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NNCS_Dlinear.py
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NNCS_Dlinear.py
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import configparser
import json
from os.path import expandvars
import matlab
import matlab.engine
from pathlib import Path
import numpy as np
def array2str(arr, precision=None):
s=np.array_str(arr, precision=precision)
return s.replace('\n', ',')
import re
import ast
import numpy as np
def str2array(s):
# Remove space after [
s=re.sub('\[ +', '[', s.strip())
# Replace commas and spaces
s=re.sub('[,\s]+', ', ', s)
return np.array(ast.literal_eval(s)).tolist()
class NNCS_Dlinear:
def __init__(self,eng=None):
self.A = []
self.B = []
self.C= []
self.D = []
self.Ts = None # Integer
self.nnfile = "" #Path of the NN file
# Following are needed for reachability and Verification
self.lb = []
self.ub = []
self.method = []
self.cores = 1
self.steps = 0
self.lbRefInput = []
self.ubRefInput = []
# Following is needed for verification...
self.HalfSpaceMatrix = [] # // any matrix (G)
self.HalfSpaceVector = [] # // any matrix (g)
self.eng = eng
self.verify = False
self.reach = False
self.plotmethod = ""
self.plotdim = []
def setPlant(self,A,B,C,D,Ts):
self.A = A
self.B = B
self.C= C #[]
self.D = D
self.Ts = Ts #None # Integer
def setController(self,nnfile):
self.nnfile = nnfile #Path of the NN file
def getController(self):
# controller = Load_nn('NN-path'); % User specifies
return self.eng.Load_nn(self.nnfile)
def getPlant(self):
return self.eng.DLinearODE(self,self.A,self.B,self.C,self.D,self.Ts)
def getNNCS(self):
return self.eng.DLinearNNCS(self.getController(),self.getPlant());
def str2matlabArray(self,strmat):
return self.eng.str2num(strmat)
def setReachParam(self,init_set,numSteps,reachMethod,numCores,refInput, halfSpaceMatrix=None, halfSpaceVector=None):
self.init_set = init_set
self.steps = numSteps
self.reach_method = reachMethod
self.cores = numCores
self.refInput = refInput
self.HalfSpaceMatrix = halfSpaceMatrix
self.HalfSpaceVector = halfSpaceVector
def parseReachParam(self,lb, ub, numSteps, reachMethod, numCores, lbRef, ubRef,halfSpaceMatrix,halfSpaceVector,doReachability,doVerify):
initSet = None
refInput = None
self.lb = lb
self.ub= ub
self.steps = numSteps
self.reach_method = reachMethod
self.cores = numCores
self.lbRefInput = lbRef
self.ubRefInput = ubRef
self.HalfSpaceMatrix = halfSpaceMatrix
self.HalfSpaceVector = halfSpaceVector
self.reach = doReachability
self.verify = doVerify
# initSet = self.eng.Star(lb,ub)
# self.refInput = self.eng.Star(lbRef,ubRef)
# print(initSet)
# print(refInput)
# self.setReachParam(initSet,numSteps,reachMethod,numCores,refInput,halfSpaceMatrix,halfSpaceVector)
def printDebug(self):
print(self.lb,self.ub)
print(self.steps)
print(self.nnfile)
# print("RefInput")
# print(self.refInput)
def parseJson(self,jsonfile):
print("parsing file:",jsonfile)
data = None
with open(jsonfile) as f:
data = json.load(f)
newdata ={}
newdata['A'] = self.str2matlabArray(data['A'])
newdata['B'] = self.str2matlabArray(data['B'])
newdata['C'] = self.str2matlabArray(data['C'])
newdata['D'] = self.str2matlabArray(data['D'])
newdata['Ts'] = data['Ts']
newdata['lb'] = self.str2matlabArray(data['lb'])
newdata['ub'] = self.str2matlabArray(data['ub'])
newdata['lb-refInput'] = self.str2matlabArray(data['lb-refInput'])
newdata['ub-refInput'] = self.str2matlabArray(data['ub-refInput'])
newdata['HalfSpace-matrix'] =self.str2matlabArray(data['HalfSpace-matrix'])
newdata['HalfSpace-vector'] =self.str2matlabArray(data['HalfSpace-vector'])
if data['reach']==1:
newdata['reach'] = True
else:
newdata['reach']= False
if data['verify']==1:
newdata['verify'] = True
else:
newdata['verify']= False
self.setPlant(newdata['A'],newdata['B'], newdata['C'],newdata['D'],newdata['Ts'])
self.setController(data['nnfile'])
self.parseReachParam(lb=newdata['lb'],ub=newdata['ub'], numSteps=data['steps'],reachMethod=data['reach-method'],
numCores=data['cores'],lbRef=newdata['lb-refInput'],ubRef=newdata['ub-refInput'], halfSpaceMatrix= newdata['HalfSpace-matrix'], halfSpaceVector= newdata['HalfSpace-vector'] ,doReachability=newdata['reach'],doVerify=newdata['verify'])
self.parsePlotInfo(data)
def parsePlotInfo(self, data):
# if data['reach']==1 and data['plotConfig']:
# self.plotmethod = data['plotConfig']['method']
# for i in range(len(data['plotConfig']['options'])):
# print("i==",i)
# self.plotdim.append( data['plotConfig']['options']['dim'+str(i+1)])
if data['reach']==1 and data['plotmethod']:
self.plotmethod = data['plotmethod']
self.plotdim.append(data['plot_xdim'])
self.plotdim.append(data['plot_ydim'])
self.plotdim.append(data['plot_zdim'])
print(self.plotdim)
print("method ==>", self.plotmethod)
def execute(self):
self.getNNCS()
def invokeReachibility(self):
return self.eng.DLinearNNCS_reach(self.nnfile,self.A,self.B,self.C,self.D,self.Ts,self.lb,self.ub,self.steps,self.reach_method,self.cores,self.lbRefInput,self.ubRefInput,nargout=2)
def invokeVerifier(self):
return self.eng.DLinearNNCS_verify(self.nnfile,self.A,self.B,self.C,self.D,self.Ts,self.lb,self.ub,self.steps,self.reach_method,self.cores,self.lbRefInput,self.ubRefInput,self.HalfSpaceMatrix,self.HalfSpaceVector)
def doVerify(self):
return self.verify
def doReach(self):
return self.reach
def compute(self):
result = {}
if self.doReach():
# result['reachability'] = self.invokeReachibility()
# R, rT = simObj.invokeReachibility()
# simObj.plotReachSet(R)
result['reachability'] = self.invokeReachibility()
R, rT = result['reachability']
self.plotReachSetNew(R)
def plotReachSet(self,starSet,method='boxes2d',color='r',xdim=1,ydim=2,zdim=None):
# - method: choose from ['exact','boxes2d', 'boxes3d', 'ranges', 'nofill']
# % 1) color: color for the reach sets (e.g. 'r')
# % 2) x-dim: dimension of set to plot in x-axis
# % 3) y-dim: dimension of set to plot in y-axis
# % 4) z-dim: dimension of set to plot in z-axis (only for 'boxes3d')
# R{1},'boxes2d','r',1,2
# >> plot_sets(R{1},'boxes2d','r',1,2)
# >> plot_sets(R{1},'boxes3d','r',1,2,4)
# >> plot_sets(R{1},'nofill','r',1,2)
# return self.eng.plot_sets(starSet, method, color, xdim, ydim, zdim, nargout=0)
if ydim==0:
return self.eng.plot_sets_linear(starSet,method,color,xdim,nargout=0)
elif zdim==0:
return self.eng.plot_sets_linear(starSet,method,color,xdim,ydim,nargout=0)
else:
return self.eng.plot_sets_linear(starSet, method, color, xdim, ydim, zdim, nargout=0)
def plotReachSetNew(self,starSet):
print("Method is :", self.plotmethod)
print("plotdim is: ",self.plotdim)
print(self.plotmethod,self.plotdim[0],self.plotdim[1] or None,self.plotdim[2] )
return self.plotReachSet(starSet,method=self.plotmethod,xdim=self.plotdim[0],ydim=self.plotdim[1] ,zdim=self.plotdim[2])
def main():
# jsonfile = Path(Path(__file__).absolute().parent, "example_inputs", "DiscreteLinearNNCS", "template_parameters.json")
# input_dir_path = Path(Path(__file__).absolute().parent, "example_inputs", "DiscreteLinearNNCS")
config_file = 'config.ini'
input_dir_path = Path(Path(__file__).absolute().parent, "templates/NNCS/DLinear")
jsonfile = Path(Path(__file__).absolute().parent, "templates", "NNCS", "DLinear", 'inputJson.json')
config = configparser.ConfigParser(interpolation=configparser.ExtendedInterpolation())
config.read(config_file)
with open(jsonfile) as f:
data = json.load(f)
eng = matlab.engine.start_matlab()
matlab_function_path_list = []
for paths in config['MATLAB']['FUNCTION_PATHS'].split("\n"):
print(expandvars(paths))
matlab_function_path_list.append(str(expandvars(paths)))
eng.addpath(*matlab_function_path_list)
## Add the NNV path...
NNV_PATH = str(Path(config['MATLAB']['NNV_PATH']))
eng.addpath(eng.genpath(NNV_PATH))
eng.cd(str(input_dir_path))
simObj = NNCS_Dlinear(eng)
simObj.parseJson(str(jsonfile))
print(simObj.compute())
# simObj.invokeReachibility()
# # simObj.printDebug()
# simObj.invokeVerifier()
# if simObj.doReach():
# result = simObj.invokeReachibility()
# if simObj.doVerify():
# result = simObj.invokeVerifier()
# simObj.execute()
# except Exception as e:
# print(e)
# finally:
# print("Finally..")
# eng.exit()
eng.exit()
if __name__ == "__main__":
main()
# A = [0 1 0 0 0 0 0; 0 0 1 0 0 0 0; 0 0 0 0 0 0 1; 0 0 0 0 1 0 0; 0 0 0 0 0 1 0; 0 0 0 0 0 -2 0; 0 0 -2 0 0 0 0];
# B = [0; 0; 0; 0; 0; 2; 0];
# C = [1 0 0 -1 0 0 0; 0 1 0 0 -1 0 0; 0 0 0 0 1 0 0]; % feedback relative distance, relative velocity, longitudinal velocity
# D = [0; 0; 0];
# NN_Path = 'controller.mat';
# lb = [90;29;0;30;30;0;-10];
# ub = [92;30;0;31;30.2;0;-10];
# G = [1 0 0 -1 -1.4 0 0];
# g = 10;
# DLinearNNCS_verify(NN_Path,A,B,C,D,0.2,lb,ub,5,'approx-star',1,[30;1.4],G,g)