change yaml spec to + move ast utilities + drop numpy dependency

yaml spec now supports attaching meta data to specs such as pri or stl

__init__.py

@@ -1,4 +1,4 @@
-from stl.ast import terms_lens, lineq_lens, walk, tree, and_or_lens
+from stl.utils import terms_lens, lineq_lens, walk, tree, and_or_lens
 from stl.ast import dt_sym, t_sym
 from stl.ast import LinEq, Interval, NaryOpSTL, Or, And, F, G, ModalOp, Neg, Var
 from stl.parser import parse

ast.py

@@ -8,10 +8,6 @@ from typing import Union
 from enum import Enum
 from sympy import Symbol
 
-from lenses import lens
-
-import funcy as fn
-
 VarKind = Enum("VarKind", ["x", "u", "w"])
 str_to_varkind = {"x": VarKind.x, "u": VarKind.u, "w": VarKind.w}
 dt_sym = Symbol('dt', positive=True)
@@ -51,7 +47,7 @@ class NaryOpSTL(namedtuple('NaryOp', ['args'])):
         if n == 1:
             return "{}".format(self.args[0])
         elif self.args:
-            rep = "({})" + " {op} ({})"*(len(self.args) - 1)
+            rep = " {op} ".join(["({})"]*(len(self.args) - 1))
             return rep.format(*self.args, op=self.OP)
         else:
             return ""
@@ -88,57 +84,3 @@ class Neg(namedtuple('Neg', ['arg'])):
 
     def children(self):
         return [self.arg]
-
-
-def walk(stl, bfs=False):
-    """Walks Ast. Defaults to DFS unless BFS flag is set."""
-    pop = deque.popleft if bfs else deque.pop
-    children = deque([stl])
-    while len(children) != 0:
-        node = pop(children)
-        yield node
-        children.extend(node.children())
-
-
-def tree(stl):
-    return {x:set(x.children()) for x in walk(stl) if x.children()}
-
-
-def type_pred(*args):
-    ast_types = set(args)
-    return lambda x: type(x) in ast_types
-
-
-def _child_lens(psi, focus):
-    if psi is None:
-        return
-    if isinstance(psi, NaryOpSTL):
-        for j, _ in enumerate(psi.args):
-            yield focus.args[j]
-    else:
-        yield focus.arg
-
-
-def ast_lens(phi:"STL", bind=True, *, pred) -> lens:
-    tls = list(fn.flatten(_ast_lens(phi, pred=pred)))
-    tl = lens().tuple_(*tls).each_()
-    return tl.bind(phi) if bind else tl
-
-
-def _ast_lens(phi, *, pred, focus=lens()):
-    psi = focus.get(state=phi)
-    ret_lens = [focus] if pred(psi) else []
-
-    if isinstance(psi, LinEq):
-        return ret_lens
-
-    child_lenses = list(_child_lens(psi, focus=focus))
-    ret_lens += [_ast_lens(phi, pred=pred, focus=cl) for cl in child_lenses]
-    return ret_lens
-
-
-lineq_lens = fn.partial(ast_lens, pred=type_pred(LinEq))
-and_or_lens = fn.partial(ast_lens, pred=type_pred(And, Or))
-
-def terms_lens(phi:"STL", bind=True) -> lens:
-    return lineq_lens(phi, bind).terms.each_()

parser.py

@@ -14,7 +14,6 @@ import operator as op
 
 from parsimonious import Grammar, NodeVisitor
 from funcy import flatten
-import numpy as np
 from lenses import lens
 
 from sympy import Symbol, Number
@@ -51,7 +50,7 @@ prime = "'"
 pm = "+" / "-"
 dt = "dt"
 unbound = "?"
-id = ("x" / "u" / "w") ~r"[a-zA-z\d]*" 
+id = ~r"[a-zA-z\d]*"
 const = ~r"[\+\-]?\d*(\.\d+)?"
 op = ">=" / "<=" / "<" / ">" / "="
 _ = ~r"\s"+

utils.py

@@ -0,0 +1,57 @@
+from lenses import lens
+import funcy as fn
+
+from stl.ast import LinEq, And, Or, NaryOpSTL
+
+def walk(stl, bfs=False):
+    """Walks Ast. Defaults to DFS unless BFS flag is set."""
+    pop = deque.popleft if bfs else deque.pop
+    children = deque([stl])
+    while len(children) != 0:
+        node = pop(children)
+        yield node
+        children.extend(node.children())
+
+
+def tree(stl):
+    return {x:set(x.children()) for x in walk(stl) if x.children()}
+
+
+def type_pred(*args):
+    ast_types = set(args)
+    return lambda x: type(x) in ast_types
+
+
+def _child_lens(psi, focus):
+    if psi is None:
+        return
+    if isinstance(psi, NaryOpSTL):
+        for j, _ in enumerate(psi.args):
+            yield focus.args[j]
+    else:
+        yield focus.arg
+
+
+def ast_lens(phi:"STL", bind=True, *, pred) -> lens:
+    tls = list(fn.flatten(_ast_lens(phi, pred=pred)))
+    tl = lens().tuple_(*tls).each_()
+    return tl.bind(phi) if bind else tl
+
+
+def _ast_lens(phi, *, pred, focus=lens()):
+    psi = focus.get(state=phi)
+    ret_lens = [focus] if pred(psi) else []
+
+    if isinstance(psi, LinEq):
+        return ret_lens
+
+    child_lenses = list(_child_lens(psi, focus=focus))
+    ret_lens += [_ast_lens(phi, pred=pred, focus=cl) for cl in child_lenses]
+    return ret_lens
+
+
+lineq_lens = fn.partial(ast_lens, pred=type_pred(LinEq))
+and_or_lens = fn.partial(ast_lens, pred=type_pred(And, Or))
+
+def terms_lens(phi:"STL", bind=True) -> lens:
+    return lineq_lens(phi, bind).terms.each_()