTurnActionsForNorth(const AgentName &a) {
actionStream << printSlipperyTurnGuard(a, "right", { "CanSlipNorth"}, "true") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"+1,4))"}, { 1 - probIntended, northUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "right", {"!CanSlipNorth"}, "true") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "right", RIGHT, { "CanSlipNorth"}, "true") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"+1,4))"}, { 1 - probIntended, northUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "right", RIGHT, {"!CanSlipNorth"}, "true") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", { "CanSlipNorth"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"-1)"}, {1 - probIntended, northUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", { "CanSlipNorth"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=view"+a+"=3)"}, {1 - probIntended, northUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", {"!CanSlipNorth"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", {"!CanSlipNorth"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=view"+a+"=3)"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", LEFT, { "CanSlipNorth"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"-1)"}, {1 - probIntended, northUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", LEFT, { "CanSlipNorth"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=view"+a+"=3)"}, {1 - probIntended, northUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", LEFT, {"!CanSlipNorth"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", LEFT, {"!CanSlipNorth"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=view"+a+"=3)"} }) << "\n";
}
void PrismModulesPrinter::printSlipperyTurnActionsForEast(const AgentName &a) {
actionStream << printSlipperyTurnGuard(a, "right", { "CanSlipEast"}, "true") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"+1,4))"}, { 1 - probIntended, eastUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "right", {"!CanSlipEast"}, "true") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "right", RIGHT, { "CanSlipEast"}, "true") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"+1,4))"}, { 1 - probIntended, eastUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "right", RIGHT, {"!CanSlipEast"}, "true") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", { "CanSlipEast"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"-1)"}, {1 - probIntended, eastUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", { "CanSlipEast"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=view"+a+"=3)"}, {1 - probIntended, eastUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", {"!CanSlipEast"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", {"!CanSlipEast"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=view"+a+"=3)"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", LEFT, { "CanSlipEast"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"-1)"}, {1 - probIntended, eastUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", LEFT, { "CanSlipEast"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=view"+a+"=3)"}, {1 - probIntended, eastUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", LEFT, {"!CanSlipEast"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", LEFT, {"!CanSlipEast"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=view"+a+"=3)"} }) << "\n";
}
void PrismModulesPrinter::printSlipperyTurnActionsForSouth(const AgentName &a) {
actionStream << printSlipperyTurnGuard(a, "right", { "CanSlipSouth"}, "true") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"+1,4))"}, { 1 - probIntended, southUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "right", {"!CanSlipSouth"}, "true") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "right", RIGHT, { "CanSlipSouth"}, "true") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"+1,4))"}, { 1 - probIntended, southUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "right", RIGHT, {"!CanSlipSouth"}, "true") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", { "CanSlipSouth"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"-1)"}, {1 - probIntended, southUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", { "CanSlipSouth"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=view"+a+"=3)"}, {1 - probIntended, southUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", {"!CanSlipSouth"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", {"!CanSlipSouth"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=view"+a+"=3)"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", LEFT, { "CanSlipSouth"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"-1)"}, {1 - probIntended, southUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", LEFT, { "CanSlipSouth"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=view"+a+"=3)"}, {1 - probIntended, southUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", LEFT, {"!CanSlipSouth"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", LEFT, {"!CanSlipSouth"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=view"+a+"=3)"} }) << "\n";
}
void PrismModulesPrinter::printSlipperyTurnActionsForWest(const AgentName &a) {
actionStream << printSlipperyTurnGuard(a, "right", { "CanSlipWest"}, "true") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"+1,4))"}, { 1 - probIntended, westUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "right", {"!CanSlipWest"}, "true") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "right", RIGHT, { "CanSlipWest"}, "true") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"+1,4))"}, { 1 - probIntended, westUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "right", RIGHT, {"!CanSlipWest"}, "true") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", { "CanSlipWest"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"-1)"}, {1 - probIntended, westUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", { "CanSlipWest"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=view"+a+"=3)"}, {1 - probIntended, westUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", {"!CanSlipWest"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", {"!CanSlipWest"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=view"+a+"=3)"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", LEFT, { "CanSlipWest"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"-1)"}, {1 - probIntended, westUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", LEFT, { "CanSlipWest"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=view"+a+"=3)"}, {1 - probIntended, westUpdate(a)} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", LEFT, {"!CanSlipWest"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << "\n";
actionStream << printSlipperyTurnGuard(a, "left", LEFT, {"!CanSlipWest"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=view"+a+"=3)"} }) << "\n";
}
std::string PrismModulesPrinter::printSlipperyMovementGuard(const AgentName &a, const std::string &direction, const ViewDirection &viewDirection, const std::vector<std::string> &guards) const {
return "\t[" + a + "_move_" + direction + "] " + moveGuard(a) + viewVariable(a, viewDirection) + faultyBehaviourGuard(a, FORWARD) + a + "IsOnSlippery" + direction + " & " + buildConjunction(a, guards) + " -> ";
std::string PrismModulesPrinter::printSlipperyMovementGuard(const AgentName &a, const std::string &direction, const ViewDirection &viewDirection, const std::vector<std::string> &guards) {
std::string actionName = "[" + a + "_move_" + direction + "]";
agentNameActionMap.at(a).insert({FORWARD, actionName});
return "\t" + actionName + " " + viewVariable(a, viewDirection) + a + "IsOnSlippery" + direction + " & " + buildConjunction(a, guards) + " -> ";
}
std::string PrismModulesPrinter::printSlipperyMovementUpdate(const AgentName &a, const std::string &direction, const updates &u) const {
return updatesToString(u, a, FORWARD);
return updatesToString(u);
}
std::string PrismModulesPrinter::printSlipperyTurnGuard(const AgentName &a, const std::string &direction, const std::vector<std::string> &guards, const std::string &cond) const {
return "\t[" + a + "_turn_" + direction + "] " + buildConjunction(a, guards) + " & " + cond + " -> ";
std::string PrismModulesPrinter::printSlipperyTurnGuard(const AgentName &a, const std::string &direction, const ActionId &actionId, const std::vector<std::string> &guards, const std::string &cond) {
std::string actionName = "[" + a + "_turn_" + direction + "]";
agentNameActionMap.at(a).insert({actionId, actionName});
return "\t" + actionName + " " + buildConjunction(a, guards) + " & " + cond + " -> ";
}
std::string PrismModulesPrinter::printSlipperyTurnUpdate(const AgentName &a, const updates &u) {
return updatesToString(u, a, NOFAULT);
return updatesToString(u);
}
void PrismModulesPrinter::printFaultyMovementModule(const AgentName &a) {
os << "\nmodule " << a << "FaultyBehaviour" << std::endl;
os << "\tpreviousAction" << a << " : [-1..2] init -1;\n";
for(const auto [actionId, actionName] : agentNameActionMap.at(a)) {
os << "\t" << actionName << faultyBehaviourGuard(a, actionId) << " -> " << faultyBehaviourUpdate(a, actionId) << ";\n";
}
os << "endmodule\n\n";
}
std::ostream& PrismModulesPrinter::printConfiguredActions(std::ostream &os, const AgentName &agentName) {
@ -587,9 +620,9 @@ namespace prism {
std::string PrismModulesPrinter::faultyBehaviourGuard(const AgentName &agentName, const ActionId &actionId) const {
if(faultyBehaviour()) {
if(actionId == NOFAULT) {
return "(previousAction" + agentName + "=" + std::to_string(NOFAULT) + ") & ";
return "(previousAction" + agentName + "=" + std::to_string(NOFAULT) + ") ";
} else {
return "(previousAction" + agentName + "=" + std::to_string(NOFAULT) + " | previousAction" + agentName + "=" + std::to_string(actionId) + ") & ";
return "(previousAction" + agentName + "=" + std::to_string(NOFAULT) + " | previousAction" + agentName + "=" + std::to_string(actionId) + ") ";
}
} else {
return "";
@ -597,7 +630,11 @@ namespace prism {
}
std::string PrismModulesPrinter::faultyBehaviourUpdate(const AgentName &agentName, const ActionId &actionId) const {
return "(previousAction" + agentName + "'=" + std::to_string(actionId) + ")";
if(actionId != NOFAULT) {
return updatesToString({ {1 - faultyProbability, "(previousAction" + agentName + "'=" + std::to_string(NOFAULT) + ")"}, {faultyProbability, "(previousAction" + agentName + "'=" + std::to_string(actionId) + ")" } });
} else {
return "true";
}
}
std::string PrismModulesPrinter::moveUpdate(const AgentName &agentName) const {
@ -609,7 +646,7 @@ namespace prism {
"";
}
std::string PrismModulesPrinter::updatesToString(const updates &updates, const AgentName &a, const ActionId &actionId) const {
std::string PrismModulesPrinter::updatesToString(const updates &updates) const {
if(updates.empty()) return "true";
std::string updatesString = "";
bool first = true;
@ -617,7 +654,6 @@ namespace prism {
if(first) first = false;
else updatesString += " + ";
updatesString += updateToString(update);
//if(faultyBehaviour()) updatesString += "&" + faultyBehaviourUpdate(a, actionId);
}
return updatesString;
}

15
util/PrismModulesPrinter.h
View File

@ -1,6 +1,7 @@
#pragma once
#include <iostream>
#include <set>
#include <functional>
#include "MinigridGrammar.h"
#include "PrismPrinter.h"
@ -83,15 +84,17 @@ namespace prism {
void printSlipperyTurnActionsForSouth(const AgentName &a);
void printSlipperyTurnActionsForWest(const AgentName &a);
std::string printMovementGuard(const AgentName &a, const std::string &direction, const size_t &viewDirection) const;
std::string printMovementGuard(const AgentName &a, const std::string &direction, const size_t &viewDirection);
std::string printMovementUpdate(const AgentName &a, const update &update) const;
std::string printTurnGuard(const AgentName &a, const std::string &direction, const ActionId &actionId, const std::string &cond = "") const;
std::string printTurnGuard(const AgentName &a, const std::string &direction, const ActionId &actionId, const std::string &cond = "");
std::string printTurnUpdate(const AgentName &a, const update &u, const ActionId &actionId) const;
std::string printSlipperyMovementGuard(const AgentName &a, const std::string &direction, const ViewDirection &viewDirection, const std::vector<std::string> &guards) const;
std::string printSlipperyMovementGuard(const AgentName &a, const std::string &direction, const ViewDirection &viewDirection, const std::vector<std::string> &guards);
std::string printSlipperyMovementUpdate(const AgentName &a, const std::string &direction, const updates &u) const;
std::string printSlipperyTurnGuard(const AgentName &a, const std::string &direction, const std::vector<std::string> &guards, const std::string &cond) const;
std::string printSlipperyTurnGuard(const AgentName &a, const std::string &direction, const ActionId &actionId, const std::vector<std::string> &guards, const std::string &cond);
std::string printSlipperyTurnUpdate(const AgentName &a, const updates &u);
void printFaultyMovementModule(const AgentName &a);
bool anyPortableObject() const;
bool faultyBehaviour() const;
bool slipperyBehaviour() const;
@ -99,7 +102,7 @@ namespace prism {
std::string faultyBehaviourGuard(const AgentName &agentName, const ActionId &actionId) const;
std::string faultyBehaviourUpdate(const AgentName &agentName, const ActionId &actionId) const;
std::string moveUpdate(const AgentName &agentName) const;
std::string updatesToString(const updates &updates, const AgentName &a, const ActionId &actionId) const;
std::string updatesToString(const updates &updates) const;
std::string updateToString(const update &u) const;
std::string viewVariable(const AgentName &agentName, const size_t &agentDirection, const bool agentWithView = true) const;
@ -129,5 +132,7 @@ namespace prism {
std::vector<Configuration> configuration;
std::map<int, std::string> viewDirectionMapping;
std::vector<ViewDirection> viewDirections = {0, 1, 2, 3};
std::map<AgentName, std::set<std::pair<ActionId, std::string>>> agentNameActionMap;
};
}
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