def make_crane3(index, slots, containers, coll, name):
aut = weighted_structure.WeightedAutomaton(set(), coll)
aut.name = name
state1 = aut.add_new_state(True, 1)
container_states = []
for i in range(containers):
container_states.append(aut.add_new_state(False, i + 2))
aut.initial = state1
functions = ["-pick-", "-drop-"]
eventlist = {}
crane = "C" + str(index)
for func in functions:
eventlist[func] = []
for i in range(1, slots + 1):
for j in range(1, 3):
for k in range(1, containers + 1):
loc = str(i) + "-" + str(j) + "-" + str(k)
event = crane + func + loc
aut.alphabet.add(get_event(coll, event))
eventlist[func].append(event)
for func in functions:
if "-pick-" == func:
for event in eventlist[func]:
pred, succ = state1, container_states[int(event.split('-')[-1])-1]
aut.add_edge_data(pred, succ, get_event(coll, event), 1)
else:
for event in eventlist[func]:
pred, succ = container_states[int(event.split('-')[-1])-1], state1
aut.add_edge_data(pred, succ, get_event(coll, event), 1)
for slot in range(1, slots + 1):
aut.alphabet.add(get_event(coll, crane + "-switch-" + str(slot)))
aut.add_edge_data(state1, state1, get_event(coll, crane + "-switch-" + str(slot)), 1)
return aut
def add_weights(aut, edge_weight=0):
"""
Add weights to unweighted automaton L{aut}.
@param aut: Unweighted automaton.
@type aut: L{Automaton}
@param edge_weight: Weight of each edge.
@type edge_weight: C{int}
@return: Equivalent weighted automaton.
@rtype: L{WeightedAutomaton}
"""
waut = weighted_structure.WeightedAutomaton(aut.alphabet, aut.collection)
waut.set_kind(aut.aut_kind)
for stat in aut.get_states():
waut.add_new_state(stat.marked, stat.number)
waut.set_initial(waut.get_state(aut.initial.number))
for stat in aut.get_states():
wsrc = waut.get_state(stat.number)
for edge in stat.get_outgoing():
wdest = waut.get_state(edge.succ.number)
waut.add_edge_data(wsrc, wdest, edge.label, edge_weight)
return waut
def make_crane(index, slots, containers, coll, name):
aut = weighted_structure.WeightedAutomaton(set(), coll)
aut.name = name
state1 = aut.add_new_state(True, 1)
state2 = aut.add_new_state(False, 2)
aut.initial = state1
functions = ["-pick-", "-drop-"]
eventlist = {}
crane = "C" + str(index)
for func in functions:
eventlist[func] = []
for i in range(1, slots + 1):
for j in range(1, 3):
for k in range(1, containers + 1):
loc = str(i) + "-" + str(j) + "-" + str(k)
event = crane + func + loc
aut.alphabet.add(get_event(coll, event))
eventlist[func].append(event)
for func in functions:
pred = None
succ = None
if "-pick-" == func:
pred, succ = state1, state2
else:
pred, succ = state2, state1
for event in eventlist[func]:
aut.add_edge_data(pred, succ, get_event(coll, event), 1)
return aut
def make_crane_location(cranes, slot, containers, last, init, coll, name):
aut = weighted_structure.WeightedAutomaton(set(), coll)
aut.name = name
state1 = aut.add_new_state(True, 1)
statedict = {}
for i in range(2, cranes + 2):
statedict[str(i)] = aut.add_new_state(True, i)
print "init: " + str(init)
print aut._states
aut.initial = aut.get_state(int(init))
functions = ["-pick-", "-drop-"]
eventlist = {}
craneenter = []
craneleave = []
for l in range(1, cranes+1):
crane = "C" + str(l)
eventlist[crane] = []
i = slot
craneenter.append([])
craneleave.append([])
if slot != 1:
event = crane + "-move-" + str(slot-1) + "-" + str(slot)
craneenter[l-1].append(event)
aut.alphabet.add(get_event(coll, event))
event = crane + "-move-" + str(slot) + "-" + str(slot-1)
craneleave[l-1].append(event)
aut.alphabet.add(get_event(coll, event))
if not last:
event = crane + "-move-" + str(slot+1) + "-" + str(slot)
craneenter[l-1].append(event)
aut.alphabet.add(get_event(coll, event))
event = crane + "-move-" + str(slot) + "-" + str(slot+1)
craneleave[l-1].append(event)
aut.alphabet.add(get_event(coll, event))
for func in functions:
for j in range(1, 3):
for k in range(1, containers + 1):
loc = str(i) + "-" + str(j) + "-" + str(k)
first = False
event = crane + func + loc
aut.alphabet.add(get_event(coll, event))
eventlist[crane].append(event)
for i in range(2, cranes + 2):
pred = statedict[str(i)]
succ = statedict[str(i)]
crane = "C" + str(i-1)
for event in eventlist[crane]:
aut.add_edge_data(pred, succ, get_event(coll, event), 1)
for i in range(len(craneenter)):
empty = state1
full = statedict[str(i + 2)]
for event in craneenter[i]:
aut.add_edge_data(empty, full, get_event(coll, event), 1)
for event in craneleave[i]:
aut.add_edge_data(full, empty, get_event(coll, event), 1)
return aut
def make_crane_restriction(crane, slot, init, coll, name): aut = weighted_structure.WeightedAutomaton(set(), coll) aut.name = name state1 = aut.add_new_state(True, 1) state2 = aut.add_new_state(True, 2) aut.initial = aut.get_state(int(init)) event = crane + "-move-" + str(slot) + "-" + str(slot+1) aut.alphabet.add(get_event(coll, event)) aut.add_edge_data(state1, state2, get_event(coll, event), 1) event = crane + "-move-" + str(slot+1) + "-" + str(slot) aut.alphabet.add(get_event(coll, event)) aut.add_edge_data(state2, state1, get_event(coll, event), 1) return aut
def make_container(index, pick_up, drop_off, next, cranes, slots, coll, name):
aut = weighted_structure.WeightedAutomaton(set(), coll)
aut.name = name
state1 = aut.add_new_state(False, 1)
aut.initial = state1
state2 = aut.add_new_state(True, 2)
statedict = {}
for i in range(3, 3 + cranes):
statedict[str(i)] = aut.add_new_state(False, i)
functions = ["-pick-", "-drop-"]
picklist = []
droplist = []
nextlist = [] if next != None else None
first = True
for l in range(1, cranes + 1):
crane = "C" + str(l)
for func in functions:
for i in range(1, slots + 1):
for j in range(1, 3):
loc = str(i) + "-" + str(j) + "-" + str(index)
event = crane + func + loc
aut.alphabet.add(get_event(coll, event))
for l in range(1, cranes + 1):
crane = "C" + str(l)
event = crane + "-pick-" + pick_up + str(index)
aut.alphabet.add(get_event(coll, event))
picklist.append(get_event(coll, event))
event = crane + "-drop-" + drop_off + str(index)
aut.alphabet.add(get_event(coll, event))
droplist.append(get_event(coll, event))
if nextlist != None:
event = crane + "-pick-" + pick_up + str(next)
aut.alphabet.add(get_event(coll, event))
nextlist.append(get_event(coll, event))
pred = state1
succ = 3
for (crane, event) in enumerate(picklist):
aut.add_edge_data(pred, statedict[str(succ + crane)], event, 1)
pred = 3
succ = state2
for (crane, event) in enumerate(droplist):
aut.add_edge_data(statedict[str(pred + crane)], succ, event, 1)
if nextlist != None:
for event in nextlist:
aut.add_edge_data(state2, state2, event, 1)
for crane in range(cranes):
crane = statedict[str(crane + 3)]
aut.add_edge_data(crane, crane, event, 1)
return aut
def make_move_order(SC_auts, coll, name):
aut = weighted_structure.WeightedAutomaton(set(), coll)
aut.name = name
aut.initial = aut.add_new_state(True, 1)
picks = []
for SC_aut in SC_auts:
pick_events = [evt for evt in SC_aut.alphabet if "pick" in evt.name]
aut.alphabet.update(pick_events)
picks.append(pick_events)
state = aut.initial
while picks:
pick_events = picks.pop(random.randint(0, len(picks)-1))
pick_event = random.sample(pick_events, 1)[0]
new_state = aut.add_new_state(True, aut.get_num_states() + 1)
aut.add_edge_data(state, new_state, pick_event, 1)
state = new_state
return aut
def create_local_automaton(aut, local_alphabet, start_state, end_state):
# creating temporary automaton
temp_coll = collection.Collection()
temp_automaton = weighted_structure.WeightedAutomaton(
local_alphabet, temp_coll)
for state in aut.get_states():
ns = temp_automaton.add_new_state(state == end_state, state.number)
for state in aut.get_states():
for edge in state.get_outgoing():
if edge.label in local_alphabet:
new_edge = edge.copy(
temp_automaton.get_state(edge.pred.number),
temp_automaton.get_state(edge.succ.number))
temp_automaton.add_edge(new_edge)
temp_automaton.initial = temp_automaton.get_state(start_state.number)
temp_automaton.reduce(True, True)
if temp_automaton.get_num_states() == 0:
return None
else:
return temp_automaton
def reduce_sup(wsup, weight_map):
"""
Construct a new automaton containing only edges that lead to a
decrease in weight.
@param wsup: Existing automaton.
@type wsup: L{WeightedAutomaton}
@param weight_map: Mapping of states in L{wsup} to their weight.
@type weight_map: C{dict} of L{State} to C{int}
@return: Reduced weighted automaton.
@rtype: L{WeightedAutomaton}
"""
new_aut = weighted_structure.WeightedAutomaton(wsup.alphabet,
wsup.collection)
old_initial = wsup.initial
initial = new_aut.add_new_state(old_initial.marked, old_initial.number)
new_aut.set_initial(initial)
notdone = [(old_initial, initial)]
while len(notdone) > 0:
old_state, new_state = notdone.pop()
for edge in old_state.get_outgoing():
if weight_map[old_state] < weight_map[edge.succ] + edge.weight:
continue
if new_aut.has_state(edge.succ.number):
new_succ = new_aut.get_state(edge.succ.number)
else:
new_succ = new_aut.add_new_state(edge.succ.marked,
edge.succ.number)
notdone.append((edge.succ, new_succ))
new_aut.add_edge_data(new_state, new_succ, edge.label, edge.weight)
return new_aut
def setup(self, props):
self.aut = weighted_structure.WeightedAutomaton(props.alphabet,
props.coll)
from automata import collection, weighted_structure, weighted_frontend, data_structure
def dothis(local_alphabet):
print local_alphabet.pop()
coll = collection.Collection()
comp_list = weighted_frontend.load_weighted_automata(coll, "plant1.cfg", False,
True)
local_alphabet = comp_list[0].alphabet
print local_alphabet
dothis(local_alphabet)
print local_alphabet
temp_coll = collection.Collection()
temp_automaton = weighted_structure.WeightedAutomaton(local_alphabet,
temp_coll)
# temp_automaton.add_new_state(False, comp_list[0].initial.number)
for state in comp_list[0].get_states():
ns = temp_automaton.add_new_state(state.marked, state.number)
for state in comp_list[0].get_states():
for edge in state.get_outgoing():
if edge.label in local_alphabet:
print "this happends"
new_edge = edge.copy(temp_automaton.get_state(edge.pred.number),
temp_automaton.get_state(edge.succ.number))
temp_automaton.add_edge(new_edge)
temp_automaton.initial = temp_automaton.get_state(comp_list[0].initial.number)
temp_automaton.reduce(True, True)
temp_req = data_structure.Automaton(set([next(iter(local_alphabet))]),
def make_crane_location3(cranes, slot, containers, last, init, coll, name):
aut = weighted_structure.WeightedAutomaton(set(), coll)
aut.name = name
state1 = aut.add_new_state(True, 1)
statedict = {}
for i in range(2, cranes * 3, 3):
statedict[str(i)] = aut.add_new_state(True, i)
statedict[str(i+1)] = aut.add_new_state(True, i+1)
statedict[str(i+2)] = aut.add_new_state(True, i+2)
print "init: " + str(init)
print aut._states
if init == 1:
aut.initial = aut.get_state(int(init))
else:
init = (int(init) - 1)*3 + 1
aut.initial = aut.get_state(int(init))
functions = ["-pick-", "-drop-"]
eventlist = {}
craneenter = []
craneleave = []
for l in range(1, cranes+1):
crane = "C" + str(l)
eventlist[crane] = []
aut.alphabet.add(get_event(coll, crane + "-switch-" + str(slot)))
i = slot
craneenter.append([])
craneleave.append([])
if slot != 1:
event = crane + "-move-" + str(slot-1) + "-" + str(slot)
craneenter[l-1].append(event)
aut.alphabet.add(get_event(coll, event))
event = crane + "-move-" + str(slot) + "-" + str(slot-1)
craneleave[l-1].append(event)
aut.alphabet.add(get_event(coll, event))
if not last:
event = crane + "-move-" + str(slot+1) + "-" + str(slot)
craneenter[l-1].append(event)
aut.alphabet.add(get_event(coll, event))
event = crane + "-move-" + str(slot) + "-" + str(slot+1)
craneleave[l-1].append(event)
aut.alphabet.add(get_event(coll, event))
for func in functions:
for j in range(1, 3):
for k in range(1, containers + 1):
loc = str(i) + "-" + str(j) + "-" + str(k)
first = False
event = crane + func + loc
aut.alphabet.add(get_event(coll, event))
eventlist[crane].append(event)
for i in range(2, cranes *3, 3):
pred = statedict[str(i)]
succ = statedict[str(i+2)]
crane = "C" + str((i/3)+1)
aut.add_edge_data(pred, succ, get_event(coll, crane + "-switch-" + str(slot)), 1)
for event in eventlist[crane]:
aut.add_edge_data(pred, succ, get_event(coll, event), 1)
pred = statedict[str(i+1)]
aut.add_edge_data(pred, succ, get_event(coll, crane + "-switch-" + str(slot)), 1)
for event in eventlist[crane]:
aut.add_edge_data(pred, succ, get_event(coll, event), 1)
pred = statedict[str(i+2)]
for event in eventlist[crane]:
aut.add_edge_data(pred, succ, get_event(coll, event), 1)
for i in range(len(craneenter)):
empty = state1
full1 = statedict[str((i*3) + 2)]
full2 = statedict[str((i*3) + 3)]
full3 = statedict[str((i*3) + 4)]
for event in craneenter[i]:
print event
split = event.split("-")
if int(split[-2]) < int(split[-1]):
aut.add_edge_data(empty, full1, get_event(coll, event), 1)
else:
aut.add_edge_data(empty, full2, get_event(coll, event), 1)
for event in craneleave[i]:
split = event.split("-")
aut.add_edge_data(full3, empty, get_event(coll, event), 1)
if int(split[-2]) < int(split[-1]):
aut.add_edge_data(full1, empty, get_event(coll, event), 1)
else:
aut.add_edge_data(full2, empty, get_event(coll, event), 1)
return aut
def synchronousproduct_weighted_epucks(auts, depth):
initstate = []
newalphabet = set()
transmap = []
eventweight = {}
enabled = []
print "begin transmap"
for aut in auts:
newalphabet.update(aut.alphabet)
collissions = set()
num_colls = 0
for i in range(len(auts)):
aut = auts[i]
initstate.append(aut.initial)
collissions.update(aut.initial.collisions)
num_colls += len(aut.initial.collisions)
#newalphabet.update(aut.alphabet)
transmap.append({})
enabled.append({})
for state in aut.get_states():
enabled[i][state] = set()
for edge in state.get_outgoing():
eventweight[edge.label] = edge.weight
if (state,edge.label) not in transmap[i]:
transmap[i][state,edge.label] = []
transmap[i][state,edge.label].append(edge.succ)
enabled[i][state].add(edge.label)
for i in range(len(auts)):
nonlocalevents = newalphabet.difference(auts[i].alphabet)
for state in auts[i].get_states():
enabled[i][state].update(nonlocalevents)
print "end transmap"
inittuple = tuple(initstate)
dictionary = {}
aut_sync = weighted_structure.WeightedAutomaton(newalphabet, aut.collection)
initstate = aut_sync.add_new_state(allmarked(inittuple), aut_sync.get_num_states())
assert(len(collissions) == num_colls)
initstate.collisions = collissions
aut_sync.initial = initstate
dictionary[inittuple] = initstate
tovisit = [inittuple]
transitions = 0
edgestoadd = []
print "add edges"
succcalctime = 0
addstatetime = 0
calccurrenab = 0
count = 0
while len(tovisit) != 0:
count += 1
statetuple = tovisit.pop()
currenabled = set(enabled[0][statetuple[0]])
for i in range(1,len(enabled)):
currenabled.intersection_update(enabled[i][statetuple[i]])
for event in currenabled:
hassuccs = True
successorlists = []
indexs = []
for i in range(len(transmap)):
indexs.append(0)
if event not in auts[i].alphabet:
successorlists.append([statetuple[i]])
continue
if (statetuple[i], event) not in transmap[i]:
hassuccs = False
break
successorlists.append(transmap[i][(statetuple[i], event)])
if not hassuccs:
continue
#successors = calcsuccessors(statetuple, event, transmap, auts)
successors = []
while True:
succtuple = []
needtoincrement = True
for i in xrange(len(indexs)):
succtuple.append(successorlists[i][indexs[i]])
if needtoincrement:
indexs[i] += 1
if indexs[i] >= len(successorlists[i]):
indexs[i] = 0
else:
needtoincrement = False
successors.append(hashcachingtuple(succtuple))
if needtoincrement:
break
for succtuple in successors:
collissions = set()
num_colls = 0
for state in succtuple:
collissions.update(state.collisions)
num_colls += len(state.collisions)
if num_colls != len(collissions):
continue
if succtuple not in dictionary:
newstate = aut_sync.add_new_state(allmarked(succtuple), aut_sync.get_num_states())
dictionary[succtuple] = newstate
tovisit.append(succtuple)
newstate.collisions = collissions
edgestoadd.append(weighted_structure.WeightedEdge(dictionary[statetuple], dictionary[succtuple], event, eventweight[event]))
#print aut_sync
#if count % 500 == 0:
#print "succcalctime" +str(succcalctime)
#print "addstatetime" +str(addstatetime)
#print "calccurrenab" +str(calccurrenab)
print "end add edges"
print "added edges"
aut_sync.add_edges(edgestoadd)
print "end add edges"
#if depth == 5:
#auia = aieia
return aut_sync