def visitExprAlways(self, ctx):
child = self.visit(ctx.expression())
if ctx.interval() == None:
node = Always(child)
horizon = child.horizon
else:
interval = self.visit(ctx.interval())
node = TimedAlways(child, interval.begin, interval.end)
horizon = child.horizon + interval.end
node.horizon = horizon
return node
def visitExprUnless(self, ctx):
child1 = self.visit(ctx.expression(0))
child2 = self.visit(ctx.expression(1))
interval = self.visit(ctx.interval())
if ctx.interval() == None:
left = Always(child1)
right = Until(child1, child2)
node = Disjunction(left, right)
node.horizon = max(child1.horizon, child2.horizon)
else:
left = TimedAlways(child1, 0, interval.end)
right = TimedUntil(child1, child2, interval.begin, interval.end)
node = Disjunction(left, right)
node.horizon = max(child1.horizon, child2.horizon) + interval.end
return node
def test_complex_mixed_2(self):
var_node_1 = Variable('req', '', 'output')
var_node_2 = Variable('gnt', '', 'output')
ev_node = TimedEventually(var_node_1, 5, 6)
once_node = TimedOnce(var_node_2, 1, 2)
alw_node = TimedAlways(once_node, 3, 3)
add_node = Implies(ev_node, alw_node)
add_node.horizon = 6
pastifier = STLPastifier()
add_node.accept(pastifier)
new_node = pastifier.pastify(add_node)
self.assertEqual('(once[0,1](req))->(once[1,2](once[3,3](gnt)))', new_node.name, 'Complex pastification assertion')
def test_complex_bounded_future_1(self):
var_node_1 = Variable('req', '', 'output')
var_node_2 = Variable('gnt', '', 'output')
cnt_node_1 = Constant(3)
cnt_node_2 = Constant(3)
pd_node_1 = Predicate(var_node_1, cnt_node_1, StlComparisonOperator.GEQ)
pd_node_2 = Predicate(var_node_2, cnt_node_2, StlComparisonOperator.GEQ)
rise_node = Rise(pd_node_1)
hist_node = TimedAlways(pd_node_2, 3, 4)
once_node = TimedEventually(hist_node, 1, 2)
add_node = Implies(rise_node, once_node)
add_node.horizon = 6
pastifier = STLPastifier()
add_node.accept(pastifier)
new_node = pastifier.pastify(add_node)
self.assertEqual('(rise((once[6,6](req))>=(3)))->(once[0,1](historically[0,1]((gnt)>=(3))))', new_node.name, 'Complex pastification assertion')
def test_always_0_1(self):
var_node = Variable('req', '', 'output')
node = TimedAlways(var_node, 0, 1)
pastifier = STLPastifier()
node.accept(pastifier)
new_node = pastifier.pastify(node)
self.assertEqual('historically[0,1](req)', new_node.name, 'Always pastification assertion')
node.horizon = 5
pastifier = STLPastifier()
node.accept(pastifier)
new_node = pastifier.pastify(node)
self.assertEqual('historically[0,1](once[4,4](req))', new_node.name, 'Always pastification assertion')