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LearningController_eval.xml
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3342 lines (3276 loc) · 103 KB
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<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE nta PUBLIC '-//Uppaal Team//DTD Flat System 1.6//EN' 'http://www.it.uu.se/research/group/darts/uppaal/flat-1_6.dtd'>
<nta>
<declaration>// Place global declarations here.
const bool learning = false;
import "./libcsvReaderLib.so" {
int get_ocean_level(int year, int month, int day, int hour, int minute);
int get_fjord_level(int year, int month, int day, int hour, int minute);
double get_wind_speed(int year, int month, int day, int hour, int minute);
int get_config();
int get_year();
int get_month();
int get_day();
int get_hour();
int get_minutes();
};
clock global_time;
const int THREE_DAYS = 1440*3;
typedef int[1, 12] month_t;
int year;
month_t month;
int day = 0;
int hour = 0;
int minute = 0;
broadcast chan boatArrival;
broadcast chan letBoatPass;
clock boatWaitTime;
clock accumCostWait;
bool isBoatIncoming;
const int CHANGE_COST = 30;
int C_gates = 0;
// Hvide Sande value for inflow given month
// Values are in m^3/s
const double inflow_base = 59.3;
const double inflow_faktor[month_t] = {1.45, 1.39, 1.30, 1.01, 0.82, 0.71, 0.66, 0.64, 0.72, 0.87, 1.12, 1.29};
void set_configuration(){
assert get_config();
year = get_year();
month = get_month();
day = get_day();
hour = get_hour();
minute = get_minutes();
// Ensures that the loading of year happended correctly.
assert year > 0;
}
void update_datetime(){
minute = minute == 50 ? 0 : minute += 10;
if (minute == 0){
if (hour == 23){
hour = 0;
day++;
}
else {
hour++;
}
}
if (day == 31) {
if (month == 4 || month == 6 || month == 9 || month == 11) {
month++;
day = 1;
}
}
if (day == 32) {
if (month == 1 || month == 3 || month == 5 || month == 7 || month == 8 || month == 10 || month == 12) {
month++;
day = 1;
}
}
if (month == 2 && (day == 29 || day == 30)) {
if (year % 4 == 0 && day == 30) {
month++;
day = 0;
}
if (year % 4 != 0 && day == 29) {
month++;
day = 0;
}
}
}
double get_next_wind_speed(){
return get_wind_speed(year, month, day, hour, minute);
}
double get_next_level_in_m(){
double new_level = get_ocean_level(year, month, day, hour, minute) / 100.0;
update_datetime();
return new_level;
}
double init_fjord_level() {
return get_fjord_level(year, month, day, hour, minute) / 100.0;
}
// Heigh of ocean in meters compared to DVR90
double h_s = 0.0;
double wind_speed = 0.0;
int gates = 14;
// Area in square meters
const double A_f = 290000000;
broadcast chan done;
broadcast chan compare;
urgent broadcast chan range;
// Heigh of fjord in meters compared to DVR90
clock h_f;
clock outOfRange, noMigration;
double init_sluice_flow(){
double A_s = gates * 6.25 * (h_f + 4.1);
return 3.5 * 60 * A_s * sqrt(h_f - h_s);
}
bool run_started(double cur_time){
return cur_time > 0.0;
}
int isOutOfRange(){
if (h_f > 0.25)
return 1;
if (h_f < 0.0)
return 1;
return 0;
}
void change_cost(int chosen_config){
if (chosen_config != gates)
C_gates += 1;
}
int isNoMigration(){
if (gates == 0 && fabs(h_f - h_s) <= 0.1)
return 1;
else
return 0;
}
void configure(){
set_configuration();
wind_speed = get_next_wind_speed();
h_f = init_fjord_level();
h_s = get_next_level_in_m();
}</declaration>
<template>
<name>BoatArrival</name>
<location id="id0" x="-238" y="0">
<label kind="exponentialrate" x="-340" y="-8">1.0 / 480</label>
</location>
<init ref="id0"/>
<transition id="id1" controllable="false">
<source ref="id0"/>
<target ref="id0"/>
<label kind="synchronisation" x="-289" y="34">letBoatPass?</label>
<label kind="assignment" x="-289" y="51">isBoatIncoming = false</label>
<nail x="-306" y="34"/>
<nail x="-170" y="34"/>
</transition>
<transition id="id2" controllable="false">
<source ref="id0"/>
<target ref="id0"/>
<label kind="synchronisation" x="-289" y="-76">boatArrival!</label>
<label kind="assignment" x="-289" y="-59">isBoatIncoming = true</label>
<nail x="-306" y="-34"/>
<nail x="-170" y="-34"/>
</transition>
</template>
<template>
<name>BoatWaitTimes</name>
<location id="id3" x="-544" y="-102">
<name x="-620" y="-119">NoBoats</name>
<label kind="invariant" x="-646" y="-76">boatWaitTime' == 0 &&
accumCostWait' == 0</label>
</location>
<location id="id4" x="-374" y="-102">
<name x="-357" y="-119">BoatWaiting</name>
<label kind="invariant" x="-433" y="-76">boatWaitTime' == 1 &&
accumCostWait' == pow(boatWaitTime, 2)</label>
</location>
<init ref="id3"/>
<transition id="id5" controllable="false">
<source ref="id4"/>
<target ref="id3"/>
<label kind="synchronisation" x="-535" y="-212">letBoatPass?</label>
<label kind="assignment" x="-535" y="-195">boatWaitTime = 0</label>
<nail x="-374" y="-170"/>
<nail x="-544" y="-170"/>
</transition>
<transition id="id6" controllable="false">
<source ref="id3"/>
<target ref="id4"/>
<label kind="synchronisation" x="-510" y="-119">boatArrival?</label>
</transition>
</template>
<template>
<name>RangeAndMigrationObs</name>
<declaration>
</declaration>
<location id="id7" x="0" y="0">
<label kind="invariant" x="-102" y="25">outOfRange' == isOutOfRange() &&
noMigration' == isNoMigration()</label>
</location>
<init ref="id7"/>
</template>
<template>
<name>Controller</name>
<declaration>
clock time;
void setNumOfGates(int num_of_gates){
change_cost(num_of_gates);
gates = num_of_gates;
}
bool safeToOperate(){
return fabs(h_s - h_f) <= 1.0;
}
void updateSeaAndWind(){
if (learning) {
wind_speed = get_next_wind_speed() + random(1.0) - 0.5;
h_s = get_next_level_in_m() + random(0.001) - 0.0005;
}
else {
wind_speed = get_next_wind_speed();
h_s = get_next_level_in_m();
}
}
bool hasInflow(double height_ocean, double height_fjord){
return height_ocean > height_fjord;
}
bool hasOutflow(double height_ocean, double height_fjord){
return height_ocean <= height_fjord;
}</declaration>
<location id="id8" x="-2040" y="-1648">
<committed/>
</location>
<location id="id9" x="-1989" y="-1938" color="#ffa500">
<name x="-1963" y="-1955">Waiting</name>
<label kind="invariant" x="-1980" y="-1980">time <= 10</label>
</location>
<location id="id10" x="-2677" y="-1938">
<name x="-2711" y="-1972">Setup</name>
<committed/>
</location>
<location id="id11" x="-2541" y="-1938">
<name x="-2524" y="-1972">SafetyCheck</name>
<committed/>
</location>
<location id="id12" x="-2278" y="-1648" color="#ffff00">
<name x="-2380" y="-1631">SeaHigher</name>
<committed/>
</location>
<location id="id13" x="-2541" y="-1793">
<name x="-2643" y="-1784">InOrOutflow</name>
<committed/>
</location>
<location id="id14" x="-2278" y="-1793" color="#ffff00">
<name x="-2380" y="-1776">FjordHigher</name>
<committed/>
</location>
<location id="id15" x="-2040" y="-1793">
<committed/>
</location>
<init ref="id10"/>
<transition id="id16" controllable="false">
<source ref="id15"/>
<target ref="id9"/>
<nail x="-1989" y="-1793"/>
</transition>
<transition id="id17" controllable="false">
<source ref="id13"/>
<target ref="id14"/>
<label kind="guard" x="-2516" y="-1818">hasOutflow(h_s, h_f)</label>
</transition>
<transition id="id18" controllable="false">
<source ref="id13"/>
<target ref="id12"/>
<label kind="guard" x="-2516" y="-1673">hasInflow(h_s, h_f)</label>
<nail x="-2541" y="-1648"/>
</transition>
<transition id="id19" controllable="false">
<source ref="id8"/>
<target ref="id9"/>
<nail x="-1963" y="-1648"/>
<nail x="-1963" y="-1912"/>
</transition>
<transition id="id20">
<source ref="id12"/>
<target ref="id8"/>
<label kind="guard" x="-2244" y="-1631">wind_speed >= 8.0</label>
<label kind="assignment" x="-2244" y="-1605">setNumOfGates(14)</label>
<nail x="-2278" y="-1605"/>
<nail x="-2040" y="-1605"/>
</transition>
<transition id="id21">
<source ref="id12"/>
<target ref="id8"/>
<label kind="assignment" x="-2244" y="-1673">setNumOfGates(1)</label>
</transition>
<transition id="id22">
<source ref="id12"/>
<target ref="id8"/>
<label kind="synchronisation" x="-2244" y="-1733">letBoatPass!</label>
<label kind="assignment" x="-2244" y="-1716">setNumOfGates(0)</label>
<nail x="-2278" y="-1690"/>
<nail x="-2040" y="-1690"/>
</transition>
<transition id="id23" controllable="false">
<source ref="id11"/>
<target ref="id13"/>
<label kind="guard" x="-2533" y="-1904">safeToOperate()</label>
</transition>
<transition id="id24" controllable="false">
<source ref="id11"/>
<target ref="id9"/>
<label kind="guard" x="-2312" y="-2065">!safeToOperate()</label>
<label kind="synchronisation" x="-2312" y="-2048">letBoatPass!</label>
<label kind="assignment" x="-2312" y="-2031">setNumOfGates(0)</label>
<nail x="-2541" y="-2006"/>
<nail x="-1989" y="-2006"/>
</transition>
<transition id="id25" controllable="false">
<source ref="id9"/>
<target ref="id11"/>
<label kind="guard" x="-2244" y="-1963">time >= 10</label>
<label kind="assignment" x="-2244" y="-1938">time = 0,
updateSeaAndWind()</label>
</transition>
<transition id="id26" controllable="false">
<source ref="id10"/>
<target ref="id11"/>
<label kind="assignment" x="-2652" y="-1929">configure()</label>
</transition>
<transition id="id27">
<source ref="id14"/>
<target ref="id15"/>
<label kind="assignment" x="-2244" y="-1776">setNumOfGates(14)</label>
<nail x="-2278" y="-1750"/>
<nail x="-2040" y="-1750"/>
</transition>
<transition id="id28">
<source ref="id14"/>
<target ref="id15"/>
<label kind="assignment" x="-2244" y="-1818">setNumOfGates(1)</label>
</transition>
<transition id="id29">
<source ref="id14"/>
<target ref="id15"/>
<label kind="synchronisation" x="-2244" y="-1878">letBoatPass!</label>
<label kind="assignment" x="-2244" y="-1861">setNumOfGates(0)</label>
<nail x="-2278" y="-1835"/>
<nail x="-2040" y="-1835"/>
</transition>
</template>
<template>
<name>Baseline</name>
<declaration>clock time;
void setNumOfGates(int num_of_gates){
change_cost(num_of_gates);
gates = num_of_gates;
}
bool safeToOperate(){
return fabs(h_s - h_f) <= 1.0;
}
void updateSeaAndWind(){
wind_speed = get_next_wind_speed();
h_s = get_next_level_in_m();
}
bool hasInflow(double height_ocean, double height_fjord){
return height_ocean > height_fjord;
}
bool hasOutflow(double height_ocean, double height_fjord){
return height_ocean <= height_fjord;
}</declaration>
<location id="id30" x="-1488" y="-1012">
<committed/>
</location>
<location id="id31" x="-1437" y="-1445" color="#ffa500">
<name x="-1411" y="-1462">Waiting</name>
<label kind="invariant" x="-1428" y="-1487">time <= 10</label>
</location>
<location id="id32" x="-2269" y="-1445">
<name x="-2303" y="-1479">Setup</name>
<committed/>
</location>
<location id="id33" x="-1989" y="-1445">
<name x="-1972" y="-1479">SafetyCheck</name>
<committed/>
</location>
<location id="id34" x="-1726" y="-1012" color="#ffff00">
<name x="-1828" y="-995">SeaHigher</name>
<committed/>
</location>
<location id="id35" x="-1989" y="-1241">
<name x="-2091" y="-1232">InOrOutflow</name>
<committed/>
</location>
<location id="id36" x="-1726" y="-1241" color="#ffff00">
<name x="-1828" y="-1224">FjordHigher</name>
<committed/>
</location>
<location id="id37" x="-1488" y="-1241">
<committed/>
</location>
<location id="id38" x="-2133" y="-1445">
<name x="-2210" y="-1479">BoatCheck</name>
<committed/>
</location>
<init ref="id32"/>
<transition id="id39">
<source ref="id38"/>
<target ref="id31"/>
<label kind="guard" x="-2074" y="-1683">isBoatIncoming</label>
<label kind="synchronisation" x="-2074" y="-1666">letBoatPass!</label>
<label kind="assignment" x="-2074" y="-1649">setNumOfGates(0)</label>
<nail x="-2133" y="-1606"/>
<nail x="-1436" y="-1606"/>
</transition>
<transition id="id40">
<source ref="id38"/>
<target ref="id33"/>
<label kind="guard" x="-2116" y="-1436">!isBoatIncoming</label>
</transition>
<transition id="id41">
<source ref="id32"/>
<target ref="id38"/>
<label kind="assignment" x="-2244" y="-1445">configure()</label>
</transition>
<transition id="id42">
<source ref="id37"/>
<target ref="id31"/>
<nail x="-1437" y="-1241"/>
</transition>
<transition id="id43">
<source ref="id35"/>
<target ref="id36"/>
<label kind="guard" x="-1964" y="-1266">hasOutflow(h_s, h_f)</label>
</transition>
<transition id="id44">
<source ref="id35"/>
<target ref="id34"/>
<label kind="guard" x="-1964" y="-1037">hasInflow(h_s, h_f)</label>
<nail x="-1989" y="-1012"/>
</transition>
<transition id="id45">
<source ref="id30"/>
<target ref="id31"/>
<nail x="-1411" y="-1012"/>
<nail x="-1411" y="-1419"/>
</transition>
<transition id="id46">
<source ref="id34"/>
<target ref="id30"/>
<label kind="guard" x="-1692" y="-961">wind_speed >= 8.0 &&
h_f <= 0.25</label>
<label kind="assignment" x="-1692" y="-918">setNumOfGates(14)</label>
<nail x="-1726" y="-918"/>
<nail x="-1488" y="-918"/>
</transition>
<transition id="id47">
<source ref="id34"/>
<target ref="id30"/>
<label kind="guard" x="-1692" y="-1054">wind_speed < 8.0 &&
h_f <= 0.25</label>
<label kind="assignment" x="-1692" y="-1012">setNumOfGates(1)</label>
</transition>
<transition id="id48">
<source ref="id34"/>
<target ref="id30"/>
<label kind="guard" x="-1691" y="-1130">h_f > 0.25</label>
<label kind="synchronisation" x="-1692" y="-1148">letBoatPass!</label>
<label kind="assignment" x="-1691" y="-1105">setNumOfGates(0)</label>
<nail x="-1726" y="-1105"/>
<nail x="-1488" y="-1105"/>
</transition>
<transition id="id49">
<source ref="id33"/>
<target ref="id35"/>
<label kind="guard" x="-1980" y="-1411">safeToOperate()</label>
</transition>
<transition id="id50">
<source ref="id33"/>
<target ref="id31"/>
<label kind="guard" x="-1760" y="-1572">!safeToOperate()</label>
<label kind="synchronisation" x="-1760" y="-1555">letBoatPass!</label>
<label kind="assignment" x="-1760" y="-1538">setNumOfGates(0)</label>
<nail x="-1989" y="-1513"/>
<nail x="-1437" y="-1513"/>
</transition>
<transition id="id51">
<source ref="id31"/>
<target ref="id38"/>
<label kind="guard" x="-1692" y="-1470">time >= 10</label>
<label kind="assignment" x="-1692" y="-1445">time = 0,
updateSeaAndWind()</label>
<nail x="-1700" y="-1445"/>
<nail x="-1700" y="-1326"/>
<nail x="-2133" y="-1326"/>
</transition>
<transition id="id52">
<source ref="id36"/>
<target ref="id37"/>
<label kind="guard" x="-1683" y="-1232">h_f >= 0.0</label>
<label kind="assignment" x="-1684" y="-1207">setNumOfGates(14)</label>
<nail x="-1726" y="-1207"/>
<nail x="-1488" y="-1207"/>
</transition>
<transition id="id53">
<source ref="id36"/>
<target ref="id37"/>
<label kind="guard" x="-1684" y="-1317">h_f < 0.0</label>
<label kind="synchronisation" x="-1684" y="-1300">letBoatPass!</label>
<label kind="assignment" x="-1684" y="-1275">setNumOfGates(0)</label>
<nail x="-1726" y="-1275"/>
<nail x="-1488" y="-1275"/>
</transition>
</template>
<template>
<name x="5" y="5">WaterLevel</name>
<declaration>// Place local declarations here.
double Q_streams(){
return (inflow_base * inflow_faktor[month] * 60);
}
double A_gates_all(){
return gates * 6.25 * (h_f + 4.1);
}
double flow_const(double height_fjord, double height_ocean){
if (height_fjord > height_ocean)
return -3.5 * 60;
else
return 3.8 * 60;
}</declaration>
<location id="id54" x="-731" y="-994">
<label kind="invariant" x="-1011" y="-969">h_f' == flow_const(h_f, h_s) * A_gates_all() * sqrt(fabs(h_f - h_s)) / A_f +
Q_streams() / A_f</label>
</location>
<init ref="id54"/>
</template>
<system>// Place template instantiations here.
// List one or more processes to be composed into a system.
system WaterLevel, Controller, RangeAndMigrationObs, BoatArrival, BoatWaitTimes;
//system WaterLevel, Baseline, RangeAndMigrationObs, BoatArrival, BoatWaitTimes;</system>
<queries>
<option key="--total-runs" value="4000"/>
<option key="--max-iterations" value="3"/>
<option key="--good-runs" value="4000"/>
<option key="--runs-pr-state" value="4000"/>
<query>
<formula/>
<comment/>
</query>
<query>
<formula/>
<comment/>
</query>
<query>
<formula/>
<comment/>
</query>
<query>
<formula>simulate [<=1440*3] {gates / (14.0 * 5.0), h_o, h_f, wind_speed / 8.0, not_open_for_equal_waters() / 10.0, isBoatIncomming / 10.0 + 1.1} </formula>
<comment/>
</query>
<query>
<formula/>
<comment/>
</query>
<query>
<formula/>
<comment/>
</query>
<query>
<formula/>
<comment/>
</query>
<query>
<formula/>
<comment/>
</query>
<query>
<formula/>
<comment/>
</query>
<query>
<formula/>
<comment/>
</query>
<query>
<formula/>
<comment>Baseline Evaluation Queries:</comment>
</query>
<query>
<formula>E[<=THREE_DAYS ; 100](max: C_gates) </formula>
<comment/>
</query>
<query>
<formula>E[<=THREE_DAYS ; 100](max: noMigration / (THREE_DAYS ))</formula>
<comment/>
</query>
<query>
<formula>E[<=THREE_DAYS ; 100](max: boatWaitTime) </formula>
<comment/>
</query>
<query>
<formula>E[<=THREE_DAYS ; 100](max: outOfRange / (THREE_DAYS )) </formula>
<comment/>
</query>
<query>
<formula/>
<comment/>
</query>
<query>
<formula/>
<comment>Learning Evaluation Queries:</comment>
</query>
<query>
<formula>simulate [<=1440*3] {gates / (14.0 * 5.0), h_s, h_f, wind_speed / 8.0, isNoMigration(), isBoatIncoming / 10.0 + 1.1} under optOperations</formula>
<comment/>
<result outcome="success" type="quality" timestamp="2026-02-12 10:05:49 +0100">
<option key="--total-runs" value="4000"/>
<option key="--max-iterations" value="3"/>
<option key="--good-runs" value="4000"/>
<option key="--runs-pr-state" value="4000"/>
<plot title="Simulations (1)" xaxis="time" yaxis="value">
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</series>
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