167 lines
4.7 KiB
Python
167 lines
4.7 KiB
Python
# -*- coding: utf-8 -*-
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# TODO: allow multiplication to be distributive
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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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from lenses import lens
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from stl import ast
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from stl.utils import implies, xor, iff, env, alw
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STL_GRAMMAR = Grammar(u'''
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phi = (timed_until / until / neg / next / g / f / lineq / AP / or / and
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/ implies / xor / iff / 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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implies = paren_phi _ ("→" / "->") _ (and / paren_phi)
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iff = paren_phi _ ("⇔" / "<->" / "iff") _ (and / paren_phi)
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xor = paren_phi _ ("⊕" / "^" / "xor") _ (and / paren_phi)
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neg = ("~" / "¬") paren_phi
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next = "X" paren_phi
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f = F interval? phi
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g = G interval? phi
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until = paren_phi __ U __ paren_phi
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timed_until = paren_phi __ U interval __ paren_phi
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F = "F" / "◇"
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G = "G" / "□"
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U = "U"
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interval = "[" __ const_or_unbound __ "," __ const_or_unbound __ "]"
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const_or_unbound = unbound / "inf" / const
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lineq = terms _ op _ const_or_unbound
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term = const? var
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terms = (term __ pm __ terms) / term
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var = id
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AP = ~r"[a-zA-z\d]+"
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pm = "+" / "-"
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dt = "dt"
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unbound = id "?"
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id = ~r"[a-zA-z\d]+"
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const = ~r"[-+]?\d*\.\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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oo = float('inf')
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class STLVisitor(NodeVisitor):
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def __init__(self, H=oo):
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super().__init__()
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self.default_interval = ast.Interval(0.0, H)
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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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left = left if left != [] else float("inf")
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right = right if right != [] else float("inf")
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if isinstance(left, int):
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left = float(left)
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if isinstance(right, int):
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left = float(right)
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return ast.Interval(left, right)
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def get_text(self, node, _):
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return node.text
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def visit_unbound(self, node, _):
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return ast.Param(node.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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_, i, phi = children
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i = self.default_interval if not i else i[0]
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return op(i, 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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def sugar_binop_visitor(self, _, children, op):
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phi1, _, _, _, (phi2, ) = children
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return op(phi1, phi2)
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visit_f = partialmethod(unary_temp_op_visitor, op=ast.F)
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visit_g = partialmethod(unary_temp_op_visitor, op=ast.G)
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visit_or = partialmethod(binop_visitor, op=ast.Or)
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visit_and = partialmethod(binop_visitor, op=ast.And)
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visit_xor = partialmethod(sugar_binop_visitor, op=xor)
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visit_iff = partialmethod(sugar_binop_visitor, op=iff)
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visit_implies = partialmethod(sugar_binop_visitor, op=implies)
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def visit_until(self, _, children):
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phi1, _, _, _, phi2 = children
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return ast.Until(phi1, phi2)
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def visit_timed_until(self, _, children):
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phi, _, _, (lo, hi), _, psi = children
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return env(psi, lo=lo, hi=hi) & alw(ast.Until(phi, psi), lo=0, hi=lo)
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def visit_id(self, name, _):
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return name.text
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def visit_const(self, const, children):
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return float(const.text)
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def visit_term(self, _, children):
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coeffs, iden = children
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c = coeffs[0] if coeffs else 1
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return ast.Var(coeff=c, id=iden)
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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].coeff * 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 ast.LinEq(tuple(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 visit_AP(self, *args):
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return ast.AtomicPred(self.visit_id(*args))
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def visit_neg(self, _, children):
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return ast.Neg(children[1])
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def visit_next(self, _, children):
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return ast.Next(children[1])
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def parse(stl_str: str, rule: str = "phi", H=oo) -> "STL":
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return STLVisitor(H).visit(STL_GRAMMAR[rule].parse(stl_str))
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