Example #1
0
    def postprocessLTL(self, text, sensorList, robotPropList):
        # TODO: make everything use this
        if self.proj.compile_options["decompose"]:
            # substitute decomposed region names
            for r in self.proj.rfi.regions:
                if not (r.isObstacle or r.name.lower() == "boundary"):
                    text = re.sub('\\bs\.' + r.name + '\\b', "("+' | '.join(["s."+x for x in self.parser.proj.regionMapping[r.name]])+")", text)
                    text = re.sub('\\be\.' + r.name + '\\b', "("+' | '.join(["e."+x for x in self.parser.proj.regionMapping[r.name]])+")", text)

        if self.proj.compile_options["decompose"]:
            regionList = [x.name for x in self.parser.proj.rfi.regions]
        else:
            regionList = [x.name for x in self.proj.rfi.regions]

        # Define the number of bits needed to encode the regions
        numBits = int(math.ceil(math.log(len(regionList),2)))

        # creating the region bit encoding
        bitEncode = bitEncoding(len(regionList),numBits)
        currBitEnc = bitEncode['current']
        nextBitEnc = bitEncode['next']

        # switch to bit encodings for regions
        if self.proj.compile_options["use_region_bit_encoding"]:
            text = replaceRegionName(text, bitEncode, regionList)

        text = self.substituteMacros(text)

        return text
Example #2
0
    def _writeLTLFile(self):

        self.LTL2SpecLineNumber = None

        #regionList = [r.name for r in self.parser.proj.rfi.regions]
        regionList = [r.name for r in self.proj.rfi.regions]
        sensorList = deepcopy(self.proj.enabled_sensors)
        robotPropList = self.proj.enabled_actuators + self.proj.all_customs
        
        text = self.proj.specText

        response = None

        # Create LTL using selected parser
        # TODO: rename decomposition object to something other than 'parser'
        if self.proj.compile_options["parser"] == "slurp":
            # default to no region tags if no simconfig is defined, so we can compile without
            if self.proj.currentConfig is None:
                region_tags = {}
            else:
                region_tags = self.proj.currentConfig.region_tags
 
            # Hack: We need to make sure there's only one of these
            global _SLURP_SPEC_GENERATOR
            
            # Make a new specgenerator and have it process the text
            if not _SLURP_SPEC_GENERATOR:
                # Add SLURP to path for import
                p = os.path.dirname(os.path.abspath(__file__))
                sys.path.append(os.path.join(p, "..", "etc", "SLURP"))
                from ltlbroom.specgeneration import SpecGenerator
                _SLURP_SPEC_GENERATOR = SpecGenerator()
            
            # Filter out regions it shouldn't know about
            filtered_regions = [region.name for region in self.proj.rfi.regions 
                                if not (region.isObstacle or region.name.lower() == "boundary")]
            LTLspec_env, LTLspec_sys, self.proj.internal_props, internal_sensors, results, responses, traceback = \
                _SLURP_SPEC_GENERATOR.generate(text, sensorList, filtered_regions, robotPropList, region_tags)

            oldspec_env = LTLspec_env
            oldspec_sys = LTLspec_sys
 
            for ln, result in enumerate(results):
                if not result:
                    logging.warning("Could not parse the sentence in line {0}".format(ln))

            # Abort compilation if there were any errors
            if not all(results):
                return None, None, responses
        
            # Add in the sensors so they go into the SMV and spec files
            for s in internal_sensors:
                if s not in sensorList:
                    sensorList.append(s)
                    self.proj.all_sensors.append(s)
                    self.proj.enabled_sensors.append(s)                    

            # Conjoin all the spec chunks
            LTLspec_env = '\t\t' + ' & \n\t\t'.join(LTLspec_env)
            LTLspec_sys = '\t\t' + ' & \n\t\t'.join(LTLspec_sys)
            
            if self.proj.compile_options["decompose"]:
                # substitute decomposed region names
                for r in self.proj.rfi.regions:
                    if not (r.isObstacle or r.name.lower() == "boundary"):
                        LTLspec_env = re.sub('\\bs\.' + r.name + '\\b', "("+' | '.join(["s."+x for x in self.parser.proj.regionMapping[r.name]])+")", LTLspec_env)
                        LTLspec_env = re.sub('\\be\.' + r.name + '\\b', "("+' | '.join(["e."+x for x in self.parser.proj.regionMapping[r.name]])+")", LTLspec_env)
                        LTLspec_sys = re.sub('\\bs\.' + r.name + '\\b', "("+' | '.join(["s."+x for x in self.parser.proj.regionMapping[r.name]])+")", LTLspec_sys)
                        LTLspec_sys = re.sub('\\be\.' + r.name + '\\b', "("+' | '.join(["e."+x for x in self.parser.proj.regionMapping[r.name]])+")", LTLspec_sys)

            response = responses

        elif self.proj.compile_options["parser"] == "ltl":
            # delete comments
            text = re.sub(r"#.*$", "", text, flags=re.MULTILINE)

            # split into env and sys parts (by looking for a line of just dashes in between)
            LTLspec_env, LTLspec_sys = re.split(r"^\s*-+\s*$", text, maxsplit=1, flags=re.MULTILINE)

            # split into subformulas
            LTLspec_env = re.split(r"(?:[ \t]*[\n\r][ \t]*)+", LTLspec_env)
            LTLspec_sys = re.split(r"(?:[ \t]*[\n\r][ \t]*)+", LTLspec_sys)

            # remove any empty initial entries (HACK?)
            while '' in LTLspec_env:
                LTLspec_env.remove('')
            while '' in LTLspec_sys:
                LTLspec_sys.remove('')

            # automatically conjoin all the subformulas
            LTLspec_env = '\t\t' + ' & \n\t\t'.join(LTLspec_env)
            LTLspec_sys = '\t\t' + ' & \n\t\t'.join(LTLspec_sys)

            if self.proj.compile_options["decompose"]:
                # substitute decomposed region 
                for r in self.proj.rfi.regions:
                    if not (r.isObstacle or r.name.lower() == "boundary"):
                        LTLspec_env = re.sub('\\b(?:s\.)?' + r.name + '\\b', "("+' | '.join(["s."+x for x in self.parser.proj.regionMapping[r.name]])+")", LTLspec_env)
                        LTLspec_sys = re.sub('\\b(?:s\.)?' + r.name + '\\b', "("+' | '.join(["s."+x for x in self.parser.proj.regionMapping[r.name]])+")", LTLspec_sys)
            else:
                for r in self.proj.rfi.regions:
                    if not (r.isObstacle or r.name.lower() == "boundary"):
                        LTLspec_env = re.sub('\\b(?:s\.)?' + r.name + '\\b', "s."+r.name, LTLspec_env)
                        LTLspec_sys = re.sub('\\b(?:s\.)?' + r.name + '\\b', "s."+r.name, LTLspec_sys)

            traceback = [] # HACK: needs to be something other than None
        elif self.proj.compile_options["parser"] == "structured":
            import parseEnglishToLTL

            if self.proj.compile_options["decompose"]:
                # substitute the regions name in specs
                for m in re.finditer(r'near (?P<rA>\w+)', text):
                    text=re.sub(r'near (?P<rA>\w+)', "("+' or '.join(["s."+r for r in self.parser.proj.regionMapping['near$'+m.group('rA')+'$'+str(50)]])+")", text)
                for m in re.finditer(r'within (?P<dist>\d+) (from|of) (?P<rA>\w+)', text):
                    text=re.sub(r'within ' + m.group('dist')+' (from|of) '+ m.group('rA'), "("+' or '.join(["s."+r for r in self.parser.proj.regionMapping['near$'+m.group('rA')+'$'+m.group('dist')]])+")", text)
                for m in re.finditer(r'between (?P<rA>\w+) and (?P<rB>\w+)', text):
                    text=re.sub(r'between ' + m.group('rA')+' and '+ m.group('rB'),"("+' or '.join(["s."+r for r in self.parser.proj.regionMapping['between$'+m.group('rA')+'$and$'+m.group('rB')+"$"]])+")", text)

                # substitute decomposed region 
                for r in self.proj.rfi.regions:
                    if not (r.isObstacle or r.name.lower() == "boundary"):
                        text = re.sub('\\b' + r.name + '\\b', "("+' | '.join(["s."+x for x in self.parser.proj.regionMapping[r.name]])+")", text)

                regionList = ["s."+x.name for x in self.parser.proj.rfi.regions]
            else:
                for r in self.proj.rfi.regions:
                    if not (r.isObstacle or r.name.lower() == "boundary"):
                        text = re.sub('\\b' + r.name + '\\b', "s."+r.name, text)

                regionList = ["s."+x.name for x in self.proj.rfi.regions]

            spec, traceback, failed, self.LTL2SpecLineNumber, self.proj.internal_props = parseEnglishToLTL.writeSpec(text, sensorList, regionList, robotPropList)

            # Abort compilation if there were any errors
            if failed:
                return None, None, None

            LTLspec_env = spec["EnvInit"] + spec["EnvTrans"] + spec["EnvGoals"]
            LTLspec_sys = spec["SysInit"] + spec["SysTrans"] + spec["SysGoals"]

        else:
            logging.error("Parser type '{0}' not currently supported".format(self.proj.compile_options["parser"]))
            return None, None, None

        if self.proj.compile_options["decompose"]:
            regionList = [x.name for x in self.parser.proj.rfi.regions]
        else:
            regionList = [x.name for x in self.proj.rfi.regions]

        if self.proj.compile_options["use_region_bit_encoding"]:
            # Define the number of bits needed to encode the regions
            numBits = int(math.ceil(math.log(len(regionList),2)))

            # creating the region bit encoding
            bitEncode = bitEncoding(len(regionList),numBits)
            currBitEnc = bitEncode['current']
            nextBitEnc = bitEncode['next']

            # switch to bit encodings for regions
            LTLspec_env = replaceRegionName(LTLspec_env, bitEncode, regionList)
            LTLspec_sys = replaceRegionName(LTLspec_sys, bitEncode, regionList)
        
            if self.LTL2SpecLineNumber is not None:
                for k in self.LTL2SpecLineNumber.keys():
                    new_k = replaceRegionName(k, bitEncode, regionList)
                    if new_k != k:
                        self.LTL2SpecLineNumber[new_k] = self.LTL2SpecLineNumber[k]
                        del self.LTL2SpecLineNumber[k]

        if self.proj.compile_options["decompose"]:
            adjData = self.parser.proj.rfi.transitions
        else:
            adjData = self.proj.rfi.transitions

        # Store some data needed for later analysis
        self.spec = {}
        if self.proj.compile_options["decompose"]:
            self.spec['Topo'] = createTopologyFragment(adjData, self.parser.proj.rfi.regions, use_bits=self.proj.compile_options["use_region_bit_encoding"])
        else: 
            self.spec['Topo'] = createTopologyFragment(adjData, self.proj.rfi.regions, use_bits=self.proj.compile_options["use_region_bit_encoding"])

        # Substitute any macros that the parsers passed us
        LTLspec_env = self.substituteMacros(LTLspec_env)
        LTLspec_sys = self.substituteMacros(LTLspec_sys)

        # If we are not using bit-encoding, we need to
        # explicitly encode a mutex for regions
        if not self.proj.compile_options["use_region_bit_encoding"]:
            # DNF version (extremely slow for core-finding)
            #mutex = "\n\t&\n\t []({})".format(" | ".join(["({})".format(" & ".join(["s."+r2.name if r is r2 else "!s."+r2.name for r2 in self.parser.proj.rfi.regions])) for r in self.parser.proj.rfi.regions]))

            if self.proj.compile_options["decompose"]:
                region_list = self.parser.proj.rfi.regions
            else:
                region_list = self.proj.rfi.regions

            # Almost-CNF version
            exclusions = []
            for i, r1 in enumerate(region_list):
                for r2 in region_list[i+1:]:
                    exclusions.append("!(s.{} & s.{})".format(r1.name, r2.name))
            mutex = "\n&\n\t []({})".format(" & ".join(exclusions))
            LTLspec_sys += mutex

        self.spec.update(self.splitSpecIntoComponents(LTLspec_env, LTLspec_sys))

        # Add in a fragment to make sure that we start in a valid region
        if self.proj.compile_options["decompose"]:
            self.spec['InitRegionSanityCheck'] = createInitialRegionFragment(self.parser.proj.rfi.regions, use_bits=self.proj.compile_options["use_region_bit_encoding"])
        else:
            self.spec['InitRegionSanityCheck'] = createInitialRegionFragment(self.proj.rfi.regions, use_bits=self.proj.compile_options["use_region_bit_encoding"])
        LTLspec_sys += "\n&\n" + self.spec['InitRegionSanityCheck']

        LTLspec_sys += "\n&\n" + self.spec['Topo']

        createLTLfile(self.proj.getFilenamePrefix(), LTLspec_env, LTLspec_sys)
        
        if self.proj.compile_options["parser"] == "slurp":
            self.reversemapping = {self.postprocessLTL(line,sensorList,robotPropList).strip():line.strip() for line in oldspec_env + oldspec_sys}
            self.reversemapping[self.spec['Topo'].replace("\n","").replace("\t","").lstrip().rstrip("\n\t &")] = "TOPOLOGY"

        #for k,v in self.reversemapping.iteritems():
        #    print "{!r}:{!r}".format(k,v)        

        return self.spec, traceback, response