def get_inputs():
"""The designer specifies a mission using the predefined catalogue of patterns
In addition to the patterns to use the designer specifies also in which context each goal can be active"""
print("CUSTOM SPEC c2:")
print(os.path.dirname(os.path.abspath(__file__)))
""" Atomic propositions divided in
s - sensor propositions (uncontrollable)
l - location propositions (controllable e.g. goto)
a - action propositions (controllable)"""
ap = {
"s": {
"night_time": LTL("night_time"),
"day_time": LTL("day_time"),
"low_battery": LTL("low_battery"),
"full_battery": LTL("full_battery"),
"entrance": LTL("entrance"),
"shop": LTL("shop"),
"get_med": LTL("get_med"),
"warehouse": LTL("warehouse"),
"human_entered": LTL("human_entered"),
"guard_entered": LTL("guard_entered"),
"door_alarm": LTL("door_alarm"),
"fire_alarm": LTL("fire_alarm")
},
"l": {
"go_entrace": LTL("go_entrace"),
"go_counter": LTL("go_counter"),
"go_back": LTL("go_back"),
"go_warehouse": LTL("go_warehouse"),
"go_charging_point": LTL("go_charging_point"),
"go_safe_loc": LTL("go_safe_loc")
},
"a": {
"contact_station": LTL("contact_station"),
"welcome_client": LTL("welcome_client"),
"take_med": LTL("take_med"),
"give_med": LTL("give_med")
}
}
""" Contexts rules, e.g. shop xor warehouse etc..
Domain rules, e.g. different locations
Liveness rules, i.e. assumptions when generating the controller e.g. GF alarm, GF !alarm"""
rules = {
"context": {
"mutex": [[ap["s"]["shop"], ap["s"]["warehouse"]],
[ap["s"]["day_time"], ap["s"]["night_time"]]],
"inclusion": [
[ap["s"]["entrance"], ap["s"]["shop"]],
[ap["s"]["human_entered"], ap["s"]["shop"]],
[ap["s"]["get_med"], ap["s"]["entrance"]],
[ap["s"]["fire_alarm"], ap["s"]["warehouse"]],
[ap["s"]["door_alarm"], ap["s"]["shop"]],
[ap["s"]["guard_entered"], ap["s"]["shop"]],
]
},
"domain": {
"mutex": [[
ap["l"]["go_entrace"], ap["l"]["go_counter"],
ap["l"]["go_back"], ap["l"]["go_warehouse"],
ap["l"]["go_charging_point"], ap["l"]["go_safe_loc"]
]],
"inclusion": []
},
"environment": {
"mutex": [],
"inclusion": [],
"liveness": [NotLTL(ap["s"]["fire_alarm"])]
}
}
"""List of specifications / goals"""
list_of_goals = [
CGTGoal(name="night-time-patroling",
description="patrol warehouse and shop during the night",
context=(Context(ap["s"]["night_time"])),
contracts=[
PContract([
SequencedPatroling([
ap["l"]["go_entrace"], ap["l"]["go_counter"],
ap["l"]["go_back"], ap["l"]["go_warehouse"]
])
])
]),
CGTGoal(
name="get-meds-to-clients",
description=
"if a clients request a medicine go to the warehouse, take the medicine and come back",
context=(Context(AndLTL([ap["s"]["shop"], ap["s"]["day_time"]]))),
contracts=[
PContract([
DelayedReaction(
trigger=ap["s"]["get_med"],
reaction=AndLTL([
StrictOrderVisit([
ap["l"]["go_back"], ap["l"]["go_warehouse"],
ap["l"]["go_entrace"]
]),
InstantReaction(trigger=ap["l"]["go_warehouse"],
reaction=ap["a"]["take_med"]),
InstantReaction(trigger=ap["l"]["go_entrace"],
reaction=ap["a"]["give_med"])
]))
])
]),
CGTGoal(
name="low-battery",
description=
"always go the charging point and contact the main station when the battery is low",
contracts=[
PContract([
Recurrence_P_between_Q_and_R(
q=ap["s"]["low_battery"],
p=ap["l"]["go_charging_point"],
r=ap["s"]["full_battery"])
])
]),
CGTGoal(name="welcome-visitors",
description="welcome people at the entrance",
context=(Context(
AndLTL([ap["s"]["day_time"], ap["s"]["entrance"]]))),
contracts=[
PContract([
DelayedReaction(trigger=ap["s"]["human_entered"],
reaction=ap["a"]["welcome_client"]),
])
]),
CGTGoal(
name="shop-alarm",
description="if the door_alarm goes off at any time go to safety "
"location and stay there until there is no more door_alarm",
context=(Context(ap["s"]["night_time"])),
contracts=[
PContract([
P_after_Q(q=ap["s"]["door_alarm"], p=ap["l"]["go_entrace"])
])
]),
CGTGoal(
name="fire-alarm",
description="if the door_alarm goes off at any time go to safety "
"location and stay there until there is no more door_alarm",
contracts=[
PContract([
InstantReaction(trigger=ap["s"]["fire_alarm"],
reaction=ap["l"]["go_safe_loc"])
])
])
]
return ap, rules, list_of_goals
def get_inputs():
"""The designer specifies a mission using the predefined catalogue of patterns
In addition to the patterns to use the designer specifies also in which context each goal can be active"""
print("CUSTOM SPEC c2:")
print(os.path.dirname(os.path.abspath(__file__)))
""" Atomic propositions divided in
s - sensor propositions (uncontrollable)
l - location propositions (controllable e.g. goto)
a - action propositions (controllable)"""
ap = {
"s": {
"night_time": LTL("night_time"),
"day_time": LTL("day_time"),
"low_battery": LTL("low_battery"),
"entrance": LTL("entrance"),
"shop": LTL("shop"),
"get_med": LTL("get_med"),
"warehouse": LTL("warehouse"),
"human_entered": LTL("human_entered"),
"alarm": LTL("alarm")
},
"l": {
"wlocA": LTL("wlocA"),
"wlocB": LTL("wlocB"),
"slocA": LTL("slocA"),
"slocB": LTL("slocB"),
"safe_loc": LTL("safe_loc"),
"charging_point": LTL("charging_point")
},
"a": {
"contact_station": LTL("contact_station"),
"welcome_client": LTL("welcome_client"),
"take_med": LTL("take_med"),
"give_med": LTL("give_med")
}
}
""" Contexts rules, e.g. shop xor warehouse etc..
Domain rules, e.g. different locations
Liveness rules, i.e. assumptions when generating the controller e.g. GF alarm, GF !alarm"""
rules = {
"context": {
"mutex": [
[ap["s"]["shop"], ap["s"]["warehouse"]],
[ap["s"]["day_time"], ap["s"]["night_time"]]
],
"inclusion": [
[ap["s"]["entrance"], ap["s"]["shop"]],
[ap["s"]["human_entered"], ap["s"]["shop"]],
[ap["s"]["get_med"], ap["s"]["entrance"]],
]
},
"domain": {
"mutex": [[
ap["l"]["wlocA"],
ap["l"]["wlocB"],
ap["l"]["slocA"],
ap["l"]["slocB"],
ap["l"]["safe_loc"],
ap["l"]["charging_point"]
]],
"inclusion": [
]
},
"environment": {
"liveness": [
ap["s"]["alarm"],
NotLTL(ap["s"]["alarm"])
]
}
}
"""List of specifications / goals"""
list_of_goals = [
CGTGoal(
name="night-time-patroling",
description="patrol warehouse and shop during the night",
context=(Context(
P_global(
ap["s"]["night_time"]
)
)),
contracts=[PContract([
StrictOrderPatroling([
ap["l"]["wlocA"], ap["l"]["wlocB"], ap["l"]["slocA"], ap["l"]["slocB"]
])
])]
),
CGTGoal(
name="order-visit",
description="patrol warehouse and shop during the night",
context=(Context(
P_global(
ap["s"]["shop"]
)
)),
contracts=[PContract([
StrictOrderVisit([
ap["l"]["wlocB"], ap["l"]["wlocA"], ap["l"]["slocB"], ap["l"]["slocA"]
])
])]
),
]
return ap, rules, list_of_goals
def get_inputs():
"""The designer specifies a mission using the predefined catalogue of patterns
In addition to the patterns to use the designer specifies also in which context each goal can be active"""
print("CUSTOM SPEC c2:")
print(os.path.dirname(os.path.abspath(__file__)))
""" Atomic propositions divided in
s - sensor propositions (uncontrollable)
l - location propositions (controllable e.g. goto)
a - action propositions (controllable)"""
ap = {
"s": {
# "night_time": LTL("night_time"),
# "day_time": LTL("day_time"),
# "low_battery": LTL("low_battery"),
# "entrance": LTL("entrance"),
# "shop": LTL("shop"),
# "get_med": LTL("get_med"),
# "warehouse": LTL("warehouse"),
# "human_entered": LTL("human_entered"),
"alarm": LTL("alarm")
},
"l": {
# "wlocA": LTL("wlocA"),
# "wlocB": LTL("wlocB"),
# "slocA": LTL("slocA"),
# "slocB": LTL("slocB"),
"safe_loc": LTL("safe_loc"),
# "charging_point": LTL("charging_point")
},
"a": {
# "contact_station": LTL("contact_station"),
# "welcome_client": LTL("welcome_client"),
# "take_med": LTL("take_med"),
# "give_med": LTL("give_med")
}
}
""" Contexts rules, e.g. shop xor warehouse etc..
Domain rules, e.g. different locations
Liveness rules, i.e. assumptions when generating the controller e.g. GF alarm, GF !alarm"""
rules = {
"context": {
# "mutex": [
# [ap["s"]["shop"], ap["s"]["warehouse"]],
# [ap["s"]["day_time"], ap["s"]["night_time"]]
# ],
# "inclusion": [
# [ap["s"]["entrance"], ap["s"]["shop"]],
# [ap["s"]["human_entered"], ap["s"]["shop"]],
# [ap["s"]["get_med"], ap["s"]["entrance"]],
#
# ]
},
"domain": {
# "mutex": [[
# ap["l"]["wlocA"],
# ap["l"]["wlocB"],
# ap["l"]["slocA"],
# ap["l"]["slocB"],
# ap["l"]["safe_loc"],
# ap["l"]["charging_point"]
# ]],
# "inclusion": [
# ]
},
"environment": {
# "liveness": [
# ap["s"]["alarm"],
# NotLTL(ap["s"]["alarm"])
# ]
}
}
"""List of specifications / goals"""
list_of_goals = [
CGTGoal(
name="FP_after_Q(P_until_R)",
description="if the alarm goes off at any time go to safety location and stay there until there is no more alarm",
contracts=[PContract([
FP_after_Q(
p=P_until_R(
p=ap["l"]["safe_loc"],
r=NotLTL(ap["s"]["alarm"])),
q=ap["s"]["alarm"])
])]
),
CGTGoal(
name="FP_after_Q_until_R",
description="if the alarm goes off at any time go to safety location and stay there until there is no more alarm",
contracts=[PContract([
FP_after_Q_until_R(
p=ap["l"]["safe_loc"],
q=ap["s"]["alarm"],
r=NotLTL(ap["s"]["alarm"])
)
])]
),
CGTGoal(
name="FP_between_Q_and_R",
description="if the alarm goes off at any time go to safety location and stay there until there is no more alarm",
contracts=[PContract([
FP_between_Q_and_R(
p=ap["l"]["safe_loc"],
q=ap["s"]["alarm"],
r=NotLTL(ap["s"]["alarm"])
)
])]
),
CGTGoal(
name="P_after_Q(P_until_R)",
description="if the alarm goes off at any time go to safety location and stay there until there is no more alarm",
contracts=[PContract([
P_after_Q(
p=P_until_R(
p=ap["l"]["safe_loc"],
r=NotLTL(ap["s"]["alarm"])),
q=ap["s"]["alarm"])
])]
),
CGTGoal(
name="P_after_Q_until_R",
description="if the alarm goes off at any time go to safety location and stay there until there is no more alarm",
contracts=[PContract([
P_after_Q_until_R(
p=ap["l"]["safe_loc"],
q=ap["s"]["alarm"],
r=NotLTL(ap["s"]["alarm"])
)
])]
),
CGTGoal(
name="P_between_Q_and_R",
description="if the alarm goes off at any time go to safety location and stay there until there is no more alarm",
contracts=[PContract([
P_between_Q_and_R(
p=ap["l"]["safe_loc"],
q=ap["s"]["alarm"],
r=NotLTL(ap["s"]["alarm"])
)
])]
)
]
return ap, rules, list_of_goals
def examples():
# generate_buchi(
# P_after_Q(
# q=LTL("low_battery"),
# p=AndLTL([
# Visit([
# LTL("charging_point")
# ]),
# LTL("contact_station")
# ])
# ),
# "pattern_with_scope_case_1"
# )
#
# generate_buchi(
# DelayedReaction(
# trigger=LTL("low_battery"),
# reaction=AndLTL([
# Visit([
# LTL("charging_point")
# ]),
# LTL("contact_station")
# ])
# ),
# "pattern_without_scope_case_2"
# )
#
# generate_buchi(
# AndLTL([
# P_between_Q_and_R(
# q=LTL("day"),
# r=LTL("night"),
# p=LTL("entrance")
# ),
# LTL("((day & !night) | (!day & night))", Variables([Boolean("day"), Boolean("night")]))
# ]),
# "context_with_scope"
# )
#
# generate_buchi(
# AndLTL([
# P_after_Q_until_R(
# q=LTL("day"),
# r=LTL("night"),
# p=LTL("entrance")
# ),
# LTL("((day & !night) | (!day & night))", Variables([Boolean("day"), Boolean("night")]))
# ]),
# "context_with_scope_after_until"
# )
#
# generate_buchi(
# AndLTL([
# P_global(
# p=LTL("entrance")
# ),
# P_global(
# p=LTL("day")
# ),
# LTL("((day & !night) | (!day & night))", Variables([Boolean("day"), Boolean("night")]))
# ]),
# "context_without_scope"
# )
#
# generate_buchi(
# ImpliesLTL(
# LTL("G(F( alarm )) & G(F( !alarm ))", Variables([Boolean("alarm")])),
# P_after_Q(
# p=P_until_R(
# p=Visit([LTL("safe_loc")]),
# r=NotLTL(LTL("alarm"))),
# q=LTL("alarm")
# )
# ),
# "pattern_with_scope")
#
# generate_buchi(
# ImpliesLTL(
# LTL("G(F( alarm )) & G(F( !alarm ))", Variables([Boolean("alarm")])),
# InstantReaction(
# trigger=LTL("alarm"),
# reaction=LTL("safe_loc")
# )
# ),
# "pattern_without_scope")
# generate_buchi(
# P_after_Q(
# p=P_until_R(
# p=Visit([LTL("safe_loc")]),
# r=NotLTL(LTL("alarm"))),
# q=LTL("alarm")
# ),
# "pattern_with_scope-visit")
generate_buchi(
P_after_Q(p=P_until_R(p=LTL("safe_loc"), r=NotLTL(LTL("alarm"))),
q=LTL("alarm")), "pattern_with_scope-new")
generate_buchi(
P_after_Q_until_R(p=LTL("safe_loc"),
q=LTL("alarm"),
r=NotLTL(LTL("alarm"))), "pattern_with_scope-dwer")