def __init__(self, generation_tree=None):
# Store the logic generation tree if it is provided.
self.gen_tree = generation_tree
self.spec_lists = chunks_from_gentree(self.gen_tree) if self.gen_tree else None
self.user_history = []
self.system_history = []
def set_gen_tree(self, gen_tree):
"""Set the generation tree."""
self._gen_tree = gen_tree
self._spec_lists = chunks_from_gentree(
self._gen_tree) if self._gen_tree else None
def __init__(self, *args, **kwds):
# begin wxGlade: MopsyFrame.__init__
kwds["style"] = wx.DEFAULT_FRAME_STYLE
wx.Frame.__init__(self, *args, **kwds)
self.mopsy_frame_statusbar = self.CreateStatusBar(1, 0)
self.window_1 = wx.SplitterWindow(self,
wx.ID_ANY,
style=wx.SP_3D | wx.SP_BORDER)
self.window_1_pane_1 = wx.Panel(self.window_1, wx.ID_ANY)
self.history_grid = wx.grid.Grid(self.window_1_pane_1,
wx.ID_ANY,
size=(1, 1))
self.window_1_pane_2 = wx.Panel(self.window_1, wx.ID_ANY)
self.panel_1 = wx.Panel(self.window_1_pane_2,
wx.ID_ANY,
style=wx.SUNKEN_BORDER | wx.TAB_TRAVERSAL)
self.label_1 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Your goal:")
self.label_goal = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Wait patiently for Mopsy to load")
self.label_5 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Current environment state:")
self.label_6 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Please choose your response:")
self.label_movingto = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Moving to XXX ...")
self.label_8 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Actuator states:")
self.label_9 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Internal propositions:")
self.label_violation = wx.StaticText(self.window_1_pane_2,
wx.ID_ANY,
"",
style=wx.ST_NO_AUTORESIZE)
self.button_next = wx.Button(self.window_1_pane_2, wx.ID_ANY,
"Execute Move >>")
self.__set_properties()
self.__do_layout()
self.Bind(wx.EVT_BUTTON, self.onButtonNext, self.button_next)
# end wxGlade
self.coreCalculationLock = threading.Lock()
self.dest_region = None
self.current_region = None
self.regionsToHide = []
self.actuatorStates = {}
self.sensorStates = {}
self.panel_1.SetBackgroundStyle(wx.BG_STYLE_CUSTOM)
self.mapBitmap = None
# Load in the project and map
self.mopsy_frame_statusbar.SetStatusText("Loading project...", 0)
self.compiler = SpecCompiler(sys.argv[1])
self.proj = copy.deepcopy(self.compiler.proj)
self.proj.rfi = self.proj.loadRegionFile(decomposed=True)
self.Bind(wx.EVT_SIZE, self.onResize, self)
self.panel_1.Bind(wx.EVT_PAINT, self.onPaint)
self.panel_1.Bind(wx.EVT_ERASE_BACKGROUND, self.onEraseBG)
self.panel_1.Bind(wx.EVT_LEFT_DOWN, self.onMapClick)
self.onResize()
self.proj.determineEnabledPropositions()
# Parse specification so we can give feedback
self.mopsy_frame_statusbar.SetStatusText("Parsing specification...", 0)
self.compiler._decompose()
self.spec, self.tracebackTree, response = self.compiler._writeLTLFile()
self.compiler._writeSMVFile() # to update propList
if self.proj.compile_options["parser"] == "slurp":
# Add SLURP to path for import
p = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.join(p, "..", "etc", "SLURP"))
global chunks_from_gentree, line_to_chunks
from ltlbroom.specgeneration import chunks_from_gentree, line_to_chunks
self.tracebackChunks = chunks_from_gentree(self.tracebackTree)
# Load in counter-strategy automaton
self.envDummySensorHandler = EnvDummySensorHandler(self)
self.envDummyActuatorHandler = EnvDummyActuatorHandler(self)
self.dummyMotionHandler = DummyMotionHandler()
self.proj.sensor_handler, self.proj.actuator_handler, self.proj.h_instance = [
None
] * 3
self.mopsy_frame_statusbar.SetStatusText(
"Loading environment counter-strategy...", 0)
self.num_bits = int(numpy.ceil(numpy.log2(len(self.proj.rfi.regions)))
) # Number of bits necessary to encode all regions
region_props = ["bit" + str(n) for n in xrange(self.num_bits)]
self.env_aut = fsa.Automaton(self.proj)
self.env_aut.sensor_handler = self.envDummySensorHandler
self.env_aut.actuator_handler = self.envDummyActuatorHandler
self.env_aut.motion_handler = self.dummyMotionHandler
# We are being a little tricky here by just reversing the sensor and actuator propositions
# to create a sort of dual of the usual automaton
self.env_aut.loadFile(
self.proj.getFilenamePrefix() + ".aut",
self.proj.enabled_actuators + self.proj.all_customs +
self.compiler.proj.internal_props + region_props,
self.proj.enabled_sensors, [])
self.env_aut.current_region = None
# Find first state in counterstrategy that seeks to falsify the given liveness
if len(sys.argv) > 2:
desired_jx = int(sys.argv[2])
for s in self.env_aut.states:
if s.transitions:
rank_str = s.transitions[0].rank
m = re.search(r"\(\d+,(-?\d+)\)", rank_str)
if m is None:
print "ERROR: Error parsing jx in automaton. Are you sure the spec is unrealizable?"
return
jx = int(m.group(1))
if jx == desired_jx:
self.env_aut.current_state = s
break
if self.env_aut.current_state is None:
print "ERROR: could not find state in counterstrategy to falsify sys goal #{}".format(
desired_jx)
return
else:
self.env_aut.current_state = self.env_aut.states[0]
# Internal aut housekeeping (ripped from chooseInitialState; hacky)
self.env_aut.last_next_states = []
self.env_aut.next_state = None
self.env_aut.next_region = None
#self.env_aut.dumpStates([self.env_aut.current_state])
# Set initial sensor values
self.env_aut.updateOutputs()
# Figure out what actuator/custom-prop settings the system should start with
for k, v in self.env_aut.current_state.inputs.iteritems():
# Skip any "bitX" region encodings
if re.match('^bit\d+$', k): continue
self.actuatorStates[k] = int(v)
# Figure out what region the system should start from
self.current_region = self.regionFromEnvState(
self.env_aut.current_state)
self.dest_region = self.current_region
# Create all the sensor/actuator buttons
self.env_buttons = [] # This will later hold our buttons
self.act_buttons = [] # This will later hold our buttons
self.cust_buttons = [] # This will later hold our buttons
actprops = dict((k, v) for k, v in self.actuatorStates.iteritems()
if k in self.proj.enabled_actuators)
custprops = dict(
(k, v) for k, v in self.actuatorStates.iteritems()
if k in self.proj.all_customs + self.compiler.proj.internal_props)
self.populateToggleButtons(self.sizer_env, self.env_buttons,
self.sensorStates)
self.populateToggleButtons(self.sizer_act, self.act_buttons, actprops)
self.populateToggleButtons(self.sizer_prop, self.cust_buttons,
custprops)
# Make the env buttons not clickable (TODO: maybe replace with non-buttons)
#for b in self.env_buttons:
# b.Enable(False)
# Set up the logging grid
self.history_grid.SetDefaultCellFont(
wx.Font(12, wx.DEFAULT, wx.NORMAL, wx.NORMAL, 0, ""))
self.history_grid.SetLabelFont(
wx.Font(12, wx.DEFAULT, wx.NORMAL, wx.NORMAL, 0, ""))
colheaders = self.proj.enabled_sensors + [
"Region"
] + self.proj.enabled_actuators + self.proj.all_customs + self.compiler.proj.internal_props
self.history_grid.CreateGrid(0, len(colheaders))
for i, n in enumerate(colheaders):
self.history_grid.SetColLabelValue(i, " " + n + " ")
self.history_grid.SetColSize(i, -1) # Auto-size
self.history_grid.EnableEditing(False)
# Decide whether to enable core-finding
self.coreFindingEnabled = self.compiler._getPicosatCommand(
) is not None
# Put initial condition into log
self.appendToHistory()
# Start initial environment move
# All transitionable states have the same env move, so just use the first
if (len(self.env_aut.current_state.transitions) >= 1):
self.env_aut.updateOutputs(
self.env_aut.current_state.transitions[0])
self.label_movingto.SetLabel(
"Stay in region " +
self.env_aut.getAnnotatedRegionName(self.current_region))
self.showCurrentGoal()
self.applySafetyConstraints()
def __init__(self, *args, **kwds):
# begin wxGlade: MopsyFrame.__init__
kwds["style"] = wx.DEFAULT_FRAME_STYLE
wx.Frame.__init__(self, *args, **kwds)
self.mopsy_frame_statusbar = self.CreateStatusBar(1, 0)
self.window_1 = wx.SplitterWindow(self, wx.ID_ANY, style=wx.SP_3D | wx.SP_BORDER)
self.window_1_pane_1 = wx.Panel(self.window_1, wx.ID_ANY)
self.history_grid = wx.grid.Grid(self.window_1_pane_1, wx.ID_ANY, size=(1, 1))
self.window_1_pane_2 = wx.Panel(self.window_1, wx.ID_ANY)
self.panel_1 = wx.Panel(self.window_1_pane_2, wx.ID_ANY, style=wx.SUNKEN_BORDER | wx.TAB_TRAVERSAL)
self.label_1 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Your goal:")
self.label_goal = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Wait patiently for Mopsy to load")
self.label_5 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Current environment state:")
self.label_6 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Please choose your response:")
self.label_movingto = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Moving to XXX ...")
self.label_8 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Actuator states:")
self.label_9 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Internal propositions:")
self.label_violation = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "", style=wx.ST_NO_AUTORESIZE)
self.button_next = wx.Button(self.window_1_pane_2, wx.ID_ANY, "Execute Move >>")
self.__set_properties()
self.__do_layout()
self.Bind(wx.EVT_BUTTON, self.onButtonNext, self.button_next)
# end wxGlade
self.coreCalculationLock = threading.Lock()
self.dest_region = None
self.current_region = None
self.regionsToHide = []
self.actuatorStates = {}
self.sensorStates = {}
self.panel_1.SetBackgroundStyle(wx.BG_STYLE_CUSTOM)
self.mapBitmap = None
# Load in the project and map
self.mopsy_frame_statusbar.SetStatusText("Loading project...", 0)
self.compiler = SpecCompiler(sys.argv[1])
self.proj = copy.deepcopy(self.compiler.proj)
self.proj.rfi = self.proj.loadRegionFile(decomposed=True)
self.Bind(wx.EVT_SIZE, self.onResize, self)
self.panel_1.Bind(wx.EVT_PAINT, self.onPaint)
self.panel_1.Bind(wx.EVT_ERASE_BACKGROUND, self.onEraseBG)
self.panel_1.Bind(wx.EVT_LEFT_DOWN, self.onMapClick)
self.onResize()
self.proj.determineEnabledPropositions()
# Parse specification so we can give feedback
self.mopsy_frame_statusbar.SetStatusText("Parsing specification...", 0)
self.compiler._decompose()
self.spec, self.tracebackTree, response = self.compiler._writeLTLFile()
self.compiler._writeSMVFile() # to update propList
if self.proj.compile_options["parser"] == "slurp":
# Add SLURP to path for import
p = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.join(p, "..", "etc", "SLURP"))
global chunks_from_gentree, line_to_chunks
from ltlbroom.specgeneration import chunks_from_gentree, line_to_chunks
self.tracebackChunks = chunks_from_gentree(self.tracebackTree)
# Load in counter-strategy automaton
self.envDummySensorHandler = EnvDummySensorHandler(self)
self.envDummyActuatorHandler = EnvDummyActuatorHandler(self)
self.dummyMotionHandler = DummyMotionHandler()
self.proj.sensor_handler, self.proj.actuator_handler, self.proj.h_instance = [None]*3
self.mopsy_frame_statusbar.SetStatusText("Loading environment counter-strategy...", 0)
self.num_bits = int(numpy.ceil(numpy.log2(len(self.proj.rfi.regions)))) # Number of bits necessary to encode all regions
region_props = ["bit" + str(n) for n in xrange(self.num_bits)]
self.env_aut = fsa.Automaton(self.proj)
self.env_aut.sensor_handler = self.envDummySensorHandler
self.env_aut.actuator_handler = self.envDummyActuatorHandler
self.env_aut.motion_handler = self.dummyMotionHandler
# We are being a little tricky here by just reversing the sensor and actuator propositions
# to create a sort of dual of the usual automaton
self.env_aut.loadFile(self.proj.getFilenamePrefix() + ".aut", self.proj.enabled_actuators + self.proj.all_customs + self.compiler.proj.internal_props + region_props, self.proj.enabled_sensors, [])
self.env_aut.current_region = None
# Find first state in counterstrategy that seeks to falsify the given liveness
if len(sys.argv) > 2:
desired_jx = int(sys.argv[2])
for s in self.env_aut.states:
if s.transitions:
rank_str = s.transitions[0].rank
m = re.search(r"\(\d+,(-?\d+)\)", rank_str)
if m is None:
print "ERROR: Error parsing jx in automaton. Are you sure the spec is unrealizable?"
return
jx = int(m.group(1))
if jx == desired_jx:
self.env_aut.current_state = s
break
if self.env_aut.current_state is None:
print "ERROR: could not find state in counterstrategy to falsify sys goal #{}".format(desired_jx)
return
else:
self.env_aut.current_state = self.env_aut.states[0]
# Internal aut housekeeping (ripped from chooseInitialState; hacky)
self.env_aut.last_next_states = []
self.env_aut.next_state = None
self.env_aut.next_region = None
#self.env_aut.dumpStates([self.env_aut.current_state])
# Set initial sensor values
self.env_aut.updateOutputs()
# Figure out what actuator/custom-prop settings the system should start with
for k,v in self.env_aut.current_state.inputs.iteritems():
# Skip any "bitX" region encodings
if re.match('^bit\d+$', k): continue
self.actuatorStates[k] = int(v)
# Figure out what region the system should start from
self.current_region = self.regionFromEnvState(self.env_aut.current_state)
self.dest_region = self.current_region
# Create all the sensor/actuator buttons
self.env_buttons = [] # This will later hold our buttons
self.act_buttons = [] # This will later hold our buttons
self.cust_buttons = [] # This will later hold our buttons
actprops = dict((k,v) for k,v in self.actuatorStates.iteritems() if k in self.proj.enabled_actuators)
custprops = dict((k,v) for k,v in self.actuatorStates.iteritems() if k in self.proj.all_customs + self.compiler.proj.internal_props)
self.populateToggleButtons(self.sizer_env, self.env_buttons, self.sensorStates)
self.populateToggleButtons(self.sizer_act, self.act_buttons, actprops)
self.populateToggleButtons(self.sizer_prop, self.cust_buttons, custprops)
# Make the env buttons not clickable (TODO: maybe replace with non-buttons)
#for b in self.env_buttons:
# b.Enable(False)
# Set up the logging grid
self.history_grid.SetDefaultCellFont(wx.Font(12, wx.DEFAULT, wx.NORMAL, wx.NORMAL, 0, ""))
self.history_grid.SetLabelFont(wx.Font(12, wx.DEFAULT, wx.NORMAL, wx.NORMAL, 0, ""))
colheaders = self.proj.enabled_sensors + ["Region"] + self.proj.enabled_actuators + self.proj.all_customs + self.compiler.proj.internal_props
self.history_grid.CreateGrid(0,len(colheaders))
for i,n in enumerate(colheaders):
self.history_grid.SetColLabelValue(i, " " + n + " ")
self.history_grid.SetColSize(i,-1) # Auto-size
self.history_grid.EnableEditing(False)
# Decide whether to enable core-finding
self.coreFindingEnabled = self.compiler._getPicosatCommand() is not None
# Put initial condition into log
self.appendToHistory()
# Start initial environment move
# All transitionable states have the same env move, so just use the first
if (len(self.env_aut.current_state.transitions) >=1 ):
self.env_aut.updateOutputs(self.env_aut.current_state.transitions[0])
self.label_movingto.SetLabel("Stay in region " + self.env_aut.getAnnotatedRegionName(self.current_region))
self.showCurrentGoal()
self.applySafetyConstraints()
def set_gen_tree(self, gen_tree):
"""Set the generation tree."""
self._gen_tree = gen_tree
self._spec_lists = chunks_from_gentree(self._gen_tree) if self._gen_tree else None
