def test_eventually():
s = gr1.eventually_to_gr1('p', aux='c')
assert isinstance(s, spec.GRSpec)
assert 'aux' not in str(s)
assert 'c' in s.sys_vars
assert 'p' in s.sys_vars
s.moore = False
s.plus_one = False
s.qinit = '\A \E'
# []!p
s0 = spec.GRSpec(
sys_vars={'p'},
sys_safety={'!p'},
moore=False,
plus_one=False,
qinit='\A \E'
)
assert not synth.is_realizable('omega', s | s0)
# !p && []<>p && []<>!p
s1 = spec.GRSpec(
sys_vars={'p'},
sys_init={'!p'},
sys_prog={'!p', 'p'},
moore=False,
plus_one=False,
qinit='\A \E'
)
assert synth.is_realizable('omega', s | s1)
def test_response():
s = gr1.response_to_gr1('p', 'q')
assert isinstance(s, spec.GRSpec)
assert 'p' in s.sys_vars
assert 'q' in s.sys_vars
# p && []!q
s0 = spec.GRSpec(sys_vars={'p', 'q'}, sys_init={'p'}, sys_safety={'!q'})
assert not synth.is_realizable('gr1c', s | s0)
# []!p && []!q
s1 = spec.GRSpec(sys_vars={'p', 'q'}, sys_safety={'!p && !q'})
assert synth.is_realizable('gr1c', s | s1)
# p && q
s2 = spec.GRSpec(
sys_vars={'p', 'q'},
sys_init={'p && q'},
)
assert synth.is_realizable('gr1c', s | s2)
# alternating p, alternating q
s3 = spec.GRSpec(
sys_vars={'p', 'q'},
sys_safety={'p -> X !p', '!p -> X p', 'p -> X q', 'q -> X ! q'})
assert synth.is_realizable('gr1c', s | s3)
def test_stability():
s = gr1.stability_to_gr1('p', aux='a')
assert isinstance(s, spec.GRSpec)
assert 'aux' not in s.sys_vars
assert 'a' in s.sys_vars
assert 'p' in s.sys_vars
s.moore = False
s.plus_one = False
s.qinit = r'\A \E'
# p && X[]!p
s0 = spec.GRSpec(sys_vars={'p'},
sys_init={'p'},
sys_safety={'p -> X !p', '!p -> X !p'},
moore=False,
plus_one=False,
qinit=r'\A \E')
assert not synth.is_realizable(s | s0)
# !p && X[]p
s1 = spec.GRSpec(sys_vars={'p'},
sys_init={'!p'},
sys_safety={'!p -> X p', 'p -> X p'},
moore=False,
plus_one=False,
qinit=r'\A \E')
assert synth.is_realizable(s | s1)
# []<>p && []<>!p
s2 = spec.GRSpec(sys_vars={'p'},
sys_prog={'p', '!p'},
moore=False,
plus_one=False,
qinit=r'\A \E')
assert not synth.is_realizable(s | s2)
# env b can prevent !p, but has tp <> become !b,
# releasing sys to set p
#
# env: b && []<>!b
# sys: !p && []((b && !p) -> X!p)
s3 = spec.GRSpec(env_vars={'b'},
env_init={'b'},
env_prog={'!b'},
sys_vars={'p'},
sys_init={'!p'},
sys_safety={'(b && !p) -> X !p'},
moore=False,
plus_one=False,
qinit=r'\A \E')
assert synth.is_realizable(s | s3)
s3.env_prog = []
assert not synth.is_realizable(s | s3)
def setUp(self):
self.f_triv = spec.GRSpec(
sys_vars="y",
moore=False,
plus_one=False)
self.trivial_unreachable = spec.GRSpec(
sys_vars="y",
sys_prog="False",
moore=False,
plus_one=False)
def test_response():
s = gr1.response_to_gr1('p', 'q')
assert isinstance(s, spec.GRSpec)
assert 'p' in s.sys_vars
assert 'q' in s.sys_vars
s.moore = False
s.plus_one = False
s.qinit = '\A \E'
# p && []!q
s0 = spec.GRSpec(
sys_vars={'p', 'q'},
sys_init={'p'},
sys_safety={'!q'},
moore=False,
plus_one=False,
qinit='\A \E'
)
assert not synth.is_realizable('omega', s | s0)
# []!p && []!q
s1 = spec.GRSpec(
sys_vars={'p', 'q'},
sys_safety={'!p && !q'},
moore=False,
plus_one=False,
qinit='\A \E'
)
assert synth.is_realizable('omega', s | s1)
# p && q
s2 = spec.GRSpec(
sys_vars={'p', 'q'},
sys_init={'p && q'},
moore=False,
plus_one=False,
qinit='\A \E'
)
assert synth.is_realizable('omega', s | s2)
# alternating p, alternating q
s3 = spec.GRSpec(
sys_vars={'p', 'q'},
sys_safety={
'p -> X !p',
'!p -> X p',
'p -> X q',
'q -> X ! q'},
moore=False,
plus_one=False,
qinit='\A \E'
)
assert synth.is_realizable('omega', s | s3)
def multiple_env_actions_check(solver='omega'):
"""Two env players, 3 states controlled by sys.
sys wins marginally, due to assumption on
next combination of actions by env players.
"""
# 1 <---> 2
# 1 ---> 3
env_actions = [
{
'name': 'env_alice',
'values': transys.MathSet({'left', 'right'})
},
{
'name': 'env_bob',
'values': transys.MathSet({'bleft', 'bright'})
}
]
sys = transys.FTS(env_actions)
sys.states.add_from({'s1', 's2', 's3'})
sys.states.initial.add_from({'s1'})
sys.add_edge('s1', 's2', env_alice='left', env_bob='bright')
sys.add_edge('s2', 's1', env_alice='left', env_bob='bright')
# at state 3 sys loses
sys.add_edge('s1', 's3', env_alice='right', env_bob='bleft')
logging.debug(sys)
env_safe = {('(loc = "s1") -> X( (env_alice = "left") && '
'(env_bob = "bright") )')}
sys_prog = {'loc = "s1"', 'loc = "s2"'}
specs = spec.GRSpec(
env_safety=env_safe,
sys_prog=sys_prog,
moore=False,
plus_one=False,
qinit='\A \E')
r = synth.is_realizable(specs, sys=sys, solver=solver)
assert r
# slightly relax assumption
specs = spec.GRSpec(
sys_prog=sys_prog,
moore=False,
plus_one=False,
qinit='\A \E')
r = synth.is_realizable(specs, sys=sys, solver=solver)
assert not r
def test_eventually():
s = gr1.eventually_to_gr1('p', aux='c')
assert isinstance(s, spec.GRSpec)
assert 'aux' not in str(s)
assert 'c' in s.sys_vars
assert 'p' in s.sys_vars
# []!p
s0 = spec.GRSpec(sys_vars={'p'}, sys_safety={'!p'})
assert not synth.is_realizable('gr1c', s | s0)
# !p && []<>p && []<>!p
s1 = spec.GRSpec(sys_vars={'p'}, sys_init={'!p'}, sys_prog={'!p', 'p'})
assert synth.is_realizable('gr1c', s | s1)
def globally(p='p', owner='env'):
"""
response implements the LTL formula :
[](p)
as a GR1specification
&& true
&& [](p)
&& []<> true
:param p:
:param owner: 'sys' -> guarantee or 'env'-> assume (Default) + placement of Aux
:return: GR1spec
"""
env_vars, sys_vars, env_init, sys_init = set(), set(), set(), set()
env_safe, sys_safe, env_prog, sys_prog = set(), set(), set(), set()
if owner == 'env':
env_vars = {}
env_init = {}
env_safe = {p}
env_prog = set()
elif owner == 'sys':
sys_vars = {}
sys_init = {}
sys_safe = {p}
sys_prog = set()
print('Added globally:' + '[](' + p + ')')
return spec.GRSpec(env_vars, sys_vars, env_init, sys_init, env_safe,
sys_safe, env_prog, sys_prog)
def test_multi_pg():
"""Multiple progress groups for same mode"""
ts = transys.AFTS()
ts.owner = 'env'
ts.sys_actions.add('mode0')
ts.sys_actions.add('mode1')
ts.atomic_propositions.add_from(['goal'])
ts.states.add('s0')
ts.states.add('s1', ap={'goal'})
ts.states.add('s2')
ts.transitions.add('s0', 's0', sys_actions='mode0')
ts.transitions.add('s0', 's1', sys_actions='mode0')
ts.transitions.add('s2', 's1', sys_actions='mode0')
ts.transitions.add('s2', 's2', sys_actions='mode0')
ts.transitions.add('s1', 's2', sys_actions='mode1')
ts.transitions.add('s1', 's0', sys_actions='mode1')
ts.set_progress_map({'mode0': [set(['s0']), set(['s1'])]})
specs = spec.GRSpec(set(), set(), set(), set(), set(), set(), set(),
'goal')
ctrl = synth.synthesize('gr1c', specs, env=ts, ignore_env_init=True)
assert ctrl != None
def synth_ex():
sys = full_road_ex()
variables = ''
for i in range(0, len(sys.states())):
#print sys.states()[i],i
sys.atomic_propositions.add_from({'x' + str(i)})
sys.states[sys.states()[i]]['ap'].add('x' + str(i))
variables += ' && ((X (x' + str(i) + ')) <-> x' + str(i) + ')'
variables = variables[4:]
#print variables
#sys.atomic_propositions.add_from({'home', 'lot'})
#sys.states.add('Xequal0spaceYequal0spacephiequal3', ap={'home'})
#sys.states.add('Xequal5spaceYequal5spacephiequal7', ap={'lot'})
sys.states.initial.add('Xequal0spaceYequal0spacephiequal3')
env_vars = {'park', 'frontclear'}
env_init = set()
env_prog = {'frontclear'}
env_safe = set()
sys_vars = {'pReach'}
sys_init = {'pReach'}
sys_prog = {'x0', 'x10'}
sys_safe = {
'((X (pReach)) <-> ((pSpace) || (pReach && !park)))',
'((!frontclear) -> (' + variables + '))'
}
sys_prog |= {'pReach'}
specs = spec.GRSpec(env_vars, sys_vars, env_init, sys_init, env_safe,
sys_safe, env_prog, sys_prog)
specs.moore = True
specs.qinit = '\E \A'
ctrl = synth.synthesize('omega', specs, sys=sys)
assert ctrl is not None, 'unrealizable'
#ctrl.save('discrete.pdf')
return sys, ctrl
def test_env_act():
"""Progress group with environment actions"""
ts = transys.AFTS()
ts.owner = 'env'
ts.sys_actions.add('sys_m0')
ts.sys_actions.add('sys_m1')
ts.env_actions.add('env_m0')
ts.env_actions.add('env_m1')
ts.states.add('s0')
ts.states.add('s1')
ts.transitions.add('s0', 's1', sys_actions='sys_m0', env_actions='env_m0')
ts.transitions.add('s0', 's1', sys_actions='sys_m0', env_actions='env_m1')
ts.transitions.add('s0', 's1', sys_actions='sys_m1', env_actions='env_m0')
ts.transitions.add('s0', 's1', sys_actions='sys_m1', env_actions='env_m1')
ts.transitions.add('s1', 's1', sys_actions='sys_m0', env_actions='env_m0')
ts.transitions.add('s1', 's1', sys_actions='sys_m1', env_actions='env_m0')
ts.transitions.add('s1', 's1', sys_actions='sys_m1', env_actions='env_m1')
ts.transitions.add('s1', 's0', sys_actions='sys_m0', env_actions='env_m1')
specs = spec.GRSpec(set(), set(), set(), set(), set(), set(), set(),
'eloc = "s0"')
# without PG
ctrl = synth.synthesize('gr1c', specs, env=ts, ignore_env_init=True)
assert ctrl == None
# with PG
ts.set_progress_map({('env_m0', 'sys_m0'): ('s1', )})
ctrl = synth.synthesize('gr1c', specs, env=ts, ignore_env_init=True)
assert ctrl != None
def test_only_mode_control():
"""Unrealizable due to non-determinism.
Switched system with 2 modes: 'left', 'right'.
Modes are controlled by the system.
States are controlled by the environment.
So only control over dynamics is through mode switching.
Transitions are thus interpreted as non-deterministic.
This can model uncertain outcomes in the real world,
e.g., due to low quality actuators or
bad low-level feedback controllers.
"""
# Create a finite transition system
env_sws = transys.FTS()
env_sws.owner = 'env'
env_sws.sys_actions.add_from({'right', 'left'})
# str states
n = 4
states = transys.prepend_with(range(n), 's')
env_sws.atomic_propositions.add_from(['home', 'lot'])
# label TS with APs
ap_labels = [set(), set(), {'home'}, {'lot'}]
for i, label in enumerate(ap_labels):
state = 's' + str(i)
env_sws.states.add(state, ap=label)
# mode1 transitions
transmat1 = np.array([[0, 1, 0, 1], [0, 1, 0, 0], [0, 1, 0, 1],
[0, 0, 0, 1]])
env_sws.transitions.add_adj(sp.lil_matrix(transmat1), states,
{'sys_actions': 'right'})
# mode2 transitions
transmat2 = np.array([[1, 0, 0, 0], [1, 0, 1, 0], [0, 0, 1, 0],
[1, 0, 1, 0]])
env_sws.transitions.add_adj(sp.lil_matrix(transmat2), states,
{'sys_actions': 'left'})
env_vars = {'park'}
env_init = {'eloc = "s0"', 'park'}
env_prog = {'!park'}
env_safe = set()
sys_vars = {'X0reach'}
sys_init = {'X0reach'}
sys_prog = {'home'}
sys_safe = {'next(X0reach) <-> lot || (X0reach && !park)'}
sys_prog |= {'X0reach'}
specs = spec.GRSpec(env_vars, sys_vars, env_init, sys_init, env_safe,
sys_safe, env_prog, sys_prog)
r = synth.is_realizable('gr1c', specs, env=env_sws, ignore_env_init=True)
assert not r
def test_until():
s = gr1.until_to_gr1('p', 'q', aux='c')
assert isinstance(s, spec.GRSpec)
assert 'aux' not in str(s)
assert 'c' in s.sys_vars
assert 'p' in s.sys_vars
assert 'q' in s.sys_vars
s.moore = False
s.plus_one = False
s.qinit = '\A \E'
# []!q
s0 = spec.GRSpec(
sys_vars={'q'},
sys_safety={'!q'},
moore=False,
plus_one=False,
qinit='\A \E'
)
assert not synth.is_realizable('omega', s | s0)
# !q && <>q
s1 = spec.GRSpec(
sys_vars={'q'},
sys_init={'!q'},
sys_prog={'q'},
moore=False,
plus_one=False,
qinit='\A \E'
)
assert synth.is_realizable('omega', s | s1)
# !q && []!p && <>q
s1 = spec.GRSpec(
sys_vars={'q'},
sys_init={'!q'},
sys_safety={'!p'},
sys_prog={'q'},
moore=False,
plus_one=False,
qinit='\A \E'
)
assert not synth.is_realizable('omega', s | s1)
def setUp(self):
self.triv = spec.GRSpec(env_vars="x", sys_vars="y",
env_init="x & y", env_prog="x",
sys_init="y", sys_prog="y && x")
self.triv_M = synth.synthesize('omega', self.triv)
self.dcounter = spec.GRSpec(
sys_vars={"y": (0, 5)},
env_init=['y = 0'],
sys_prog=["y=0", "y=5"])
self.dcounter_M = synth.synthesize('omega', self.dcounter)
self.enumf = spec.GRSpec(
sys_vars={'y': ['a', 'b']},
env_init=['y="a"'],
sys_safety=['y = "a" -> X(y = "b")',
'y = "b" -> X(y = "a")'])
self.enumf_M = synth.synthesize('omega', self.enumf)
def test_singleton():
"""AFTS with one mode and one state"""
ts = transys.AFTS()
ts.owner = 'env'
ts.sys_actions.add('mode0')
ts.states.add('s0')
ts.transitions.add('s0', 's0', sys_actions='mode0')
specs = spec.GRSpec(set(), set(), set(), set(), set(), set(), set(), set())
ctrl = synth.synthesize('gr1c', specs, env=ts, ignore_env_init=True)
assert ctrl != None
def setup_method(self):
self.triv = spec.GRSpec(env_vars="x",
sys_vars="y",
env_init="x & y",
env_prog="x",
sys_init="y",
sys_prog="y && x")
self.triv.qinit = r'\E \A'
self.triv_M = synth.synthesize(self.triv, solver='omega')
self.dcounter = spec.GRSpec(sys_vars={"y": (0, 5)},
env_init=['y = 0'],
sys_prog=["y=0", "y=5"])
self.dcounter_M = synth.synthesize(self.dcounter, solver='omega')
self.enumf = spec.GRSpec(
sys_vars={'y': ['a', 'b']},
env_init=['y="a"'],
sys_safety=['y = "a" -> X(y = "b")', 'y = "b" -> X(y = "a")'])
self.enumf_M = synth.synthesize(self.enumf, solver='omega')
def create_controller(self):
self.handle_init_system()
self.handle_static_obstacles()
self.handle_allowed_moves()
self.follow_targets()
#self.no_collision()
specs = spec.GRSpec({} ,self.sys_vars,set() , self.sys_init , set() , self.sys_safe , set() , self.sys_prog)
#print specs.pretty()
specs.moore = True
specs.qinit = '\E \A'
ctrl = synth.synthesize('gr1c' , specs)
assert ctrl is not None, 'Unrealizable'
dumpsmach.write_python_case(self.controller_name+'_controller.py', ctrl, classname=self.controller_name+'Controller')
def test_with_pg(self):
self.env_sws.set_progress_map({
'mode0': ('s0', 's1', 's2', 's3'),
'mode1': ('s0', )
})
# eventually reach s4
sys_prog = {'exit'}
specs = spec.GRSpec(set(), set(), set(), set(), set(), set(), set(),
sys_prog)
ctrl = synth.synthesize('gr1c',
specs,
env=self.env_sws,
ignore_env_init=True)
assert ctrl != None
def test_until():
s = gr1.until_to_gr1('p', 'q', aux='c')
assert isinstance(s, spec.GRSpec)
assert 'aux' not in str(s)
assert 'c' in s.sys_vars
assert 'p' in s.sys_vars
assert 'q' in s.sys_vars
# []!q
s0 = spec.GRSpec(sys_vars={'q'}, sys_safety={'!q'})
assert not synth.is_realizable('gr1c', s | s0)
# !q && <>q
s1 = spec.GRSpec(sys_vars={'q'}, sys_init={'!q'}, sys_prog={'q'})
assert synth.is_realizable('gr1c', s | s1)
# !q && []!p && <>q
s1 = spec.GRSpec(sys_vars={'q'},
sys_init={'!q'},
sys_safety={'!p'},
sys_prog={'q'})
assert not synth.is_realizable('gr1c', s | s1)
def design_C(env_vars, sys_vars, env_init, sys_init, env_safe, sys_safe, env_prog, sys_prog):
logging.basicConfig(level=logging.WARNING)
show = False
# Constructing GR1spec from environment and systems specifications:
specs = spec.GRSpec(env_vars, sys_vars, env_init, sys_init,
env_safe, sys_safe, env_prog, sys_prog)
specs.moore = True
specs.qinit = '\E \A'
# Synthesize
ctrl = synth.synthesize(specs)
assert ctrl is not None, 'unrealizable'
return ctrl
def test_env_act_all():
"""System action progress group with environment actions"""
ts = transys.AFTS()
ts.owner = 'env'
ts.sys_actions.add('sys_m0')
ts.sys_actions.add('sys_m1')
ts.env_actions.add('env_m0')
ts.env_actions.add('env_m1')
ts.states.add('s0')
ts.states.add('s1')
ts.states.add('s2')
# all s0 -> s1
ts.transitions.add('s0', 's1', sys_actions='sys_m0', env_actions='env_m0')
ts.transitions.add('s0', 's1', sys_actions='sys_m0', env_actions='env_m1')
ts.transitions.add('s0', 's1', sys_actions='sys_m1', env_actions='env_m0')
ts.transitions.add('s0', 's1', sys_actions='sys_m1', env_actions='env_m1')
# all s1 -> s2
ts.transitions.add('s1', 's2', sys_actions='sys_m0', env_actions='env_m0')
ts.transitions.add('s1', 's2', sys_actions='sys_m0', env_actions='env_m1')
ts.transitions.add('s1', 's2', sys_actions='sys_m1', env_actions='env_m0')
ts.transitions.add('s1', 's2', sys_actions='sys_m1', env_actions='env_m1')
ts.transitions.add('s2', 's0', sys_actions='sys_m0', env_actions='env_m0')
ts.transitions.add('s2', 's1', sys_actions='sys_m1', env_actions='env_m0')
ts.transitions.add('s2', 's1', sys_actions='sys_m1', env_actions='env_m1')
ts.transitions.add('s2', 's1', sys_actions='sys_m0', env_actions='env_m1')
specs = spec.GRSpec(set(), set(), set(), set(), set(), set(), set(),
'eloc = "s0"')
# without PG
ctrl = synth.synthesize('gr1c', specs, env=ts, ignore_env_init=True)
assert ctrl == None
# with PG that depends on env (env can change and prevent reach)
ts.set_progress_map({('env_m0', 'sys_m0'): ('s1', 's2')})
ctrl = synth.synthesize('gr1c', specs, env=ts, ignore_env_init=True)
assert ctrl == None
# with PG that does not depend on env
ts.set_progress_map({'sys_m0': ('s1', 's2')})
ctrl = synth.synthesize('gr1c', specs, env=ts, ignore_env_init=True)
assert ctrl != None
def parking_spec():
# barely realizable: assumption necessary
env_prog = '! (eact = park)'
sys_vars = {'X0reach'}
sys_init = {'X0reach'}
sys_prog = {'home'}
# one additional requirement: if in lot,
# then stay there until park signal is turned off
sys_safe = {'(X (X0reach) <-> lot) || (X0reach && !(eact = "park") )',
'((lot & (eact = "park") ) -> X(lot))'}
sys_prog |= {'X0reach'}
specs = spec.GRSpec(sys_vars=sys_vars, sys_init=sys_init,
sys_safety=sys_safe,
env_prog=env_prog, sys_prog=sys_prog)
return specs
def test_translate_ast_to_gr1c():
x = '(loc = "s2") -> X((((env_alice = "left") && (env_bob = "bright"))))'
s = spec.GRSpec(sys_vars={
'loc': ['s0', 's2'],
'env_alice': ['left', 'right'],
'env_bob': ['bleft', 'bright']
},
sys_safety=[x])
s.str_to_int()
sint = s._bool_int[x]
print(repr(sint))
rint = s.ast(sint)
print(repr(rint))
r = ts.translate_ast(rint, 'gr1c')
print(repr(r))
print(r.flatten())
assert r.flatten() == ("( ( loc = 1 ) -> "
"( ( env_alice' = 0 ) & ( env_bob' = 1 ) ) )")
def Xtimes(ap, x=1, newap=None, owner='env'):
"""
Create new variable which is true x time instances after ap is true.
:param ap: string representing a simple boolean variable
:param x:
:param newap: string representing name of a boolean variable
:param owner: 'sys' -> guarantee or 'env'-> assume (Default) + placement of newap
:return: GRSpec
"""
env_vars, sys_vars, env_init, sys_init = set(), set(), set(), set()
env_safe, sys_safe, env_prog, sys_prog = set(), set(), set(), set()
if owner == 'env':
old_var = ap
for i in range(x - 1): # runs from 0..x-1
next_var = 'X' + str(i + 1) + ap
env_vars |= {next_var}
env_safe |= {next_var + ' <-> ' + '( X (' + old_var + '))'}
old_var = next_var
next_var = 'X' + str(x) + ap
if newap:
next_var = newap
env_vars |= {next_var}
env_safe |= {next_var + ' <-> ' + '( X (' + old_var + '))'}
elif owner == 'sys':
old_var = ap
for i in range(x - 1): # runs from 0..x-1
next_var = 'X' + str(i + 1) + ap
sys_vars |= {next_var}
sys_safe |= {next_var + ' <-> ' + '( X (' + old_var + '))'}
old_var = next_var
next_var = 'X' + str(x) + ap
sys_vars |= {next_var}
sys_safe |= {next_var + ' <-> ' + '( X (' + old_var + '))'}
print('Added variables ' + str(sys_vars | env_vars))
return spec.GRSpec(env_vars, sys_vars, env_init, sys_init, env_safe,
sys_safe, env_prog, sys_prog)
def test_nopg():
"""PG for one mode but not the other"""
ts = transys.AFTS()
ts.owner = 'env'
ts.sys_actions.add('mode0')
ts.sys_actions.add('mode1')
ts.states.add_from({'s0', 's1', 's2'})
ts.transitions.add('s0', 's1', sys_actions='mode0')
ts.transitions.add('s1', 's0', sys_actions='mode0')
ts.transitions.add('s1', 's2', sys_actions='mode0')
ts.transitions.add('s2', 's2', sys_actions='mode0')
ts.set_progress_map({'mode0': ('s0', 's1')})
specs = spec.GRSpec(set(), set(), set(), set(), set(), set(), set(),
{'eloc = "s1"', 'eloc = "s2"'})
ctrl = synth.synthesize('gr1c', specs, env=ts, ignore_env_init=True)
assert ctrl != None
def response(trig='trig', react='act', owner='env', aux='aux'):
"""
response implements the LTL formula :
[](trig -> <> react)
as a GR1specification
&& aux
&& [](X aux <-> (react || (aux && ! trig)) )
&& []<> aux
:param trig: Boolean formula
:param react: Boolean formula
:param owner: 'sys' -> guarantee or 'env'-> assume (Default) + placement of Aux
:return: GR1spec
"""
env_vars, sys_vars, env_init, sys_init = set(), set(), set(), set()
env_safe, sys_safe, env_prog, sys_prog = set(), set(), set(), set()
if owner == 'env':
env_vars = {aux}
env_init = {aux}
env_safe = {
'(X ' + aux + ') <-> ( (' + react + ') ||' + '( ' + aux +
' && ! (' + trig + ') )' + ') '
}
env_prog = {aux}
elif owner == 'sys':
sys_vars = {aux}
sys_init = {aux}
sys_safe = {
'(X ' + aux + ') <-> ( (' + react + ') ||' + '( ' + aux +
' && !(' + trig + ') ) ' + ') '
}
sys_prog = {aux}
print('Added global Response :' + '[](' + trig + '-> <>' + react + ')')
return spec.GRSpec(env_vars, sys_vars, env_init, sys_init, env_safe,
sys_safe, env_prog, sys_prog)
sys_prog |= {'temp_2'}
sys_prog |= {'temp_3'}
sys_safe |= {'X(temp_1) <-> (loc=0 || (temp_1 && !seat_0=1 && !seat_1=1))'}
sys_safe |= {'X(temp_2) <-> (loc=1 || (temp_2 && !seat_0=2 && !seat_1=2))'}
sys_safe |= {'X(temp_3) <-> (loc=2 || (temp_3 && !seat_0=3 && !seat_1=3))'}
#sys_safe |= {'(!hold_00 || !hold_10) -> <>loc=3'}
sys_vars["temp_4"] = 'boolean'
sys_init |= {'temp_4'}
sys_prog |= {'temp_4'}
sys_safe |= {'X(temp_4) <-> (loc=3 || (temp_4 && hold_0=0 && hold_1=0))'}
# @sys_specs_section_end@
# Initialize GRspec
specs = spec.GRSpec(env_vars, sys_vars, env_init, sys_init, env_safe, sys_safe,
env_prog, sys_prog)
ctrl = synth.synthesize('gr1c', specs)
# dumpsmach.write_python_case("strategy_discrete.py", ctrl, classname="strategy")
# write_matlab_case("strategy_discrete_3.m", ctrl, classname="strategy_discrete_3")
# if not ctrl.save('taxi_planning_3person.png'):
# print(ctrl)
print(ctrl)
# either select current state before simulation
# ctrl.states.current = ['Sinit']
# ctrl.simulate(inputs_sequence='manual', iterations=50)
def spec_gen(num_req, num_pas):
env_vars = set()
env_init = set()
env_safe = set()
env_prog = set()
sys_vars = set()
sys_init = set()
sys_safe = set()
sys_prog = set()
# Add variables
for n in range(num_req):
env_vars.add('req_' + str(n))
sys_vars.add('loc_' + str(n))
sys_vars.add('temp_' + str(n))
for l in range(num_pas):
sys_vars.add('wait_' + str(l) + '_' + str(n))
sys_vars.add('seat_' + str(l) + '_' + str(n))
sys_vars.add('full')
sys_vars.add('temp')
sys_vars.add('des')
env_vars.add('ready')
# Add env specification
env_prog.add('ready')
all_req_zero = ''
for n in range(num_req):
if n == 0:
all_req_zero += '!req_' + str(n)
else:
all_req_zero += ' && !req_' + str(n)
env_safe.add('full -> X(' + all_req_zero + ')')
if num_req > 1:
for n in range(num_req):
all_req_zero = ''
for k in range(num_req):
if n != k:
if n == 0 and k == 1:
all_req_zero += '!req_' + str(k)
elif k == 0:
all_req_zero += '!req_' + str(k)
else:
all_req_zero += ' && !req_' + str(k)
env_safe.add('req_' + str(n) + ' -> ' + all_req_zero)
# Add sys specification
# @ For our special example, we add a bridge to connect locations and the destination. @
# TODO: Currently, if you give locations in the order of 3,2 or 2,1 or 3,1 it can pick up
# both and then go to destination, but if reverse order, it will pick up and drop off
# one at a time. I think if more intermediate locations like bridge are added, in
# theory the taxi should pick up more passengers then go to des? Besides, haveing bridge
# also ensures that a taxi will not take another 2 new requests when a passenger is
# already in the taxi, since without bridge, the location then would have been des already.
sys_vars.add('bridge')
sys_safe |= {'bridge -> X(!ready -> bridge)'}
sys_safe |= {'loc_0 -> X(ready -> loc_0 || loc_1 || loc_2 || bridge)'}
sys_safe |= {'loc_1 -> X(ready -> loc_0 || loc_1 || loc_2 || bridge)'}
sys_safe |= {'loc_2 -> X(ready -> loc_0 || loc_1 || loc_2 || bridge)'}
sys_safe |= {
'bridge -> X(ready -> loc_0 || loc_1 || loc_2 || bridge || des)'
}
sys_safe |= {'des -> X(ready -> bridge || des)'}
# @ End: For our special example, we add a bridge to connect locations and the destination. @
full_def = ''
for l in range(num_pas):
at_least_wait = ''
for n in range(num_req):
if n == 0:
at_least_wait += 'wait_' + str(l) + '_' + str(n)
else:
at_least_wait += ' || wait_' + str(l) + '_' + str(n)
at_least_seat = ''
for n in range(num_req):
if n == 0:
at_least_seat += 'seat_' + str(l) + '_' + str(n)
else:
at_least_seat += ' || seat_' + str(l) + '_' + str(n)
at_least_one = at_least_wait + ' || ' + at_least_seat
if l == 0:
full_def += '(' + at_least_one + ')'
else:
full_def += ' && (' + at_least_one + ')'
sys_safe.add('full <-> (' + full_def + ')')
if num_req > 1:
for n in range(num_req):
all_req_zero = ''
for k in range(num_req):
if n != k:
if n == 0 and k == 1:
all_req_zero += '!loc_' + str(k)
elif k == 0:
all_req_zero += '!loc_' + str(k)
else:
all_req_zero += ' && !loc_' + str(k)
all_req_zero += '&& !des && !bridge' # For special cases
sys_safe.add('loc_' + str(n) + ' -> ' + all_req_zero)
all_req_zero = ''
for n in range(num_req):
if n == 0:
all_req_zero += '!loc_' + str(n)
else:
all_req_zero += ' && !loc_' + str(n)
sys_safe.add('des -> ' + all_req_zero + ' && !bridge') # For special cases
sys_safe.add('bridge -> ' + all_req_zero + ' && !des') # For special cases
at_least_req = ''
for n in range(num_req):
if n == 0:
at_least_req += 'loc_' + str(n)
else:
at_least_req += ' || loc_' + str(n)
at_least_req += ' || des || bridge' # For special cases
sys_safe.add(at_least_req)
if num_req > 1:
for l in range(num_pas):
for n in range(num_req):
all_req_zero = ''
for k in range(num_req):
if n != k:
if n == 0 and k == 1:
all_req_zero += '!wait_' + str(l) + '_' + str(k)
elif k == 0:
all_req_zero += '!wait_' + str(l) + '_' + str(k)
else:
all_req_zero += ' && !wait_' + str(l) + '_' + str(
k)
sys_safe.add('wait_' + str(l) + '_' + str(n) + ' -> ' +
all_req_zero)
if num_req > 1:
for l in range(num_pas):
for n in range(num_req):
all_req_zero = ''
for k in range(num_req):
if n != k:
if n == 0 and k == 1:
all_req_zero += '!seat_' + str(l) + '_' + str(k)
elif k == 0:
all_req_zero += '!seat_' + str(l) + '_' + str(k)
else:
all_req_zero += ' && !seat_' + str(l) + '_' + str(
k)
sys_safe.add('seat_' + str(l) + '_' + str(n) + ' -> ' +
all_req_zero)
for l in range(num_pas):
all_wait_zero = ''
for n in range(num_req):
if n == 0:
all_wait_zero += '!wait_' + str(l) + '_' + str(n)
else:
all_wait_zero += ' && !wait_' + str(l) + '_' + str(n)
all_seat_zero = ''
for n in range(num_req):
if n == 0:
all_seat_zero += '!seat_' + str(l) + '_' + str(n)
else:
all_seat_zero += ' && !seat_' + str(l) + '_' + str(n)
at_least_one = '(' + all_wait_zero + ') || (' + all_seat_zero + ')'
sys_safe.add(at_least_one)
for n in range(num_req):
sys_safe.add('loc_' + str(n) + ' -> X(!ready -> loc_' + str(n) + ')')
sys_safe.add('des -> X(!ready -> des)')
for l in range(num_pas):
for n in range(num_req):
sys_init.add('!seat_' + str(l) + '_' + str(n))
sys_init.add('des')
for n in range(num_req):
for l in range(num_pas):
sys_vars.add('last_wait_' + str(l) + '_' + str(n))
sys_safe.add('X(last_wait_' + str(l) + '_' + str(n) +
') <-> wait_' + str(l) + '_' + str(n))
sys_init.add('!last_wait_' + str(l) + '_' + str(n))
for n in range(num_req):
at_least_one = ''
for l in range(num_pas):
if l == 0:
at_least_one += '(!last_wait_' + str(l) + '_' + str(
n) + ' && ' + 'wait_' + str(l) + '_' + str(n) + ')'
else:
at_least_one += ' || (!last_wait_' + str(l) + '_' + str(
n) + ' && ' + 'wait_' + str(l) + '_' + str(n) + ')'
sys_safe.add('req_' + str(n) + ' -> (' + at_least_one + ')')
if num_pas > 1:
for n in range(num_req):
for l in range(num_pas):
all_no_change = ''
for k in range(num_pas):
if l != k:
if l == 0 and k == 1:
all_no_change += '(!last_wait_' + str(
k) + '_' + str(n) + ' -> !wait_' + str(
k) + '_' + str(n) + ')'
elif k == 0:
all_no_change += '(!last_wait_' + str(
k) + '_' + str(n) + ' -> !wait_' + str(
k) + '_' + str(n) + ')'
else:
all_no_change += ' && (!last_wait_' + str(
k) + '_' + str(n) + ' -> !wait_' + str(
k) + '_' + str(n) + ')'
sys_safe.add('(!last_wait_' + str(l) + '_' + str(n) + ' && ' +
'wait_' + str(l) + '_' + str(n) + ') -> ' +
all_no_change)
for l in range(num_pas):
for n in range(num_req):
sys_safe.add('wait_' + str(l) + '_' + str(n) + ' -> X(!loc_' +
str(n) + ' -> wait_' + str(l) + '_' + str(n) + ')')
for l in range(num_pas):
for n in range(num_req):
sys_safe.add('wait_' + str(l) + '_' + str(n) + ' -> X(loc_' +
str(n) + ' -> !wait_' + str(l) + '_' + str(n) +
' && ' + 'seat_' + str(l) + '_' + str(n) + ')')
for l in range(num_pas):
all_wait_zero = ''
all_req_zero = ''
for n in range(num_req):
if n == 0:
all_wait_zero += '!wait_' + str(l) + '_' + str(n)
all_req_zero += '!req_' + str(n)
else:
all_wait_zero += ' && !wait_' + str(l) + '_' + str(n)
all_req_zero += ' && !req_' + str(n)
sys_safe.add('(' + all_wait_zero + ') -> X(' + all_req_zero + ' -> ' +
all_wait_zero + ')')
for l in range(num_pas):
for n in range(num_req):
sys_safe.add('seat_' + str(l) + '_' + str(n) +
' -> X(!des -> seat_' + str(l) + '_' + str(n) + ')')
for l in range(num_pas):
at_least_seat = ''
all_seat_zero = ''
for n in range(num_req):
if n == 0:
at_least_seat += 'seat_' + str(l) + '_' + str(n)
all_seat_zero += '!seat_' + str(l) + '_' + str(n)
else:
at_least_seat += ' || seat_' + str(l) + '_' + str(n)
all_seat_zero += ' && !seat_' + str(l) + '_' + str(n)
sys_safe.add('(' + at_least_seat + ') -> X(des -> (' + all_seat_zero +
'))')
for l in range(num_pas):
all_seat_zero = ''
all_no_reach = ''
for n in range(num_req):
if n == 0:
all_seat_zero += '!seat_' + str(l) + '_' + str(n)
all_no_reach += '!(wait_' + str(l) + '_' + str(
n) + ' && X(loc_' + str(n) + '))'
else:
all_seat_zero += ' && !seat_' + str(l) + '_' + str(n)
all_no_reach += ' && !(wait_' + str(l) + '_' + str(
n) + ' && X(loc_' + str(n) + '))'
sys_safe.add('(' + all_seat_zero + ') -> ((' + all_no_reach +
') -> X(' + all_seat_zero + '))')
# Two eventually constraints
for n in range(num_req):
all_wait_zero = ''
for l in range(num_pas):
if l == 0:
all_wait_zero += '!wait_' + str(l) + '_' + str(n)
else:
all_wait_zero += ' && !wait_' + str(l) + '_' + str(n)
sys_safe.add('X(temp_' + str(n) + ') <-> ((' + all_wait_zero +
' && temp_' + str(n) + ') || loc_' + str(n) + ')')
sys_prog.add('temp_' + str(n))
sys_init.add('temp_' + str(n))
all_seat_zero = ''
for l in range(num_pas):
for n in range(num_req):
if l == 0 and n == 0:
all_seat_zero += '!seat_' + str(l) + '_' + str(n)
else:
all_seat_zero += ' && !seat_' + str(l) + '_' + str(n)
sys_safe.add('X(temp) <-> ((' + all_seat_zero + ' && temp) || des)')
sys_prog.add('temp')
sys_init.add('temp')
specs = spec.GRSpec(env_vars, sys_vars, env_init, sys_init, env_safe,
sys_safe, env_prog, sys_prog)
return specs
iter1,
gen_enabled_dir(enabled_dir_4,
margin + env_size + sys_size,
strict_dist=True))
sys_safe |= {
'(obs_close = 1) && (env1 = ' + str(iter1) + ') -> (' +
get_spec_list_neighbor('loc', next_state_all) + ')'
}
sys_safe |= {
'(obs_close = 0) && (env1 = ' + str(iter1) + ') -> (' +
get_spec_list_neighbor('loc', next_state) + ')'
}
#Don't allow sys and env to exchange position
specs = spec.GRSpec(env_vars, sys_vars, env_init, sys_init, env_safe, sys_safe,
env_prog, sys_prog) #GR(1) specification created
print specs.pretty()
#
# Controller synthesis
#
# The controller decides based on current variable values only,
# without knowing yet the next values that environment variables take.
# A controller with this information flow is known as Moore.
specs.moore = False
# Ask the synthesizer to find initial values for system variables
# that, for each initial values that environment variables can
# take and satisfy `env_init`, the initial state satisfies
# `env_init /\ sys_init`.
specs.qinit = '\E \A' # i.e., "there exist sys_vars: forall sys_vars"
ctrl = synth.synthesize('gr1c', specs)
def specify_discretize_synthesize():
"""Return PWA partition and controller, dump them to pickle files."""
# Problem parameters
input_bound = 1.0
uncertainty = 0.01
# Continuous state space
cont_state_space = box2poly([[0., 3.], [0., 2.]])
# Continuous dynamics
A = np.array([[1.0, 0.], [0., 1.0]])
B = np.array([[0.1, 0.], [0., 0.1]])
E = np.array([[1., 0.], [0., 1.]])
# Available control, possible disturbances
U = input_bound * np.array([[-1., 1.], [-1., 1.]])
W = uncertainty * np.array([[-1., 1.], [-1., 1.]])
# Convert to polyhedral representation
U = box2poly(U)
W = box2poly(W)
# Construct the LTI system describing the dynamics
sys_dyn = hybrid.LtiSysDyn(A, B, E, None, U, W, cont_state_space)
# Define atomic propositions for relevant regions of state space
cont_props = {}
cont_props['home'] = box2poly([[0., 1.], [0., 1.]])
cont_props['lot'] = box2poly([[2., 3.], [1., 2.]])
# Compute proposition preserving partition of the continuous state space
cont_partition = prop2part(cont_state_space, cont_props)
pwa = discretize(cont_partition,
sys_dyn,
closed_loop=True,
N=8,
min_cell_volume=0.1,
plotit=False)
"""Specifications"""
# Environment variables and assumptions
env_vars = {'park'}
env_init = set()
env_prog = '!park'
env_safe = set()
# System variables and requirements
sys_vars = {'X0reach'}
sys_init = {'X0reach'}
sys_prog = {'home'} # []<>home
sys_safe = {'(X(X0reach) <-> lot) || (X0reach && !park)'}
sys_prog |= {'X0reach'}
# Create the specification
specs = spec.GRSpec(env_vars, sys_vars, env_init, sys_init, env_safe,
sys_safe, env_prog, sys_prog)
specs.qinit = '\A \E'
specs.moore = False
specs.plus_one = False
"""Synthesize"""
ctrl = synth.synthesize(specs,
sys=pwa.ts,
ignore_sys_init=True,
solver='gr1c')
# store the result for future use
if len(BUILDDIR) > 0 and not os.path.exists(BUILDDIR):
os.mkdir(BUILDDIR)
pickle.dump(ctrl, open(BUILDDIR + 'FSM.p', 'wb'))
pickle.dump(pwa, open(BUILDDIR + 'AbstractPwa.p', 'wb'))
return pwa, ctrl