You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
840 lines
52 KiB
840 lines
52 KiB
#include "PrismModulesPrinter.h"
|
|
|
|
#include <map>
|
|
#include <string>
|
|
|
|
#define NOFAULT -1
|
|
#define LEFT 0
|
|
#define RIGHT 1
|
|
#define FORWARD 2
|
|
|
|
namespace prism {
|
|
|
|
PrismModulesPrinter::PrismModulesPrinter(std::ostream& os, const ModelType &modelType, const coordinates &maxBoundaries, const cells &boxes, const cells &balls, const cells &lockedDoors, const cells &unlockedDoors, const cells &keys, const AgentNameAndPositionMap &agentNameAndPositionMap, std::vector<Configuration> config, const float faultyProbability)
|
|
: os(os), modelType(modelType), maxBoundaries(maxBoundaries), boxes(boxes), balls(balls), lockedDoors(lockedDoors), unlockedDoors(unlockedDoors), keys(keys), agentNameAndPositionMap(agentNameAndPositionMap), configuration(config), faultyProbability(faultyProbability), viewDirectionMapping({{0, "East"}, {1, "South"}, {2, "West"}, {3, "North"}}) {
|
|
numberOfPlayer = agentNameAndPositionMap.size();
|
|
size_t index = 0;
|
|
for(auto begin = agentNameAndPositionMap.begin(); begin != agentNameAndPositionMap.end(); begin++, index++) {
|
|
agentIndexMap[begin->first] = index;
|
|
}
|
|
}
|
|
|
|
std::ostream& PrismModulesPrinter::printModelType(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::print() {
|
|
for(const auto &key : keys) {
|
|
printPortableObjectModule(key);
|
|
}
|
|
for(const auto &ball : balls) {
|
|
printPortableObjectModule(ball);
|
|
}
|
|
for(const auto &box : boxes) {
|
|
printPortableObjectModule(box);
|
|
}
|
|
for(const auto &door : unlockedDoors) {
|
|
printDoorModule(door, true);
|
|
}
|
|
for(const auto &door : lockedDoors) {
|
|
printDoorModule(door, false);
|
|
}
|
|
|
|
for(const auto [agentName, initialPosition] : agentNameAndPositionMap) {
|
|
printRobotModule(agentName, initialPosition);
|
|
}
|
|
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::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";
|
|
// 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 float 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";
|
|
}
|
|
} 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;
|
|
}
|
|
|
|
void PrismModulesPrinter::printPortableObjectModule(const cell &object) {
|
|
std::string identifier = capitalize(object.getColor()) + object.getType();
|
|
os << "\nmodule " << identifier << std::endl;
|
|
os << "\tx" << identifier << " : [-1.." << maxBoundaries.second << "] init " << object.column << ";\n";
|
|
os << "\ty" << identifier << " : [-1.." << maxBoundaries.first << "] init " << object.row << ";\n";
|
|
os << "\t" << identifier << "PickedUp : bool;\n";
|
|
os << "\n";
|
|
|
|
for(const auto [name, position] : agentNameAndPositionMap) {
|
|
printPortableObjectActions(name, identifier);
|
|
}
|
|
os << "endmodule\n\n";
|
|
}
|
|
|
|
void PrismModulesPrinter::printPortableObjectActions(const std::string &agentName, const std::string &identifier) {
|
|
os << "\t[" << agentName << "_pickup_" << identifier << "]\ttrue -> (x" << identifier << "'=-1) & (y" << identifier << "'=-1) & (" << identifier << "PickedUp'=true);\n";
|
|
os << "\t[" << agentName << "_drop_" << identifier << "_north]\ttrue -> (x" << identifier << "'=x" << agentName << ") & (y" << identifier << "'=y" << agentName << "-1) & (" << identifier << "PickedUp'=false);\n";
|
|
os << "\t[" << agentName << "_drop_" << identifier << "_west]\ttrue -> (x" << identifier << "'=x" << agentName << "-1) & (y" << identifier << "'=y" << agentName << ") & (" << identifier << "PickedUp'=false);\n";
|
|
os << "\t[" << agentName << "_drop_" << identifier << "_south]\ttrue -> (x" << identifier << "'=x" << agentName << ") & (y" << identifier << "'=y" << agentName << "+1) & (" << identifier << "PickedUp'=false);\n";
|
|
os << "\t[" << agentName << "_drop_" << identifier << "_east]\ttrue -> (x" << identifier << "'=x" << agentName << "+1) & (y" << identifier << "'=y" << agentName << ") & (" << identifier << "PickedUp'=false);\n";
|
|
}
|
|
|
|
|
|
void PrismModulesPrinter::printDoorModule(const cell &door, const bool &opened) {
|
|
std::string identifier = capitalize(door.getColor()) + door.getType();
|
|
os << "\nmodule " << identifier << std::endl;
|
|
os << "\t" << identifier << "Open : bool init false;\n";
|
|
os << "\n";
|
|
|
|
if(opened) {
|
|
for(const auto [name, position] : agentNameAndPositionMap) {
|
|
printUnlockedDoorActions(name, identifier);
|
|
}
|
|
} else {
|
|
for(const auto [name, position] : agentNameAndPositionMap) {
|
|
printLockedDoorActions(name, identifier);
|
|
}
|
|
}
|
|
os << "endmodule\n\n";
|
|
}
|
|
|
|
void PrismModulesPrinter::printLockedDoorActions(const std::string &agentName, const std::string &identifier) {
|
|
os << "\t[" << agentName << "_unlock_" << identifier << "] !" << identifier << "Open -> (" << identifier << "Open'=true);\n";
|
|
os << "\t[" << agentName << "_close_" << identifier << "] " << identifier << "Open -> (" << identifier << "Open'=false);\n";
|
|
}
|
|
|
|
void PrismModulesPrinter::printUnlockedDoorActions(const std::string &agentName, const std::string &identifier) {
|
|
os << "\t[" << agentName << "_open_" << identifier << "] !" << identifier << "Open -> (" << identifier << "Open'=true);\n";
|
|
os << "\t[" << agentName << "_close_" << identifier << "] " << identifier << "Open -> (" << identifier << "Open'=false);\n";
|
|
}
|
|
|
|
void PrismModulesPrinter::printRobotModule(const AgentName &agentName, const coordinates &initialPosition) {
|
|
os << "\nmodule " << agentName << std::endl;
|
|
os << "\tx" << agentName << " : [0.." << maxBoundaries.second << "] init " << initialPosition.second << ";\n";
|
|
os << "\ty" << agentName << " : [0.." << maxBoundaries.first << "] init " << initialPosition.first << ";\n";
|
|
os << "\tview" << agentName << " : [0..3] init 1;\n";
|
|
|
|
if(faultyBehaviour()) os << "\tpreviousAction" << agentName << " : [-1..2] init -1;\n";
|
|
|
|
printTurnActionsForRobot(agentName);
|
|
printMovementActionsForRobot(agentName);
|
|
|
|
for(const auto &door : unlockedDoors) {
|
|
std::string identifier = capitalize(door.getColor()) + door.getType();
|
|
printUnlockedDoorActionsForRobot(agentName, identifier);
|
|
}
|
|
|
|
for(const auto &door : lockedDoors) {
|
|
std::string identifier = capitalize(door.getColor()) + door.getType();
|
|
std::string key = capitalize(door.getColor()) + "Key";
|
|
printLockedDoorActionsForRobot(agentName, identifier, key);
|
|
}
|
|
|
|
for(const auto &key : keys) {
|
|
std::string identifier = capitalize(key.getColor()) + key.getType();
|
|
os << "\t" << agentName << "Carrying" << identifier << " : bool init false;\n";
|
|
printPortableObjectActionsForRobot(agentName, identifier);
|
|
}
|
|
|
|
for(const auto &ball : balls) {
|
|
std::string identifier = capitalize(ball.getColor()) + ball.getType();
|
|
os << "\t" << agentName << "Carrying" << identifier << " : bool init false;\n";
|
|
printPortableObjectActionsForRobot(agentName, identifier);
|
|
}
|
|
|
|
for(const auto &box : boxes) {
|
|
std::string identifier = capitalize(box.getColor()) + box.getType();
|
|
os << "\t" << agentName << "Carrying" << identifier << " : bool init false;\n";
|
|
printPortableObjectActionsForRobot(agentName, identifier);
|
|
}
|
|
|
|
os << "\n" << actionStream.str();
|
|
actionStream.str(std::string());
|
|
os << "endmodule\n\n";
|
|
}
|
|
|
|
void PrismModulesPrinter::printPortableObjectActionsForRobot(const std::string &a, const std::string &i) {
|
|
actionStream << "\t[" << a << "_pickup_" << i << "] " << faultyBehaviourGuard(a, NOFAULT) << moveGuard(a) << " !" << a << "IsCarrying & " << a << "CannotMove" << i << " -> (" << a << "Carrying" << i << "'=true);\n";
|
|
actionStream << "\t[" << a << "_drop_" << i << "_north]\t" << faultyBehaviourGuard(a, NOFAULT) << moveGuard(a) << a << "Carrying" << i << " & view" << a << "=3 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveNorthWall -> (" << a << "Carrying" << i << "'=false);\n";
|
|
actionStream << "\t[" << a << "_drop_" << i << "_west] \t" << faultyBehaviourGuard(a, NOFAULT) << moveGuard(a) << a << "Carrying" << i << " & view" << a << "=2 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveWestWall -> (" << a << "Carrying" << i << "'=false);\n";
|
|
actionStream << "\t[" << a << "_drop_" << i << "_south]\t" << faultyBehaviourGuard(a, NOFAULT) << moveGuard(a) << a << "Carrying" << i << " & view" << a << "=1 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveSouthWall -> (" << a << "Carrying" << i << "'=false);\n";
|
|
actionStream << "\t[" << a << "_drop_" << i << "_east] \t" << faultyBehaviourGuard(a, NOFAULT) << moveGuard(a) << a << "Carrying" << i << " & view" << a << "=0 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveEastWall -> (" << a << "Carrying" << i << "'=false);\n";
|
|
actionStream << "\n";
|
|
}
|
|
|
|
void PrismModulesPrinter::printUnlockedDoorActionsForRobot(const std::string &agentName, const std::string &identifier) {
|
|
actionStream << "\t[" << agentName << "_open_" << identifier << "] " << faultyBehaviourGuard(agentName, NOFAULT) << moveGuard(agentName) << agentName << "CannotMove" << identifier << " -> true;\n";
|
|
actionStream << "\t[" << agentName << "_close_" << identifier << "] " << faultyBehaviourGuard(agentName, NOFAULT) << moveGuard(agentName) << agentName << "IsNextTo" << identifier << " -> true;\n";
|
|
actionStream << "\n";
|
|
}
|
|
|
|
void PrismModulesPrinter::printLockedDoorActionsForRobot(const std::string &agentName, const std::string &identifier, const std::string &key) {
|
|
actionStream << "\t[" << agentName << "_unlock_" << identifier << "] " << faultyBehaviourGuard(agentName, NOFAULT) << moveGuard(agentName) << agentName << "CannotMove" << identifier << " & " << agentName << "Carrying" << key << " -> true;\n";
|
|
actionStream << "\t[" << agentName << "_close_" << identifier << "] " << faultyBehaviourGuard(agentName, NOFAULT) << moveGuard(agentName) << agentName << "IsNextTo" << identifier << " & " << agentName << "Carrying" << key << " -> true;\n";
|
|
actionStream << "\n";
|
|
}
|
|
|
|
void PrismModulesPrinter::printTurnActionsForRobot(const AgentName &a) {
|
|
actionStream << printTurnGuard(a, "right", RIGHT, "true") << printTurnUpdate(a, {1.0, "(view"+a+"'=mod(view"+a+"+1,4))"}, RIGHT);
|
|
actionStream << printTurnGuard(a, "left", LEFT, "view"+a+">0") << printTurnUpdate(a, {1.0, "(view"+a+"'=view"+a+"-1)"}, LEFT);
|
|
actionStream << printTurnGuard(a, "left", LEFT, "view"+a+"=0") << printTurnUpdate(a, {1.0, "(view"+a+"'=3)"}, LEFT);
|
|
}
|
|
|
|
void PrismModulesPrinter::printMovementActionsForRobot(const AgentName &a) {
|
|
actionStream << printMovementGuard(a, "North", 3) << printMovementUpdate(a, {1.0, "(y"+a+"'=y"+a+"-1)"});
|
|
actionStream << printMovementGuard(a, "East", 0) << printMovementUpdate(a, {1.0, "(x"+a+"'=x"+a+"+1)"});
|
|
actionStream << printMovementGuard(a, "South", 1) << printMovementUpdate(a, {1.0, "(y"+a+"'=y"+a+"+1)"});
|
|
actionStream << printMovementGuard(a, "West", 2) << printMovementUpdate(a, {1.0, "(x"+a+"'=x"+a+"-1)"});
|
|
}
|
|
|
|
std::string PrismModulesPrinter::printMovementGuard(const AgentName &a, const std::string &direction, const size_t &viewDirection) const {
|
|
return "\t[" + a + "_move_" + direction + "]" + moveGuard(a) + viewVariable(a, 3) + faultyBehaviourGuard(a, FORWARD) + " !" + a + "IsOnSlippery & !" + a + "IsOnLava & !" + a + "IsOnGoal & !" + a + "CannotMove" + direction + "Wall -> ";
|
|
}
|
|
|
|
std::string PrismModulesPrinter::printMovementUpdate(const AgentName &a, const update &u) const {
|
|
if(!faultyBehaviour()) {
|
|
return updateToString(u) + ";\n";
|
|
} else {
|
|
update nonFaultyUpdate = {u.first - faultyProbability, u.second + " & " + faultyBehaviourUpdate(a, NOFAULT)};
|
|
update faultyUpdate = {faultyProbability, u.second + " & " + faultyBehaviourUpdate(a, FORWARD)};
|
|
return updateToString(nonFaultyUpdate) + " + " + updateToString(faultyUpdate) + ";\n";
|
|
}
|
|
}
|
|
|
|
std::string PrismModulesPrinter::printTurnGuard(const AgentName &a, const std::string &direction, const ActionId &actionId, const std::string &cond) const {
|
|
return "\t[" + a + "_turn_" + direction + "]" + moveGuard(a) + faultyBehaviourGuard(a, actionId) + cond + " -> ";
|
|
}
|
|
|
|
std::string PrismModulesPrinter::printTurnUpdate(const AgentName &a, const update &u, const ActionId &actionId) const {
|
|
if(!faultyBehaviour()) {
|
|
return updateToString(u) + ";\n";
|
|
} else {
|
|
update nonFaultyUpdate = {u.first - faultyProbability, u.second + " & " + faultyBehaviourUpdate(a, NOFAULT)};
|
|
update faultyUpdate = {faultyProbability, u.second + " & " + faultyBehaviourUpdate(a, actionId)};
|
|
return updateToString(nonFaultyUpdate) + " + " + updateToString(faultyUpdate) + ";\n";
|
|
}
|
|
}
|
|
|
|
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) {
|
|
os << "\t[" << agentName << "_done]" << moveGuard(agentName) << 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)
|
|
//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 AgentName &agentName) const {
|
|
return isGame() ? " move=" + std::to_string(agentIndexMap.at(agentName)) + " & " : " ";
|
|
}
|
|
|
|
std::string PrismModulesPrinter::faultyBehaviourGuard(const AgentName &agentName, const ActionId &actionId) const {
|
|
if(actionId == NOFAULT) {
|
|
return "(previousAction" + agentName + "=" + std::to_string(NOFAULT) + ") & ";
|
|
} else {
|
|
return "(previousAction" + agentName + "=" + std::to_string(NOFAULT) + " | previousAction" + agentName + "=" + std::to_string(actionId) + ") & ";
|
|
}
|
|
}
|
|
|
|
std::string PrismModulesPrinter::faultyBehaviourUpdate(const AgentName &agentName, const ActionId &actionId) const {
|
|
return "(previousAction" + agentName + "'=" + std::to_string(actionId) + ")";
|
|
}
|
|
|
|
std::string PrismModulesPrinter::moveUpdate(const AgentName &agentName) const {
|
|
size_t agentIndex = agentIndexMap.at(agentName);
|
|
return isGame() ?
|
|
(agentIndex == numberOfPlayer - 1) ?
|
|
" & (move'=0) " :
|
|
" & (move'=" + std::to_string(agentIndex + 1) + ") " :
|
|
"";
|
|
}
|
|
|
|
std::string PrismModulesPrinter::updateToString(const update &u) const {
|
|
return std::to_string(u.first) + ": " + u.second;
|
|
}
|
|
|
|
std::string PrismModulesPrinter::viewVariable(const AgentName &agentName, const size_t &agentDirection, const bool agentWithView) const {
|
|
return agentWithView ? " view" + agentName + "=" + std::to_string(agentDirection) + " & " : " ";
|
|
}
|
|
|
|
bool PrismModulesPrinter::anyPortableObject() const {
|
|
return !keys.empty() || !boxes.empty() || !balls.empty();
|
|
}
|
|
|
|
bool PrismModulesPrinter::faultyBehaviour() const {
|
|
return faultyProbability > 0.0f;
|
|
}
|
|
|
|
bool PrismModulesPrinter::isGame() const {
|
|
return modelType == ModelType::SMG;
|
|
}
|
|
}
|