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344 lines
16 KiB
344 lines
16 KiB
#include "Grid.h"
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#include <boost/algorithm/string/find.hpp>
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#include <algorithm>
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prism::ModelType GridOptions::getModelType() const
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{
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if (agentsWithView.size() > 1) {
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return prism::ModelType::SMG;
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}
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return prism::ModelType::MDP;
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}
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Grid::Grid(cells gridCells, cells background, const GridOptions &gridOptions, const std::map<coordinates, float> &stateRewards, const double faultyProbability)
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: allGridCells(gridCells), background(background), gridOptions(gridOptions), stateRewards(stateRewards), faultyProbability(faultyProbability)
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{
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cell max = allGridCells.at(allGridCells.size() - 1);
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maxBoundaries = std::make_pair(max.row - 1, max.column - 1);
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std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(walls), [](cell c) {
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return c.type == Type::Wall;
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});
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std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(lava), [](cell c) {
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return c.type == Type::Lava;
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});
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std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(floor), [](cell c) {
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return c.type == Type::Floor;
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});
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std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyNorth), [](cell c) {
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return c.type == Type::SlipperyNorth;
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});
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std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyEast), [](cell c) {
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return c.type == Type::SlipperyEast;
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});
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std::copy_if(background.begin(), background.end(), std::back_inserter(slipperySouth), [](cell c) {
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return c.type == Type::SlipperySouth;
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});
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std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyWest), [](cell c) {
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return c.type == Type::SlipperyWest;
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});
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std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(lockedDoors), [](cell c) {
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return c.type == Type::LockedDoor;
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});
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std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(unlockedDoors), [](cell c) {
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return c.type == Type::Door;
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});
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std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(goals), [](cell c) {
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return c.type == Type::Goal;
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});
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std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(keys), [this](cell c) {
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return c.type == Type::Key;
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});
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std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(boxes), [](cell c) {
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return c.type == Type::Box;
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});
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agent = *std::find_if(gridCells.begin(), gridCells.end(), [](cell c) {
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return c.type == Type::Agent;
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});
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std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(adversaries), [](cell c) {
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return c.type == Type::Adversary;
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});
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agentNameAndPositionMap.insert({ "Agent", agent.getCoordinates() });
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for(auto const& adversary : adversaries) {
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std::string color = adversary.getColor();
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color.at(0) = std::toupper(color.at(0));
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try {
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if(gridOptions.agentsToBeConsidered.size() != 0 && std::find(gridOptions.agentsToBeConsidered.begin(), gridOptions.agentsToBeConsidered.end(), color) == gridOptions.agentsToBeConsidered.end()) continue;
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auto success = agentNameAndPositionMap.insert({ color, adversary.getCoordinates() });
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if(!success.second) {
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throw std::logic_error("Agent with " + color + " already present\n");
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}
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} catch(const std::logic_error& e) {
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std::cerr << "Expected agents colors to be different. Agent with color : '" << color << "' already present." << std::endl;
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throw;
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}
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}
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for(auto const& key : keys) {
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std::string color = key.getColor();
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try {
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auto success = keyNameAndPositionMap.insert({color, key.getCoordinates() });
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if (!success.second) {
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throw std::logic_error("Multiple keys with same color not supported " + color + "\n");
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}
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} catch(const std::logic_error& e) {
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std::cerr << "Expected key colors to be different. Key with color : '" << color << "' already present." << std::endl;
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throw;
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}
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}
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for(auto const& color : allColors) {
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cells cellsOfColor;
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std::copy_if(background.begin(), background.end(), std::back_inserter(cellsOfColor), [&color](cell c) {
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return c.type == Type::Floor && c.color == color;
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});
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if(cellsOfColor.size() > 0) {
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backgroundTiles.emplace(color, cellsOfColor);
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}
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}
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}
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std::ostream& operator<<(std::ostream& os, const Grid& grid) {
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int lastRow = 1;
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for(auto const& cell : grid.allGridCells) {
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if(lastRow != cell.row)
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os << std::endl;
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os << static_cast<char>(cell.type) << static_cast<char>(cell.color);
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lastRow = cell.row;
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}
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return os;
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}
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cells Grid::getGridCells() {
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return allGridCells;
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}
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bool Grid::isBlocked(coordinates p) {
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return isWall(p); //|| isLockedDoor(p) || isKey(p);
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}
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bool Grid::isWall(coordinates p) {
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return std::find_if(walls.begin(), walls.end(),
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[p](cell cell) {
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return cell.row == p.first && cell.column == p.second;
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}) != walls.end();
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}
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bool Grid::isLockedDoor(coordinates p) {
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return std::find_if(lockedDoors.begin(), lockedDoors.end(),
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[p](cell cell) {
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return cell.row == p.first && cell.column == p.second;
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}) != lockedDoors.end();
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}
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bool Grid::isUnlockedDoor(coordinates p) {
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return std::find_if(unlockedDoors.begin(), unlockedDoors.end(),
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[p](cell cell) {
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return cell.row == p.first && cell.column == p.second;
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}) != unlockedDoors.end();
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}
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bool Grid::isKey(coordinates p) {
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return std::find_if(keys.begin(), keys.end(),
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[p](cell cell) {
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return cell.row == p.first && cell.column == p.second;
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}) != keys.end();
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}
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bool Grid::isBox(coordinates p) {
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return std::find_if(boxes.begin(), boxes.end(),
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[p](cell cell) {
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return cell.row == p.first && cell.column == p.second;
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}) != boxes.end();
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}
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void Grid::applyOverwrites(std::string& str, std::vector<Configuration>& configuration) {
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for (auto& config : configuration) {
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if (!config.overwrite_) {
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continue;
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}
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size_t start_pos;
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if (config.type_ == ConfigType::Formula) {
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start_pos = str.find("formula " + config.identifier_);
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} else if (config.type_ == ConfigType::Label) {
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start_pos = str.find("label " + config.identifier_);
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} else if (config.type_ == ConfigType::Module) {
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auto iter = boost::find_nth(str, config.identifier_, config.index_);
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start_pos = std::distance(str.begin(), iter.begin());
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}
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else if (config.type_ == ConfigType::Constant) {
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start_pos = str.find(config.identifier_);
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if (start_pos == std::string::npos) {
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std::cout << "Couldn't find overwrite:" << config.expression_ << std::endl;
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}
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}
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size_t end_pos = str.find(';', start_pos) + 1;
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std::string expression = config.expression_;
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str.replace(start_pos, end_pos - start_pos , expression);
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}
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}
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void Grid::printToPrism(std::ostream& os, std::vector<Configuration>& configuration ,const prism::ModelType& modelType) {
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cells northRestriction;
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cells eastRestriction;
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cells southRestriction;
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cells westRestriction;
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cells walkable = floor;
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cells conditionallyWalkable;
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walkable.insert(walkable.end(), goals.begin(), goals.end());
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walkable.insert(walkable.end(), boxes.begin(), boxes.end());
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walkable.push_back(agent);
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walkable.insert(walkable.end(), adversaries.begin(), adversaries.end());
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walkable.insert(walkable.end(), lava.begin(), lava.end());
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conditionallyWalkable.insert(conditionallyWalkable.end(), keys.begin(), keys.end());
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conditionallyWalkable.insert(conditionallyWalkable.end(), lockedDoors.begin(), lockedDoors.end());
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conditionallyWalkable.insert(conditionallyWalkable.end(), unlockedDoors.begin(), unlockedDoors.end());
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for(auto const& c : walkable) {
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if(isBlocked(c.getNorth())) northRestriction.push_back(c);
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if(isBlocked(c.getEast())) eastRestriction.push_back(c);
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if(isBlocked(c.getSouth())) southRestriction.push_back(c);
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if(isBlocked(c.getWest())) westRestriction.push_back(c);
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}
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// TODO Add doors here (list of doors keys etc)
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// walkable.insert(walkable.end(), lockedDoors.begin(), lockedDoors.end());
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// walkable.insert(walkable.end(), unlockedDoors.begin(), unlockedDoors.end());
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for(auto const& c : conditionallyWalkable) {
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if(isBlocked(c.getNorth())) northRestriction.push_back(c);
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if(isBlocked(c.getEast())) eastRestriction.push_back(c);
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if(isBlocked(c.getSouth())) southRestriction.push_back(c);
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if(isBlocked(c.getWest())) westRestriction.push_back(c);
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}
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prism::PrismModulesPrinter printer(modelType, agentNameAndPositionMap.size(), configuration, gridOptions.enforceOneWays);
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printer.printModel(os, modelType);
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if(modelType == prism::ModelType::SMG) {
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printer.printGlobalMoveVariable(os, agentNameAndPositionMap.size());
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}
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for(auto const &backgroundTilesOfColor : backgroundTiles) {
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for(auto agentNameAndPosition = agentNameAndPositionMap.begin(); agentNameAndPosition != agentNameAndPositionMap.end(); ++agentNameAndPosition) {
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printer.printBackgroundLabels(os, agentNameAndPosition->first, backgroundTilesOfColor);
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}
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}
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cells noTurnFloor;
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if(gridOptions.enforceOneWays) {
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for(auto const& c : floor) {
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cell east = c.getEast(allGridCells);
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cell south = c.getSouth(allGridCells);
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cell west = c.getWest(allGridCells);
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cell north = c.getNorth(allGridCells);
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if( (east.type == Type::Wall && west.type == Type::Wall) or
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(north.type == Type::Wall && south.type == Type::Wall) ) {
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noTurnFloor.push_back(c);
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}
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}
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}
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cells doors;
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doors.insert(doors.end(), lockedDoors.begin(), lockedDoors.end());
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doors.insert(doors.end(), unlockedDoors.begin(), unlockedDoors.end());
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for(auto agentNameAndPosition = agentNameAndPositionMap.begin(); agentNameAndPosition != agentNameAndPositionMap.end(); ++agentNameAndPosition) {
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printer.printFormulas(os, agentNameAndPosition->first, northRestriction, eastRestriction, southRestriction, westRestriction, { slipperyNorth, slipperyEast, slipperySouth, slipperyWest }, lava, walls, noTurnFloor, slipperyNorth, slipperyEast, slipperySouth, slipperyWest, keys, doors);
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printer.printGoalLabel(os, agentNameAndPosition->first, goals);
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printer.printKeysLabels(os, agentNameAndPosition->first, keys);
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}
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std::vector<std::string> constants {"const double prop_zero = 0/9;",
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"const double prop_intended = 6/9;",
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"const double prop_turn_intended = 6/9;",
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"const double prop_displacement = 3/9;",
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"const double prop_turn_displacement = 3/9;",
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"const int width = " + std::to_string(maxBoundaries.first) + ";",
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"const int height = " + std::to_string(maxBoundaries.second) + ";"
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};
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printer.printConstants(os, constants);
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std::vector<AgentName> agentNames;
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std::transform(agentNameAndPositionMap.begin(),
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agentNameAndPositionMap.end(),
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std::back_inserter(agentNames),
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[](const std::map<AgentNameAndPosition::first_type,AgentNameAndPosition::second_type>::value_type &pair){return pair.first;});
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if(modelType == prism::ModelType::SMG) {
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printer.printCrashLabel(os, agentNames);
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}
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size_t agentIndex = 0;
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printer.printInitStruct(os, agentNameAndPositionMap, keyNameAndPositionMap, lockedDoors, unlockedDoors, modelType);
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for(auto agentNameAndPosition = agentNameAndPositionMap.begin(); agentNameAndPosition != agentNameAndPositionMap.end(); ++agentNameAndPosition, agentIndex++) {
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AgentName agentName = agentNameAndPosition->first;
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//std::cout << "Agent Name: " << agentName << std::endl;
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bool agentWithView = std::find(gridOptions.agentsWithView.begin(), gridOptions.agentsWithView.end(), agentName) != gridOptions.agentsWithView.end();
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bool agentWithProbabilisticBehaviour = std::find(gridOptions.agentsWithProbabilisticBehaviour.begin(), gridOptions.agentsWithProbabilisticBehaviour.end(), agentName) != gridOptions.agentsWithProbabilisticBehaviour.end();
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std::set<std::string> slipperyActions; // TODO AGENT POSITION INITIALIZATIN
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if(agentWithProbabilisticBehaviour) printer.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView, gridOptions.probabilitiesForActions);
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else printer.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView, {} ,faultyProbability);
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for(auto const& c : slipperyNorth) {
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printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
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if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
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}
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for(auto const& c : slipperyEast) {
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printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
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if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
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}
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for(auto const& c : slipperySouth) {
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printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
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if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
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}
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for(auto const& c : slipperyWest) {
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printer.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
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if(!gridOptions.enforceOneWays) printer.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
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}
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printer.printEndmodule(os);
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if(modelType == prism::ModelType::SMG) {
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if(agentWithProbabilisticBehaviour) printer.printPlayerStruct(os, agentNameAndPosition->first, agentWithView, gridOptions.probabilitiesForActions, slipperyActions);
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else printer.printPlayerStruct(os, agentNameAndPosition->first, agentWithView, {}, slipperyActions);
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}
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//if(!stateRewards.empty()) {
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printer.printRewards(os, agentName, stateRewards, lava, goals, backgroundTiles);
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//}
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}
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if (!configuration.empty()) {
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printer.printConfiguration(os, configuration);
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}
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// TODO CHANGE HANDLING
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std::string agentName = agentNames.at(0);
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for (auto const & key : keys) {
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os << "\n";
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printer.printKeyModule(os, key, maxBoundaries, agentName);
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printer.printEndmodule(os);
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}
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for (auto const& door : lockedDoors) {
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os << "\n";
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printer.printDoorModule(os, door, maxBoundaries, agentName);
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printer.printEndmodule(os);
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}
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}
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std::array<bool, 8> Grid::getWalkableDirOf8Neighborhood(cell c) /* const */ {
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return (std::array<bool, 8>)
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{
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!isBlocked(c.getNorth()),
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!isBlocked(c.getNorth(allGridCells).getEast()),
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!isBlocked(c.getEast()),
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!isBlocked(c.getSouth(allGridCells).getEast()),
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!isBlocked(c.getSouth()),
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!isBlocked(c.getSouth(allGridCells).getWest()),
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!isBlocked(c.getWest()),
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!isBlocked(c.getNorth(allGridCells).getWest())
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};
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}
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