# The system specification describes how the system is allowed to move
# and what the system is required to do in response to an environmental
# action.
#
sys_vars = {'X0', 'X1', 'X2', 'X3', 'X4', 'X5'}
sys_init = {'X0'}
sys_safe = {
'X0 -> X (X1 || X3)',
'X1 -> X (X0 || X4 || X2)',
'X2 -> X (X1 || X5)',
'X3 -> X (X0 || X4)',
'X4 -> X (X3 || X1 || X5)',
'X5 -> X (X4 || X2)',
}
sys_safe.add(synth.exactly_one({'X0', 'X1', 'X2', 'X3', 'X4', 'X5'})[0])
sys_prog = set() # empty set
#
# System specification
#
# The system specification is that the robot should repeatedly revisit
# the upper right corner of the grid while at the same time responding
# to the park signal by visiting the lower left corner. The LTL
# specification is given by
#
# []<> X5 && [](park -> <>X0)
#
# Since this specification is not in GR(1) form, we introduce an
# environment variable X0reach that is initialized to True and the
# The system specification describes how the system is allowed to move
# and what the system is required to do in response to an environmental
# action.
#
sys_vars = {'X0', 'X1', 'X2', 'X3', 'X4', 'X5'}
sys_init = {'X0'}
sys_safe = {
'X0 -> X (X1 || X3)',
'X1 -> X (X0 || X4 || X2)',
'X2 -> X (X1 || X5)',
'X3 -> X (X0 || X4)',
'X4 -> X (X3 || X1 || X5)',
'X5 -> X (X4 || X2)',
}
sys_safe.add(synth.exactly_one({'X0', 'X1', 'X2', 'X3', 'X4', 'X5'})[0])
sys_prog = set() # empty set
#
# System specification
#
# The system specification is that the robot should repeatedly revisit
# the upper right corner of the grid while at the same time responding
# to the park signal by visiting the lower left corner. The LTL
# specification is given by
#
# []<> X5 && [](park -> <>X0)
#
# Since this specification is not in GR(1) form, we introduce an
# environment variable X0reach that is initialized to True and the
sys_vars = {'a0', 'a1', 'a2', 'a3', 'a4', 'a5', 'a6', 'a7', 'a8'}
sys_init = {'a0'}
sys_safe = {
'a0 -> X (a1 || a3)',
'a1 -> X (a0 || a4 || a2)',
'a2 -> X (a2)',
'a3 -> X (a0 || a4 || a6)',
'a4 -> X (a1 || a3 || a5 || a7)',
'a5 -> X (a4 || a2 || a8)',
'a6 -> X (a3 || a7)',
'a7 -> X (a4 || a6 || a8)',
'a8 -> X (a7 || a5)',
}
sys_safe.add(synth.exactly_one(
{'a0', 'a1', 'a2', 'a3', 'a4', 'a5', 'a6', 'a7', 'a8'}
)[0])
sys_prog = {'a2'}
# Create the specification
specs = spec.GRSpec(env_vars, sys_vars, env_init, sys_init,
env_safe, sys_safe, env_prog, sys_prog)
# Controller synthesis
#
# At this point we can synthesize the controller using one of the available
# methods.
#
# @synthesize@
# Moore machines