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#include "Grid.h"
#include <boost/algorithm/string/find.hpp>
#include <algorithm>
prism::ModelType GridOptions::getModelType() const
{
if (agentsWithView.size() > 1) {
return prism::ModelType::SMG;
}
return prism::ModelType::MDP;
}
Grid::Grid(cells gridCells, cells background, const GridOptions &gridOptions, const std::map<coordinates, float> &stateRewards, const float probIntended, const float faultyProbability)
: allGridCells(gridCells), background(background), gridOptions(gridOptions), stateRewards(stateRewards), probIntended(probIntended), faultyProbability(faultyProbability)
{
cell max = allGridCells.at(allGridCells.size() - 1);
maxBoundaries = std::make_pair(max.row - 1, max.column - 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 {
if(gridOptions.agentsToBeConsidered.size() != 0 && std::find(gridOptions.agentsToBeConsidered.begin(), gridOptions.agentsToBeConsidered.end(), color) == gridOptions.agentsToBeConsidered.end()) continue;
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);
}
}
}
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;
}
size_t start_pos;
if (config.type_ == ConfigType::Formula) {
start_pos = str.find("formula " + config.identifier_);
} else if (config.type_ == ConfigType::Label) {
start_pos = str.find("label " + config.identifier_);
} else if (config.type_ == ConfigType::Module) {
auto iter = boost::find_nth(str, config.identifier_, config.index_);
start_pos = std::distance(str.begin(), iter.begin());
}
else if (config.type_ == ConfigType::Constant) {
start_pos = str.find(config.identifier_);
if (start_pos == std::string::npos) {
std::cout << "Couldn't find overwrite:" << config.expression_ << std::endl;
}
}
size_t end_pos = str.find(';', start_pos) + 1;
std::string expression = config.expression_;
str.replace(start_pos, end_pos - start_pos , expression);
}
}
void Grid::printToPrism(std::ostream& os, std::vector<Configuration>& configuration ,const prism::ModelType& modelType) {
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(), adversaries.begin(), adversaries.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);
modules.printModelType(modelType);
for(const auto &agentName : agentNames) {
formulas.print(agentName);
}
if(modelType == prism::ModelType::SMG) modules.printGlobalMoveVariable(os, agentNameAndPositionMap.size());
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();
//modules.printInitStruct(os, agentNameAndPositionMap, keyNameAndPositionMap, lockedDoors, unlockedDoors, modelType);
//size_t agentIndex = 0;
//for(auto agentNameAndPosition = agentNameAndPositionMap.begin(); agentNameAndPosition != agentNameAndPositionMap.end(); ++agentNameAndPosition, agentIndex++) {
// AgentName agentName = agentNameAndPosition->first;
// //std::cout << "Agent Name: " << agentName << std::endl;
// bool agentWithView = std::find(gridOptions.agentsWithView.begin(), gridOptions.agentsWithView.end(), agentName) != gridOptions.agentsWithView.end();
// bool agentWithProbabilisticBehaviour = std::find(gridOptions.agentsWithProbabilisticBehaviour.begin(), gridOptions.agentsWithProbabilisticBehaviour.end(), agentName) != gridOptions.agentsWithProbabilisticBehaviour.end();
// std::set<std::string> slipperyActions; // TODO AGENT POSITION INITIALIZATIN
// if(agentWithProbabilisticBehaviour) modules.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView, gridOptions.probabilitiesForActions);
// else modules.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView, {} ,faultyProbability);
// for(auto const& c : slipperyNorth) {
// modules.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
// if(!gridOptions.enforceOneWays) modules.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
// }
// for(auto const& c : slipperyEast) {
// modules.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
// if(!gridOptions.enforceOneWays) modules.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
// }
// for(auto const& c : slipperySouth) {
// modules.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
// if(!gridOptions.enforceOneWays) modules.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
// }
// for(auto const& c : slipperyWest) {
// modules.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
// if(!gridOptions.enforceOneWays) modules.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
// }
// modules.printEndmodule(os);
// if(modelType == prism::ModelType::SMG) {
// if(agentWithProbabilisticBehaviour) modules.printPlayerStruct(os, agentNameAndPosition->first, agentWithView, gridOptions.probabilitiesForActions, slipperyActions);
// else modules.printPlayerStruct(os, agentNameAndPosition->first, agentWithView, {}, slipperyActions);
// }
//if(!stateRewards.empty()) {
// modules.printRewards(os, agentName, stateRewards, lava, goals, backgroundTiles);
//}
//}
if (!configuration.empty()) {
modules.printConfiguration(os, configuration);
}
}
std::array<bool, 8> Grid::getWalkableDirOf8Neighborhood(cell c) /* const */ {
return (std::array<bool, 8>)
{
!isBlocked(c.getNorth()),
!isBlocked(c.getNorth(allGridCells).getEast()),
!isBlocked(c.getEast()),
!isBlocked(c.getSouth(allGridCells).getEast()),
!isBlocked(c.getSouth()),
!isBlocked(c.getSouth(allGridCells).getWest()),
!isBlocked(c.getWest()),
!isBlocked(c.getNorth(allGridCells).getWest())
};
}