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Specification and symbolic execution (#96)

* Skeleton of mutation based mission generator

* Adding a number of mutation operators

* Bug fixes and improvements

* Updating fitness, accepting bad results 5% of the times

* Initial implementation of edit operator

* Making initial mission mandatory

* First draft of root cause finder

* Implement delta debugging

* Bug fixes

* Generate mission from a domain

* Added some debugging prints

* Starting on symbolic execution

* Adding a simple dfs

* iterating over branch paths

* Create actions and mission

* A very basic draft of having specifications for branches

* Making expressions

* Tested

* Set solver logic

* Move goto to new format

* Renaming variables and creating a valid query and fixing bugs

* More bug fixes. It's mostly working now

* Adding initial state as part of query

* Add negation of predecessor branches

* Bug fixes'

* More bug fixes

* Specify all copter actions

* This is by far nicer than previous approach, using Z3 variables and parsing strings

* Add noise to the constraints

* Still merging

* DD works now

* Cleanup

* Removing unnecessary files

* Adding requirements

* tidy top of specification module

* code tweaks

* tidying code

* removed unused method

* added missing imports

* refactored create_z3_var

* added UnsupportedVariableType exception

* tidy get_declarations

* added docstring to is_satisfiable

* added docstring to is_valid

* added docstring to is_satisfied

* added name property to Command

* tidying up specification

* Some more comments and a fix

* Fixed all codestyle errors

* Dixing codestyle violations of delta debugging module

* better style

* Fixing codestyle violations of root_cause

* Fixing codestyle violations of symex

* Fixing codestyle violations of ardu

* Fixing more codestyle violations

* fixed more pycodestyle violation... (continued)

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Source Files on job 645.1