def __init__(self):
super(FSAStrategy, self).__init__()
# A collection of state objects belonging to the automaton
self.states = strategy.StateCollection()
# A data structure for recording valid transitions between states
self.transitions = defaultdict(
lambda: defaultdict(bool)) # (state1, state2) -> T/F
def __init__(self):
super(BDDStrategy, self).__init__()
# We will have a state collection just in order to provide a context
# for states (FIXME?)
self.states = strategy.StateCollection()
self.strategy = None
self.var_name_to_BDD = {}
self.BDD_to_var_name = {}
self.strat_type_var = None
self.mgr = pycudd.DdManager()
self.mgr.SetDefault()
# TODO: why is garbage collection crashing?? :( [e.g. on firefighting]
self.mgr.DisableGarbageCollection()
def renameSpecAndStoreNewMapping(self):
"""
Rename specs and store mapping.
"""
"""
Rename specs
"""
for specType in self.spec.keys():
# e.region to s.region (region heading) # TODO: duplicates with robClient?
for robot in self.coordinatingRobots:
for reg in self.regionList.keys():
for otherRobot in self.coordinatingRobots:
self.spec[specType][robot] = re.sub(
'(?<=[! &|(\t\n])' + 'e.' + otherRobot + '_' +
reg + '(?=[ &|)\t\n])',
's.' + otherRobot + '_' + reg,
self.spec[specType][robot])
# append robot name in front of actuators and sensors props, but not regions
## sensor props
## e.g: sensorProp -> robotName_sensorProp
for robot, ePropList in self.envPropList.iteritems():
for eProp, eValue in ePropList.iteritems():
#ignore any region related props
if eProp in [
otherRobot + '_' + reg + '_rc'
for reg in self.regionList.keys()
for otherRobot in self.coordinatingRobots
] or eProp in [
otherRobot + '_' + reg
for reg in self.regionList.keys()
for otherRobot in self.coordinatingRobots
if otherRobot != robot
]:
continue
self.spec[specType][robot] = re.sub(
'(?<=[! &|(\t\n])' + 'e.' + eProp + '(?=[ &|)\t\n])',
'e.' + robot + '_' + eProp, self.spec[specType][robot])
## actuator props
## e.g: actuatorProp -> robotName_actuatorProp
for robot, sPropList in self.sysPropList.iteritems():
for sProp, sValue in sPropList.iteritems():
#ignore any region related props
if sProp in [
otherRobot + '_' + reg
for reg in self.regionList.keys()
for otherRobot in self.coordinatingRobots
]:
continue
self.spec[specType][robot] = re.sub(
'(?<=[! &|(\t\n])' + 's.' + sProp + '(?=[ &|)\t\n])',
's.' + robot + '_' + sProp, self.spec[specType][robot])
# also just for sysGoalsOld # TODO: combine with the one above
for specStr in self.sysGoalsOld.keys():
# e.region to s.region (region heading)
for robot in self.coordinatingRobots:
for reg in self.regionList.keys():
for otherRobot in self.coordinatingRobots:
self.sysGoalsOld[robot] = re.sub(
'(?<=[! &|(\t\n])' + 'e.' + otherRobot + '_' +
reg + '(?=[ &|)\t\n])',
's.' + otherRobot + '_' + reg,
self.sysGoalsOld[robot])
# append robot name in front of actuators and sensors props, but not regions
## sensor props
## e.g: sensorProp -> robotName_sensorProp
for robot, ePropList in self.envPropList.iteritems():
for eProp, eValue in ePropList.iteritems():
#ignore any region related props
if eProp in [
otherRobot + '_' + reg + '_rc'
for reg in self.regionList.keys()
for otherRobot in self.coordinatingRobots
] or eProp in [
otherRobot + '_' + reg
for reg in self.regionList.keys()
for otherRobot in self.coordinatingRobots
if otherRobot != robot
]:
continue
self.sysGoalsOld[robot] = re.sub(
'(?<=[! &|(\t\n])' + 'e.' + eProp + '(?=[ &|)\t\n])',
'e.' + robot + '_' + eProp, self.sysGoalsOld[robot])
## actuator props
## e.g: actuatorProp -> robotName_actuatorProp
for robot, sPropList in self.sysPropList.iteritems():
for sProp, sValue in sPropList.iteritems():
#ignore any region related props
if sProp in [
otherRobot + '_' + reg
for reg in self.regionList.keys()
for otherRobot in self.coordinatingRobots
]:
continue
self.sysGoalsOld[robot] = re.sub(
'(?<=[! &|(\t\n])' + 's.' + sProp + '(?=[ &|)\t\n])',
's.' + robot + '_' + sProp, self.sysGoalsOld[robot])
"""
Store mapping
"""
states = strategy.StateCollection()
# store env props
for robot, ePropList in self.envPropList.iteritems():
for eProp, eValue in ePropList.iteritems():
if eProp in [
robot + '_' + reg + '_rc'
for reg in self.regionList.keys()
]:
# keep original name
self.smvEnvPropList.append(eProp)
self.currentAssignment.update({eProp: eValue})
# e.g: remove alice_r4 in bob's sensors. However, for robot not coorindating, we might have alice_charlie_r1 and bob_charlie_r1 in our smv file
elif eProp in [
otherRobot + '_' + reg
for reg in self.regionList.keys()
for otherRobot in self.coordinatingRobots
if otherRobot != robot
]:
continue
# the similar case of _rc
elif eProp in [
otherRobot + '_' + reg + '_rc'
for reg in self.regionList.keys()
for otherRobot in self.coordinatingRobots
if otherRobot != robot
]:
continue
else:
# store and update prop mapping
self.propMappingNewToOld[robot].pop(eProp)
self.propMappingNewToOld[robot][robot + '_' +
eProp] = eProp
self.propMappingOldToNew[robot][
eProp] = robot + '_' + eProp
self.smvEnvPropList.append(robot + '_' + eProp)
self.currentAssignment.update(
{robot + '_' + eProp: eValue})
# add input props to states collection
states.addInputPropositions(self.smvEnvPropList)
# stroe sys props
for robot, sPropList in self.sysPropList.iteritems():
for sProp, sValue in sPropList.iteritems():
if sProp in [
robot + '_' + reg for reg in self.regionList.keys()
]:
# keep original name
self.smvSysPropList.append(sProp)
self.currentAssignment.update({sProp: sValue})
else:
# store and update prop mapping
self.propMappingNewToOld[robot].pop(sProp)
self.propMappingNewToOld[robot][robot + '_' +
sProp] = sProp
self.propMappingOldToNew[robot][
sProp] = robot + '_' + sProp
self.smvSysPropList.append(robot + '_' + sProp)
self.currentAssignment.update(
{robot + '_' + sProp: sValue})
# add input props to states collection
states.addOutputPropositions(self.smvSysPropList)
# store current state
self.currentState = states.addNewState(self.currentAssignment)
def __init__(self, slugsOptions):
super(SLUGSInteractiveStrategy, self).__init__()
self.states = strategy.StateCollection()
self.slugsOptions = slugsOptions