def _writeSMVFile(self):
if self.proj.compile_options["decompose"]:
numRegions = len(self.parser.proj.rfi.regions)
else:
numRegions = len(self.proj.rfi.regions)
sensorList = self.proj.enabled_sensors
robotPropList = self.proj.enabled_actuators + self.proj.all_customs + self.proj.internal_props
# Add in regions as robot outputs
if self.proj.compile_options["use_region_bit_encoding"]:
robotPropList.extend(["bit"+str(i) for i in range(0,int(numpy.ceil(numpy.log2(numRegions))))])
else:
robotPropList.extend([r.name for r in self.parser.proj.rfi.regions])
self.propList = sensorList + robotPropList
createSMVfile(self.proj.getFilenamePrefix(), sensorList, robotPropList)
def _writeSMVFile(self):
if self.proj.compile_options["decompose"]:
numRegions = len(self.parser.proj.rfi.regions)
else:
numRegions = len(self.proj.rfi.regions)
sensorList = self.proj.enabled_sensors
robotPropList = self.proj.enabled_actuators + self.proj.all_customs + self.proj.internal_props
# Add in regions as robot outputs
if self.proj.compile_options["use_region_bit_encoding"]:
robotPropList.extend(["bit"+str(i) for i in range(0,int(numpy.ceil(numpy.log2(numRegions))))])
else:
if self.proj.compile_options["decompose"]:
robotPropList.extend([r.name for r in self.parser.proj.rfi.regions])
else:
robotPropList.extend([r.name for r in self.proj.rfi.regions])
self.propList = sensorList + robotPropList
createSMVfile(self.proj.getFilenamePrefix(), sensorList, robotPropList)
def compileCentralizedSpec(self):
"""
Compile centralized spec.
"""
# synthesize our new centralized controller again
self.compiler = specCompiler.SpecCompiler()
self.compiler.proj.compile_options[
'synthesizer'] = 'slugs' # use slugs
self.compiler.proj.project_root = os.path.dirname(
os.path.realpath(__file__)) #set directory to save slugsin
self.compiler.proj.project_basename = self.filePath
createSMVfile(self.filePath, self.smvEnvPropList,
self.smvSysPropList) # create a new SMV file
# create a new LTL file
LTLspec_envList = []
LTLspec_sysList = []
# append new sys and env init
currentEnvInitState = '(' + self.currentState.getLTLRepresentation(
mark_players=True,
use_next=False,
include_inputs=True,
include_outputs=False) + ')'
currentSysInitState = '(' + self.currentState.getLTLRepresentation(
mark_players=True,
use_next=False,
include_inputs=False,
include_outputs=True) + ')'
## construct specification
for specType in self.spec.keys():
if specType in ['EnvInit', 'SysInit']:
if specType == 'EnvInit': # append init state
LTLspec_envList.append(currentEnvInitState)
else:
LTLspec_sysList.append(currentSysInitState)
for robot in self.coordinatingRobots:
# here we will skip the goals and join them together below
if specType in ['SysGoals']:
continue
elif specType in ['SysInit', 'SysTrans']:
LTLspec_sysList.append(self.spec[specType][robot])
else:
LTLspec_envList.append(self.spec[specType][robot])
# join the goals of the robots so that the goals are pursued at the same time
specSysGoals = " &\n ".join(
filter(None, [
x.strip().lstrip('[]<>')
for x in self.spec['SysGoals'].values()
]))
LTLspec_sysList.append("[]<>(" + specSysGoals +
")" if specSysGoals else specSysGoals)
# set up violation check object
specSysGoalsOld = " &\n ".join(
filter(
None,
[x.strip().lstrip('[]<>') for x in self.sysGoalsOld.values()]))
logging.debug("specSysGoalsOld:" + str(specSysGoalsOld))
if specSysGoalsOld:
self.sysGoalsCheck = LTLParser.LTLcheck.LTL_Check(
None, {}, {'sysGoals': specSysGoalsOld}, 'sysGoals')
createLTLfile(self.filePath, " &\n".join(filter(None,
LTLspec_envList)),
" &\n".join(filter(None, LTLspec_sysList)))
startTime = time.time()
#HACK: Make it to recovery mode to try it out
#self.compiler.proj.compile_options['recovery']=True # interactive strategy auto synthesizes with recovery option
self.compiler.cooperativeGR1Strategy = True
self.compiler.onlyRealizability = True
realizable, realizableFS, output = self.compiler._synthesize()
endTime = time.time()
logging.info(output)
"""
If realizable, load AUT and return status to each robot. The execution of each robot resumes.
"""
if realizable:
logging.info('Strategy synthesized in ' +
str(endTime - startTime) + ' s.')
# load strategy and initial state
#self.strategy = strategy.createStrategyFromFile(self.filePath + '.aut', self.smvEnvPropList, self.smvSysPropList)
self.strategy = strategy.createStrategyFromFile(
self.filePath + '.slugsin', self.smvEnvPropList,
self.smvSysPropList)
# TODO: need to be finished
self.strategy.current_state = self.strategy.searchForOneState(
self.currentAssignment)
logging.info('Starting at State ' +
str(self.strategy.current_state.state_id))
else:
logging.error('cannot synthesize a centralized patch')
pass
def _writeSMVFile(self):
numRegions = len(self.parser.proj.rfi.regions)
sensorList = self.proj.enabled_sensors
robotPropList = self.proj.enabled_actuators + self.proj.all_customs
createSMVfile(self.proj.getFilenamePrefix(), numRegions, sensorList, robotPropList)
