all_base = '& G F base1 & G F base2 G F base3' order1 = 'G i supply X U ! supply base' order2 = 'G i base X U ! base supply' order = '& %s %s' %(order1, order2) task1 = '& %s & G ! obstacle %s' %(all_base, order2) task2 = '& %s G F supply' %all_base task3 = '& %s %s' %(all_base, order2) dra = Dra(task1) t3 = time.time() print '------------------------------' print 'DRA done, time: %s' %str(t3-t2) #---- prod_dra = Product_Dra(motion_mdp, dra) #prod_dra.dotify() t41 = time.time() print '------------------------------' print 'Product DRA done, time: %s' %str(t41-t3) #---- prod_dra.compute_S_f() t42 = time.time() print '------------------------------' print 'Compute MEC done, time: %s' %str(t42-t41) #------ gamma = 0.0 # 0.3 best_all_plan = syn_full_plan(prod_dra, gamma) t5 = time.time() print '------------------------------' print 'Plan synthesis done, time: %s' %str(t5-t42)
#---- # task_formula = "& G F & r1 g1 & G F & r2 g2 G F & r4 g3" task_formula = "& G F & r1 g1 & G F & r2 g2 & G F & r3 F & r4 g3 G F & r2 g1" dra = Dra(task_formula) print 'dra done by time %s' % str(time.time() - start) #---- prod_dra = Product_Dra(motion_mdp, dra) prod_dra.compute_S_f() #prod_dra.dotify() print 'prod_dra done by time %s' % str(time.time() - start) allowed_risk = 0.0 best_all_plan = syn_full_plan(prod_dra, allowed_risk) # #---------------------------------------- # print "----------------------------------------" # print "||||||||Simulation start||||||||||||||||" # print "----------------------------------------" # total_T = 20 # state_seq = [initial_node,] # label_seq = [initial_label,] # N = 5 # n = 0 # print "Try %s simulations of length %s" %(str(N), str(total_T)) # XX = [] # LL = [] # UU = []
#---- seq_formula1 = "& F a & F b F c" seq_formula2 = "F & a F & b F c" sur_formula1 = "& G F a & G F b G F c" sur_formula2 = "& G F a G F b" seq_sur_formula1 = "G F i a F i b F c" seq_sur_formula2 = "G F & a F & b F c" dra = Dra(sur_formula1) #---- prod_dra = Product_Dra(motion_mdp, dra) prod_dra.compute_S_f() #prod_dra.dotify() allowed_risk = 0.0 best_all_plan = syn_full_plan(prod_dra, allowed_risk) #---------------------------------------- print "----------------------------------------" print "||||||||Simulation start||||||||||||||||" print "----------------------------------------" total_T = 20 state_seq = [initial_node,] label_seq = [initial_label,] N = 5 n = 0 print "Try %s simulations of length %s" %(str(N), str(total_T)) XX = [] LL = [] UU = []
t3 = time.time()
print 'DRA done, time: %s' % str(t3 - t2)
#----
prod_dra = Product_Dra(motion_mdp, dra)
#prod_dra.dotify()
t41 = time.time()
print 'Product DRA done, time: %s' % str(t41 - t3)
#----
prod_dra.compute_S_f()
t42 = time.time()
print 'Compute accepting MEC done, time: %s' % str(t42 - t41)
#------
gamma = 0.3
best_all_plan = syn_full_plan(prod_dra, gamma)
t5 = time.time()
print 'Plan synthesis done, time: %s' % str(t5 - t42)
#----------------------------------------
print "----------------------------------------"
print "||||||||Simulation start||||||||||||||||"
print "----------------------------------------"
total_T = 300
state_seq = [
initial_node,
]
label_seq = [
initial_label,
]
N = 10
t3 = time.time() print 'DRA done, time: %s' %str(t3-t2) #---- prod_dra = Product_Dra(motion_mdp, dra) #prod_dra.dotify() t41 = time.time() print 'Product DRA done, time: %s' %str(t41-t3) #---- prod_dra.compute_S_f() t42 = time.time() print 'Compute accepting MEC done, time: %s' %str(t42-t41) #------ gamma = 0.0 best_all_plan = syn_full_plan(prod_dra, gamma,alpha=0.0) t5 = time.time() print 'Plan synthesis done, time: %s' %str(t5-t42) # #---------------------------------------- # print "----------------------------------------" # print "||||||||Simulation start||||||||||||||||" # print "----------------------------------------" # total_T = 300 # state_seq = [initial_node,] # label_seq = [initial_label,] # N = 10 # n = 0 # print "Try %s simulations of length %s" %(str(N), str(total_T)) # XX = []