def _gen_follow(self, command):
"""Generate statements for following."""
# Env is stationary iff in the last state change our region and the env's region were stable
stationary_explanation = "Definition of when the target is moving."
stationary_safeties = \
always(iff(next_(sys_(FOLLOW_STATIONARY)),
ENV_STATIONARY))
stationary_lines = SpecChunk(stationary_explanation, [stationary_safeties], SpecChunk.SYS,
command)
# Stay there if environment is changing
stay_there_explanation = "React immediately to the target moving."
stay_there_safeties = \
always(implies(not_(next_(sys_(FOLLOW_STATIONARY))), self._frag_stay()))
stay_there_lines = \
SpecChunk(stay_there_explanation, [stay_there_safeties], SpecChunk.SYS, command)
# Match the sensor location to ours
follow_goals = \
[SpecChunk("Follow the target to {!r}.".format(region),
[always_eventually(
implies(and_((sys_(FOLLOW_STATIONARY), env(region))), sys_(region)))],
SpecChunk.SYS, command) for region in self.regions]
follow_env = SpecChunk("Target must obey map topology.",
[FOLLOW_SENSORS], SpecChunk.ENV, command)
return ([stationary_lines, stay_there_lines] + follow_goals, [follow_env],
[FOLLOW_STATIONARY], [])
def _gen_follow(self, command):
"""Generate statements for following."""
# Env is stationary iff in the last state change our region and the env's region were stable
stationary_explanation = "Definition of when the target is moving."
stationary_safeties = \
always(iff(next_(sys_(FOLLOW_STATIONARY)),
ENV_STATIONARY))
stationary_lines = SpecChunk(stationary_explanation, [stationary_safeties], SpecChunk.SYS,
command)
# Stay there if environment is changing
stay_there_explanation = "React immediately to the target moving."
stay_there_safeties = always(implies(not_(next_(sys_(FOLLOW_STATIONARY))), self._frag_stay()))
stay_there_lines = SpecChunk(stay_there_explanation, [stay_there_safeties], SpecChunk.SYS,
command)
# Match the sensor location to ours
follow_goals = \
[SpecChunk("Follow the target to {!r}.".format(region),
[always_eventually(implies(and_((sys_(FOLLOW_STATIONARY), env(region))), sys_(region)))],
SpecChunk.SYS, command) for region in self.regions]
follow_env = SpecChunk("Target must obey map topology.",
[FOLLOW_SENSORS], SpecChunk.ENV, command)
return ([stationary_lines, stay_there_lines] + follow_goals, [follow_env], [FOLLOW_STATIONARY], [])
def _frag_complete_context(actuator, context_prop):
"""Generate fragments for completing an action in context."""
actuator_done = _prop_actuator_done(actuator)
eventually_actuator = always_eventually(env(actuator_done))
return [and_((sys_(actuator), next_(env(actuator_done)), context_prop)), [eventually_actuator]]
def _gen_conditional(self, command):
"""Generate a conditional action"""
if isinstance(command.condition, Event):
# Validate the condition
if not command.condition.theme:
raise KeyError("Cannot understand condition:\n{}".format(command.condition))
condition = command.condition.theme.name
if condition not in self.sensors:
raise KeyError("No sensor to detect condition {!r}".format(command.condition.theme.name))
if command.condition.sensor != SEE_ACTION:
raise KeyError("Cannot use action {!r} as a condition".format(command.condition.action))
condition_frag = env(condition)
explanation = "To react to {!r},".format(condition)
elif isinstance(command.condition, Assertion):
# TODO: Add support for assertions not about "you". Ex: If there is a hostage...
# Validate the condition
if not command.condition.location:
raise KeyError("Cannot understand condition:\n{}".format(command.condition))
condition = command.condition.location.name
condition_frag = sys_(condition)
explanation = "When in {!r},".format(condition)
else:
raise KeyError("Cannot understand condition:\n{}".format(command.condition))
# Validate the action
action = command.action
if action not in self.REACTIONS:
raise KeyError("Unknown reaction {!r}".format(action))
# Create the right type of reaction
new_props = []
if action in self.props:
# Simple actuator
reaction_prop = action
elif action == STAY_ACTION:
reaction_prop = STAY_THERE
else:
# Reaction proposition
reaction_prop_name = REACT + "_" + condition
reaction_prop = sys_(reaction_prop_name)
self.react_props.add(reaction_prop_name)
new_props.append(reaction_prop_name)
# Generate the response
sys_statements = []
if action in (GO_ACTION, AVOID_ACTION):
# Go is unusual because the outcome is not immediately satisfiable
if not command.location:
raise KeyError("No location in go reaction")
destination = command.location.name
# Negation is easy, so we take a shortcut
if ((action == GO_ACTION and command.negation) or
(action == AVOID_ACTION and not command.negation)):
sys_statements.append(always(implies(next_(condition_frag),
not_(next_(sys_(destination))))))
explanation += " avoid {!r}.".format(command.location.name)
else:
destination_stmt = sys_(destination)
# New goal for where we should go
go_goal = always_eventually(implies(reaction_prop, destination_stmt))
# Safety that persists
go_safety = \
always(iff(next_(reaction_prop),
or_([reaction_prop, next_(condition_frag)])))
# Make sure we act immediately: []((!react & next(react) )-> stay_there)
stay_there = always(implies(and_((not_(reaction_prop), next_(reaction_prop))),
self._frag_stay()))
sys_statements.extend([go_goal, go_safety, stay_there])
explanation += " go to {!r}.".format(command.location.name)
elif action == STAY_ACTION:
sys_statements.append(always(implies(condition_frag, reaction_prop)))
explanation += " stay there."
else:
if command.theme.name not in self.props:
raise KeyError("Unknown actuator {!r}".format(command.theme.name))
# Otherwise we are always creating reaction safety
sys_statements.append(always(iff(next_(condition_frag), next_(reaction_prop))))
template = " {} {!r}." if not command.negation else " do not {} {!r}."
explanation += template.format(action, command.theme.name)
if not command.negation:
handler = self.REACTIONS[action]
else:
handler = self.NEG_REACTIONS[action]
reaction_frag = handler(command)
react = always(implies(next_(reaction_prop), reaction_frag))
stay_there = always(implies(and_((not_(reaction_prop), next_(reaction_prop))),
self._frag_stay()))
sys_statements.extend([react, stay_there])
sys_chunk = SpecChunk(explanation, sys_statements, SpecChunk.SYS, command)
return ([sys_chunk], [], new_props, [])
def _frag_complete_context(actuator, context_prop):
"""Generate fragments for completing an action in context."""
actuator_done = _prop_actuator_done(actuator)
eventually_actuator = always_eventually(env(actuator_done))
return [and_((sys_(actuator), next_(env(actuator_done)), context_prop)), [eventually_actuator]]
def _gen_conditional(self, command, assume_eventual_relief=False):
"""Generate a conditional action"""
# TODO: Properly document and condition assume_eventual_relief
env_chunks = []
if isinstance(command.condition, Event):
# Validate the condition
if not command.condition.theme:
raise KeyError("Cannot understand condition:\n{}".format(command.condition))
condition = command.condition.theme.name
if condition not in self.sensors:
raise KeyError(
"No sensor to detect condition {!r}".format(command.condition.theme.name))
if command.condition.sensor != SEE_ACTION:
raise KeyError(
"Cannot use action {!r} as a condition".format(command.condition.action))
condition_frag = env(condition)
explanation = "To react to {!r},".format(condition)
if assume_eventual_relief:
relief_explanation = "Assume {!r} eventually goes away.".format(condition)
relief = always_eventually(not_(condition_frag))
relief_chunk = SpecChunk(relief_explanation, [relief], SpecChunk.ENV, command)
env_chunks.append(relief_chunk)
elif isinstance(command.condition, Assertion):
# TODO: Add support for assertions not about "you". Ex: If there is a hostage...
# Validate the condition
if not command.condition.location:
raise KeyError("Cannot understand condition:\n{}".format(command.condition))
condition = command.condition.location.name
condition_frag = sys_(condition)
explanation = "When in {!r},".format(condition)
else:
raise KeyError("Cannot understand condition:\n{}".format(command.condition))
# Validate the action
action = command.action
if action not in self.REACTIONS:
raise KeyError("Unknown reaction {!r}".format(action))
# Create the right type of reaction
new_props = []
if action in self.props:
# Simple actuator
reaction_prop = action
else:
# Reaction proposition
reaction_prop_name = REACT + "_" + condition
reaction_prop = sys_(reaction_prop_name)
new_props.append(reaction_prop_name)
self.react_props.add(reaction_prop_name)
# Generate the response
sys_statements = []
if action in (GO_ACTION, AVOID_ACTION):
# Go is unusual because the outcome is not immediately satisfiable
if not command.location:
raise KeyError("No location in go reaction")
destination = command.location.name
# Negation is easy, so we take a shortcut
if ((action == GO_ACTION and command.negation) or
(action == AVOID_ACTION and not command.negation)):
sys_statements.append(always(implies(next_(condition_frag),
not_(next_(sys_(destination))))))
explanation += " avoid {!r}.".format(command.location.name)
else:
destination_stmt = sys_(destination)
# New goal for where we should go
go_goal = always_eventually(implies(reaction_prop, destination_stmt))
# Safety that persists
go_safety = \
always(iff(next_(reaction_prop),
or_([reaction_prop, next_(condition_frag)])))
# Make sure we act immediately: []((!react & next(react) )-> stay_there)
stay_there = always(implies(and_((not_(reaction_prop), next_(reaction_prop))),
self._frag_stay()))
sys_statements.extend([go_goal, go_safety, stay_there])
explanation += " go to {!r}.".format(command.location.name)
elif action == STAY_ACTION:
sys_statements.append(always(iff(next_(condition_frag), next_(reaction_prop))))
sys_statements.append(always(implies(or_([reaction_prop, next_(reaction_prop)]),
STAY_THERE)))
explanation += " stay there."
else:
if command.theme.name not in self.props:
raise KeyError("Unknown actuator {!r}".format(command.theme.name))
# Otherwise we are always creating reaction safety
sys_statements.append(always(iff(next_(condition_frag), next_(reaction_prop))))
template = " {} {!r}." if not command.negation else " do not {} {!r}."
explanation += template.format(action, command.theme.name)
if not command.negation:
handler = self.REACTIONS[action]
else:
handler = self.NEG_REACTIONS[action]
reaction_frag = handler(command)
react = always(implies(next_(reaction_prop), reaction_frag))
stay_there = always(implies(or_([reaction_prop, next_(reaction_prop)]),
self._frag_stay()))
sys_statements.extend([react, stay_there])
sys_chunk = SpecChunk(explanation, sys_statements, SpecChunk.SYS, command)
return ([sys_chunk], env_chunks, new_props, [])
