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formatting + delete dead code

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This commit is contained in:
Marcell Vazquez-Chanlatte 2017-10-15 01:05:19 -07:00
parent d78037816b
commit 8dbfc83083
3 changed files with 71 additions and 50 deletions
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6
stl/ast.py
View file

@ -11,6 +11,7 @@ from sympy import Symbol
dt_sym = Symbol('dt', positive=True)
t_sym = Symbol('t', positive=True)
def flatten_binary(phi, op, dropT, shortT):
f = lambda x: x.args if isinstance(x, op) else [x]
args = [arg for arg in phi.args if arg is not dropT]
@ -61,6 +62,7 @@ class _Bot(AST):
def __invert__(self):
return TOP
TOP = _Top()
BOT = _Bot()
@ -113,6 +115,7 @@ class NaryOpSTL(namedtuple('NaryOp', ['args']), AST):
__slots__ = ()
OP = "?"
def __repr__(self):
return f" {self.OP} ".join(f"({x})" for x in self.args)
@ -125,10 +128,12 @@ class Or(NaryOpSTL):
__slots__ = ()
OP = "∨"
def __hash__(self):
# TODO: compute hash based on contents
return hash(repr(self))
class And(NaryOpSTL):
__slots__ = ()
@ -158,6 +163,7 @@ class F(ModalOp):
# TODO: compute hash based on contents
return hash(repr(self))
class G(ModalOp):
__slots__ = ()
OP = "□"

11
stl/parser.py
View file

@ -63,6 +63,7 @@ __ = ~r"\s"*
EOL = "\\n"
''')
class STLVisitor(NodeVisitor):
def __init__(self, H=float('inf')):
super().__init__()
@ -78,7 +79,7 @@ class STLVisitor(NodeVisitor):
visit_paren_phi = partialmethod(children_getter, i=2)
def visit_interval(self, _, children):
_, _, (left,), _, _, _, (right,), _, _ = children
_, _, (left, ), _, _, _, (right, ), _, _ = children
left = left if left != [] else float("inf")
right = right if right != [] else float("inf")
if isinstance(left, int):
@ -101,13 +102,13 @@ class STLVisitor(NodeVisitor):
return op(i, phi)
def binop_visitor(self, _, children, op):
phi1, _, _, _, (phi2,) = children
phi1, _, _, _, (phi2, ) = children
argL = list(phi1.args) if isinstance(phi1, op) else [phi1]
argR = list(phi2.args) if isinstance(phi2, op) else [phi2]
return op(tuple(argL + argR))
def sugar_binop_visitor(self, _, children, op):
phi1, _, _, _, (phi2,) = children
phi1, _, _, _, (phi2, ) = children
return op(phi1, phi2)
visit_f = partialmethod(unary_temp_op_visitor, op=ast.F)
@ -147,7 +148,7 @@ class STLVisitor(NodeVisitor):
def visit_terms(self, _, children):
if isinstance(children[0], list):
term, _1, sgn ,_2, terms = children[0]
term, _1, sgn, _2, terms = children[0]
terms = lens(terms)[0].coeff * sgn
return [term] + terms
else:
@ -170,5 +171,5 @@ class STLVisitor(NodeVisitor):
return ast.Next(children[1])
def parse(stl_str:str, rule:str="phi", H=float('inf')) -> "STL":
def parse(stl_str: str, rule: str = "phi", H=float('inf')) -> "STL":
return STLVisitor(H).visit(STL_GRAMMAR[rule].parse(stl_str))

70
stl/utils.py
View file

@ -16,7 +16,8 @@ from stl.types import STL, STL_Generator, MTL
Lens = TypeVar('Lens')
def walk(phi:STL) -> STL_Generator:
def walk(phi: STL) -> STL_Generator:
"""Walk of the AST."""
pop = deque.pop
children = deque([phi])
@ -25,16 +26,18 @@ def walk(phi:STL) -> STL_Generator:
yield node
children.extend(node.children)
def vars_in_phi(phi):
focus = stl.terms_lens(phi)
return set(focus.tuple_(lens.id, lens.time).get_all())
def type_pred(*args:List[Type]) -> Mapping[Type, bool]:
def type_pred(*args: List[Type]) -> Mapping[Type, bool]:
ast_types = set(args)
return lambda x: type(x) in ast_types
def ast_lens(phi:STL, bind=True, *, pred=None, focus_lens=None) -> Lens:
def ast_lens(phi: STL, bind=True, *, pred=None, focus_lens=None) -> Lens:
if focus_lens is None:
focus_lens = lambda _: [lens]
if pred is None:
@ -42,7 +45,8 @@ def ast_lens(phi:STL, bind=True, *, pred=None, focus_lens=None) -> Lens:
l = lenses.bind(phi) if bind else lens
return l.Tuple(*_ast_lens(phi, pred=pred, focus_lens=focus_lens))
def _ast_lens(phi:STL, pred, focus_lens) -> Lens:
def _ast_lens(phi: STL, pred, focus_lens) -> Lens:
if pred(phi):
yield from focus_lens(phi)
@ -54,7 +58,9 @@ def _ast_lens(phi:STL, pred, focus_lens) -> Lens:
elif isinstance(phi, stl.ast.Until):
child_lenses = [lens.GetAttr('arg1'), lens.GetAttr('arg2')]
elif isinstance(phi, NaryOpSTL):
child_lenses = [lens.GetAttr('args')[j] for j, _ in enumerate(phi.args)]
child_lenses = [
lens.GetAttr('args')[j] for j, _ in enumerate(phi.args)
]
else:
child_lenses = [lens.GetAttr('arg')]
for l in child_lenses:
@ -65,25 +71,32 @@ lineq_lens = fn.partial(ast_lens, pred=type_pred(LinEq))
AP_lens = fn.partial(ast_lens, pred=type_pred(stl.ast.AtomicPred))
and_or_lens = fn.partial(ast_lens, pred=type_pred(And, Or))
def terms_lens(phi:STL, bind:bool=True) -> Lens:
return lineq_lens(phi, bind).terms.each_()
def terms_lens(phi: STL, bind: bool = True) -> Lens:
return lineq_lens(phi, bind).Each().terms.Each()
def param_lens(phi:STL) -> Lens:
def param_lens(phi: STL) -> Lens:
is_sym = lambda x: isinstance(x, sympy.Symbol)
def focus_lens(leaf):
return [lens.const] if isinstance(leaf, LinEq) else [lens().interval[0], lens().interval[1]]
return ast_lens(phi, pred=type_pred(LinEq, F, G),
def focus_lens(leaf):
return [lens.const] if isinstance(leaf, LinEq) else [
lens.GetAttr('interval')[0],
lens.GetAttr('interval')[1]
]
return ast_lens(
phi, pred=type_pred(LinEq, F, G),
focus_lens=focus_lens).filter_(is_sym)
def set_params(stl_or_lens, val) -> STL:
l = stl_or_lens if isinstance(stl_or_lens, Lens) else param_lens(stl_or_lens)
l = stl_or_lens if isinstance(stl_or_lens,
Lens) else param_lens(stl_or_lens)
return l.modify(lambda x: float(val.get(x, val.get(str(x), x))))
def f_neg_or_canonical_form(phi:STL) -> STL:
def f_neg_or_canonical_form(phi: STL) -> STL:
if isinstance(phi, LinEq):
return phi
@ -106,24 +119,14 @@ def f_neg_or_canonical_form(phi:STL) -> STL:
raise NotImplementedError
def to_mtl(phi:STL) -> MTL:
focus = lineq_lens(phi)
to_ap = lambda i: stl.ast.AtomicPred("AP{}".format(i))
ap_map = {to_ap(i): leq for i, leq in enumerate(focus.get_all())}
lineq_map = {v:k for k,v in ap_map.items()}
return focus.modify(lineq_map.get), ap_map
def from_mtl(phi:MTL, ap_map:Dict[AtomicPred, LinEq]) -> STL:
focus = AP_lens(phi)
return focus.modify(ap_map.get)
def _lineq_lipschitz(lineq):
return sum(map(abs, lens(lineq).terms.each_().coeff.get_all()))
return sum(map(abs, lens(lineq).Each().terms.Each().coeff.collect()))
def linear_stl_lipschitz(phi):
"""Infinity norm lipschitz bound of linear inequality predicate."""
return float(max(map(_lineq_lipschitz, lineq_lens(phi).get_all())))
return float(max(map(_lineq_lipschitz, lineq_lens(phi).Each().collect())))
def inline_context(phi, context):
phi2 = None
@ -133,6 +136,7 @@ def inline_context(phi, context):
# TODO: this is hack to flatten the AST. Fix!
return stl.parse(str(phi))
op_lookup = {
">": op.gt,
">=": op.ge,
@ -141,6 +145,7 @@ op_lookup = {
"=": op.eq,
}
def get_times(x):
times = set.union(*({t for t, _ in v.items()} for v in x.values()))
return sorted(times)
@ -151,7 +156,7 @@ def eval_lineq(lineq, x, times=None, compact=True):
times = get_times(x)
def eval_term(term, t):
return float(term.coeff)*x[term.id.name][t]
return float(term.coeff) * x[term.id.name][t]
output = traces.TimeSeries(domain=traces.Domain(times[0], times[-1]))
terms = lens(lineq).Each().terms.Each().collect()
@ -163,6 +168,7 @@ def eval_lineq(lineq, x, times=None, compact=True):
output.compact()
return output
def eval_lineqs(phi, x, times=None):
if times is None:
times = get_times(x)
@ -172,26 +178,34 @@ def eval_lineqs(phi, x, times=None):
# EDSL
def alw(phi, *, lo, hi):
return G(Interval(lo, hi), phi)
def env(phi, *, lo, hi):
return F(Interval(lo, hi), phi)
def until(phi1, phi2, *, lo, hi):
return stl.ast.Until(Interval(lo, hi), phi1, phi2)
def andf(*args):
return reduce(op.and_, args) if args else stl.TOP
def orf(*args):
return reduce(op.or_, args) if args else stl.TOP
def implies(x, y):
return ~x | y
def xor(x, y):
return (x | y) & ~(x & y)
def iff(x, y):
return (x & y) | (~x & ~y)