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662 lines
47 KiB
662 lines
47 KiB
#include "PrismModulesPrinter.h"
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#include <map>
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#include <string>
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#define NOFAULT 3
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#define LEFT 0
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#define RIGHT 1
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#define FORWARD 2
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std::string northUpdate(const AgentName &a) { return "(row"+a+"'=row"+a+"-1)"; }
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std::string southUpdate(const AgentName &a) { return "(row"+a+"'=row"+a+"+1)"; }
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std::string eastUpdate(const AgentName &a) { return "(col"+a+"'=col"+a+"+1)"; }
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std::string westUpdate(const AgentName &a) { return "(col"+a+"'=col"+a+"-1)"; }
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namespace prism {
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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 std::map<std::string, cells> &slipperyTiles, const AgentNameAndPositionMap &agentNameAndPositionMap, std::vector<Configuration> config, const float probIntended, const float faultyProbability, const bool anyLava, const bool anyGoals)
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: os(os), modelType(modelType), maxBoundaries(maxBoundaries), boxes(boxes), balls(balls), lockedDoors(lockedDoors), unlockedDoors(unlockedDoors), keys(keys), slipperyTiles(slipperyTiles), agentNameAndPositionMap(agentNameAndPositionMap), configuration(config), probIntended(probIntended), faultyProbability(faultyProbability), anyLava(anyLava), anyGoals(anyGoals) {
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numberOfPlayer = agentNameAndPositionMap.size();
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size_t index = 0;
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for(auto begin = agentNameAndPositionMap.begin(); begin != agentNameAndPositionMap.end(); begin++, index++) {
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agentIndexMap[begin->first] = index;
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}
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}
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void PrismModulesPrinter::printModelType(const ModelType &modelType) {
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switch(modelType) {
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case(ModelType::MDP):
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os << "mdp";
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break;
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case(ModelType::SMG):
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os << "smg";
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break;
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}
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os << "\n\n";
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}
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std::ostream& PrismModulesPrinter::print() {
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for(const auto [agentName, initialPosition] : agentNameAndPositionMap) {
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agentNameActionMap[agentName] = {};
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}
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for(const auto &key : keys) {
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printPortableObjectModule(key);
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}
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for(const auto &ball : balls) {
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printPortableObjectModule(ball);
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}
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for(const auto &box : boxes) {
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printPortableObjectModule(box);
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}
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for(const auto &door : unlockedDoors) {
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printDoorModule(door, true);
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}
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for(const auto &door : lockedDoors) {
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printDoorModule(door, false);
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}
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for(const auto [agentName, initialPosition] : agentNameAndPositionMap) {
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printRobotModule(agentName, initialPosition);
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}
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if(agentNameAndPositionMap.size() > 1) {
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printMoveModule();
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}
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if(faultyBehaviour()) {
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for(const auto [agentName, initialPosition] : agentNameAndPositionMap) {
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printFaultyMovementModule(agentName);
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}
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}
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if(agentNameAndPositionMap.size() > 1) {
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for(const auto [agentName, index] : agentIndexMap) {
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printPlayerStruct(agentName);
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}
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}
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if (!configuration.empty()) {
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printConfiguration(configuration);
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}
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return os;
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}
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void PrismModulesPrinter::printConfiguration(const std::vector<Configuration>& configurations) {
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for (auto& configuration : configurations) {
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if (configuration.overwrite_ || configuration.type_ == ConfigType::Module) {
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continue;
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}
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os << configuration.expression_ << std::endl;
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}
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}
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void PrismModulesPrinter::printConstants(const std::vector<std::string> &constants) {
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for (auto& constant : constants) {
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os << constant << std::endl;
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}
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}
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void PrismModulesPrinter::printPortableObjectModule(const cell &object) {
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std::string identifier = capitalize(object.getColor()) + object.getType();
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os << "\nmodule " << identifier << std::endl;
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os << " col" << identifier << " : [-1.." << maxBoundaries.first << "] init " << object.column << ";\n";
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os << " row" << identifier << " : [-1.." << maxBoundaries.second << "] init " << object.row << ";\n";
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os << " " << identifier << "PickedUp : bool;\n";
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os << "\n";
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for(const auto [name, position] : agentNameAndPositionMap) {
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printPortableObjectActions(name, identifier);
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}
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os << "endmodule\n\n";
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}
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void PrismModulesPrinter::printPortableObjectActions(const std::string &agentName, const std::string &identifier) {
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std::string actionName = "[" + agentName + "_pickup_" + identifier + "]";
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agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
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os << " " << actionName << " true -> (col" << identifier << "'=-1) & (row" << identifier << "'=-1) & (" << identifier << "PickedUp'=true);\n";
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actionName = "[" + agentName + "_drop_" + identifier + "_north]";
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agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
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os << " " << actionName << " " << " true -> (col" << identifier << "'=col" << agentName << ") & (row" << identifier << "'=row" << agentName << "-1) & (" << identifier << "PickedUp'=false);\n";
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actionName = "[" + agentName + "_drop_" + identifier + "_west]";
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agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
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os << " " << actionName << " " << " true -> (col" << identifier << "'=col" << agentName << "-1) & (row" << identifier << "'=row" << agentName << ") & (" << identifier << "PickedUp'=false);\n";
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actionName = "[" + agentName + "_drop_" + identifier + "_south]";
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agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
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os << " " << actionName << " " << " true -> (col" << identifier << "'=col" << agentName << ") & (row" << identifier << "'=row" << agentName << "+1) & (" << identifier << "PickedUp'=false);\n";
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actionName = "[" + agentName + "_drop_" + identifier + "_east]";
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agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
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os << " " << actionName << " " << " true -> (col" << identifier << "'=col" << agentName << "+1) & (row" << identifier << "'=row" << agentName << ") & (" << identifier << "PickedUp'=false);\n";
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}
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void PrismModulesPrinter::printDoorModule(const cell &door, const bool &opened) {
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std::string identifier = capitalize(door.getColor()) + door.getType();
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os << "\nmodule " << identifier << std::endl;
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os << " " << identifier << "Open : bool init false;\n";
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os << "\n";
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if(opened) {
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for(const auto [name, position] : agentNameAndPositionMap) {
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printUnlockedDoorActions(name, identifier);
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}
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} else {
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for(const auto [name, position] : agentNameAndPositionMap) {
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printLockedDoorActions(name, identifier);
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}
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}
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os << "endmodule\n\n";
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}
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void PrismModulesPrinter::printLockedDoorActions(const std::string &agentName, const std::string &identifier) {
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std::string actionName = "[" + agentName + "_unlock_" + identifier + "]";
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agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
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os << " " << actionName << " !" << identifier << "Open -> (" << identifier << "Open'=true);\n";
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actionName = "[" + agentName + "_close_" + identifier + "]";
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agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
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os << " " << actionName << " " << identifier << "Open -> (" << identifier << "Open'=false);\n";
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}
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void PrismModulesPrinter::printUnlockedDoorActions(const std::string &agentName, const std::string &identifier) {
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std::string actionName = "[" + agentName + "_open_" + identifier + "]";
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agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
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os << " !" << identifier << "Open -> (" << identifier << "Open'=true);\n";
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actionName = "[" + agentName + "_close_" + identifier + "]";
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agentNameActionMap.at(agentName).insert({NOFAULT, actionName});
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os << " " << agentName << " " << identifier << "Open -> (" << identifier << "Open'=false);\n";
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}
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void PrismModulesPrinter::printRobotModule(const AgentName &agentName, const coordinates &initialPosition) {
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os << "\nmodule " << agentName << std::endl;
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os << " col" << agentName << " : [1.." << maxBoundaries.first << "] init " << initialPosition.first << ";\n";
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os << " row" << agentName << " : [1.." << maxBoundaries.second << "] init " << initialPosition.second << ";\n";
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os << " view" << agentName << " : [0..3] init 1;\n";
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printTurnActionsForRobot(agentName);
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printMovementActionsForRobot(agentName);
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if(slipperyBehaviour()) printSlipperyMovementActionsForRobot(agentName);
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for(const auto &door : unlockedDoors) {
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std::string identifier = capitalize(door.getColor()) + door.getType();
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printUnlockedDoorActionsForRobot(agentName, identifier);
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}
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for(const auto &door : lockedDoors) {
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std::string identifier = capitalize(door.getColor()) + door.getType();
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std::string key = capitalize(door.getColor()) + "Key";
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printLockedDoorActionsForRobot(agentName, identifier, key);
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}
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for(const auto &key : keys) {
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std::string identifier = capitalize(key.getColor()) + key.getType();
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os << " " << agentName << "Carrying" << identifier << " : bool init false;\n";
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printPortableObjectActionsForRobot(agentName, identifier);
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}
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for(const auto &ball : balls) {
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std::string identifier = capitalize(ball.getColor()) + ball.getType();
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os << " " << agentName << "Carrying" << identifier << " : bool init false;\n";
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printPortableObjectActionsForRobot(agentName, identifier);
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}
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for(const auto &box : boxes) {
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std::string identifier = capitalize(box.getColor()) + box.getType();
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os << " " << agentName << "Carrying" << identifier << " : bool init false;\n";
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printPortableObjectActionsForRobot(agentName, identifier);
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}
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os << "\n" << actionStream.str();
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actionStream.str(std::string());
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os << "endmodule\n\n";
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}
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void PrismModulesPrinter::printPortableObjectActionsForRobot(const std::string &a, const std::string &i) {
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actionStream << " [" << a << "_pickup_" << i << "] " << " !" << a << "IsCarrying & " << a << "CannotMove" << i << " -> (" << a << "Carrying" << i << "'=true);\n";
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actionStream << " [" << a << "_drop_" << i << "_north]\t" << a << "Carrying" << i << " & view" << a << "=3 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveNorthWall -> (" << a << "Carrying" << i << "'=false);\n";
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actionStream << " [" << a << "_drop_" << i << "_west] \t" << a << "Carrying" << i << " & view" << a << "=2 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveWestWall -> (" << a << "Carrying" << i << "'=false);\n";
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actionStream << " [" << a << "_drop_" << i << "_south]\t" << a << "Carrying" << i << " & view" << a << "=1 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveSouthWall -> (" << a << "Carrying" << i << "'=false);\n";
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actionStream << " [" << a << "_drop_" << i << "_east] \t" << a << "Carrying" << i << " & view" << a << "=0 & !" << a << "CannotMoveConditionally & !" << a << "CannotMoveEastWall -> (" << a << "Carrying" << i << "'=false);\n";
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actionStream << "\n";
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}
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void PrismModulesPrinter::printUnlockedDoorActionsForRobot(const std::string &agentName, const std::string &identifier) {
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actionStream << " [" << agentName << "_open_" << identifier << "] " << agentName << "CannotMove" << identifier << " -> true;\n";
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actionStream << " [" << agentName << "_close_" << identifier << "] " << agentName << "IsNextTo" << identifier << " -> true;\n";
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actionStream << "\n";
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}
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void PrismModulesPrinter::printLockedDoorActionsForRobot(const std::string &agentName, const std::string &identifier, const std::string &key) {
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actionStream << " [" << agentName << "_unlock_" << identifier << "] " << agentName << "CannotMove" << identifier << " & " << agentName << "Carrying" << key << " -> true;\n";
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actionStream << " [" << agentName << "_close_" << identifier << "] " << agentName << "IsNextTo" << identifier << " & " << agentName << "Carrying" << key << " -> true;\n";
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actionStream << "\n";
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}
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void PrismModulesPrinter::printTurnActionsForRobot(const AgentName &a) {
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actionStream << printTurnGuard(a, "right", RIGHT, "true") << printTurnUpdate(a, {1.0, "(view"+a+"'=mod(view"+a+"+1,4))"}, RIGHT);
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actionStream << printTurnGuard(a, "left", LEFT, "view"+a+">0") << printTurnUpdate(a, {1.0, "(view"+a+"'=view"+a+"-1)"}, LEFT);
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actionStream << printTurnGuard(a, "left", LEFT, "view"+a+"=0") << printTurnUpdate(a, {1.0, "(view"+a+"'=3)"}, LEFT);
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}
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void PrismModulesPrinter::printMovementActionsForRobot(const AgentName &a) {
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actionStream << printMovementGuard(a, "North", 3) << printMovementUpdate(a, {1.0, northUpdate(a)});
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actionStream << printMovementGuard(a, "East", 0) << printMovementUpdate(a, {1.0, eastUpdate(a)});
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actionStream << printMovementGuard(a, "South", 1) << printMovementUpdate(a, {1.0, southUpdate(a)});
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actionStream << printMovementGuard(a, "West", 2) << printMovementUpdate(a, {1.0, westUpdate(a)});
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if(faultyBehaviour()) {
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std::string actionName = "[" + a + "_stuck]";
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agentNameActionMap.at(a).insert({FORWARD, actionName});
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actionStream << " " << actionName << " " << "previousAction" << a << "=" << std::to_string(FORWARD);
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actionStream << " & ((view" << a << "=0 & " << a << "CannotMoveEastWall) |";
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actionStream << " (view" << a << "=1 & " << a << "CannotMoveSouthWall) |";
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actionStream << " (view" << a << "=2 & " << a << "CannotMoveWestWall) |";
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actionStream << " (view" << a << "=3 & " << a << "CannotMoveNorthWall) ) -> true;\n";
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}
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}
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std::string PrismModulesPrinter::printMovementGuard(const AgentName &a, const std::string &direction, const size_t &viewDirection) {
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std::string actionName = "[" + a + "_move_" + direction + "]";
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agentNameActionMap.at(a).insert({FORWARD, actionName});
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std::string guard = " " + actionName + " " + viewVariable(a, viewDirection);
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if(slipperyBehaviour()) guard += " & !" + a + "IsOnSlippery";
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if(anyLava) guard += " & !" + a + "IsOnLava";
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if(anyGoals) guard += " & !" + a + "IsOnGoal";
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guard += " & !" + a + "CannotMove" + direction + "Wall";
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if(anyPortableObject()) guard += " & !" + a + "CannotMoveConditionally";
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guard += " -> ";
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return guard;
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}
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std::string PrismModulesPrinter::printMovementUpdate(const AgentName &a, const update &u) const {
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return updateToString(u) + ";\n";
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}
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std::string PrismModulesPrinter::printTurnGuard(const AgentName &a, const std::string &direction, const ActionId &actionId, const std::string &cond) {
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std::string actionName = "[" + a + "_turn_" + direction + "]";
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agentNameActionMap.at(a).insert({actionId, actionName});
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std::string guard = " " + actionName;
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if(slipperyBehaviour()) guard += " !" + a + "IsOnSlippery & ";
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guard += cond + " -> ";
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return guard;
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}
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std::string PrismModulesPrinter::printTurnUpdate(const AgentName &a, const update &u, const ActionId &actionId) const {
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return updateToString(u) + ";\n";
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}
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void PrismModulesPrinter::printSlipperyMovementActionsForRobot(const AgentName &a) {
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if(!slipperyTiles.at("North").empty()) {
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printSlipperyMovementActionsForNorth(a);
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printSlipperyTurnActionsForNorth(a);
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}
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if(!slipperyTiles.at("East").empty()) {
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printSlipperyMovementActionsForEast(a) ;
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printSlipperyTurnActionsForEast(a);
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}
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if(!slipperyTiles.at("South").empty()) {
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printSlipperyMovementActionsForSouth(a);
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printSlipperyTurnActionsForSouth(a);
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}
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if(!slipperyTiles.at("West").empty()) {
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printSlipperyMovementActionsForWest(a) ;
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printSlipperyTurnActionsForWest(a);
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}
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}
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void PrismModulesPrinter::printSlipperyMovementActionsForNorth(const AgentName &a) {
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actionStream << printSlipperyMovementGuard(a, "North", 3, {"!"+a+"CannotSlipNorth", "!"+a+"CannotSlipNorthEast", "!"+a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "North", { {probIntended, northUpdate(a)}, {(1 - probIntended) * 1/2, northUpdate(a)+"&"+eastUpdate(a)}, {(1 - probIntended) * 1/2, northUpdate(a)+"&"+westUpdate(a)} }) << ";\n";
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actionStream << printSlipperyMovementGuard(a, "North", 3, { a+"CannotSlipNorth", "!"+a+"CannotSlipNorthEast", "!"+a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "North", { {1/2, northUpdate(a)+"&"+eastUpdate(a)}, {1/2, northUpdate(a)+"&"+westUpdate(a)} }) << ";\n";
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actionStream << printSlipperyMovementGuard(a, "North", 3, {"!"+a+"CannotSlipNorth", a+"CannotSlipNorthEast", "!"+a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "North", { {probIntended, northUpdate(a)}, {(1 - probIntended), northUpdate(a)+"&"+westUpdate(a)} }) << ";\n";
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actionStream << printSlipperyMovementGuard(a, "North", 3, {"!"+a+"CannotSlipNorth", "!"+a+"CannotSlipNorthEast", a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "North", { {probIntended, northUpdate(a)}, {(1 - probIntended), northUpdate(a)+"&"+eastUpdate(a)} }) << ";\n";
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actionStream << printSlipperyMovementGuard(a, "North", 3, { a+"CannotSlipNorth", a+"CannotSlipNorthEast", "!"+a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "North", { {1, northUpdate(a)+"&"+westUpdate(a) } }) << ";\n";
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actionStream << printSlipperyMovementGuard(a, "North", 3, {"!"+a+"CannotSlipNorth", a+"CannotSlipNorthEast", a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "North", { {1, northUpdate(a)} }) << ";\n";
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actionStream << printSlipperyMovementGuard(a, "North", 3, { a+"CannotSlipNorth", "!"+a+"CannotSlipNorthEast", a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "North", { {1, northUpdate(a)+"&"+eastUpdate(a)} }) << ";\n";
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actionStream << printSlipperyMovementGuard(a, "North", 3, { a+"CannotSlipNorth", a+"CannotSlipNorthEast", a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "North", {}) << ";\n";
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actionStream << printSlipperyMovementGuard(a, "North", 2, {"!"+a+"CannotSlipWest", "!"+a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "North", { {probIntended, westUpdate(a) }, {1 - probIntended, westUpdate(a)+"&"+northUpdate(a)} }) << ";\n";
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actionStream << printSlipperyMovementGuard(a, "North", 2, { a+"CannotSlipWest", "!"+a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "North", { {1, westUpdate(a)+"&"+northUpdate(a)} }) << ";\n";
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actionStream << printSlipperyMovementGuard(a, "North", 2, {"!"+a+"CannotSlipWest", a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "North", { {1, westUpdate(a) } }) << ";\n";
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actionStream << printSlipperyMovementGuard(a, "North", 2, { a+"CannotSlipWest", a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "North", {}) << ";\n";
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actionStream << printSlipperyMovementGuard(a, "North", 0, {"!"+a+"CannotSlipEast", "!"+a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "North", { {probIntended, eastUpdate(a) }, {1 - probIntended, eastUpdate(a)+"&"+northUpdate(a)} }) << ";\n";
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actionStream << printSlipperyMovementGuard(a, "North", 0, { a+"CannotSlipEast", "!"+a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "North", { {1, eastUpdate(a)+"&"+northUpdate(a)} }) << ";\n";
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actionStream << printSlipperyMovementGuard(a, "North", 0, {"!"+a+"CannotSlipEast", a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "North", { {1, eastUpdate(a) } }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "North", 0, { a+"CannotSlipEast", a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "North", {}) << ";\n";
|
|
|
|
actionStream << printSlipperyMovementGuard(a, "North", 1, {"!"+a+"CannotSlipSouth", "!"+a+"CannotSlipNorth"}) << printSlipperyMovementUpdate(a, "North", { {probIntended, southUpdate(a) }, {1 - probIntended, northUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "North", 1, { a+"CannotSlipSouth", "!"+a+"CannotSlipNorth"}) << printSlipperyMovementUpdate(a, "North", { {1, northUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "North", 1, {"!"+a+"CannotSlipSouth", a+"CannotSlipNorth"}) << printSlipperyMovementUpdate(a, "North", { {1, southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "North", 1, { a+"CannotSlipSouth", a+"CannotSlipNorth"}) << printSlipperyMovementUpdate(a, "North", {}) << ";\n";
|
|
}
|
|
|
|
void PrismModulesPrinter::printSlipperyMovementActionsForEast(const AgentName &a) {
|
|
actionStream << printSlipperyMovementGuard(a, "East", 0, {"!"+a+"CannotSlipEast", "!"+a+"CannotSlipSouthEast", "!"+a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "East", { {probIntended, eastUpdate(a)}, {(1 - probIntended) * 1/2, eastUpdate(a)+"&"+southUpdate(a)}, {(1 - probIntended) * 1/2, eastUpdate(a)+"&"+northUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "East", 0, { a+"CannotSlipEast", "!"+a+"CannotSlipSouthEast", "!"+a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "East", { {1/2, eastUpdate(a)+"&"+southUpdate(a)}, {1/2, eastUpdate(a)+"&"+northUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "East", 0, {"!"+a+"CannotSlipEast", a+"CannotSlipSouthEast", "!"+a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "East", { {probIntended, eastUpdate(a)}, {(1 - probIntended), eastUpdate(a)+"&"+northUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "East", 0, {"!"+a+"CannotSlipEast", "!"+a+"CannotSlipSouthEast", a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "East", { {probIntended, eastUpdate(a)}, {(1 - probIntended), eastUpdate(a)+"&"+southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "East", 0, { a+"CannotSlipEast", a+"CannotSlipSouthEast", "!"+a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "East", { {1, eastUpdate(a)+"&"+northUpdate(a) } }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "East", 0, {"!"+a+"CannotSlipEast", a+"CannotSlipSouthEast", a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "East", { {1, eastUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "East", 0, { a+"CannotSlipEast", "!"+a+"CannotSlipSouthEast", a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "East", { {1, eastUpdate(a)+"&"+southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "East", 0, { a+"CannotSlipEast", a+"CannotSlipSouthEast", a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "East", {}) << ";\n";
|
|
|
|
actionStream << printSlipperyMovementGuard(a, "East", 3, {"!"+a+"CannotSlipNorth", "!"+a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "East", { {probIntended, northUpdate(a) }, {1 - probIntended, eastUpdate(a)+"&"+northUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "East", 3, { a+"CannotSlipNorth", "!"+a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "East", { {1, eastUpdate(a)+"&"+northUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "East", 3, {"!"+a+"CannotSlipNorth", a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "East", { {1, northUpdate(a) } }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "East", 3, { a+"CannotSlipNorth", a+"CannotSlipNorthEast"}) << printSlipperyMovementUpdate(a, "East", {}) << ";\n";
|
|
|
|
actionStream << printSlipperyMovementGuard(a, "East", 1, {"!"+a+"CannotSlipSouth", "!"+a+"CannotSlipSouthEast"}) << printSlipperyMovementUpdate(a, "East", { {probIntended, southUpdate(a) }, {1 - probIntended, eastUpdate(a)+"&"+southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "East", 1, { a+"CannotSlipSouth", "!"+a+"CannotSlipSouthEast"}) << printSlipperyMovementUpdate(a, "East", { {1, eastUpdate(a)+"&"+southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "East", 1, {"!"+a+"CannotSlipSouth", a+"CannotSlipSouthEast"}) << printSlipperyMovementUpdate(a, "East", { {1, southUpdate(a) } }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "East", 1, { a+"CannotSlipSouth", a+"CannotSlipSouthEast"}) << printSlipperyMovementUpdate(a, "East", {}) << ";\n";
|
|
|
|
actionStream << printSlipperyMovementGuard(a, "East", 2, {"!"+a+"CannotSlipWest", "!"+a+"CannotSlipEast"}) << printSlipperyMovementUpdate(a, "East", { {probIntended, eastUpdate(a) }, {1 - probIntended, westUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "East", 2, { a+"CannotSlipWest", "!"+a+"CannotSlipEast"}) << printSlipperyMovementUpdate(a, "East", { {1, eastUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "East", 2, {"!"+a+"CannotSlipWest", a+"CannotSlipEast"}) << printSlipperyMovementUpdate(a, "East", { {1, westUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "East", 2, { a+"CannotSlipWest", a+"CannotSlipEast"}) << printSlipperyMovementUpdate(a, "East", {}) << ";\n";
|
|
}
|
|
|
|
void PrismModulesPrinter::printSlipperyMovementActionsForSouth(const AgentName &a) {
|
|
actionStream << printSlipperyMovementGuard(a, "South", 1, {"!"+a+"CannotSlipSouth", "!"+a+"CannotSlipSouthEast", "!"+a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "South", { {probIntended, southUpdate(a)}, {(1 - probIntended) * 1/2, southUpdate(a)+"&"+eastUpdate(a)}, {(1 - probIntended) * 1/2, southUpdate(a)+"&"+westUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "South", 1, { a+"CannotSlipSouth", "!"+a+"CannotSlipSouthEast", "!"+a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "South", { {1/2, southUpdate(a)+"&"+eastUpdate(a)}, {1/2, southUpdate(a)+"&"+westUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "South", 1, {"!"+a+"CannotSlipSouth", a+"CannotSlipSouthEast", "!"+a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "South", { {probIntended, southUpdate(a)}, {(1 - probIntended), southUpdate(a)+"&"+westUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "South", 1, {"!"+a+"CannotSlipSouth", "!"+a+"CannotSlipSouthEast", a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "South", { {probIntended, southUpdate(a)}, {(1 - probIntended), southUpdate(a)+"&"+eastUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "South", 1, { a+"CannotSlipSouth", a+"CannotSlipSouthEast", "!"+a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "South", { {1, southUpdate(a)+"&"+westUpdate(a) } }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "South", 1, {"!"+a+"CannotSlipSouth", a+"CannotSlipSouthEast", a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "South", { {1, southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "South", 1, { a+"CannotSlipSouth", "!"+a+"CannotSlipSouthEast", a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "South", { {1, southUpdate(a)+"&"+eastUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "South", 1, { a+"CannotSlipSouth", a+"CannotSlipSouthEast", a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "South", {}) << ";\n";
|
|
|
|
actionStream << printSlipperyMovementGuard(a, "South", 2, {"!"+a+"CannotSlipWest", "!"+a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "South", { {probIntended, westUpdate(a) }, {1 - probIntended, westUpdate(a)+"&"+southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "South", 2, { a+"CannotSlipWest", "!"+a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "South", { {1, westUpdate(a)+"&"+southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "South", 2, {"!"+a+"CannotSlipWest", a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "South", { {1, westUpdate(a) } }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "South", 2, { a+"CannotSlipWest", a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "South", {}) << ";\n";
|
|
|
|
actionStream << printSlipperyMovementGuard(a, "South", 0, {"!"+a+"CannotSlipEast", "!"+a+"CannotSlipSouthEast"}) << printSlipperyMovementUpdate(a, "South", { {probIntended, eastUpdate(a) }, {1 - probIntended, eastUpdate(a)+"&"+southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "South", 0, { a+"CannotSlipEast", "!"+a+"CannotSlipSouthEast"}) << printSlipperyMovementUpdate(a, "South", { {1, eastUpdate(a)+"&"+southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "South", 0, {"!"+a+"CannotSlipEast", a+"CannotSlipSouthEast"}) << printSlipperyMovementUpdate(a, "South", { {1, eastUpdate(a) } }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "South", 0, { a+"CannotSlipEast", a+"CannotSlipSouthEast"}) << printSlipperyMovementUpdate(a, "South", {}) << ";\n";
|
|
|
|
actionStream << printSlipperyMovementGuard(a, "South", 3, {"!"+a+"CannotSlipSouth", "!"+a+"CannotSlipNorth"}) << printSlipperyMovementUpdate(a, "South", { {probIntended, southUpdate(a) }, {1 - probIntended, northUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "South", 3, { a+"CannotSlipSouth", "!"+a+"CannotSlipNorth"}) << printSlipperyMovementUpdate(a, "South", { {1, northUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "South", 3, {"!"+a+"CannotSlipSouth", a+"CannotSlipNorth"}) << printSlipperyMovementUpdate(a, "South", { {1, southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "South", 3, { a+"CannotSlipSouth", a+"CannotSlipNorth"}) << printSlipperyMovementUpdate(a, "South", {}) << ";\n";
|
|
}
|
|
|
|
void PrismModulesPrinter::printSlipperyMovementActionsForWest(const AgentName &a) {
|
|
actionStream << printSlipperyMovementGuard(a, "West", 2, {"!"+a+"CannotSlipWest", "!"+a+"CannotSlipSouthWest", "!"+a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "West", { {probIntended, westUpdate(a)}, {(1 - probIntended) * 1/2, westUpdate(a)+"&"+southUpdate(a)}, {(1 - probIntended) * 1/2, westUpdate(a)+"&"+northUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "West", 2, { a+"CannotSlipWest", "!"+a+"CannotSlipSouthWest", "!"+a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "West", { {1/2, westUpdate(a)+"&"+southUpdate(a)}, {1/2, westUpdate(a)+"&"+northUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "West", 2, {"!"+a+"CannotSlipWest", a+"CannotSlipSouthWest", "!"+a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "West", { {probIntended, westUpdate(a)}, {(1 - probIntended), westUpdate(a)+"&"+northUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "West", 2, {"!"+a+"CannotSlipWest", "!"+a+"CannotSlipSouthWest", a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "West", { {probIntended, westUpdate(a)}, {(1 - probIntended), westUpdate(a)+"&"+southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "West", 2, { a+"CannotSlipWest", a+"CannotSlipSouthWest", "!"+a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "West", { {1, westUpdate(a)+"&"+northUpdate(a) } }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "West", 2, {"!"+a+"CannotSlipWest", a+"CannotSlipSouthWest", a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "West", { {1, westUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "West", 2, { a+"CannotSlipWest", "!"+a+"CannotSlipSouthWest", a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "West", { {1, westUpdate(a)+"&"+southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "West", 2, { a+"CannotSlipWest", a+"CannotSlipSouthWest", a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "West", {}) << ";\n";
|
|
|
|
actionStream << printSlipperyMovementGuard(a, "West", 3, {"!"+a+"CannotSlipNorth", "!"+a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "West", { {probIntended, northUpdate(a) }, {1 - probIntended, westUpdate(a)+"&"+northUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "West", 3, { a+"CannotSlipNorth", "!"+a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "West", { {1, westUpdate(a)+"&"+northUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "West", 3, {"!"+a+"CannotSlipNorth", a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "West", { {1, northUpdate(a) } }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "West", 3, { a+"CannotSlipNorth", a+"CannotSlipNorthWest"}) << printSlipperyMovementUpdate(a, "West", {}) << ";\n";
|
|
|
|
actionStream << printSlipperyMovementGuard(a, "West", 1, {"!"+a+"CannotSlipSouth", "!"+a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "West", { {probIntended, southUpdate(a) }, {1 - probIntended, westUpdate(a)+"&"+southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "West", 1, { a+"CannotSlipSouth", "!"+a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "West", { {1, westUpdate(a)+"&"+southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "West", 1, {"!"+a+"CannotSlipSouth", a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "West", { {1, southUpdate(a) } }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "West", 1, { a+"CannotSlipSouth", a+"CannotSlipSouthWest"}) << printSlipperyMovementUpdate(a, "West", {}) << ";\n";
|
|
|
|
actionStream << printSlipperyMovementGuard(a, "West", 0, {"!"+a+"CannotSlipEast", "!"+a+"CannotSlipWest"}) << printSlipperyMovementUpdate(a, "West", { {probIntended, westUpdate(a) }, {1 - probIntended, eastUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "West", 0, { a+"CannotSlipEast", "!"+a+"CannotSlipWest"}) << printSlipperyMovementUpdate(a, "West", { {1, westUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "West", 0, {"!"+a+"CannotSlipEast", a+"CannotSlipWest"}) << printSlipperyMovementUpdate(a, "West", { {1, eastUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyMovementGuard(a, "West", 0, { a+"CannotSlipEast", a+"CannotSlipWest"}) << printSlipperyMovementUpdate(a, "West", {}) << ";\n";
|
|
}
|
|
|
|
void PrismModulesPrinter::printSlipperyTurnActionsForNorth(const AgentName &a) {
|
|
actionStream << printSlipperyTurnGuard(a, "right", RIGHT, {"!"+a+"CannotSlipNorth"}, "true") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"+1,4))"}, { 1 - probIntended, northUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyTurnGuard(a, "right", RIGHT, { a+"CannotSlipNorth"}, "true") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << ";\n";
|
|
|
|
actionStream << printSlipperyTurnGuard(a, "left", LEFT, {"!"+a+"CannotSlipNorth"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=view"+a+"-1)"}, {1 - probIntended, northUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyTurnGuard(a, "left", LEFT, {"!"+a+"CannotSlipNorth"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=3)"}, {1 - probIntended, northUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyTurnGuard(a, "left", LEFT, { a+"CannotSlipNorth"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=view"+a+"-1)"} }) << ";\n";
|
|
actionStream << printSlipperyTurnGuard(a, "left", LEFT, { a+"CannotSlipNorth"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=3)"} }) << ";\n";
|
|
}
|
|
|
|
void PrismModulesPrinter::printSlipperyTurnActionsForEast(const AgentName &a) {
|
|
actionStream << printSlipperyTurnGuard(a, "right", RIGHT, {"!"+a+"CannotSlipEast"}, "true") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"+1,4))"}, { 1 - probIntended, eastUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyTurnGuard(a, "right", RIGHT, { a+"CannotSlipEast"}, "true") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << ";\n";
|
|
|
|
actionStream << printSlipperyTurnGuard(a, "left", LEFT, {"!"+a+"CannotSlipEast"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=view"+a+"-1)"}, {1 - probIntended, eastUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyTurnGuard(a, "left", LEFT, {"!"+a+"CannotSlipEast"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=3)"}, {1 - probIntended, eastUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyTurnGuard(a, "left", LEFT, { a+"CannotSlipEast"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=view"+a+"-1)"} }) << ";\n";
|
|
actionStream << printSlipperyTurnGuard(a, "left", LEFT, { a+"CannotSlipEast"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=3)"} }) << ";\n";
|
|
}
|
|
|
|
void PrismModulesPrinter::printSlipperyTurnActionsForSouth(const AgentName &a) {
|
|
actionStream << printSlipperyTurnGuard(a, "right", RIGHT, {"!"+a+"CannotSlipSouth"}, "true") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"+1,4))"}, { 1 - probIntended, southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyTurnGuard(a, "right", RIGHT, { a+"CannotSlipSouth"}, "true") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << ";\n";
|
|
|
|
actionStream << printSlipperyTurnGuard(a, "left", LEFT, {"!"+a+"CannotSlipSouth"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=view"+a+"-1)"}, {1 - probIntended, southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyTurnGuard(a, "left", LEFT, {"!"+a+"CannotSlipSouth"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=3)"}, {1 - probIntended, southUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyTurnGuard(a, "left", LEFT, { a+"CannotSlipSouth"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=view"+a+"-1)"} }) << ";\n";
|
|
actionStream << printSlipperyTurnGuard(a, "left", LEFT, { a+"CannotSlipSouth"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=3)"} }) << ";\n";
|
|
}
|
|
|
|
void PrismModulesPrinter::printSlipperyTurnActionsForWest(const AgentName &a) {
|
|
actionStream << printSlipperyTurnGuard(a, "right", RIGHT, {"!"+a+"CannotSlipWest"}, "true") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=mod(view"+a+"+1,4))"}, { 1 - probIntended, westUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyTurnGuard(a, "right", RIGHT, { a+"CannotSlipWest"}, "true") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=mod(view"+a+"+1,4))"} }) << ";\n";
|
|
|
|
actionStream << printSlipperyTurnGuard(a, "left", LEFT, {"!"+a+"CannotSlipWest"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=view"+a+"-1)"}, {1 - probIntended, westUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyTurnGuard(a, "left", LEFT, {"!"+a+"CannotSlipWest"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {probIntended, "(view"+a+"'=3)"}, {1 - probIntended, westUpdate(a)} }) << ";\n";
|
|
actionStream << printSlipperyTurnGuard(a, "left", LEFT, { a+"CannotSlipWest"}, "view"+a+">0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=view"+a+"-1)"} }) << ";\n";
|
|
actionStream << printSlipperyTurnGuard(a, "left", LEFT, { a+"CannotSlipWest"}, "view"+a+"=0") << printSlipperyTurnUpdate(a, { {1, "(view"+a+"'=3)"} }) << ";\n";
|
|
}
|
|
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std::string PrismModulesPrinter::printSlipperyMovementGuard(const AgentName &a, const std::string &direction, const ViewDirection &viewDirection, const std::vector<std::string> &guards) {
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std::string actionName = "[" + a + "_move_" + viewDirectionToString.at(viewDirection) + "]";
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agentNameActionMap.at(a).insert({FORWARD, actionName});
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return " " + actionName + " " + viewVariable(a, viewDirection) + " & " + a + "IsOnSlippery" + direction + " & " + buildConjunction(a, guards) + " -> ";
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}
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std::string PrismModulesPrinter::printSlipperyMovementUpdate(const AgentName &a, const std::string &direction, const updates &u) const {
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return updatesToString(u);
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}
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std::string PrismModulesPrinter::printSlipperyTurnGuard(const AgentName &a, const std::string &direction, const ActionId &actionId, const std::vector<std::string> &guards, const std::string &cond) {
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std::string actionName = "[" + a + "_turn_" + direction + "]";
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agentNameActionMap.at(a).insert({actionId, actionName});
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return " " + actionName + " " + a + "IsOnSlippery & " + buildConjunction(a, guards) + " & " + cond + " -> ";
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}
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std::string PrismModulesPrinter::printSlipperyTurnUpdate(const AgentName &a, const updates &u) {
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return updatesToString(u);
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}
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void PrismModulesPrinter::printFaultyMovementModule(const AgentName &a) {
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os << "\nmodule " << a << "FaultyBehaviour" << std::endl;
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os << " previousAction" << a << " : [0.." + std::to_string(NOFAULT) + "] init " + std::to_string(NOFAULT) + ";\n";
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for(const auto [actionId, actionName] : agentNameActionMap.at(a)) {
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os << " " << actionName << faultyBehaviourGuard(a, actionId) << " -> " << faultyBehaviourUpdate(a, actionId) << ";\n";
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}
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os << "endmodule\n\n";
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}
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void PrismModulesPrinter::printMoveModule() {
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os << "\nmodule " << "Arbiter" << std::endl;
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os << " clock : [0.." << agentIndexMap.size() - 1 << "] init 0;\n";
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for(const auto [agentName, actions] : agentNameActionMap) {
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for(const auto [actionId, actionName] : actions) {
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os << " " << actionName << " " << moveGuard(agentName) << " -> " << moveUpdate(agentName) << ";\n";
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}
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}
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os << "endmodule\n\n";
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}
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|
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void PrismModulesPrinter::printConfiguredActions(const AgentName &agentName) {
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for (auto& config : configuration) {
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if (config.type_ == ConfigType::Module && !config.overwrite_ && agentName == config.module_) {
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os << config.expression_ ;
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}
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}
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|
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os << "\n";
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}
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void PrismModulesPrinter::printDoneActions(const AgentName &agentName) {
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os << " [" << agentName << "_done]" << moveGuard(agentName) << agentName << "IsInGoal | " << agentName << "IsInLava -> (" << agentName << "Done'=true);\n";
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}
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|
|
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void PrismModulesPrinter::printPlayerStruct(const AgentName &agentName) {
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os << "player " << agentName << "\n\t";
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bool first = true;
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for(const auto [actionId, actionName] : agentNameActionMap.at(agentName)) {
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if(first) first = false;
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else os << ", ";
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os << actionName;
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}
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os << "\nendplayer\n";
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}
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void PrismModulesPrinter::printRewards(const AgentName &agentName, const std::map<coordinates, float> &stateRewards, const cells &lava, const cells &goals, const std::map<Color, cells> &backgroundTiles) {
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if(lava.size() != 0) {
|
|
os << "rewards \"" << agentName << "SafetyNoBFS\"\n";
|
|
os << "\t" <<agentName << "IsInLavaAndNotDone: -100;\n";
|
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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";
|
|
}
|
|
}
|
|
|
|
std::string PrismModulesPrinter::faultyBehaviourGuard(const AgentName &agentName, const ActionId &actionId) const {
|
|
if(faultyBehaviour()) {
|
|
if(actionId == NOFAULT) {
|
|
return "(previousAction" + agentName + "=" + std::to_string(NOFAULT) + ") ";
|
|
} else {
|
|
return "(previousAction" + agentName + "=" + std::to_string(NOFAULT) + " | previousAction" + agentName + "=" + std::to_string(actionId) + ") ";
|
|
}
|
|
} else {
|
|
return "";
|
|
}
|
|
}
|
|
|
|
std::string PrismModulesPrinter::faultyBehaviourUpdate(const AgentName &agentName, const ActionId &actionId) const {
|
|
if(actionId != NOFAULT) {
|
|
return updatesToString({ {1 - faultyProbability, "(previousAction" + agentName + "'=" + std::to_string(NOFAULT) + ")"}, {faultyProbability, "(previousAction" + agentName + "'=" + std::to_string(actionId) + ")" } });
|
|
} else {
|
|
return "true";
|
|
}
|
|
}
|
|
|
|
std::string PrismModulesPrinter::moveGuard(const AgentName &agentName) const {
|
|
return "clock=" + std::to_string(agentIndexMap.at(agentName));
|
|
}
|
|
|
|
std::string PrismModulesPrinter::moveUpdate(const AgentName &agentName) const {
|
|
size_t agentIndex = agentIndexMap.at(agentName);
|
|
return (agentIndex == numberOfPlayer - 1) ? "(clock'=0) " : "(clock'=" + std::to_string(agentIndex + 1) + ") ";
|
|
|
|
}
|
|
|
|
std::string PrismModulesPrinter::updatesToString(const updates &updates) const {
|
|
if(updates.empty()) return "true";
|
|
std::string updatesString = "";
|
|
bool first = true;
|
|
for(auto const update : updates) {
|
|
if(first) first = false;
|
|
else updatesString += " + ";
|
|
updatesString += updateToString(update);
|
|
}
|
|
return updatesString;
|
|
}
|
|
|
|
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 {
|
|
return "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::slipperyBehaviour() const {
|
|
return !slipperyTiles.at("North").empty() || !slipperyTiles.at("East").empty() || !slipperyTiles.at("South").empty() || !slipperyTiles.at("West").empty();
|
|
}
|
|
|
|
bool PrismModulesPrinter::isGame() const {
|
|
return modelType == ModelType::SMG;
|
|
}
|
|
|
|
std::string PrismModulesPrinter::buildConjunction(const AgentName &a, std::vector<std::string> formulae) const {
|
|
if(formulae.empty()) return "true";
|
|
std::string conjunction = "";
|
|
bool first = true;
|
|
for(auto const formula : formulae) {
|
|
if(first) first = false;
|
|
else conjunction += " & ";
|
|
conjunction += formula;
|
|
}
|
|
return conjunction;
|
|
}
|
|
|
|
}
|