"""Strict Ordered Patrolling Location r1, r2"""
ordered_patrol_day = StrictOrderedPatrolling([w["r1"], w["r2"]])
"""Strict Ordered Patrolling Location r3, r4"""
ordered_patrol_night = StrictOrderedPatrolling([w["r3"], w["r4"]])
"""Only if see a person, greet immediately"""
greet = BoundReaction(w["person"], w["greet"])
"""Only if see a person, register in the next step"""
register = BoundDelay(w["person"], w["register"])
try:
n_day = Node(name="day_patrol_a",
context=w["day"],
specification=ordered_patrol_day,
world=w)
n_night = Node(name="night_patrol_b",
context=w["night"],
specification=ordered_patrol_night,
world=w)
n_greet = Node(name="greet_person",
specification=greet,
world=w)
n_register = Node(name="register_person",
context=w["day"],
specification=register,
world=w)
"""
"""We import the variables"""
w = RunningExample()
"""Strict Ordered Patrolling Location r1, r2"""
ordered_patrol_day = StrictOrderedPatrolling([w["r1"], w["r2"]])
print("one\n" + str(ordered_patrol_day))
"""Strict Ordered Patrolling Location r3, r4"""
ordered_patrol_night = StrictOrderedPatrolling([w["r3"], w["r4"]])
print("two\n" + str(ordered_patrol_night))
"""Only if see a person, greet in the next step"""
greet = BoundDelay(w["person"], w["greet"])
try:
n_day = Node(name="day_patrol_a",
context=w["day"],
specification=ordered_patrol_day,
world=w)
n_night = Node(name="night_patrol_b",
context=w["night"],
specification=ordered_patrol_night,
world=w)
n_greet = Node(name="greet_person", specification=greet, world=w)
n_day_greet = Node.composition({n_day, n_greet})
n_night_greet = Node.composition({n_night, n_greet})
cgg_con = Node.conjunction({n_day_greet, n_night_greet})
cgg_dis = Node.disjunction({n_day_greet, n_night_greet})
print(cgg_con)
print("\n\ncon:\n")
w = Crome()
"""Strict Ordered Patrolling Location r1, r2"""
ordered_patrol_day = StrictOrderedPatrolling([w["r1"], w["r2"]])
print("one\n" + str(ordered_patrol_day))
"""Strict Ordered Patrolling Location r3, r4"""
ordered_patrol_night = StrictOrderedPatrolling([w["r3"], w["r4"]])
print("two\n" + str(ordered_patrol_night))
greet = InstantaneousReaction(w["person"], w["greet"])
cure = InstantaneousReaction(w["person"], w["cure"])
try:
n_day = Node(name="day_patrol_a",
context=w["day"],
specification=ordered_patrol_day,
world=w)
n_night = Node(name="night_patrol_b",
context=w["night"],
specification=ordered_patrol_night,
world=w)
n_greet = Node(name="greet_person",
context=w["day"],
specification=greet,
world=w)
cgg_c = Node.build_cgg({n_day, n_night, n_greet}, Link.CONJUNCTION)
cgg_c.session_name = "instant_action_under_context_conjunction"
cgg_c.realize_specification_controllers()
"""If it drops the object then it does not hold anymore"""
if_drop_not_hold = PromptReaction(w["hold"] & w["drop"], ~w["hold"])
"""Drop only when it is in the garbage and is holding"""
drop_near_garbage = InstantaneousReaction(w["drop"], ~w["k3"] & w["hold"])
"""GF(!hold)"""
keep_free_hands = GF(~w["hold"])
try:
"""Modeling the set of goals using robotic patterns"""
set_of_goals = {
Node(
name="cleanup",
description="Inside the living room are some misplaced objects. "
"The robot has to tidy up that room, throwing to the garbage the unrecognized ones."
"Find all misplaced objects in a room and bring them to their predeļ¬ned locations.",
context=w["housekeeping"] & w["cleanup"],
specification=Contract(
assumptions=no_objects_when_hold,
guarantees=patrol_living_room & stay_location_if_object
& dont_hold_if_no_object & if_drop_not_hold & drop_near_garbage
& keep_free_hands),
world=w),
Node(
name="gpse",
description="General Purpose Service Robot."
"Similar to a modern smart-speaker,"
"The robot can be asked to do anything and it immediately response with a voice notification",
specification=Contract(
guarantees=BoundReaction(w["alexa"], w["reply"])),
world=w),
Node(
name="groceries",
"Conjunction has also failed since both goals have same ('TRUE') assumptions"
)
"""We can remove the condition to begin from location c as well"""
g2 = Goal(
name="patrol_c_d_init_c",
description="Patrolling of locations c and d, beginning from location c",
specification=Patrolling([t["c"], t["d"]]))
try:
g12 = Goal.composition({g1, g2})
print(g12)
print("Composition Successful")
except GoalException as e:
raise e
"""We can do the same with Node and build the CGG"""
n1_a = Node(goal=g1_a)
n1_b = Node(goal=g1_b)
n2 = Node(
name="patrol_c_d_init_c",
description="Patrolling of locations c and d, beginning from location c",
specification=Patrolling([t["c"], t["d"]]) & Init(t["c"]))
try:
cgg = Node.composition({n1_a, n1_b, n2})
print(cgg)
except CGGException as e:
print("Failed as before")
n2 = Node(
during context night => start from r3, patrol r3, r4
always => if see a person, greet in the next step
"""
path = os.path.abspath(os.path.dirname(__file__))
"""We import the world"""
w = RunningExample()
"""Strict Ordered Patrolling Location r1, r2"""
ordered_patrol_day = StrictOrderedPatrolling([w["r1"], w["r2"]])
"""Strict Ordered Patrolling Location r3, r4"""
ordered_patrol_night = StrictOrderedPatrolling([w["r3"], w["r4"]])
try:
n_day = Node(name="day_patrol_a",
context=w["day"],
specification=ordered_patrol_day,
world=w)
n_night = Node(name="night_patrol_b",
context=w["night"],
specification=ordered_patrol_night,
world=w)
t_cgg_start = time.time()
cgg = Node.build_cgg({n_day, n_night})
t_cgg_end = time.time()
t_cgg = t_cgg_end - t_cgg_start
cgg.set_session_name(folder_name)
cgg.save()
from cgg import Node
from cgg.exceptions import CGGException
from robocup import output_folder_name
from tools.persistence import Persistence
try:
"""Load the goals"""
set_of_goals = Persistence.load_goals(output_folder_name)
"""Automatically build the CGG"""
cgg = Node.build_cgg(set_of_goals)
print(cgg)
"""Setting the saving folder"""
cgg.set_session_name(output_folder_name)
"""Save CGG as text file"""
cgg.save()
"""Save CGG so that it can be loaded later"""
Persistence.dump_cgg(cgg)
except CGGException as e:
raise e
from cgg.exceptions import CGGException
from running_example import output_folder_name
from running_example.modeling_environment import RunningExample
from specification.atom.pattern.robotics.coremovement.surveillance import *
from specification.atom.pattern.robotics.trigger.triggers import *
from tools.persistence import Persistence
"""We import the environment"""
w = RunningExample()
try:
"""Modeling the set of goals using robotic patterns"""
set_of_goals = {
Node(
name="day_patrol_12",
description=
"During context day => start from r1, patrol r1, r2 in strict order,\n"
"Strict Ordered Patrolling Location r1, r2",
context=w["day"],
specification=StrictOrderedPatrolling([w["r1"], w["r2"]]),
world=w),
Node(
name="night_patrol_34",
description=
"During context night => start from r3, patrol r3, r4 in strict order,\n"
"Strict Ordered Patrolling Location r3, r4",
context=w["night"],
specification=StrictOrderedPatrolling([w["r3"], w["r4"]]),
world=w),
Node(name="greet_person",
description="Always => if see a person, greet in the same step,\n"
"Only if see a person, greet immediately",
specification=BoundReaction(w["person"], w["greet"]),
def mutex_group(self) -> str:
return "time"
"""We want to model a CGG that :
'always sleep during the night and always awake during the day"""
day = Day().to_atom()
night = Night().to_atom()
sleep_now = Init(Sleep())
awake_now = Init(Awake())
"""CASE 1"""
try:
n1 = Node(name="awake_during_day",
specification=Contract(assumptions=day, guarantees=awake_now))
n2 = Node(name="sleep_during_night",
specification=Contract(assumptions=night, guarantees=sleep_now))
cgg = Node.conjunction({n1, n2})
cgg.session_name = "case_1"
cgg.translate_all_to_buchi()
cgg.realize_specification_controllers()
cgg.save()
print(cgg)
print(
pass
g1 = Goal(name="patrol_a_b_init_a_and_b",
description="Patrolling of locations a and b and init a and b",
specification=Patrolling([t["a"], t["b"]]) & Init(t["a"]))
try:
g1.realize_to_controller()
except GoalException as e:
raise e
"""Let's use nodes and build a CGG"""
"""Definition of a goals"""
try:
n1 = Node(name="patrol_a_b_init_a_and_b",
description="Patrolling of locations a and b and init a and b",
specification=Patrolling([t["a"], t["b"]]) & Init(t["a"]))
n2 = Node(name="patrol_c_d",
description="Patrolling of locations c and d",
specification=Patrolling([t["c"], t["d"]]))
cgg = Node.composition({n1, n2})
print(cgg)
cgg.realize_specification_controllers(GraphTraversal.DFS)
print(cgg)
print(
"The CGG is unrealizable because a-b, c-d are adjacent within each other but there is no way to go from a-b to c-d"
)
"""Let us instantiate a different variables"""
@property
def mutex_group(self) -> str:
return "locations"
"""Infinitely Often Visit the Bed = GF(bed) """
patrol_bed = Patrolling([Bed()])
"""Infinitely Often Visit the Office = GF(office) """
patrol_office = Patrolling([Office()])
try:
n1 = Node(name="awake_during_day",
context=day,
specification=Contract(guarantees=patrol_bed))
n2 = Node(name="sleep_during_night",
context=night,
specification=Contract(guarantees=patrol_office))
cgg = Node.conjunction({n1, n2})
cgg.session_name = "case_3b_context"
cgg.translate_all_to_buchi()
cgg.realize_specification_controllers()
cgg.save()
print(cgg)