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#include "PrismModulesPrinter.h"
#include <map>
#include <string>
namespace prism {
PrismModulesPrinter::PrismModulesPrinter(const ModelType &modelType, const size_t &numberOfPlayer, std::vector<Configuration> config, const bool enforceOneWays)
: modelType(modelType), numberOfPlayer(numberOfPlayer), enforceOneWays(enforceOneWays), configuration(config), viewDirectionMapping({{0, "East"}, {1, "South"}, {2, "West"}, {3, "North"}}) {
}
std::ostream& PrismModulesPrinter::printModel(std::ostream &os, const ModelType &modelType) {
switch(modelType) {
case(ModelType::MDP):
os << "mdp";
break;
case(ModelType::SMG):
os << "smg";
break;
}
os << "\n\n";
return os;
}
std::ostream& PrismModulesPrinter::printBackgroundLabels(std::ostream &os, const AgentName &agentName, const std::pair<Color, cells> &backgroundTiles) {
if(backgroundTiles.second.size() == 0) return os;
bool first = true;
std::string color = getColor(backgroundTiles.first);
color.at(0) = std::toupper(color.at(0));
os << "formula " << agentName << "On" << color << " = ";
for(auto const& cell : backgroundTiles.second) {
if(first) first = false; else os << " | ";
os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
}
os << ";\n";
os << "label \"" << agentName << "On" << color << "\" = " << agentName << "On" << color << ";\n";
return os;
}
std::ostream& PrismModulesPrinter::printRestrictionFormula(std::ostream& os, const AgentName &agentName, const std::string &direction, const cells &grid_cells, const cells &keys, const cells &doors) {
bool first = true;
os << "formula " << agentName << "CannotMove" << direction << " = " ;
for(auto const& cell : grid_cells) {
if(first) first = false;
else os << " | ";
os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
}
if (!keys.empty()) {
os << " | " << agentName << "CannotMove" << direction << "BecauseOfKey";
}
if (!doors.empty()) {
os << " | " << agentName << "CannotMove" << direction << "BecauseOfDoor";
}
os << ";\n";
return os;
}
std::ostream& PrismModulesPrinter::printKeyRestrictionFormula(std::ostream& os, const AgentName &agentName, const std::string &direction, const cells &keys) {
bool first = true;
os << "formula " << agentName << "CannotMove" << direction << "BecauseOfKey" << " = ";
for (auto const& key : keys) {
if(first) first = false;
else os << " | ";
std::string keyColor = key.getColor();
std::string xKey = "xKey" + keyColor;
std::string yKey = "yKey" + keyColor;
coordinates coords;
os << "(!" << agentName << "_has_" << keyColor << "_key & ";
if (direction == "North") {
os << " x" << agentName << " = " << xKey << "&y" << agentName << "-1 = " << yKey << ")";
} else if (direction == "South") {
os << " x" << agentName << " = " << xKey << "&y" << agentName << "+1 = " << yKey << ")";
} else if (direction == "East") {
os << " x" << agentName << "+1 = " << xKey << "&y" << agentName << " = " << yKey << ")";
} else if (direction == "West") {
os << " x" << agentName << "-1 = " << xKey << "&y" << agentName << " = " << yKey << ")";
} else {
os << "Invalid Direction! in Key Restriction";
}
}
os << ";\n";
return os;
}
std::ostream& PrismModulesPrinter::printDoorRestrictionFormula(std::ostream& os, const AgentName &agentName, const std::string &direction, const cells &doors) {
bool first = true;
os << "formula " << agentName << "CannotMove" << direction << "BecauseOfDoor" << " = ";
for (auto const& door : doors) {
if (first) first = false;
else os << " | ";
std::string doorColor = door.getColor();
size_t y = door.getCoordinates().first;
size_t x = door.getCoordinates().second;
os << "(!Door" << doorColor << "open & ";
if (direction == "North") {
os << " x" << agentName << " = " << x << "&y" << agentName << "-1 = " << y << ")";
} else if (direction == "South") {
os << " x" << agentName << " = " << x << "&y" << agentName << "+1 = " << y << ")";
} else if (direction == "East") {
os << " x" << agentName << "+1 = " << x << "&y" << agentName << " = " << y << ")";
} else if (direction == "West") {
os << " x" << agentName << "-1 = " << y << "&y" << agentName << " = " << y << ")";
} else {
os << "Invalid Direction! in Key Restriction";
}
}
os << ";\n";
return os;
}
std::ostream& PrismModulesPrinter::printIsOnSlipperyFormula(std::ostream& os, const AgentName &agentName, const std::vector<std::reference_wrapper<cells>> &slipperyCollection, const cells &slipperyNorth, const cells &slipperyEast, const cells &slipperySouth, const cells &slipperyWest) {
if(std::find_if(slipperyCollection.cbegin(), slipperyCollection.cend(), [=](const std::reference_wrapper<cells>& c) { return !c.get().empty(); }) == slipperyCollection.cend()) {
os << "formula " << agentName << "IsOnSlippery = false;\n";
return os;
}
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 = ";
for (const auto& slippery: slipperyCollection) {
for(const auto& cell : slippery.get()) {
if(first) first = false; else os << " | ";
os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
}
}
os << ";\n";
if(enforceOneWays) {
first = true;
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";
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";
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";
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";
}
return os;
}
std::ostream& PrismModulesPrinter::printIsInLavaFormula(std::ostream& os, const AgentName &agentName, const cells &lava) {
if(lava.size() == 0) {
os << "formula " << agentName << "IsInLava = false;\n";
return os;
}
bool first = true;
os << "formula " << agentName << "IsInLava = ";
for(auto const& cell : lava) {
if(first) first = false; else os << " | ";
os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
}
os << ";\n";
os << "formula " << agentName << "IsInLavaAndNotDone = " << agentName << "IsInLava & !" << agentName << "Done;\n";
os << "label \"" << agentName << "IsInLavaAndNotDone\" = " << agentName << "IsInLava & !" << agentName << "Done;\n";
return os;
}
std::ostream& PrismModulesPrinter::printTurningNotAllowedFormulas(std::ostream& os, const AgentName &agentName, const cells &noTurnFloor) {
if( (!enforceOneWays or noTurnFloor.size() == 0) or (noTurnFloor.size() == 0) ) {
os << "formula " << agentName << "CannotTurn = false;\n";
return os;
}
bool first = true;
os << "formula " << agentName << "CannotTurn = ";
for(auto const& cell : noTurnFloor) {
if(first) first = false; else os << " | ";
os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
}
os << " | " << agentName << "IsOnSlippery;\n";
return os;
}
std::ostream& PrismModulesPrinter::printIsFixedFormulas(std::ostream& os, const AgentName &agentName) {
os << "formula " << agentName << "IsFixed = false;\n";
os << "formula " << agentName << "SlipperyTurnLeftAllowed = true;\n";
os << "formula " << agentName << "SlipperyTurnRightAllowed = true;\n";
os << "formula " << agentName << "SlipperyMoveForwardAllowed = true;\n";
os << "label \"FixedStates" << agentName << "\" = " << agentName << "IsFixed | !" << agentName << "SlipperyTurnRightAllowed | !" << agentName << "SlipperyTurnLeftAllowed | !" << agentName << "SlipperyMoveForwardAllowed | " << agentName << "IsInGoal | " << agentName << "IsInLava";
if(enforceOneWays) {
os << " | " << agentName << "CannotTurn";
}
os << ";\n";
//os << "label \"FixedStates\" = " << agentName << "IsFixed | " << agentName << "IsOnSlippery | " << agentName << "IsInGoal | " << agentName << "IsInLava;\n";
return os;
}
std::ostream& PrismModulesPrinter::printWallFormula(std::ostream& os, const AgentName &agentName, const cells &walls) {
os << "formula " << agentName << "IsOnWall = ";
bool first = true;
for(auto const& cell : walls) {
if(first) first = false; else os << " | ";
os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
}
os << ";\n";
return os;
}
std::ostream& PrismModulesPrinter::printFormulas(std::ostream& os,
const AgentName &agentName,
const cells &restrictionNorth,
const cells &restrictionEast,
const cells &restrictionSouth,
const cells &restrictionWest,
const std::vector<std::reference_wrapper<cells>> &slipperyCollection,
const cells &lava,
const cells &walls,
const cells &noTurnFloor,
const cells &slipperyNorth,
const cells &slipperyEast,
const cells &slipperySouth,
const cells &slipperyWest,
const cells &keys,
const cells &doors) {
printRestrictionFormula(os, agentName, "North", restrictionNorth, keys, doors);
printRestrictionFormula(os, agentName, "East", restrictionEast, keys, doors);
printRestrictionFormula(os, agentName, "South", restrictionSouth, keys, doors);
printRestrictionFormula(os, agentName, "West", restrictionWest, keys, doors);
if (!keys.empty()) {
printKeyRestrictionFormula(os, agentName, "North", keys);
printKeyRestrictionFormula(os, agentName, "East", keys);
printKeyRestrictionFormula(os, agentName, "South", keys);
printKeyRestrictionFormula(os, agentName, "West", keys);
}
if (!doors.empty()) {
printDoorRestrictionFormula(os, agentName, "North", doors);
printDoorRestrictionFormula(os, agentName, "East", doors);
printDoorRestrictionFormula(os, agentName, "South", doors);
printDoorRestrictionFormula(os, agentName, "West", doors);
}
printIsOnSlipperyFormula(os, agentName, slipperyCollection, slipperyNorth, slipperyEast, slipperySouth, slipperyWest);
printIsInLavaFormula(os, agentName, lava);
printWallFormula(os, agentName, walls);
printTurningNotAllowedFormulas(os, agentName, noTurnFloor);
printIsFixedFormulas(os, agentName);
os << "\n";
return os;
}
std::ostream& PrismModulesPrinter::printGoalLabel(std::ostream& os, const AgentName &agentName, const cells &goals) {
if(goals.size() == 0) {
os << "formula " << agentName << "IsInGoal = false;\n";
return os;
}
bool first = true;
os << "formula " << agentName << "IsInGoal = ";
for(auto const& cell : goals) {
if(first) first = false; else os << " | ";
os << "(x" << agentName << "=" << cell.column << "&y" << agentName << "=" << cell.row << ")";
}
os << ";\n";
os << "formula " << agentName << "IsInGoalAndNotDone = " << agentName << "IsInGoal & !" << agentName << "Done;\n";
os << "label \"" << agentName << "IsInGoalAndNotDone\" = " << agentName << "IsInGoal & !" << agentName << "Done;\n";
return os;
}
std::ostream& PrismModulesPrinter::printCrashLabel(std::ostream &os, const std::vector<AgentName> agentNames) {
os << "label crash = ";
bool first = true;
for(auto const& agentName : agentNames) {
if(agentName == "Agent") continue;
if(first) first = false; else os << " | ";
os << "(xAgent=x" << agentName << ")&(yAgent=y" << agentName << ")";
}
os << ";\n\n";
return os;
}
std::ostream& PrismModulesPrinter::printConfiguration(std::ostream& os, const std::vector<Configuration>& configurations) {
for (auto& configuration : configurations) {
if (configuration.overwrite_ || configuration.type_ == ConfigType::Module) {
continue;
}
os << configuration.expression_ << std::endl;
}
return os;
}
std::ostream& PrismModulesPrinter::printConstants(std::ostream &os, const std::vector<std::string> &constants) {
for (auto& constant : constants) {
os << constant << std::endl;
}
return os;
}
std::ostream& PrismModulesPrinter::printAvoidanceLabel(std::ostream &os, const std::vector<AgentName> agentNames, const int &distance) {
os << "label avoidance = ";
bool first = true;
for(auto const& agentName : agentNames) {
if(agentName == "Agent") continue;
if(first) first = false; else os << " | ";
os << "max(xAgent-x" << agentName << ",x" << agentName << "-xAgent)+";
os << "max(yAgent-y" << agentName << ",y" << agentName << "-yAgent) ";
}
os << ";\n\n";
return os;
}
// TODO this does not account for multiple agents yet, i.e. key can be picked up multiple times
std::ostream& PrismModulesPrinter::printKeysLabels(std::ostream& os, const AgentName &agentName, const cells &keys) {
if(keys.size() == 0) return os;
for(auto const& key : keys) {
std::string keyColor = key.getColor();
std::string xKey = "xKey" + keyColor;
std::string yKey = "yKey" + keyColor;
os << "label \"" << agentName << "PickedUp" << keyColor << "Key\" = " << agentName << "_has_" << keyColor << "_key = true;\n";
os << "formula " << agentName << "CanPickUp" << keyColor << "Key = ";
os << "((x" << agentName << "-1 = " << xKey << "&y" << agentName << " = " << yKey << "&view" << agentName << " = 2) |";
os << " (x" << agentName << "+1 = " << xKey << "&y" << agentName << " = " << yKey << "&view" << agentName << " = 0) |";
os << " (x" << agentName << " = " << xKey << "&y" << agentName << "-1 = " << yKey << "&view" << agentName << " = 3) |";
os << " (x" << agentName << " = " << xKey << "&y" << agentName << "+1 = " << yKey << "&view" << agentName << " = 1) ) &";
os << "!" << agentName << "_has_" << keyColor << "_key;";
}
os << "\n";
return os;
}
std::ostream& PrismModulesPrinter::printBooleansForKeys(std::ostream &os, const AgentName &agentName, const cells &keys) {
for(auto const& key : keys) {
os << "\t" << agentName << "_has_"<< key.getColor() << "_key : bool;\n";//init false;\n";
}
os << "\n";
return os;
}
std::ostream& PrismModulesPrinter::printBooleansForBackground(std::ostream &os, const AgentName &agentName, const std::map<Color, cells> &backgroundTiles) {
for(auto const& [color, cells] : backgroundTiles) {
if(cells.size() == 0) continue;
std::string c = getColor(color);
c.at(0) = std::toupper(c.at(0));
os << "\t" << agentName << "_picked_up_" << c << " : bool init false;\n";
}
os << "\n";
return os;
}
std::ostream& PrismModulesPrinter::printActionsForKeys(std::ostream &os, const AgentName &agentName, const cells &keys) {
for(auto const& key : keys) { // TODO ADD Drop action and enforce that pickup only possible if pockets empty (nothing picked up already)
os << "\n";
std::string keyColor = key.getColor();
os << "\t[pickup_" << keyColor << "_key]\t" << pickupGuard(agentName, keyColor) << "-> ";
os << "(" << agentName << "_has_" << keyColor << "_key'=true) & (" << agentName << "_is_carrying_object'=true);\n";
os << "\n";
os << "\t[drop_" << keyColor << "_key_north]\t" << dropGuard(agentName, keyColor, 3) << "-> ";
os << "(" << agentName << "_has_" << keyColor << "_key'=false) & (" << agentName << "_is_carrying_object'=false);\n";
os << "\t[drop_" << keyColor << "_key_west]\t" << dropGuard(agentName, keyColor, 2) << "-> ";
os << "(" << agentName << "_has_" << keyColor << "_key'=false) & (" << agentName << "_is_carrying_object'=false);\n";
os << "\t[drop_" << keyColor << "_key_south]\t" << dropGuard(agentName, keyColor, 1) << "-> ";
os << "(" << agentName << "_has_" << keyColor << "_key'=false) & (" << agentName << "_is_carrying_object'=false);\n";
os << "\t[drop_" << keyColor << "_key_east]\t" << dropGuard(agentName, keyColor, 0) << "-> ";
os << "(" << agentName << "_has_" << keyColor << "_key'=false) & (" << agentName << "_is_carrying_object'=false);\n";
}
return os;
}
std::string PrismModulesPrinter::pickupGuard(const AgentName &agentName, const std::string keyColor ) {
return "!" + agentName + "_is_carrying_object &\t" + agentName + "CanPickUp" + keyColor + "Key ";
}
std::string PrismModulesPrinter::dropGuard(const AgentName &agentName, const std::string keyColor, size_t view) {
return viewVariable(agentName, view, true) + "\t!" + agentName + "CannotMove" + viewDirectionMapping.at(view) + "\t&\t" + agentName + "_has_" + keyColor + "_key\t";
}
std::ostream& PrismModulesPrinter::printActionsForBackground(std::ostream &os, const AgentName &agentName, const std::map<Color, cells> &backgroundTiles) {
for(auto const& [color, cells] : backgroundTiles) {
if(cells.size() == 0) continue;
std::string c = getColor(color);
c.at(0) = std::toupper(c.at(0));
os << "\t[" << agentName << "_pickup_" << c << "] " << agentName << "On" << c << " & !" << agentName << "_picked_up_" << c << " -> ";
os << "(" << agentName << "_picked_up_" << c << "'=true);\n";
}
os << "\n";
return os;
}
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";
bool first = true;
for (auto const& agent : agents) {
if (first) first = false;
else os << " & ";
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 ) ";
}
for (auto const& key : keys) {
os << " & ( !" << agent.first << "_has_" << key.first << "_key )";
}
}
for (auto const& key : keys) {
os << " & ( xKey" << key.first << "="<< key.second.second<< ")";
os << " & ( yKey" << key.first << "=" << key.second.first << ")";
}
for (auto const& locked : lockedDoors) {
os << " & (Door" << locked.getColor() << "locked & !Door" << locked.getColor() << "open)";
}
for (auto const& unlocked : unlockedDoors) {
os << " & (!Door" << unlocked.getColor() << "locked & !Door" << unlocked.getColor() << "open)";
}
if (modelType == ModelType::SMG) {
os << " & move=0";
}
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";
os << "\t" << agentName << "_is_carrying_object : bool;\n";
printBooleansForKeys(os, agentName, keys);
printBooleansForBackground(os, agentName, backgroundTiles);
os << "\t" << agentName << "Done : bool;\n";
if(agentWithView) {
os << "\tview" << agentName << " : [0..3];\n";
os << "\n";
if (faultyProbability != 0.0) {
os << "\t[" << agentName << "_turn_right] " << moveGuard(agentIndex) << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << " !" << agentName << "IsInGoal & !" << agentName << "IsInLava & !" << agentName << "IsOnSlippery -> " << 100 - faultyProbability << "/100:" << "(view" << agentName << "'=mod(view" << agentName << " + 1, 4))" << moveUpdate(agentIndex) << "\n + " << faultyProbability << "/100:" << "(view" << agentName << "'=mod(view" << agentName << " + 2, 4))" << ";\n";
os << "\t[" << agentName << "_turn_left] " << moveGuard(agentIndex) << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << " !" << agentName << "IsInGoal & !" << agentName << "IsInLava & !" << agentName << "IsOnSlippery & view" << agentName << ">1 -> " << 100 - faultyProbability << "/100:" << "(view" << agentName << "'=mod(view" << agentName << " - 1, 4))" << moveUpdate(agentIndex) << "\n + " << faultyProbability << "/100:" << "(view" << agentName << "'=mod(view" << agentName << " - 2, 4))" << ";\n";
os << "\t[" << agentName << "_turn_left] " << moveGuard(agentIndex) << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << " !" << agentName << "IsInGoal & !" << agentName << "IsInLava & !" << agentName << "IsOnSlippery & view" << agentName << "=0 -> " << 100 - faultyProbability << "/100:" << "(view" << agentName << "'=3)" << moveUpdate(agentIndex) << "\n + " << faultyProbability << "/100:" << "(view" << agentName << "'=2)" << ";\n";
os << "\t[" << agentName << "_turn_left] " << moveGuard(agentIndex) << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << " !" << agentName << "IsInGoal & !" << agentName << "IsInLava & !" << agentName << "IsOnSlippery & view" << agentName << "=1 -> " << 100 - faultyProbability << "/100:" << "(view" << agentName << "'=0)" << moveUpdate(agentIndex) << "\n + " << faultyProbability << "/100:" << "(view" << agentName << "'=3)" << ";\n";
} else {
os << "\t[" << agentName << "_turn_right] " << moveGuard(agentIndex) << " !" << agentName << "CannotTurn & " << " !" << agentName << "IsFixed & " << " !" << agentName << "IsInGoal & !" << agentName << "IsInLava & !" << agentName << "IsOnSlippery -> (view" << agentName << "'=mod(view" << agentName << " + 1, 4)) " << 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 << "'=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";
}
printActionsForKeys(os, agentName, keys);
printActionsForBackground(os, agentName, backgroundTiles);
os << "\n";
printMovementActions(os, agentName, agentIndex, agentWithView, 1.0, faultyProbability);
for(auto const& probability : probabilities) {
printMovementActions(os, agentName, agentIndex, agentWithView, probability);
}
printDoneActions(os, agentName, agentIndex);
printConfiguredActions(os, agentName);
os << "\n";
return os;
}
std::ostream& PrismModulesPrinter::printKeyModule(std::ostream &os, const cell &key, const coordinates &boundaries, AgentName agentName) {
std::string keyIdentifier = "Key" + key.getColor();
os << "module " << keyIdentifier << "\n";
os << "\tx" << keyIdentifier << " : [-1.." << boundaries.second << "];\n";
os << "\ty" << keyIdentifier << " : [-1.." << boundaries.first << "];\n";
os << "\n";
printKeyActions(os, key ,keyIdentifier, agentName);
os << "\n";
return os;
}
std::ostream& PrismModulesPrinter::printKeyActions(std::ostream &os, const cell &key ,const std::string &keyIdentifier, AgentName agentName) {
std::string keyColor = key.getColor();
os << "\t[pickup_" << keyColor << "key]\t" << pickupGuard(agentName, keyColor) << "-> ";
os << "(xKey" << keyColor << "'=-1) & (yKey" << keyColor << "'=-1)" << ";\n";
os << "\t[drop_" << keyColor << "_key_north]\t" << dropGuard(agentName, keyColor, 3) << "-> ";
os << "(xKey" << keyColor << "'=x" << agentName << ") & (yKey" << keyColor << "'=y" <<agentName << "-1) ;\n";
os << "\t[drop_" << keyColor << "_key_west]\t" << dropGuard(agentName, keyColor, 2) << "-> ";
os << "(xKey" << keyColor << "'=x" << agentName << "-1) & (yKey" << keyColor << "'=y" <<agentName << ") ;\n";
os << "\t[drop_" << keyColor << "_key_south]\t" << dropGuard(agentName, keyColor, 1) << "-> ";
os << "(xKey" << keyColor << "'=x" << agentName << ") & (yKey" << keyColor << "'=y" <<agentName << "+1) ;\n";
os << "\t[drop_" << keyColor << "_key_east]\t" << dropGuard(agentName, keyColor, 0) << "-> ";
os << "(xKey" << keyColor << "'=x" << agentName << "+1) & (yKey" << keyColor << "'=y" <<agentName << ") ;\n";
return os;
}
std::ostream& PrismModulesPrinter::printDoorModule(std::ostream &os, const cell &door, const coordinates &boundaries, AgentName agent) {
std::string doorIdentifier = "Door" + door.getColor();
os << "module " << doorIdentifier << "\n";
os << "\t" << doorIdentifier << "locked : bool;\n";
os << "\t" << doorIdentifier << "open : bool;\n";
printDoorActions(os, door, doorIdentifier, agent);
return os;
}
std::ostream& PrismModulesPrinter::printDoorActions(std::ostream &os, const cell &door ,const std::string &doorIdentifier, AgentName agentName) {
os << "\t[" << "unlock_" << doorIdentifier << "]\t" << unlockGuard(agentName, door) << " -> ";
os << "(" << doorIdentifier << "locked'=false) & (" << doorIdentifier << "open'=true) ;\n";
os << "\t[" << "toggle_" << doorIdentifier << "]\t" << toggleGuard(agentName, door) << " -> ";
os << "(" << doorIdentifier << "open'=!" << doorIdentifier << "open) ;\n";
return os;
}
std::string PrismModulesPrinter::unlockGuard(const AgentName &agentName, const cell& door) {
std::string doorColor = door.getColor();
std::string ret;
ret += agentName + "_has_" + doorColor + "_key & ";
ret += "((" + viewVariable(agentName, 0, true) + "x" + agentName + "+ 1 = " + std::to_string(door.column) + " & y" + agentName + "= " + std::to_string(door.row) + ")";
ret += " | (" + viewVariable(agentName, 1, true) + "x" + agentName + " = " + std::to_string(door.column) + " & y" + agentName + " + 1 = " + std::to_string(door.row) + ")";
ret += " | (" + viewVariable(agentName, 2, true) + "x" + agentName + "- 1 = " + std::to_string(door.column) + " & y" + agentName + "= " + std::to_string(door.row) + ")";
ret += " | (" + viewVariable(agentName, 3, true) + "x" + agentName + " = " + std::to_string(door.column) + " & y" + agentName + " - 1 = " + std::to_string(door.row) + "))";
return ret;
}
std::string PrismModulesPrinter::toggleGuard(const AgentName &agentName, const cell& door) {
std::string doorColor = door.getColor();
std::string ret;
ret += "!Door" + doorColor + "locked & (";
ret += "(" + viewVariable(agentName, 0, true) + "x" + agentName + "+ 1 = " + std::to_string(door.column) + " & y" + agentName + "= " + std::to_string(door.row) + ")";
ret += " | (" + viewVariable(agentName, 1, true) + "x" + agentName + " = " + std::to_string(door.column) + " & y" + agentName + " + 1 = " + std::to_string(door.row) + ")";
ret += " | (" + viewVariable(agentName, 2, true) + "x" + agentName + "- 1 = " + std::to_string(door.column) + " & y" + agentName + "= " + std::to_string(door.row) + ")";
ret += " | (" + viewVariable(agentName, 3, true) + "x" + agentName + " = " + std::to_string(door.column) + " & y" + agentName + " - 1 = " + std::to_string(door.row) + "))";
return ret;
}
std::ostream& PrismModulesPrinter::printConfiguredActions(std::ostream &os, const AgentName &agentName) {
for (auto& config : configuration) {
if (config.type_ == ConfigType::Module && !config.overwrite_ && agentName == config.module_) {
os << config.expression_ ;
}
}
os << "\n";
return os;
}
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";
os << "\t[" << agentName << "_move_south]" << moveGuard(agentIndex) << viewVariable(agentName, 1, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveSouth -> " << (100 - stickyProbability) << "/100:" << "(y" << agentName << "'=y" << agentName << "+1)" << moveUpdate(agentIndex) << "\n+ " << (stickyProbability) << "/100:" << "(y" << agentName << "'=min(y" << agentName << "+2, height))" << moveUpdate(agentIndex) << ";\n";
os << "\t[" << agentName << "_move_west] " << moveGuard(agentIndex) << viewVariable(agentName, 2, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveWest -> " << (100 - stickyProbability) << "/100:" << "(x" << agentName << "'=x" << agentName << "-1)" << moveUpdate(agentIndex) << "\n+ " << (stickyProbability) << "/100:" << "(x" << agentName << "'=max(x" << agentName << "-1, 1))" << moveUpdate(agentIndex) << ";\n";
}
else if(probability >= 1) {
os << "\t[" << agentName << "_move_north]" << moveGuard(agentIndex) << viewVariable(agentName, 3, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveNorth -> (y" << agentName << "'=y" << agentName << "-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 -> (x" << agentName << "'=x" << agentName << "+1)" << moveUpdate(agentIndex) << ";\n";
os << "\t[" << agentName << "_move_south]" << moveGuard(agentIndex) << viewVariable(agentName, 1, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveSouth -> (y" << agentName << "'=y" << agentName << "+1)" << moveUpdate(agentIndex) << ";\n";
os << "\t[" << agentName << "_move_west] " << moveGuard(agentIndex) << viewVariable(agentName, 2, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava &!" << agentName << "IsInGoal & !" << agentName << "CannotMoveWest -> (x" << agentName << "'=x" << agentName << "-1)" << moveUpdate(agentIndex) << ";\n";
} else {
std::string probabilityString = std::to_string(probability);
std::string percentageString = std::to_string((int)(100 * probability));
std::string complementProbabilityString = std::to_string(1 - probability);
os << "\t[" << agentName << "_move_north_" << percentageString << "] ";
os << moveGuard(agentIndex) << viewVariable(agentName, 3, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava & !" << agentName << "CannotMoveNorth -> ";
os << probabilityString << ": (y" << agentName << "'=y" << agentName << "-1)" << moveUpdate(agentIndex) << " + ";
os << complementProbabilityString << ": (y" << agentName << "'=y" << agentName << ") " << moveUpdate(agentIndex) << ";\n";
os << "\t[" << agentName << "_move_east_" << percentageString << "] ";
os << moveGuard(agentIndex) << viewVariable(agentName, 0, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava & !" << agentName << "CannotMoveEast -> ";
os << probabilityString << ": (x" << agentName << "'=x" << agentName << "+1)" << moveUpdate(agentIndex) << " + ";
os << complementProbabilityString << ": (x" << agentName << "'=x" << agentName << ") " << moveUpdate(agentIndex) << ";\n";
os << "\t[" << agentName << "_move_south_" << percentageString << "] ";
os << moveGuard(agentIndex) << viewVariable(agentName, 1, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava & !" << agentName << "CannotMoveSouth -> ";
os << probabilityString << ": (y" << agentName << "'=y" << agentName << "+1)" << moveUpdate(agentIndex) << " + ";
os << complementProbabilityString << ": (y" << agentName << "'=y" << agentName << ") " << moveUpdate(agentIndex) << ";\n";
os << "\t[" << agentName << "_move_west_" << percentageString << "] ";
os << moveGuard(agentIndex) << viewVariable(agentName, 2, agentWithView) << " !" << agentName << "IsFixed & " << " !" << agentName << "IsOnSlippery & !" << agentName << "IsInLava & !" << agentName << "CannotMoveWest -> ";
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";
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");
}
}
}
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;
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)
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");
}
return os;
}
std::ostream& PrismModulesPrinter::printEndmodule(std::ostream &os) {
os << "endmodule\n";
os << "\n";
return os;
}
std::ostream& PrismModulesPrinter::printPlayerStruct(std::ostream &os, const AgentName &agentName, const bool agentWithView, const std::vector<float> &probabilities, const std::set<std::string> &slipperyActions) {
os << "player " << agentName << "\n\t";
bool first = true;
std::list<std::string> allActions = { "_move_north", "_move_east", "_move_south", "_move_west" };
std::list<std::string> movementActions = allActions;
for(auto const& probability : probabilities) {
std::string percentageString = std::to_string((int)(100 * probability));
for(auto const& movement : movementActions) {
allActions.push_back(movement + "_" + percentageString);
}
}
if(agentWithView) {
allActions.push_back("_turn_left");
allActions.push_back("_turn_right");
} else {
allActions.push_back("_turns");
}
for(auto const& action : allActions) {
if(first) first = false; else os << ", ";
os << "[" << agentName << action << "]";
}
for(auto const& action : slipperyActions) {
os << ", " << action;
}
os << ", [" << agentName << "_done]";
os << "\nendplayer\n";
return os;
}
std::ostream& PrismModulesPrinter::printGlobalMoveVariable(std::ostream &os, const size_t &numberOfPlayer) {
os << "\nglobal move : [0.." << std::to_string(numberOfPlayer - 1) << "];\n\n";
return os;
}
std::ostream& PrismModulesPrinter::printRewards(std::ostream &os, const AgentName &agentName, const std::map<coordinates, float> &stateRewards, const cells &lava, const cells &goals, const std::map<Color, cells> &backgroundTiles) {
if(lava.size() != 0) {
os << "rewards \"" << agentName << "SafetyNoBFS\"\n";
os << "\t" <<agentName << "IsInLavaAndNotDone: -100;\n";
os << "endrewards\n";
}
if (!goals.empty() || !lava.empty()) {
os << "rewards \"" << agentName << "SafetyNoBFSAndGoal\"\n";
if(goals.size() != 0) os << "\t" << agentName << "IsInGoalAndNotDone: 100;\n";
if(lava.size() != 0) os << "\t" << agentName << "IsInLavaAndNotDone: -100;\n";
os << "endrewards\n";
}
os << "rewards \"" << agentName << "Time\"\n";
os << "\t!" << agentName << "IsInGoal : -1;\n";
if(goals.size() != 0) os << "\t" << agentName << "IsInGoalAndNotDone: 100;\n";
if(lava.size() != 0) os << "\t" << agentName << "IsInLavaAndNotDone: -100;\n";
os << "endrewards\n";
if(stateRewards.size() > 0) {
os << "rewards \"" << agentName << "SafetyWithBFS\"\n";
if(lava.size() != 0) os << "\t" << agentName << "IsInLavaAndNotDone: -100;\n";
for(auto const [coordinates, reward] : stateRewards) {
os << "\txAgent=" << coordinates.first << "&yAgent=" << coordinates.second << " : " << reward << ";\n";
}
os << "endrewards\n";
}
if(stateRewards.size() > 0) {
os << "rewards \"" << agentName << "SafetyWithBFSAndGoal\"\n";
if(goals.size() != 0) os << "\tAgentIsInGoalAndNotDone: 100;\n";
if(lava.size() != 0) os << "\tAgentIsInLavaAndNotDone: -100;\n";
for(auto const [coordinates, reward] : stateRewards) {
os << "\txAgent=" << coordinates.first << "&yAgent=" << coordinates.second << " : " << reward << ";\n";
}
os << "endrewards\n";
}
for(auto const entry : backgroundTiles)
{
std::cout << getColor(entry.first) << " ";
for(auto const cell : entry.second){
std::cout << cell.getCoordinates().first << " " << cell.getCoordinates().second << std::endl;
}
}
if(backgroundTiles.size() > 0) {
os << "rewards \"TaxiReward\"\n";
os << "\t!AgentIsInGoal : -1;\n";
std::string allPassengersPickedUp = "";
bool first = true;
for(auto const [color, cells] : backgroundTiles) {
if(cells.size() == 0) continue;
if(first) first = false; else allPassengersPickedUp += "&";
std::string c = getColor(color);
c.at(0) = std::toupper(c.at(0));
std::string visitedLabel = agentName + "_picked_up_" + c;
allPassengersPickedUp += visitedLabel;
os << "[" << agentName << "_pickup_" << c << "] true : 100;\n";
}
if(goals.size() != 0) os << "\tAgentIsInGoalAndNotDone & " << allPassengersPickedUp << " : 100;\n";
if(goals.size() != 0) os << "\tAgentIsInGoalAndNotDone & !(" << allPassengersPickedUp << ") : -100;\n";
os << "endrewards";
}
return os;
}
std::string PrismModulesPrinter::moveGuard(const size_t &agentIndex) {
return isGame() ? " move=" + std::to_string(agentIndex) + " & " : " ";
}
std::string PrismModulesPrinter::moveUpdate(const size_t &agentIndex) {
return isGame() ?
(agentIndex == numberOfPlayer - 1) ?
" & (move'=0) " :
" & (move'=" + std::to_string(agentIndex + 1) + ") " :
"";
}
std::string PrismModulesPrinter::viewVariable(const AgentName &agentName, const size_t &agentDirection, const bool agentWithView) {
return agentWithView ? " view" + agentName + "=" + std::to_string(agentDirection) + " & " : " ";
}
bool PrismModulesPrinter::isGame() const {
return modelType == ModelType::SMG;
}
}