from z3 import Optimize, Real, If
x = Real('x')
y = Real('y')
z = Real('z')
def z3abs(obj):
return If(x > 0, x, -x)
optimizer = Optimize()
# optimizer.add(x>0.0)
# optimizer.add(y>0.0)
optimizer.add(x*x+y*y==1.0)
optimizer.add_soft(z == x+y)
optimizer.maximize(z)
result = optimizer.check()
print(optimizer.model())
def run_inference(file_name=None, base_folder=None):
if not file_name:
if len(sys.argv) >= 2 and sys.argv[1] != '--help':
file_name = sys.argv[1]
if len(sys.argv) >= 3:
base_folder = sys.argv[2]
else:
print_help()
return
start_time = time.time()
class_type_params, func_type_params = configure_inference([flag for flag in sys.argv[2:] if flag.startswith("--")])
if not base_folder:
base_folder = ''
if file_name.endswith('.py'):
file_name = file_name[:-3]
t = ImportHandler.get_module_ast(file_name, base_folder)
solver = z3_types.TypesSolver(t, base_folder=base_folder, type_params=func_type_params,
class_type_params=class_type_params)
context = Context(t, t.body, solver)
context.type_params = solver.config.type_params
context.class_type_params = solver.config.class_type_params
solver.infer_stubs(context, infer)
for stmt in t.body:
infer(stmt, context, solver)
solver.push()
end_time = time.time()
print("Constraints collection took {}s".format(end_time - start_time))
start_time = time.time()
if config.config['enable_soft_constraints']:
check = solver.optimize.check()
else:
check = solver.check(solver.assertions_vars)
end_time = time.time()
print("Constraints solving took {}s".format(end_time - start_time))
write_path = "inference_output/" + base_folder
if not os.path.exists(write_path):
os.makedirs(write_path)
if write_path.endswith('/'):
write_path = write_path[:-1]
file = open(write_path + '/{}_constraints_log.txt'.format(file_name.replace('/', '.')), 'w')
file.write(print_solver(solver))
file.close()
if check == z3_types.unsat:
print("Check: unsat")
if config.config["print_unsat_core"]:
print("Writing unsat core to {}".format(write_path))
if config.config['enable_soft_constraints']:
solver.check(solver.assertions_vars)
core = solver.unsat_core()
else:
core = solver.unsat_core()
core_string = '\n'.join(solver.assertions_errors[c] for c in core)
file = open(write_path + '/{}_unsat_core.txt'.format(file_name), 'w')
file.write(core_string)
file.close()
model = None
opt = Optimize(solver.ctx)
for av in solver.assertions_vars:
opt.add_soft(av)
for a in solver.all_assertions:
opt.add(a)
for a in solver.z3_types.subtyping:
opt.add(a)
for a in solver.z3_types.subst_axioms:
opt.add(a)
for a in solver.forced:
opt.add(a)
start_time = time.time()
opt.check()
model = opt.model()
end_time = time.time()
print("Solving relaxed model took {}s".format(end_time - start_time))
for av in solver.assertions_vars:
if not model[av]:
print("Unsat:")
print(solver.assertions_errors[av])
else:
opt = Optimize(solver.ctx)
for av in solver.assertions_vars:
opt.add_soft(av)
for a in solver.all_assertions:
opt.add(a)
for a in solver.z3_types.subtyping:
opt.add(a)
for a in solver.z3_types.subst_axioms:
opt.add(a)
for a in solver.forced:
opt.add(a)
start_time = time.time()
opt.check()
model = opt.model()
end_time = time.time()
print("Solving relaxed model took {}s".format(end_time - start_time))
for av in solver.assertions_vars:
if not model[av]:
print("Unsat:")
print(solver.assertions_errors[av])
else:
if config.config['enable_soft_constraints']:
model = solver.optimize.model()
else:
model = solver.model()
if model is not None:
print("Writing output to {}".format(write_path))
context.generate_typed_ast(model, solver)
ImportHandler.add_required_imports(file_name, t, context)
write_path += '/' + file_name + '.py'
if not os.path.exists(os.path.dirname(write_path)):
os.makedirs(os.path.dirname(write_path))
file = open(write_path, 'w')
file.write(astunparse.unparse(t))
file.close()
ImportHandler.write_to_files(model, solver)
def main(args):
# print(args)
seed = int(args[0])
random.seed(seed)
# X is a three dimensional grid containing (t, x, y)
X = [[[Bool("x_%s_%s_%s" % (k, i, j)) for j in range(GRID_SZ)]
for i in range(GRID_SZ)] for k in range(HOPS + 1)]
s = Optimize()
# Initial Constraints
s.add(X[0][0][0])
s.add([Not(cell) for row in X[0] for cell in row][1:])
# Final constraints
s.add(X[HOPS][GRID_SZ - 1][GRID_SZ - 1])
s.add([Not(cell) for row in X[HOPS] for cell in row][:-1])
#Sanity Constraints
for grid in X:
for i in range(len(grid)):
for j in range(len(grid)):
for p in range(len(grid)):
for q in range(len(grid)):
if not (i == p and j == q):
s.add(Not(And(grid[i][j], grid[p][q])))
#Motion primitives
for t in range(HOPS):
for x in range(GRID_SZ):
for y in range(GRID_SZ):
temp = Or(X[t][x][y])
if (x + 1 < GRID_SZ):
temp = Or(temp, X[t][x + 1][y])
if (y + 1 < GRID_SZ):
temp = Or(temp, X[t][x][y + 1])
if (x - 1 >= 0):
temp = Or(temp, X[t][x - 1][y])
if (y - 1 >= 0):
temp = Or(temp, X[t][x][y - 1])
s.add(simplify(Implies(X[t + 1][x][y], temp)))
# Cost constraints
for t in range(HOPS):
for x in range(GRID_SZ):
for y in range(GRID_SZ):
s.add_soft(Not(X[t][x][y]),
distance(x, y, GRID_SZ - 1, GRID_SZ - 1))
hop = 0
if s.check() == sat:
m = s.model()
else:
print("No.of hops too low...")
exit(1)
obs1 = Obstacle(0, 3, GRID_SZ)
robot_plan = []
obs_plan = []
# for a in s.assertions():
# print(a)
while (hop < HOPS):
robot_pos = (0, 0) if hop == 0 else get_robot_pos(m, hop)
obs_pos = obs1.next_move()
s.add(X[hop][robot_pos[0]][robot_pos[1]])
# print("hop is ", hop)
# print("robot at ", robot_pos)
# print("obs at ", obs_pos)
if robot_pos == obs_pos:
print("COLLISION!!!")
print(robot_plan)
print(obs_plan)
exit()
robot_plan.append(robot_pos)
obs_plan.append(obs_pos)
#next position of the robot
next_robot_pos = get_robot_pos(m, hop + 1)
s.push()
# print("intersection points")
# print(intersection_points(robot_pos, obs_pos))
# count = 0
next_overlap = next_intersection_points(next_robot_pos, obs_pos)
for (x, y) in next_overlap:
# consider only the intersection with the next step in the plan
s.add(Not(X[hop + 1][x][y]))
if len(next_overlap) > 0: # we need to find a new path
if (s.check() == unsat):
print("stay there")
else:
m = s.model()
# print("Plan for hop = " + str(hop+1))
# print(get_plan(m))
hop += 1
else:
# we don't need to worry about the path
hop += 1
s.pop()
robot_pos = get_robot_pos(m, hop)
obs_pos = obs1.next_move()
# print("hop is ", hop)
# print("robot at ", robot_pos)
# print("obs at ", obs_pos)
robot_plan.append(robot_pos)
obs_plan.append(obs_pos)
if path_valid(robot_plan, obs_plan):
print("PATH IS VALID!!!")
else:
print("PATH IS INVALID!!!")
print("ROBOT MOVEMENT:")
print(robot_plan)
print("OBSTACLE MOVEMENT:")
print(obs_plan)
def main(args):
# print(args)
seed = int(args[0])
random.seed(seed)
GRID_SZ = int(args[1])
HOPS = int(args[2])
print("WORKSPACE SIZE (%s x %s)" % (GRID_SZ, GRID_SZ))
print("HOPS ALLOWED = %s" % (HOPS))
# X is a three dimensional grid containing (t, x, y)
X = [ [ [ Bool("x_%s_%s_%s" % (k, i, j)) for j in range(GRID_SZ) ]
for i in range(GRID_SZ) ]
for k in range(HOPS+1)]
s = Optimize()
# Initial Constraints
s.add(X[0][0][0])
s.add([Not(cell) for row in X[0] for cell in row][1:])
# Final constraints
s.add(X[HOPS][GRID_SZ-1][GRID_SZ-1])
s.add([Not(cell) for row in X[HOPS] for cell in row][:-1])
#Sanity Constraints
for grid in X:
for i in range(len(grid)):
for j in range(len(grid)):
for p in range(len(grid)):
for q in range(len(grid)):
if not (i==p and j==q):
s.add(Not(And(grid[i][j], grid[p][q])))
#Motion primitives
for t in range(HOPS):
for x in range(GRID_SZ):
for y in range(GRID_SZ):
temp = Or(X[t][x][y])
if (x+1 < GRID_SZ):
temp = Or(temp, X[t][x+1][y])
if (y+1 < GRID_SZ):
temp = Or(temp, X[t][x][y+1])
if (x-1 >= 0):
temp = Or(temp, X[t][x-1][y])
if (y-1 >= 0):
temp = Or(temp, X[t][x][y-1])
s.add(simplify(Implies(X[t+1][x][y], temp)))
# Cost constraints
for t in range(HOPS):
for x in range(GRID_SZ):
for y in range(GRID_SZ):
s.add_soft(Not(X[t][x][y]), distance(x, y, GRID_SZ-1, GRID_SZ-1))
if s.check() == sat:
m = s.model()
else:
print("No.of hops too low...")
exit(1)
# obs1 = Obstacle(0, 3, GRID_SZ)
obs = [Obstacle(3, 3, GRID_SZ), Obstacle(4, 5, GRID_SZ), Obstacle(6, 7, GRID_SZ), Obstacle(8, 9, GRID_SZ), Obstacle(9, 3, GRID_SZ), Obstacle(1, 8, GRID_SZ), Obstacle(7, 7, GRID_SZ)]
# obs = [Obstacle(3, 3, GRID_SZ)]
##
# obs = []
# for i in range(0, GRID_SZ-1):
# for j in range(0, GRID_SZ-1):
# if (i+j)%3 != 0:
# print(i, j)
# obs.append(Obstacle(i, j, GRID_SZ))
# print("-----")
robot_plan = []
hop = 0
stay_count = 0
# obs_plan = []
# for a in s.assertions():
# print(a)
while (hop < HOPS):
# print("hops = ", hop)
if stay_count > 0:
robot_pos = [robot_plan[-stay_count][0], robot_plan[-stay_count][1]]
next_robot_pos = get_robot_pos(m,hop-stay_count)
else:
robot_pos = get_robot_pos(m,hop)
next_robot_pos = get_robot_pos(m,hop+1)
# print("robot_pos = ", robot_pos)
# for obstacle in obs:
# print("Obstacle at ", (obstacle.x, obstacle.y))
# print('-----------')
s.add(X[hop][robot_pos[0]][robot_pos[1]])
robot_plan.append(robot_pos)
# obs_plan.append(obs_pos)
#next position of the robot
# if (stay:
# s.push()
# print("intersection points")
# print(intersection_points(robot_pos, obs_pos))
# count = 0
# print("blah!!!")
next_overlap = []
for obstacle in obs:
next_overlap = next_overlap + next_intersection_points(robot_pos, (obstacle.x, obstacle.y))
# print("Lenght = ", len(next_overlap))
for (x, y) in next_overlap:
# consider only the intersection with the next step in the plan
if ((0 <= x < GRID_SZ) and (0 <= y < GRID_SZ)):
s.add(Not(X[hop+1][x][y]))
# print("ceeeee!!", next_robot_pos in set(next_overlap))
if next_robot_pos in set(next_overlap): # we need to find a new path
# print("just before check")
if (s.check() == unsat):
print("stay there")
print(robot_pos)
stay_count += 1
# hop -= 1
hop += 1
else:
stay_count = 0
m = s.model()
hop += 1
# print("just after check")
else:
# we don't need to worry about the path
hop += 1
# print('dssdfdsfds')
# s.pop()
for obstacle in obs:
# print("12")
obstacle.next_move()
if (stay_count > 0):
return 1
robot_pos = get_robot_pos(m,hop)
for obstacle in obs:
obstacle.next_move()
# print("hop is ", hop)
# print("robot at ", robot_pos)
# print("obs at ", obs_pos)
robot_plan.append(robot_pos)
# obs_plan.append(obs_pos)
for obstacle in obs:
if not path_valid(robot_plan, obstacle.path):
print("PATH IS INVALID!!!")
print("ROBOT MOVEMENT:")
print(robot_plan)
print("OBSTACLE MOVEMENT:")
for obstacle in obs:
print(obstacle.path)
