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#include "Grid.h"
#include <boost/algorithm/string/find.hpp>
#include <algorithm>
Grid::Grid(cells gridCells, cells background, const std::map<coordinates, float> &stateRewards, const float probIntended, const float faultyProbability)
: allGridCells(gridCells), background(background), stateRewards(stateRewards), probIntended(probIntended), faultyProbability(faultyProbability)
{
cell max = allGridCells.at(allGridCells.size() - 1);
maxBoundaries = std::make_pair(max.column - 1, max.row - 1);
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(walls), [](cell c) { return c.type == Type::Wall; });
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(lava), [](cell c) { return c.type == Type::Lava; });
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(floor), [](cell c) { return c.type == Type::Floor; }); // TODO CHECK IF ALL AGENTS ARE ADDED TO FLOOR
std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyNorth), [](cell c) { return c.type == Type::SlipperyNorth; });
std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyEast), [](cell c) { return c.type == Type::SlipperyEast; });
std::copy_if(background.begin(), background.end(), std::back_inserter(slipperySouth), [](cell c) { return c.type == Type::SlipperySouth; });
std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyWest), [](cell c) { return c.type == Type::SlipperyWest; });
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(lockedDoors), [](cell c) { return c.type == Type::LockedDoor; });
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(unlockedDoors), [](cell c) { return c.type == Type::Door; });
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(goals), [](cell c) { return c.type == Type::Goal; });
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(keys), [](cell c) { return c.type == Type::Key; });
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(boxes), [](cell c) { return c.type == Type::Box; });
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(balls), [](cell c) { return c.type == Type::Ball; });
std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(adversaries), [](cell c) { return c.type == Type::Adversary; });
agent = *std::find_if(gridCells.begin(), gridCells.end(), [](cell c) { return c.type == Type::Agent; });
floor.push_back(agent);
agentNameAndPositionMap.insert({ "Agent", agent.getCoordinates() });
for(auto const& adversary : adversaries) {
std::string color = adversary.getColor();
color.at(0) = std::toupper(color.at(0));
try {
auto success = agentNameAndPositionMap.insert({ color, adversary.getCoordinates() });
floor.push_back(adversary);
if(!success.second) {
throw std::logic_error("Agent with " + color + " already present\n");
}
} catch(const std::logic_error& e) {
std::cerr << "Expected agents colors to be different. Agent with color : '" << color << "' already present." << std::endl;
throw;
}
}
for(auto const& key : keys) {
std::string color = key.getColor();
try {
auto success = keyNameAndPositionMap.insert({color, key.getCoordinates() });
if (!success.second) {
throw std::logic_error("Multiple keys with same color not supported " + color + "\n");
}
} catch(const std::logic_error& e) {
std::cerr << "Expected key colors to be different. Key with color : '" << color << "' already present." << std::endl;
throw;
}
}
for(auto const& color : allColors) {
cells cellsOfColor;
std::copy_if(background.begin(), background.end(), std::back_inserter(cellsOfColor), [&color](cell c) {
return c.type == Type::Floor && c.color == color;
});
if(cellsOfColor.size() > 0) {
backgroundTiles.emplace(color, cellsOfColor);
}
}
if (adversaries.empty()) {
modelType = prism::ModelType::MDP;
} else {
modelType = prism::ModelType::SMG;
}
}
std::ostream& operator<<(std::ostream& os, const Grid& grid) {
int lastRow = 1;
for(auto const& cell : grid.allGridCells) {
if(lastRow != cell.row)
os << std::endl;
os << static_cast<char>(cell.type) << static_cast<char>(cell.color);
lastRow = cell.row;
}
return os;
}
cells Grid::getGridCells() {
return allGridCells;
}
bool Grid::isBlocked(coordinates p) {
return isWall(p);
}
bool Grid::isWall(coordinates p) {
return std::find_if(walls.begin(), walls.end(),
[p](cell cell) {
return cell.row == p.second && cell.column == p.first;
}) != walls.end();
}
void Grid::applyOverwrites(std::string& str, std::vector<Configuration>& configuration) {
for (auto& config : configuration) {
if (!config.overwrite_) {
continue;
}
for (auto& index : config.indexes_) {
size_t start_pos;
std::string search;
if (config.type_ == ConfigType::Formula) {
search = "formula " + config.identifier_;
} else if (config.type_ == ConfigType::Label) {
search = "label " + config.identifier_;
} else if (config.type_ == ConfigType::Module) {
search = config.identifier_;
} else if (config.type_ == ConfigType::UpdateOnly) {
search = config.identifier_;
} else if (config.type_ == ConfigType::GuardOnly) {
search = config.identifier_;
}
else if (config.type_ == ConfigType::Constant) {
search = config.identifier_;
}
auto iter = boost::find_nth(str, search, index);
auto end_identifier = config.end_identifier_;
start_pos = std::distance(str.begin(), iter.begin());
size_t end_pos = str.find(end_identifier, start_pos);
if (config.type_ == ConfigType::GuardOnly || config.type_ == ConfigType::Module) {
start_pos += search.length();
} else if (config.type_ == ConfigType::UpdateOnly) {
start_pos = str.find("->", start_pos) + 2;
}
if (end_pos != std::string::npos && end_pos != 0) {
std::string expression = config.expression_;
str.replace(start_pos, end_pos - start_pos , expression);
}
}
}
}
void Grid::printToPrism(std::ostream& os, std::vector<Configuration>& configuration) {
cells northRestriction, eastRestriction, southRestriction, westRestriction;
cells walkable = floor;
walkable.insert(walkable.end(), goals.begin(), goals.end());
walkable.insert(walkable.end(), boxes.begin(), boxes.end());
walkable.insert(walkable.end(), lava.begin(), lava.end());
walkable.insert(walkable.end(), keys.begin(), keys.end());
walkable.insert(walkable.end(), balls.begin(), balls.end());
for(auto const& c : walkable) {
if(isWall(c.getNorth())) northRestriction.push_back(c);
if(isWall(c.getEast())) eastRestriction.push_back(c);
if(isWall(c.getSouth())) southRestriction.push_back(c);
if(isWall(c.getWest())) westRestriction.push_back(c);
}
std::map<std::string, cells> wallRestrictions = {{"North", northRestriction}, {"East", eastRestriction}, {"South", southRestriction}, {"West", westRestriction}};
std::map<std::string, cells> slipperyTiles = {{"North", slipperyNorth}, {"East", slipperyEast}, {"South", slipperySouth}, {"West", slipperyWest}};
std::vector<AgentName> agentNames;
std::transform(agentNameAndPositionMap.begin(),
agentNameAndPositionMap.end(),
std::back_inserter(agentNames),
[](const std::map<AgentNameAndPosition::first_type,AgentNameAndPosition::second_type>::value_type &pair){return pair.first;});
std::string agentName = agentNames.at(0);
prism::PrismFormulaPrinter formulas(os, wallRestrictions, walls, boxes, balls, lockedDoors, unlockedDoors, keys, slipperyTiles, lava, goals);
prism::PrismModulesPrinter modules(os, modelType, maxBoundaries, boxes, balls, lockedDoors, unlockedDoors, keys, slipperyTiles, agentNameAndPositionMap, configuration, probIntended, faultyProbability, !lava.empty(), !goals.empty());
modules.printModelType(modelType);
for(const auto &agentName : agentNames) {
formulas.print(agentName);
}
//std::vector<std::string> constants {"const double prop_zero = 0/9;",
// "const double prop_intended = 6/9;",
// "const double prop_turn_intended = 6/9;",
// "const double prop_displacement = 3/9;",
// "const double prop_turn_displacement = 3/9;",
// "const int width = " + std::to_string(maxBoundaries.first) + ";",
// "const int height = " + std::to_string(maxBoundaries.second) + ";"
// };
//modules.printConstants(os, constants);
modules.print();
//if(!stateRewards.empty()) {
// modules.printRewards(os, agentName, stateRewards, lava, goals, backgroundTiles);
//}
//if (!configuration.empty()) {
// modules.printConfiguration(os, configuration);
//}
}
void Grid::setModelType(prism::ModelType type)
{
modelType = type;
}