From 3596f491f7a1d76d5c968b75990c28168320465e Mon Sep 17 00:00:00 2001
From: Viktor Kuncak <viktor.kuncak@epfl.ch>
Date: Tue, 23 Jun 2015 11:13:20 -0400
Subject: [PATCH] Remarks on scalacleon etc. in the doc. Added Samuel to
authors. Added Robot to web demos.
---
.gitignore | 1 +
doc/conf.py | 2 +-
doc/gettingstarted.rst | 5 +
testcases/web/demos/008_Tutorial-Robot.scala | 674 +++++++++++++++++++
4 files changed, 681 insertions(+), 1 deletion(-)
create mode 100644 testcases/web/demos/008_Tutorial-Robot.scala
diff --git a/.gitignore b/.gitignore
index 1a909f9d9..b67097753 100644
--- a/.gitignore
+++ b/.gitignore
@@ -15,6 +15,7 @@ target
/setupenv
/leon-bench
/.test-history
+/out-classes
# synthesis
derivation*.dot
diff --git a/doc/conf.py b/doc/conf.py
index 46376d31c..72569cc9d 100644
--- a/doc/conf.py
+++ b/doc/conf.py
@@ -15,7 +15,7 @@
import sys
import os
-docauthorlist = u'Régis Blanc, Etienne Kneuss, Manos Koukoutos, Viktor Kuncak, Philippe Suter'
+docauthorlist = u'Régis Blanc, Samuel Gruetter, Etienne Kneuss, Manos Koukoutos, Viktor Kuncak, Philippe Suter'
# If extensions (or modules to document with autodoc) are in another directory,
# add these directories to sys.path here. If the directory is relative to the
diff --git a/doc/gettingstarted.rst b/doc/gettingstarted.rst
index 8e6499550..ea6843fde 100644
--- a/doc/gettingstarted.rst
+++ b/doc/gettingstarted.rst
@@ -96,3 +96,8 @@ be used directly from the shell, see
:ref:`installation`. In addition to invoking `./leon --help` you
may wish to consult :ref:`cmdlineoptions` options.
+Some benchmarks may contain Scala code that is ignored by verifier, but contributes
+to running the benchmark. To start a Leon program with scala, just compile it together
+with Leon libraries inside the `library/` directory of Leon distribution. The scripts
+`scalacleon` and `scalaleon` attempt to automate this for simple cases and need to be
+invoked from the Leon installation directory.
diff --git a/testcases/web/demos/008_Tutorial-Robot.scala b/testcases/web/demos/008_Tutorial-Robot.scala
new file mode 100644
index 000000000..c78dc15f2
--- /dev/null
+++ b/testcases/web/demos/008_Tutorial-Robot.scala
@@ -0,0 +1,674 @@
+// Developed by Etienne Kneuss, 2015
+import leon.lang._
+import leon.collection._
+import leon.annotation._
+
+object Robot {
+
+ // From top left
+ case class Position(x: BigInt, y: BigInt) {
+ def +(o: Orientation) = o match {
+ case North => Position(x, y-1)
+ case East => Position(x+1, y)
+ case South => Position(x, y+1)
+ case West => Position(x-1, y)
+ }
+
+ def neighbors: List[Position] = {
+ List(this + North, this + East, this + South, this + West)
+ }
+ }
+
+ abstract class Orientation {
+ def left = this match {
+ case North => West
+ case East => North
+ case South => East
+ case West => South
+ }
+
+ def right = this match {
+ case North => East
+ case East => South
+ case South => West
+ case West => North
+ }
+ }
+
+ case object North extends Orientation
+ case object East extends Orientation
+ case object South extends Orientation
+ case object West extends Orientation
+
+ abstract class FireLevel {
+ def level: BigInt = this match {
+ case NoFire => 0
+ case Fire1 => 1
+ case Fire2 => 2
+ case Fire3 => 3
+ case Fire4 => 4
+ case Fire5 => 5
+ }
+
+ def increase = this match {
+ case NoFire => NoFire
+ case Fire1 => Fire2
+ case Fire2 => Fire3
+ case Fire3 => Fire4
+ case Fire4 => Fire5
+ case Fire5 => Fire5
+ }
+
+ def temp:BigInt = level*100
+ }
+
+ case object NoFire extends FireLevel
+ case object Fire1 extends FireLevel
+ case object Fire2 extends FireLevel
+ case object Fire3 extends FireLevel
+ case object Fire4 extends FireLevel
+ case object Fire5 extends FireLevel
+
+ case class World(
+ clock: BigInt,
+ dimentions: Position,
+ walls: Set[Position],
+ persons: Set[Position],
+ initFires: Set[Position],
+ rs: RobotState) {
+
+ def personAt(pos: Position): Boolean = persons contains pos
+
+ def wallAt(pos: Position): Boolean = walls contains pos
+
+ def fireAt(pos: Position): FireLevel = {
+ val step = clock/50
+
+ if (wallAt(pos)) {
+ NoFire
+ } else if (initFires contains pos) {
+ fireLevel(clock/10+1)
+ } else if (step >= 1 && (pos.neighbors.exists { p => initFires contains p })) {
+ fireLevel((clock-50)/10+1)
+ } else {
+ NoFire
+ }
+ }
+
+ def fireLevel(l: BigInt) = {
+ if (l <= 1) Fire1
+ else if (l <= 2) Fire2
+ else if (l <= 3) Fire3
+ else if (l <= 4) Fire4
+ else Fire5
+ }
+
+ def isWithinMap(p: Position): Boolean = {
+ p.x >= 0 && p.x < dimentions.x &&
+ p.y >= 0 && p.y < dimentions.y
+ }
+ }
+
+
+ /*******************************************************************
+ * Engine Component
+ *******************************************************************/
+
+ case class EngineState(pos: Position, dim: Position, orient: Orientation)
+
+ abstract class EngineTransition
+ case object EForward extends EngineTransition
+ case object ERotateLeft extends EngineTransition
+ case object ERotateRight extends EngineTransition
+ case object EIdle extends EngineTransition
+
+ def engineStep(es: EngineState, t: EngineTransition) = t match {
+ case EForward => EngineState(es.pos + es.orient, es.dim, es.orient)
+ case ERotateRight => EngineState(es.pos, es.dim, es.orient.right)
+ case ERotateLeft => EngineState(es.pos, es.dim, es.orient.left)
+ case EIdle => es
+ }
+
+ def engineSucc(es: EngineState): List[EngineTransition] = {
+ if ((es.pos.x <= 0 && es.orient == West) ||
+ (es.pos.y <= 0 && es.orient == North) ||
+ (es.pos.x >= es.dim.x && es.orient == East) ||
+ (es.pos.y >= es.dim.y && es.orient == South)) {
+ List(ERotateLeft, ERotateRight, EIdle)
+ } else {
+ List(EForward, ERotateLeft, ERotateRight, EIdle)
+ }
+ }
+
+ /*******************************************************************
+ * Navigation Sensor Component
+ *******************************************************************/
+
+ case class NavSensorState(wall: Option[Boolean], person: Option[Boolean]) {
+ def hasData = wall.isDefined && person.isDefined
+
+ def validData(implicit w: World) = {
+ val posFront = w.rs.es.pos + w.rs.es.orient
+
+ val wallOk = wall match {
+ case Some(wal) => wal == w.wallAt(posFront)
+ case None() => true
+ }
+
+ val personOk = person match {
+ case Some(per) => per == w.personAt(posFront)
+ case None() => true
+ }
+
+ wallOk && personOk
+ }
+ }
+
+ abstract class NavSensorTransition
+ case object NSense extends NavSensorTransition
+ case object NForget extends NavSensorTransition
+ case object NIdle extends NavSensorTransition
+
+
+ def navSensorStep(ns: NavSensorState, t: NavSensorTransition)(implicit w: World) = t match {
+ case NSense =>
+ // Driver call
+ val p = w.rs.es.pos + w.rs.es.orient
+ NavSensorState(Some(w.wallAt(p)), Some(w.personAt(p)))
+
+ case NForget =>
+ NavSensorState(None(), None())
+
+ case NIdle =>
+ ns
+ }
+
+ def navSensorSucc(ns: NavSensorState): List[NavSensorTransition] = {
+ if (ns.hasData) {
+ List(NForget, NIdle)
+ } else {
+ List(NSense, NIdle)
+ }
+ }
+
+ /*******************************************************************
+ * Heat Sensor Component
+ *******************************************************************/
+
+ case class HeatSensorState(heat: Option[FireLevel]) {
+ def hasData = heat.isDefined
+
+ def validData(implicit w: World) = {
+ heat match {
+ case Some(f) =>
+ val realF = w.fireAt(w.rs.es.pos + w.rs.es.orient)
+ realF == f || realF == f.increase
+ case None() =>
+ true
+ }
+ }
+ }
+
+ abstract class HeatSensorTransition
+ case object HSense extends HeatSensorTransition
+ case object HForget extends HeatSensorTransition
+ case object HIdle extends HeatSensorTransition
+
+ def heatSensorStep(hs: HeatSensorState, t: HeatSensorTransition)(implicit w: World) = t match {
+ case HSense =>
+ // Driver call
+ val p = w.rs.es.pos+w.rs.es.orient
+ HeatSensorState(Some(w.fireAt(p)))
+
+ case HForget =>
+ HeatSensorState(None())
+
+ case HIdle =>
+ hs
+ }
+
+ def heatSensorSucc(hs: HeatSensorState): List[HeatSensorTransition] = {
+ if (hs.hasData) {
+ List(HForget, HIdle)
+ } else {
+ List(HSense, HIdle)
+ }
+ }
+
+ /*******************************************************************
+ * Transmission Component
+ *******************************************************************/
+
+ case class TransmitterState(beacon: Option[Position]) {
+ def hasData = beacon.isDefined
+ }
+
+ abstract class TransmitterTransition
+ case object TRepeat extends TransmitterTransition
+ case object TFound extends TransmitterTransition
+ case object TIdle extends TransmitterTransition
+
+ def transmitterStep(ts: TransmitterState, es: EngineState, t: TransmitterTransition)(implicit w: World) = t match {
+ case TRepeat =>
+ // Driver call to transmit
+ ts
+
+ case TFound =>
+ // Driver call to transmit
+ TransmitterState(Some(es.pos + es.orient))
+
+ case TIdle =>
+ ts
+ }
+
+ def transmitterSucc(ts: TransmitterState): List[TransmitterTransition] = {
+ if (ts.hasData) {
+ List(TRepeat, TFound)
+ } else {
+ List(TFound, TIdle)
+ }
+ }
+
+
+ /*******************************************************************
+ * Robot Component
+ *******************************************************************/
+
+ case class RobotState(
+ es: EngineState,
+ ns: NavSensorState,
+ hs: HeatSensorState,
+ ts: TransmitterState
+ )
+
+ case class RobotTransition(
+ et: EngineTransition,
+ nst: NavSensorTransition,
+ hst: HeatSensorTransition,
+ tt: TransmitterTransition
+ )
+
+ def robotSucc(rs: RobotState): List[RobotTransition] = {
+ val ess = engineSucc(rs.es)
+ val nss = navSensorSucc(rs.ns)
+ val hss = heatSensorSucc(rs.hs)
+ val ts = transmitterSucc(rs.ts)
+
+ filterValid(rs, ||(ess, nss, hss, ts))
+ } ensuring {
+ res => allValid(rs, res)
+ }
+
+ def robotStep(rs: RobotState, rt: RobotTransition)(implicit w: World): RobotState = {
+ RobotState(
+ engineStep(rs.es, rt.et),
+ navSensorStep(rs.ns, rt.nst),
+ heatSensorStep(rs.hs, rt.hst),
+ transmitterStep(rs.ts, rs.es, rt.tt)
+ )
+ }
+
+ // Can wistand up to 300 degrees
+ def safetyTemp:BigInt = 300
+
+ // Temperature can increase by at most 100 degree while the robot moves
+ def dTempMax:BigInt = 100
+
+ // Glue that compose sensors, transmitter and engine to perform valid actions
+ def validTransition(rs: RobotState, rt: RobotTransition): Boolean = {
+
+ // 6) Sensors must be based on recent data
+ val freshSensors = if (rt.et == EForward || rt.et == ERotateRight || rt.et == ERotateLeft) {
+ rt.nst == NForget && rt.hst == HForget
+ } else {
+ true
+ }
+
+ val freshSensors2 = if(rs.hs.hasData) {
+ rt.hst == HForget
+ } else {
+ true
+ }
+
+ // 2/3) We can move forward only if no wall was detected
+ val forwardIfNoWall = (!(rt.et == EForward) || rs.ns.wall == Some(false))
+
+ // 3) We don't exit the world
+ val forwardIfNotOutOfMap = if (rt.et == EForward) {
+ (rs.es.pos.x > 0 || rs.es.orient != West) &&
+ (rs.es.pos.y > 0 || rs.es.orient != North) &&
+ (rs.es.pos.x < rs.es.dim.x-1 || rs.es.orient != East) &&
+ (rs.es.pos.y < rs.es.dim.y-1 || rs.es.orient != South)
+ } else {
+ true
+ }
+
+ // 4) We can move forward only if the cell is within heat limits
+ val forwardIfNotHot = (!(rt.et == EForward) || rs.hs.heat.getOrElse(Fire5).temp <= safetyTemp-dTempMax*2)
+
+ // 5) If we found, we read the position and transmit
+ val transmitIfFound = if (rs.ns.person == Some(true)) {
+ rt.tt == TFound
+ } else {
+ rt.tt == TRepeat || rt.tt == TIdle
+ }
+
+ forwardIfNotOutOfMap && freshSensors && freshSensors2 && forwardIfNoWall && forwardIfNotHot && transmitIfFound
+ }
+
+ def validWorld(implicit w: World): Boolean = {
+ val dim = w.dimentions
+
+ dim.x > 0 && dim.y > 0 && dim == w.rs.es.dim &&
+ w.isWithinMap(w.rs.es.pos) &&
+ w.clock >= 0
+ }
+
+ def validState(rs: RobotState)(implicit w: World): Boolean = {
+
+ // 6) Sensors have consistent data
+ val recentData = rs.ns.validData && rs.hs.validData
+
+ // 2/3) We don't end up in a wall
+ val notInWall = !w.wallAt(rs.es.pos)
+
+ // 2) We are in the map
+ val inMap = w.isWithinMap(rs.es.pos)
+
+ validWorld && recentData && notInWall && inMap
+ }
+
+ def validRobotStep(from: RobotState, to: RobotState)(implicit w: World): Boolean = {
+ val posFrom = from.es.pos
+ val posFromFront = from.es.pos + from.es.orient
+ val posTo = to.es.pos
+ val posToFront = to.es.pos +to.es.orient
+
+ // 1) Robot must not rotate and move at the same time
+ val dontRotateAndMove = (from.es.pos == to.es.pos) || (from.es.orient == to.es.orient)
+
+ // 4) We don't move to a cell that is too hot
+ val dontBeCrazy = (posFrom == posTo) || (w.fireAt(posTo).temp <= safetyTemp)
+
+ // 5) If we found somebody, we record its position for transmission
+ val transmitWhenFound = (from.ns.person != Some(true)) || (to.ts.beacon == Some(posFromFront))
+
+ dontRotateAndMove && dontBeCrazy && transmitWhenFound
+ }
+
+ def filterValid(rs: RobotState, rts: List[RobotTransition]): List[RobotTransition] = (rts match {
+ case Cons(rt, rtt) =>
+ val ts = filterValid(rs, rtt)
+
+ if (validTransition(rs, rt)) {
+ Cons(rt, ts)
+ } else {
+ ts
+ }
+ case Nil() => Nil[RobotTransition]()
+ }) ensuring {
+ res => allValid(rs, res)
+ }
+
+ def allValid(rs: RobotState, rts: List[RobotTransition]): Boolean = rts match {
+ case Cons(rt, rtt) => validTransition(rs, rt) && allValid(rs, rtt)
+ case Nil() => true
+ }
+
+ def worldStep(w: World): World = {
+ World(w.clock + 1, w.dimentions, w.walls, w.persons, w.initFires, w.rs)
+ } ensuring {
+ w2 =>
+ w.fireAt(w2.rs.es.pos).level <= w2.fireAt(w2.rs.es.pos).level &&
+ w2.fireAt(w2.rs.es.pos).level <= w.fireAt(w2.rs.es.pos).level+1
+ }
+
+ def fireEvolution(from: FireLevel, to: FireLevel): Boolean = {
+ (from.temp <= to.temp) &&
+ (to.temp <= from.temp + dTempMax)
+ }
+
+ def searchAlgorithm(rs: RobotState): EngineTransition = {
+ // Make a suggestion based on whatever kwnoledge you have, here we favor going forward
+ EForward
+ }
+
+ def getBestTransition(rs: RobotState, ls: List[RobotTransition]): Option[RobotTransition] = {
+ require(allValid(rs, ls))
+
+ if (ls.isEmpty) {
+ None[RobotTransition]()
+ } else {
+ val sugg = searchAlgorithm(rs)
+
+ ls.find(rt => (rt.et == sugg) && validTransition(rs, rt)).orElse {
+ Some(ls.head)
+ }
+ }
+ } ensuring {
+ res => res match {
+ case Some(t) =>
+ (ls.content contains t) && validTransition(rs, t)
+ case None() =>
+ ls.isEmpty
+ }
+ }
+
+ def step(rs: RobotState)(implicit w: World) = {
+ require(validState(rs) && w.rs == rs)
+
+ val transitions = robotSucc(rs)
+
+ val ort = getBestTransition(rs, transitions)
+
+ val nextRs = ort match {
+ case Some(rt) =>
+ robotStep(rs, rt)
+
+ case None() =>
+ rs
+ }
+
+ (nextRs, ort)
+ } ensuring {
+ res =>
+ val (rs2, ort) = res;
+ validState(rs2) &&
+ (ort match {
+ case Some(rt) =>
+ validRobotStep(rs, rs2)
+ case None() =>
+ true
+
+ })
+ }
+
+ def globalSafe(implicit w: World): World = {
+ require(validState(w.rs))
+
+ // One step for the robot
+ val (rs2, otr) = step(w.rs)
+
+ // One step for mankind
+ worldStep(World(w.clock, w.dimentions, w.walls, w.persons, w.initFires, rs2))
+ } ensuring {
+ w2 =>
+ val heatOk = if (w.rs.es.pos == w2.rs.es.pos) {
+ true
+ } else {
+ w2.fireAt(w2.rs.es.pos).temp <= safetyTemp
+ }
+
+ // 2/3) We don't end up in a wall
+ val notInWall = !w2.wallAt(w2.rs.es.pos)
+
+ // 2) We are in the map
+ val inMap = w2.isWithinMap(w2.rs.es.pos)
+
+ heatOk && notInWall && inMap
+ }
+
+
+ def main(a: Array[String]): Unit = {
+ val map0 = """|XXXXXXXXX
+ |XR FF X
+ |X PXXXX
+ |XXX F F X
+ |X X X
+ |XX FPXXXXX
+ |XXXXXX""".stripMargin
+
+ val map1 = """|XXXXXXXXXXXXX
+ |X R X
+ |XP X X
+ |X X X
+ |X XXXXXXX X
+ |X PX X
+ |X X X
+ |XFF X X
+ |XXXXXXXXXXXXX""".stripMargin
+
+ var initPos: Position = Position(0, 0)
+
+ var walls = Set[Position]()
+ var mission = Set[Position]()
+ var persons = Set[Position]()
+ var fires = Set[Position]()
+
+ for ((line, y) <- map1.split("\n").toSeq.zipWithIndex;
+ (c, x) <- line.zipWithIndex) {
+
+ val p = Position(x, y)
+
+ c match {
+ case 'R' =>
+ initPos = p
+
+ case 'X' =>
+ walls += p
+
+ case 'F' =>
+ fires += p
+
+ case 'P' =>
+ persons += p
+
+ case ' ' =>
+ }
+
+ if (c != 'X') {
+ mission += p
+ }
+ }
+
+
+ val dim = Position(walls.theSet.map(_.x).max+1, walls.theSet.map(_.y).max+1)
+
+ val es = EngineState(initPos, dim, North)
+ val ns = NavSensorState(None(), None())
+ val hs = HeatSensorState(None())
+ val t = TransmitterState(None())
+
+ val rs = RobotState(es, ns, hs, t)
+
+ implicit var w = World(0, dim, walls, persons, fires, rs)
+
+ while(w.clock < 110) {
+ print("\u001b[2J")
+ val (rs2, otr) = step(w.rs)
+ w = w.copy(rs = rs2)
+ w = worldStep(w)
+ draw(w, otr)
+ Thread.sleep(120l)
+ }
+ }
+
+ @ignore
+ def draw(w: World, ogt: Option[RobotTransition]): Unit = {
+ val rs = w.rs
+
+ def navSens(ns: NavSensorState): String = {
+ ns.wall.map(v => if (v) "X" else "_").getOrElse("?")
+ }
+
+ val o = (rs.es.orient match {
+ case North => "^"
+ case East => ">"
+ case South => "v"
+ case West => "<"
+ })+" "+rs.es.pos.x+","+rs.es.pos.y
+
+ print("Last Action: ")
+ ogt match {
+ case Some(gt) =>
+ println(s"E: ${gt.et}, NS: ${gt.nst}, HS: ${gt.hst}, T: ${gt.tt}")
+
+ case None() =>
+ println("<stuck>")
+ }
+ println()
+ println(s"World Clock: ${w.clock}")
+ println()
+ println("Robot State: ")
+ println(s" - Engine : ${rs.es}")
+ println(s" - Nav Sensor : ${rs.ns}")
+ println(s" - Heat Sensor : ${rs.hs}")
+ println(s" - Transmitter : ${rs.ts}")
+
+ println()
+ println("Map:")
+ println()
+
+ val colors = List(52, 124, 1, 160, 196);
+
+ for (y <- BigInt(0) until w.dimentions.y) {
+ for(x <- BigInt(0) until w.dimentions.x) {
+
+ val p = Position(x, y)
+
+ val f = w.fireAt(p)
+ if (f != NoFire) {
+ val code = colors(f.level-1)
+ print("\u001b[48;5;"+code+"m")
+ }
+
+ if (w.walls contains p) {
+ print("\u2593")
+ } else if (rs.es.pos == p) {
+ print((rs.es.orient match {
+ case North => "^"
+ case South => "v"
+ case East => ">"
+ case West => "<"
+ }))
+ } else if (w.persons contains p) {
+ print("P")
+ } else {
+ print(" ")
+ }
+
+ if (f != NoFire) {
+ print(Console.RESET)
+ }
+
+ }
+ println
+ }
+ }
+
+ def ||(ets: List[EngineTransition],
+ nsts: List[NavSensorTransition],
+ hsts: List[HeatSensorTransition],
+ tts: List[TransmitterTransition]): List[RobotTransition] = {
+
+ ets.flatMap { et =>
+ nsts.flatMap { nst =>
+ hsts.flatMap { hst =>
+ tts.map { tt =>
+ RobotTransition(et, nst, hst, tt)
+ }
+ }
+ }
+ }
+ }
+}
--
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