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243 lines
13 KiB
243 lines
13 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 float probIntended, const float faultyProbability)
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: allGridCells(gridCells), background(background), gridOptions(gridOptions), stateRewards(stateRewards), probIntended(probIntended), 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) { return c.type == Type::Wall; });
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std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(lava), [](cell c) { return c.type == Type::Lava; });
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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
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std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyNorth), [](cell c) { return c.type == Type::SlipperyNorth; });
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std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyEast), [](cell c) { return c.type == Type::SlipperyEast; });
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std::copy_if(background.begin(), background.end(), std::back_inserter(slipperySouth), [](cell c) { return c.type == Type::SlipperySouth; });
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std::copy_if(background.begin(), background.end(), std::back_inserter(slipperyWest), [](cell c) { return c.type == Type::SlipperyWest; });
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std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(lockedDoors), [](cell c) { return c.type == Type::LockedDoor; });
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std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(unlockedDoors), [](cell c) { return c.type == Type::Door; });
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std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(goals), [](cell c) { return c.type == Type::Goal; });
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std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(keys), [](cell c) { return c.type == Type::Key; });
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std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(boxes), [](cell c) { return c.type == Type::Box; });
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std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(balls), [](cell c) { return c.type == Type::Ball; });
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std::copy_if(gridCells.begin(), gridCells.end(), std::back_inserter(adversaries), [](cell c) { return c.type == Type::Adversary; });
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agent = *std::find_if(gridCells.begin(), gridCells.end(), [](cell c) { return c.type == Type::Agent; });
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floor.push_back(agent);
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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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floor.push_back(adversary);
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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);
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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.second && cell.column == p.first;
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}) != walls.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, eastRestriction, southRestriction, westRestriction;
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cells walkable = floor;
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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.insert(walkable.end(), adversaries.begin(), adversaries.end());
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walkable.insert(walkable.end(), lava.begin(), lava.end());
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walkable.insert(walkable.end(), keys.begin(), keys.end());
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walkable.insert(walkable.end(), balls.begin(), balls.end());
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for(auto const& c : walkable) {
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if(isWall(c.getNorth())) northRestriction.push_back(c);
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if(isWall(c.getEast())) eastRestriction.push_back(c);
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if(isWall(c.getSouth())) southRestriction.push_back(c);
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if(isWall(c.getWest())) westRestriction.push_back(c);
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}
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std::map<std::string, cells> wallRestrictions = {{"North", northRestriction}, {"East", eastRestriction}, {"South", southRestriction}, {"West", westRestriction}};
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std::map<std::string, cells> slipperyTiles = {{"North", slipperyNorth}, {"East", slipperyEast}, {"South", slipperySouth}, {"West", slipperyWest}};
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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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std::string agentName = agentNames.at(0);
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prism::PrismFormulaPrinter formulas(os, wallRestrictions, walls, boxes, balls, lockedDoors, unlockedDoors, keys, slipperyTiles, lava, goals);
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prism::PrismModulesPrinter modules(os, modelType, maxBoundaries, boxes, balls, lockedDoors, unlockedDoors, keys, slipperyTiles, agentNameAndPositionMap, configuration, probIntended, faultyProbability);
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modules.printModelType(modelType);
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for(const auto &agentName : agentNames) {
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formulas.print(agentName);
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}
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if(modelType == prism::ModelType::SMG) modules.printGlobalMoveVariable(os, agentNameAndPositionMap.size());
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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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modules.printConstants(os, constants);
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modules.print();
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//modules.printInitStruct(os, agentNameAndPositionMap, keyNameAndPositionMap, lockedDoors, unlockedDoors, modelType);
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//size_t agentIndex = 0;
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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) modules.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView, gridOptions.probabilitiesForActions);
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// else modules.printModule(os, agentName, agentIndex, maxBoundaries, agentNameAndPosition->second, keys, backgroundTiles, agentWithView, {} ,faultyProbability);
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// for(auto const& c : slipperyNorth) {
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// modules.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::North);
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// if(!gridOptions.enforceOneWays) modules.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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// modules.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::East);
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// if(!gridOptions.enforceOneWays) modules.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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// modules.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::South);
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// if(!gridOptions.enforceOneWays) modules.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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// modules.printSlipperyMove(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
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// if(!gridOptions.enforceOneWays) modules.printSlipperyTurn(os, agentName, agentIndex, c.getCoordinates(), slipperyActions, getWalkableDirOf8Neighborhood(c), prism::PrismModulesPrinter::SlipperyType::West);
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// }
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// modules.printEndmodule(os);
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// if(modelType == prism::ModelType::SMG) {
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// if(agentWithProbabilisticBehaviour) modules.printPlayerStruct(os, agentNameAndPosition->first, agentWithView, gridOptions.probabilitiesForActions, slipperyActions);
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// else modules.printPlayerStruct(os, agentNameAndPosition->first, agentWithView, {}, slipperyActions);
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// }
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//if(!stateRewards.empty()) {
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// modules.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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modules.printConfiguration(os, configuration);
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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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