def _buildGuard(self, guardStr):
"""
Build solver for current guard based on guard string
Args:
guardStr (str): the guard string.
For example:"And(v>=40-0.1*u, v-40+0.1*u<=0)"
Returns:
A Z3 Solver obj that check for guard.
A symbol index dic obj that indicates the index
of variables that involved in the guard.
"""
curSolver = Solver()
# This magic line here is because sympy will evaluate == to be False
# Therefore we are not be able to get free symbols from it
# Thus we need to replace "==" to something else
sympyGuardStr = guardStr.replace("==", ">=")
symbols = list(
sympy.sympify(sympyGuardStr, evaluate=False).free_symbols)
symbols = [str(s) for s in symbols]
symbolsIdx = {
s: self.variables.index(s) + 1
for s in symbols if s in self.variables
}
if 't' in symbols:
symbolsIdx['t'] = 0
guardStr = handleReplace(guardStr, self.varDic.keys())
curSolver.add(eval(guardStr))
return curSolver, symbolsIdx
def _buildGuard(self, guardStr):
"""
Build solver for current guard based on guard string
Args:
guardStr (str): the guard string.
For example:"And(v>=40-0.1*u, v-40+0.1*u<=0)"
Returns:
A Z3 Solver obj that check for guard.
A symbol index dic obj that indicates the index
of variables that involved in the guard.
"""
curSolver = Solver()
# This magic line here is because sympy will evaluate == to be False
# Therefore we are not be able to get free symbols from it
# Thus we need to replace "==" to something else
sympyGuardStr = guardStr.replace("==",">=")
symbols = list(sympy.sympify(sympyGuardStr, evaluate=False).free_symbols)
symbols = [str(s) for s in symbols]
symbolsIdx = {s:self.variables.index(s)+1 for s in symbols if s in self.variables}
if 't' in symbols:
symbolsIdx['t'] = 0
guardStr = handleReplace(guardStr,self.varDic.keys())
curSolver.add(eval(guardStr))
return curSolver, symbolsIdx
def __init__(self, unsafe, variables):
self.varDic = {'t':Real('t')}
self.variables = variables
self.solverDic = {}
for var in variables:
self.varDic[var] = Real(var)
unsafe = handleReplace(unsafe, self.varDic.keys())
unsafeList = unsafe[1:].split('@')
for unsafe in unsafeList:
mode, cond = unsafe.split(':')
self.solverDic[mode] = [Solver(), Solver()]
self.solverDic[mode][0].add(eval(cond))
self.solverDic[mode][1].add(eval(self._neg(cond)))
def __init__(self, unsafe, variables):
"""
Reset class initialization function.
Args:
unsafe (str): unsafe constraint
variables (list): list of varibale name
"""
self.varDic = {'t': Real('t')}
self.variables = variables
self.solverDic = {}
for var in variables:
self.varDic[var] = Real(var)
if not unsafe:
return
original = unsafe
unsafe = handleReplace(unsafe, self.varDic.keys())
unsafeList = unsafe[1:].split('@')
for unsafe in unsafeList:
mode, cond = unsafe.split(':')
self.solverDic[mode] = [Solver(), Solver()]
self.solverDic[mode][0].add(eval(cond))
self.solverDic[mode][1].add(eval(neg(cond)))
unsafeList = original[1:].split('@')
for unsafe in unsafeList:
mode, cond = unsafe.split(':')
# This magic line here is because sympy will evaluate == to be False
# Therefore we are not be able to get free symbols from it
# Thus we need to replace "==" to something else, which is >=
cond = cond.replace("==", ">=")
symbols = list(sympy.sympify(cond).free_symbols)
symbols = [str(s) for s in symbols]
symbolsIdx = {
s: self.variables.index(s) + 1
for s in symbols if s in self.variables
}
if 't' in symbols:
symbolsIdx['t'] = 0
self.solverDic[mode].append(symbolsIdx)
def __init__(self, goal, variables):
"""
Goal checker class initialization function.
Args:
goal (str): a str describle the goal set.
For example: "And(x_1>=19.5, x_1<=20.5, x_2>=-1.0, x_2<=1.0)"
variables (list): list of varibale name
"""
self.varDic = {'t':Real('t')}
self.variables = variables
for var in variables:
self.varDic[var] = Real(var)
goal = handleReplace(goal, self.varDic.keys())
self.intersectChecker = Solver()
self.containChecker = Solver()
self.intersectChecker.add(eval(goal))
self.containChecker.add(eval(neg(goal)))
def __init__(self, goal, variables):
"""
Goal checker class initialization function.
Args:
goal (str): a str describle the goal set.
For example: "And(x_1>=19.5, x_1<=20.5, x_2>=-1.0, x_2<=1.0)"
variables (list): list of varibale name
"""
self.varDic = {'t': Real('t')}
self.variables = variables
for var in variables:
self.varDic[var] = Real(var)
goal = handleReplace(goal, self.varDic.keys())
self.intersectChecker = Solver()
self.containChecker = Solver()
self.intersectChecker.add(eval(goal))
self.containChecker.add(eval(neg(goal)))
def __init__(self, unsafe, variables):
"""
Reset class initialization function.
Args:
unsafe (str): unsafe constraint
variables (list): list of varibale name
"""
self.varDic = {'t':Real('t')}
self.variables = variables
self.solverDic = {}
for var in variables:
self.varDic[var] = Real(var)
if not unsafe:
return
original = unsafe
unsafe = handleReplace(unsafe, self.varDic.keys())
unsafeList = unsafe[1:].split('@')
for unsafe in unsafeList:
mode, cond = unsafe.split(':')
self.solverDic[mode] = [Solver(), Solver()]
self.solverDic[mode][0].add(eval(cond))
self.solverDic[mode][1].add(eval(neg(cond)))
unsafeList = original[1:].split('@')
for unsafe in unsafeList:
mode, cond = unsafe.split(':')
# This magic line here is because sympy will evaluate == to be False
# Therefore we are not be able to get free symbols from it
# Thus we need to replace "==" to something else, which is >=
cond = cond.replace("==",">=")
symbols = list(sympy.sympify(cond).free_symbols)
symbols = [str(s) for s in symbols]
symbolsIdx = {s:self.variables.index(s)+1 for s in symbols if s in self.variables}
if 't' in symbols:
symbolsIdx['t'] = 0
self.solverDic[mode].append(symbolsIdx)
def _buildGuard(self, guardStr):
# Build solver for current guard based on guard string
curSolver = Solver()
guardStr = handleReplace(guardStr, self.varDic.keys())
curSolver.add(eval(guardStr))
return curSolver