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_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 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(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(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(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(s | s3)
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 pedestrianK(Ncar, Nped, xcar, vcar, Vlow, Vhigh, xped, xcross_start):
sys_vars = {}
sys_vars['xcar'] = (1, Ncar)
sys_vars['vcar'] = (Vlow, Vhigh)
env_vars = {}
env_vars['xped'] = (0, Nped-xped) # Possible cells pedestrian can occupy
sys_init = {'xcar='+str(xcar), 'vcar='+str(vcar)}
env_init = {'xped='+str(xped)}
# Test lines:
sys_init = {'xcar='+str(xcar)}
env_init = set()
# ========================= #
sys_prog = set() # For now, no need to have progress
env_prog = set()
xcar_jj = xcross_start + (xped-1) - 1 # eventual goal location for car
#sys_prog = set({'xcar = '+str(xcar_jj)})
sys_safe = set()
env_safe = set()
# Environment safety specs: Static pedestrian
for xi in range(0, Nped-xped+1):
env_safe |= {'xped='+str(xi)+'-> X(xped='+str(xi)+')'}
# system safety specs
# for ii in range(Nped, 0, -1):
# xcar_jj = ii+(xcross_start-1)-1
# assert xcar_jj > 0
# spec1_ii = {'(xcar='+str(xcar_jj)+') && (xped='+str(ii)+')-> (vcar=0)'}
# sys_safe |= spec1_ii
# spec2_ii = {'(xcar='+str(xcar_jj)+') && !(xped='+str(ii)+')-> (!(vcar=0))'}
# sys_safe |= spec2_ii
# System safety specs:
for ii in range(1, xcross_start):
spec2_ii = {'(xcar='+str(ii)+')-> (!(vcar=0))'}
sys_safe |= spec2_ii
# Adding system safety specifications:
for ii in range(0, Nped-xped+1):
xcar_jj = ii+xped+(xcross_start-1)-1
pii = '(xped='+str(ii)+')'
qii = '(xcar='+str(xcar_jj)+') && (vcar=0)'
spec1_pii = response_to_gr1(pii, qii)
qii_2 = '!((xcar='+str(xcar_jj)+') && (vcar=0))'
pii_2 = '!(xped='+str(ii)+')'
spec2_pii = response_to_gr1(pii_2, qii_2)
str_aux1 = "aux_"+str(2*ii)
str_aux2 = "aux_"+str(2*ii+1)
sys_vars[str_aux1] = 'boolean'
str_safe = spec1_pii.sys_safety
str_prog = spec1_pii.sys_prog
sys_vars[str_aux2] = 'boolean'
str_safe2 = spec2_pii.sys_safety
str_prog2 = spec2_pii.sys_prog
for si in str_safe:
sii = si.replace("aux", str_aux1)
sys_safe |= {sii}
for si in str_prog:
sii = si.replace("aux", str_aux1)
sys_prog |= {sii}
for si in str_safe2:
sii = si.replace("aux", str_aux2)
sys_safe |= {sii}
for si in str_prog2:
sii = si.replace("aux", str_aux2)
sys_prog |= {sii}
# Add system dynamics to safety specs:
for ii in range(1, Ncar+1):
for vi in range(Vlow, Vhigh+1):
if vi==0:
spec_ii = {'((xcar='+str(ii)+') && (vcar=0))-> X((vcar=0 || vcar=1) && xcar='+str(ii)+')'}
sys_safe|=spec_ii
elif vi == Vhigh:
xf_ii = min(ii+vi, Ncar)
spec_ii = {'((xcar='+str(ii)+') && (vcar='+str(vi)+'))-> X((vcar='+str(vi)+'|| vcar='+str(vi-1)+') && xcar='+str(xf_ii)+')'}
sys_safe|=spec_ii
else:
xf_ii = min(ii+vi, Ncar)
spec_ii = {'((xcar='+str(ii)+') && (vcar='+str(vi)+'))-> X((vcar='+str(vi)+'|| vcar='+str(vi-1)+'|| vcar='+str(vi+1)+') && xcar='+str(xf_ii)+')'}
sys_safe|=spec_ii
return env_vars, sys_vars, env_init, sys_init, env_safe, sys_safe, env_prog, sys_prog