{-# LANGUAGE GADTs #-}
-- | Linear Temporal Logics based on SFs.
--
-- This module contains a definition of LTL with Next on top of Signal
-- Functions.
--
-- LTL predicates are parameterized over an input. A basic proposition
-- is a Signal Function that produces a boolean function.

-- Important question: because this FRP implement uses CPS,
-- it is stateful, and sampling twice in one time period
-- is not necessarily the same as sampling once. This means that
-- tauApp, or next, might not work correctly. It's important to
-- see what is going on there... :(

module FRP.Yampa.LTLFuture
  ( TPred(..)
  , evalT
  )
  where

import FRP.Yampa
import FRP.Yampa.Stream

-- | Type representing future-time linear temporal logic predicates with until
-- and next.
data TPred a where
  SP       :: SF a Bool -> TPred a
  And        :: TPred a -> TPred a -> TPred a
  Or         :: TPred a -> TPred a -> TPred a
  Not        :: TPred a -> TPred a
  Implies    :: TPred a -> TPred a -> TPred a
  Always     :: TPred a -> TPred a
  Eventually :: TPred a -> TPred a
  Next       :: TPred a -> TPred a
  Until      :: TPred a -> TPred a -> TPred a

-- | Evaluates a temporal predicate at time t=0 with a concrete sample stream.
--
-- Returns 'True' if the temporal proposition is currently true.
evalT :: TPred a -> SignalSampleStream a -> Bool
evalT :: TPred a -> SignalSampleStream a -> Bool
evalT (SP SF a Bool
sf)       = \SignalSampleStream a
stream -> SignalSampleStream Bool -> Bool
forall a. SignalSampleStream a -> a
firstSample (SignalSampleStream Bool -> Bool)
-> SignalSampleStream Bool -> Bool
forall a b. (a -> b) -> a -> b
$ (SignalSampleStream Bool, FutureSF a Bool)
-> SignalSampleStream Bool
forall a b. (a, b) -> a
fst ((SignalSampleStream Bool, FutureSF a Bool)
 -> SignalSampleStream Bool)
-> (SignalSampleStream Bool, FutureSF a Bool)
-> SignalSampleStream Bool
forall a b. (a -> b) -> a -> b
$ SF a Bool
-> SignalSampleStream a
-> (SignalSampleStream Bool, FutureSF a Bool)
forall a b.
SF a b
-> SignalSampleStream a -> (SignalSampleStream b, FutureSF a b)
evalSF SF a Bool
sf SignalSampleStream a
stream
evalT (And TPred a
t1 TPred a
t2)     = \SignalSampleStream a
stream -> TPred a -> SignalSampleStream a -> Bool
forall a. TPred a -> SignalSampleStream a -> Bool
evalT TPred a
t1 SignalSampleStream a
stream Bool -> Bool -> Bool
&& TPred a -> SignalSampleStream a -> Bool
forall a. TPred a -> SignalSampleStream a -> Bool
evalT TPred a
t2 SignalSampleStream a
stream
evalT (Or  TPred a
t1 TPred a
t2)     = \SignalSampleStream a
stream -> TPred a -> SignalSampleStream a -> Bool
forall a. TPred a -> SignalSampleStream a -> Bool
evalT TPred a
t1 SignalSampleStream a
stream Bool -> Bool -> Bool
|| TPred a -> SignalSampleStream a -> Bool
forall a. TPred a -> SignalSampleStream a -> Bool
evalT TPred a
t2 SignalSampleStream a
stream
evalT (Not TPred a
t1)        = \SignalSampleStream a
stream -> Bool -> Bool
not (TPred a -> SignalSampleStream a -> Bool
forall a. TPred a -> SignalSampleStream a -> Bool
evalT TPred a
t1 SignalSampleStream a
stream)
evalT (Implies TPred a
t1 TPred a
t2) = \SignalSampleStream a
stream -> Bool -> Bool
not (TPred a -> SignalSampleStream a -> Bool
forall a. TPred a -> SignalSampleStream a -> Bool
evalT TPred a
t1 SignalSampleStream a
stream) Bool -> Bool -> Bool
|| TPred a -> SignalSampleStream a -> Bool
forall a. TPred a -> SignalSampleStream a -> Bool
evalT TPred a
t2 SignalSampleStream a
stream
evalT (Always  TPred a
t1)    = \SignalSampleStream a
stream -> TPred a -> SignalSampleStream a -> Bool
forall a. TPred a -> SignalSampleStream a -> Bool
evalT TPred a
t1 SignalSampleStream a
stream Bool -> Bool -> Bool
&& TPred a -> SignalSampleStream a -> Bool
forall a. TPred a -> SignalSampleStream a -> Bool
evalT (TPred a -> TPred a
forall a. TPred a -> TPred a
Next (TPred a -> TPred a
forall a. TPred a -> TPred a
Always TPred a
t1)) SignalSampleStream a
stream
evalT (Eventually TPred a
t1) = \SignalSampleStream a
stream -> case SignalSampleStream a
stream of
                                     (a
a,[])          -> TPred a -> SignalSampleStream a -> Bool
forall a. TPred a -> SignalSampleStream a -> Bool
evalT TPred a
t1 SignalSampleStream a
stream
                                     (a
a1,(DTime
dt,a
a2):[(DTime, a)]
as) -> TPred a -> SignalSampleStream a -> Bool
forall a. TPred a -> SignalSampleStream a -> Bool
evalT TPred a
t1 SignalSampleStream a
stream Bool -> Bool -> Bool
|| TPred a -> SignalSampleStream a -> Bool
forall a. TPred a -> SignalSampleStream a -> Bool
evalT (TPred a -> a -> DTime -> TPred a
forall a. TPred a -> a -> DTime -> TPred a
tauApp (TPred a -> TPred a
forall a. TPred a -> TPred a
Eventually TPred a
t1) a
a1 DTime
dt) (a
a2, [(DTime, a)]
as)
evalT (Until TPred a
t1 TPred a
t2)   = \SignalSampleStream a
stream -> (TPred a -> SignalSampleStream a -> Bool
forall a. TPred a -> SignalSampleStream a -> Bool
evalT TPred a
t1 SignalSampleStream a
stream Bool -> Bool -> Bool
&& TPred a -> SignalSampleStream a -> Bool
forall a. TPred a -> SignalSampleStream a -> Bool
evalT (TPred a -> TPred a
forall a. TPred a -> TPred a
Next (TPred a -> TPred a -> TPred a
forall a. TPred a -> TPred a -> TPred a
Until TPred a
t1 TPred a
t2)) SignalSampleStream a
stream)
                                   Bool -> Bool -> Bool
|| TPred a -> SignalSampleStream a -> Bool
forall a. TPred a -> SignalSampleStream a -> Bool
evalT TPred a
t2 SignalSampleStream a
stream
evalT (Next TPred a
t1)       = \SignalSampleStream a
stream -> case SignalSampleStream a
stream of
                                    (a
a,[]) -> Bool
True   -- This is important. It determines how
                                                     -- always and next behave at the
                                                     -- end of the stream, which affects that is and isn't
                                                     -- a tautology. It should be reviewed very carefully.
                                    (a
a1,(DTime
dt, a
a2):[(DTime, a)]
as) -> TPred a -> SignalSampleStream a -> Bool
forall a. TPred a -> SignalSampleStream a -> Bool
evalT (TPred a -> a -> DTime -> TPred a
forall a. TPred a -> a -> DTime -> TPred a
tauApp TPred a
t1 a
a1 DTime
dt) (a
a2, [(DTime, a)]
as)

-- | Tau-application (transportation to the future)
tauApp :: TPred a -> a -> DTime -> TPred a
tauApp :: TPred a -> a -> DTime -> TPred a
tauApp TPred a
pred a
sample DTime
dtime = (SF a Bool -> SF a Bool) -> TPred a -> TPred a
forall a. (SF a Bool -> SF a Bool) -> TPred a -> TPred a
tPredMap (\SF a Bool
sf -> (Bool, SF a Bool) -> SF a Bool
forall a b. (a, b) -> b
snd (SF a Bool -> a -> DTime -> (Bool, SF a Bool)
forall a b. SF a b -> a -> DTime -> (b, SF a b)
evalFuture SF a Bool
sf a
sample DTime
dtime)) TPred a
pred

-- | Apply a transformation to the leaves (to the SFs)
tPredMap :: (SF a Bool -> SF a Bool) -> TPred a -> TPred a
tPredMap :: (SF a Bool -> SF a Bool) -> TPred a -> TPred a
tPredMap SF a Bool -> SF a Bool
f (SP SF a Bool
sf)       = SF a Bool -> TPred a
forall a. SF a Bool -> TPred a
SP (SF a Bool -> SF a Bool
f SF a Bool
sf)
tPredMap SF a Bool -> SF a Bool
f (And TPred a
t1 TPred a
t2)     = TPred a -> TPred a -> TPred a
forall a. TPred a -> TPred a -> TPred a
And ((SF a Bool -> SF a Bool) -> TPred a -> TPred a
forall a. (SF a Bool -> SF a Bool) -> TPred a -> TPred a
tPredMap SF a Bool -> SF a Bool
f TPred a
t1) ((SF a Bool -> SF a Bool) -> TPred a -> TPred a
forall a. (SF a Bool -> SF a Bool) -> TPred a -> TPred a
tPredMap SF a Bool -> SF a Bool
f TPred a
t2)
tPredMap SF a Bool -> SF a Bool
f (Or TPred a
t1 TPred a
t2)      = TPred a -> TPred a -> TPred a
forall a. TPred a -> TPred a -> TPred a
Or ((SF a Bool -> SF a Bool) -> TPred a -> TPred a
forall a. (SF a Bool -> SF a Bool) -> TPred a -> TPred a
tPredMap SF a Bool -> SF a Bool
f TPred a
t1) ((SF a Bool -> SF a Bool) -> TPred a -> TPred a
forall a. (SF a Bool -> SF a Bool) -> TPred a -> TPred a
tPredMap SF a Bool -> SF a Bool
f TPred a
t2)
tPredMap SF a Bool -> SF a Bool
f (Not TPred a
t1)        = TPred a -> TPred a
forall a. TPred a -> TPred a
Not ((SF a Bool -> SF a Bool) -> TPred a -> TPred a
forall a. (SF a Bool -> SF a Bool) -> TPred a -> TPred a
tPredMap SF a Bool -> SF a Bool
f TPred a
t1)
tPredMap SF a Bool -> SF a Bool
f (Implies TPred a
t1 TPred a
t2) = TPred a -> TPred a -> TPred a
forall a. TPred a -> TPred a -> TPred a
Implies ((SF a Bool -> SF a Bool) -> TPred a -> TPred a
forall a. (SF a Bool -> SF a Bool) -> TPred a -> TPred a
tPredMap SF a Bool -> SF a Bool
f TPred a
t1) ((SF a Bool -> SF a Bool) -> TPred a -> TPred a
forall a. (SF a Bool -> SF a Bool) -> TPred a -> TPred a
tPredMap SF a Bool -> SF a Bool
f TPred a
t2)
tPredMap SF a Bool -> SF a Bool
f (Always TPred a
t1)     = TPred a -> TPred a
forall a. TPred a -> TPred a
Always ((SF a Bool -> SF a Bool) -> TPred a -> TPred a
forall a. (SF a Bool -> SF a Bool) -> TPred a -> TPred a
tPredMap SF a Bool -> SF a Bool
f TPred a
t1)
tPredMap SF a Bool -> SF a Bool
f (Eventually TPred a
t1) = TPred a -> TPred a
forall a. TPred a -> TPred a
Eventually ((SF a Bool -> SF a Bool) -> TPred a -> TPred a
forall a. (SF a Bool -> SF a Bool) -> TPred a -> TPred a
tPredMap SF a Bool -> SF a Bool
f TPred a
t1)
tPredMap SF a Bool -> SF a Bool
f (Next TPred a
t1)       = TPred a -> TPred a
forall a. TPred a -> TPred a
Next ((SF a Bool -> SF a Bool) -> TPred a -> TPred a
forall a. (SF a Bool -> SF a Bool) -> TPred a -> TPred a
tPredMap SF a Bool -> SF a Bool
f TPred a
t1)
tPredMap SF a Bool -> SF a Bool
f (Until TPred a
t1 TPred a
t2)   = TPred a -> TPred a -> TPred a
forall a. TPred a -> TPred a -> TPred a
Until ((SF a Bool -> SF a Bool) -> TPred a -> TPred a
forall a. (SF a Bool -> SF a Bool) -> TPred a -> TPred a
tPredMap SF a Bool -> SF a Bool
f TPred a
t1) ((SF a Bool -> SF a Bool) -> TPred a -> TPred a
forall a. (SF a Bool -> SF a Bool) -> TPred a -> TPred a
tPredMap SF a Bool -> SF a Bool
f TPred a
t2)