def __init__(self, ltlmopclient, executor, base_spec=None):
""" take reference to execution context and gui_window
optionally initialize with some base spec text """
self.ltlmop = ltlmopclient
self.executor = executor
if base_spec is None:
self.base_spec = []
else:
self.base_spec = base_spec.split("\n")
self.spec = []
# Input that carries over from spec to spec
self.carryover = []
# Initiate a specCompiler to hang around and give us immediate parser
# feedback
self.compiler = SpecCompiler()
self.compiler.proj = self.ltlmop.proj
self.chat_dict = {
"clear_actions": {
"prompts": ["clear"],
"response":
("clear_command",
"Okay, I've cleared all the orders you've given me.")
},
"activate_actions": {
"prompts": ["go", "activate", "execute"],
"response": ("activate_command", "")
},
"pause_actions": {
"prompts": ["wait", "stop"],
"response": ("no_act", "Stopping until you tell me to start " +
"or give me new orders.")
},
"status_requests": {
"prompts": ["status"],
"response": ("status_request", "")
},
"resume_actions": {
"prompts": ["start", "begin"],
"response": ("resume_act", "Picking up where I left off.")
},
"speclist_requests": {
"prompts": ["list"],
"response": ("speclist_request", "")
},
"non_actionable_chats": {
"prompts": ["hello", "hi", "how's it going?"],
"response": ("chatbot_response", "Hi!")
}
}
self.paused = False
# Set up talkback
self.interpreter = talkback.FriendlyResponseInterpreter()
def __init__(self, gui_window, executor, base_spec=None):
""" take reference to execution context and gui_window
optionally initialize with some base spec text """
self.gui = gui_window
self.executor = executor
if base_spec is None:
self.base_spec = []
else:
self.base_spec = base_spec.split("\n")
self.spec = []
# Initiate a specCompiler to hang around and give us immediate parser feedback
self.compiler = SpecCompiler()
self.compiler.proj = self.gui.proj
class BarebonesDialogueManager(object):
def __init__(self, ltlmopclient, executor, base_spec=None):
""" take reference to execution context and gui_window
optionally initialize with some base spec text """
self.ltlmop = ltlmopclient
self.executor = executor
if base_spec is None:
self.base_spec = []
else:
self.base_spec = base_spec.split("\n")
self.spec = []
# Input that carries over from spec to spec
self.carryover = []
# Initiate a specCompiler to hang around and give us immediate parser
# feedback
self.compiler = SpecCompiler()
self.compiler.proj = self.ltlmop.proj
self.chat_dict = {
"clear_actions": {
"prompts": ["clear"],
"response":
("clear_command",
"Okay, I've cleared all the orders you've given me.")
},
"activate_actions": {
"prompts": ["go", "activate", "execute"],
"response": ("activate_command", "")
},
"pause_actions": {
"prompts": ["wait", "stop"],
"response": ("no_act", "Stopping until you tell me to start " +
"or give me new orders.")
},
"status_requests": {
"prompts": ["status"],
"response": ("status_request", "")
},
"resume_actions": {
"prompts": ["start", "begin"],
"response": ("resume_act", "Picking up where I left off.")
},
"speclist_requests": {
"prompts": ["list"],
"response": ("speclist_request", "")
},
"non_actionable_chats": {
"prompts": ["hello", "hi", "how's it going?"],
"response": ("chatbot_response", "Hi!")
}
}
self.paused = False
# Set up talkback
self.interpreter = talkback.FriendlyResponseInterpreter()
def clear_spec(self):
"""Clear the specification but leave any carryover."""
self.spec = []
self.ltlmop.append_log("Cleared the specification.", "System")
def clear_all(self):
"""Clear the specification and any carryover."""
self.spec = []
self.carryover = []
self.ltlmop.append_log("Cleared the specification and carryover.",
"System")
def execute(self):
"""Synthesize a new spec and begin execution."""
if not self.spec and not self.carryover:
return "You haven't given me any orders I understand."
# pause
self.executor.pause()
# Let the user know we're synthesizing
self.ltlmop.on_receive_reply(RESPONSE_PLANNING)
# Trigger resynthesis
spec = self.get_spec()
success = self.executor.resynthesizeFromNewSpecification(spec)
self.clear_spec()
if success:
# Resume
self.executor.resume()
return "Got it. I'm carrying out your orders."
else:
return (
"Sorry, I can't come up with a plan that will carry out all your orders. "
"Try giving fewer commands at a time.")
def handle_chats(self, message):
"""Return the response code and text if appropriate"""
msg = message.lower().strip().strip('.')
for entry in self.chat_dict:
if msg in self.chat_dict[entry]["prompts"]:
return self.chat_dict[entry]["response"]
return "other", ""
def tell(self, message):
""" take in a message from the user, return a response.
WARNING: this is effectively running in non-main thread"""
response_code, chat = self.handle_chats(message)
if response_code == "clear_command":
self.clear_all()
return chat
elif response_code == "activate_command":
#if activate, always resynthesize
return self.execute()
elif response_code == "no_act":
if self.executor.isRunning():
self.paused = True
self.executor.pause()
return chat
elif not self.paused:
return "I wasn't doing anything so I cannot stop."
else:
return "I am already stopped."
elif response_code == "resume_act":
if self.paused:
self.paused = False
self.executor.resume()
return chat
else:
return "Sorry, I can only start if you stop me, try 'go'."
elif response_code == "status_request":
if not self.executor.isRunning():
return chat
curr_goal_num = self.executor.getCurrentGoalNumber()
if curr_goal_num is None:
return chat
else:
return self.executor.getCurrentGoalDescription()
elif response_code == "chatbot_response":
return chat
elif response_code == "speclist_request":
return "\n".join(self.spec + self.carryover)
elif response_code == "other":
# Ask parser if this individual line is OK
# FIXME: Because _writeLTLFile() is so monolithic, this will
# clobber the `.ltl` file
# FIXME: This may only work with SLURP
message = message.strip()
self.compiler.proj.specText = message
spec, traceback_tree, responses = self.compiler._writeLTLFile()
if spec is not None:
# Check whether this is a carryover command
carryover = any(ADDITIONAL_DATA_REACTION in
response.command.additional_data
for command_responses in responses
for response in command_responses)
if carryover:
self.carryover.append(message)
self.ltlmop.append_log(
"Identified carryover command: {!r}".format(message))
else:
self.spec.append(message)
return [
self.interpreter.interpret(response)
for command_responses in responses
for response in command_responses
]
def get_spec(self):
""" return the current specification as one big string """
return "\n".join(self.base_spec + self.spec + self.carryover)
def __init__(self, *args, **kwds):
# begin wxGlade: MopsyFrame.__init__
kwds["style"] = wx.DEFAULT_FRAME_STYLE
wx.Frame.__init__(self, *args, **kwds)
self.mopsy_frame_statusbar = self.CreateStatusBar(1, 0)
self.window_1 = wx.SplitterWindow(self, wx.ID_ANY, style=wx.SP_3D | wx.SP_BORDER)
self.window_1_pane_1 = wx.Panel(self.window_1, wx.ID_ANY)
self.history_grid = wx.grid.Grid(self.window_1_pane_1, wx.ID_ANY, size=(1, 1))
self.window_1_pane_2 = wx.Panel(self.window_1, wx.ID_ANY)
self.panel_1 = wx.Panel(self.window_1_pane_2, wx.ID_ANY, style=wx.SUNKEN_BORDER | wx.TAB_TRAVERSAL)
self.label_1 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Your goal:")
self.label_goal = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Wait patiently for Mopsy to load")
self.label_5 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Current environment state:")
self.label_6 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Please choose your response:")
self.label_movingto = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Moving to XXX ...")
self.label_8 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Actuator states:")
self.label_9 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Internal propositions:")
self.label_violation = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "", style=wx.ST_NO_AUTORESIZE)
self.button_next = wx.Button(self.window_1_pane_2, wx.ID_ANY, "Execute Move >>")
self.__set_properties()
self.__do_layout()
self.Bind(wx.EVT_BUTTON, self.onButtonNext, self.button_next)
# end wxGlade
self.coreCalculationLock = threading.Lock()
self.dest_region = None
self.current_region = None
self.regionsToHide = []
self.actuatorStates = {}
self.sensorStates = {}
self.panel_1.SetBackgroundStyle(wx.BG_STYLE_CUSTOM)
self.mapBitmap = None
# Load in the project and map
self.mopsy_frame_statusbar.SetStatusText("Loading project...", 0)
self.compiler = SpecCompiler(sys.argv[1])
self.proj = copy.deepcopy(self.compiler.proj)
self.proj.rfi = self.proj.loadRegionFile(decomposed=True)
self.Bind(wx.EVT_SIZE, self.onResize, self)
self.panel_1.Bind(wx.EVT_PAINT, self.onPaint)
self.panel_1.Bind(wx.EVT_ERASE_BACKGROUND, self.onEraseBG)
self.panel_1.Bind(wx.EVT_LEFT_DOWN, self.onMapClick)
self.onResize()
self.proj.determineEnabledPropositions()
# Parse specification so we can give feedback
self.mopsy_frame_statusbar.SetStatusText("Parsing specification...", 0)
self.compiler._decompose()
self.spec, self.tracebackTree, response = self.compiler._writeLTLFile()
self.compiler._writeSMVFile() # to update propList
if self.proj.compile_options["parser"] == "slurp":
# Add SLURP to path for import
p = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.join(p, "..", "etc", "SLURP"))
global chunks_from_gentree, line_to_chunks
from ltlbroom.specgeneration import chunks_from_gentree, line_to_chunks
self.tracebackChunks = chunks_from_gentree(self.tracebackTree)
# Load in counter-strategy automaton
self.envDummySensorHandler = EnvDummySensorHandler(self)
self.envDummyActuatorHandler = EnvDummyActuatorHandler(self)
self.dummyMotionHandler = DummyMotionHandler()
self.proj.sensor_handler, self.proj.actuator_handler, self.proj.h_instance = [None]*3
self.mopsy_frame_statusbar.SetStatusText("Loading environment counter-strategy...", 0)
self.num_bits = int(numpy.ceil(numpy.log2(len(self.proj.rfi.regions)))) # Number of bits necessary to encode all regions
region_props = ["bit" + str(n) for n in xrange(self.num_bits)]
self.env_aut = fsa.Automaton(self.proj)
self.env_aut.sensor_handler = self.envDummySensorHandler
self.env_aut.actuator_handler = self.envDummyActuatorHandler
self.env_aut.motion_handler = self.dummyMotionHandler
# We are being a little tricky here by just reversing the sensor and actuator propositions
# to create a sort of dual of the usual automaton
self.env_aut.loadFile(self.proj.getFilenamePrefix() + ".aut", self.proj.enabled_actuators + self.proj.all_customs + self.compiler.proj.internal_props + region_props, self.proj.enabled_sensors, [])
self.env_aut.current_region = None
# Find first state in counterstrategy that seeks to falsify the given liveness
if len(sys.argv) > 2:
desired_jx = int(sys.argv[2])
for s in self.env_aut.states:
if s.transitions:
rank_str = s.transitions[0].rank
m = re.search(r"\(\d+,(-?\d+)\)", rank_str)
if m is None:
print "ERROR: Error parsing jx in automaton. Are you sure the spec is unrealizable?"
return
jx = int(m.group(1))
if jx == desired_jx:
self.env_aut.current_state = s
break
if self.env_aut.current_state is None:
print "ERROR: could not find state in counterstrategy to falsify sys goal #{}".format(desired_jx)
return
else:
self.env_aut.current_state = self.env_aut.states[0]
# Internal aut housekeeping (ripped from chooseInitialState; hacky)
self.env_aut.last_next_states = []
self.env_aut.next_state = None
self.env_aut.next_region = None
#self.env_aut.dumpStates([self.env_aut.current_state])
# Set initial sensor values
self.env_aut.updateOutputs()
# Figure out what actuator/custom-prop settings the system should start with
for k,v in self.env_aut.current_state.inputs.iteritems():
# Skip any "bitX" region encodings
if re.match('^bit\d+$', k): continue
self.actuatorStates[k] = int(v)
# Figure out what region the system should start from
self.current_region = self.regionFromEnvState(self.env_aut.current_state)
self.dest_region = self.current_region
# Create all the sensor/actuator buttons
self.env_buttons = [] # This will later hold our buttons
self.act_buttons = [] # This will later hold our buttons
self.cust_buttons = [] # This will later hold our buttons
actprops = dict((k,v) for k,v in self.actuatorStates.iteritems() if k in self.proj.enabled_actuators)
custprops = dict((k,v) for k,v in self.actuatorStates.iteritems() if k in self.proj.all_customs + self.compiler.proj.internal_props)
self.populateToggleButtons(self.sizer_env, self.env_buttons, self.sensorStates)
self.populateToggleButtons(self.sizer_act, self.act_buttons, actprops)
self.populateToggleButtons(self.sizer_prop, self.cust_buttons, custprops)
# Make the env buttons not clickable (TODO: maybe replace with non-buttons)
#for b in self.env_buttons:
# b.Enable(False)
# Set up the logging grid
self.history_grid.SetDefaultCellFont(wx.Font(12, wx.DEFAULT, wx.NORMAL, wx.NORMAL, 0, ""))
self.history_grid.SetLabelFont(wx.Font(12, wx.DEFAULT, wx.NORMAL, wx.NORMAL, 0, ""))
colheaders = self.proj.enabled_sensors + ["Region"] + self.proj.enabled_actuators + self.proj.all_customs + self.compiler.proj.internal_props
self.history_grid.CreateGrid(0,len(colheaders))
for i,n in enumerate(colheaders):
self.history_grid.SetColLabelValue(i, " " + n + " ")
self.history_grid.SetColSize(i,-1) # Auto-size
self.history_grid.EnableEditing(False)
# Decide whether to enable core-finding
self.coreFindingEnabled = self.compiler._getPicosatCommand() is not None
# Put initial condition into log
self.appendToHistory()
# Start initial environment move
# All transitionable states have the same env move, so just use the first
if (len(self.env_aut.current_state.transitions) >=1 ):
self.env_aut.updateOutputs(self.env_aut.current_state.transitions[0])
self.label_movingto.SetLabel("Stay in region " + self.env_aut.getAnnotatedRegionName(self.current_region))
self.showCurrentGoal()
self.applySafetyConstraints()
class MopsyFrame(wx.Frame):
def __init__(self, *args, **kwds):
# begin wxGlade: MopsyFrame.__init__
kwds["style"] = wx.DEFAULT_FRAME_STYLE
wx.Frame.__init__(self, *args, **kwds)
self.mopsy_frame_statusbar = self.CreateStatusBar(1, 0)
self.window_1 = wx.SplitterWindow(self, wx.ID_ANY, style=wx.SP_3D | wx.SP_BORDER)
self.window_1_pane_1 = wx.Panel(self.window_1, wx.ID_ANY)
self.history_grid = wx.grid.Grid(self.window_1_pane_1, wx.ID_ANY, size=(1, 1))
self.window_1_pane_2 = wx.Panel(self.window_1, wx.ID_ANY)
self.panel_1 = wx.Panel(self.window_1_pane_2, wx.ID_ANY, style=wx.SUNKEN_BORDER | wx.TAB_TRAVERSAL)
self.label_1 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Your goal:")
self.label_goal = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Wait patiently for Mopsy to load")
self.label_5 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Current environment state:")
self.label_6 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Please choose your response:")
self.label_movingto = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Moving to XXX ...")
self.label_8 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Actuator states:")
self.label_9 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "Internal propositions:")
self.label_violation = wx.StaticText(self.window_1_pane_2, wx.ID_ANY, "", style=wx.ST_NO_AUTORESIZE)
self.button_next = wx.Button(self.window_1_pane_2, wx.ID_ANY, "Execute Move >>")
self.__set_properties()
self.__do_layout()
self.Bind(wx.EVT_BUTTON, self.onButtonNext, self.button_next)
# end wxGlade
self.coreCalculationLock = threading.Lock()
self.dest_region = None
self.current_region = None
self.regionsToHide = []
self.actuatorStates = {}
self.sensorStates = {}
self.panel_1.SetBackgroundStyle(wx.BG_STYLE_CUSTOM)
self.mapBitmap = None
# Load in the project and map
self.mopsy_frame_statusbar.SetStatusText("Loading project...", 0)
self.compiler = SpecCompiler(sys.argv[1])
self.proj = copy.deepcopy(self.compiler.proj)
self.proj.rfi = self.proj.loadRegionFile(decomposed=True)
self.Bind(wx.EVT_SIZE, self.onResize, self)
self.panel_1.Bind(wx.EVT_PAINT, self.onPaint)
self.panel_1.Bind(wx.EVT_ERASE_BACKGROUND, self.onEraseBG)
self.panel_1.Bind(wx.EVT_LEFT_DOWN, self.onMapClick)
self.onResize()
self.proj.determineEnabledPropositions()
# Parse specification so we can give feedback
self.mopsy_frame_statusbar.SetStatusText("Parsing specification...", 0)
self.compiler._decompose()
self.spec, self.tracebackTree, response = self.compiler._writeLTLFile()
self.compiler._writeSMVFile() # to update propList
if self.proj.compile_options["parser"] == "slurp":
# Add SLURP to path for import
p = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.join(p, "..", "etc", "SLURP"))
global chunks_from_gentree, line_to_chunks
from ltlbroom.specgeneration import chunks_from_gentree, line_to_chunks
self.tracebackChunks = chunks_from_gentree(self.tracebackTree)
# Load in counter-strategy automaton
self.envDummySensorHandler = EnvDummySensorHandler(self)
self.envDummyActuatorHandler = EnvDummyActuatorHandler(self)
self.dummyMotionHandler = DummyMotionHandler()
self.proj.sensor_handler, self.proj.actuator_handler, self.proj.h_instance = [None]*3
self.mopsy_frame_statusbar.SetStatusText("Loading environment counter-strategy...", 0)
self.num_bits = int(numpy.ceil(numpy.log2(len(self.proj.rfi.regions)))) # Number of bits necessary to encode all regions
region_props = ["bit" + str(n) for n in xrange(self.num_bits)]
self.env_aut = fsa.Automaton(self.proj)
self.env_aut.sensor_handler = self.envDummySensorHandler
self.env_aut.actuator_handler = self.envDummyActuatorHandler
self.env_aut.motion_handler = self.dummyMotionHandler
# We are being a little tricky here by just reversing the sensor and actuator propositions
# to create a sort of dual of the usual automaton
self.env_aut.loadFile(self.proj.getFilenamePrefix() + ".aut", self.proj.enabled_actuators + self.proj.all_customs + self.compiler.proj.internal_props + region_props, self.proj.enabled_sensors, [])
self.env_aut.current_region = None
# Find first state in counterstrategy that seeks to falsify the given liveness
if len(sys.argv) > 2:
desired_jx = int(sys.argv[2])
for s in self.env_aut.states:
if s.transitions:
rank_str = s.transitions[0].rank
m = re.search(r"\(\d+,(-?\d+)\)", rank_str)
if m is None:
print "ERROR: Error parsing jx in automaton. Are you sure the spec is unrealizable?"
return
jx = int(m.group(1))
if jx == desired_jx:
self.env_aut.current_state = s
break
if self.env_aut.current_state is None:
print "ERROR: could not find state in counterstrategy to falsify sys goal #{}".format(desired_jx)
return
else:
self.env_aut.current_state = self.env_aut.states[0]
# Internal aut housekeeping (ripped from chooseInitialState; hacky)
self.env_aut.last_next_states = []
self.env_aut.next_state = None
self.env_aut.next_region = None
#self.env_aut.dumpStates([self.env_aut.current_state])
# Set initial sensor values
self.env_aut.updateOutputs()
# Figure out what actuator/custom-prop settings the system should start with
for k,v in self.env_aut.current_state.inputs.iteritems():
# Skip any "bitX" region encodings
if re.match('^bit\d+$', k): continue
self.actuatorStates[k] = int(v)
# Figure out what region the system should start from
self.current_region = self.regionFromEnvState(self.env_aut.current_state)
self.dest_region = self.current_region
# Create all the sensor/actuator buttons
self.env_buttons = [] # This will later hold our buttons
self.act_buttons = [] # This will later hold our buttons
self.cust_buttons = [] # This will later hold our buttons
actprops = dict((k,v) for k,v in self.actuatorStates.iteritems() if k in self.proj.enabled_actuators)
custprops = dict((k,v) for k,v in self.actuatorStates.iteritems() if k in self.proj.all_customs + self.compiler.proj.internal_props)
self.populateToggleButtons(self.sizer_env, self.env_buttons, self.sensorStates)
self.populateToggleButtons(self.sizer_act, self.act_buttons, actprops)
self.populateToggleButtons(self.sizer_prop, self.cust_buttons, custprops)
# Make the env buttons not clickable (TODO: maybe replace with non-buttons)
#for b in self.env_buttons:
# b.Enable(False)
# Set up the logging grid
self.history_grid.SetDefaultCellFont(wx.Font(12, wx.DEFAULT, wx.NORMAL, wx.NORMAL, 0, ""))
self.history_grid.SetLabelFont(wx.Font(12, wx.DEFAULT, wx.NORMAL, wx.NORMAL, 0, ""))
colheaders = self.proj.enabled_sensors + ["Region"] + self.proj.enabled_actuators + self.proj.all_customs + self.compiler.proj.internal_props
self.history_grid.CreateGrid(0,len(colheaders))
for i,n in enumerate(colheaders):
self.history_grid.SetColLabelValue(i, " " + n + " ")
self.history_grid.SetColSize(i,-1) # Auto-size
self.history_grid.EnableEditing(False)
# Decide whether to enable core-finding
self.coreFindingEnabled = self.compiler._getPicosatCommand() is not None
# Put initial condition into log
self.appendToHistory()
# Start initial environment move
# All transitionable states have the same env move, so just use the first
if (len(self.env_aut.current_state.transitions) >=1 ):
self.env_aut.updateOutputs(self.env_aut.current_state.transitions[0])
self.label_movingto.SetLabel("Stay in region " + self.env_aut.getAnnotatedRegionName(self.current_region))
self.showCurrentGoal()
self.applySafetyConstraints()
def showCurrentGoal(self):
rank_str = self.env_aut.current_state.transitions[0].rank
m = re.search(r"\(\d+,(-?\d+)\)", rank_str)
if m is None:
print "ERROR: Error parsing jx in automaton. Are you sure the spec is unrealizable?"
return
jx = int(m.group(1))
if jx < 0:
print "WARNING: negative jx"
return
goal_ltl = self.spec['SysGoals'].split('\n')[jx].strip("\n\t &")
if self.proj.compile_options["parser"] == "structured":
spec_line_num = None
for ltl_frag, line_num in self.compiler.LTL2SpecLineNumber.iteritems():
if ltl_frag.strip("\n\t &") == goal_ltl:
spec_line_num = line_num
break
if spec_line_num is None:
print "ERROR: Couldn't find goal {!r} in LTL->spec mapping".format(goal_ltl)
return
goal_spec = self.compiler.proj.specText.split("\n")[spec_line_num-1]
elif self.proj.compile_options["parser"] == "slurp":
canonical_goal_ltl = goal_ltl.lstrip().rstrip("\n\t &")
goal_ltl_clean = self.compiler.reversemapping[canonical_goal_ltl]
chunks = line_to_chunks(goal_ltl_clean, self.tracebackChunks)
goal_spec = '{} (Because you said "{}")'.format(chunks[0].explanation, chunks[0].input)
else:
print "Unsupported parser type:", self.proj.compile_options["parser"]
# TODO: make all parsers have the same interface
#print jx, goal_ltl, spec_line_num, goal_spec
self.label_goal.SetLabel(goal_spec.strip())
def regionFromEnvState(self, state):
# adaptation of fsa.py's regionFromState, to work with env_aut
r_num = 0
for bit in range(self.num_bits):
if (int(state.inputs["bit" + str(bit)]) == 1):
# bit0 is MSB
r_num += int(2**(self.num_bits-bit-1))
return r_num
def regionToBitEncoding(self, region_index):
bs = "{0:0>{1}}".format(bin(region_index)[2:], self.num_bits)
return {"bit{}".format(i):int(v) for i,v in enumerate(bs)}
def applySafetyConstraints(self):
# If there is no next state, this implies that the system has no possible move (including staying in place)
if len(self.env_aut.current_state.transitions[0].inputs) == 0:
self.label_violation.SetLabel("Checkmate: no possible system moves.")
for b in self.act_buttons + self.cust_buttons + [self.button_next]:
b.Enable(False)
self.regionsToHide = [r.name for r in self.proj.rfi.regions]
self.onResize() # Force map redraw
return
# Determine transitionable regions
goable = []
goable_states = []
# Look for any transition states that agree with our current outputs (ignoring dest_region)
for s in self.env_aut.current_state.transitions:
okay = True
for k,v in s.inputs.iteritems():
# Skip any "bitX" region encodings
if re.match('^bit\d+$', k): continue
if int(v) != int(self.actuatorStates[k]):
okay = False
break
if okay:
goable.append(self.proj.rfi.regions[self.regionFromEnvState(s)].name)
goable_states.append(s)
region_constrained_goable_states = [s for s in goable_states if (self.regionFromEnvState(s) == self.dest_region)]
if region_constrained_goable_states == []:
if self.coreFindingEnabled:
self.label_violation.SetLabel("Invalid move...")
self.showCore()
else:
self.label_violation.SetLabel("Invalid move.")
self.button_next.Enable(False)
else:
self.label_violation.SetLabel("")
self.button_next.Enable(True)
self.regionsToHide = list(set([r.name for r in self.proj.rfi.regions])-set(goable))
self.onResize() # Force map redraw
def appendToHistory(self):
self.history_grid.AppendRows(1)
newvals = [self.sensorStates[s] for s in self.proj.enabled_sensors] + \
[self.env_aut.getAnnotatedRegionName(self.current_region)] + \
[self.actuatorStates[s] for s in self.proj.enabled_actuators] + \
[self.actuatorStates[s] for s in self.proj.all_customs] + \
[self.actuatorStates[s] for s in self.compiler.proj.internal_props]
lastrow = self.history_grid.GetNumberRows()-1
for i,v in enumerate(newvals):
if v == 0:
self.history_grid.SetCellValue(lastrow,i,"False")
self.history_grid.SetCellBackgroundColour(lastrow,i,wx.Colour(255, 0, 0))
elif v == 1:
self.history_grid.SetCellValue(lastrow,i,"True")
self.history_grid.SetCellBackgroundColour(lastrow,i,wx.Colour(0, 255, 0))
else:
self.history_grid.SetCellValue(lastrow,i,v)
self.history_grid.ClearSelection()
self.history_grid.AutoSizeRow(lastrow)
self.history_grid.MakeCellVisible(lastrow,0)
self.history_grid.ForceRefresh()
self.mopsy_frame_statusbar.SetStatusText("Currently in step #"+str(lastrow+2), 0)
def showCore(self):
"""
Display the part of the spec that explains why you can't
set your next outputs to the state currently selected.
"""
wx.lib.delayedresult.startWorker(self.displayCoreMessage, self.calculateCore, daemon=True)
def displayCoreMessage(self, result):
result = result.get()
if result is None:
# We've fallen behind
# TODO: Abort previous core calcs so we don't display stale data
self.label_violation.SetLabel("Invalid move.")
else:
self.label_violation.SetLabel("Invalid move because it violates: " + " and ".join([repr(s) for s in result]))
self.label_violation.Wrap(self.label_violation.GetSize()[0])
def calculateCore(self):
# Don't let simultaneous calculations occur if events are triggered too fast
if not self.coreCalculationLock.acquire(False):
print "WARNING: Skipping core calculation because already busy with one."
return
# TODO: actually cache trans CNF
# TODO: support SLURP parser
ltl_current = fsa.stateToLTL(self.env_aut.current_state, swap_io=True).strip()
next_state = copy.deepcopy(self.env_aut.current_state.transitions[0])
next_state.inputs.update(self.actuatorStates)
next_state.inputs.update(self.regionToBitEncoding(self.dest_region))
ltl_next = fsa.stateToLTL(next_state, use_next=True, swap_io=True).strip()
ltl_topo = self.spec['Topo'].replace('\n','').replace('\t','').strip()
ltl_trans = [s.strip() for s in self.spec['SysTrans'].split('\n')]
# note: strip()s make canonical (i.e. terminate in &, no whitespace on either side)
guilty_ltl = self.compiler.unsatCores(self.compiler._getPicosatCommand(), ltl_topo, ltl_current, [ltl_next] + ltl_trans, 1, 1)
print "Guilty LTL: ", guilty_ltl
guilty_spec = []
if self.proj.compile_options["parser"] == "structured":
if guilty_ltl is not None:
for ltl_frag, line_num in self.compiler.LTL2SpecLineNumber.iteritems():
ltl_frags_canonical = [s.strip() for s in ltl_frag.replace("\t","").split('\n')]
if not set(guilty_ltl).isdisjoint(ltl_frags_canonical):
guilty_spec.append(self.compiler.proj.specText.split("\n")[line_num-1])
elif self.proj.compile_options["parser"] == "slurp":
for ltl_frag in guilty_ltl:
canonical_ltl_frag = ltl_frag.lstrip().rstrip("\n\t &")
try:
guilty_clean = self.compiler.reversemapping[canonical_ltl_frag]
except KeyError:
print "WARNING: LTL fragment {!r} not found in canon_ltl->LTL mapping".format(canonical_ltl_frag)
continue
chunks = line_to_chunks(guilty_clean, self.tracebackChunks)
if chunks:
guilty_spec.append('{} (Because you said "{}")'.format(chunks[0].explanation.replace("'",""), chunks[0].input))
else:
print "WARNING: Canonical LTL fragment {!r} not found in spec->LTL mapping".format(guilty_clean)
if self.spec['Topo'].replace('\n','').replace('\t','').strip() in guilty_ltl:
guilty_spec.append("(topological constraints)")
print "Guilty Spec: ", guilty_spec
self.coreCalculationLock.release()
return guilty_spec
def onMapClick(self, event):
x = event.GetX()/self.mapScale
y = event.GetY()/self.mapScale
for i, region in enumerate(self.proj.rfi.regions):
if region.objectContainsPoint(x, y):
self.dest_region = i
if self.dest_region == self.current_region:
self.label_movingto.SetLabel("Stay in region " + self.env_aut.getAnnotatedRegionName(self.proj.rfi.regions.index(region)))
else:
self.label_movingto.SetLabel("Move to region " + self.env_aut.getAnnotatedRegionName(self.proj.rfi.regions.index(region)))
self.applySafetyConstraints()
break
self.onResize() # Force map redraw
event.Skip()
def populateToggleButtons(self, target_sizer, button_container, items):
for item_name, item_val in items.iteritems():
# Create the new button and add it to the sizer
name = textwrap.fill(item_name, 100)
button_container.append(wx.lib.buttons.GenToggleButton(self.window_1_pane_2, -1, name))
target_sizer.Add(button_container[-1], 1, wx.EXPAND, 0)
# Set the initial value as appropriate
if int(item_val) == 1:
button_container[-1].SetValue(True)
button_container[-1].SetBackgroundColour(wx.Colour(0, 255, 0))
else:
button_container[-1].SetValue(False)
button_container[-1].SetBackgroundColour(wx.Colour(255, 0, 0))
button_container[-1].SetFont(wx.Font(14, wx.DEFAULT, wx.NORMAL, wx.BOLD, 0, ""))
self.window_1_pane_2.Layout() # Update the frame
self.Refresh()
# Bind to event handler
#self.Bind(wx.EVT_TOGGLEBUTTON, self.sensorToggle, button_container[-1])
self.Bind(wx.EVT_BUTTON, self.sensorToggle, button_container[-1])
def sensorToggle(self, event):
btn = event.GetEventObject()
if btn in self.env_buttons:
return
#print btn.GetLabelText() + "=" + str(btn.GetValue())
self.actuatorStates[btn.GetLabelText().replace("\n","")] = int(btn.GetValue())
# TODO: Button background colour doesn't show up very well
if btn.GetValue():
btn.SetBackgroundColour(wx.Colour(0, 255, 0))
else:
btn.SetBackgroundColour(wx.Colour(255, 0, 0))
self.Refresh()
self.applySafetyConstraints()
event.Skip()
def onResize(self, event=None):
size = self.panel_1.GetSize()
self.mapBitmap = wx.EmptyBitmap(size.x, size.y)
if self.dest_region is not None:
hl = [self.proj.rfi.regions[self.dest_region].name]
else:
hl = []
self.mapScale = mapRenderer.drawMap(self.mapBitmap, self.proj.rfi, scaleToFit=True, drawLabels=True, memory=True, highlightList=hl, deemphasizeList=self.regionsToHide)
self.Refresh()
self.Update()
if event is not None:
event.Skip()
def onPaint(self, event=None):
if self.mapBitmap is None:
return
if event is None:
dc = wx.ClientDC(self.panel_1)
else:
pdc = wx.AutoBufferedPaintDC(self.panel_1)
try:
dc = wx.GCDC(pdc)
except:
dc = pdc
else:
self.panel_1.PrepareDC(pdc)
dc.BeginDrawing()
# Draw background
dc.DrawBitmap(self.mapBitmap, 0, 0)
# Draw robot
if self.current_region is not None:
[x,y] = map(lambda x: int(self.mapScale*x), self.proj.rfi.regions[self.current_region].getCenter())
dc.DrawCircle(x, y, 5)
dc.EndDrawing()
if event is not None:
event.Skip()
def onEraseBG(self, event):
# Avoid unnecessary flicker by intercepting this event
pass
def __set_properties(self):
# begin wxGlade: MopsyFrame.__set_properties
self.SetTitle("Counter-Strategy Visualizer")
self.SetSize((1024, 666))
self.mopsy_frame_statusbar.SetStatusWidths([-1])
# statusbar fields
mopsy_frame_statusbar_fields = ["Loading..."]
for i in range(len(mopsy_frame_statusbar_fields)):
self.mopsy_frame_statusbar.SetStatusText(mopsy_frame_statusbar_fields[i], i)
self.label_1.SetFont(wx.Font(10, wx.DEFAULT, wx.NORMAL, wx.BOLD, 0, ""))
self.label_5.SetFont(wx.Font(10, wx.DEFAULT, wx.NORMAL, wx.BOLD, 0, ""))
self.label_6.SetFont(wx.Font(10, wx.DEFAULT, wx.NORMAL, wx.BOLD, 0, ""))
self.label_violation.SetForegroundColour(wx.Colour(255, 0, 0))
self.label_violation.SetFont(wx.Font(14, wx.DEFAULT, wx.NORMAL, wx.NORMAL, 0, ""))
self.button_next.SetDefault()
# end wxGlade
def __do_layout(self):
# begin wxGlade: MopsyFrame.__do_layout
sizer_1 = wx.BoxSizer(wx.VERTICAL)
sizer_3 = wx.BoxSizer(wx.HORIZONTAL)
sizer_4 = wx.BoxSizer(wx.VERTICAL)
sizer_5 = wx.BoxSizer(wx.HORIZONTAL)
sizer_prop = wx.BoxSizer(wx.HORIZONTAL)
sizer_act = wx.BoxSizer(wx.HORIZONTAL)
sizer_6 = wx.BoxSizer(wx.HORIZONTAL)
sizer_env = wx.BoxSizer(wx.HORIZONTAL)
sizer_2 = wx.BoxSizer(wx.HORIZONTAL)
sizer_2.Add(self.history_grid, 1, wx.EXPAND, 2)
self.window_1_pane_1.SetSizer(sizer_2)
sizer_3.Add(self.panel_1, 1, wx.EXPAND, 0)
sizer_3.Add((10, 20), 0, 0, 0)
sizer_4.Add((20, 10), 0, 0, 0)
sizer_4.Add(self.label_1, 0, 0, 0)
sizer_4.Add(self.label_goal, 0, wx.LEFT | wx.TOP | wx.BOTTOM | wx.EXPAND, 5)
sizer_4.Add(self.label_5, 0, 0, 0)
sizer_4.Add(sizer_env, 1, wx.EXPAND, 0)
sizer_4.Add((20, 10), 0, 0, 0)
sizer_4.Add(self.label_6, 0, 0, 0)
sizer_6.Add(self.label_movingto, 0, wx.ALIGN_CENTER_VERTICAL, 0)
sizer_6.Add((20, 20), 0, 0, 0)
sizer_4.Add(sizer_6, 1, wx.EXPAND, 0)
sizer_4.Add(self.label_8, 0, 0, 0)
sizer_4.Add(sizer_act, 1, wx.EXPAND, 0)
sizer_4.Add(self.label_9, 0, 0, 0)
sizer_4.Add(sizer_prop, 1, wx.EXPAND, 0)
sizer_4.Add((20, 20), 0, 0, 0)
sizer_5.Add(self.label_violation, 1, wx.EXPAND | wx.ALIGN_CENTER_VERTICAL, 0)
sizer_5.Add(self.button_next, 0, wx.ALIGN_CENTER_VERTICAL, 0)
sizer_5.Add((20, 20), 0, 0, 0)
sizer_4.Add(sizer_5, 2, wx.EXPAND, 0)
sizer_3.Add(sizer_4, 1, wx.EXPAND, 0)
sizer_3.Add((10, 20), 0, 0, 0)
self.window_1_pane_2.SetSizer(sizer_3)
self.window_1.SplitHorizontally(self.window_1_pane_1, self.window_1_pane_2)
sizer_1.Add(self.window_1, 1, wx.EXPAND, 0)
self.SetSizer(sizer_1)
self.Layout()
# end wxGlade
self.sizer_env = sizer_env
self.sizer_act = sizer_act
self.sizer_prop = sizer_prop
def onButtonNext(self, event): # wxGlade: MopsyFrame.<event_handler>
# TODO: full safety check
self.current_region = self.dest_region
self.appendToHistory()
self.env_aut.runIteration()
### Make environment move
# All transitionable states have the same env move, so just use the first
self.env_aut.updateOutputs(self.env_aut.current_state.transitions[0])
self.label_movingto.SetLabel("Stay in region " + self.env_aut.getAnnotatedRegionName(self.current_region))
self.showCurrentGoal()
self.applySafetyConstraints()
event.Skip()
def __init__(self, *args, **kwds):
# begin wxGlade: MopsyFrame.__init__
kwds["style"] = wx.DEFAULT_FRAME_STYLE
wx.Frame.__init__(self, *args, **kwds)
self.mopsy_frame_statusbar = self.CreateStatusBar(1, 0)
self.window_1 = wx.SplitterWindow(self,
wx.ID_ANY,
style=wx.SP_3D | wx.SP_BORDER)
self.window_1_pane_1 = wx.Panel(self.window_1, wx.ID_ANY)
self.history_grid = wx.grid.Grid(self.window_1_pane_1,
wx.ID_ANY,
size=(1, 1))
self.window_1_pane_2 = wx.Panel(self.window_1, wx.ID_ANY)
self.panel_1 = wx.Panel(self.window_1_pane_2,
wx.ID_ANY,
style=wx.SUNKEN_BORDER | wx.TAB_TRAVERSAL)
self.label_1 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Your goal:")
self.label_goal = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Wait patiently for Mopsy to load")
self.label_5 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Current environment state:")
self.label_6 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Please choose your response:")
self.label_movingto = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Moving to XXX ...")
self.label_8 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Actuator states:")
self.label_9 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Internal propositions:")
self.label_violation = wx.StaticText(self.window_1_pane_2,
wx.ID_ANY,
"",
style=wx.ST_NO_AUTORESIZE)
self.button_next = wx.Button(self.window_1_pane_2, wx.ID_ANY,
"Execute Move >>")
self.__set_properties()
self.__do_layout()
self.Bind(wx.EVT_BUTTON, self.onButtonNext, self.button_next)
# end wxGlade
self.coreCalculationLock = threading.Lock()
self.dest_region = None
self.current_region = None
self.regionsToHide = []
self.actuatorStates = {}
self.sensorStates = {}
self.panel_1.SetBackgroundStyle(wx.BG_STYLE_CUSTOM)
self.mapBitmap = None
# Load in the project and map
self.mopsy_frame_statusbar.SetStatusText("Loading project...", 0)
self.compiler = SpecCompiler(sys.argv[1])
self.proj = copy.deepcopy(self.compiler.proj)
self.proj.rfi = self.proj.loadRegionFile(decomposed=True)
self.Bind(wx.EVT_SIZE, self.onResize, self)
self.panel_1.Bind(wx.EVT_PAINT, self.onPaint)
self.panel_1.Bind(wx.EVT_ERASE_BACKGROUND, self.onEraseBG)
self.panel_1.Bind(wx.EVT_LEFT_DOWN, self.onMapClick)
self.onResize()
self.proj.determineEnabledPropositions()
# Parse specification so we can give feedback
self.mopsy_frame_statusbar.SetStatusText("Parsing specification...", 0)
self.compiler._decompose()
self.spec, self.tracebackTree, response = self.compiler._writeLTLFile()
self.compiler._writeSMVFile() # to update propList
if self.proj.compile_options["parser"] == "slurp":
# Add SLURP to path for import
p = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.join(p, "..", "etc", "SLURP"))
global chunks_from_gentree, line_to_chunks
from ltlbroom.specgeneration import chunks_from_gentree, line_to_chunks
self.tracebackChunks = chunks_from_gentree(self.tracebackTree)
# Load in counter-strategy automaton
self.envDummySensorHandler = EnvDummySensorHandler(self)
self.envDummyActuatorHandler = EnvDummyActuatorHandler(self)
self.dummyMotionHandler = DummyMotionHandler()
self.proj.sensor_handler, self.proj.actuator_handler, self.proj.h_instance = [
None
] * 3
self.mopsy_frame_statusbar.SetStatusText(
"Loading environment counter-strategy...", 0)
self.num_bits = int(numpy.ceil(numpy.log2(len(self.proj.rfi.regions)))
) # Number of bits necessary to encode all regions
region_props = ["bit" + str(n) for n in xrange(self.num_bits)]
self.env_aut = fsa.Automaton(self.proj)
self.env_aut.sensor_handler = self.envDummySensorHandler
self.env_aut.actuator_handler = self.envDummyActuatorHandler
self.env_aut.motion_handler = self.dummyMotionHandler
# We are being a little tricky here by just reversing the sensor and actuator propositions
# to create a sort of dual of the usual automaton
self.env_aut.loadFile(
self.proj.getFilenamePrefix() + ".aut",
self.proj.enabled_actuators + self.proj.all_customs +
self.compiler.proj.internal_props + region_props,
self.proj.enabled_sensors, [])
self.env_aut.current_region = None
# Find first state in counterstrategy that seeks to falsify the given liveness
if len(sys.argv) > 2:
desired_jx = int(sys.argv[2])
for s in self.env_aut.states:
if s.transitions:
rank_str = s.transitions[0].rank
m = re.search(r"\(\d+,(-?\d+)\)", rank_str)
if m is None:
print "ERROR: Error parsing jx in automaton. Are you sure the spec is unrealizable?"
return
jx = int(m.group(1))
if jx == desired_jx:
self.env_aut.current_state = s
break
if self.env_aut.current_state is None:
print "ERROR: could not find state in counterstrategy to falsify sys goal #{}".format(
desired_jx)
return
else:
self.env_aut.current_state = self.env_aut.states[0]
# Internal aut housekeeping (ripped from chooseInitialState; hacky)
self.env_aut.last_next_states = []
self.env_aut.next_state = None
self.env_aut.next_region = None
#self.env_aut.dumpStates([self.env_aut.current_state])
# Set initial sensor values
self.env_aut.updateOutputs()
# Figure out what actuator/custom-prop settings the system should start with
for k, v in self.env_aut.current_state.inputs.iteritems():
# Skip any "bitX" region encodings
if re.match('^bit\d+$', k): continue
self.actuatorStates[k] = int(v)
# Figure out what region the system should start from
self.current_region = self.regionFromEnvState(
self.env_aut.current_state)
self.dest_region = self.current_region
# Create all the sensor/actuator buttons
self.env_buttons = [] # This will later hold our buttons
self.act_buttons = [] # This will later hold our buttons
self.cust_buttons = [] # This will later hold our buttons
actprops = dict((k, v) for k, v in self.actuatorStates.iteritems()
if k in self.proj.enabled_actuators)
custprops = dict(
(k, v) for k, v in self.actuatorStates.iteritems()
if k in self.proj.all_customs + self.compiler.proj.internal_props)
self.populateToggleButtons(self.sizer_env, self.env_buttons,
self.sensorStates)
self.populateToggleButtons(self.sizer_act, self.act_buttons, actprops)
self.populateToggleButtons(self.sizer_prop, self.cust_buttons,
custprops)
# Make the env buttons not clickable (TODO: maybe replace with non-buttons)
#for b in self.env_buttons:
# b.Enable(False)
# Set up the logging grid
self.history_grid.SetDefaultCellFont(
wx.Font(12, wx.DEFAULT, wx.NORMAL, wx.NORMAL, 0, ""))
self.history_grid.SetLabelFont(
wx.Font(12, wx.DEFAULT, wx.NORMAL, wx.NORMAL, 0, ""))
colheaders = self.proj.enabled_sensors + [
"Region"
] + self.proj.enabled_actuators + self.proj.all_customs + self.compiler.proj.internal_props
self.history_grid.CreateGrid(0, len(colheaders))
for i, n in enumerate(colheaders):
self.history_grid.SetColLabelValue(i, " " + n + " ")
self.history_grid.SetColSize(i, -1) # Auto-size
self.history_grid.EnableEditing(False)
# Decide whether to enable core-finding
self.coreFindingEnabled = self.compiler._getPicosatCommand(
) is not None
# Put initial condition into log
self.appendToHistory()
# Start initial environment move
# All transitionable states have the same env move, so just use the first
if (len(self.env_aut.current_state.transitions) >= 1):
self.env_aut.updateOutputs(
self.env_aut.current_state.transitions[0])
self.label_movingto.SetLabel(
"Stay in region " +
self.env_aut.getAnnotatedRegionName(self.current_region))
self.showCurrentGoal()
self.applySafetyConstraints()
class MopsyFrame(wx.Frame):
def __init__(self, *args, **kwds):
# begin wxGlade: MopsyFrame.__init__
kwds["style"] = wx.DEFAULT_FRAME_STYLE
wx.Frame.__init__(self, *args, **kwds)
self.mopsy_frame_statusbar = self.CreateStatusBar(1, 0)
self.window_1 = wx.SplitterWindow(self,
wx.ID_ANY,
style=wx.SP_3D | wx.SP_BORDER)
self.window_1_pane_1 = wx.Panel(self.window_1, wx.ID_ANY)
self.history_grid = wx.grid.Grid(self.window_1_pane_1,
wx.ID_ANY,
size=(1, 1))
self.window_1_pane_2 = wx.Panel(self.window_1, wx.ID_ANY)
self.panel_1 = wx.Panel(self.window_1_pane_2,
wx.ID_ANY,
style=wx.SUNKEN_BORDER | wx.TAB_TRAVERSAL)
self.label_1 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Your goal:")
self.label_goal = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Wait patiently for Mopsy to load")
self.label_5 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Current environment state:")
self.label_6 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Please choose your response:")
self.label_movingto = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Moving to XXX ...")
self.label_8 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Actuator states:")
self.label_9 = wx.StaticText(self.window_1_pane_2, wx.ID_ANY,
"Internal propositions:")
self.label_violation = wx.StaticText(self.window_1_pane_2,
wx.ID_ANY,
"",
style=wx.ST_NO_AUTORESIZE)
self.button_next = wx.Button(self.window_1_pane_2, wx.ID_ANY,
"Execute Move >>")
self.__set_properties()
self.__do_layout()
self.Bind(wx.EVT_BUTTON, self.onButtonNext, self.button_next)
# end wxGlade
self.coreCalculationLock = threading.Lock()
self.dest_region = None
self.current_region = None
self.regionsToHide = []
self.actuatorStates = {}
self.sensorStates = {}
self.panel_1.SetBackgroundStyle(wx.BG_STYLE_CUSTOM)
self.mapBitmap = None
# Load in the project and map
self.mopsy_frame_statusbar.SetStatusText("Loading project...", 0)
self.compiler = SpecCompiler(sys.argv[1])
self.proj = copy.deepcopy(self.compiler.proj)
self.proj.rfi = self.proj.loadRegionFile(decomposed=True)
self.Bind(wx.EVT_SIZE, self.onResize, self)
self.panel_1.Bind(wx.EVT_PAINT, self.onPaint)
self.panel_1.Bind(wx.EVT_ERASE_BACKGROUND, self.onEraseBG)
self.panel_1.Bind(wx.EVT_LEFT_DOWN, self.onMapClick)
self.onResize()
self.proj.determineEnabledPropositions()
# Parse specification so we can give feedback
self.mopsy_frame_statusbar.SetStatusText("Parsing specification...", 0)
self.compiler._decompose()
self.spec, self.tracebackTree, response = self.compiler._writeLTLFile()
self.compiler._writeSMVFile() # to update propList
if self.proj.compile_options["parser"] == "slurp":
# Add SLURP to path for import
p = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.join(p, "..", "etc", "SLURP"))
global chunks_from_gentree, line_to_chunks
from ltlbroom.specgeneration import chunks_from_gentree, line_to_chunks
self.tracebackChunks = chunks_from_gentree(self.tracebackTree)
# Load in counter-strategy automaton
self.envDummySensorHandler = EnvDummySensorHandler(self)
self.envDummyActuatorHandler = EnvDummyActuatorHandler(self)
self.dummyMotionHandler = DummyMotionHandler()
self.proj.sensor_handler, self.proj.actuator_handler, self.proj.h_instance = [
None
] * 3
self.mopsy_frame_statusbar.SetStatusText(
"Loading environment counter-strategy...", 0)
self.num_bits = int(numpy.ceil(numpy.log2(len(self.proj.rfi.regions)))
) # Number of bits necessary to encode all regions
region_props = ["bit" + str(n) for n in xrange(self.num_bits)]
self.env_aut = fsa.Automaton(self.proj)
self.env_aut.sensor_handler = self.envDummySensorHandler
self.env_aut.actuator_handler = self.envDummyActuatorHandler
self.env_aut.motion_handler = self.dummyMotionHandler
# We are being a little tricky here by just reversing the sensor and actuator propositions
# to create a sort of dual of the usual automaton
self.env_aut.loadFile(
self.proj.getFilenamePrefix() + ".aut",
self.proj.enabled_actuators + self.proj.all_customs +
self.compiler.proj.internal_props + region_props,
self.proj.enabled_sensors, [])
self.env_aut.current_region = None
# Find first state in counterstrategy that seeks to falsify the given liveness
if len(sys.argv) > 2:
desired_jx = int(sys.argv[2])
for s in self.env_aut.states:
if s.transitions:
rank_str = s.transitions[0].rank
m = re.search(r"\(\d+,(-?\d+)\)", rank_str)
if m is None:
print "ERROR: Error parsing jx in automaton. Are you sure the spec is unrealizable?"
return
jx = int(m.group(1))
if jx == desired_jx:
self.env_aut.current_state = s
break
if self.env_aut.current_state is None:
print "ERROR: could not find state in counterstrategy to falsify sys goal #{}".format(
desired_jx)
return
else:
self.env_aut.current_state = self.env_aut.states[0]
# Internal aut housekeeping (ripped from chooseInitialState; hacky)
self.env_aut.last_next_states = []
self.env_aut.next_state = None
self.env_aut.next_region = None
#self.env_aut.dumpStates([self.env_aut.current_state])
# Set initial sensor values
self.env_aut.updateOutputs()
# Figure out what actuator/custom-prop settings the system should start with
for k, v in self.env_aut.current_state.inputs.iteritems():
# Skip any "bitX" region encodings
if re.match('^bit\d+$', k): continue
self.actuatorStates[k] = int(v)
# Figure out what region the system should start from
self.current_region = self.regionFromEnvState(
self.env_aut.current_state)
self.dest_region = self.current_region
# Create all the sensor/actuator buttons
self.env_buttons = [] # This will later hold our buttons
self.act_buttons = [] # This will later hold our buttons
self.cust_buttons = [] # This will later hold our buttons
actprops = dict((k, v) for k, v in self.actuatorStates.iteritems()
if k in self.proj.enabled_actuators)
custprops = dict(
(k, v) for k, v in self.actuatorStates.iteritems()
if k in self.proj.all_customs + self.compiler.proj.internal_props)
self.populateToggleButtons(self.sizer_env, self.env_buttons,
self.sensorStates)
self.populateToggleButtons(self.sizer_act, self.act_buttons, actprops)
self.populateToggleButtons(self.sizer_prop, self.cust_buttons,
custprops)
# Make the env buttons not clickable (TODO: maybe replace with non-buttons)
#for b in self.env_buttons:
# b.Enable(False)
# Set up the logging grid
self.history_grid.SetDefaultCellFont(
wx.Font(12, wx.DEFAULT, wx.NORMAL, wx.NORMAL, 0, ""))
self.history_grid.SetLabelFont(
wx.Font(12, wx.DEFAULT, wx.NORMAL, wx.NORMAL, 0, ""))
colheaders = self.proj.enabled_sensors + [
"Region"
] + self.proj.enabled_actuators + self.proj.all_customs + self.compiler.proj.internal_props
self.history_grid.CreateGrid(0, len(colheaders))
for i, n in enumerate(colheaders):
self.history_grid.SetColLabelValue(i, " " + n + " ")
self.history_grid.SetColSize(i, -1) # Auto-size
self.history_grid.EnableEditing(False)
# Decide whether to enable core-finding
self.coreFindingEnabled = self.compiler._getPicosatCommand(
) is not None
# Put initial condition into log
self.appendToHistory()
# Start initial environment move
# All transitionable states have the same env move, so just use the first
if (len(self.env_aut.current_state.transitions) >= 1):
self.env_aut.updateOutputs(
self.env_aut.current_state.transitions[0])
self.label_movingto.SetLabel(
"Stay in region " +
self.env_aut.getAnnotatedRegionName(self.current_region))
self.showCurrentGoal()
self.applySafetyConstraints()
def showCurrentGoal(self):
rank_str = self.env_aut.current_state.transitions[0].rank
m = re.search(r"\(\d+,(-?\d+)\)", rank_str)
if m is None:
print "ERROR: Error parsing jx in automaton. Are you sure the spec is unrealizable?"
return
jx = int(m.group(1))
if jx < 0:
print "WARNING: negative jx"
return
goal_ltl = self.spec['SysGoals'].split('\n')[jx].strip("\n\t &")
if self.proj.compile_options["parser"] == "structured":
spec_line_num = None
for ltl_frag, line_num in self.compiler.LTL2SpecLineNumber.iteritems(
):
if ltl_frag.strip("\n\t &") == goal_ltl:
spec_line_num = line_num
break
if spec_line_num is None:
print "ERROR: Couldn't find goal {!r} in LTL->spec mapping".format(
goal_ltl)
return
goal_spec = self.compiler.proj.specText.split("\n")[spec_line_num -
1]
elif self.proj.compile_options["parser"] == "slurp":
canonical_goal_ltl = goal_ltl.lstrip().rstrip("\n\t &")
goal_ltl_clean = self.compiler.reversemapping[canonical_goal_ltl]
chunks = line_to_chunks(goal_ltl_clean, self.tracebackChunks)
goal_spec = '{} (Because you said "{}")'.format(
chunks[0].explanation, chunks[0].input)
else:
print "Unsupported parser type:", self.proj.compile_options[
"parser"]
# TODO: make all parsers have the same interface
#print jx, goal_ltl, spec_line_num, goal_spec
self.label_goal.SetLabel(goal_spec.strip())
def regionFromEnvState(self, state):
# adaptation of fsa.py's regionFromState, to work with env_aut
r_num = 0
for bit in range(self.num_bits):
if (int(state.inputs["bit" + str(bit)]) == 1):
# bit0 is MSB
r_num += int(2**(self.num_bits - bit - 1))
return r_num
def regionToBitEncoding(self, region_index):
bs = "{0:0>{1}}".format(bin(region_index)[2:], self.num_bits)
return {"bit{}".format(i): int(v) for i, v in enumerate(bs)}
def applySafetyConstraints(self):
# If there is no next state, this implies that the system has no possible move (including staying in place)
if len(self.env_aut.current_state.transitions[0].inputs) == 0:
self.label_violation.SetLabel(
"Checkmate: no possible system moves.")
for b in self.act_buttons + self.cust_buttons + [self.button_next]:
b.Enable(False)
self.regionsToHide = [r.name for r in self.proj.rfi.regions]
self.onResize() # Force map redraw
return
# Determine transitionable regions
goable = []
goable_states = []
# Look for any transition states that agree with our current outputs (ignoring dest_region)
for s in self.env_aut.current_state.transitions:
okay = True
for k, v in s.inputs.iteritems():
# Skip any "bitX" region encodings
if re.match('^bit\d+$', k): continue
if int(v) != int(self.actuatorStates[k]):
okay = False
break
if okay:
goable.append(
self.proj.rfi.regions[self.regionFromEnvState(s)].name)
goable_states.append(s)
region_constrained_goable_states = [
s for s in goable_states
if (self.regionFromEnvState(s) == self.dest_region)
]
if region_constrained_goable_states == []:
if self.coreFindingEnabled:
self.label_violation.SetLabel("Invalid move...")
self.showCore()
else:
self.label_violation.SetLabel("Invalid move.")
self.button_next.Enable(False)
else:
self.label_violation.SetLabel("")
self.button_next.Enable(True)
self.regionsToHide = list(
set([r.name for r in self.proj.rfi.regions]) - set(goable))
self.onResize() # Force map redraw
def appendToHistory(self):
self.history_grid.AppendRows(1)
newvals = [self.sensorStates[s] for s in self.proj.enabled_sensors] + \
[self.env_aut.getAnnotatedRegionName(self.current_region)] + \
[self.actuatorStates[s] for s in self.proj.enabled_actuators] + \
[self.actuatorStates[s] for s in self.proj.all_customs] + \
[self.actuatorStates[s] for s in self.compiler.proj.internal_props]
lastrow = self.history_grid.GetNumberRows() - 1
for i, v in enumerate(newvals):
if v == 0:
self.history_grid.SetCellValue(lastrow, i, "False")
self.history_grid.SetCellBackgroundColour(
lastrow, i, wx.Colour(255, 0, 0))
elif v == 1:
self.history_grid.SetCellValue(lastrow, i, "True")
self.history_grid.SetCellBackgroundColour(
lastrow, i, wx.Colour(0, 255, 0))
else:
self.history_grid.SetCellValue(lastrow, i, v)
self.history_grid.ClearSelection()
self.history_grid.AutoSizeRow(lastrow)
self.history_grid.MakeCellVisible(lastrow, 0)
self.history_grid.ForceRefresh()
self.mopsy_frame_statusbar.SetStatusText(
"Currently in step #" + str(lastrow + 2), 0)
def showCore(self):
"""
Display the part of the spec that explains why you can't
set your next outputs to the state currently selected.
"""
wx.lib.delayedresult.startWorker(self.displayCoreMessage,
self.calculateCore,
daemon=True)
def displayCoreMessage(self, result):
result = result.get()
if result is None:
# We've fallen behind
# TODO: Abort previous core calcs so we don't display stale data
self.label_violation.SetLabel("Invalid move.")
else:
self.label_violation.SetLabel(
"Invalid move because it violates: " +
" and ".join([repr(s) for s in result]))
self.label_violation.Wrap(self.label_violation.GetSize()[0])
def calculateCore(self):
# Don't let simultaneous calculations occur if events are triggered too fast
if not self.coreCalculationLock.acquire(False):
print "WARNING: Skipping core calculation because already busy with one."
return
# TODO: actually cache trans CNF
# TODO: support SLURP parser
ltl_current = fsa.stateToLTL(self.env_aut.current_state,
swap_io=True).strip()
next_state = copy.deepcopy(self.env_aut.current_state.transitions[0])
next_state.inputs.update(self.actuatorStates)
next_state.inputs.update(self.regionToBitEncoding(self.dest_region))
ltl_next = fsa.stateToLTL(next_state, use_next=True,
swap_io=True).strip()
ltl_topo = self.spec['Topo'].replace('\n', '').replace('\t',
'').strip()
ltl_trans = [s.strip() for s in self.spec['SysTrans'].split('\n')]
# note: strip()s make canonical (i.e. terminate in &, no whitespace on either side)
guilty_ltl = self.compiler.unsatCores(
self.compiler._getPicosatCommand(), ltl_topo, ltl_current,
[ltl_next] + ltl_trans, 1, 1)
print "Guilty LTL: ", guilty_ltl
guilty_spec = []
if self.proj.compile_options["parser"] == "structured":
if guilty_ltl is not None:
for ltl_frag, line_num in self.compiler.LTL2SpecLineNumber.iteritems(
):
ltl_frags_canonical = [
s.strip()
for s in ltl_frag.replace("\t", "").split('\n')
]
if not set(guilty_ltl).isdisjoint(ltl_frags_canonical):
guilty_spec.append(
self.compiler.proj.specText.split("\n")[line_num -
1])
elif self.proj.compile_options["parser"] == "slurp":
for ltl_frag in guilty_ltl:
canonical_ltl_frag = ltl_frag.lstrip().rstrip("\n\t &")
try:
guilty_clean = self.compiler.reversemapping[
canonical_ltl_frag]
except KeyError:
print "WARNING: LTL fragment {!r} not found in canon_ltl->LTL mapping".format(
canonical_ltl_frag)
continue
chunks = line_to_chunks(guilty_clean, self.tracebackChunks)
if chunks:
guilty_spec.append('{} (Because you said "{}")'.format(
chunks[0].explanation.replace("'", ""),
chunks[0].input))
else:
print "WARNING: Canonical LTL fragment {!r} not found in spec->LTL mapping".format(
guilty_clean)
if self.spec['Topo'].replace('\n',
'').replace('\t',
'').strip() in guilty_ltl:
guilty_spec.append("(topological constraints)")
print "Guilty Spec: ", guilty_spec
self.coreCalculationLock.release()
return guilty_spec
def onMapClick(self, event):
x = event.GetX() / self.mapScale
y = event.GetY() / self.mapScale
for i, region in enumerate(self.proj.rfi.regions):
if region.objectContainsPoint(x, y):
self.dest_region = i
if self.dest_region == self.current_region:
self.label_movingto.SetLabel(
"Stay in region " +
self.env_aut.getAnnotatedRegionName(
self.proj.rfi.regions.index(region)))
else:
self.label_movingto.SetLabel(
"Move to region " +
self.env_aut.getAnnotatedRegionName(
self.proj.rfi.regions.index(region)))
self.applySafetyConstraints()
break
self.onResize() # Force map redraw
event.Skip()
def populateToggleButtons(self, target_sizer, button_container, items):
for item_name, item_val in items.iteritems():
# Create the new button and add it to the sizer
name = textwrap.fill(item_name, 100)
button_container.append(
wx.lib.buttons.GenToggleButton(self.window_1_pane_2, -1, name))
target_sizer.Add(button_container[-1], 1, wx.EXPAND, 0)
# Set the initial value as appropriate
if int(item_val) == 1:
button_container[-1].SetValue(True)
button_container[-1].SetBackgroundColour(wx.Colour(0, 255, 0))
else:
button_container[-1].SetValue(False)
button_container[-1].SetBackgroundColour(wx.Colour(255, 0, 0))
button_container[-1].SetFont(
wx.Font(14, wx.DEFAULT, wx.NORMAL, wx.BOLD, 0, ""))
self.window_1_pane_2.Layout() # Update the frame
self.Refresh()
# Bind to event handler
#self.Bind(wx.EVT_TOGGLEBUTTON, self.sensorToggle, button_container[-1])
self.Bind(wx.EVT_BUTTON, self.sensorToggle, button_container[-1])
def sensorToggle(self, event):
btn = event.GetEventObject()
if btn in self.env_buttons:
return
#print btn.GetLabelText() + "=" + str(btn.GetValue())
self.actuatorStates[btn.GetLabelText().replace("\n", "")] = int(
btn.GetValue())
# TODO: Button background colour doesn't show up very well
if btn.GetValue():
btn.SetBackgroundColour(wx.Colour(0, 255, 0))
else:
btn.SetBackgroundColour(wx.Colour(255, 0, 0))
self.Refresh()
self.applySafetyConstraints()
event.Skip()
def onResize(self, event=None):
size = self.panel_1.GetSize()
self.mapBitmap = wx.EmptyBitmap(size.x, size.y)
if self.dest_region is not None:
hl = [self.proj.rfi.regions[self.dest_region].name]
else:
hl = []
self.mapScale = mapRenderer.drawMap(self.mapBitmap,
self.proj.rfi,
scaleToFit=True,
drawLabels=True,
memory=True,
highlightList=hl,
deemphasizeList=self.regionsToHide)
self.Refresh()
self.Update()
if event is not None:
event.Skip()
def onPaint(self, event=None):
if self.mapBitmap is None:
return
if event is None:
dc = wx.ClientDC(self.panel_1)
else:
pdc = wx.AutoBufferedPaintDC(self.panel_1)
try:
dc = wx.GCDC(pdc)
except:
dc = pdc
else:
self.panel_1.PrepareDC(pdc)
dc.BeginDrawing()
# Draw background
dc.DrawBitmap(self.mapBitmap, 0, 0)
# Draw robot
if self.current_region is not None:
[x,
y] = map(lambda x: int(self.mapScale * x),
self.proj.rfi.regions[self.current_region].getCenter())
dc.DrawCircle(x, y, 5)
dc.EndDrawing()
if event is not None:
event.Skip()
def onEraseBG(self, event):
# Avoid unnecessary flicker by intercepting this event
pass
def __set_properties(self):
# begin wxGlade: MopsyFrame.__set_properties
self.SetTitle("Counter-Strategy Visualizer")
self.SetSize((1024, 666))
self.mopsy_frame_statusbar.SetStatusWidths([-1])
# statusbar fields
mopsy_frame_statusbar_fields = ["Loading..."]
for i in range(len(mopsy_frame_statusbar_fields)):
self.mopsy_frame_statusbar.SetStatusText(
mopsy_frame_statusbar_fields[i], i)
self.label_1.SetFont(wx.Font(10, wx.DEFAULT, wx.NORMAL, wx.BOLD, 0,
""))
self.label_5.SetFont(wx.Font(10, wx.DEFAULT, wx.NORMAL, wx.BOLD, 0,
""))
self.label_6.SetFont(wx.Font(10, wx.DEFAULT, wx.NORMAL, wx.BOLD, 0,
""))
self.label_violation.SetForegroundColour(wx.Colour(255, 0, 0))
self.label_violation.SetFont(
wx.Font(14, wx.DEFAULT, wx.NORMAL, wx.NORMAL, 0, ""))
self.button_next.SetDefault()
# end wxGlade
def __do_layout(self):
# begin wxGlade: MopsyFrame.__do_layout
sizer_1 = wx.BoxSizer(wx.VERTICAL)
sizer_3 = wx.BoxSizer(wx.HORIZONTAL)
sizer_4 = wx.BoxSizer(wx.VERTICAL)
sizer_5 = wx.BoxSizer(wx.HORIZONTAL)
sizer_prop = wx.BoxSizer(wx.HORIZONTAL)
sizer_act = wx.BoxSizer(wx.HORIZONTAL)
sizer_6 = wx.BoxSizer(wx.HORIZONTAL)
sizer_env = wx.BoxSizer(wx.HORIZONTAL)
sizer_2 = wx.BoxSizer(wx.HORIZONTAL)
sizer_2.Add(self.history_grid, 1, wx.EXPAND, 2)
self.window_1_pane_1.SetSizer(sizer_2)
sizer_3.Add(self.panel_1, 1, wx.EXPAND, 0)
sizer_3.Add((10, 20), 0, 0, 0)
sizer_4.Add((20, 10), 0, 0, 0)
sizer_4.Add(self.label_1, 0, 0, 0)
sizer_4.Add(self.label_goal, 0,
wx.LEFT | wx.TOP | wx.BOTTOM | wx.EXPAND, 5)
sizer_4.Add(self.label_5, 0, 0, 0)
sizer_4.Add(sizer_env, 1, wx.EXPAND, 0)
sizer_4.Add((20, 10), 0, 0, 0)
sizer_4.Add(self.label_6, 0, 0, 0)
sizer_6.Add(self.label_movingto, 0, wx.ALIGN_CENTER_VERTICAL, 0)
sizer_6.Add((20, 20), 0, 0, 0)
sizer_4.Add(sizer_6, 1, wx.EXPAND, 0)
sizer_4.Add(self.label_8, 0, 0, 0)
sizer_4.Add(sizer_act, 1, wx.EXPAND, 0)
sizer_4.Add(self.label_9, 0, 0, 0)
sizer_4.Add(sizer_prop, 1, wx.EXPAND, 0)
sizer_4.Add((20, 20), 0, 0, 0)
sizer_5.Add(self.label_violation, 1,
wx.EXPAND | wx.ALIGN_CENTER_VERTICAL, 0)
sizer_5.Add(self.button_next, 0, wx.ALIGN_CENTER_VERTICAL, 0)
sizer_5.Add((20, 20), 0, 0, 0)
sizer_4.Add(sizer_5, 2, wx.EXPAND, 0)
sizer_3.Add(sizer_4, 1, wx.EXPAND, 0)
sizer_3.Add((10, 20), 0, 0, 0)
self.window_1_pane_2.SetSizer(sizer_3)
self.window_1.SplitHorizontally(self.window_1_pane_1,
self.window_1_pane_2)
sizer_1.Add(self.window_1, 1, wx.EXPAND, 0)
self.SetSizer(sizer_1)
self.Layout()
# end wxGlade
self.sizer_env = sizer_env
self.sizer_act = sizer_act
self.sizer_prop = sizer_prop
def onButtonNext(self, event): # wxGlade: MopsyFrame.<event_handler>
# TODO: full safety check
self.current_region = self.dest_region
self.appendToHistory()
self.env_aut.runIteration()
### Make environment move
# All transitionable states have the same env move, so just use the first
self.env_aut.updateOutputs(self.env_aut.current_state.transitions[0])
self.label_movingto.SetLabel(
"Stay in region " +
self.env_aut.getAnnotatedRegionName(self.current_region))
self.showCurrentGoal()
self.applySafetyConstraints()
event.Skip()
class BarebonesDialogueManager(object):
def __init__(self, gui_window, executor, base_spec=None):
""" take reference to execution context and gui_window
optionally initialize with some base spec text """
self.gui = gui_window
self.executor = executor
if base_spec is None:
self.base_spec = []
else:
self.base_spec = base_spec.split("\n")
self.spec = []
# Initiate a specCompiler to hang around and give us immediate parser feedback
self.compiler = SpecCompiler()
self.compiler.proj = self.gui.proj
def clear(self):
self.spec = []
self.gui.appendLog("Cleared the specification.", "System")
def execute(self):
# TODO: don't resynthesize if the specification hasn't changed?
# i.e. distinguish between resuming from pause, versus a new command
# pause
self.executor.pause()
self.gui.appendLog("Please wait...", "System")
# TODO: don't freeze the GUI here
# trigger resynthesis
success = self.executor.resynthesizeFromNewSpecification(
self.getSpec())
if success:
# resume
self.executor.resume()
self.gui.appendLog("Doing as you asked.", "System")
else:
self.gui.appendLog(
"I'm sorry, I can't do that. Please try something else.",
"System")
def tell(self, message):
""" take in a message from the user, return a response.
WARNING: this is effectively running in non-main thread"""
msg = message.lower().strip()
if msg == "clear":
wx.CallAfter(self.clear)
return
elif msg == "go":
wx.CallAfter(self.execute)
return
elif msg == "wait":
self.executor.pause()
return "Paused."
elif msg == "status":
if not self.executor.isRunning():
return "Currently paused."
curr_goal_num = self.executor.getCurrentGoalNumber()
if curr_goal_num is None:
return "I'm not doing anything right now."
else:
return self.executor.getCurrentGoalDescription()
elif msg == "list":
return "\n".join(self.spec)
else:
# Ask parser if this individual line is OK
# FIXME: Because _writeLTLFile() is so monolithic, this will
# clobber the `.ltl` file
# FIXME: This may only work with SLURP
self.compiler.proj.specText = message.strip()
spec, tracebackTree, response = self.compiler._writeLTLFile()
if spec is not None:
self.spec.append(message.strip())
return response[0]
def getSpec(self):
""" return the current specification as one big string """
return "\n".join(self.base_spec + self.spec)
