def loadSpecObjectFromFile(self, spec_file = ""):
"""
spec_file: path to specification
"""
if not spec_file:
spec_file = os.path.join(self.proj.project_root, self.proj.getFilenamePrefix() + ".spec")
compiler = specCompiler.SpecCompiler(spec_file)
compiler._decompose()
spec, tracebackTree, response = compiler._writeLTLFile()
# replace EnvTrans check to make sure it's not empty
spec['EnvTrans'] = '&\n '.join(filter(None, [spec['EnvTrans'], spec["EnvTopo"]]))
# replace EnvInit and SysInit to just init topology for centralized synthesis
spec['EnvInit'] = spec['InitEnvRegionSanityCheck']
spec['SysInit'] = spec['InitRegionSanityCheck']
# replace SysTrans
spec['SysTrans'] = '&\n '.join(filter(None, [spec['SysTrans'], spec["Topo"]]))
# replace EnvGoals
spec['EnvGoals'] = '&\n '.join(filter(None, [spec['EnvGoals'], spec["SysImplyEnv"]]))
return spec
def runTest(self):
title_str = "#### Testing project '{0}' ####".format(self.spec_filename)
print
if sys.platform not in ['win32', 'cygwin']:
print "\033[41m" # red background color
print "#"*len(title_str)
print title_str
print "#"*len(title_str),
if sys.platform not in ['win32', 'cygwin']:
print "\033[0m" # end coloring
print
c = specCompiler.SpecCompiler(self.spec_filename)
c_out = c.compile()
self.assertIsNotNone(c_out, msg="Compilation failed due to parser error")
realizable, realizableFS, output = c_out
print output
expectedToBeUnrealizable = ("unsynth" in self.spec_filename) or \
("unreal" in self.spec_filename) or \
("unsat" in self.spec_filename)
if expectedToBeUnrealizable:
self.assertFalse(realizable, msg="Specification was realizable but we did not expect this")
else:
self.assertTrue(realizable, msg="Specification was unrealizable")
def resynthesizeFromNewSpecification(self, spec_text):
self.pause()
self.postEvent("INFO", "Starting resynthesis...")
# Copy the current project
new_proj = self._duplicateProject(self.proj)
# Overwrite the specification text
new_proj.specText = spec_text
# Save the file
new_proj.writeSpecFile()
# Get a SpecCompiler ready
c = specCompiler.SpecCompiler()
c.proj = new_proj
# Make sure rfi is non-decomposed here
c.proj.loadRegionFile(decomposed=False)
if c.proj.compile_options["decompose"]:
c._decompose()
# Call the parser
c._writeLTLFile()
c._writeSMVFile()
# Constrain the initial conditions to our current state
self._setSpecificationInitialConditionsToCurrent(new_proj)
# Synthesize a strategy
(realizable, realizableFS, output) = c._synthesize()
logging.debug(output)
if not (realizable or realizableFS):
logging.error("Specification for resynthesis was unsynthesizable!")
self.pause()
return False
logging.info("New automaton has been created.")
# Load in the new strategy
self.proj = new_proj
logging.info("Reinitializing execution...")
spec_file = self.proj.getFilenamePrefix() + ".spec"
aut_file = self.proj.getFilenamePrefix() + ".aut"
self.initialize(spec_file, aut_file, firstRun=False)
self.resume()
return True
def loadSpecFile(spec_file):
"""
spec_file: path to specification
"""
compiler = specCompiler.SpecCompiler(spec_file)
compiler._decompose()
spec, tracebackTree, response = compiler._writeLTLFile()
# replace EnvTrans check to make sure it's not empty
spec['EnvTrans'] = '&\n '.join(filter(None, [spec['EnvTrans'], spec["EnvTopo"]]))
# replace EnvInit and SysInit to just init topology for centralized synthesis
spec['EnvInit'] = spec['InitEnvRegionSanityCheck']
spec['SysInit'] = spec['InitRegionSanityCheck']
# replace SysTrans
spec['SysTrans'] = '&\n '.join(filter(None, [spec['SysTrans'], spec["Topo"]]))
# replace EnvGoals
spec['EnvGoals'] = '&\n '.join(filter(None, [spec['EnvGoals'], spec["SysImplyEnv"]]))
return spec
def compileSpec():
"""compiles the project via the spec file, returns log"""
createSession()
saveToSession('regions')
saveToSession('spec')
sc = specCompiler.SpecCompiler()
sc.loadSpec(session['specFilePath'])
realizable, realizableFS, logString = sc.compile()
# create zip of all files in the project
with zipfile.ZipFile(joinToSessionDir(session['username'] + '.zip'),
'w') as myzip:
myzip.write(session['regionsFilePath'],
os.path.basename(session['regionsFilePath']))
myzip.write(session['specFilePath'],
os.path.basename(session['specFilePath']))
fileName, fileExtension = os.path.splitext(session['specFilePath'])
myzip.write(fileName + '.ltl', os.path.basename(fileName + '.ltl'))
myzip.write(fileName + '.smv', os.path.basename(fileName + '.smv'))
myzip.write(fileName + '.aut', os.path.basename(fileName + '.aut'))
myzip.write(fileName + '_decomposed.regions',
os.path.basename(fileName + '_decomposed.regions'))
return jsonify({'compilerLog': logString})
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 analyzeSpec():
"""analyzes the stored spec and sends back the output"""
sc = specCompiler.SpecCompiler()
sc.loadSpec(session['specFilePath'])
realizable, unsat, nonTrivial, to_highlight, output = sc._analyze()
return jsonify({'analyzeLog': output})
