103 lines
3.5 KiB
103 lines
3.5 KiB
import stormpy
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import stormpy.core
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import stormpy.simulator
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import stormpy.shields
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import stormpy.logic
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import stormpy.examples
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import stormpy.examples.files
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from abc import ABC
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import os
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class Action():
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def __init__(self, idx, prob=1, labels=[]) -> None:
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self.idx = idx
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self.prob = prob
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self.labels = labels
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class ShieldHandler(ABC):
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def __init__(self) -> None:
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pass
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def create_shield(self, **kwargs) -> dict:
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pass
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class MiniGridShieldHandler(ShieldHandler):
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def __init__(self, grid_file, grid_to_prism_path, prism_path, formula) -> None:
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self.grid_file = grid_file
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self.grid_to_prism_path = grid_to_prism_path
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self.prism_path = prism_path
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self.formula = formula
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def __export_grid_to_text(self, env):
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f = open(self.grid_file, "w")
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f.write(env.printGrid(init=True))
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f.close()
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def __create_prism(self):
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result = os.system(F"{self.grid_to_prism_path} -v 'agent' -i {self.grid_file} -o {self.prism_path}")
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assert result == 0, "Prism file could not be generated"
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f = open(self.prism_path, "a")
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f.write("label \"AgentIsInLava\" = AgentIsInLava;")
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f.close()
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def __create_shield_dict(self):
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print(self.prism_path)
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program = stormpy.parse_prism_program(self.prism_path)
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shield_specification = stormpy.logic.ShieldExpression(stormpy.logic.ShieldingType.PRE_SAFETY, stormpy.logic.ShieldComparison.RELATIVE, 0.1)
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formulas = stormpy.parse_properties_for_prism_program(self.formula, program)
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options = stormpy.BuilderOptions([p.raw_formula for p in formulas])
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options.set_build_state_valuations(True)
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options.set_build_choice_labels(True)
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options.set_build_all_labels()
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model = stormpy.build_sparse_model_with_options(program, options)
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result = stormpy.model_checking(model, formulas[0], extract_scheduler=True, shield_expression=shield_specification)
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assert result.has_scheduler
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assert result.has_shield
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shield = result.shield
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stormpy.shields.export_shield(model, shield, "Grid.shield")
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action_dictionary = {}
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shield_scheduler = shield.construct()
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for stateID in model.states:
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choice = shield_scheduler.get_choice(stateID)
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choices = choice.choice_map
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state_valuation = model.state_valuations.get_string(stateID)
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#actions_to_be_executed = [(choice[1] ,model.choice_labeling.get_labels_of_choice(model.get_choice_index(stateID, choice[1]))) for choice in choices]
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actions_to_be_executed = [Action(idx= choice[1], prob=choice[0], labels=model.choice_labeling.get_labels_of_choice(model.get_choice_index(stateID, choice[1]))) for choice in choices]
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action_dictionary[state_valuation] = actions_to_be_executed
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return action_dictionary
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def create_shield(self, **kwargs):
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env = kwargs["env"]
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self.__export_grid_to_text(env)
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self.__create_prism()
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return self.__create_shield_dict()
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def create_shield_query(env):
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coordinates = env.env.agent_pos
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view_direction = env.env.agent_dir
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key_text = ""
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# only support one key for now
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#print(F"Agent pos is {self.env.agent_pos} and direction {self.env.agent_dir} ")
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cur_pos_str = f"[{key_text}!AgentDone\t& xAgent={coordinates[0]}\t& yAgent={coordinates[1]}\t& viewAgent={view_direction}]"
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return cur_pos_str
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