# System variables and requirements
sys_vars = {'X0reach'}
# []<>home
sys_prog = {'home'}
# [](park -> <> lot)
sys_init = {'X0reach'}
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.moore = True
specs.qinit = '\E \A'
# Synthesize
ctrl = synth.synthesize(specs, sys=disc_dynamics.ts, ignore_sys_init=True)
assert ctrl is not None, 'unrealizable'
if plotting:
ax = plot_strategy(disc_dynamics, ctrl)
ax.figure.savefig('pwa_proj_mealy.pdf')
# Save graphical representation of controller for viewing
if not ctrl.save('pwa.png'):
print(ctrl)
# Simulation
if os.name == "posix":
start = os.times()[2]
ctrl = synth.synthesize(
'gr1c', specs, sys=sys_ts.ts, ignore_sys_init=True,
#action_vars=('u_in', 'act')
)
if os.name == "posix":
end = os.times()[2]
elapsed = (end - start)
logger.info('Synthesis lasted: ' + str(elapsed))
logger.info(ctrl)
ctrl.save(imgpath + 'double_tank.pdf')
ax = plot_strategy(sys_ts, ctrl)
ax.figure.savefig(imgpath + 'proj_mealy.pdf')
"""Simulate""
num_it = 25
init_state = {}
init_state['u_in'] = 0
destfile = 'rsdisturbance_example.gexf'
states = grsim.grsim(
[aut], env_states=[init_state], num_it=num_it,
deterministic_env=False, graph_vis=False,
destfile=destfile
)
uin_arr = []
ctrl = synth.synthesize(
'gr1c',
specs,
sys=sys_ts.ts,
ignore_sys_init=True,
#action_vars=('u_in', 'act')
)
if os.name == "posix":
end = os.times()[2]
elapsed = (end - start)
logger.info('Synthesis lasted: ' + str(elapsed))
logger.info(ctrl)
ctrl.save(imgpath + 'double_tank.pdf')
ax = plot_strategy(sys_ts, ctrl)
ax.figure.savefig(imgpath + 'proj_mealy.pdf')
## Simulate
# num_it = 25
# init_state = {}
# init_state['u_in'] = 0
# destfile = 'rsdisturbance_example.gexf'
# states = grsim.grsim(
# [aut], env_states=[init_state], num_it=num_it,
# deterministic_env=False, graph_vis=False,
# destfile=destfile
# )
# uin_arr = []
env_prog = '!park'
env_safe = set() # empty set
# System variables and requirements
sys_vars = {'X0reach'}
# []<>home
sys_prog = {'home'}
# [](park -> <> lot)
sys_init = {'X0reach'}
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)
# Synthesize
ctrl = synth.synthesize('jtlv', specs,
sys=disc_dynamics.ts, ignore_sys_init=True)
if plotting:
ax = plot_strategy(disc_dynamics, ctrl)
ax.figure.savefig('pwa_proj_mealy.pdf')
# Save graphical representation of controller for viewing
if not ctrl.save('pwa.png'):
print(ctrl)
# Simulation
