Beispiel #1
0
    def postprocessLTL(self, text, sensorList, robotPropList):
        # TODO: make everything use this
        if self.proj.compile_options["decompose"]:
            # substitute decomposed region names
            for r in self.proj.rfi.regions:
                if not (r.isObstacle or r.name.lower() == "boundary"):
                    text = re.sub('\\bs\.' + r.name + '\\b', "("+' | '.join(["s."+x for x in self.parser.proj.regionMapping[r.name]])+")", text)
                    text = re.sub('\\be\.' + r.name + '\\b', "("+' | '.join(["e."+x for x in self.parser.proj.regionMapping[r.name]])+")", text)

        if self.proj.compile_options["decompose"]:
            regionList = [x.name for x in self.parser.proj.rfi.regions]
        else:
            regionList = [x.name for x in self.proj.rfi.regions]

        # Define the number of bits needed to encode the regions
        numBits = int(math.ceil(math.log(len(regionList),2)))

        # creating the region bit encoding
        bitEncode = bitEncoding(len(regionList),numBits)
        currBitEnc = bitEncode['current']
        nextBitEnc = bitEncode['next']

        # switch to bit encodings for regions
        if self.proj.compile_options["use_region_bit_encoding"]:
            text = replaceRegionName(text, bitEncode, regionList)

        text = self.substituteMacros(text)

        return text
Beispiel #2
0
    def write_cost_file(self, compiler):
        """ Generates *.cost file from the cost text supplied by the specification
        :param compiler: A parser
        :type compiler: SpecCompiler
        :return: None
        """

        costFile = open(self._cost_filename(), 'w')

        # Must use bit encoding with slugs
        assert self.proj.compile_options["use_region_bit_encoding"]

        # Regular Expressions used for parsing cost spec
        RE_FACTOR = re.compile('\d \d (<|>)', re.IGNORECASE)
        RE_ENTRY = re.compile('(\\d+\\.\\d+)\\s(.*)', re.IGNORECASE)

        # Step through Cost Specification
        costText = []
        for line in self.cost_text.split('\n'):
            # Check if First Line defines the Cost Factors for waiting and
            # delay costs
            if len(costText) == 0:
                if RE_FACTOR.search(line) is not None:
                    costText.append(line)
                    continue
                else:
                    RuntimeError('The first line of the cost spec must ' +
                                 'always represent the cost factors for' +
                                 'waiting and delay cost.')

            # Split each line into the value and formula portions
            entryRE = RE_ENTRY.search(line)
            value = entryRE.group(1)
            formula = entryRE.group(2)

            # Replace region names in cost with decomposed region names
            formula = compiler._subDecompedRegion(formula)

            # Replace Formula with bit encoding
            regionList = compiler.getRegionList()
            numBits = int(math.ceil(math.log(len(regionList), 2)))
            bitEncode = bitEncoding(len(regionList), numBits)
            formula = replaceRegionName(formula, bitEncode, regionList)

            # Replace Input (Sensor) names
            formula = self._replace_input_names(formula)

            # Replace Output (Actuator) names
            formula = self._replace_output_names(formula)

            # Parse into SLUGS format (Postfix notation)
            formulaTree = parseLTL(formula + ';')
            formula = parseSimpleFormula(formulaTree[1], False)
            formula = ' '.join(formula)

            # Append to cost text
            costText.append(value + ' ' + str(formula))

        # Write costText to file
        costFile.write("\n".join(costText))
Beispiel #3
0
def replaceRobotNameWithRegionToBits(ltlFormula, bitEncode, robotName, regionList, fastslow=False, include_heading=False):
    """
    This function takes in an ltlFormula, the bitEncode, robotName and the regionList and returns an ltlFormula with the robotName+ region replaced to region bits.
    INPUT:
    ltlFormula: ltlFormula in normal form
    bitEncode: see function BitEncoding in parseEnglishToLTL.py
    robotName: name of the robot
    regionList: list of original region names
    
    OUTPUT:
    ltlFormulaReplaced: ltl formula with all robotName+region replaced 

    For old format:
    --> e.robotName_regionName to s.bit <----

    For fastslow (include_heading):
    --> e.robotName_regionName_rc to e.sbit <----
    --> e.robotName_regionName to s.bit <----

    For fastslow (only neighbour_robot)
    --> e.robotName_regionName to e.sbit <----
    """
    
    # remove our robot name from the spec
    if fastslow:
        if include_heading:
            for region in regionList:
                ltlFormula = ltlFormula.replace('e.' + robotName + '_' + region + '_rc', 'e.' + region)
                ltlFormula = ltlFormula.replace('e.' + robotName + '_' + region, 's.' + region)
        else:
            for region in regionList:
                ltlFormula = ltlFormula.replace('e.' + robotName + '_' + region, 'e.' + region)
    else:
        ltlFormula = ltlFormula.replace('e.' + robotName + '_', 's.')

    # map region name to bits
    ltlFormulaReplaced  = parseEnglishToLTL.replaceRegionName(ltlFormula, bitEncode, regionList)

    return ltlFormulaReplaced
Beispiel #4
0
    def _writeLTLFile(self):

        self.LTL2SpecLineNumber = None

        #regionList = [r.name for r in self.parser.proj.rfi.regions]
        regionList = [r.name for r in self.proj.rfi.regions]
        sensorList = deepcopy(self.proj.enabled_sensors)
        robotPropList = self.proj.enabled_actuators + self.proj.all_customs

        text = self.proj.specText

        response = None

        # Create LTL using selected parser
        # TODO: rename decomposition object to something other than 'parser'
        if self.proj.compile_options["parser"] == "slurp":
            # default to no region tags if no simconfig is defined, so we can compile without
            if self.proj.current_config == "":
                region_tags = {}
            else:
                self.hsub = handlerSubsystem.HandlerSubsystem(
                    None, self.proj.project_root)
                config, success = self.hsub.loadConfigFile(
                    self.proj.current_config)
                if success: self.hsub.configs.append(config)
                self.hsub.setExecutingConfig(self.proj.current_config)

                region_tags = self.hsub.executing_config.region_tags

            # Hack: We need to make sure there's only one of these
            global _SLURP_SPEC_GENERATOR

            # Make a new specgenerator and have it process the text
            if not _SLURP_SPEC_GENERATOR:
                # Add SLURP to path for import
                p = os.path.dirname(os.path.abspath(__file__))
                sys.path.append(os.path.join(p, "..", "etc", "SLURP"))
                from ltlbroom.specgeneration import SpecGenerator
                _SLURP_SPEC_GENERATOR = SpecGenerator()

            # Filter out regions it shouldn't know about
            filtered_regions = [
                region.name for region in self.proj.rfi.regions
                if not (region.isObstacle or region.name.lower() == "boundary")
            ]
            LTLspec_env, LTLspec_sys, self.proj.internal_props, internal_sensors, results, responses, traceback = \
                _SLURP_SPEC_GENERATOR.generate(text, sensorList, filtered_regions, robotPropList, region_tags)

            oldspec_env = LTLspec_env
            oldspec_sys = LTLspec_sys

            for ln, result in enumerate(results):
                if not result:
                    logging.warning(
                        "Could not parse the sentence in line {0}".format(ln))

            # Abort compilation if there were any errors
            if not all(results):
                return None, None, responses

            # Add in the sensors so they go into the SMV and spec files
            for s in internal_sensors:
                if s not in sensorList:
                    sensorList.append(s)
                    self.proj.all_sensors.append(s)
                    self.proj.enabled_sensors.append(s)

            # Conjoin all the spec chunks
            LTLspec_env = '\t\t' + ' & \n\t\t'.join(LTLspec_env)
            LTLspec_sys = '\t\t' + ' & \n\t\t'.join(LTLspec_sys)

            if self.proj.compile_options["decompose"]:
                # substitute decomposed region names
                for r in self.proj.rfi.regions:
                    if not (r.isObstacle or r.name.lower() == "boundary"):
                        LTLspec_env = re.sub(
                            '\\bs\.' + r.name + '\\b', "(" + ' | '.join([
                                "s." + x
                                for x in self.parser.proj.regionMapping[r.name]
                            ]) + ")", LTLspec_env)
                        LTLspec_env = re.sub(
                            '\\be\.' + r.name + '\\b', "(" + ' | '.join([
                                "e." + x
                                for x in self.parser.proj.regionMapping[r.name]
                            ]) + ")", LTLspec_env)
                        LTLspec_sys = re.sub(
                            '\\bs\.' + r.name + '\\b', "(" + ' | '.join([
                                "s." + x
                                for x in self.parser.proj.regionMapping[r.name]
                            ]) + ")", LTLspec_sys)
                        LTLspec_sys = re.sub(
                            '\\be\.' + r.name + '\\b', "(" + ' | '.join([
                                "e." + x
                                for x in self.parser.proj.regionMapping[r.name]
                            ]) + ")", LTLspec_sys)

            response = responses

        elif self.proj.compile_options["parser"] == "ltl":
            # delete comments
            text = re.sub(r"#.*$", "", text, flags=re.MULTILINE)

            # split into env and sys parts (by looking for a line of just dashes in between)
            LTLspec_env, LTLspec_sys = re.split(r"^\s*-+\s*$",
                                                text,
                                                maxsplit=1,
                                                flags=re.MULTILINE)

            # split into subformulas
            LTLspec_env = re.split(r"(?:[ \t]*[\n\r][ \t]*)+", LTLspec_env)
            LTLspec_sys = re.split(r"(?:[ \t]*[\n\r][ \t]*)+", LTLspec_sys)

            # remove any empty initial entries (HACK?)
            while '' in LTLspec_env:
                LTLspec_env.remove('')
            while '' in LTLspec_sys:
                LTLspec_sys.remove('')

            # automatically conjoin all the subformulas
            LTLspec_env = '\t\t' + ' & \n\t\t'.join(LTLspec_env)
            LTLspec_sys = '\t\t' + ' & \n\t\t'.join(LTLspec_sys)

            if self.proj.compile_options["decompose"]:
                # substitute decomposed region
                for r in self.proj.rfi.regions:
                    if not (r.isObstacle or r.name.lower() == "boundary"):
                        LTLspec_env = re.sub(
                            '\\b(?:s\.)?' + r.name + '\\b', "(" + ' | '.join([
                                "s." + x
                                for x in self.parser.proj.regionMapping[r.name]
                            ]) + ")", LTLspec_env)
                        LTLspec_sys = re.sub(
                            '\\b(?:s\.)?' + r.name + '\\b', "(" + ' | '.join([
                                "s." + x
                                for x in self.parser.proj.regionMapping[r.name]
                            ]) + ")", LTLspec_sys)
            else:
                for r in self.proj.rfi.regions:
                    if not (r.isObstacle or r.name.lower() == "boundary"):
                        LTLspec_env = re.sub('\\b(?:s\.)?' + r.name + '\\b',
                                             "s." + r.name, LTLspec_env)
                        LTLspec_sys = re.sub('\\b(?:s\.)?' + r.name + '\\b',
                                             "s." + r.name, LTLspec_sys)

            traceback = []  # HACK: needs to be something other than None
        elif self.proj.compile_options["parser"] == "structured":
            import parseEnglishToLTL

            if self.proj.compile_options["decompose"]:
                # substitute the regions name in specs
                for m in re.finditer(r'near (?P<rA>\w+)', text):
                    text = re.sub(
                        r'near (?P<rA>\w+)', "(" + ' or '.join([
                            "s." + r for r in self.parser.proj.regionMapping[
                                'near$' + m.group('rA') + '$' + str(50)]
                        ]) + ")", text)
                for m in re.finditer(
                        r'within (?P<dist>\d+) (from|of) (?P<rA>\w+)', text):
                    text = re.sub(
                        r'within ' + m.group('dist') + ' (from|of) ' +
                        m.group('rA'), "(" + ' or '.join([
                            "s." + r for r in self.parser.proj.regionMapping[
                                'near$' + m.group('rA') + '$' +
                                m.group('dist')]
                        ]) + ")", text)
                for m in re.finditer(r'between (?P<rA>\w+) and (?P<rB>\w+)',
                                     text):
                    text = re.sub(
                        r'between ' + m.group('rA') + ' and ' + m.group('rB'),
                        "(" + ' or '.join([
                            "s." + r for r in self.parser.proj.regionMapping[
                                'between$' + m.group('rA') + '$and$' +
                                m.group('rB') + "$"]
                        ]) + ")", text)

                # substitute decomposed region
                for r in self.proj.rfi.regions:
                    if not (r.isObstacle or r.name.lower() == "boundary"):
                        text = re.sub(
                            '\\b' + r.name + '\\b', "(" + ' | '.join([
                                "s." + x
                                for x in self.parser.proj.regionMapping[r.name]
                            ]) + ")", text)

                regionList = [
                    "s." + x.name for x in self.parser.proj.rfi.regions
                ]
            else:
                for r in self.proj.rfi.regions:
                    if not (r.isObstacle or r.name.lower() == "boundary"):
                        text = re.sub('\\b' + r.name + '\\b', "s." + r.name,
                                      text)

                regionList = ["s." + x.name for x in self.proj.rfi.regions]

            spec, traceback, failed, self.LTL2SpecLineNumber, self.proj.internal_props = parseEnglishToLTL.writeSpec(
                text, sensorList, regionList, robotPropList)

            # Abort compilation if there were any errors
            if failed:
                return None, None, None

            LTLspec_env = spec["EnvInit"] + spec["EnvTrans"] + spec["EnvGoals"]
            LTLspec_sys = spec["SysInit"] + spec["SysTrans"] + spec["SysGoals"]

        else:
            logging.error("Parser type '{0}' not currently supported".format(
                self.proj.compile_options["parser"]))
            return None, None, None

        if self.proj.compile_options["decompose"]:
            regionList = [x.name for x in self.parser.proj.rfi.regions]
        else:
            regionList = [x.name for x in self.proj.rfi.regions]

        if self.proj.compile_options["use_region_bit_encoding"]:
            # Define the number of bits needed to encode the regions
            numBits = int(math.ceil(math.log(len(regionList), 2)))

            # creating the region bit encoding
            bitEncode = bitEncoding(len(regionList), numBits)
            currBitEnc = bitEncode['current']
            nextBitEnc = bitEncode['next']

            # switch to bit encodings for regions
            LTLspec_env = replaceRegionName(LTLspec_env, bitEncode, regionList)
            LTLspec_sys = replaceRegionName(LTLspec_sys, bitEncode, regionList)

            if self.LTL2SpecLineNumber is not None:
                for k in self.LTL2SpecLineNumber.keys():
                    new_k = replaceRegionName(k, bitEncode, regionList)
                    if new_k != k:
                        self.LTL2SpecLineNumber[
                            new_k] = self.LTL2SpecLineNumber[k]
                        del self.LTL2SpecLineNumber[k]

        if self.proj.compile_options["decompose"]:
            adjData = self.parser.proj.rfi.transitions
        else:
            adjData = self.proj.rfi.transitions

        # Store some data needed for later analysis
        self.spec = {}
        if self.proj.compile_options["decompose"]:
            self.spec['Topo'] = createTopologyFragment(
                adjData,
                self.parser.proj.rfi.regions,
                use_bits=self.proj.compile_options["use_region_bit_encoding"])
        else:
            self.spec['Topo'] = createTopologyFragment(
                adjData,
                self.proj.rfi.regions,
                use_bits=self.proj.compile_options["use_region_bit_encoding"])

        # Substitute any macros that the parsers passed us
        LTLspec_env = self.substituteMacros(LTLspec_env)
        LTLspec_sys = self.substituteMacros(LTLspec_sys)

        # If we are not using bit-encoding, we need to
        # explicitly encode a mutex for regions
        if not self.proj.compile_options["use_region_bit_encoding"]:
            # DNF version (extremely slow for core-finding)
            #mutex = "\n\t&\n\t []({})".format(" | ".join(["({})".format(" & ".join(["s."+r2.name if r is r2 else "!s."+r2.name for r2 in self.parser.proj.rfi.regions])) for r in self.parser.proj.rfi.regions]))

            if self.proj.compile_options["decompose"]:
                region_list = self.parser.proj.rfi.regions
            else:
                region_list = self.proj.rfi.regions

            # Almost-CNF version
            exclusions = []
            for i, r1 in enumerate(region_list):
                for r2 in region_list[i + 1:]:
                    exclusions.append("!(s.{} & s.{})".format(
                        r1.name, r2.name))
            mutex = "\n&\n\t []({})".format(" & ".join(exclusions))
            LTLspec_sys += mutex

        self.spec.update(self.splitSpecIntoComponents(LTLspec_env,
                                                      LTLspec_sys))

        # Add in a fragment to make sure that we start in a valid region
        if self.proj.compile_options["decompose"]:
            self.spec['InitRegionSanityCheck'] = createInitialRegionFragment(
                self.parser.proj.rfi.regions,
                use_bits=self.proj.compile_options["use_region_bit_encoding"])
        else:
            self.spec['InitRegionSanityCheck'] = createInitialRegionFragment(
                self.proj.rfi.regions,
                use_bits=self.proj.compile_options["use_region_bit_encoding"])
        LTLspec_sys += "\n&\n" + self.spec['InitRegionSanityCheck']

        LTLspec_sys += "\n&\n" + self.spec['Topo']

        createLTLfile(self.proj.getFilenamePrefix(), LTLspec_env, LTLspec_sys)

        if self.proj.compile_options["parser"] == "slurp":
            self.reversemapping = {
                self.postprocessLTL(line, sensorList, robotPropList).strip():
                line.strip()
                for line in oldspec_env + oldspec_sys
            }
            self.reversemapping[self.spec['Topo'].replace("\n", "").replace(
                "\t", "").lstrip().rstrip("\n\t &")] = "TOPOLOGY"

        #for k,v in self.reversemapping.iteritems():
        #    print "{!r}:{!r}".format(k,v)

        return self.spec, traceback, response
Beispiel #5
0
    def _writeLTLFile(self):

        self.LTL2SpecLineNumber = None

        #regionList = [r.name for r in self.parser.proj.rfi.regions]
        regionList = [r.name for r in self.proj.rfi.regions]
        sensorList = deepcopy(self.proj.enabled_sensors)
        robotPropList = self.proj.enabled_actuators + self.proj.all_customs
        
        text = self.proj.specText

        response = None

        # Create LTL using selected parser
        # TODO: rename decomposition object to something other than 'parser'
        if self.proj.compile_options["parser"] == "slurp":
            # default to no region tags if no simconfig is defined, so we can compile without
            if self.proj.currentConfig is None:
                region_tags = {}
            else:
                region_tags = self.proj.currentConfig.region_tags
 
            # Hack: We need to make sure there's only one of these
            global _SLURP_SPEC_GENERATOR
            
            # Make a new specgenerator and have it process the text
            if not _SLURP_SPEC_GENERATOR:
                # Add SLURP to path for import
                p = os.path.dirname(os.path.abspath(__file__))
                sys.path.append(os.path.join(p, "..", "etc", "SLURP"))
                from ltlbroom.specgeneration import SpecGenerator
                _SLURP_SPEC_GENERATOR = SpecGenerator()
            
            # Filter out regions it shouldn't know about
            filtered_regions = [region.name for region in self.proj.rfi.regions 
                                if not (region.isObstacle or region.name.lower() == "boundary")]
            LTLspec_env, LTLspec_sys, self.proj.internal_props, internal_sensors, results, responses, traceback = \
                _SLURP_SPEC_GENERATOR.generate(text, sensorList, filtered_regions, robotPropList, region_tags)

            oldspec_env = LTLspec_env
            oldspec_sys = LTLspec_sys
 
            for ln, result in enumerate(results):
                if not result:
                    logging.warning("Could not parse the sentence in line {0}".format(ln))

            # Abort compilation if there were any errors
            if not all(results):
                return None, None, responses
        
            # Add in the sensors so they go into the SMV and spec files
            for s in internal_sensors:
                if s not in sensorList:
                    sensorList.append(s)
                    self.proj.all_sensors.append(s)
                    self.proj.enabled_sensors.append(s)                    

            # Conjoin all the spec chunks
            LTLspec_env = '\t\t' + ' & \n\t\t'.join(LTLspec_env)
            LTLspec_sys = '\t\t' + ' & \n\t\t'.join(LTLspec_sys)
            
            if self.proj.compile_options["decompose"]:
                # substitute decomposed region names
                for r in self.proj.rfi.regions:
                    if not (r.isObstacle or r.name.lower() == "boundary"):
                        LTLspec_env = re.sub('\\bs\.' + r.name + '\\b', "("+' | '.join(["s."+x for x in self.parser.proj.regionMapping[r.name]])+")", LTLspec_env)
                        LTLspec_env = re.sub('\\be\.' + r.name + '\\b', "("+' | '.join(["e."+x for x in self.parser.proj.regionMapping[r.name]])+")", LTLspec_env)
                        LTLspec_sys = re.sub('\\bs\.' + r.name + '\\b', "("+' | '.join(["s."+x for x in self.parser.proj.regionMapping[r.name]])+")", LTLspec_sys)
                        LTLspec_sys = re.sub('\\be\.' + r.name + '\\b', "("+' | '.join(["e."+x for x in self.parser.proj.regionMapping[r.name]])+")", LTLspec_sys)

            response = responses

        elif self.proj.compile_options["parser"] == "ltl":
            # delete comments
            text = re.sub(r"#.*$", "", text, flags=re.MULTILINE)

            # split into env and sys parts (by looking for a line of just dashes in between)
            LTLspec_env, LTLspec_sys = re.split(r"^\s*-+\s*$", text, maxsplit=1, flags=re.MULTILINE)

            # split into subformulas
            LTLspec_env = re.split(r"(?:[ \t]*[\n\r][ \t]*)+", LTLspec_env)
            LTLspec_sys = re.split(r"(?:[ \t]*[\n\r][ \t]*)+", LTLspec_sys)

            # remove any empty initial entries (HACK?)
            while '' in LTLspec_env:
                LTLspec_env.remove('')
            while '' in LTLspec_sys:
                LTLspec_sys.remove('')

            # automatically conjoin all the subformulas
            LTLspec_env = '\t\t' + ' & \n\t\t'.join(LTLspec_env)
            LTLspec_sys = '\t\t' + ' & \n\t\t'.join(LTLspec_sys)

            if self.proj.compile_options["decompose"]:
                # substitute decomposed region 
                for r in self.proj.rfi.regions:
                    if not (r.isObstacle or r.name.lower() == "boundary"):
                        LTLspec_env = re.sub('\\b(?:s\.)?' + r.name + '\\b', "("+' | '.join(["s."+x for x in self.parser.proj.regionMapping[r.name]])+")", LTLspec_env)
                        LTLspec_sys = re.sub('\\b(?:s\.)?' + r.name + '\\b', "("+' | '.join(["s."+x for x in self.parser.proj.regionMapping[r.name]])+")", LTLspec_sys)
            else:
                for r in self.proj.rfi.regions:
                    if not (r.isObstacle or r.name.lower() == "boundary"):
                        LTLspec_env = re.sub('\\b(?:s\.)?' + r.name + '\\b', "s."+r.name, LTLspec_env)
                        LTLspec_sys = re.sub('\\b(?:s\.)?' + r.name + '\\b', "s."+r.name, LTLspec_sys)

            traceback = [] # HACK: needs to be something other than None
        elif self.proj.compile_options["parser"] == "structured":
            import parseEnglishToLTL

            if self.proj.compile_options["decompose"]:
                # substitute the regions name in specs
                for m in re.finditer(r'near (?P<rA>\w+)', text):
                    text=re.sub(r'near (?P<rA>\w+)', "("+' or '.join(["s."+r for r in self.parser.proj.regionMapping['near$'+m.group('rA')+'$'+str(50)]])+")", text)
                for m in re.finditer(r'within (?P<dist>\d+) (from|of) (?P<rA>\w+)', text):
                    text=re.sub(r'within ' + m.group('dist')+' (from|of) '+ m.group('rA'), "("+' or '.join(["s."+r for r in self.parser.proj.regionMapping['near$'+m.group('rA')+'$'+m.group('dist')]])+")", text)
                for m in re.finditer(r'between (?P<rA>\w+) and (?P<rB>\w+)', text):
                    text=re.sub(r'between ' + m.group('rA')+' and '+ m.group('rB'),"("+' or '.join(["s."+r for r in self.parser.proj.regionMapping['between$'+m.group('rA')+'$and$'+m.group('rB')+"$"]])+")", text)

                # substitute decomposed region 
                for r in self.proj.rfi.regions:
                    if not (r.isObstacle or r.name.lower() == "boundary"):
                        text = re.sub('\\b' + r.name + '\\b', "("+' | '.join(["s."+x for x in self.parser.proj.regionMapping[r.name]])+")", text)

                regionList = ["s."+x.name for x in self.parser.proj.rfi.regions]
            else:
                for r in self.proj.rfi.regions:
                    if not (r.isObstacle or r.name.lower() == "boundary"):
                        text = re.sub('\\b' + r.name + '\\b', "s."+r.name, text)

                regionList = ["s."+x.name for x in self.proj.rfi.regions]

            spec, traceback, failed, self.LTL2SpecLineNumber, self.proj.internal_props = parseEnglishToLTL.writeSpec(text, sensorList, regionList, robotPropList)

            # Abort compilation if there were any errors
            if failed:
                return None, None, None

            LTLspec_env = spec["EnvInit"] + spec["EnvTrans"] + spec["EnvGoals"]
            LTLspec_sys = spec["SysInit"] + spec["SysTrans"] + spec["SysGoals"]

        else:
            logging.error("Parser type '{0}' not currently supported".format(self.proj.compile_options["parser"]))
            return None, None, None

        if self.proj.compile_options["decompose"]:
            regionList = [x.name for x in self.parser.proj.rfi.regions]
        else:
            regionList = [x.name for x in self.proj.rfi.regions]

        if self.proj.compile_options["use_region_bit_encoding"]:
            # Define the number of bits needed to encode the regions
            numBits = int(math.ceil(math.log(len(regionList),2)))

            # creating the region bit encoding
            bitEncode = bitEncoding(len(regionList),numBits)
            currBitEnc = bitEncode['current']
            nextBitEnc = bitEncode['next']

            # switch to bit encodings for regions
            LTLspec_env = replaceRegionName(LTLspec_env, bitEncode, regionList)
            LTLspec_sys = replaceRegionName(LTLspec_sys, bitEncode, regionList)
        
            if self.LTL2SpecLineNumber is not None:
                for k in self.LTL2SpecLineNumber.keys():
                    new_k = replaceRegionName(k, bitEncode, regionList)
                    if new_k != k:
                        self.LTL2SpecLineNumber[new_k] = self.LTL2SpecLineNumber[k]
                        del self.LTL2SpecLineNumber[k]

        if self.proj.compile_options["decompose"]:
            adjData = self.parser.proj.rfi.transitions
        else:
            adjData = self.proj.rfi.transitions

        # Store some data needed for later analysis
        self.spec = {}
        if self.proj.compile_options["decompose"]:
            self.spec['Topo'] = createTopologyFragment(adjData, self.parser.proj.rfi.regions, use_bits=self.proj.compile_options["use_region_bit_encoding"])
        else: 
            self.spec['Topo'] = createTopologyFragment(adjData, self.proj.rfi.regions, use_bits=self.proj.compile_options["use_region_bit_encoding"])

        # Substitute any macros that the parsers passed us
        LTLspec_env = self.substituteMacros(LTLspec_env)
        LTLspec_sys = self.substituteMacros(LTLspec_sys)

        # If we are not using bit-encoding, we need to
        # explicitly encode a mutex for regions
        if not self.proj.compile_options["use_region_bit_encoding"]:
            # DNF version (extremely slow for core-finding)
            #mutex = "\n\t&\n\t []({})".format(" | ".join(["({})".format(" & ".join(["s."+r2.name if r is r2 else "!s."+r2.name for r2 in self.parser.proj.rfi.regions])) for r in self.parser.proj.rfi.regions]))

            if self.proj.compile_options["decompose"]:
                region_list = self.parser.proj.rfi.regions
            else:
                region_list = self.proj.rfi.regions

            # Almost-CNF version
            exclusions = []
            for i, r1 in enumerate(region_list):
                for r2 in region_list[i+1:]:
                    exclusions.append("!(s.{} & s.{})".format(r1.name, r2.name))
            mutex = "\n&\n\t []({})".format(" & ".join(exclusions))
            LTLspec_sys += mutex

        self.spec.update(self.splitSpecIntoComponents(LTLspec_env, LTLspec_sys))

        # Add in a fragment to make sure that we start in a valid region
        if self.proj.compile_options["decompose"]:
            self.spec['InitRegionSanityCheck'] = createInitialRegionFragment(self.parser.proj.rfi.regions, use_bits=self.proj.compile_options["use_region_bit_encoding"])
        else:
            self.spec['InitRegionSanityCheck'] = createInitialRegionFragment(self.proj.rfi.regions, use_bits=self.proj.compile_options["use_region_bit_encoding"])
        LTLspec_sys += "\n&\n" + self.spec['InitRegionSanityCheck']

        LTLspec_sys += "\n&\n" + self.spec['Topo']

        createLTLfile(self.proj.getFilenamePrefix(), LTLspec_env, LTLspec_sys)
        
        if self.proj.compile_options["parser"] == "slurp":
            self.reversemapping = {self.postprocessLTL(line,sensorList,robotPropList).strip():line.strip() for line in oldspec_env + oldspec_sys}
            self.reversemapping[self.spec['Topo'].replace("\n","").replace("\t","").lstrip().rstrip("\n\t &")] = "TOPOLOGY"

        #for k,v in self.reversemapping.iteritems():
        #    print "{!r}:{!r}".format(k,v)        

        return self.spec, traceback, response