def buchi_from_ltl(formula,Type):
promela_string = run_ltl2ba(formula)
symbols = find_symbols(formula)
edges = parse_ltl(promela_string)
(states, initials, accepts) = find_states(edges)
buchi = DiGraph(type=Type, initial=initials, accept=accepts, symbols=symbols)
for state in states:
buchi.add_node(state)
for (ef,et) in edges.keys():
guard_formula = edges[(ef,et)]
guard_expr = parse_guard(guard_formula)
buchi.add_edge(ef, et, guard=guard_expr, guard_formula=guard_formula)
return buchi
def buchi_from_ltl(formula, Type1):
promela_string = "never { /* G(goods->Xdepot)&&G(depot->Xgoods)&&(G(!b)&&G(!door||open)) */ accept_init : /* init */ if :: (!goods && !depot && !b && !door) || (!goods && !depot && !b && open) -> goto accept_init :: (!goods && !b && !door) || (!goods && !b && open) -> goto accept_S2 :: (!depot && !b && !door) || (!depot && !b && open) -> goto accept_S3 :: (!b && !door) || (!b && open) -> goto accept_S4 fi;accept_S2 : /* 1 */ if :: (goods && !depot && !b && !door) || (goods && !depot && !b && open) -> goto accept_S3 :: (goods && !b && !door) || (goods && !b && open) -> goto accept_S4 fi;accept_S3 : /* 2 */ if :: (!goods && depot && !b && !door) || (!goods && depot && !b && open) -> goto accept_S2 :: (depot && !b && !door) || (depot && !b && open) -> goto accept_S4 fi;accept_S4 : /* 3 */ if :: (goods && depot && !b && !door) || (goods && depot && !b && open) -> goto accept_S4 fi;}"
#promela_string = run_ltl2ba(formula)
symbols = find_symbols(formula)
edges = parse_ltl(promela_string)
(states, initials, accepts) = find_states(edges)
buchi = DiGraph(type=Type,
initial=initials,
accept=accepts,
symbols=symbols)
for state in states:
buchi.add_node(state)
for (ef, et) in edges.keys():
guard_formula = edges[(ef, et)]
guard_expr = parse_guard(guard_formula)
buchi.add_edge(ef, et, guard=guard_expr, guard_formula=guard_formula)
return buchi
def buchi_from_ltl(formula, Type):
promela_string = run_ltl2ba(formula)
symbols = find_symbols(formula)
# print "Output from symbols"
# print symbols
edges = parse_ltl(promela_string)
(states, initials, accepts) = find_states(edges)
# print "Output from find_states"
# print states
# print initials
# print accepts
buchi = DiGraph(type=Type,
initial=initials,
accept=accepts,
symbols=symbols)
for state in states:
buchi.add_node(state)
for (ef, et) in edges.keys():
guard_formula = edges[(ef, et)]
guard_expr = parse_guard(guard_formula)
buchi.add_edge(ef, et, guard=guard_expr, guard_formula=guard_formula)
# write_dot(buchi, "./result.dot")
return buchi
agent_task_1 = '[]<>t1&&[]<>t2&&[]<>t3&&[]<>t4&&[]<>t5&&[]<>t6&&[](!b)'
agent_task_2 = '[]<>g&&[](!b)&&[](g-><>r)'
agent_task_3 = '[]<>m1&&[]<>m2&&[]<>m3&&[]<>m4&&[]<>m5&&[]<>m6&&[](!b)'
#couple_task = '[](! door U (open1&&open2))'
couple_task = '[](!d U (o1 && o2))'
agent_final_task_1 = agent_task_1 + '&&' + couple_task
agent_final_task_2 = agent_task_2
agent_final_task_3 = agent_task_3
buchi_1 = buchi_from_ltl(agent_final_task_1, 'hard_buchi')
buchi_2 = buchi_from_ltl(agent_final_task_2, 'hard_buchi')
buchi_3 = buchi_from_ltl(agent_final_task_3, 'hard_buchi')
couple_buchi = buchi_from_ltl(couple_task, 'hard_buchi')
couple_task_symbols = find_symbols(couple_task)
#print('guard:')
#for f in buchi_1.nodes():
# for t in buchi_1.nodes():
# print(f,t,buchi_1.edges[f,t]['guard'])
#def build_static(indi_pro,couple_pro):
# return new_indi_pro
pro_1 = ProdAut(robot_motion_1, buchi_1)
pro_1.build_full(couple_task_symbols)
#print('nodes:')
#for item in pro_1.nodes():
# if item[1] == 'accept_S1':
# print(item)