def __init__(self, controller_path, num_dims, plant_config_dict, delta_t,
controller_path_dir_path, controller_object_str, path,
plant_pvt_init_data):
self.num_dims = num_dims
self.controller_path = controller_path
self.controller_object_str = controller_object_str
self.plant_pvt_init_data = plant_pvt_init_data
self.plant_config_dict = plant_config_dict
self.delta_t = delta_t
self.controller_path_dir_path = controller_path_dir_path
self.path = path
self.sanity_check = U.assert_no_Nones
try:
sim_type = self.plant_config_dict['plant_description']
if sim_type == 'python':
logger.info('creating Native Python simulator')
# get the file path
python_file_path = plant_config_dict['plant_path']
#(module_name, file_ext) = python_file_path.split('.')
(module_name,
file_ext) = fp.split_filename_ext(python_file_path)
if file_ext != 'py':
raise err.Fatal(
'Python file extension py expected, found: {}'.format(
file_ext))
module_path = fp.construct_path(python_file_path, self.path)
if fp.validate_file_names([module_path]):
sim_module = imp.load_source(module_name, module_path)
self.sim_obj = sim_module.SIM(self.plant_pvt_init_data)
self.sim = self.sim_obj.sim
self.stateDict = {}
# inputs and params are unhandled...
self.inputs = None
self.params = None
# # currently plot in matlab itself
# self.plot = None
else:
raise err.FileNotFound('file does not exist: ' +
python_file_path)
else:
raise err.Fatal('unknown sim type : {}'.format(sim_type))
except KeyError, key:
raise err.Fatal(
'expected abstraction parameter undefined: {}'.format(key))
def simulator_factory(config_dict,
benchmark_os_path,
plt,
plant_pvt_init_data,
parallel=False,
test_params=None,
sim_args=None):
# ##!!##logger.debug('requested simulator creation')
sim_type = config_dict['plant_description']
if sim_type == 'matlab':
logger.info('creating matlab simulator')
# get the m_file's path
m_file_path = config_dict['plant_path']
abs_m_file_path = fp.construct_path(m_file_path, benchmark_os_path)
if fp.validate_file_names([abs_m_file_path]):
# return MatlabSim(m_file_path, benchmark_os_path, parallel)
return MEngPy(m_file_path, benchmark_os_path, parallel, sim_args)
else:
raise err.FileNotFound('file does not exist: ' + m_file_path)
elif sim_type == 'simulink':
return SimulinkSim()
elif sim_type == 'python':
logger.info('creating Native Python simulator')
# get the file path
python_file_path = config_dict['plant_path']
#(module_name, file_ext) = python_file_path.split('.')
(module_name, file_ext) = fp.split_filename_ext(python_file_path)
if file_ext != 'py':
raise err.Fatal(
'Python file extension py expected, found: {}'.format(
file_ext))
module_path = fp.construct_path(python_file_path, benchmark_os_path)
if fp.validate_file_names([module_path]):
return NativeSim(module_name, module_path, plt,
plant_pvt_init_data, parallel)
else:
raise err.FileNotFound('file does not exist: ' + python_file_path)
elif sim_type == 'test':
return TestSim(test_params)
else:
raise err.Fatal('unknown sim type : {}'.format(sim_type))
def simulator_factory(
config_dict,
benchmark_os_path,
plt,
plant_pvt_init_data,
parallel=False,
test_params=None,
sim_args=None
):
# ##!!##logger.debug('requested simulator creation')
sim_type = config_dict['plant_description']
if sim_type == 'matlab':
logger.info('creating matlab simulator')
# get the m_file's path
m_file_path = config_dict['plant_path']
abs_m_file_path = fp.construct_path(m_file_path, benchmark_os_path)
if fp.validate_file_names([abs_m_file_path]):
# return MatlabSim(m_file_path, benchmark_os_path, parallel)
return MEngPy(m_file_path, benchmark_os_path, parallel, sim_args)
else:
raise err.FileNotFound('file does not exist: ' + m_file_path)
elif sim_type == 'simulink':
return SimulinkSim()
elif sim_type == 'python':
logger.info('creating Native Python simulator')
# get the file path
python_file_path = config_dict['plant_path']
#(module_name, file_ext) = python_file_path.split('.')
(module_name, file_ext) = fp.split_filename_ext(python_file_path)
if file_ext != 'py':
raise err.Fatal('Python file extension py expected, found: {}'.format(file_ext))
module_path = fp.construct_path(python_file_path, benchmark_os_path)
if fp.validate_file_names([module_path]):
return NativeSim(module_name, module_path, plt, plant_pvt_init_data, parallel)
else:
raise err.FileNotFound('file does not exist: ' + python_file_path)
elif sim_type == 'test':
return TestSim(test_params)
else:
raise err.Fatal('unknown sim type : {}'.format(sim_type))
def parse(file_path):
test_des_file = file_path
path = fp.get_abs_base_path(file_path)
test_dir = fp.get_abs_base_path(test_des_file)
SYS.path.append(test_dir)
sut = imp.load_source('test_des', test_des_file)
try:
assert (len(sut.initial_set) == 2)
assert (len(sut.error_set) == 2)
assert (len(sut.ci) == 2)
assert (len(sut.pi) == 2)
assert (len(sut.ci[0]) == len(sut.ci[1]))
assert (len(sut.pi[0]) == len(sut.pi[1]))
assert (len(sut.initial_set[0]) == len(sut.initial_set[1]))
assert (len(sut.error_set[0]) == len(sut.error_set[1]))
assert (len(sut.initial_set[0]) == len(sut.error_set[0]))
assert (len(sut.initial_set[0]) == len(sut.grid_eps))
num_dims = NumDims(
si=len(sut.initial_controller_integer_state),
sf=len(sut.initial_controller_float_state),
s=len(sut.initial_controller_integer_state) +
len(sut.initial_controller_float_state),
x=len(sut.initial_set[0]),
u=sut.num_control_inputs,
ci=len(sut.ci[0]),
pi=len(sut.pi[0]),
d=len(sut.initial_discrete_state),
pvt=0,
)
if not hasattr(sut, 'ci_grid_eps') or len(sut.ci_grid_eps) == 0:
sut.ci_grid_eps = []
# if hasattr(sut, 'ci_grid_eps'):
# if len(sut.ci_grid_eps) == 0:
# sut.ci_grid_eps = None
# else:
# sut.ci_grid_eps = None
if not hasattr(sut, 'pi_grid_eps') or len(sut.pi_grid_eps) == 0:
sut.pi_grid_eps = []
# if hasattr(sut, 'pi_grid_eps'):
# if len(sut.pi_grid_eps) == 0:
# sut.pi_grid_eps = None
# else:
# sut.pi_grid_eps = None
if num_dims.ci == 0:
ci = None
else:
ci = cns.IntervalCons(np.array(sut.ci[0]), np.array(sut.ci[1]))
if num_dims.pi == 0:
pi = None
else:
pi = cns.IntervalCons(np.array(sut.pi[0]), np.array(sut.pi[1]))
assert ((pi is None and sut.pi_grid_eps == [])
or (pi is not None and sut.pi_grid_eps != []))
assert ((ci is None and sut.ci_grid_eps == [])
or (ci is not None and sut.ci_grid_eps != []))
if pi is not None:
assert (len(sut.pi[0]) == len(sut.pi_grid_eps))
if ci is not None:
assert (len(sut.ci[0]) == len(sut.ci_grid_eps))
plant_config_dict = {
'plant_description': sut.plant_description,
'plant_path': sut.plant_path,
#'refinement_factor': sut.refinement_factor,
'eps': np.array(sut.grid_eps, dtype=float),
#'pi_eps': np.array(sut.pi_grid_eps, dtype=float),
'num_samples': int(sut.num_samples),
'delta_t': float(sut.delta_t),
#'type': 'string',
'type': 'value',
}
#print(plant_config_dict)
#for k, d in plant_config_dict.iteritems():
# plant_config_dict[k] = str(d)
# TODO: fix the list hack, once the controller ifc matures
init_cons = cns.IntervalCons(np.array(sut.initial_set[0]),
np.array(sut.initial_set[1]))
init_cons_list = [init_cons]
final_cons = cns.IntervalCons(np.array(sut.error_set[0]),
np.array(sut.error_set[1]))
T = sut.T
delta_t = sut.delta_t
if sut.controller_path is not None:
controller_object_str = fp.split_filename_ext(
sut.controller_path)[0]
controller_path_dir_path = fp.construct_path(
sut.controller_path_dir_path, path)
else:
controller_object_str = None
controller_path_dir_path = None
initial_discrete_state = sut.initial_discrete_state
initial_controller_state = (sut.initial_controller_integer_state +
sut.initial_controller_float_state)
MAX_ITER = sut.MAX_ITER
num_segments = int(np.ceil(T / delta_t))
controller_path = sut.controller_path
plant_pvt_init_data = sut.plant_pvt_init_data
sys = System(controller_path, num_dims, plant_config_dict, delta_t,
controller_path_dir_path, controller_object_str, path,
plant_pvt_init_data, sut.min_smt_sample_dist,
sut.ci_grid_eps, sut.pi_grid_eps)
prop = Property(T, init_cons_list, init_cons, final_cons, ci, pi,
initial_discrete_state, initial_controller_state,
MAX_ITER, num_segments)
#num_sim_samples = sut.num_sim_samples
#METHOD = sut.METHOD
#symbolic_analyzer = sut.symbolic_analyzer
#plot = sut.plot
#MODE = sut.MODE
#opts = Options(plot, MODE, num_sim_samples, METHOD, symbolic_analyzer)
except AttributeError as e:
raise MissingSystemDefError(e)
print('system loaded...')
return sys, prop
def parse(file_path):
test_des_file = file_path
path = fp.get_abs_base_path(file_path)
test_dir = fp.get_abs_base_path(test_des_file)
SYS.path.append(test_dir)
sut = imp.load_source('test_des', test_des_file)
try:
assert(len(sut.initial_set) == 2)
assert(len(sut.error_set) == 2)
assert(len(sut.ci) == 2)
assert(len(sut.pi) == 2)
assert(len(sut.ci[0]) == len(sut.ci[1]))
assert(len(sut.pi[0]) == len(sut.pi[1]))
assert(len(sut.initial_set[0]) == len(sut.initial_set[1]))
assert(len(sut.error_set[0]) == len(sut.error_set[1]))
assert(len(sut.initial_set[0]) == len(sut.error_set[0]))
assert(len(sut.initial_set[0]) == len(sut.grid_eps))
num_dims = NumDims(
si=len(sut.initial_controller_integer_state),
sf=len(sut.initial_controller_float_state),
s=len(sut.initial_controller_integer_state)+len(sut.initial_controller_float_state),
x=len(sut.initial_set[0]),
u=sut.num_control_inputs,
ci=len(sut.ci[0]),
pi=len(sut.pi[0]),
d=len(sut.initial_discrete_state),
pvt=0,
)
if not hasattr(sut, 'ci_grid_eps') or len(sut.ci_grid_eps) == 0:
sut.ci_grid_eps = []
# if hasattr(sut, 'ci_grid_eps'):
# if len(sut.ci_grid_eps) == 0:
# sut.ci_grid_eps = None
# else:
# sut.ci_grid_eps = None
if not hasattr(sut, 'pi_grid_eps') or len(sut.pi_grid_eps) == 0:
sut.pi_grid_eps = []
# if hasattr(sut, 'pi_grid_eps'):
# if len(sut.pi_grid_eps) == 0:
# sut.pi_grid_eps = None
# else:
# sut.pi_grid_eps = None
if num_dims.ci == 0:
ci = None
else:
ci = cns.IntervalCons(np.array(sut.ci[0]), np.array(sut.ci[1]))
if num_dims.pi == 0:
pi = None
else:
pi = cns.IntervalCons(np.array(sut.pi[0]), np.array(sut.pi[1]))
assert((pi is None and sut.pi_grid_eps == []) or
(pi is not None and sut.pi_grid_eps != []))
assert((ci is None and sut.ci_grid_eps == []) or
(ci is not None and sut.ci_grid_eps != []))
if pi is not None:
assert(len(sut.pi[0]) == len(sut.pi_grid_eps))
if ci is not None:
assert(len(sut.ci[0]) == len(sut.ci_grid_eps))
plant_config_dict = {'plant_description': sut.plant_description,
'plant_path': sut.plant_path,
#'refinement_factor': sut.refinement_factor,
'eps': np.array(sut.grid_eps, dtype=float),
#'pi_eps': np.array(sut.pi_grid_eps, dtype=float),
'num_samples': int(sut.num_samples),
'delta_t': float(sut.delta_t),
#'type': 'string',
'type': 'value',
}
#print(plant_config_dict)
#for k, d in plant_config_dict.iteritems():
# plant_config_dict[k] = str(d)
# TODO: fix the list hack, once the controller ifc matures
init_cons = cns.IntervalCons(np.array(sut.initial_set[0]),
np.array(sut.initial_set[1]))
init_cons_list = [init_cons]
final_cons = cns.IntervalCons(np.array(sut.error_set[0]),
np.array(sut.error_set[1]))
T = sut.T
delta_t = sut.delta_t
if sut.controller_path is not None:
controller_object_str = fp.split_filename_ext(sut.controller_path)[0]
controller_path_dir_path = fp.construct_path(sut.controller_path_dir_path, path)
else:
controller_object_str = None
controller_path_dir_path = None
initial_discrete_state = sut.initial_discrete_state
initial_controller_state = (sut.initial_controller_integer_state +
sut.initial_controller_float_state)
MAX_ITER = sut.MAX_ITER
num_segments = int(np.ceil(T / delta_t))
controller_path = sut.controller_path
plant_pvt_init_data = sut.plant_pvt_init_data
sys = System(controller_path, num_dims, plant_config_dict,
delta_t, controller_path_dir_path,
controller_object_str, path, plant_pvt_init_data,
sut.min_smt_sample_dist, sut.ci_grid_eps,
sut.pi_grid_eps)
prop = Property(T, init_cons_list, init_cons, final_cons, ci,
pi, initial_discrete_state, initial_controller_state,
MAX_ITER, num_segments)
#num_sim_samples = sut.num_sim_samples
#METHOD = sut.METHOD
#symbolic_analyzer = sut.symbolic_analyzer
#plot = sut.plot
#MODE = sut.MODE
#opts = Options(plot, MODE, num_sim_samples, METHOD, symbolic_analyzer)
except AttributeError as e:
raise MissingSystemDefError(e)
print('system loaded...')
return sys, prop
def parse_without_sanity_check(file_path):
test_des_file = file_path
path = fp.get_abs_base_path(file_path)
test_dir = fp.get_abs_base_path(test_des_file)
SYS.path.append(test_dir)
sut = imp.load_source('test_des', test_des_file)
plant_config_dict = {
'plant_description': sut.plant_description,
'plant_path': sut.plant_path,
'refinement_factor': sut.refinement_factor,
# 'grid_eps': sut.grid_eps,
# 'num_samples': sut.num_samples,
'delta_t': sut.delta_t,
'type': 'string',
}
for k, d in plant_config_dict.iteritems():
plant_config_dict[k] = str(d)
num_dims = NumDims(
si=len(sut.initial_controller_integer_state),
sf=len(sut.initial_controller_float_state),
s=len(sut.initial_controller_integer_state) +
len(sut.initial_controller_float_state),
x=len(sut.initial_set[0]),
u=sut.num_control_inputs,
ci=len(sut.ci[0]),
pi=0,
d=len(sut.initial_discrete_state),
pvt=0,
)
if num_dims.ci == 0:
ci = None
else:
ci = cns.IntervalCons(np.array(sut.ci[0]), np.array(sut.ci[1]))
if num_dims.pi == 0:
pi = None
else:
pi = cns.IntervalCons(np.array(sut.pi[0]), np.array(sut.pi[1]))
# TODO: fix the list hack, once the controller ifc matures
init_cons = cns.IntervalCons(np.array(sut.initial_set[0]),
np.array(sut.initial_set[1]))
init_cons_list = [init_cons]
final_cons = cns.IntervalCons(np.array(sut.error_set[0]),
np.array(sut.error_set[1]))
T = sut.T
if sut.controller_path is not None:
controller_object_str = fp.split_filename_ext(sut.controller_path)[0]
controller_path_dir_path = fp.construct_path(
sut.controller_path_dir_path, path)
else:
controller_object_str = None
controller_path_dir_path = None
delta_t = sut.delta_t
#try: # enforce it for now!
#except:
# controller_path_dir_path = None
initial_discrete_state = sut.initial_discrete_state
initial_controller_state = sut.initial_controller_integer_state \
+ sut.initial_controller_float_state
MAX_ITER = sut.MAX_ITER
#try: # enforce it for now!
#except:
# None
num_segments = int(np.ceil(T / delta_t))
controller_path = sut.controller_path
plant_pvt_init_data = sut.plant_pvt_init_data
sys = System(controller_path, num_dims, plant_config_dict, delta_t,
controller_path_dir_path, controller_object_str, path,
plant_pvt_init_data)
prop = Property(T, init_cons_list, init_cons, final_cons, ci, pi,
initial_discrete_state, initial_controller_state, MAX_ITER,
num_segments)
#num_sim_samples = sut.num_sim_samples
#METHOD = sut.METHOD
#symbolic_analyzer = sut.symbolic_analyzer
#plot = sut.plot
#MODE = sut.MODE
#opts = Options(plot, MODE, num_sim_samples, METHOD, symbolic_analyzer)
return sys, prop