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main.py
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main.py
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import time
# import sys
from machine import automata
from machine import operations
# import psutil
#######################################################################################################################
# Cluster Tool Example
#######################################################################################################################
#######################################################################################################################
# Plants
#######################################################################################################################
""" References to this example:
Su, R., van Schuppen, J., Rooda, J., 2012. The synthesis of time optimal supervisors by using heaps-of-pieces. IEEE
Transactions on Automatic Control 57 (1), 105–118.
Lucas V.R. Alves, Lucas R.R. Martins, Patrícia N. Pena. UltraDES - A Library for Modeling, Analysis and Control of
Discrete Event Systems**This work was supported by Capes - Brazil, CNPq and FAPEMIG., IFAC-PapersOnLine, Volume 50,
Issue 1, 2017.
"""
s = list()
for n in range(4):
if not n:
s.append(automata.State(str(n), True))
else:
s.append(automata.State(str(n)))
clusters = 5
# Robots Plants
alphabet = dict()
alphabet_uncontrollable = dict()
n_automata = clusters
robot_transitions = dict()
robot_initial_state = list()
robot = list()
I_Be_C = dict()
F_Be_C = dict()
I_C_Be = dict()
F_C_Be = dict()
I_C_Bd = dict()
F_C_Bd = dict()
I_Bd_Be = dict()
F_Bd_Be = dict()
for i in range(n_automata):
I_Be_C[i] = automata.Event('I_Be_C' + str(i), True)
F_Be_C[i] = automata.Event('F_Be_C' + str(i))
I_C_Be[i] = automata.Event('I_C_Be' + str(i), True)
F_C_Be[i] = automata.Event('F_C_Be' + str(i))
I_C_Bd[i] = automata.Event('I_C_Bd' + str(i), True)
F_C_Bd[i] = automata.Event('F_C_Bd' + str(i))
I_Bd_Be[i] = automata.Event('I_Bd_Be' + str(i), True)
F_Bd_Be[i] = automata.Event('F_Bd_Be' + str(i))
if i == n_automata-1: # last robot
alphabet[i] = {0: I_Be_C[i], 1: F_Be_C[i], 2: I_C_Be[i], 3: F_C_Be[i]}
robot_transitions[i] = dict()
robot_transitions[i] = {s[0]: {alphabet[i][0]: s[1], alphabet[i][2]: s[2]},
s[1]: {alphabet[i][1]: s[0]},
s[2]: {alphabet[i][3]: s[0]}}
robot_initial_state.insert(i, s[0])
else:
alphabet[i] = {0: I_Be_C[i], 1: F_Be_C[i], 2: I_C_Bd[i], 3: F_C_Bd[i],
4: I_Bd_Be[i], 5: F_Bd_Be[i]}
robot_transitions[i] = dict()
robot_transitions[i] = {s[0]: {alphabet[i][0]: s[1], alphabet[i][2]: s[2], alphabet[i][4]: s[3]},
s[1]: {alphabet[i][1]: s[0]},
s[2]: {alphabet[i][3]: s[0]},
s[3]: {alphabet[i][5]: s[0]}}
robot_initial_state.insert(i, s[0])
robot.insert(i, automata.Automaton(robot_transitions[i], robot_initial_state[i]))
# "Processing Chambers" Plants
alphabet2 = dict()
alphabet2_uncontrollable = dict()
n_automata = clusters
chamber_transitions = dict()
chamber_initial_state = list()
chamber = list()
I_C = dict()
F_C = dict()
for i in range(n_automata):
I_C[i] = automata.Event('I_C', True)
F_C[i] = automata.Event('F_C')
alphabet2[i] = {0: I_C[i], 1: F_C[i]}
chamber_transitions[i] = {s[0]: {alphabet2[i][0]: s[1]},
s[1]: {alphabet2[i][1]: s[0]}}
chamber_initial_state.insert(i, s[0])
chamber.insert(i, automata.Automaton(chamber_transitions[i], chamber_initial_state[i]))
########################################################################################################################
# Specifications
########################################################################################################################
# Robot & Chamber
alphabet3 = dict()
alphabet3_uncontrollable = dict()
n_automata = clusters
erc_transitions = dict()
erc_initial_state = list()
erc = list()
for i in range(n_automata):
if i == n_automata-1:
alphabet3[i] = {0: I_C_Be[i], 1: F_Be_C[i], 2: I_C[i], 3: F_C[i]}
erc_transitions[i] = {s[0]: {alphabet3[i][1]: s[1], alphabet3[i][3]: s[2]},
s[1]: {alphabet3[i][2]: s[0]},
s[2]: {alphabet3[i][0]: s[0]}}
erc_initial_state.insert(i, s[0])
else:
alphabet3[i] = {0: I_C_Bd[i], 1: F_Be_C[i], 2: I_C[i], 3: F_C[i]}
erc_transitions[i] = {s[0]: {alphabet3[i][1]: s[1], alphabet3[i][3]: s[2]},
s[1]: {alphabet3[i][2]: s[0]},
s[2]: {alphabet3[i][0]: s[0]}}
erc_initial_state.insert(i, s[0])
erc.insert(i, automata.Automaton(erc_transitions[i], erc_initial_state[i]))
# Robot i & Robot i + 1
alphabet4 = dict()
alphabet4_uncontrollable = dict()
n_automata = clusters-1
err_transitions = dict()
err_initial_state = list()
err = list()
for i in range(n_automata):
if i == n_automata-1:
alphabet4[i] = {0: I_Be_C[i+1], 1: F_C_Bd[i], 2: I_Bd_Be[i], 3: F_C_Be[i+1]}
err_transitions[i] = {s[0]: {alphabet4[i][1]: s[1], alphabet4[i][3]: s[2]},
s[1]: {alphabet4[i][0]: s[0]},
s[2]: {alphabet4[i][2]: s[0]}}
err_initial_state.insert(i, s[0])
else:
alphabet4[i] = {0: I_Be_C[i+1], 1: F_C_Bd[i], 2: I_Bd_Be[i], 3: F_Bd_Be[i+1]}
err_transitions[i] = {s[0]: {alphabet4[i][1]: s[1], alphabet4[i][3]: s[2]},
s[1]: {alphabet4[i][0]: s[0]},
s[2]: {alphabet4[i][2]: s[0]}}
err_initial_state.insert(i, s[0])
err.insert(i, automata.Automaton(err_transitions[i], err_initial_state[i]))
tic = time.clock()
g = operations.sync(robot[0], robot[1])
for automaton in robot[2:]:
g = operations.sync(g, automaton)
for automaton in chamber:
g = operations.sync(g, automaton)
toc = time.clock()
print("Tempo sync G: %s" % (toc - tic))
# print("Sync 1", g.transitions)
print("G states number:", len(g.states_set()))
print("G events number:", len(g.events_set()))
print("G transitions number:", g.transitions_number())
e = operations.sync(erc[0], erc[1])
for automaton in erc[2:]:
e = operations.sync(e, automaton)
for automaton in err:
e = operations.sync(e, automaton)
print("E states number:", len(e.states_set()))
print("E events number:", len(e.events_set()))
print("E transitions number:", e.transitions_number())
########################################################################################################################
# Using SupC
########################################################################################################################
# print("starting K3")
#
# tic = time.clock()
#
# k = operations.sync(e, g)
#
# toc = time.clock()
#
# print("Tempo: %s" % (toc - tic))
# # print("K3:", k.transitions)
# print("K3 states number:", len(k.states_set()))
# print("K3 events number:", len(k.events_set()))
# print("K3 transitions number:", k.transitions_number())
#
#
# print("starting S")
#
# tic = time.clock()
#
# s = operations.supc(k, g)
#
# toc = time.clock()
#
# print("Tempo: %s" % (toc - tic))
#
# # print("S", s.transitions)
# print("S states number:", len(s.states_set()))
# print("S transitions number:", s.transitions_number())
########################################################################################################################
# Using SupC 2
########################################################################################################################
print("starting supc 2")
tic = time.clock()
s2 = operations.supc2(e, g)
toc = time.clock()
print("Time of computation: %s" % (toc - tic))
print("S2 states number:", len(s2.states_set()))
print("S2 transitions number:", s2.transitions_number())
########################################################################################################################
# Using SupC 3
########################################################################################################################
# print("starting supc 3")
#
# G_list = list()
# for g_i in robot:
# G_list.append(g_i)
# for g_i in chamber:
# G_list.append(g_i)
#
# E_list = list()
# for e_i in erc:
# E_list.append(e_i)
# for e_i in err:
# E_list.append(e_i)
#
#
# tic = time.clock()
#
# s3 = operations.supc3(E_list, G_list)
#
# toc = time.clock()
#
# print("Size of S:", sys.getsizeof(s3))
#
# print("Tempo: %s" % (toc - tic))
# print("S3 states number:", len(s3.states_set()))
# print("S3 transitions number:", s3.transitions_number())