start switch to traces from pandas

stl/ast.py

@@ -141,7 +141,7 @@ class G(ModalOp):
 
 class Until(namedtuple('ModalOp', ['arg1', 'arg2']), AST):
     def __repr__(self):
-        return f"({self.arg1} U ({self.arg2}))"
+        return f"({self.arg1}) U ({self.arg2})"
     
     def children(self):
         return [self.arg1, self.arg2]

stl/boolean_eval.py

@@ -5,10 +5,13 @@ from functools import singledispatch
 import operator as op
 
 import numpy as np
+import funcy as fn
 from lenses import lens
 
 import stl.ast
 
+oo = float('inf')
+
 @singledispatch
 def pointwise_sat(stl):
     raise NotImplementedError
@@ -27,8 +30,17 @@ def _(stl):
 
 
 def get_times(x, tau, lo=None, hi=None):
-    indices = x.index if lo is None or hi is None else x[lo:hi].index
-    return [min(tau + t2, x.index[-1]) for t2 in indices]
+    if lo is None or lo is -oo:
+        lo = min(v.first()[0] for v in x.values())
+    if hi is None or hi is oo:
+        hi = max(v.last()[0] for v in x.values())
+    if lo > hi:
+        return []
+    elif hi == lo:
+        return [lo]
+
+    all_times = fn.cat(v.slice(lo, hi).items() for v in x.values())
+    return sorted(set(fn.pluck(0, all_times)))
 
 
 @pointwise_sat.register(stl.Until)
@@ -42,18 +54,26 @@ def _(stl):
     return _until
 
 
+def eval_unary_temporal_op(phi, always=True):
+    fold = all if always else any
+    lo, hi = phi.interval
+    if lo > hi:
+        retval = True if always else False
+        return lambda x, t: retval
+    if hi == lo:
+        return lambda x, t: f(x, t)
+    f = pointwise_sat(phi.arg) 
+    return lambda x, t: fold(f(x, tau) for tau in get_times(x, t, lo, hi))
+
+
 @pointwise_sat.register(stl.F)
-def _(stl):
-    lo, hi = stl.interval
-    f = pointwise_sat(stl.arg) 
-    return lambda x, t: any(f(x, tau) for tau in get_times(x, t, lo, hi))
+def _(phi):
+    return eval_unary_temporal_op(phi, always=False)
 
 
 @pointwise_sat.register(stl.G)
-def _(stl):
-    lo, hi = stl.interval
-    f = pointwise_sat(stl.arg)
-    return lambda x, t: all(f(x, tau) for tau in get_times(x, t, lo, hi))
+def _(phi):
+    return eval_unary_temporal_op(phi, always=True)
 
 
 @pointwise_sat.register(stl.Neg)
@@ -89,4 +109,4 @@ def eval_terms(lineq, x, t):
 
 def eval_term(x, t):
     # TODO(lift interpolation much higher)
-    return lambda term: term.coeff*np.interp(t, x.index, x[term.id.name])
+    return lambda term: term.coeff*x[term.id.name][t]

stl/parser.py

@@ -44,7 +44,7 @@ U = "U"
 
 interval = "[" __ const_or_unbound __ "," __ const_or_unbound __ "]"
 
-const_or_unbound = unbound / const
+const_or_unbound = unbound / "inf" / const
 
 lineq = terms _ op _ const_or_unbound
 term =  coeff? var
@@ -84,8 +84,10 @@ class STLVisitor(NodeVisitor):
     visit_paren_phi = partialmethod(children_getter, i=2)
 
     def visit_interval(self, _, children):
-        _, _, left, _, _, _, right, _, _ = children
-        return ast.Interval(left[0], right[0])
+        _, _, (left,), _, _, _, (right,), _, _ = children
+        left = left if left != [] else float("inf")
+        right = right if right != [] else float("inf")
+        return ast.Interval(left, right)
 
     def get_text(self, node, _):
         return node.text

stl/test_boolean_eval.py

@@ -1,13 +1,15 @@
 import stl
 import stl.boolean_eval
 import stl.fastboolean_eval
-import pandas as pd
+import traces
 from nose2.tools import params
 import unittest
 from sympy import Symbol
 
 ex1 = ("2*A > 3", False)
 ex2 = ("F[0, 1](2*A > 3)", True)
+ex2 = ("F(2*A > 3)", True)
+ex2 = ("F[0, inf](2*A > 3)", True)
 ex3 = ("F[1, 0](2*A > 3)", False)
 ex4 = ("G[1, 0](2*A > 3)", True)
 ex5 = ("(A < 0)", False)
@@ -17,8 +19,11 @@ ex8 = ("G[0, 0.2](C)", False)
 ex9 = ("(F[0, 0.2](C)) and (F[0, 1](2*A > 3))", True)
 ex10 = ("(A = 1) U (A = 4)", True)
 ex11 = ("(A < 5) U (A = 4)", False)
-x = pd.DataFrame([[1,2, True], [1,4, True], [4,2, False]], index=[0,0.1,0.2], 
-                 columns=["A", "B", "C"])
+x = {
+    "A": traces.TimeSeries([(0, 1), (0.1, 1), (0.2, 4)]),
+    "B": traces.TimeSeries([(0, 2), (0.1, 4), (0.2, 2)]),
+    "C": traces.TimeSeries([(0, True), (0.1, True), (0.2, False)]),
+}
 
 class TestSTLEval(unittest.TestCase):
     @params(ex1, ex2, ex3, ex4, ex5, ex6, ex7, ex8, ex9, ex10, ex11)
@@ -30,7 +35,7 @@ class TestSTLEval(unittest.TestCase):
         self.assertEqual(stl_eval2(x, 0), not r)
 
 
-
+"""
     @params(ex1, ex2, ex3, ex4, ex5, ex6, ex7, ex8, ex9, ex10, ex11)
     def test_fasteval(self, phi_str, _):
         phi = stl.parse(phi_str)
@@ -43,3 +48,4 @@ class TestSTLEval(unittest.TestCase):
         b_fast2 = stl_evalf2(x, 0)
         self.assertEqual(b_slow, b_fast)
         self.assertEqual(b_fast, not b_fast2)
+"""

stl/test_parser.py

@@ -27,8 +27,13 @@ ex4 = ('(x1 > 2) or ((x1 > 2) or (x1 > 2))',
 ex5 = ('G[0, b?](x1 > a?)',
        stl.G(i1_, ex1_[1]))
 ex6 = ('◇[0,1](x1)', stl.F(i1, ex1__[1]))
+ex7 = ('F[0, inf](x)', stl.parse("F(x)"))
  
 class TestSTLParser(unittest.TestCase):
-    @params(ex1, ex2, ex3, ex4, ex5, ex6)
+    @params(ex1, ex2, ex3, ex4, ex5, ex6, ex7)
     def test_stl(self, phi_str, phi):
         self.assertEqual(stl.parse(phi_str), phi)
+
+    def test_smoke_test(self):
+        """Previously broken parses"""
+        stl.parse("◇[0,inf]((1*Lane_ID(t) = 1.0) ∧ (◇[0.0,eps?]((◇[eps?,tau1?](¬(1*Lane_ID(t) = 1.0))) ∧ (□[0,tau1?]((1*Lane_ID(t) = 1.0) U (¬(1*Lane_ID(t) = 1.0)))))))")

stl/utils.py

@@ -35,6 +35,8 @@ def _child_lens(psi:STL, focus:Lens) -> STL_Generator:
         return
     elif psi is stl.TOP or psi is stl.BOT:
         return
+    elif isinstance(psi, stl.ast.Until):
+        yield from [focus.arg1, focus.arg2]
     elif isinstance(psi, NaryOpSTL):
         for j, _ in enumerate(psi.args):
             yield focus.args[j]