A ROS package wrapping for the LTL2BA software by Dennis Oddoux and Paul Gastin .
1. LICENSE
LTL2BA - Version 1.0 - October 2001
Written by Denis Oddoux, LIAFA, France
Copyright (c) 2001 Denis Oddoux
LTL2BA - Version 1.1 - August 2007
Modified by Paul Gastin, LSV, France
Copyright (c) 2007 Paul Gastin
Available at http://www.lsv.ens-cachan.fr/~gastin/ltl2ba
LTL2BA - Version 1.2 - May 2018
Modified by Paul Gastin, LSV, France
Copyright (c) 2018 Paul Gastin
Available at http://www.lsv.ens-cachan.fr/~gastin/ltl2ba
LTL2BA - Version 1.3 - June 2020
Modified by Paul Gastin, LSV, France
Copyright (c) 2018 Paul Gastin
Available at http://www.lsv.ens-cachan.fr/~gastin/ltl2ba
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version. GNU GPL is included in this
distribution, in a file called 'LICENSE'
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
The LTL2BA software was written by Denis Oddoux and modified by Paul
Gastin. It is based on the translation algorithm presented at CAV '01:
P.Gastin and D.Oddoux
"Fast LTL to Büchi Automata Translation"
in 13th International Conference on Computer Aided Verification, CAV 2001,
G. Berry, H. Comon, A. Finkel (Eds.)
Paris, France, July 18-22, 2001,
Proceedings - LNCS 2102, pp. 53-65
Send bug-reports and/or questions to Paul Gastin
http://www.lsv.ens-cachan.fr/~gastin
Part of the code included is issued from the SPIN software Version 3.4.1
The SPIN software is written by Gerard J. Holzmann, originally as part
of ``Design and Validation of Protocols,'' ISBN 0-13-539925-4,
1991, Prentice Hall, Englewood Cliffs, NJ, 07632
Here are the files that contain some code from Spin v3.4.1 :
cache.c (originally tl_cache.c)
lex.c ( tl_lex.c )
ltl2ba.h ( tl.h )
main.c ( tl_main.c )
mem.c. ( tl_mem.c )
parse.c ( tl_parse.c)
rewrt.c ( tl_rewrt.c)
trans.c ( tl_trans.c)
2. COMPILING
Compile using catkin
from your workspace:
> catkin_make
or
> catkin build ltl2ba
Source
> source devel/setup.bash
3. EXECUTING
run the program
> rosrun ltl2ba ltl2ba -f 'formula'
The formula is an LTL formula, and may contain propositional symbols,
boolean operators, temporal operators, and parentheses.
The syntax used is the one used in the 'Spin' model-checker
Propositonal Symbols:
true, false
any lowercase string
Boolean operators:
! (negation)
-> (implication)
<-> (equivalence)
&& (and)
|| (or)
Temporal operators:
[] (always)
<> (eventually)
U (until)
V (release)
X (next)
Use spaces between any symbols.
The result is a never claim in Promela that can be given to the
Spin model checker to verify properties on a system.
run the command
> rosrun ltl2ba ltl2ba
to see the possible options for executing the program
4. CHANGES IN VERSION 1.1
- fixing a bug in the way sets were used for strongly connected components. Thanks to Joachim Klein (klein@tcs.inf.tu-dresden.de) who found the bug and proposed a patch to fix it.
- fixing a bug in the simplification with strongly connected components for the generalized Büchi automaton.
- improving the simplification with strongly connected components for the generalized Büchi automaton.
- using getrusage to compute running times for the statistics
- some other minor updates.
5. CHANGES IN VERSION 1.3
Thanks to Jerry James for the patches addressing the following issues
- compatibility with gcc 10 (link-time failure for identically named
variables in different files)
- Remove unused function and variable declarations
- Make (f)printf format declarations match the types of the corresponding expressions
- Remove the second argument to Fatal(), fatal() and non_fatal(), since it is always NULL
- Make main() return something (since it is supposed to return int)