def eventually_to_gr1(p, aux='aux'):
"""Convert C{<> p} to GR(1).
GR(1) form::
!(aux) &&
[](aux -> X aux) &&
[]<>(aux) &&
[]( (!p && !aux) -> X!(aux) )
@type p: str
@param aux: name to use for auxiliary variable
@type aux: str
@rtype: L{GRSpec}
"""
a = aux
a0 = a
p = _paren(p)
a = _paren(a)
v = tx.check_var_name_conflict(p, a0)
sys_vars = v | {a0}
sys_init = {'!(' + a + ')'}
sys_safe = {'(!' + p + ' && !' + a + ') -> X !' + a, a + ' -> X ' + a}
sys_prog = {a}
return GRSpec(sys_vars=sys_vars,
sys_init=sys_init,
sys_safety=sys_safe,
sys_prog=sys_prog)
def stability_to_gr1(p, aux='aux'):
"""Convert C{<>[] p} to GR(1).
Warning: This conversion is sound, but not complete.
See p.2, U{[E10]
<http://tulip-control.sourceforge.net/doc/bibliography.html#e10>}
GR(1) form::
!(aux) &&
[](aux -> X aux) &&
[]<>(aux) &&
[](aux -> p)
@type p: str
@param aux: name to use for auxiliary variable
@type aux: str
@rtype: L{GRSpec}
"""
logging.warning(
'Conversion of stability (<>[]p) to GR(1)' +
'is sound, but NOT complete.'
)
a = aux
a0 = a
p = _paren(p)
a = _paren(a)
v = tx.check_var_name_conflict(p, a0)
sys_vars = v | {a0}
sys_init = {'!' + a}
sys_safe = {a + ' -> ' + p,
a + ' -> X ' + a}
sys_prog = {a}
return GRSpec(sys_vars=sys_vars, sys_init=sys_init,
sys_safety=sys_safe, sys_prog=sys_prog)
def stability_to_gr1(p, aux='aux'):
"""Convert C{<>[] p} to GR(1).
Warning: This conversion is sound, but not complete.
See p.2, U{[E10]
<https://tulip-control.sourceforge.io/doc/bibliography.html#e10>}
GR(1) form::
!(aux) &&
[](aux -> X aux) &&
[]<>(aux) &&
[](aux -> p)
@type p: str
@param aux: name to use for auxiliary variable
@type aux: str
@rtype: L{GRSpec}
"""
logging.warning(
'Conversion of stability (<>[]p) to GR(1)' +
'is sound, but NOT complete.'
)
a = aux
a0 = a
p = _paren(p)
a = _paren(a)
v = tx.check_var_name_conflict(p, a0)
sys_vars = v | {a0}
sys_init = {'!' + a}
sys_safe = {a + ' -> ' + p,
a + ' -> X ' + a}
sys_prog = {a}
return GRSpec(sys_vars=sys_vars, sys_init=sys_init,
sys_safety=sys_safe, sys_prog=sys_prog)
def until_to_gr1(p, q, aux='aux'):
"""Convert C{p U q} to GR(1).
GR(1) form::
(!q -> !aux) &&
[](q -> aux)
[](aux -> X aux) &&
[]<>(aux) &&
[]( (!aux && X(!q) ) -> X!(aux) ) &&
[](!aux -> p)
@type p: str
@param aux: name to use for auxiliary variable
@type aux: str
@rtype: L{GRSpec}
"""
a = aux
a0 = a
p = _paren(p)
q = _paren(q)
a = _paren(a)
s = p + ' && ' + q
v = tx.check_var_name_conflict(s, a0)
sys_vars = v | {a0}
sys_init = {'!' + q + ' -> !' + a}
sys_safe = {
q + ' -> ' + a,
'( (X !' + q + ') && !' + a + ') -> X !' + a,
a + ' -> X ' + a,
'(!' + a + ') -> ' + p
}
sys_prog = {a}
return GRSpec(sys_vars=sys_vars, sys_init=sys_init,
sys_safety=sys_safe, sys_prog=sys_prog)
def until_to_gr1(p, q, aux='aux'):
"""Convert C{p U q} to GR(1).
GR(1) form::
(!q -> !aux) &&
[](q -> aux)
[](aux -> X aux) &&
[]<>(aux) &&
[]( (!aux && X(!q) ) -> X!(aux) ) &&
[](!aux -> p)
@type p: str
@param aux: name to use for auxiliary variable
@type aux: str
@rtype: L{GRSpec}
"""
a = aux
a0 = a
p = _paren(p)
q = _paren(q)
a = _paren(a)
s = p + ' && ' + q
v = tx.check_var_name_conflict(s, a0)
sys_vars = v | {a0}
sys_init = {'!' + q + ' -> !' + a}
sys_safe = {
q + ' -> ' + a, '( (X !' + q + ') && !' + a + ') -> X !' + a,
a + ' -> X ' + a, '(!' + a + ') -> ' + p
}
sys_prog = {a}
return GRSpec(sys_vars=sys_vars,
sys_init=sys_init,
sys_safety=sys_safe,
sys_prog=sys_prog)
def response_to_gr1(p, q, aux='aux'):
"""Convert C{[](p -> <> q)} to GR(1).
GR(1) form::
[]<>(aux) &&
[]( (p && !q) -> X ! aux) &&
[]( (! aux && !q) -> X ! aux)
@type p: str
@type q: str
@param aux: name to use for auxiliary variable
@type aux: str
@rtype: L{GRSpec}
"""
a = aux
a0 = a
p = _paren(p)
q = _paren(q)
a = _paren(a)
s = p + ' -> <> ' + q
v = tx.check_var_name_conflict(s, a0)
sys_vars = v | {a0}
# sys_init = {a}
sys_safe = {
'(' + p + ' && !' + q + ') -> X !' + a,
'(!' + a + ' && !' + q + ') -> X !' + a
}
sys_prog = {a}
return GRSpec(
sys_vars=sys_vars, # sys_init=sys_init,
sys_safety=sys_safe,
sys_prog=sys_prog)
def response_to_gr1(p, q, aux='aux'):
"""Convert C{[](p -> <> q)} to GR(1).
GR(1) form::
[]<>(aux) &&
[]( (p && !q) -> X ! aux) &&
[]( (! aux && !q) -> X ! aux)
@type p: str
@type q: str
@param aux: name to use for auxiliary variable
@type aux: str
@rtype: L{GRSpec}
"""
a = aux
a0 = a
p = _paren(p)
q = _paren(q)
a = _paren(a)
s = p + ' -> <> ' + q
v = tx.check_var_name_conflict(s, a0)
sys_vars = v | {a0}
# sys_init = {a}
sys_safe = {
'(' + p + ' && !' + q + ') -> X !' + a,
'(!' + a + ' && !' + q + ') -> X !' + a
}
sys_prog = {a}
return GRSpec(sys_vars=sys_vars, # sys_init=sys_init,
sys_safety=sys_safe, sys_prog=sys_prog)
def eventually_to_gr1(p, aux='aux'):
"""Convert C{<> p} to GR(1).
GR(1) form::
!(aux) &&
[](aux -> X aux) &&
[]<>(aux) &&
[]( (!p && !aux) -> X!(aux) )
@type p: str
@param aux: name to use for auxiliary variable
@type aux: str
@rtype: L{GRSpec}
"""
a = aux
a0 = a
p = _paren(p)
a = _paren(a)
v = tx.check_var_name_conflict(p, a0)
sys_vars = v | {a0}
sys_init = {'!(' + a + ')'}
sys_safe = {
'(!' + p + ' && !' + a + ') -> X !' + a,
a + ' -> X ' + a
}
sys_prog = {a}
return GRSpec(sys_vars=sys_vars, sys_init=sys_init,
sys_safety=sys_safe, sys_prog=sys_prog)