libmltl

A high-performance library for Mission-time Linear Temporal Logic (MLTL) parsing, Abstract Syntax Tree (AST) manipulation, and formula evaluation. Supports C++ and Python interfaces.

libmltl/
├── examples/            - example C++ and Python files
├── include/             - header files
├── lib/                 - built static library (C++), Python module
├── src/                 - source code
├── tests/
│   ├── regression/      - regression tests
│   └── perf_compare/    - performance benchmark
├── LICENSE              - LGPL v2.1
├── Makefile             - for building
└── README.md            - this file

Dependencies

• Make
• GCC
• Python 3
• pybind11

pybind11 is used to create Python bindings for C++ classes. Install pybind11 be installed either as a system package from your linux repository or alternatively via Pip.

For Debian/Ubuntu-based systems:

sudo apt-get install make gcc python3 python3-dev python3-pybind11

For Arch-based systems:

sudo pacman -S make gcc python3 python3-pybind11

pybind11 can alternatively be installed via Pip:

pip install pybind11

Build

Running the following command will create (1) libmltl.a a static library linkable to C++ code and (2) libmltl.cpython-*.so a shared object Python extension module. These files will be output to libmltl/lib

make -j

Build and run tests with

make -j tests

Install

You can choose to install libmltl on your system using

make -j install

Optionally supply an install prefix with PREFIX=

make -j install PREFIX=/path/to/install/dir

libmltl can be uninstalled using (specify the prefix path with PREFIX= if applicable)

make uninstall

Syntax

The following table lists the precedence and associativity of MLTL operators as interpreted by libmltl. Operators are listed top to bottom, in descending precedence.

Precedence	Operator	Description	Associativity
1	! ~ F[a,b] G[a,b]	Logical negation Temporal finally / eventually Temporal globally / always	Right-to-left
2	U[a,b] R[a,b]	Temporal (strong) until Temporal (weak) release	Left-to-right
3	&	Logical AND	Left-to-right
4	^	Logical XOR (exclusive or)	Left-to-right
5	|	Logical OR (inclusive or)	Left-to-right
6	->	Logical implication	Left-to-right
7	<-> =	Logical equivalence	Left-to-right

Note: Parentheses can be used to clarify the intended evaluation of a complex compound expression, even if they are not strictly required.

Propositional variables are defined by pN , where N ≥ 0. ex: p0, p1, p123. Propositional constants, true and false, are specified using t, tt, or true and f, ff, or false, respectively. Temporal bounds are specified with square brackets, [a, b], such that 0 ≤ a ≤ b. ex: G[0,10] p0, (p0 & p1) R[3, 6] p1.

Usage

See examples/ for full C++ and Python examples.

C++

#include "ast.hh"     // for ASTNode class (used to evaluate traces and manipulate AST)
#include "parser.hh"  // for string and file parsing (includes ast.hh)

If you did not install libmltl on your system, you will need to add the following compile flags to tell GCC where to find it.

# for relative path:
-Llibmltl/lib # for relative path
-Ilibmltl/include # for relative path
# OR for absolute path:
-L/path/to/libmltl/lib # for absolute path
-I/path/to/libmltl/include # for absolute path

Don't forget to specify -lmltl when compiling to link with libmltl. See examples/Makefile for an example build process.

See examples/example.cc for example usage of C++ APIs. For more details, also see include/ast.hh and include/parser.hh.

Python

import libmltl

If you did not install libmltl on your system, you will need to add the following lines before importing libmltl to tell Python where it can find it.

import os, sys
sys.path.append(os.path.dirname(os.path.realpath(__file__)) + '/libmltl/lib') # for relative path
# sys.path.append('/path/to/libmltl/lib') # for absolute path

See examples/example.py for example usage of Python APIs. For more details, also see include/ast.hh and include/parser.hh (the Python interfaces mimic the C++ interfaces).