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legacy_vd_script.py
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import numpy as np
import copy
def vd(extract_time_intervals2):
a = 0
tstar = np.ones(3)
tstar[0] = 1.1
tstar[1]= 2.2
tstar[2]=3.3
Tstar = np.ones(3)
Tstar[0] = 5.1
Tstar[1]= 6.2
Tstar[2]=7.3
extract_time_intervals2_copy = copy.deepcopy(extract_time_intervals2)
vd = np.zeros(shape=(len(extract_time_intervals2), 2))
print('extract_time_intervals2_copy1', extract_time_intervals2_copy)
for row_index, row in enumerate(extract_time_intervals2):
#print('row', row)
for col_index, (operator, start_time, end_time) in enumerate(row):
if len(extract_time_intervals2_copy[row_index])>1:
print(len(extract_time_intervals2_copy[row_index]))
if operator=='G':
a = float(start_time)
vd[row_index] = a + vd[row_index]
print('vd', vd)
print('extract_time_intervals2_copy5', extract_time_intervals2_copy)
extract_time_intervals2_copy[row_index].pop(0)
print('extract_time_intervals2_copy2', extract_time_intervals2_copy)
if operator.startswith('F'):
F_index = int(operator[1:]) - 1 # Extract index from operator name 'Fi'
a = tstar[F_index] + Tstar[F_index]
vd[row_index] = a + vd[row_index]
print('extract_time_intervals2_copy3', extract_time_intervals2_copy)
print('vd1', vd)
extract_time_intervals2_copy[row_index].pop(0)
print('extract_time_intervals2_copy4', extract_time_intervals2_copy)
else:
if operator=='G':
vd[row_index] = [float(start_time), float(end_time)]
print('vd3', vd)
print('extract_time_intervals2_copy6', extract_time_intervals2_copy)
if operator.startswith('F'):
F_index = int(operator[1:]) - 1 # Extract index from operator name 'Fi'
a = tstar[F_index] + Tstar[F_index]
vd[row_index] = a + vd[row_index]
print('extract_time_intervals2_copy7', extract_time_intervals2_copy)
print('vd2', vd)
return vd
if operator == 'G' and vd[row_index][0] <= midTime <= vd[row_index][1]:
active = sympify(self.predicates[row_index])
active_subs = active.subs({'x'+str(j): x0[j-1] for j in range(1,self.number_of_robots+1)})
#self.robust[row_index] = max(self.robust[row_index], active_subs)
self.robust[row_index] = 1000 # PlaceHolder
if self.robust[row_index] <= 0.05:
self.tau[i] = 1
renamed_formula_intervals_copy[row_index].pop(0)
while len(renamed_formula_intervals_copy[row_index])>=1:
if operator=='G':
active = sympify(self.predicates[row_index])
active_subs = active.subs({'x'+str(j): x0[j-1] for j in range(1,self.number_of_robots+1)})
self.robust[row_index] = max(self.robust[row_index], active_subs)
if self.robust[row_index] <= 0.05:
self.tau[i] = 1
renamed_formula_intervals_copy[row_index].pop(0)
if operator.startswith('F'):
active = sympify(self.predicates[row_index])
active_subs = active.subs({'x'+str(j): x0[j-1] for j in range(1,self.number_of_robots+1)})
self.robust[row_index] = min(self.robust[row_index], active_subs)
if self.robust[row_index] <= 0.05:
#self.tau[i] = 1
self.Tstar[f_index] = midTime
self.tstar[f_index] = self.Tstar[f_index]
f_index += 1
renamed_formula_intervals_copy[row_index].pop(0)
elif operator.startswith('F') and vd[row_index][0] <= midTime <= vd[row_index][1]:
active = sympify(self.predicates[row_index])
active_subs = active.subs({'x'+str(j): x0[j-1] for j in range(1,self.number_of_robots+1)})
self.robust[row_index] = min(self.robust[row_index], active_subs)
print('vd[row_index][0]', vd[row_index][0])
print('midTime', midTime)
print('vd[row_index][1]', vd[row_index][1])
print('f_index', f_index)
if self.robust[row_index] <= 0.05:
#self.tau[i] = 1
self.Tstar[f_index] = midTime
self.tstar[f_index] = self.Tstar[f_index]
f_index += 1
renamed_formula_intervals_copy[row_index].pop(0)
while len(renamed_formula_intervals_copy[row_index])>=1:
if operator=='G':
active = sympify(self.predicates[row_index])
active_subs = active.subs({'x'+str(j): x0[j-1] for j in range(1,self.number_of_robots+1)})
self.robust[row_index] = max(self.robust[row_index], active_subs)
#self.robust[row_index] = 1000 # PlaceHolder
if self.robust[row_index] <= 0.05:
self.tau[i] = 1
renamed_formula_intervals_copy[row_index].pop(0)
if operator.startswith('F'):
active = sympify(self.predicates[row_index])
active_subs = active.subs({'x'+str(j): x0[j-1] for j in range(1,self.number_of_robots+1)})
self.robust[row_index] = min(self.robust[row_index], active_subs)
if self.robust[row_index] <= 0.05:
self.tau[i] = 1
self.Tstar[f_index] = midTime
self.tstar[f_index] = self.Tstar[f_index]
f_index += 1
renamed_formula_intervals_copy[row_index].pop(0)
formula = [ [('G', '2', '4')], [('F1', '1.1', '2.2'), ('G', '21', '42'), ('F2', '7', '8')],[('G', '4', '6')], [('F3', '6', '8')], [('G', '8', '10')]]
print('formula', formula)
for row_index, row in enumerate(formula):
reversed_row = row[::-1]
print('reversed_row', reversed_row)
for col_index, (operator, start_time, end_time) in enumerate(reversed_row):
if len(formula[row_index])>=1:
print('row_index', row_index)
print('col_index', col_index)
print('operator', operator)
print('start_time', start_time)
print('end_time', end_time)
reversed_row.pop(0)
print(reversed_row)
else:
print('row_index2', row_index)
print('col_index2', col_index)
print('operator2', operator)
print('start_time2', start_time)
print('end_time2', end_time)
#renamed_formula_intervals, tstar = rename_f_operators_and_init_tstar([[('F1', '1.1', '2.2'), ('G', '2', '4'), ('F2', '7', '8')], [('G', '2', '4')], [('G', '4', '6')], [('F3', '6', '8')], [('G', '8', '10')]])
def SatisfactionVariable(self, midTime, x0):
vd = self.vd()
#print('renamed_formula_intervals_copy', renamed_formula_intervals_copy)
#print('vd', vd)
#print('vd[0]', vd[0])
#print('vd[3][0]', vd[3][0])
#print('vd[3][1]', vd[3][1])
#print('vd[0,1]', vd[0,1])
#print('midTime', midTime)
#for i, interval in enumerate(renamed_formula_intervals_copy):
# print('i', i)
# print('interval', interval)
# print('interval[0]', interval[0])
# print('interval[0][0]', interval[0][0])
# print('interval[0][0][0]', interval[0][0][0])
# if interval[0] == 'G' and vd[i][0] <= midTime <= vd[i][1]:
# active = sympify(self.predicates[i])
# active_subs = active.subs({'x'+str(j): x0[j-1] for j in range(1,self.number_of_robots+1)})
# self.robust[i] = max(self.robust[i], active_subs)
# #if robust[i] <= 0.05:
# # tau[i] = 1
# elif interval[0][0][0] == 'F' and vd[i][0] <= midTime <= vd[i][1]:
# print('inside F')
# active = sympify(self.predicates[i])
# active_subs = active.subs({'x'+str(j): x0[j-1] for j in range(1,self.number_of_robots+1)})
# self.robust[i] = active_subs
# print('robust', active_subs)
# if self.robust[i] <= 0.05:
# self.tau[i] = 1
# self.Tstar = midTime
#for row_index, row in enumerate(self.extract_time_intervals2):
# reversed_row = row[::-1]
# print('reversed_row', reversed_row)
# for col_index, (operator, start_time, end_time) in enumerate(reversed_row):
# if len(self.extract_time_intervals2[row_index])>1:
# if operator=='G' and self.tau[i] == -1:
# a = float(start_time)
# vd[row_index] = a + vd[row_index]
# renamed_formula_intervals_copy[row_index].pop(0)
# i+=1
# if operator.startswith('F') and self.tau[i] == -1:
# F_index = int(operator[1:]) - 1
# a = self.tstar[F_index] + self.Tstar[F_index]
# vd[row_index] = a + vd[row_index]
# renamed_formula_intervals_copy[row_index].pop(0)
# i+=1
index = 0
f_index = 0
renamed_formula_intervals_copy = copy.deepcopy(self.extract_time_intervals2)
#print('renamed_formula_intervals_copy', renamed_formula_intervals_copy)
#print('self.extract_time_intervals2', self.extract_time_intervals2)
#print('vd', vd)
for row_index, row in enumerate(self.extract_time_intervals2):
reversed_row = row[::-1]
#print('reversed_row', reversed_row)
#print('row', row)
for col_index, (operator, start_time, end_time) in enumerate(reversed_row):
#print('col_index', col_index)
i = index + len(row) - col_index - 1
#print('i', i)
if len(row)==1:
if operator == 'G' and vd[row_index][0] <= midTime <= vd[row_index][1]:
pass
if operator.startswith('F') and vd[row_index][0] <= midTime <= vd[row_index][1]:
active = sympify(self.predicates[row_index])
active_subs = active.subs({'x'+str(j): x0[j-1] for j in range(1,self.number_of_robots+1)})
self.robust[row_index] = active_subs
if self.robust[row_index] <= 0.05:
self.Tstar[f_index] = midTime
self.tstar[f_index] = self.Tstar[f_index]
f_index += 1
self.tau[i] = 1
if len(row)>1:
if operator == 'G' and vd[row_index][0] <= midTime <= vd[row_index][1]:
pass
if operator.startswith('F') and vd[row_index][0] <= midTime <= vd[row_index][1]:
active = sympify(self.predicates[row_index])
active_subs = active.subs({'x'+str(j): x0[j-1] for j in range(1,self.number_of_robots+1)})
self.robust[row_index] = active_subs
if self.robust[row_index] <= 0.05:
self.Tstar[f_index] = midTime
self.tstar[f_index] = self.Tstar[f_index]
f_index += 1
#if vd[row_index][0] != self.last_vd[row_index][0]:
# self.tau[i] = -1
#else:
# self.tau[i] = 1
#active = sympify(self.predicates[row_index])
# active_subs = active.subs({'x'+str(j): x0[j-1] for j in range(1,self.number_of_robots+1)})
#self.robust[row_index] = max(self.robust[row_index], active_subs)
# self.robust[row_index] = 1000 # PlaceHolder
# if self.robust[row_index] <= 0.05:
# self.tau[i] = 1
# renamed_formula_intervals_copy[row_index].pop(0)
# while len(renamed_formula_intervals_copy[row_index])>=1:
# if operator=='G':
# active = sympify(self.predicates[row_index])
# active_subs = active.subs({'x'+str(j): x0[j-1] for j in range(1,self.number_of_robots+1)})
# self.robust[row_index] = max(self.robust[row_index], active_subs)
# if self.robust[row_index] <= 0.05:
# self.tau[i] = 1
# renamed_formula_intervals_copy[row_index].pop(0)
# if operator.startswith('F'):
# active = sympify(self.predicates[row_index])
# active_subs = active.subs({'x'+str(j): x0[j-1] for j in range(1,self.number_of_robots+1)})
# self.robust[row_index] = min(self.robust[row_index], active_subs)
# if self.robust[row_index] <= 0.05:
# #self.tau[i] = 1
# self.Tstar[f_index] = midTime
# self.tstar[f_index] = self.Tstar[f_index]
# f_index += 1
# renamed_formula_intervals_copy[row_index].pop(0)
#elif operator.startswith('F') and vd[row_index][0] <= midTime <= vd[row_index][1]:
# active = sympify(self.predicates[row_index])
# active_subs = active.subs({'x'+str(j): x0[j-1] for j in range(1,self.number_of_robots+1)})
# self.robust[row_index] = min(self.robust[row_index], active_subs)
# print('vd[row_index][0]', vd[row_index][0])
# print('midTime', midTime)
# print('vd[row_index][1]', vd[row_index][1])
# print('f_index', f_index)
# if self.robust[row_index] <= 0.05:
# #self.tau[i] = 1
# self.Tstar[f_index] = midTime
# self.tstar[f_index] = self.Tstar[f_index]
# f_index += 1
# renamed_formula_intervals_copy[row_index].pop(0)
#
# while len(renamed_formula_intervals_copy[row_index])>=1:
# if operator=='G':
# active = sympify(self.predicates[row_index])
# active_subs = active.subs({'x'+str(j): x0[j-1] for j in range(1,self.number_of_robots+1)})
# self.robust[row_index] = max(self.robust[row_index], active_subs)
# #self.robust[row_index] = 1000 # PlaceHolder
# if self.robust[row_index] <= 0.05:
# self.tau[i] = 1
# renamed_formula_intervals_copy[row_index].pop(0)
# if operator.startswith('F'):
# active = sympify(self.predicates[row_index])
# active_subs = active.subs({'x'+str(j): x0[j-1] for j in range(1,self.number_of_robots+1)})
# self.robust[row_index] = min(self.robust[row_index], active_subs)
# if self.robust[row_index] <= 0.05:
# self.tau[i] = 1
# self.Tstar[f_index] = midTime
# self.tstar[f_index] = self.Tstar[f_index]
# f_index += 1#
# renamed_formula_intervals_copy[row_index].pop(0)
index = index + len(row)
self.last_vd = vd