/// <summary>
/// Parse a location (mode)
/// </summary>
/// <param name="reader"></param>
/// <param name="h"></param>
/// <returns></returns>
public static ConcreteLocation ParseLocation(XmlTextReader reader, AHybridAutomaton h)
{
if (h == null)
{
throw new System.ArgumentNullException("Error parsing transition: hybrid automaton not specified properly before reaching location.");
}
uint value = UInt32.Parse(reader.GetAttribute(LocationAttributes.id.ToString()));
String label = reader.GetAttribute(LocationAttributes.name.ToString());
Boolean initial = Boolean.Parse(reader.GetAttribute(LocationAttributes.initial.ToString()));
// dynamically create label name if none specified
if (label.Length == 0)
{
label = "loc" + loc_counter;
loc_counter++;
}
if (!Controller.Instance.LocationNumToName.ContainsKey(value))
{
Controller.Instance.LocationNumToName.Add(value, label);
}
if (!Controller.Instance.LocationNameToNum.ContainsKey(label))
{
Controller.Instance.LocationNameToNum.Add(label, value);
}
ConcreteLocation l = new ConcreteLocation(h, label, value, initial);
// bound control location variable values: 0 <= q_i <= # states, 0 <= q_j <= # states, 0 <= q_k <= # states
return(l);
}
/// <summary>
/// Parse a HyXML formatted file
///
/// Notes:
/// 1) Assumes guards and invariants are formatted as infix strings (e.g., 5 + x >= y is a valid guard or invariant, whereas (>= (+ 5 x) y) is not)
/// 2) Assumes resets are formatted as: varToReset' = expr
/// 3) Assumes differential inclusions are formatted as: x1_dot >= a and x1_dot <= b; more generally, any relations are okay, we just don't support x1_dot \in [a, b]
///
/// 1) Eventually modify HyLink to generate HyXML using MathML for guards, invariants, and resets
/// </summary>
/// <param name="path"></param>
public static void ParseInputFile(String path)
{
Controller.Instance.Sys = new Holism();
ConcreteHybridAutomaton h = null;
Transition t = null;
ConcreteLocation l = null;
ElementNames n = ElementNames.parameter;
if (!File.Exists(path))
{
throw new FileNotFoundException("Input file not found: " + path);
}
XmlTextReader reader = new XmlTextReader(path);
while (reader.Read())
{
try
{
switch (reader.NodeType)
{
case XmlNodeType.Element:
{
n = (ElementNames)(Enum.Parse(typeof(ElementNames), reader.Name, true));
switch (n)
{
case ElementNames.parameter:
{
Variable p = ParseVariableParameter(reader);
break;
}
case ElementNames.predicate:
{
break;
}
// since properties can refer to elements of the automata, we save their strings and parse them after all automata have been fully constructed
case ElementNames.property:
{
ParseProperty(reader);
break;
}
case ElementNames.assumption:
{
ParseAssumption(reader);
break;
}
case ElementNames.action:
{
ParseReset(reader, t);
break;
}
case ElementNames.automaton:
{
String name = reader.GetAttribute(AutomatonAttributes.name.ToString());
h = new ConcreteHybridAutomaton(Controller.Instance.Sys, name);
break;
}
case ElementNames.dai:
{
ParseDAI(reader, h, l);
break;
}
case ElementNames.guard:
{
ParseGuard(reader, t);
break;
}
case ElementNames.uguard:
{
if (t == null)
{
throw new System.Exception("Error parsing transition: transition not specified properly before reaching universally quantified guard.");
}
String uguard = reader.GetAttribute(GuardAttributes.equn.ToString());
if (uguard.Length > 0)
{
Antlr.Runtime.Tree.CommonTree tmptree = math.Expression.Parse(uguard);
t.UGuard = LogicalExpression.CreateTerm(tmptree);
}
break;
}
case ElementNames.initial:
{
if (h == null)
{
throw new System.Exception("Error parsing initial: automaton not specified properly before reaching initial.");
}
String init = reader.GetAttribute(InitialAttributes.equn.ToString());
if (init.Length > 0)
{
h.InitialString = init;
}
break;
}
case ElementNames.invariant:
{
if (l == null)
{
throw new System.Exception("Error parsing transition: location not specified properly before reaching invariant.");
}
String inv = reader.GetAttribute(InvariantAttributes.equn.ToString());
if (inv.Length > 0)
{
Antlr.Runtime.Tree.CommonTree tmptree = math.Expression.Parse(inv);
l.Invariant = LogicalExpression.CreateTerm(tmptree);
}
break;
}
case ElementNames.stop:
{
if (l == null)
{
throw new System.Exception("Error parsing transition: location not specified properly before reaching stopping condition.");
}
String stop = reader.GetAttribute(StopAttributes.equn.ToString());
if (stop.Length > 0)
{
Antlr.Runtime.Tree.CommonTree tmptree = math.Expression.Parse(stop);
l.Stop = LogicalExpression.CreateTerm(tmptree);
}
break;
}
case ElementNames.mode:
{
l = ParseLocation(reader, h);
break;
}
case ElementNames.transition:
{
t = ParseTransition(reader, h, l);
break;
}
case ElementNames.variable:
{
ParseVariable(reader, h);
break;
}
case ElementNames.holism:
{
// todo
break;
}
default:
{
throw new Exception("Bad element specified (uncrecognized).");
break;
}
}
break;
}
// destroy temporary arguments
case XmlNodeType.EndElement:
{
n = (ElementNames)(Enum.Parse(typeof(ElementNames), reader.Name, true));
switch (n)
{
case ElementNames.parameter:
{
break;
}
case ElementNames.action:
{
break;
}
case ElementNames.automaton:
{
h.finishConstruction(); // finish building the concrete automaton: create equations for initial conditions, assert constraints on locations, etc.
Controller.Instance.Sys.addHybridAutomaton(h);
foreach (var v in Controller.Instance.Sys.Variables)
{
if (v.UpdateType == Variable.VarUpdateType.discrete && v.Type == Variable.VarType.index)
{
Controller.Instance.Z3.Assumptions.Add(Controller.Instance.Z3.MkLe((ArithExpr)Controller.Instance.IntZero, (ArithExpr)Controller.Instance.GlobalVariables[v.Name]));
Controller.Instance.Z3.Assumptions.Add(Controller.Instance.Z3.MkLe((ArithExpr)Controller.Instance.GlobalVariables[v.Name], (ArithExpr)Controller.Instance.Params["N"]));
Controller.Instance.Z3.Assumptions.Add(Controller.Instance.Z3.MkLe((ArithExpr)Controller.Instance.IntZero, (ArithExpr)Controller.Instance.GlobalVariablesPrimed[v.Name]));
Controller.Instance.Z3.Assumptions.Add(Controller.Instance.Z3.MkLe((ArithExpr)Controller.Instance.GlobalVariablesPrimed[v.Name], (ArithExpr)Controller.Instance.Params["N"]));
}
}
h = null;
break;
}
case ElementNames.dai:
{
break;
}
case ElementNames.guard:
{
break;
}
case ElementNames.invariant:
{
break;
}
case ElementNames.mode:
{
ParseHyXML.ParseLocationEnd(reader, h, l);
l = null;
break;
}
case ElementNames.transition:
{
//l.addTransition(t);
// todo: search the locations by id to find the prestate and poststate locations
t = null;
break;
}
case ElementNames.variable:
{
break;
}
default:
{
break;
}
}
break;
}
default:
{
break;
}
}
}
catch (NoViableAltException ex)
{
System.Console.WriteLine("ERROR: parser error");
System.Console.WriteLine("Line " + reader.LineNumber + " position " + reader.LinePosition + " element name " + reader.Name);
}
catch (Exception ex)
{
System.Console.WriteLine("ERROR: parser error");
System.Console.WriteLine("Line " + reader.LineNumber + " position " + reader.LinePosition + " element name " + reader.Name);
}
}
reader.Close();
}
/// <summary>
/// Parse a transition
/// </summary>
/// <param name="reader"></param>
/// <param name="h"></param>
/// <param name="l"></param>
/// <returns></returns>
public static Transition ParseTransition(XmlTextReader reader, AHybridAutomaton h, ConcreteLocation l)
{
Transition t;
// todo: refactor: check and throw if null on either, but also while checking if parent of l is not null (e.g., these transitions may be local or global)
if (Controller.Instance.Sys != null || h != null)
{
t = new Transition(l); // l is null for global transitions, no parent
if (h == null)
{
Controller.Instance.Sys.addTransition(t);
}
else
{
String des = reader.GetAttribute(TransitionAttributes.destination.ToString());
String src = reader.GetAttribute(TransitionAttributes.source.ToString());
String prs = reader.GetAttribute(TransitionAttributes.processes.ToString());
List <String> dess = new List <String>();
List <String> srcs = new List <String>();
List <String> processes = new List <string>();
if (!src.Contains(","))
{
srcs.Add(src);
}
else
{
srcs.AddRange(src.Split(','));
}
bool toSelf = false;
if (des != null && des.Length > 0)
{
if (!des.Contains(","))
{
dess.Add(des);
}
else
{
dess.AddRange(des.Split(','));
}
}
else
{
toSelf = true; // only self-loops
des = src;
dess = srcs;
}
t.Indices.Add("h"); // do not have to include h by default, as it is always the process moving
t.Indices.AddRange(processes); // assume process h always included
t.Indices = t.Indices.Distinct().ToList(); // ensure distinct
List <AState> from = new List <AState>(); // have to find the frome state as well, because in hyxml syntax, transitions are not associated with locations
foreach (AState s in h.Locations)
{
uint desParsed = 0;
uint srcParsed = 0;
foreach (String stmp in srcs)
{
UInt32.TryParse(stmp, out srcParsed);
if (s.Label == stmp || (srcParsed != null && Regex.IsMatch(stmp, @"^[0-9]+$") && s.Value == UInt32.Parse(stmp)))
{
from.Add(s);
}
}
foreach (String dtmp in dess)
{
UInt32.TryParse(dtmp, out desParsed);
if (s.Label == dtmp || (desParsed != null && Regex.IsMatch(dtmp, @"^[0-9]+$") && s.Value == UInt32.Parse(dtmp)))
{
t.NextStates.Add(s);
}
}
}
if (from.Count > 0)
{
foreach (AState ftmp in from)
{
t.Parent = (ConcreteLocation)ftmp;
if (toSelf) // only self-loops
{
t.NextStates = new List <AState>();
t.NextStates.Add(ftmp);
}
ftmp.addTransition(t);
}
}
else
{
throw new System.Exception("Error parsing transition: could not find the source location.");
}
}
}
else
{
throw new System.Exception("Error parsing transition: either holism or hybrid automaton not specified properly before reaching transition.");
}
return(t);
}
/// <summary>
/// Parse location end tag
/// </summary>
/// <param name="l"></param>
public static void ParseLocationEnd(XmlTextReader reader, AHybridAutomaton h, ConcreteLocation l)
{
h.addLocation(l);
}
/// <summary>
/// Parse an ODE
/// </summary>
/// <param name="reader"></param>
/// <param name="h"></param>
/// <param name="l"></param>
public static void ParseDAI(XmlTextReader reader, AHybridAutomaton h, ConcreteLocation l)
{
if (h == null)
{
throw new System.ArgumentNullException("Error parsing transition: hybrid automaton not specified properly before reaching differential equation.");
}
if (l == null)
{
throw new System.ArgumentNullException("Error parsing transition: location not specified properly before reaching differential equation.");
}
// todo: this currently has a lot of assumptions about how the diffeq should appear
// todo: probably the easiest way to accomodate this would be to require a different <dai> block in the xml file for each variable
// but obviously this could have limitations for linear / affine dynamics, but... maybe not?
// let's think about it more
String variable = reader.GetAttribute(FlowAttributes.variable.ToString());
String flow = reader.GetAttribute(FlowAttributes.equn.ToString());
if (variable != null && flow != null && variable.Length > 0 && flow.Length > 0)
{
Antlr.Runtime.Tree.CommonTree tmptree = math.Expression.Parse(flow);
List <String> vars = LogicalExpression.findContinuousVars(tmptree);
List <String> pvars = LogicalExpression.findParams(tmptree);
List <String> constants = LogicalExpression.findAllRealConstants(tmptree);
Expr expr = LogicalExpression.CreateTerm(tmptree);
List <Expr> flows = new List <Expr>();
Expr t1 = Controller.Instance.Z3.MkRealConst("t_1");
Flow f = new Flow();
// indexed if the variable appears e.g., as x[i], else assume global, e.g., x
if (variable.Contains("[") && variable.Contains("]"))
{
String[] vns = variable.Split('[');
String variableName = vns[0]; // todo: error handling
f.Variable = h.GetVariableByName(variableName); // todo: error handling
// prime all variables
switch (Controller.Instance.DataOption)
{
case Controller.DataOptionType.array:
{
expr = expr.Substitute(Controller.Instance.DataA.IndexedVariableDecl[variableName], Controller.Instance.DataA.IndexedVariableDeclPrimed[variableName]);
break;
}
case Controller.DataOptionType.uninterpreted_function:
default:
{
Controller.Instance.Z3.replaceFuncDecl(ref expr, expr, Controller.Instance.DataU.IndexedVariableDecl[variableName], Controller.Instance.DataU.IndexedVariableDeclPrimed[variableName], false);
break;
}
}
// todo: rewrite in more general form for timed vs. rectangular
if (constants.Count + pvars.Count < 1)
{
f.DynamicsType = Flow.DynamicsTypes.timed;
}
else if (constants.Count + pvars.Count == 1)
{
f.DynamicsType = Flow.DynamicsTypes.timed;
if (pvars.Count == 1)
{
f.RectRateA = Controller.Instance.Params[pvars[0]];
f.RectRateB = Controller.Instance.Params[pvars[0]]; // \dot{x} \in [a,a]
}
if (constants.Count == 1)
{
f.RectRateA = Controller.Instance.Z3.MkReal(constants[0]);
f.RectRateB = Controller.Instance.Z3.MkReal(constants[0]);
}
}
else if (constants.Count + pvars.Count == 2)
{
f.DynamicsType = Flow.DynamicsTypes.rectangular;
// todo: generalize
if (pvars.Count >= 1)
{
f.RectRateA = Controller.Instance.Params[pvars[0]];
}
if (pvars.Count >= 2)
{
f.RectRateB = Controller.Instance.Params[pvars[1]];
}
if (constants.Count >= 1)
{
f.RectRateA = Controller.Instance.Z3.MkReal(constants[0]);
}
if (constants.Count >= 2)
{
f.RectRateB = Controller.Instance.Z3.MkReal(constants[1]);
}
}
if (pvars.Count > 0)
{
foreach (var y in pvars)
{
// todo: generalize, this is pretty nasty, and currently only supports dynamics of the form: v[i] R y, where R is an order/equivalence relation (e.g., >, <, >=, <=, =, etc.)
Expr addDeltaMin = Controller.Instance.Z3.MkAdd((ArithExpr)Controller.Instance.IndexedVariables[new KeyValuePair <string, string>(variableName, "i")], Controller.Instance.Z3.MkMul((ArithExpr)Controller.Instance.Params[y], (ArithExpr)t1));
expr = expr.Substitute(Controller.Instance.Params[y], addDeltaMin);
}
}
else if (constants.Count > 0)
{
foreach (var cs in constants)
{
int cint = (int)float.Parse(cs);
String cstr = float.Parse(cs).ToString();
if (cint == 1)
{
Expr c = Controller.Instance.Z3.MkReal(cstr);
Expr addDeltaMin = Controller.Instance.Z3.MkAdd((ArithExpr)Controller.Instance.IndexedVariables[new KeyValuePair <string, string>(variableName, "i")], (ArithExpr)t1);
expr = expr.Substitute(c, addDeltaMin);
}
else if (cint == -1) // todo: constants will never be negative currently due to the way findRealConstants function works (- is a unary term, so the constants are always positive with another unary minus outside)
{
Expr c = Controller.Instance.Z3.MkReal(cstr);
Expr addDeltaMin = Controller.Instance.Z3.MkSub((ArithExpr)Controller.Instance.IndexedVariables[new KeyValuePair <string, string>(variableName, "i")], (ArithExpr)t1);
expr = expr.Substitute(c, addDeltaMin);
}
else if (cint < 0)
{
Expr c = Controller.Instance.Z3.MkReal(cstr);
Expr addDeltaMin = Controller.Instance.Z3.MkSub((ArithExpr)Controller.Instance.IndexedVariables[new KeyValuePair <string, string>(variableName, "i")], Controller.Instance.Z3.MkMul((ArithExpr)c, (ArithExpr)t1));
expr = expr.Substitute(c, addDeltaMin);
}
else
{
Expr c = Controller.Instance.Z3.MkReal(cstr);
Expr addDeltaMin = Controller.Instance.Z3.MkAdd((ArithExpr)Controller.Instance.IndexedVariables[new KeyValuePair <string, string>(variableName, "i")], Controller.Instance.Z3.MkMul((ArithExpr)c, (ArithExpr)t1));
expr = expr.Substitute(c, addDeltaMin);
}
}
}
}
else // global variables
{
String variableName = variable;
f.Variable = Controller.Instance.Sys.GetVariableByName(variableName);
// prime the continuous variable occurrences
expr = expr.Substitute(Controller.Instance.GlobalVariables[variableName], Controller.Instance.GlobalVariablesPrimed[variableName]);
if (pvars.Count > 0)
{
foreach (var y in pvars)
{
// todo: generalize, this is pretty nasty, and currently only supports dynamics of the form: v[i] R y, where R is an order/equivalence relation (e.g., >, <, >=, <=, =, etc.)
Expr addDeltaMin = Controller.Instance.Z3.MkAdd((ArithExpr)Controller.Instance.Params[variableName], Controller.Instance.Z3.MkMul((ArithExpr)Controller.Instance.Params[y], (ArithExpr)t1));
expr = expr.Substitute(Controller.Instance.Params[y], addDeltaMin);
}
}
else if (constants.Count > 0)
{
foreach (var cs in constants)
{
int cint = (int)float.Parse(cs);
String cstr = float.Parse(cs).ToString();
f.DynamicsType = Flow.DynamicsTypes.timed;
if (cint == 1)
{
Expr c = Controller.Instance.Z3.MkReal(cstr);
f.RectRateA = c;
Expr addDeltaMin = Controller.Instance.Z3.MkAdd((ArithExpr)Controller.Instance.GlobalVariables[variableName], (ArithExpr)t1);
expr = expr.Substitute(c, addDeltaMin);
}
else if (cint == -1)
{
Expr c = Controller.Instance.Z3.MkReal(cstr);
f.RectRateA = c;
Expr addDeltaMin = Controller.Instance.Z3.MkSub((ArithExpr)Controller.Instance.GlobalVariables[variableName], (ArithExpr)t1);
expr = expr.Substitute(c, addDeltaMin);
}
else if (cint < 0)
{
Expr c = Controller.Instance.Z3.MkReal(cstr);
f.RectRateA = c;
Expr addDeltaMin = Controller.Instance.Z3.MkSub((ArithExpr)Controller.Instance.GlobalVariables[variableName], Controller.Instance.Z3.MkMul((ArithExpr)c, (ArithExpr)t1));
expr = expr.Substitute(c, addDeltaMin);
}
else
{
Expr c = Controller.Instance.Z3.MkReal(cstr);
f.RectRateA = c;
Expr addDeltaMin = Controller.Instance.Z3.MkAdd((ArithExpr)Controller.Instance.GlobalVariables[variableName], Controller.Instance.Z3.MkMul((ArithExpr)c, (ArithExpr)t1));
expr = expr.Substitute(c, addDeltaMin);
}
}
}
}
// todo: generalize: we assume anything with a 0 in it is constant dynamics
//if (!Controller.Instance.Z3.findTerm(expr, Controller.Instance.RealZero, true))
if (!(f.RectRateA == Controller.Instance.RealZero || f.RectRateB == Controller.Instance.RealZero))
{
f.Value = expr;
/*
* // todo: move zero diffeq detection to this part, as currently we may be removing some actual diffeqs if any of them are 0
* if (l.Flow != null)
* {
* l.Flow = l.Flow & expr;
* }
* else
* {
* l.Flow = expr; // todo: this doesn't work properly if we have multiple variables, due to the way we replace the flow in stopping conditions and invariants
* // one solution is to use a list of flows
* // another is to create a flow object, which is the more natural choice, and keep a list of flow objects (so they may have different types, e.g., timed vs rect vs linear)
* }
*/
}
else
{
f.DynamicsType = Flow.DynamicsTypes.constant; // no change
f.RectRateA = Controller.Instance.RealZero;
f.RectRateB = Controller.Instance.RealZero;
Expr atmp = Controller.Instance.IndexedVariables[new KeyValuePair <string, string>(f.Variable.Name, "i")];
Expr btmp = Controller.Instance.IndexedVariablesPrimed[new KeyValuePair <string, string>(f.Variable.Name + Controller.PRIME_SUFFIX, "i")];
f.Value = Controller.Instance.Z3.MkEq(atmp, btmp);
}
l.Flows.Add(f);
}
}
