148 lines
3.9 KiB
Python
148 lines
3.9 KiB
Python
# -*- coding: utf-8 -*-
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# TODO: break out into seperate library
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# TODO: allow multiplication to be distributive
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# TODO: support reference specific time points
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# TODO: add Implies and Iff syntactic sugar
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# TODO: add support for parsing Until
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# TODO: support variables on both sides of ineq
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# TODO: Allow -x = -1*x
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from functools import partialmethod
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from collections import namedtuple
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import operator as op
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from parsimonious import Grammar, NodeVisitor
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from funcy import flatten
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import numpy as np
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from lenses import lens
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from sympy import Function
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from stl import stl
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STL_GRAMMAR = Grammar(u'''
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phi = (g / f / lineq / or / and / paren_phi)
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paren_phi = "(" __ phi __ ")"
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or = paren_phi _ ("∨" / "or") _ (or / paren_phi)
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and = paren_phi _ ("∧" / "and") _ (and / paren_phi)
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f = F interval phi
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g = G interval phi
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F = "F" / "◇"
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G = "G" / "□"
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interval = "[" __ const_or_unbound __ "," __ const_or_unbound __ "]"
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const_or_unbound = unbound / const
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lineq = terms _ op _ const_or_unbound
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term = coeff? var
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coeff = (dt __ "*" __)? const __ "*" __
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terms = (term __ pm __ terms) / term
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var = id time?
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time = prime / time_index
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time_index = "(" "t" __ pm __ const ")"
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prime = "'"
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pm = "+" / "-"
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dt = "dt"
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unbound = "?"
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id = ("x" / "u" / "w") (aZ / ~r"\d")*
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aZ = (~r"[a-z]" / ~r"A-z")
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const = ~r"[\+\-]?\d*(\.\d+)?"
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op = ">=" / "<=" / "<" / ">" / "="
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_ = ~r"\s"+
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__ = ~r"\s"*
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EOL = "\\n"
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''')
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class STLVisitor(NodeVisitor):
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def generic_visit(self, _, children):
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return children
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def children_getter(self, _, children, i):
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return children[i]
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visit_phi = partialmethod(children_getter, i=0)
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visit_paren_phi = partialmethod(children_getter, i=2)
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def visit_interval(self, _, children):
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_, _, left, _, _, _, right, _, _ = children
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return stl.Interval(left[0], right[0])
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def get_text(self, node, _):
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return node.text
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visit_unbound = get_text
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visit_op = get_text
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def unary_temp_op_visitor(self, _, children, op):
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_, interval, phi = children
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return op(interval, phi)
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def binop_visitor(self, _, children, op):
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phi1, _, _, _, (phi2,) = children
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argL = list(phi1.args) if isinstance(phi1, op) else [phi1]
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argR = list(phi2.args) if isinstance(phi2, op) else [phi2]
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return op(tuple(argL + argR))
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visit_f = partialmethod(unary_temp_op_visitor, op=stl.F)
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visit_g = partialmethod(unary_temp_op_visitor, op=stl.G)
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visit_or = partialmethod(binop_visitor, op=stl.Or)
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visit_and = partialmethod(binop_visitor, op=stl.And)
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def visit_id(self, name, _):
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return Function(name.text)(stl.t_sym)
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def visit_var(self, _, children):
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iden, time_node = children
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time_node = list(flatten(time_node))
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time = time_node[0] if len(time_node) > 0 else stl.t_sym
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return iden.subs(stl.t_sym, time)
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def visit_time_index(self, _, children):
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return stl.t_sym + children[3]* children[5]
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def visit_prime(self, *_):
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return -stl.dt_sym
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def visit_const(self, const, children):
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return float(const.text)
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def visit_dt(self, *_):
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return stl.dt_sym
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def visit_term(self, _, children):
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coeffs, var = children
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c = coeffs[0] if coeffs else 1
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return var*c
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def visit_coeff(self, _, children):
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dt, coeff, *_ = children
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dt = dt[0][0] if dt else 1
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return dt * coeff
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def visit_terms(self, _, children):
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if isinstance(children[0], list):
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term, _1, sgn ,_2, terms = children[0]
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terms = lens(terms)[0]*sgn
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return [term] + terms
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else:
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return children
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def visit_lineq(self, _, children):
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terms, _1, op, _2, const = children
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return stl.LinEq(sum(terms), op, const[0])
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def visit_pm(self, node, _):
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return 1 if node.text == "+" else -1
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def parse(stl_str:str, rule:str="phi") -> "STL":
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return STLVisitor().visit(STL_GRAMMAR[rule].parse(stl_str))
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