def minirecognizer(goalspec):
# Change list of trace to set
traceset = trace.copy()
akey = list(traceset.keys())[0]
# Loop through the trace to find the shortest best trace
trace_len = len(traceset[akey])-1
t = self.create_trace_flloat(traceset, trace_len)
# parse the formula
parser = LTLfGParser()
# Define goal formula/specification
parsed_formula = parser(goalspec)
# Evaluate the trace
result = parsed_formula.truth(t)
# print(result, goalspec, trace['KE'][-1], trace['LV'][-1])
if goalspec[0] == 'G':
if not result:
self.env_done = True
return result, self.create_trace_dict(
trace, trace_len)
else:
if result:
return result, self.create_trace_dict(
trace, trace_len)
return result, self.create_trace_dict(
trace, trace_len)
def recognizer(self, trace):
"""Recognizer.
Which will reconize traces from the generator system."""
# parse the formula
parser = LTLfGParser()
# Define goal formula/specification
parsed_formula = parser(self.goalspec)
# Change list of trace to set
traceset = trace.copy()
akey = list(traceset.keys())[0]
# Loop through the trace to find the shortest best trace
for i in range(0, len(traceset[akey])):
t = self.create_trace_flloat(traceset, i)
result = parsed_formula.truth(t)
if self.goalspec[0] == 'G':
if not result:
return result, self.create_trace_dict(trace, i)
else:
if result:
return result, self.create_trace_dict(trace, i)
return result, self.create_trace_dict(trace, i)
def recognizer(self, trace):
"""Recognizer.
Which will reconize traces from the generator system."""
# parse the formula
parser = LTLfGParser()
# Define goal formula/specification
parsed_formula = parser(self.goalspec)
# Change list of trace to set
traceset = trace.copy()
# print('recognizer',traceset)
akey = list(traceset.keys())[0]
# Loop through the trace to find the shortest best trace
for i in range(0, len(traceset[akey])):
t = self.create_trace_flloat(traceset, i)
# print(i, t['C'], parsed_formula)
result = parsed_formula.truth(t)
# print(i, t['C'], parsed_formula, result)
if result is True:
self.set_state(self.env, trace, i)
return True, self.create_trace_dict(trace, i)
return result, self.create_trace_dict(trace, i)
def evaluate_trace(self, goalspec, trace):
# Test the prop algorithm
parser = LTLfGParser()
parsed_formula = parser(goalspec)
# Quick fix. create_trace_float requires action to be list of list
temp = trace['A']
trace['A'] = [temp]
# Create a trace compatiable with Flloat library
t = self.create_trace_flloat(self.list_to_trace(trace), 0)
result = parsed_formula.truth(t)
return result
def goalspec2BT(goalspec, planner=Planner.DEFAULT, node=GoalNode):
parser = LTLfGParser()
ltlformula = parser(goalspec)
# nodeid for unique naming to the nodes
nid = 0
# If the specification is already atomic no need to call his
if type(ltlformula) in [LTLfgAtomic, LTLfEventually, LTLfAlways]:
root = node(get_name(ltlformula), planner, id=nid)
nid += 1
else:
rootnode = find_control_node(ltlformula.operator_symbol)
root = rparser(ltlformula.formulas, rootnode, planner, node, nid)
recursive_until(root)
return root
def recognition(trace, keys, goalspec):
# goalspec = 'F P_[C][1,none,>=]'
# parse the formula
parser = LTLfGParser()
# Define goal formula/specification
parsed_formula = parser(goalspec)
# Change list of trace to set
traceset = trace.copy()
akey = list(traceset.keys())[0]
# print('recognizer', traceset)
# Loop through the trace to find the shortest best trace
for i in range(1, len(traceset[akey]) + 1):
t = create_trace_flloat(traceset, i, keys)
result = parsed_formula.truth(t)
if result is True:
# self.set_state(self.env, trace, i)
return True, i
return result, i
