128 lines
3.2 KiB
Python
128 lines
3.2 KiB
Python
# -*- coding: utf-8 -*-
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# TODO: create iso lens between sugar and non-sugar
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# TODO: supress + given a + (-b). i.e. want a - b
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from collections import namedtuple, deque
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from itertools import repeat
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from typing import Union
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from enum import Enum
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from sympy import Symbol
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from lenses import lens
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VarKind = Enum("VarKind", ["x", "u", "w"])
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str_to_varkind = {"x": VarKind.x, "u": VarKind.u, "w": VarKind.w}
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dt_sym = Symbol('dt', positive=True)
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t_sym = Symbol('t', positive=True)
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class LinEq(namedtuple("LinEquality", ["terms", "op", "const"])):
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def __repr__(self):
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n = len(self.terms)
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rep = "{}"
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if n > 1:
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rep += " + {}"*(n - 1)
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rep += " {op} {c}"
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return rep.format(*self.terms, op=self.op, c=self.const)
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def children(self):
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return []
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class Var(namedtuple("Var", ["kind", "id", "time"])):
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def __repr__(self):
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time_str = "[{}]".format(self.time)
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return "{i}{t}".format(k=self.kind.name, i=self.id, t=time_str)
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class Term(namedtuple("Term", ["coeff", "var"])):
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def __repr__(self):
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coeff = str(self.coeff) + "*" if self.coeff != 1 else ""
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return "{c}{v}".format(c=coeff, v=self.var)
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class Interval(namedtuple('I', ['lower', 'upper'])):
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def __repr__(self):
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return "[{},{}]".format(self.lower, self.upper)
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def children(self):
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return [self.lower, self.upper]
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class NaryOpSTL(namedtuple('NaryOp', ['args'])):
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OP = "?"
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def __repr__(self):
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n = len(self.args)
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if n == 1:
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return "{}".format(self.args[0])
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elif self.args:
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rep = "({})" + " {op} ({})"*(len(self.args) - 1)
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return rep.format(*self.args, op=self.OP)
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else:
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return ""
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def children(self):
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return self.args
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class Or(NaryOpSTL):
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OP = "∨"
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class And(NaryOpSTL):
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OP = "∧"
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class ModalOp(namedtuple('ModalOp', ['interval', 'arg'])):
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def children(self):
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return [self.arg]
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class F(ModalOp):
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def __repr__(self):
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return "◇{}({})".format(self.interval, self.arg)
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class G(ModalOp):
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def __repr__(self):
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return "□{}({})".format(self.interval, self.arg)
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class Neg(namedtuple('Neg', ['arg'])):
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def __repr__(self):
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return "¬({})".format(self.arg)
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def children(self):
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return [self.arg]
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def walk(stl, bfs=False):
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"""Walks Ast. Defaults to DFS unless BFS flag is set."""
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pop = deque.popleft if bfs else deque.pop
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children = deque([stl])
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while len(children) != 0:
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node = pop(children)
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yield node
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children.extend(node.children())
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def tree(stl):
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return {x:set(x.children()) for x in walk(stl) if x.children()}
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def time_lens(phi:"STL") -> lens:
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return _time_lens(phi).bind(phi)
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def _time_lens(phi):
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if isinstance(phi, LinEq):
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return lens().terms.each_().var.time
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if isinstance(phi, NaryOpSTL):
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child_lens = [lens()[i].add_lens(_time_lens(c)) for i, c
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in enumerate(phi.children())]
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return lens().args.tuple_(*child_lens).each_()
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else:
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return lens().arg.add_lens(_time_lens(phi.arg))
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def set_time(phi, *, t, dt=0.1):
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return time_lens(phi).call("evalf", subs={t_sym: t, dt_sym: dt})
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