def extract_mutex_rules(typeset: Typeset, output=None) -> Union[Atom, Tuple[List[str], Typeset]]:
"""Extract Mutex rules from the Formula"""
rules_str = []
rules_typeset = Typeset()
for mutex_group in typeset.mutex_types:
or_elements = []
if len(mutex_group) > 1:
for mutex_type in mutex_group:
neg_group = mutex_group.symmetric_difference({mutex_type})
and_elements = [mutex_type.name]
for elem in neg_group:
and_elements.append(Logic.not_(elem.name))
or_elements.append(Logic.and_(and_elements, brackets=True))
rules_str.append(Logic.g_(Logic.or_(or_elements, brackets=False)))
rules_typeset |= Typeset(mutex_group)
if len(rules_str) == 0:
return None
if output is not None and output == FormulaOutput.ListCNF:
return rules_str, rules_typeset
return Atom(formula=(Logic.and_(rules_str, brackets=True), rules_typeset), kind=AtomKind.MUTEX_RULE)
def context_active_rules(typeset: Typeset, output=None) -> Union[Atom, Tuple[List[str], Typeset]]:
"""Extract Liveness rules from the Formula"""
rules_str = []
rules_typeset = Typeset()
inputs, outs = typeset.extract_inputs_outputs()
active_context_types = []
for t in inputs:
if isinstance(t, Boolean):
if t.kind == TypeKinds.ACTIVE or t.kind == TypeKinds.CONTEXT:
active_context_types.append(t.name)
rules_typeset |= Typeset({t})
if len(active_context_types) > 0:
rules_str.append(Logic.g_(Logic.and_(active_context_types)))
if len(rules_str) == 0:
return None
if output is not None and output == FormulaOutput.ListCNF:
return rules_str, rules_typeset
return Atom(formula=(Logic.and_(rules_str, brackets=True), rules_typeset), kind=AtomKind.LIVENESS_RULE)
def and_(formulae: List[Tuple[str, Typeset]],
brackets: bool = False) -> Tuple[str, Typeset]:
"""Returns an Tuple[str, Typeset] formula representing the logical AND of list_propoositions"""
if len(formulae) > 1:
propositions = [formula[0] for formula in formulae]
typesets = [formula[1] for formula in formulae]
if "FALSE" in propositions:
return "FALSE", Typeset()
"""Remove all TRUE elements"""
propositions = list(filter("TRUE".__ne__, propositions))
if len(propositions) == 0:
return "TRUE", Typeset()
conj = ' & '.join(propositions)
typeset = Typeset()
for t in typesets:
typeset |= t
if brackets:
return f"({conj})", typeset
else:
return conj, typeset
elif len(formulae) == 1:
return formulae[0]
else:
raise Exception("List of propositions is empty")
def __init__(self,
actions: Set[Types] = None,
locations: Set[Types] = None,
sensors: Set[Types] = None,
contexts: Set[Types] = None):
super().__init__()
self.__typeset = Typeset(actions | locations | sensors | contexts
| {Active()})
for name, elem in self.__typeset.items():
super(World, self).__setitem__(name, elem.to_atom())
super(World, self).__setitem__(f"!{name}", ~elem.to_atom())
self.__rules: Set[Rule] = set()
def process_bin_input(
pre: Union[Specification, Boolean],
post: Union[Specification, Boolean]) -> Tuple[Typeset, str, str]:
new_typeset = Typeset()
if isinstance(pre, Boolean):
new_typeset |= pre
pre = pre.name
elif isinstance(pre, Specification):
new_typeset |= pre.typeset
pre = pre.string
else:
raise AttributeError
if isinstance(post, Boolean):
new_typeset |= post
post = post.name
elif isinstance(post, Specification):
new_typeset |= post.typeset
post = post.string
else:
raise AttributeError
return new_typeset, pre, post
def __init__(self, ltl: LTL):
variables = Typeset()
variables |= ltl.variables
pattern_formula = "G( F(" + ltl.formula() + "))"
super().__init__(pattern_formula, variables)
def or_(formulae: List[Tuple[str, Typeset]],
brakets: bool = True) -> Tuple[str, Typeset]:
"""Returns an formula formula representing the logical OR of list_propoositions"""
if len(formulae) > 1:
propositions = [formula[0] for formula in formulae]
typesets = [formula[1] for formula in formulae]
typeset = Typeset()
for t in typesets:
typeset |= t
if "TRUE" in propositions:
return "TRUE", typeset
"""Remove all FALSE elements"""
propositions = list(filter("FALSE".__ne__, propositions))
res = " | ".join(propositions)
if brakets:
return f"({res})", typeset
else:
return res, typeset
elif len(formulae) == 1:
return formulae[0]
else:
raise Exception("List of propositions is empty")
def __convert_to_nuxmv(typeset: Typeset) -> List[str]:
tuple_vars = []
for k, v in typeset.items():
if isinstance(v, Boolean):
tuple_vars.append(f"{k}: boolean")
elif isinstance(v, BoundedInteger):
tuple_vars.append(f"{k}: {k.min}..{k.max}")
return tuple_vars
def all_entry_locations(self, typeset: Typeset) -> Set[ReachLocation]:
"""List of all locations from where it is possible to reach any of the locations of the controller"""
reachable_locations = set()
for location in self.locations:
"""Extracting the locations from where 'first_location_to_visit' is reachable"""
for class_name in location.adjacency_set:
for t in typeset.values():
if type(t).__name__ == class_name:
reachable_locations.add(t)
return reachable_locations
def extract_refinement_rules(typeset: Typeset, output=None) -> Union[Atom, Tuple[List[str], Typeset]]:
"""Extract Refinement rules from the Formula"""
rules_str = []
rules_typeset = Typeset()
for key_type, set_super_types in typeset.super_types.items():
if isinstance(key_type, Boolean):
for super_type in set_super_types:
rules_str.append(Logic.g_(Logic.implies_(key_type.name, super_type.name)))
rules_typeset |= Typeset({key_type})
rules_typeset |= Typeset(set_super_types)
if len(rules_str) == 0:
return None
if output is not None and output == FormulaOutput.ListCNF:
return rules_str, rules_typeset
return Atom(formula=(Logic.and_(rules_str, brackets=True), rules_typeset), kind=AtomKind.MUTEX_RULE)
def extract_adjacency_rules(typeset: Typeset, output=None) -> Union[Atom, Tuple[List[str], Typeset]]:
"""Extract Adjacency rules from the Formula"""
rules_str = []
rules_typeset = Typeset()
for key_type, set_adjacent_types in typeset.adjacent_types.items():
if isinstance(key_type, Boolean):
"""G(a -> X(b | c | d))"""
rules_str.append(
Logic.g_(Logic.implies_(key_type.name, Logic.x_(Logic.or_([e.name for e in set_adjacent_types])))))
rules_typeset |= Typeset({key_type})
rules_typeset |= Typeset(set_adjacent_types)
if len(rules_str) == 0:
return None
if output is not None and output == FormulaOutput.ListCNF:
return rules_str, rules_typeset
return Atom(formula=(Logic.and_(rules_str, brackets=True), rules_typeset), kind=AtomKind.ADJACENCY_RULE)
def __init__(self, supertypes: Dict[AllTypes, Set[AllTypes]]):
super().__init__(atom=Atom("TRUE"), kind=FormulaKind.REFINEMENT_RULES)
for key_type, set_super_types in supertypes.items():
if isinstance(key_type, Boolean):
for super_type in set_super_types:
f = Logic.g_(Logic.implies_(key_type.name,
super_type.name))
t = Typeset({key_type, super_type})
new_atom = Atom(formula=(f, t),
kind=AtomKind.REFINEMENT_RULE)
self.__iand__(new_atom)
def __init__(self,
formula: Union[str, Tuple[str, Typeset]] = None,
kind: AtomKind = None,
check: bool = True,
dontcare: bool = False):
"""Atomic Specification (can be an AP, but also an LTL_forced formula that cannot be broken down, e.g. a Pattern)"""
if kind is None:
self.__kind = AtomKind.UNDEFINED
self.__kind = kind
if self.__kind == AtomKind.REFINEMENT_RULE or \
self.__kind == AtomKind.ADJACENCY_RULE or \
self.__kind == AtomKind.MUTEX_RULE:
self.__spec_kind = SpecKind.RULE
else:
self.__spec_kind = SpecKind.UNDEFINED
"""Indicates if the formula is negated"""
self.__negation: bool = False
"""Indicates if the formula is a dontcare (weather is true or false)"""
self.__dontcare: bool = dontcare
"""Used for linking guarantees to assumptions"""
self.__saturation = None
if formula is None:
raise AttributeError
if isinstance(formula, str):
if formula == "TRUE":
self.__base_formula: Tuple[str, Typeset] = "TRUE", Typeset()
elif formula == "FALSE":
self.__base_formula: Tuple[str, Typeset] = "FALSE", Typeset()
else:
self.__base_formula: Tuple[str, Typeset] = formula
if check and kind != AtomKind.ADJACENCY_RULE and kind != AtomKind.MUTEX_RULE and kind != AtomKind.REFINEMENT_RULE:
if not self.is_satisfiable():
raise AtomNotSatisfiableException(formula=self.__base_formula)
def process_unary_input(element: Union[Specification, Boolean]) -> Tuple[str, Typeset]:
typeset = Typeset()
if isinstance(element, Boolean):
input_str = element.name
typeset |= element
elif isinstance(element, Specification):
input_str = element.string
typeset |= element.typeset
else:
raise AttributeError
return input_str, typeset
def process_uni_input(l: Union[Atom, Boolean]) -> Tuple[Typeset, str]:
new_typeset = Typeset()
if isinstance(l, Boolean):
new_typeset |= l
l = l.name
elif isinstance(l, Atom):
new_typeset |= l.typeset
l = l.string
else:
raise AttributeError
return new_typeset, l
def process_bin_contextual_input(
pre: Union[Atom, Boolean], post: Union[Atom, Boolean],
context: Union[Atom, Boolean],
active: Union[Atom,
Boolean]) -> Tuple[Typeset, str, str, str, str]:
new_typeset = Typeset()
if isinstance(pre, Boolean):
new_typeset |= pre
pre = pre.name
elif isinstance(pre, Atom):
new_typeset |= pre.typeset
pre = pre.string
else:
raise AttributeError
if isinstance(post, Boolean):
new_typeset |= post
post = post.name
elif isinstance(post, Atom):
new_typeset |= post.typeset
post = post.string
else:
raise AttributeError
if context is not None:
if isinstance(context, Boolean):
new_typeset |= context
context = context.name
elif isinstance(context, Atom):
new_typeset |= context.typeset
context = context.string
else:
raise AttributeError
else:
context = "TRUE"
if isinstance(active, Boolean):
new_typeset |= active
active = active.name
elif isinstance(active, Atom):
new_typeset |= active.typeset
active = active.string
else:
raise AttributeError
return new_typeset, pre, post, context, active
def process_input(ls: Union[Atom, Boolean, List[Atom], List[Boolean]]) -> Tuple[Typeset, List[str]]:
new_typeset = Typeset()
formulae_str = []
if not isinstance(ls, list):
ls = [ls]
for i, elem in enumerate(ls):
if isinstance(elem, Boolean):
new_typeset |= elem
formulae_str.append(elem.name)
elif isinstance(elem, Atom):
new_typeset |= elem.typeset
formulae_str.append(elem.string)
else:
raise AttributeError
return new_typeset, formulae_str
def create_transition_controller(self, start: Types, finish: Types, t_trans: int) -> Controller:
t_controller_name = f"TRANS_{start.name}->{finish.name}"
if self.session_name is None:
folder_name = f"{self.t_controllers_folder_name}/{t_controller_name}"
else:
folder_name = f"{self.session_name}/{self.t_controllers_folder_name}/{t_controller_name}"
typeset = Typeset({start, finish})
realizable = False
for n_steps in range(1, t_trans):
trans_spec_str = Logic.and_([start.name, Logic.xn_(finish.name, n_steps)])
trans_spec = Atom(formula=(trans_spec_str, typeset))
trans_contract = Contract(guarantees=trans_spec)
try:
controller_info = trans_contract.get_controller_info(world_ts=self.world.typeset)
a, g, i, o = controller_info.get_strix_inputs()
controller_synthesis_input = StringMng.get_controller_synthesis_str(controller_info)
Store.save_to_file(controller_synthesis_input,
f"t_controller_{start.name}_{finish.name}_specs.txt", folder_name)
realized, kiss_mealy, time = Strix.generate_controller(a, g, i, o)
if realized:
realizable = True
break
except ControllerException as e:
raise TransSynthesisFail(self, e)
if not realizable:
raise Exception(
f"Controller [{start.name}, {finish.name}] cannot be synthetized in {t_trans} steps")
else:
Store.save_to_file(kiss_mealy, f"{start.name}_{finish.name}_mealy",
folder_name)
# Store.generate_eps_from_dot(dot_mealy, f"{start.name}_{finish.name}_dot",
# folder_name)
t_controller = Controller(mealy_machine=kiss_mealy, world=self.world, name=t_controller_name,
synth_time=time)
Store.save_to_file(str(t_controller), f"{start.name}_{finish.name}_table", folder_name)
return t_controller
class World(dict):
""""Instanciate atomic propositions (and their negation) for each Type"""
def __init__(self,
actions: Set[Types] = None,
locations: Set[Types] = None,
sensors: Set[Types] = None,
contexts: Set[Types] = None):
super().__init__()
self.__typeset = Typeset(actions | locations | sensors | contexts
| {Active()})
for name, elem in self.__typeset.items():
super(World, self).__setitem__(name, elem.to_atom())
super(World, self).__setitem__(f"!{name}", ~elem.to_atom())
self.__rules: Set[Rule] = set()
@property
def rules(self) -> Set[Rule]:
return self.__rules
@property
def typeset(self) -> Typeset:
return self.__typeset
def add_rules(self, rules: Set[Rule]):
self.__rules |= rules
def adjacent_types(self, location: ReachLocation) -> Set[ReachLocation]:
adjacent_types = set()
for class_name in location.adjacency_set:
for t in self.typeset.values():
if type(t).__name__ == class_name:
adjacent_types.add(t)
return adjacent_types
def process_binary_input(pre: Union[Specification, Boolean], post: Union[Atom, Boolean]) -> Tuple[str, str, Typeset]:
typeset = Typeset()
if isinstance(pre, Boolean):
pre_str = pre.name
typeset |= pre
elif isinstance(pre, Specification):
pre_str = pre.string
typeset |= pre.typeset
else:
raise AttributeError
if isinstance(post, Boolean):
post_str = post.name
typeset |= post
elif isinstance(post, Specification):
post_str = post.string
typeset |= post.typeset
else:
raise AttributeError
return pre_str, post_str, typeset
def __init__(self, name: str = "c"):
super().__init__(name)
class GoD(ReachLocation):
def __init__(self, name: str = "d"):
super().__init__(name)
a = GoA()
b = GoB()
c = GoC()
d = GoD()
a = Atom((a.name, Typeset({a})))
b = Atom((b.name, Typeset({b})))
c = Atom((c.name, Typeset({c})))
d = Atom((d.name, Typeset({d})))
test = a >> ~ a
print(test.formula(FormulaOutput.CNF)[0])
print(test.formula(FormulaOutput.DNF)[0])
one = a & b
print("\none")
print(one.formula(FormulaOutput.CNF)[0])
print(one.formula(FormulaOutput.DNF)[0])
def get_controller_info(self, world_ts: Typeset = None) -> SynthesisInfo:
"""Extract All Info Needed to Build a Controller from the Contract"""
"""Assumptions"""
assumptions = []
a_mutex = []
a_liveness = []
"""Guarantees"""
guarantees = []
g_mutex = []
g_adjacency = []
a_typeset = Typeset()
g_typeset = Typeset()
list, typeset = self.assumptions.formula(FormulaOutput.ListCNF)
assumptions.extend(list)
a_typeset |= typeset
list, typeset = self.guarantees.formula(FormulaOutput.ListCNF)
guarantees.extend(list)
g_typeset |= typeset
if world_ts is not None:
instance_ts = Typeset.get_instance_ts((a_typeset | g_typeset), world_ts)
else:
instance_ts = (a_typeset | g_typeset)
"""Extracting Inputs and Outputs Including the variables"""
i_set, o_set = instance_ts.extract_inputs_outputs()
i_typeset = Typeset(i_set)
o_typeset = Typeset(o_set)
"""Mutex Rules"""
ret = Atom.extract_mutex_rules(i_typeset, output=FormulaOutput.ListCNF)
if ret is not None:
rules, typeset = ret
a_mutex.extend(rules)
ret = Atom.extract_mutex_rules(o_typeset, output=FormulaOutput.ListCNF)
if ret is not None:
rules, typeset = ret
g_mutex.extend(rules)
"""Adjacecy Rules"""
ret = Atom.extract_adjacency_rules(o_typeset, output=FormulaOutput.ListCNF)
if ret is not None:
rules, typeset = ret
g_adjacency.extend(rules)
"""Adding Liveness To Sensors (input)"""
ret = Atom.extract_liveness_rules(i_typeset, output=FormulaOutput.ListCNF)
if ret is not None:
rules, typeset = ret
a_liveness.extend(rules)
"""Adding context and active signal rules"""
ret = Atom.context_active_rules(i_typeset, output=FormulaOutput.ListCNF)
if ret is not None:
rules, typeset = ret
assumptions.extend(rules)
"""Extract Inputs and Outputs"""
inputs = [t.name for t in i_set]
outputs = [t.name for t in o_set]
return SynthesisInfo(assumptions=assumptions,
a_liveness=a_liveness,
a_mutex=a_mutex,
guarantees=guarantees,
g_mutex=g_mutex,
g_adjacency=g_adjacency,
inputs=inputs,
outputs=outputs)
def get_controller_info(self, world_ts: Typeset = None) -> SynthesisInfo:
"""Extract All Info Needed to Build a Controller from the Contract"""
if world_ts is None:
world_ts = Typeset()
"""Assumptions"""
a_initial: List[str] = []
a_fairness: List[str] = []
a_safety: List[str] = []
a_mutex: List[str] = []
"""Guarantees"""
g_initial: List[str] = []
g_safety: List[str] = []
g_mutex: List[str] = []
g_goal: List[str] = []
a_typeset = Typeset()
g_typeset = Typeset()
list, typeset = self.assumptions.formula(FormulaOutput.ListCNF)
a_initial.extend(list)
a_typeset |= typeset
list, typeset = self.guarantees.formula(FormulaOutput.ListCNF)
g_goal.extend(list)
g_typeset |= typeset
all_typeset = a_typeset | g_typeset | world_ts
"""Inputs typeset"""
i_typeset = Typeset(all_typeset.extract_inputs())
"""Output typeset"""
o_typeset = Typeset(all_typeset.extract_outputs())
actions_typeset = Typeset(all_typeset.ext())
"""Mutex"""
ret = Atom.extract_mutex_rules(i_typeset, output=FormulaOutput.ListCNF)
if ret is not None:
rules, typeset = ret
a_mutex.extend(rules)
ret = Atom.extract_mutex_rules(o_typeset, output=FormulaOutput.ListCNF)
if ret is not None:
rules, typeset = ret
g_mutex.extend(rules)
"""For the rules we extracts rules from the variables based on assumptions and inputs"""
a_typeset = a_typeset | i_typeset
"""We remove the inputs typeset from the guarantees and we incorporate the variables ts"""
g_typeset = g_typeset - i_typeset
"""Adding Mutex Rules"""
ret = Atom.extract_mutex_rules(a_typeset, output=FormulaOutput.ListCNF)
if ret is not None:
rules, typeset = ret
a_mutex.extend(rules)
a_typeset |= typeset
ret = Atom.extract_mutex_rules(g_typeset, output=FormulaOutput.ListCNF)
if ret is not None:
rules, typeset = ret
g_mutex.extend(rules)
g_typeset |= typeset
"""Adjacecy rules can include things that are in the world_ts"""
if world_ts is not None:
adjacency_ts = g_typeset | world_ts
else:
adjacency_ts = g_typeset
ret = Atom.extract_adjacency_rules(adjacency_ts,
output=FormulaOutput.ListCNF)
if ret is not None:
rules, typeset = ret
g_adjacency.extend(rules)
g_typeset |= typeset
"""Adding Liveness To Sensors (input)"""
ret = Atom.extract_liveness_rules(i_typeset,
output=FormulaOutput.ListCNF)
if ret is not None:
rules, typeset = ret
a_liveness.extend(rules)
"""Extract Inputs and Outputs"""
inputs = [t.name for t in (a_typeset | g_typeset).extract_inputs()]
outputs = [t.name for t in (a_typeset | g_typeset).extract_outputs()]
return SynthesisInfo(a_initial=assumptions,
a_fairness=a_liveness,
a_mutex=a_mutex,
guarantees=guarantees,
g_mutex=g_mutex,
g_safety=g_adjacency,
inputs=inputs,
outputs=outputs)
def to_atom(self):
from specification.atom import Atom
from typeset import Typeset
return Atom(formula=(self.name, Typeset({self})), check=False)
def to_atom(self):
from specification.atom import Atom, AtomKind
from typeset import Typeset
return Atom(formula=(self.name, Typeset({self})),
check=False,
kind=AtomKind.LOCATION)
night = Night().to_atom() a1 = A1().to_atom() a2 = A2().to_atom() b1 = B1().to_atom() b2 = B2().to_atom() z = Z().to_atom() """Ordered Patrolling Location a1, a2 starting from a1""" patrol_a = a1 & OrderedPatrolling([a1, a2]) """Ordered Patrolling Location b1, b2""" patrol_b = b1 & OrderedPatrolling([b1, b2]) """Inputs and Outputs""" i_set, o_set = (patrol_a.typeset | patrol_b.typeset | z.typeset).extract_inputs_outputs() i_typeset = Typeset(i_set) o_typeset = Typeset(o_set) """Mutex""" mutex_context = Atom.extract_mutex_rules(i_typeset) mutex_locs = Atom.extract_mutex_rules(o_typeset) """Liveness""" live_day = Atom.extract_liveness_rules(day.typeset) live_night = Atom.extract_liveness_rules(night.typeset) """Topology""" topology = Atom.extract_adjacency_rules(o_typeset) c1 = Contract(assumptions=live_day, guarantees=patrol_a & mutex_locs & topology) c2 = Contract(assumptions=live_night, guarantees=patrol_b & mutex_locs & topology)
