Maxelweb/cps-lab-exercises-2021
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add lab3 exercises

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Mariano Sciacco
2021-12-22 16:19:50 +01:00
parent b16ebd1d1d
commit 09fec19232
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lab3/examples/evader2.pha Normal file
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// Constants definition
//
// Automaton definition
//
automaton evader
contr_var: e, p, x, p_zero; // e position of the evader
// p position of the pursuer
// x timer
// p_zero "frozen variable" that stores the
// initial position of the pursuer
synclabs: jump;
loc ClkW:
while 0 <= e <= 40 & 0 <= p <= 40 & x <= 2 wait
{e'==5 & -0.5 <= p' <= 6 & x'==1 & p_zero'==0}
when (p == 0) sync jump do {e'==e & p'==40 & x'==x & p_zero'==p_zero} goto ClkW;
when (p == 40) sync jump do {e'==e & p'==0 & x'==x & p_zero'==p_zero} goto ClkW;
when (x >= 2) & (0 < e < 40) & (6*e - 5*p > 40) sync jump do
{e'==e & p'==p & x'==0 & p_zero'==p_zero} goto ClkW;
when (x >= 2) & (0 < e < 40) & (6*e - 5*p <= 40) sync jump do
{e'==e & p'==p & x'==0 & p_zero'==p_zero} goto CntrClkW;
when (e == 0) sync jump do {e'==e & p'==p & x'==x & p_zero'==p_zero} goto Rescued;
when (e == 40) sync jump do {e'==e & p'==p & x'==x & p_zero'==p_zero} goto Rescued;
loc CntrClkW:
while 0 <= e <= 40 & 0 <= p <= 40 & x <= 2 wait
{e'==-5 & -0.5 <= p' <= 6 & x'==1 & p_zero'==0}
when (p == 0) sync jump do {e'==e & p'==40 & x'==x & p_zero'==p_zero} goto CntrClkW;
when (p == 40) sync jump do {e'==e & p'==0 & x'==x & p_zero'==p_zero} goto CntrClkW;
when (x >= 2) & (0 < e < 40) & (6*e - 5*p > 40) sync jump do
{e'==e & p'==p & x'==0 & p_zero'==p_zero} goto ClkW;
when (x >= 2) & (0 < e < 40) & (6*e - 5*p <= 40) sync jump do
{e'==e & p'==p & x'==0 & p_zero'==p_zero} goto CntrClkW;
when (e == 0) sync jump do {e'==e & p'==p & x'==x & p_zero'==p_zero} goto Rescued;
when (e == 40) sync jump do {e'==e & p'==p & x'==x & p_zero'==p_zero} goto Rescued;
loc Rescued:
while true wait {e'==0 & p'==0 & x'==0 & p_zero'==0};
initially: ClkW & x == 2 & e == 20 & p == p_zero & 0 <= p <= 40;
end
// Find winning starting points for pursuer
//
// Compute the reachable set
//
region=evader.reachable;
// Intersect with states where pursuer wins
forbidden = evader.{$ & e == p};
region.intersection_assign(forbidden);
// Project on p_zero to get the initial position for the pursuer for which the
// pursuer can win the game
region.project_to(p_zero);
// union over all locations
pursuer_wins = region.loc_union;
echo "The pursuer can win the game if it starts from:";
pursuer_wins.print;