renpsm_openmp

Simulation of Rapidly-Exploring Random Trees in Membrane Computing with P-Lingua and Automatic Programming

This program parses P-Lingua files defining RENPSM models and generates ad-hoc simulators. A model for robot path planning using the bidirectional RRT algorithm is included as example.

You can find more information in:

I. Perez-Hurtado, G. Zang, M.J. Perez-Jimenez, D. Orellana Simulation of Rapidly-Exploring Random Trees in Membrane Computing with P-Lingua and Automatic Programing International Journal of Computers, Communications and Control, in press.

Dependencies

You should install the next programs:

• GNU Bison: https://www.gnu.org/software/bison/
• Flex: https://github.com/westes/flex
• gcc compiler with OpenMP support

You can install all of the dependencies in a Debian or Ubuntu style Linux following the next steps:

• sudo apt-get install build-essential
• sudo apt-get install flex
• sudo apt-get install bison

Compiling the source code

You can compile the source code following the next steps:

• bison -yd renpsm.y
• flex renpsm.l
• gcc y.tab.c lex.yy.c -lfl -o renpsm_openmp

Using the P-Lingua RENPSM parser

The generated renpsm_openmp program is a command-line executable with the next syntax:

./renpsm_openmp < model.pli

Where ''model.pli'' is a P-Lingua file defining a RENPSM.model.

It generates as output a file called ''simulator.c'' containing the source code in C language and OpenMP for an ad-hoc simulator following the model defined in the P-Lingua file.

You can compile the generated ad-hoc simulator with the next line:

• gcc simulator.c pgm.c -lm -O3 -fopenmp -o simulator

All the production functions must be implemented in ''functions.h'' file. You could include custom production functions by adding the C code to the file.

Using the generated ad-hoc simulator

The generated ad-hoc simulator has the next command-line syntax:

./simulator [-t threads] [-s steps] [-d] [-r seed] [-m obstacles.pgm] [-o output.pgm]

Where:

• ''-t threads'' is the number of threads to be used. Default is 4. If you set 1 thread, the simulator will be sequential.
• ''-s steps'' is the maximum number of computational steps to simulate. The simulator stops if the variable Halt{mem} is set to 1 or the number of steps is reached. Default is 1048576 steps.
• If ''-d'' is set, debug information will be prompted.
• ''-r seed'' defines the pseudo-random number generator seed. If no seed is configured, an arbitrary seed based on the current clock time will be used.
• ''-m obstacles.pgm'' is the PGM file defining the obstacle grid for the collision function (optional).
• ''-o output.pgm'' is the PGM file to print the membrane tree (only for RRT algorithms).

Running the test 1

• ./renpsm_openmp < birrt_renpsm_test1.pli
• gcc simulator.c pgm.c -lm -O3 -fopenmp -o test1
• For debug the computation step by step:
  • ./test1 -t 8 -d -m map.pgm -o test1_output.pgm
• For run the computation until halting condition:
  • ./test1 -t 8 -m map.pgm -o test1_output.pgm
• For run with a specific pseudo-random number generator seed (for instance, 42)
  • ./test1 -t 8 -m map.pgm -r 42 -o test1_output.pgm

Example outputs with arbitrary pseudo-random number generator seeds

Running the test 2

• ./renpsm_openmp < birrt_renpsm_test2.pli
• gcc simulator.c pgm.c -lm -O3 -fopenmp -o test2
• For debug the computation step by step:
  • ./test2 -t 8 -d -m office.pgm -o test2_output.pgm
• For run the computation until halting condition:
  • ./test2 -t 8 -m office.pgm -o test2_output.pgm
• For run with a specific pseudo-random number generator seed (for instance, 42)
  • ./test2 -t 8 -m office.pgm -r 42 -o test2_output.pgm

Example outputs with arbitrary pseudo-random number generator seeds