def load_system(file_path):
sys, prop = loadsystem.parse(file_path)
sys.init_sims(plt_lib=None, psim_args=None)
# useful to talk about the parameterization of ci without talking about
# delta_t
prop.delta_t = sys.delta_t
#step_sim = simsys.get_step_simulator(
# sys.controller_sim,
# sys.plant_sim,
# sys.delta_t)
#trace = sim(py_x, t0, tf, py_u, pvt);
#system_sim = simsys.get_system_simulator(step_sim, sys.delta_t, sys.num_dims)
system_sim = simsys.get_system_simulator(sys)
# simstate encapsulates pvt, s, d,
def one_shot_sim(x, t0, tf, w, simstate=None):
if t0 != 0:
raise err.Fatal('t0 must be 0!')
else:
# TODO: construct numpy arrays in loadsystem
# This will require changing code into quite afew
# places...carefull!
s = np.array(prop.initial_controller_state)
d = np.array(prop.initial_discrete_state)
pvt = np.zeros(1)
ci_array = w
return system_sim(x, s, d, pvt, t0, tf, ci_array)
return one_shot_sim, prop
def load_system(file_path):
sys, prop = loadsystem.parse(file_path)
sys.init_sims(plt_lib=None, psim_args=None)
# useful to talk about the parameterization of ci without talking about
# delta_t
prop.delta_t = sys.delta_t
#step_sim = simsys.get_step_simulator(
# sys.controller_sim,
# sys.plant_sim,
# sys.delta_t)
#trace = sim(py_x, t0, tf, py_u, pvt);
#system_sim = simsys.get_system_simulator(step_sim, sys.delta_t, sys.num_dims)
system_sim = simsys.get_system_simulator(sys)
# simstate encapsulates pvt, s, d,
def one_shot_sim(x, t0, tf, w, simstate=None):
if t0 != 0:
raise err.Fatal('t0 must be 0!')
else:
# TODO: construct numpy arrays in loadsystem
# This will require changing code into quite afew
# places...carefull!
s = np.array(prop.initial_controller_state)
d = np.array(prop.initial_discrete_state)
pvt = np.zeros(1)
ci_array = w
return system_sim(x, s, d, pvt, t0, tf, ci_array)
return one_shot_sim, prop
def simulate(sys, prop, opts):
num_samples = opts.num_sim_samples
num_violations = 0
concrete_states = sample.sample_init_UR(sys, prop, num_samples)
trace_list = []
sys_sim = simsys.get_system_simulator(sys)
for i in tqdm.trange(num_samples):
trace = simsys.simulate(sys_sim, concrete_states[i], prop.T)
trace_list.append(trace)
sat_x, sat_t = check_prop_violation(trace, prop)
if sat_x.size != 0:
num_violations += 1
print('x0={} -> x={}, t={}...num_vio_counter={}'.format(
trace.x_array[0, :],
sat_x[0, :], # the first violating state
sat_t[0], # corresponding time instant
num_violations), file=SYS.stderr)
print('number of violations: {}'.format(num_violations))
return trace_list
def simulate(sys, prop, opts):
num_samples = opts.num_sim_samples
num_violations = 0
concrete_states = sample.sample_init_UR(sys, prop, num_samples)
trace_list = []
sys_sim = simsys.get_system_simulator(sys)
for i in tqdm.trange(num_samples):
trace = simsys.simulate(sys_sim, concrete_states[i], prop.T)
trace_list.append(trace)
sat_x, sat_t = check_prop_violation(trace, prop)
if sat_x.size != 0:
num_violations += 1
print(
'x0={} -> x={}, t={}...num_vio_counter={}'.format(
trace.x_array[0, :],
sat_x[0, :], # the first violating state
sat_t[0], # corresponding time instant
num_violations),
file=SYS.stderr)
print('number of violations: {}'.format(num_violations))
return trace_list
def falsify(sys, prop, opts, current_abs, sampler):
# sys
controller_sim = sys.controller_sim
plant_sim = sys.plant_sim
# prop
init_cons_list = prop.init_cons_list
init_cons = prop.init_cons
final_cons = prop.final_cons
ci = prop.ci
pi = prop.pi
initial_discrete_state = prop.initial_discrete_state
initial_controller_state = prop.initial_controller_state
MAX_ITER = prop.MAX_ITER
#TODO: hack to make random_test sample ci_cells when doing
# ss-concrete. It is false if ss-symex (and anything else) is
# asked for, because then ci_seq consists if concrete values. Can
# also be activated for symex as an option, but to be done later.
sample_ci = opts.METHOD == 'concrete' or opts.METHOD == 'concrete_no_controller'
# options
#plot = opts.plot
initial_discrete_state = tuple(initial_discrete_state)
initial_controller_state = np.array(initial_controller_state)
# make a copy of the original initial plant constraints
original_plant_cons_list = init_cons_list
pi_ref = wmanager.WMap(pi, sys.pi_grid_eps)
ci_ref = wmanager.WMap(ci, sys.ci_grid_eps) if sample_ci else None
# f1 = plt.figure()
##
## plt.grid(True)
##
## ax = f1.gca()
## eps = current_abs.plant_abs.eps
## #ax.set_xticks(np.arange(0, 2, eps[0]))
## #ax.set_yticks(np.arange(0, 20, eps[1]))
##
## f1.suptitle('abstraction')
args = (current_abs,
init_cons_list,
final_cons,
initial_discrete_state,
initial_controller_state,
plant_sim,
controller_sim,
ci,
pi,
sampler,
#plot,
init_cons,
original_plant_cons_list,
MAX_ITER,
sample_ci,
pi_ref,
ci_ref,
opts)
if opts.refine == 'init':
refine_init(*args)
elif opts.refine == 'trace':
refine_trace(*args)
elif (opts.refine == 'model-dft'
or opts.refine == 'model-rel'
or opts.refine == 'model-dmt'
or opts.refine == 'model-dct'):
sys_sim = simsys.get_system_simulator(sys)
falsify_using_model(*args, sys_sim=sys_sim, sys=sys, prop=prop)
else:
raise err.Fatal('internal')