added lens to access all parameters in an AST

parser.py

@@ -49,7 +49,7 @@ prime = "'"
 
 pm = "+" / "-"
 dt = "dt"
-unbound = "?" id
+unbound = id "?"
 id = ~r"[a-zA-z\d]+"
 const = ~r"[\+\-]?\d*(\.\d+)?"
 op = ">=" / "<=" / "<" / ">" / "="
@@ -76,7 +76,9 @@ class STLVisitor(NodeVisitor):
     def get_text(self, node, _):
         return node.text
 
-    visit_unbound = get_text
+    def visit_unbound(self, node, _):
+        return Symbol(node.text)
+        
     visit_op = get_text
 
     def unary_temp_op_visitor(self, _, children, op):

robustness.py

@@ -88,4 +88,3 @@ def lex_param_project(stl, x, *, order, polarity, ranges, tol=1e-3):
         r, param = binsearch() #TODO
         # TODO: update val
     return val
-        

utils.py

@@ -2,8 +2,9 @@ from collections import deque
 
 from lenses import lens
 import funcy as fn
+import sympy
 
-from stl.ast import LinEq, And, Or, NaryOpSTL
+from stl.ast import LinEq, And, Or, NaryOpSTL, F, G, Interval
 
 def walk(stl, bfs=False):
     """Walks Ast. Defaults to DFS unless BFS flag is set."""
@@ -34,21 +35,24 @@ def _child_lens(psi, focus):
         yield focus.arg
 
 
-def ast_lens(phi:"STL", bind=True, *, pred) -> lens:
-    tls = list(fn.flatten(_ast_lens(phi, pred=pred)))
+def ast_lens(phi:"STL", bind=True, *, pred, focus_lens=None) -> lens:
+    if focus_lens is None:
+        focus_lens = lambda x: [lens()]
+    tls = list(fn.flatten(_ast_lens(phi, pred=pred, focus_lens=focus_lens)))
     tl = lens().tuple_(*tls).each_()
     return tl.bind(phi) if bind else tl
 
 
-def _ast_lens(phi, *, pred, focus=lens()):
+def _ast_lens(phi, *, pred, focus=lens(), focus_lens):
     psi = focus.get(state=phi)
-    ret_lens = [focus] if pred(psi) else []
+    ret_lens = [focus.add_lens(l) for l in focus_lens(psi)] 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]
+    ret_lens += [_ast_lens(phi, pred=pred, focus=cl, focus_lens=focus_lens) 
+                 for cl in child_lenses]
     return ret_lens
 
 
@@ -57,3 +61,11 @@ 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_()
+
+
+def param_lens(phi):
+    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), focus_lens=focus_lens).filter_(is_sym)