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added slippery turn actions

pull/1/head
sp 11 months ago
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8cf91e700c
commit
c6f7bb27be
2 changed files with 57 additions and 1 deletions
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  1. 52
      util/PrismModulesPrinter.cpp
  2. 6
      util/PrismModulesPrinter.h

52
util/PrismModulesPrinter.cpp
View File

@ -285,15 +285,19 @@ namespace prism {
void PrismModulesPrinter::printSlipperyMovementActionsForRobot(const AgentName &a) { void PrismModulesPrinter::printSlipperyMovementActionsForRobot(const AgentName &a) {
if(!slipperyTiles.at("North").empty()) { if(!slipperyTiles.at("North").empty()) {
printSlipperyMovementActionsForNorth(a); printSlipperyMovementActionsForNorth(a);
printSlipperyTurnActionsForNorth(a);
} }
if(!slipperyTiles.at("East").empty()) { if(!slipperyTiles.at("East").empty()) {
printSlipperyMovementActionsForEast(a) ; printSlipperyMovementActionsForEast(a) ;
printSlipperyTurnActionsForEast(a);
} }
if(!slipperyTiles.at("South").empty()) { if(!slipperyTiles.at("South").empty()) {
printSlipperyMovementActionsForSouth(a); printSlipperyMovementActionsForSouth(a);
printSlipperyTurnActionsForSouth(a);
} }
if(!slipperyTiles.at("West").empty()) { if(!slipperyTiles.at("West").empty()) {
printSlipperyMovementActionsForWest(a) ; printSlipperyMovementActionsForWest(a) ;
printSlipperyTurnActionsForWest(a);
} }
} }
@ -401,15 +405,61 @@ namespace prism {
actionStream << printSlipperyMovementGuard(a, "West", 0, {"!CanSlipEast", "!CanSlipWest"}) << printSlipperyMovementUpdate(a, "West", {}) << "\n"; actionStream << printSlipperyMovementGuard(a, "West", 0, {"!CanSlipEast", "!CanSlipWest"}) << printSlipperyMovementUpdate(a, "West", {}) << "\n";
} }
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, "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";
}
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, "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";
}
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, "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";
}
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, "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";
}
std::string PrismModulesPrinter::printSlipperyMovementGuard(const AgentName &a, const std::string &direction, const ViewDirection &viewDirection, const std::vector<std::string> &guards) const { 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) + " -> ";
return "\t[" + a + "_move_" + direction + "] " + moveGuard(a) + viewVariable(a, viewDirection) + faultyBehaviourGuard(a, FORWARD) + a + "IsOnSlippery" + direction + " & " + buildConjunction(a, guards) + " -> ";
} }
std::string PrismModulesPrinter::printSlipperyMovementUpdate(const AgentName &a, const std::string &direction, const updates &u) const { std::string PrismModulesPrinter::printSlipperyMovementUpdate(const AgentName &a, const std::string &direction, const updates &u) const {
return updatesToString(u, a, FORWARD); return updatesToString(u, a, FORWARD);
} }
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::printSlipperyTurnUpdate(const AgentName &a, const updates &u) {
return updatesToString(u, a, NOFAULT);
}
std::ostream& PrismModulesPrinter::printConfiguredActions(std::ostream &os, const AgentName &agentName) { std::ostream& PrismModulesPrinter::printConfiguredActions(std::ostream &os, const AgentName &agentName) {
for (auto& config : configuration) { for (auto& config : configuration) {

6
util/PrismModulesPrinter.h
View File

@ -78,6 +78,10 @@ namespace prism {
void printSlipperyMovementActionsForEast(const AgentName &a); void printSlipperyMovementActionsForEast(const AgentName &a);
void printSlipperyMovementActionsForSouth(const AgentName &a); void printSlipperyMovementActionsForSouth(const AgentName &a);
void printSlipperyMovementActionsForWest(const AgentName &a); void printSlipperyMovementActionsForWest(const AgentName &a);
void printSlipperyTurnActionsForNorth(const AgentName &a);
void printSlipperyTurnActionsForEast(const AgentName &a);
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) const;
std::string printMovementUpdate(const AgentName &a, const update &update) const; std::string printMovementUpdate(const AgentName &a, const update &update) const;
@ -85,6 +89,8 @@ namespace prism {
std::string printTurnUpdate(const AgentName &a, const update &u, const ActionId &actionId) const; 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) const;
std::string printSlipperyMovementUpdate(const AgentName &a, const std::string &direction, const updates &u) const; 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 printSlipperyTurnUpdate(const AgentName &a, const updates &u);
bool anyPortableObject() const; bool anyPortableObject() const;
bool faultyBehaviour() const; bool faultyBehaviour() const;

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