155 lines
4.4 KiB
Python
155 lines
4.4 KiB
Python
from typing import List, Type, Dict, Mapping, T
|
|
from collections import deque
|
|
import operator as op
|
|
from functools import reduce
|
|
|
|
from lenses import lens, Lens
|
|
import funcy as fn
|
|
import sympy
|
|
|
|
import stl.ast
|
|
from stl.ast import (LinEq, And, Or, NaryOpSTL, F, G, Interval, Neg,
|
|
AtomicPred)
|
|
from stl.types import STL, STL_Generator, MTL
|
|
|
|
def walk(phi:STL) -> STL_Generator:
|
|
"""DSF walk of the AST."""
|
|
pop = deque.pop
|
|
children = deque([phi])
|
|
while len(children) > 0:
|
|
node = pop(children)
|
|
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]:
|
|
ast_types = set(args)
|
|
return lambda x: type(x) in ast_types
|
|
|
|
|
|
def _child_lens(psi:STL, focus:Lens) -> STL_Generator:
|
|
if psi is None:
|
|
return
|
|
elif psi is stl.TOP or psi is stl.BOT:
|
|
return
|
|
elif isinstance(psi, NaryOpSTL):
|
|
for j, _ in enumerate(psi.args):
|
|
yield focus.args[j]
|
|
else:
|
|
yield focus.arg
|
|
|
|
|
|
def ast_lens(phi:STL, bind:bool=True, *,
|
|
pred:Mapping[T, bool], focus_lens: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(), focus_lens):
|
|
psi = focus.get(state=phi)
|
|
ret_lens = [focus.add_lens(l) for l in focus_lens(psi)] if pred(psi) else []
|
|
|
|
if isinstance(psi, (LinEq, stl.ast.AtomicPred)):
|
|
return ret_lens
|
|
|
|
child_lenses = list(_child_lens(psi, focus=focus))
|
|
ret_lens += [_ast_lens(phi, pred=pred, focus=cl, focus_lens=focus_lens)
|
|
for cl in child_lenses]
|
|
return ret_lens
|
|
|
|
|
|
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 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),
|
|
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)
|
|
return l.modify(lambda x: val.get(x, val.get(str(x), x)))
|
|
|
|
|
|
def f_neg_or_canonical_form(phi:STL) -> STL:
|
|
if isinstance(phi, LinEq):
|
|
return phi
|
|
|
|
children = [f_neg_or_canonical_form(s) for s in phi.children()]
|
|
if isinstance(phi, (And, G)):
|
|
children = [Neg(s) for s in children]
|
|
children = tuple(children)
|
|
|
|
if isinstance(phi, Or):
|
|
return Or(children)
|
|
elif isinstance(phi, And):
|
|
return Neg(Or(children))
|
|
elif isinstance(phi, Neg):
|
|
return Neg(children[0])
|
|
elif isinstance(phi, F):
|
|
return F(phi.interval, children[0])
|
|
elif isinstance(phi, G):
|
|
return Neg(F(phi.interval, children[0]))
|
|
else:
|
|
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()))
|
|
|
|
def linear_stl_lipschitz(phi):
|
|
"""Infinity norm lipschitz bound of linear inequality predicate."""
|
|
return float(max(map(_lineq_lipschitz, lineq_lens(phi).get_all())))
|
|
|
|
# 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)
|