From 257d1a9bd79d6883badfd903578fb059f2738b4e Mon Sep 17 00:00:00 2001 From: Horldsence Date: Sun, 13 Sep 2026 11:45:01 +0800 Subject: [PATCH] 46 --- .gitignore | 3 + README.md | 8 +- docs/paper/README.md | 12 +- docs/paper/REWRITE_NOTES.md | 14 + .../scripts/audit_paper_formal.py.tex | 206 - .../scripts/build_paper_support.py.tex | 393 -- .../listing-source/src/mcm26b/__init__.py.tex | 21 - .../src/mcm26b/belief/__init__.py.tex | 284 - .../src/mcm26b/belief/joint.py.tex | 388 -- .../data/listing-source/src/mcm26b/cli.py.tex | 374 - .../listing-source/src/mcm26b/config.py.tex | 213 - .../src/mcm26b/coverage/__init__.py.tex | 56 - .../src/mcm26b/evaluation/__init__.py.tex | 85 - .../src/mcm26b/geometry/__init__.py.tex | 9 - .../src/mcm26b/geometry/__main__.py.tex | 40 - .../src/mcm26b/geometry/localization.py.tex | 289 - .../src/mcm26b/geometry/planning.py.tex | 32 - .../src/mcm26b/guarantee/__init__.py.tex | 23 - .../src/mcm26b/guarantee/cover.py.tex | 428 -- .../src/mcm26b/harness/__init__.py.tex | 19 - .../src/mcm26b/harness/playback.py.tex | 38 - .../src/mcm26b/harness/scenes.py.tex | 55 - .../src/mcm26b/harness/simulator.py.tex | 21 - .../src/mcm26b/harness/suites.py.tex | 132 - .../src/mcm26b/harness/transport.py.tex | 62 - .../src/mcm26b/particles.py.tex | 458 -- .../src/mcm26b/planner/__init__.py.tex | 1032 --- .../src/mcm26b/planner/bayes_loop.py.tex | 816 --- .../src/mcm26b/planner/seven.py.tex | 113 - .../src/mcm26b/protocol/__init__.py.tex | 15 - .../src/mcm26b/protocol/client.py.tex | 333 - .../src/mcm26b/protocol/log.py.tex | 38 - .../src/mcm26b/protocol/rules.py.tex | 94 - .../src/mcm26b/protocol/state.py.tex | 97 - .../src/mcm26b/protocol/timing.py.tex | 61 - .../src/mcm26b/protocol/transport.py.tex | 44 - .../listing-source/src/mcm26b/routing.py.tex | 254 - docs/paper/data/source-listings.tex | 1530 +++- docs/paper/figures/q4-plan.tex | 3 +- docs/paper/main.pdf | Bin 1123090 -> 2024688 bytes docs/paper/main.tex | 35 +- docs/paper/sections/appendix.tex | 29 +- docs/paper/sections/comparison.tex | 7 +- docs/paper/sections/q1.tex | 25 - docs/paper/sections/q3.tex | 24 +- docs/paper/sections/q4.tex | 6 - docs/paper/sections/results.tex | 45 +- mcm26b-核心代码.ipynb | 6143 +++++++++++++++++ pyproject.toml | 1 + scripts/build_code_appendix.py | 324 + scripts/build_core_notebook.py | 1368 ++++ scripts/build_paper_support.py | 64 +- scripts/run_notebook_cells.py | 88 + uv.lock | 1672 ++++- 54 files changed, 11152 insertions(+), 6772 deletions(-) delete mode 100644 docs/paper/data/listing-source/scripts/audit_paper_formal.py.tex delete mode 100644 docs/paper/data/listing-source/scripts/build_paper_support.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/__init__.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/belief/__init__.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/belief/joint.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/cli.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/config.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/coverage/__init__.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/evaluation/__init__.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/geometry/__init__.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/geometry/__main__.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/geometry/localization.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/geometry/planning.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/guarantee/__init__.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/guarantee/cover.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/harness/__init__.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/harness/playback.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/harness/scenes.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/harness/simulator.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/harness/suites.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/harness/transport.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/particles.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/planner/__init__.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/planner/bayes_loop.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/planner/seven.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/protocol/__init__.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/protocol/client.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/protocol/log.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/protocol/rules.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/protocol/state.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/protocol/timing.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/protocol/transport.py.tex delete mode 100644 docs/paper/data/listing-source/src/mcm26b/routing.py.tex create mode 100644 mcm26b-核心代码.ipynb create mode 100644 scripts/build_code_appendix.py create mode 100644 scripts/build_core_notebook.py create mode 100644 scripts/run_notebook_cells.py diff --git a/.gitignore b/.gitignore index b001efe..927bebb 100644 --- a/.gitignore +++ b/.gitignore @@ -29,5 +29,8 @@ docs/paper/*.synctex.gz # pytest .pytest_cache/ +# Jupyter +.ipynb_checkpoints/ + # 1 output/ \ No newline at end of file diff --git a/README.md b/README.md index 337a733..7167ec5 100644 --- a/README.md +++ b/README.md @@ -21,6 +21,11 @@ - [1-4 问最优与基线实现对比框架](project/README.md)（`uv run python -m project.run`，结果在 `project/results/`） - [最优与基线实现对比（论文口径说明）](docs/最优与基线实现对比.md) - [论文](docs/paper/main.tex) +- **单文件核心代码（问题一~四）**：[`mcm26b-核心代码.ipynb`](mcm26b-核心代码.ipynb)—— + 四问生产实现按"公共层→几何→信念/覆盖→调度→策略→逐问算例"整理成一个可独立运行的 + notebook，不含评测机、命令行外壳、采集/基准/绘图脚本、测试与未采用方案； + 重新生成用 `python scripts/build_core_notebook.py`，零依赖自检用 + `python scripts/run_notebook_cells.py`（按顺序执行全部代码单元）。 ## 项目结构 @@ -42,7 +47,8 @@ project/ # 1-4 问"最优实现 / 基线实现"对比框架：逐问 o # +独立参考，冻结基准集配对出数；见 project/README.md scripts/ # 采集、基准、可视化与校核脚本（含问题四批量仿真 benchmark_q4.py、 # 运行历史计时分解 analyze_run_timing.py、第四问覆盖证书 verify_q4_cover.py、 - # 论文插图 build_figure_data.py + scripts/matlab、日志归档 archive_replay_logs.py） + # 论文插图 build_figure_data.py + scripts/matlab、日志归档 archive_replay_logs.py、 + # 单文件核心代码生成/自检 build_core_notebook.py + run_notebook_cells.py） docs/figures/ # 论文插图（PNG）+ manifest.json（数据来源与 sha256）+ 图清单 output/ examples/ # 演练证据、算例与生成产物 ``` diff --git a/docs/paper/README.md b/docs/paper/README.md index b702b25..d6ab522 100644 --- a/docs/paper/README.md +++ b/docs/paper/README.md @@ -4,7 +4,7 @@ ## 交付文件 -- main.pdf：论文、正式数据清单与完整源码附录。 +- main.pdf：论文、正式数据清单与四问核心函数代码附录。 - main.tex、sections/：可编辑 LaTeX 源文件。 - data/formal-results.json、formal-results.csv、audit.md：六份正式测试数据、复算结果与校验说明。 - support-materials.zip：源码、六份正式原始日志、统计快照、论文工程及逐文件哈希清单。 @@ -37,12 +37,18 @@ 输出为 main.pdf。VS Code 默认配方为 latexmk (xelatex)，自动完成交叉引用所需的多遍编译。 需要 TeX Live 的 XeLaTeX、ctex、TikZ，以及原项目 docs/paper/fonts/ 目录。 -在项目根目录生成支撑包： +生成附录核心函数清单（数据源为单文件核心代码 ipynb，需先更新该 ipynb）： + + python scripts/build_code_appendix.py + +在项目根目录生成支撑包（需要原电脑的 Jammers-simulator-full 正式包）： python scripts/build_paper_support.py --package ## 排版与复算 -正文采用原模板的字体、标题、页边距及页码设置。源码附录通过 data/listing-source/ 的显示副本处理数学符号的 LaTeX 转义，支撑包保留原始可执行源码。 +正文采用原模板的字体、标题、页边距及页码设置。附录代码直接取自单文件核心代码 ipynb，数学符号由导言区的 lstlisting 样式 corecode 映射，不再维护独立的源码显示副本目录。 统计表、汇总量和耗时图由同一快照生成；几何图取正文给定参数。 正文使用集合估计、凸外包、清除充分条件、集合覆盖、信息增益和最近邻路径排序等概念描述模型。 +附录只收录四问主线的核心函数（32 个，约 1300 行），评测机、命令行外壳、采集与绘图脚本、 +测试以及未被采用的方案不进入论文；完整可执行程序见支撑包的 mcm26b-核心代码.ipynb。 diff --git a/docs/paper/REWRITE_NOTES.md b/docs/paper/REWRITE_NOTES.md index 6ccc21b..f516e5a 100644 --- a/docs/paper/REWRITE_NOTES.md +++ b/docs/paper/REWRITE_NOTES.md @@ -33,3 +33,17 @@ mcm26b-paper.cls 保持与原仓库模板逐字节一致，文档沿用原模板 正式统计按官方整数微秒和毫秒计算，支撑包提供 SHA-256 清单供复核。 本轮修订前的 PDF 和支撑包保存在 tmp/paper-rewrite/main-before-six-records.pdf 与 support-before-six-records.zip。 + +## 清理论文与源码附录（本轮） + +- 清除 7 个文件中已提交的 git 冲突标记（main.tex、results.tex、q1.tex、q3.tex、 + q4.tex、appendix.tex、scripts/build_paper_support.py）：冲突块统一取 PNG 图版一侧， + 即图全部使用 docs/figures 下由 build_figure_data.py 与 scripts/matlab 生成的插图， + 与未冲突的 timing/q2 两节风格一致；随之保留演练回放图与三点交会解析算例。 +- 顺带修正冲突遗留的事实不一致：正式样本由"四份/两次"改为六份（问题三、四各三次）， + 删除"第三次正式记录未提供"的过时表述，结果一节的重复等效距离段落合并。 +- 附录不再逐字排版全部源码（原 33 份，含评测机、命令行外壳、采集/基准/绘图脚本与测试）。 + 改为"核心程序代码"：只列四问主线核心函数 32 个、约 1300 行，每个附一句中文说明； + 数据源是 mcm26b-核心代码.ipynb，由 scripts/build_code_appendix.py 生成 + data/source-listings.tex，数学符号在 main.tex 的 corecode 样式里统一映射。 +- 复算：latexmk -xelatex 通过，50 页，无未解析引用与未定义文献。 diff --git a/docs/paper/data/listing-source/scripts/audit_paper_formal.py.tex b/docs/paper/data/listing-source/scripts/audit_paper_formal.py.tex deleted file mode 100644 index ede89bf..0000000 --- a/docs/paper/data/listing-source/scripts/audit_paper_formal.py.tex +++ /dev/null @@ -1,206 +0,0 @@ -"""Audit only the formal exports selected in the official simulator's test folder. - -Match the public activation-ticket digest to the official statistics queue, -and the complete package digest to its result sidecar. Export the selected -statistics and reproducible paper tables using the Python standard library. -""" -from __future__ import annotations - -import argparse -import base64 -import csv -import hashlib -import json -import sqlite3 -import struct -from decimal import Decimal, ROUND_HALF_UP -from pathlib import Path - -ROOT = Path(__file__).resolve().parents[1] -FIELDS = ( - "entered", "end_reason", "cleared_jammer_count", "measure_accepted_count", - "virtual_time_us", "program_run_duration_ms", "channel_switch_count", - "clear_failure_count", "state", -) - - -def sha(data: bytes) -> str: - return hashlib.sha256(data).hexdigest() - - -def public_header(path: Path) -> tuple[dict, str]: - data = path.read_bytes() - if data[:8] != b"JMBFLOG1" or len(data) < 14: - raise ValueError(f"Unsupported formal envelope: {path.name}") - version, size = struct.unpack(">HI", data[8:14]) - if version != 1 or not 0 < size <= len(data) - 14: - raise ValueError(f"Invalid envelope header: {path.name}") - header = json.loads(data[14:14 + size]) - if header["package_type"] != "formal_behavior_log": - raise ValueError("Practice logs are not admitted") - return header, sha(data) - - -def fixed(value: Decimal, digits: int = 3) -> str: - return str(value.quantize(Decimal(1).scaleb(-digits), rounding=ROUND_HALF_UP)) - - -def derive(row: dict) -> dict: - count = row["cleared_jammer_count"] - total = Decimal(row["virtual_time_us"]) / 1_000_000 - movement = total - (5 * row["measure_accepted_count"] - + row["channel_switch_count"] + 5 * count - + 3 * row["clear_failure_count"]) - if count <= 0 or movement < 0: - raise ValueError("Invalid counts or negative inferred movement time") - return { - "virtual_time_s": str(total), - "average_clear_time_s": fixed(total / count, 6), - "program_run_duration_s": fixed(Decimal(row["program_run_duration_ms"]) / 1000), - "inferred_movement_time_s": str(movement), - "inferred_distance_m": str(5 * movement), - "movement_share_percent": fixed(100 * movement / total, 6), - "source_total": None, - "clear_fraction": None, - } - - -def collect(sim: Path) -> list[dict]: - selected = sorted((sim / "test").rglob("*.jlog")) - if not selected: - raise ValueError("No formal exports in test/") - queue = sim / "JammersSimulatorData/formal-statistics-queue.sqlite3" - original = sim / "JammersSimulatorData/behavior-logs" - # Read the live queue including its WAL, without writing to the simulator. - with sqlite3.connect(queue.resolve().as_uri() + "?mode=ro", uri=True) as db: - db.row_factory = sqlite3.Row - query = "SELECT activation_ticket_sha256," + ",".join(FIELDS) + " FROM statistics_tasks" - statistics = {r["activation_ticket_sha256"]: dict(r) for r in db.execute(query)} - records = [] - for path in selected: - header, digest = public_header(path) - encoded = header["server_ticket_b64"] - ticket_hash = sha(base64.urlsafe_b64decode(encoded + "=" * (-len(encoded) % 4))) - sidecar = json.loads((original / (path.stem + ".result.json")).read_text("utf-8")) - for field in ("problem_no", "formal_index", "case_code"): - if header[field] != sidecar[field]: - raise ValueError(f"Mismatched case: {path.name}") - if digest != sidecar["package_sha256"] or digest != sha((original / path.name).read_bytes()): - raise ValueError(f"Mismatched formal package: {path.name}") - matched = statistics[ticket_hash] - row = {name: header[name] for name in ("problem_no", "formal_index", "case_code", "client_version")} - row.update({name: matched[name] for name in FIELDS}) - row.update({ - "file": path.relative_to(sim).as_posix(), "size_bytes": path.stat().st_size, - "package_sha256": digest, "activation_ticket_sha256": ticket_hash, - "created_at_utc": header["created_at_utc"], - "ended_at_utc": sidecar["ended_at_utc"], - "content_encryption": header["content_encryption"], - "identity_and_ticket_content_omitted": True, - "same_as_official_original": True, - }) - row["derived"] = derive(row) - records.append(row) - keys = [(r["problem_no"], r["formal_index"]) for r in records] - if len(set(keys)) != len(keys): - raise ValueError("Duplicate formal attempt") - return records - - -def write_outputs(rows: list[dict], out: Path) -> None: - out.mkdir(parents=True, exist_ok=True) - snapshot = { - "schema": "paper-formal-audit-v1", - "selection": "Only Jammers-simulator-full/test/**/*.jlog", - "statistics_source": "Official formal-statistics-queue.sqlite3; matched by SHA-256 of the public activation ticket", - "coverage": {str(p): sorted(r["formal_index"] for r in rows if r["problem_no"] == p) - for p in (3, 4)}, - "measurement_scope": "Per-case official action counts, virtual duration and program duration", - "limitations": [ - "Source totals, source types, solver commit and trajectories require additional evidence.", - "Queue state confirmed records a statistics submission acknowledgement.", - ], - "records": rows, - } - (out / "formal-results.json").write_text(json.dumps(snapshot, ensure_ascii=False, indent=2) + "\n", "utf-8") - columns = ["problem_no", "formal_index", "case_code", *FIELDS, "package_sha256"] - with (out / "formal-results.csv").open("w", encoding="utf-8-sig", newline="") as handle: - writer = csv.DictWriter(handle, fieldnames=columns + list(rows[0]["derived"])) - writer.writeheader() - for row in rows: - writer.writerow({**{key: row[key] for key in columns}, **row["derived"]}) - for problem in (3, 4): - by_index = {r["formal_index"]: r for r in rows if r["problem_no"] == problem} - lines = ["% Generated by scripts/audit_paper_formal.py; seconds; half-up rounding."] - for index in (1, 2, 3): - row = by_index.get(index) - if row is None: - lines.append(f"测试 {index} & 未提供记录 & -- & -- & -- " + r"\\") - else: - avg = Decimal(row["virtual_time_us"]) / 1_000_000 / row["cleared_jammer_count"] - lines.append(f"测试 {index} & \\texttt{{{row['case_code']}}} & {row['cleared_jammer_count']} & {fixed(avg)} & {row['derived']['program_run_duration_s']} " + r"\\") - (out / f"formal-q{problem}-rows.tex").write_text("\n".join(lines) + "\n", "utf-8") - cost_lines, constants = [], [] - for row in rows: - label = f"Q{row['problem_no']}-{row['formal_index']}" - total = Decimal(row["virtual_time_us"]) / 1_000_000 - move = Decimal(row["derived"]["inferred_movement_time_s"]) - cost_lines.append(f"{label} & {row['measure_accepted_count']} & {row['channel_switch_count']} & {row['clear_failure_count']} & {fixed(total)} & {fixed(move)} & {fixed(100*move/total, 2)}\\% " + r"\\") - (out / "formal-cost-rows.tex").write_text("\n".join(cost_lines) + "\n", "utf-8") - for problem, word in ((3, "Three"), (4, "Four")): - group = [r for r in rows if r["problem_no"] == problem] - count = sum(r["cleared_jammer_count"] for r in group) - total = sum(Decimal(r["virtual_time_us"]) / 1_000_000 for r in group) - mean = sum(Decimal(r["virtual_time_us"]) / 1_000_000 / r["cleared_jammer_count"] for r in group) / len(group) - constants.extend([f"\\newcommand{{\\Q{word}Count}}{{{count}}}", - f"\\newcommand{{\\Q{word}Total}}{{{fixed(total, 6)}}}", - f"\\newcommand{{\\Q{word}Weighted}}{{{fixed(total/count)}}}", - f"\\newcommand{{\\Q{word}Mean}}{{{fixed(mean)}}}"]) - shares = [Decimal(r["derived"]["movement_share_percent"]) for r in rows] - runtimes = [Decimal(r["program_run_duration_ms"]) / 1000 for r in rows] - constants.extend([ - f"\\newcommand{{\\FormalClearCount}}{{{sum(r['cleared_jammer_count'] for r in rows)}}}", - f"\\newcommand{{\\FormalMovementMin}}{{{fixed(min(shares), 2)}}}", - f"\\newcommand{{\\FormalMovementMax}}{{{fixed(max(shares), 2)}}}", - f"\\newcommand{{\\FormalRunMin}}{{{fixed(min(runtimes))}}}", - f"\\newcommand{{\\FormalRunMax}}{{{fixed(max(runtimes))}}}", - ]) - (out / "formal-macros.tex").write_text("\n".join(constants) + "\n", "utf-8") - audit = ["# 正式测试数据核对", "", f"本次汇总 `Jammers-simulator-full/test` 中的 {len(rows)} 份正式导出包。", - "利用公开头部的案例信息、包哈希及票据哈希，与原始导出、结果侧文件和官方正式统计数据库建立对应关系。", "", - "| 案例 | 正式序号 | 原件一致 | 包 SHA-256 |", "| --- | --- | --- | --- |"] - for row in rows: - audit.append(f"| {row['case_code']} | Q{row['problem_no']}-{row['formal_index']} | 是 | `{row['package_sha256']}` |") - audit += ["", "虚拟时间保留官方整数微秒，程序运行时间采用官方毫秒。平均定位清除时间 = 总虚拟秒数 / 清除数。", - "移动时间由总时长减去检测、换频、成功及失败清除耗时计算。", - "`confirmed` 表示统计提交确认，`user_exit` 表示主动退出。", - "实验评价采用清除数量、逐案例平均定位清除时间、程序运行时间和动作耗时分解。", - "扩展评价所需的源总数与配对场景设计见论文未来工作。", ""] - (out / "audit.md").write_text("\n".join(audit), "utf-8") - - -def main() -> None: - parser = argparse.ArgumentParser(description=__doc__) - parser.add_argument("--sim-root", type=Path, default=ROOT / "Jammers-simulator-full") - parser.add_argument("--out", type=Path, default=ROOT / "docs/paper/data") - parser.add_argument("--snapshot", type=Path, help="Regenerate tables from the audited anonymous snapshot, without the simulator database") - args = parser.parse_args() - if args.snapshot: - rows = json.loads(args.snapshot.read_text("utf-8"))["records"] - for row in rows: - if derive(row) != row["derived"]: - raise ValueError("Snapshot arithmetic changed") - path = args.sim_root / row["file"] - if path.exists() and public_header(path)[1] != row["package_sha256"]: - raise ValueError("Snapshot and formal export disagree") - else: - rows = collect(args.sim_root) - write_outputs(rows, args.out) - for row in rows: - print(f"Q{row['problem_no']}-{row['formal_index']} {row['case_code']}: " - f"cleared={row['cleared_jammer_count']} average={row['derived']['average_clear_time_s']} s " - f"real={row['derived']['program_run_duration_s']} s") - - -if __name__ == "__main__": - main() diff --git a/docs/paper/data/listing-source/scripts/build_paper_support.py.tex b/docs/paper/data/listing-source/scripts/build_paper_support.py.tex deleted file mode 100644 index a5ee614..0000000 --- a/docs/paper/data/listing-source/scripts/build_paper_support.py.tex +++ /dev/null @@ -1,393 +0,0 @@ -"""Build vector figure sources, comparison tables, source listings, and a support ZIP. - -Formal figures use the audited snapshot only. Geometric figures use declared -algorithm parameters, not fabricated observations or hidden simulator data. -The paired optimal-versus-baseline tables are generated from project/results/*.json -so that no number in the comparison section is hand copied. -""" -from __future__ import annotations - -import argparse -import hashlib -import json -import zipfile -from decimal import Decimal, ROUND_HALF_UP -from pathlib import Path - -ROOT = Path(__file__).resolve().parents[1] -PAPER = ROOT / "docs/paper" -PROJECT_RESULTS = ROOT / "project/results" - -# Display copies only: executable Python files remain byte-for-byte unchanged. -ESCAPE_OPEN = "(" + "*@" -ESCAPE_CLOSE = "@*" + ")" -LATEX_SYMBOLS = { - "\u03b1": r"\alpha", "\u03b4": r"\delta", "\u03b8": r"\theta", - "\u03bb": r"\lambda", "\u03c0": r"\pi", "\u03c1": r"\rho", - "\u03c6": r"\varphi", "\u2308": r"\lceil", "\u2309": r"\rceil", - "\u2200": r"\forall", "\u2203": r"\exists", "\u2205": r"\varnothing", - "\u2208": r"\in", "\u2227": r"\wedge", "\u2229": r"\cap", - "\u222a": r"\cup", "\u2248": r"\approx", "\u2264": r"\le", - "\u2265": r"\ge", "\u2286": r"\subseteq", "\u2287": r"\supseteq", - "\u27f9": r"\Longrightarrow", -} - - -def escaped_listing(source: str) -> str: - if ESCAPE_OPEN in source or ESCAPE_CLOSE in source: - raise ValueError("Source collides with the LaTeX escape delimiters") - return "".join( - ESCAPE_OPEN + r"\ensuremath{" + LATEX_SYMBOLS[c] + "}" + ESCAPE_CLOSE - if c in LATEX_SYMBOLS else c for c in source - ) - - -def digest(data: bytes) -> str: - return hashlib.sha256(data).hexdigest() - - -def figures(rows: list[dict]) -> None: - out = PAPER / "figures" - out.mkdir(parents=True, exist_ok=True) - plan = json.loads((ROOT / "src/mcm26b/guarantee/plans/q4_mincover_v2.json").read_text("utf-8")) - lines = [ - r"\begin{figure}[htbp]\centering", - r"\begin{tikzpicture}[x=0.00145cm,y=0.00145cm,font=\small]", - r"\fill[inkblue!5] (0,0) circle (1800);", - r"\draw[thick] (0,0) circle (1800);", - r"\draw[->,warmgray] (-2900,0)--(2950,0) node[right] {$x$/m};", - r"\draw[->,warmgray] (0,-2800)--(0,2850) node[above] {$y$/m};", - ] - for x in (-2000, -1000, 1000, 2000): - lines += [fr"\draw ({x},-35)--({x},35);", - fr"\node[below,font=\scriptsize] at ({x},-50) {{{x}}};"] - for x, y in plan["points"]: - lines.append(fr"\fill[inkblue] ({x},{y}) circle (33);") - lines += [ - r"\node[anchor=west,align=left] at (3250,900) {圆域：源位置先验\\蓝点：31个检测站};", - r"\node[anchor=west,align=left] at (3250,-700) {部分站点在圆域外\\用于接收向外发射的源};", - r"\end{tikzpicture}", - r"\caption{第四问集合覆盖模型得到的31个检测站及源位置区域。}", - r"\label{fig:q4plan}\end{figure}", - ] - (out / "q4-plan.tex").write_text("\n".join(lines) + "\n", "utf-8") - colors = ["inkblue", "inkblue!50", "warmgray!70", "black!18"] - bars = [ - r"\begin{figure}[htbp]\centering", - r"\begin{tikzpicture}[x=0.00108cm,y=0.85cm,font=\small]", - ] - for j, row in enumerate(rows): - y = len(rows) - 1 - j - components = [Decimal(row["derived"]["inferred_movement_time_s"]), - Decimal(5 * row["measure_accepted_count"]), - Decimal(row["channel_switch_count"]), - Decimal(5 * row["cleared_jammer_count"] + 3 * row["clear_failure_count"])] - label = f"Q{row['problem_no']}-{row['formal_index']}" - bars.append(fr"\node[anchor=east] at (-100,{y + 0.3}) {{{label}}};") - current = Decimal(0) - for amount, color in zip(components, colors): - bars.append(fr"\fill[{color}] ({current},{y}) rectangle ({current + amount},{y + 0.6});") - current += amount - bars.append(fr"\node[anchor=west,font=\scriptsize] at ({current + 80},{y + 0.3}) {{{current:.1f}}};") - bars.append(r"\draw[->] (0,-0.25)--(10500,-0.25);") - for tick in range(0, 10001, 2000): - bars.append(fr"\draw ({tick},-0.25)--({tick},-0.35) node[below,font=\scriptsize] {{{tick}}};") - bars.append(r"\node[anchor=west,font=\scriptsize] at (10400,-0.65) {s};") - for x, color, label in zip((0, 2600, 5200, 7600), colors, ("移动", "检测", "换频", "清除")): - bars += [fr"\fill[{color}] ({x},-1.3) rectangle ({x + 350},-1.05);", - fr"\node[anchor=west] at ({x + 450},-1.175) {{{label}}};"] - bars += [ - r"\end{tikzpicture}", - r"\caption{正式测试的累计虚拟耗时分解。移动时间由总耗时与各动作计数计算。}", - r"\label{fig:costbars}\end{figure}", - ] - (out / "formal-time-bars.tex").write_text("\n".join(bars) + "\n", "utf-8") - - -def fixed(value: float | None, digits: int = 3) -> str: - if value is None: - return "--" - return str(Decimal(str(value)).quantize(Decimal(1).scaleb(-digits), rounding=ROUND_HALF_UP)) - - -def percent(value: float | None, digits: int = 1) -> str: - if value is None: - return "--" - return fixed(100 * value, digits) + r"\%" - - -def flag(value: bool | None) -> str: - return "--" if value is None else ("是" if value else "否") - - -def project_tables() -> None: - """Generate the optimal-versus-baseline comparison tables from project/results.""" - out = PAPER / "data" - out.mkdir(parents=True, exist_ok=True) - data = {name: json.loads((PROJECT_RESULTS / f"{name}.json").read_text("utf-8")) - for name in ("q1", "q2", "q3", "q4")} - examples, random = data["q1"]["aggregate_examples"], data["q1"]["aggregate_random"] - two = data["q2"]["aggregate"] - three, paired3 = data["q3"]["aggregate"]["variants"], data["q3"]["aggregate"]["paired"] - four, paired4 = data["q4"]["aggregate"]["variants"], data["q4"]["aggregate"]["paired"] - head = "% Generated by scripts/build_paper_support.py from project/results/*.json." - - macros = [ - ("ProjQOneExampleCases", str(examples["cases"])), - ("ProjQOneRandomCases", str(random["cases"])), - ("ProjQOneFixedStatusBase", percent(examples["status_accuracy_baseline"])), - ("ProjQOneFixedMaeBase", fixed(examples["diameter_mae_baseline_m"])), - ("ProjQOneFixedMaeMaxBase", fixed(examples["diameter_max_err_baseline_m"])), - ("ProjQOneFixedCoverBase", percent(examples["coverage_accuracy_baseline"])), - ("ProjQOneFixedMsOpt", fixed(examples["runtime_optimal_mean_ms"])), - ("ProjQOneFixedMsBase", fixed(examples["runtime_baseline_mean_ms"])), - ("ProjQOneRandStatusBase", percent(random["status_accuracy_baseline"])), - ("ProjQOneRandMaeBase", fixed(random["diameter_mae_baseline_m"])), - ("ProjQOneRandMaeMaxBase", fixed(random["diameter_max_err_baseline_m"])), - ("ProjQOneRandCoverBase", percent(random["coverage_accuracy_baseline"])), - ("ProjQOneRandMsOpt", fixed(random["runtime_optimal_mean_ms"])), - ("ProjQOneRandMsBase", fixed(random["runtime_baseline_mean_ms"])), - ("ProjQTwoCases", str(two["optimal"]["cases"])), - ("ProjQTwoInitialRadius", fixed(two["_initial_radius_mean_m"])), - ("ProjQTwoGuaranteeOpt", percent(two["optimal"]["guaranteed_rate"])), - ("ProjQTwoGuaranteeMec", percent(two["baseline_mec"]["guaranteed_rate"])), - ("ProjQTwoGuaranteePerp", percent(two["baseline_perp"]["guaranteed_rate"])), - ("ProjQTwoWorstOpt", fixed(two["optimal"]["worst_posterior_mean_m"])), - ("ProjQTwoWorstRef", fixed(two["reference"]["worst_posterior_mean_m"])), - ("ProjQTwoRatioOpt", fixed(two["optimal"]["final_ratio_mean"])), - ("ProjQTwoRatioMec", fixed(two["baseline_mec"]["final_ratio_mean"])), - ("ProjQTwoWorstPerp", fixed(two["baseline_perp"]["worst_posterior_mean_m"])), - ("ProjQTwoWorstMec", fixed(two["baseline_mec"]["worst_posterior_mean_m"])), - ("ProjQThreeScenes", str(three["optimal"]["episodes"])), - ("ProjQThreeMeanOpt", fixed(three["optimal"]["virtual_time_mean_s"])), - ("ProjQThreeMeanSeven", fixed(three["seven"]["virtual_time_mean_s"])), - ("ProjQThreeMeanBase", fixed(three["baseline"]["virtual_time_mean_s"])), - ("ProjQThreeDropOpt", percent(-paired3["optimal_vs_baseline"]["mean_relative_change"])), - ("ProjQThreeDropMedianOpt", - percent(-paired3["optimal_vs_baseline"]["median_relative_change"])), - ("ProjQThreeDropSeven", percent(-paired3["seven_vs_baseline"]["mean_relative_change"])), - ("ProjQThreeFasterOpt", - f"{paired3['optimal_vs_baseline']['faster_scenes']}/{paired3['optimal_vs_baseline']['compared']}"), - ("ProjQThreeMeasuresOpt", fixed(three["optimal"]["measures_mean"])), - ("ProjQThreeMeasuresBase", fixed(three["baseline"]["measures_mean"])), - ("ProjQThreeMoveOpt", fixed(three["optimal"]["move_distance_mean_m"] / 1000)), - ("ProjQThreeMoveBase", fixed(three["baseline"]["move_distance_mean_m"] / 1000)), - ("ProjQThreeWallOpt", fixed(three["optimal"]["compute_wall_mean_s"])), - ("ProjQFourScenes", str(four["optimal"]["episodes"])), - ("ProjQFourMeanOpt", fixed(four["optimal"]["virtual_time_mean_s"])), - ("ProjQFourMeanGrid", fixed(four["baseline_grid"]["virtual_time_mean_s"])), - ("ProjQFourMeanBase", fixed(four["baseline"]["virtual_time_mean_s"])), - ("ProjQFourClearOpt", percent(four["optimal"]["cleared_ratio_mean"])), - ("ProjQFourClearGrid", percent(four["baseline_grid"]["cleared_ratio_mean"])), - ("ProjQFourClearBase", percent(four["baseline"]["cleared_ratio_mean"])), - ("ProjQFourAbsentBase", str(four["baseline"]["absent_misjudged_total"])), - ("ProjQFourMeasuresOpt", fixed(four["optimal"]["measures_mean"])), - ("ProjQFourMeasuresBase", fixed(four["baseline"]["measures_mean"])), - ("ProjQFourFallbackOpt", fixed(four["optimal"]["fallback_clear_attempts_mean"])), - ("ProjQFourValidOpt", - f"{four['optimal']['valid_episodes']}/{four['optimal']['episodes']}"), - ("ProjQFourValidGrid", - f"{four['baseline_grid']['valid_episodes']}/{four['baseline_grid']['episodes']}"), - ("ProjQFourRiseOpt", percent(paired4["optimal_vs_baseline"]["mean_relative_change"])), - ("ProjQFourMoveOpt", fixed(four["optimal"]["move_distance_mean_m"] / 1000)), - ("ProjQFourMoveBase", fixed(four["baseline"]["move_distance_mean_m"] / 1000)), - ] - lines = [head] + [f"\\newcommand{{\\{name}}}{{{value}}}" for name, value in macros] - (out / "project-macros.tex").write_text("\n".join(lines) + "\n", "utf-8") - - def write(stem: str, rows: list[str]) -> None: - (out / stem).write_text("\n".join([head, *rows]) + "\n", "utf-8") - - write("project-overview-rows.tex", [ - "问题 & 核心指标 & 最优实现 & 基线实现 " + r"\\", - f"1 & 直径平均绝对误差 / 覆盖判定准确率 & {fixed(random['diameter_mae_optimal_m'])} m / " - f"{percent(random['coverage_accuracy_optimal'])} & {fixed(random['diameter_mae_baseline_m'])} m / " - f"{percent(random['coverage_accuracy_baseline'])} " + r"\\", - f"2 & 保证接收率 / 最坏后验半径均值 & {percent(two['optimal']['guaranteed_rate'])} / " - f"{fixed(two['optimal']['worst_posterior_mean_m'])} m & {percent(two['baseline_mec']['guaranteed_rate'])} / " - f"{fixed(two['baseline_mec']['worst_posterior_mean_m'])} m " + r"\\", - f"3 & 全清率 / 平均虚拟耗时 & {percent(three['optimal']['cleared_ratio_mean'])} / " - f"{fixed(three['optimal']['virtual_time_mean_s'])} s & {percent(three['baseline']['cleared_ratio_mean'])} / " - f"{fixed(three['baseline']['virtual_time_mean_s'])} s " + r"\\", - f"4 & 全清率 / 缺席误判总数 & {percent(four['optimal']['cleared_ratio_mean'])} / " - f"{four['optimal']['absent_misjudged_total']} & {percent(four['baseline']['cleared_ratio_mean'])} / " - f"{four['baseline']['absent_misjudged_total']} " + r"\\", - ]) - - write("project-q1-example-rows.tex", [ - f"{row['name']} & {fixed(row['diameter_ref_m'])} & {fixed(row['diameter_opt_m'])} & " - f"{fixed(row['diameter_base_m'])} & {fixed(row['abs_err_base_m'])} & " - f"{flag(row['covers_ref'])} & {flag(row['covers_opt'])} & {flag(row['covers_base'])} " + r"\\" - for row in data["q1"]["examples"] - ]) - - write("project-q1-summary-rows.tex", [ - f"最优（固定 {examples['cases']} 例） & {percent(examples['status_accuracy_optimal'])} & " - f"{fixed(examples['diameter_mae_optimal_m'])} & {fixed(examples['diameter_max_err_optimal_m'])} & " - f"{percent(examples['coverage_accuracy_optimal'])} & {fixed(examples['runtime_optimal_mean_ms'])} " + r"\\", - f"最优（随机 {random['cases']} 例） & {percent(random['status_accuracy_optimal'])} & " - f"{fixed(random['diameter_mae_optimal_m'])} & {fixed(random['diameter_max_err_optimal_m'])} & " - f"{percent(random['coverage_accuracy_optimal'])} & {fixed(random['runtime_optimal_mean_ms'])} " + r"\\", - f"基线（固定 {examples['cases']} 例） & {percent(examples['status_accuracy_baseline'])} & " - f"{fixed(examples['diameter_mae_baseline_m'])} & {fixed(examples['diameter_max_err_baseline_m'])} & " - f"{percent(examples['coverage_accuracy_baseline'])} & {fixed(examples['runtime_baseline_mean_ms'])} " + r"\\", - f"基线（随机 {random['cases']} 例） & {percent(random['status_accuracy_baseline'])} & " - f"{fixed(random['diameter_mae_baseline_m'])} & {fixed(random['diameter_max_err_baseline_m'])} & " - f"{percent(random['coverage_accuracy_baseline'])} & {fixed(random['runtime_baseline_mean_ms'])} " + r"\\", - ]) - - write("project-q2-rows.tex", [ - f"{label} & {percent(two[key]['guaranteed_rate'])} & {fixed(two[key]['worst_posterior_mean_m'])} & " - f"{fixed(two[key]['worst_posterior_median_m'])} & {fixed(two[key]['improvement_mean_m'])} & " - f"{fixed(two[key]['final_ratio_mean'])} & {fixed(two[key]['move_cost_mean_s'], 2)} " + r"\\" - for key, label in (("optimal", "算法2（默认选点）"), ("reference", "参考：盘内网格枚举"), - ("baseline_perp", "基线：垂直 1000 m"), ("baseline_mec", "基线：候选圆心")) - ]) - - def variant_rows(table: dict, mapping: list[tuple[str, str]]) -> list[str]: - return [ - f"{label} & {table[key]['valid_episodes']}/{table[key]['episodes']} & " - f"{percent(table[key]['cleared_ratio_mean'])} & {table[key]['absent_misjudged_total']} & " - f"{fixed(table[key]['virtual_time_mean_s'])} & {fixed(table[key]['virtual_time_median_s'])} & " - f"{fixed(table[key]['virtual_time_max_s'])} & {fixed(table[key]['measures_mean'], 1)} & " - f"{fixed(table[key]['move_distance_mean_m'] / 1000)} & {fixed(table[key]['fallback_clear_attempts_mean'], 1)} " - + r"\\" - for key, label in mapping - ] - - write("project-q3-rows.tex", variant_rows(three, [ - ("optimal", "bayes（默认策略）"), ("seven", "seven（七点批量）"), ("baseline", "grid（49 点网格）")])) - write("project-q4-rows.tex", variant_rows(four, [ - ("optimal", "directional（默认策略）"), ("baseline_grid", "grid（问题三网格）"), - ("baseline", "bayes（问题三策略）")])) - - -def listings(rows: list[dict]) -> None: - data = PAPER / "data" - files = sorted((ROOT / "src/mcm26b").rglob("*.py")) - files += [ROOT / "scripts/audit_paper_formal.py", - ROOT / "scripts/build_paper_support.py"] - text = [ - r"\begingroup", - r"\linespread{1.0}\selectfont", - r"\lstset{basicstyle=\ttfamily\fontsize{8}{10}\selectfont,numberstyle=\tiny," - r"aboveskip=6pt,belowskip=8pt,xleftmargin=1.5em,frame=none}", - ] - for path in files: - rel = path.relative_to(ROOT).as_posix() - display = data / "listing-source" / (rel + ".tex") - display.parent.mkdir(parents=True, exist_ok=True) - display.write_text(escaped_listing(path.read_text("utf-8")), "utf-8") - display_rel = display.relative_to(PAPER).as_posix() - escape_option = "escapeinside={" + ESCAPE_OPEN + "}{" + ESCAPE_CLOSE + "}" - text += [fr"\subsection*{{\pathtext{{{rel}}}}}", - fr"\lstinputlisting[{escape_option}]{{{display_rel}}}"] - text.append(r"\endgroup") - (data / "source-listings.tex").write_text("\n".join(text) + "\n", "utf-8") - table = [ - r"\begin{longtable}{p{1.15cm}p{13.3cm}}", - r"\caption{所选正式导出文件与完整包哈希}\label{tab:packages}\\", - r"\toprule 案例 & 原始文件名及 SHA-256\\\midrule\endfirsthead", - r"\toprule 案例 & 原始文件名及 SHA-256\\\midrule\endhead", - ] - for row in rows: - h = row["package_sha256"] - label = f"Q{row['problem_no']}-{row['formal_index']}" - table += [ - fr"{label} & \pathtext{{{Path(row['file']).name}}}\\", - fr"& {{\scriptsize\texttt{{{h[:32]}}}\allowbreak\texttt{{{h[32:]}}}}}\\[4pt]", - ] - table += [r"\bottomrule\end{longtable}"] - (data / "formal-file-list.tex").write_text("\n".join(table) + "\n", "utf-8") - - -SUPPORT_README = """# 论文支撑材料 - -汇总官方模拟器 test 中的六份正式导出及哈希匹配的官方统计。 -问题三、四各包含三次正式测试。支撑材料保留原始文件名及文件校验值。 - -## 环境和运行 - -Python >=3.10；安装 requests，可选 numpy 加速。 -在本目录使用 PowerShell： - - $env:PYTHONPATH = (Resolve-Path src).Path - python -m mcm26b.cli --help - python -m mcm26b.cli run --problem 3 --strategy bayes --robot-id <模拟器登录队号> - python -m mcm26b.cli run --problem 4 --strategy directional --robot-id <模拟器登录队号> - -在线命令需要先由使用者在官方模拟器中选择测试、待接口就绪。 -策略的自检命令另需可选 referee 包。 - -## 重算论文数据和图表 - - python scripts/audit_paper_formal.py --snapshot docs/paper/data/formal-results.json - python scripts/build_paper_support.py - -上述命令在本地重算统计表、图表及源码附录。统计快照来自官方正式 -统计队列，通过票据哈希匹配所选包。重新验证来源匹配需原电脑的统计队列。 -连续覆盖与混合类型推断的扩展见论文未来工作。 - -## 编译 - -安装 TeX Live（XeLaTeX、ctex、TikZ），进入 docs/paper： - - latexmk -xelatex -interaction=nonstopmode -halt-on-error main.tex - -版式使用原项目模板。编译前请将原项目 docs/paper/fonts 目录放回 -同一相对位置。使用 latexmk 自动完成交叉引用所需的多遍编译。 -support-manifest.json 列出包内全部材料（清单自身除外）及 SHA-256。 -""" - - -def package(rows: list[dict]) -> Path: - selected = set((ROOT / "src/mcm26b").rglob("*.py")) - selected.update((ROOT / "src/mcm26b/guarantee/plans").glob("*.json")) - selected.update((PAPER / "data").rglob("*")) - selected.update((PAPER / "figures").glob("*.tex")) - selected.update((PAPER / "sections").glob("*.tex")) - selected.update((ROOT / "docs/figures").glob("*.png")) - selected.update((ROOT / "docs/figures").glob("*.json")) - selected.add(ROOT / "docs/figures/README.md") - selected.update(path for path in (ROOT / "project").rglob("*") - if path.is_file() and "__pycache__" not in path.parts) - selected.update([PAPER / "main.tex", PAPER / "mcm26b-paper.cls", - PAPER / "README.md", PAPER / "REWRITE_NOTES.md", - ROOT / "scripts/audit_paper_formal.py", - ROOT / "scripts/build_paper_support.py"]) - for row in rows: - path = ROOT / "Jammers-simulator-full" / row["file"] - if digest(path.read_bytes()) != row["package_sha256"]: - raise ValueError("Original formal package changed") - selected.add(path) - blobs = {p.relative_to(ROOT).as_posix(): p.read_bytes() for p in sorted(selected) if p.is_file()} - blobs["README.md"] = SUPPORT_README.encode("utf-8") - blobs["requirements.txt"] = b"requests>=2.31\nnumpy>=1.24\n" - manifest = [{"file": name, "bytes": len(value), "sha256": digest(value)} for name, value in sorted(blobs.items())] - blobs["support-manifest.json"] = (json.dumps(manifest, ensure_ascii=False, indent=2) + "\n").encode("utf-8") - out = PAPER / "support-materials.zip" - with zipfile.ZipFile(out, "w", zipfile.ZIP_DEFLATED, compresslevel=9) as archive: - for name, value in sorted(blobs.items()): - entry = zipfile.ZipInfo(name, (2026, 9, 13, 0, 0, 0)) - entry.compress_type = zipfile.ZIP_DEFLATED - archive.writestr(entry, value) - if out.stat().st_size > 20_000_000: - raise ValueError("Support archive exceeds 20 MB") - print(f"Support archive: {len(blobs)} files, {out.stat().st_size} bytes") - return out - - -def main() -> None: - parser = argparse.ArgumentParser(description=__doc__) - parser.add_argument("--package", action="store_true") - args = parser.parse_args() - rows = json.loads((PAPER / "data/formal-results.json").read_text("utf-8"))["records"] - figures(rows) - project_tables() - listings(rows) - if args.package: - package(rows) - - -if __name__ == "__main__": - main() diff --git a/docs/paper/data/listing-source/src/mcm26b/__init__.py.tex b/docs/paper/data/listing-source/src/mcm26b/__init__.py.tex deleted file mode 100644 index 29b08f6..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/__init__.py.tex +++ /dev/null @@ -1,21 +0,0 @@ -"""mcm26b：CUMCM 2026 B题"无线电干扰源的快速自动定位与清除"求解包。 - -模块分层（docs/B题建模分析与实施计划.md §7 的七模块划分）： -- config 全项目参数中心（题面常量与工程参数，唯一字面量来源） -- protocol P0/P1 字段表、计时模型、状态机与串行幂等客户端 -- geometry P2 角域交会定位、直径、最小包围圆与 P2 证书（已完工） -- sim 自建模拟器、故障注入与演练日志回放（测试专用） -- belief P3 逐频道候选集合（骨架） -- coverage P4 49 点覆盖记录（骨架+网格生成） -- planner P3 选点 / P4 全向闭环 / P5 定向扩展（骨架） -- evaluation 日志复算与统计 -""" - -__version__ = "0.2.0" - -from .config import DEFAULT_CONFIG, ProblemConfig -from .geometry import Measurement, first_bearing_candidate_disk, solve, \ - smallest_enclosing_circle - -__all__ = ["DEFAULT_CONFIG", "Measurement", "ProblemConfig", "solve", - "first_bearing_candidate_disk", "smallest_enclosing_circle"] diff --git a/docs/paper/data/listing-source/src/mcm26b/belief/__init__.py.tex b/docs/paper/data/listing-source/src/mcm26b/belief/__init__.py.tex deleted file mode 100644 index 6318154..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/belief/__init__.py.tex +++ /dev/null @@ -1,284 +0,0 @@ -"""P3 逐频道信念状态：候选集合 K_c 维护与频道处理状态。 - -核心不变式（验收标准）： -- 保守性：真源永远属于维护中的候选集合。候选集用"圆盘外切多边形 (*@\ensuremath{\cap}@*) - 测向角域半平面"的凸多边形表示——外切多边形严格包含圆盘，半平面裁剪 - 带正容差，因此每步更新只会放大而不会缩小真实候选集； -- direction 读数：K_c (*@\ensuremath{\subseteq}@*) Ω (*@\ensuremath{\cap}@*) W(s, (*@\ensuremath{\theta}@*)±(*@\ensuremath{\delta}@*)_eff) (*@\ensuremath{\cap}@*) B(s, 1500)，后续读数再交 - 同样的约束；(*@\ensuremath{\delta}@*)_eff = 误差半角 + 示向度舍入裕量（服务器保留两位小数， - 舍入本身引入 (*@\ensuremath{\le}@*)0.005° 偏差）； -- no_signal 读数（P4，全向源）：基线不据此删空间候选——对定向源它是 - "位置×朝向"联合约束，单独维护空间候选会误删真源（P5 才启用）； - "该频道不存在源"的证明由覆盖账本（coverage.CoverageLedger）给出； -- near 读数：源在 5m 内，候选集收缩为 B(s, 5)，可直接产生清除证书； -- /clear 成功：状态转 CLEARED；失败只说明"该频道 20m 内无可清除源"， - 不得直接删除超出 20m 的候选，必须先补测再重试。 -""" - -from __future__ import annotations - -import math -from dataclasses import dataclass, field -from enum import Enum - -from ..config import ProblemConfig, Vec2 -from ..geometry.localization import smallest_enclosing_circle -from ..protocol.rules import DIRECTION, NEAR, NO_SIGNAL - -# 半平面裁剪的正容差（米）。坐标量级 ~2100，浮点误差远小于它； -# 容差只向"保留更多候选"的方向倾斜，不破坏保守性。 -_CLIP_TOL_M = 1e-6 -_DEDUPE_TOL_M = 1e-7 - - -class InconsistentBelief(RuntimeError): - """读数把候选集剪空等违背保守性的情形；须停机核查而非继续跑。""" - - -class ChannelStatus(Enum): - UNKNOWN = "unknown" # 尚无有效证据 - DETECTED = "detected" # 收到过 direction/near，待定位 - LOCATED = "located" # 候选集包围圆半径 <= 20，可清除 - CLEARED = "cleared" # 清除成功 - ABSENT = "absent" # 覆盖证明不存在（P4） - - -def circumscribed_polygon(center: Vec2, radius_m: float, sides: int) -> list[Vec2]: - """圆的外切正多边形顶点（外接半径 r/cos((*@\ensuremath{\pi}@*)/n)），严格包含圆盘。 - - 近似误差（外接圆超出圆盘的部分）为 r(1/cos((*@\ensuremath{\pi}@*)/n) - 1) (*@\ensuremath{\le}@*) r(1-cos((*@\ensuremath{\pi}@*)/n))·sec²， - 调用方用 (1-cos((*@\ensuremath{\pi}@*)/n)) 口径记账即可（略保守偏大）。 - """ - if sides < 8: - raise ValueError("外切多边形边数过少，近似误差不可控") - circumradius = radius_m / math.cos(math.pi / sides) - step = 2 * math.pi / sides - return [(center[0] + circumradius * math.cos(step * i + step / 2), - center[1] + circumradius * math.sin(step * i + step / 2)) - for i in range(sides)] - - -def polygon_halfplanes(polygon: list[Vec2]) -> list[tuple[float, float, float]]: - """CCW 多边形 -> 外法线半平面列表 (a, b, c)，含义 a·x + b·y <= c。""" - planes = [] - count = len(polygon) - for index in range(count): - p, q = polygon[index], polygon[(index + 1) % count] - dx, dy = q[0] - p[0], q[1] - p[1] - norm = math.hypot(dx, dy) - if norm <= 1e-12: - continue - a, b = dy / norm, -dx / norm # CCW 的右法线朝外 - planes.append((a, b, a * p[0] + b * p[1])) - return planes - - -def clip_halfplane(polygon: list[Vec2], a: float, b: float, c: float, - tol: float = _CLIP_TOL_M) -> list[Vec2]: - """Sutherland–Hodgman 凸多边形半平面裁剪，保留 a·x + b·y <= c + tol。 - - 边界交点取在无容差直线上；进入判定带正容差，保证"贴边"的真点不丢。 - """ - if not polygon: - return [] - output: list[Vec2] = [] - count = len(polygon) - for index in range(count): - p, q = polygon[index], polygon[(index + 1) % count] - fp = a * p[0] + b * p[1] - c - fq = a * q[0] + b * q[1] - c - p_in, q_in = fp <= tol, fq <= tol - if p_in: - output.append(p) - if p_in != q_in: - ratio = fp / (fp - fq) - output.append((p[0] + ratio * (q[0] - p[0]), - p[1] + ratio * (q[1] - p[1]))) - return _dedupe(output) - - -def _dedupe(points: list[Vec2], tol: float = _DEDUPE_TOL_M) -> list[Vec2]: - unique: list[Vec2] = [] - for point in points: - if not unique or math.dist(point, unique[-1]) > tol: - unique.append(point) - if len(unique) > 1 and math.dist(unique[0], unique[-1]) <= tol: - unique.pop() - return unique - - -class CandidateRegion: - """某频道候选集合的保守凸外包多边形（顶点按 CCW；允许退化为 1-2 点）。""" - - def __init__(self, polygon: list[Vec2], slack_m: float = 0.0): - self.polygon = list(polygon) - self.slack_m = float(slack_m) # 外包近似引入的半径向误差记账 - self._mec: tuple[Vec2, float] | None = None - - # ------------------------------------------------------------ 构造 - @classmethod - def disk(cls, center: Vec2, radius_m: float, sides: int, - slack_m: float | None = None) -> "CandidateRegion": - if slack_m is None: - slack_m = radius_m * (1 - math.cos(math.pi / sides)) - return cls(circumscribed_polygon(center, radius_m, sides), slack_m) - - @classmethod - def initial(cls, station: Vec2, config: ProblemConfig) -> "CandidateRegion": - """首个 direction 后的基础集：Ω (*@\ensuremath{\cap}@*) B(station, r_max) 的保守外包。""" - field_cfg, sides = config.field, config.search.polygon_sides - slack = field_cfg.omega_radius_m * (1 - math.cos(math.pi / sides)) - region = cls.disk((0.0, 0.0), field_cfg.omega_radius_m, sides, slack) - region.clip_disk(station, field_cfg.r_eff_max_m, sides) - return region - - # ------------------------------------------------------------ 收缩 - def _clip(self, a: float, b: float, c: float) -> None: - polygon = clip_halfplane(self.polygon, a, b, c) - if not polygon: - raise InconsistentBelief( - f"候选区域被半平面 ({a:.6f},{b:.6f},{c:.6f}) 剪空：读数与保守集矛盾") - self.polygon = polygon - self._mec = None - - def clip_disk(self, center: Vec2, radius_m: float, sides: int) -> None: - """与圆盘 B(center, radius) 的外切多边形求交（近似误差入账）。""" - for a, b, c in polygon_halfplanes(circumscribed_polygon(center, radius_m, sides)): - self._clip(a, b, c) - self.slack_m += radius_m * (1 - math.cos(math.pi / sides)) - - def clip_wedge(self, station: Vec2, bearing_deg: float, - half_angle_deg: float) -> None: - """与测向角域 W(station, bearing±half_angle) 求交（半角须 <90°）。 - - 两个边界半平面与 localization.halfplanes 同口径，0°/360° 跨界由 - sin/cos 直接处理，无需分支。 - """ - if not 0 < half_angle_deg < 90: - raise ValueError("角域半角须在 (0, 90) 度") - lower = math.radians(bearing_deg - half_angle_deg) - upper = math.radians(bearing_deg + half_angle_deg) - sx, sy = float(station[0]), float(station[1]) - self._clip(math.sin(lower), -math.cos(lower), - math.sin(lower) * sx - math.cos(lower) * sy) - self._clip(-math.sin(upper), math.cos(upper), - -math.sin(upper) * sx + math.cos(upper) * sy) - - # ------------------------------------------------------------ 查询 - def mec(self) -> tuple[Vec2, float]: - """最小包围圆（圆心, 半径）。半径是真实候选集 (*@\ensuremath{\rho}@*) 的上界。""" - if self._mec is None: - if not self.polygon: - raise InconsistentBelief("候选区域为空") - self._mec = smallest_enclosing_circle(self.polygon) - return self._mec - - def witnesses(self, spacing_m: float) -> list[Vec2]: - """顶点 + 边界按间距细分的采样点（最坏后验评估用）。""" - if len(self.polygon) < 3: - return list(self.polygon) - points = list(self.polygon) - count = len(self.polygon) - for index in range(count): - p, q = self.polygon[index], self.polygon[(index + 1) % count] - length = math.dist(p, q) - steps = int(length // spacing_m) - for k in range(1, steps + 1): - ratio = k / (steps + 1) - points.append((p[0] + ratio * (q[0] - p[0]), - p[1] + ratio * (q[1] - p[1]))) - return _dedupe(points, tol=1e-9) - - def contains(self, point: Vec2, tol_m: float = 0.05) -> bool: - """点是否在候选集内（带容差；用于真源保留性检验，不做删点依据）。""" - if not self.polygon: - return False - if len(self.polygon) == 1: - return math.dist(point, self.polygon[0]) <= tol_m + self.slack_m - if len(self.polygon) == 2: - p, q = self.polygon - return _point_segment_distance(point, p, q) <= tol_m + self.slack_m - for index, p in enumerate(self.polygon): - q = self.polygon[(index + 1) % len(self.polygon)] - if (q[0] - p[0]) * (point[1] - p[1]) - (q[1] - p[1]) * (point[0] - p[0]) \ - < -tol_m - self.slack_m: - return False - return True - - -def _point_segment_distance(point: Vec2, p: Vec2, q: Vec2) -> float: - vx, vy = q[0] - p[0], q[1] - p[1] - length_sq = vx * vx + vy * vy - if length_sq <= 1e-18: - return math.dist(point, p) - t = max(0.0, min(1.0, ((point[0] - p[0]) * vx + (point[1] - p[1]) * vy) / length_sq)) - return math.dist(point, (p[0] + t * vx, p[1] + t * vy)) - - -@dataclass -class ChannelBelief: - channel: int - status: ChannelStatus = ChannelStatus.UNKNOWN - region: CandidateRegion | None = None - measurements: list = field(default_factory=list) # 逐步观测记录（审计用） - - -class BeliefState: - """全部 20 个频道的信念集合。策略端唯一的事实来源。""" - - def __init__(self, config: ProblemConfig = ProblemConfig()): - self.config = config - self.channels = {channel: ChannelBelief(channel) - for channel in range(config.field.channel_min, - config.field.channel_max + 1)} - - @property - def effective_half_angle_deg(self) -> float: - """示向度误差半角 + 舍入裕量：服务器保留两位小数引入 (*@\ensuremath{\le}@*)0.005° 偏差。""" - return (self.config.field.bearing_error_half_deg - + self.config.search.bearing_rounding_margin_deg) - - def update_measure(self, channel: int, position: Vec2, result: str, - svd_deg: float | None) -> None: - """按读数收敛候选集合；真源保留性由保守表示保证。""" - belief = self.channels[channel] - belief.measurements.append({"position": tuple(position), "result": result, - "svd_deg": svd_deg}) - if result == DIRECTION: - if svd_deg is None: - raise ValueError("direction 读数必须携带 svd_deg") - sides = self.config.search.polygon_sides - if belief.region is None: - belief.region = CandidateRegion.initial(position, self.config) - else: - # 后续 direction 同样隐含距离 <= r_max [题面] - belief.region.clip_disk(position, self.config.field.r_eff_max_m, sides) - belief.region.clip_wedge(position, svd_deg, self.effective_half_angle_deg) - belief.status = ChannelStatus.DETECTED - elif result == NEAR: - sides = self.config.search.polygon_sides - if belief.region is None: - belief.region = CandidateRegion.disk( - tuple(position), self.config.field.near_radius_m, sides) - else: - belief.region.clip_disk(position, self.config.field.near_radius_m, sides) - belief.status = ChannelStatus.DETECTED - elif result == NO_SIGNAL: - # P3/P4 基线：不据此删空间候选（缺席证明由覆盖账本给出）。 - pass - else: - raise ValueError(f"未知测向结果: {result!r}") - - def candidate_set(self, channel: int) -> CandidateRegion | None: - """该频道当前候选集合（保守外包形式）；尚无 direction/near 时为 None。""" - return self.channels[channel].region - - def mark_cleared(self, channel: int) -> None: - self.channels[channel].status = ChannelStatus.CLEARED - - def mark_absent(self, channel: int) -> None: - self.channels[channel].status = ChannelStatus.ABSENT - - def channels_by_status(self, *statuses: ChannelStatus) -> list[int]: - return sorted(channel for channel, belief in self.channels.items() - if belief.status in statuses) diff --git a/docs/paper/data/listing-source/src/mcm26b/belief/joint.py.tex b/docs/paper/data/listing-source/src/mcm26b/belief/joint.py.tex deleted file mode 100644 index 320acb5..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/belief/joint.py.tex +++ /dev/null @@ -1,388 +0,0 @@ -"""位置×朝向联合可行集（第四问定向源）。 - -现状问题（docs/第三四问架构优化与运行提速方案.md §1.3 F3）：第四问的失败**全部** -来自定向源（评测机两局：全向 17/17 清除，定向仅 2/6）。原因不是覆盖不足，而是 -策略只知道"源可能在某个空间区域"，不知道"它朝着哪边"——于是选点只能靠固定 -45° 阶梯试探，一旦试探失败就退化到 (*@\ensuremath{\le}@*)400 格 20 m 盲清。 - -本模块把"看不看得见"变成可推理的量：为已在 Ω 上维护的网格幸存集 -（:class:`~mcm26b.particles.ChannelParticles`）附加每格 24 档朝向可行性掩码， -得到 (位置 × 朝向) 联合可行集。观测语义严格对齐评测机 -``referee.simulator._observe``： - -- 距离 > r_eff → no_signal；定向且源→读点方向与朝向夹角 > 90° → no_signal； -- 距离 (*@\ensuremath{\le}@*) 5 m → near（**仍需可见**：3 m 处背向的定向源同样返回 no_signal）； -- 其余 → direction（读数 = 源→读点方位 + 有界误差）。 - -更新规则（全部保守，只删"必然不可能"的格/档）： - -=============== ============================================ ================== -观测 位置 朝向 -=============== ============================================ ================== -``direction``@s 距离 (*@\ensuremath{\le}@*) 1500、角向 |gap| (*@\ensuremath{\le}@*) (*@\ensuremath{\delta}@*)_eff + 格裕量 必须**可能**覆盖 s -``near``@s 距离 (*@\ensuremath{\le}@*) 5 必须**可能**覆盖 s -``no_signal``@s **不删**（可能是朝向遮挡或距离不足） 必须**确定不**覆盖 s - （仅当整格必在 r_eff_min 内才约束朝向） -=============== ============================================ ================== - -阈值全部取保守侧，并计入**格内角裕量** -``asin(margin / max(dist − margin, 1))``（格内任一点相对格心方位偏差上界）： - -- "必须可能覆盖"：``gap (*@\ensuremath{\le}@*) 90° + 半档 + 查表舍入 + 格内角裕量``（宁可保留）； -- "必须确定不覆盖"：先删去 ``gap (*@\ensuremath{\le}@*) 90° − 半档 − 查表舍入 − 格内角裕量`` 的档， - 只保留确定看不见 s 的档（同样宁可保留）。 - -因此真源 (位置, 朝向) 永不被删——这是网格幸存集真源保留定理的二维推广。 -（2026-09-12 修正：no_signal 分支原先误用"确定覆盖"掩码做交集，等价于把 -规则反向；keep=True 分支也漏计了格内角裕量。两处都会删掉真源朝向档， -现由 ``tests/test_joint_belief.py`` 的随机观测序列保留性测试固化。） - -用途： -1. ``prob_detect``：该点能看见该频道任一可行 (位置, 朝向) 的概率质量， - 用于**可见性选点**（取代固定阶梯）——只影响选点顺序，不承担安全责任； -2. ``expected_posterior_radius``：一次测量后的期望后验 MEC 半径（D1 值函数）； -3. ``is_absent``：联合集空 (*@\ensuremath{\Longrightarrow}@*) 该频道不存在源（严格，与覆盖证明同一条件）； -4. 位置边际仍由凸证书负责 20 m 清除判定，本模块不改变任何证书口径。 -""" - -from __future__ import annotations - -import math - -from ..config import ProblemConfig, Vec2 -from ..particles import ChannelParticles, _branch_radius_array -from ..protocol.rules import DIRECTION, NEAR, NO_SIGNAL - -HEADING_BINS = 24 # 15° 一档 -_BIN_HALF_DEG = 180.0 / HEADING_BINS # 7.5° -_FULL_MASK = (1 << HEADING_BINS) - 1 -_GRID_DEG = 3.0 # 角度查表分辨率 -_GRID_N = int(round(360.0 / _GRID_DEG)) - -try: # numpy 仅作可选加速后端（与 particles 一致） - import numpy as _np - from ..particles import _np as _particles_np - if _particles_np is None: # MCM26B_NO_NUMPY 或缺失：强制纯 Python - _np = None -except Exception: # pragma: no cover - 环境无 numpy - _np = None - - -def heading_gap(a_deg: float, b_deg: float) -> float: - """两个朝向角的最小夹角（度）。""" - return abs((a_deg - b_deg + 180.0) % 360.0 - 180.0) - - -def _cover_mask(bearing_deg: float, half_deg: float) -> int: - """与该方位夹角不超过 ``half_deg`` 的朝向档掩码。""" - mask = 0 - for k in range(HEADING_BINS): - if heading_gap(360.0 * k / HEADING_BINS, bearing_deg) <= half_deg: - mask |= 1 << k - return mask - - -# 查表：以 bearing 为轴、半角 90° 的可见半平面。 -# - COVER：**可能**覆盖该方位（含半档与查表舍入的保守侧）； -# - SILENT：**确定**覆盖该方位（内缩半档与舍入）——离散对照表，供审计与 -# 文档比对；实际裁剪走 _cover_mask / _far_mask，因为还必须逐格计入 -# "格内角裕量"（格心到格内任一点的方位偏差上界），无法预先制表。 -_COVER_TABLE = tuple( - _cover_mask(_GRID_DEG * i, 90.0 + _BIN_HALF_DEG + _GRID_DEG / 2) - for i in range(_GRID_N)) -_SILENT_TABLE = tuple( - _cover_mask(_GRID_DEG * i, 90.0 - _BIN_HALF_DEG - _GRID_DEG / 2) - for i in range(_GRID_N)) - - -def _far_mask(bearing_deg: float, exclude_half_deg: float) -> int: - """与方位夹角**大于** ``exclude_half_deg`` 的朝向档掩码（no_signal 用）。 - - 与 :func:`_cover_mask` 互补：no_signal 只允许保留"确定看不见"的朝向档。 - """ - mask = 0 - for k in range(HEADING_BINS): - if heading_gap(360.0 * k / HEADING_BINS, bearing_deg) > exclude_half_deg: - mask |= 1 << k - return mask - -if _np is not None: # 12 位半字 popcount 查表（朝向掩码 24 位）与半平面查表数组 - _POP16 = _np.array([bin(value).count("1") for value in range(1 << 12)], - dtype=_np.int64) - _COVER_ARR = _np.array(_COVER_TABLE, dtype=_np.int64) -else: # pragma: no cover - 无 numpy 分支 - _POP16 = _COVER_ARR = None - - -def _popcount(mask: int) -> int: - return bin(mask).count("1") - - -def _table_index(bearing_deg: float) -> int: - return int(round((bearing_deg % 360.0) / _GRID_DEG)) % _GRID_N - - -class JointBelief: - """单频道 (位置 × 朝向) 联合可行集。""" - - def __init__(self, config: ProblemConfig = ProblemConfig()): - self.config = config - self.field = config.field - self.position = ChannelParticles(config) - self.masks: dict[int, int] = {} # 格索引 -> 朝向掩码（缺省为全档） - self._sample_cache: tuple[int, list[int]] | None = None - - # ------------------------------------------------------------ 查询 - def __len__(self) -> int: - return len(self.position) - - def is_absent(self) -> bool: - """联合集空 (*@\ensuremath{\Longrightarrow}@*) 该频道不存在源（真源保留定理的二维推广）。""" - return not self.position.alive - - def _mask(self, index: int) -> int: - return self.masks.get(index, _FULL_MASK) - - def sample(self, size: int = 256) -> list[int]: - """均匀抽样幸存格（评分用；证书始终用完整集合）。""" - cached = self._sample_cache - if cached is not None and cached[0] == self.position.version: - return cached[1] - alive = sorted(self.position.alive) - if len(alive) > size: - step = len(alive) / size - alive = [alive[int(k * step) % len(alive)] for k in range(size)] - self._sample_cache = (self.position.version, alive) - return alive - - def _mask_popcount(self, index: int) -> int: - return _popcount(self._mask(index)) - - def expected_posterior_radius(self, reader: Vec2, size: int | None = None) -> float: - """一次测量后的期望后验 MEC 半径（米）；D1 值函数。 - - 与 :meth:`ChannelParticles.expected_posterior_radius` 同族，差别只在 - no_signal 分支概率：定向源不仅会因距离 > r_eff 静默，还会因朝向遮挡 - 静默，因此 - - p_vis(p) = P(r_eff (*@\ensuremath{\ge}@*) |p−q|) × cover_ratio(p, q) - - 其中 ``cover_ratio`` 是该格朝向掩码中"可能覆盖 q 方位"的档位占比。 - 分支半径语义： - - - direction（可见，非 near）：读数为 q 处的方位 ±(*@\ensuremath{\delta}@*)，后验收缩到该方位 - 楔形与当前可行集之交，半径取幸存子采样的质心最大距离； - - no_signal：定向源的静默**不删空间候选**，位置后验半径保持当前值； - - near：后验为 5m 盘。 - - 返回值只用于**选点排序**，不参与任何安全判定；证书仍由凸/网格口径给出。 - """ - pf = self.position - if not pf.alive: - return 0.0 - if size is None: - size = self.config.bayes.score_subsample - indices = self.sample(max(2, size)) - if not indices: - return 0.0 - stride = max(len(indices) // max(self.config.bayes.mc_representatives, 1), 1) - representatives = indices[::stride] - if _np is not None: - return self._epr_vector(reader, indices, representatives) - return self._epr_python(reader, indices, representatives) # pragma: no cover - - def _epr_vector(self, reader: Vec2, indices: list[int], - representatives: list[int]) -> float: - pf = self.position - points = _np.array([pf.cell_center(index) for index in indices], dtype=float) - masks = _np.array([self._mask(index) for index in indices], dtype=_np.int64) - reps = _np.array([pf.cell_center(index) for index in representatives], - dtype=float) - rep_masks = _np.array([self._mask(index) for index in representatives], - dtype=_np.int64) - dx, dy = points[:, 0] - reader[0], points[:, 1] - reader[1] - dist = _np.hypot(dx, dy) - bearing = _np.degrees(_np.arctan2(dy, dx)) - rdx, rdy = reps[:, 0] - reader[0], reps[:, 1] - reader[1] - rdist = _np.hypot(rdx, rdy) - rbearing = _np.degrees(_np.arctan2(rdy, rdx)) - cover = _COVER_ARR[_np.round(_np.mod(rbearing, 360.0) / _GRID_DEG) - .astype(_np.int64) % _GRID_N] - visible_mask = rep_masks & cover - bits = (_POP16[visible_mask & 0xFFF] - + _POP16[(visible_mask >> 12) & 0xFFF]) - cover_ratio = bits / float(HEADING_BINS) - p_silent_range = _np.clip((rdist - self.field.r_eff_min_m) - / (self.field.r_eff_max_m - - self.field.r_eff_min_m), 0.0, 1.0) - p_vis = (1.0 - p_silent_range) * cover_ratio - p_ns = 1.0 - p_vis - gaps = _np.abs((bearing[None, :] - rbearing[:, None] + 180.0) % 360.0 - 180.0) - in_wedge = ((gaps <= self.config.field.bearing_error_half_deg - + self.config.search.bearing_rounding_margin_deg + 1e-9) - & (dist[None, :] <= self.field.r_eff_max_m + pf.margin_m)) - eps_radius = pf.spacing_m / 2.0 - radii = [] - for row in in_wedge: - member = points[row] - radii.append(_branch_radius_array(member) - if len(member) else eps_radius) - radii = _np.array(radii, dtype=float) - current = pf.mec()[1] - near = rdist <= self.field.near_radius_m + pf.margin_m - values = _np.where(near, self.field.near_radius_m + pf.margin_m, - p_ns * current + p_vis * radii) - return float(values.mean()) - - def _epr_python(self, reader: Vec2, indices: list[int], - representatives: list[int]) -> float: # pragma: no cover - """纯 Python 回退（与向量版逐分支同语义，供无 numpy 环境与对拍）。""" - pf = self.position - points = [pf.cell_center(index) for index in indices] - masks = [self._mask(index) for index in indices] - eps_radius = pf.spacing_m / 2.0 - current = pf.mec()[1] - half_angle = (self.config.field.bearing_error_half_deg - + self.config.search.bearing_rounding_margin_deg) - total = 0.0 - for rep_index in representatives: - rx, ry = pf.cell_center(rep_index) - distance = math.hypot(rx - reader[0], ry - reader[1]) - if distance <= self.field.near_radius_m + pf.margin_m: - total += self.field.near_radius_m + pf.margin_m - continue - reading = math.degrees(math.atan2(ry - reader[1], rx - reader[0])) - cover = _COVER_TABLE[_table_index(reading)] - bits = _popcount(self._mask(rep_index) & cover) - ratio = bits / float(HEADING_BINS) - if distance <= self.field.r_eff_min_m: - p_range = 1.0 - elif distance >= self.field.r_eff_max_m: - p_range = 0.0 - else: - p_range = ((self.field.r_eff_max_m - distance) - / (self.field.r_eff_max_m - self.field.r_eff_min_m)) - p_vis = p_range * ratio - members = [] - for point, mask in zip(points, masks): - if math.dist(point, reader) > self.field.r_eff_max_m + pf.margin_m: - continue - bearing = math.degrees(math.atan2(point[1] - reader[1], - point[0] - reader[0])) - if heading_gap(bearing, reading) <= half_angle + 1e-9: - members.append(point) - if members: - mx = sum(p[0] for p in members) / len(members) - my = sum(p[1] for p in members) / len(members) - radius = max(math.hypot(p[0] - mx, p[1] - my) for p in members) - else: - radius = eps_radius - total += (1.0 - p_vis) * current + p_vis * radius - return total / max(len(representatives), 1) - - - def prob_detect(self, reader: Vec2, size: int = 256) -> float: - """在 ``reader`` 处能看见任一可行 (位置, 朝向) 的概率质量（启发式）。 - - r_eff ~ U[1000, 1500] 解析积分；朝向按可行档位占比计权。 - 只用于选点排序，不参与任何安全判定。 - """ - cells = self.sample(size) - if not cells: - return 0.0 - total = 0.0 - span = self.field.r_eff_max_m - self.field.r_eff_min_m - for index in cells: - gx, gy = self.position.cell_center(index) - distance = math.hypot(reader[0] - gx, reader[1] - gy) - if distance > self.field.r_eff_max_m: - continue - if distance <= self.field.r_eff_min_m: - p_range = 1.0 - else: - p_range = (self.field.r_eff_max_m - distance) / span - if p_range <= 0.0: - continue - bearing = math.degrees(math.atan2(reader[1] - gy, reader[0] - gx)) - cover = _COVER_TABLE[_table_index(bearing)] - bits = bin(self._mask(index) & cover).count("1") - if bits: - total += p_range * bits / HEADING_BINS - return total / len(cells) - - # ------------------------------------------------------------ 观测更新 - def _apply_heading(self, station: Vec2, keep: bool, - within_m: float | None = None) -> None: - """按可见性约束裁剪朝向档（保守：只删"必然不可能"的档）。 - - ``keep=True``（direction / near）(*@\ensuremath{\Longrightarrow}@*) 朝向必须**可能**覆盖 station： - 保留与方位夹角 (*@\ensuremath{\le}@*) 90° + 半档 + 查表舍入 + 格内角裕量的档。 - - ``keep=False``（no_signal 且整格必在 r_eff_min 内）(*@\ensuremath{\Longrightarrow}@*) 朝向必须 - **确定不覆盖** station：只保留与方位夹角 > 90° − 半档 − 查表舍入 - − 格内角裕量的档。 - - ``格内角裕量 = asin(margin / max(dist − margin, 1))``：格内任一点 - 相对格心的方位偏差上界。两个方向都必须计入它，否则会误删真源的 - 朝向档（keep=True 漏计）或保留必然可见的档（keep=False 漏计）。 - """ - margin_m = self.position.margin_m - doomed: list[int] = [] - for index in self.position.alive: - gx, gy = self.position.cell_center(index) - dx, dy = station[0] - gx, station[1] - gy - distance = math.hypot(dx, dy) - if within_m is not None and distance > within_m: - continue - bearing = math.degrees(math.atan2(dy, dx)) - if distance <= margin_m + 1.0: - # 格贴测点：格内方位可指向任意方向，任何一侧都不可据此裁剪 - continue - angular_margin = math.degrees( - math.asin(min(0.9999, margin_m / (distance - margin_m)))) - if keep: - updated = self._mask(index) & _cover_mask( - bearing, 90.0 + _BIN_HALF_DEG + _GRID_DEG / 2 + angular_margin) - else: - updated = self._mask(index) & _far_mask( - bearing, 90.0 - _BIN_HALF_DEG - _GRID_DEG / 2 - angular_margin) - if updated == 0: - doomed.append(index) - self.masks.pop(index, None) - elif updated != _FULL_MASK: - self.masks[index] = updated - if doomed: - self.position.discard(doomed) - - def apply(self, station: Vec2, result: str, - svd_deg: float | None = None) -> None: - """按读数更新联合可行集（保守，真源 (位置, 朝向) 永不被删）。""" - if result == DIRECTION: - self.position.apply_measure(station, DIRECTION, svd_deg, - directional=True) - self._apply_heading(station, keep=True) - elif result == NEAR: - # near 同样要求可见（评测机先判朝向再判距离） - self.position.apply_measure(station, NEAR, directional=True) - self._apply_heading(station, keep=True) - elif result == NO_SIGNAL: - # 距离阈值必须取**保守侧**：只有"整格都必然落在 r_eff_min 圆盘内" - # 时，no_signal 才一定由朝向遮挡解释。格心到格内任一点 (*@\ensuremath{\le}@*) margin， - # 故阈值取 r_eff_min − margin；取 + margin 会把 1000~1010m 的模糊带 - # 也当成"必须不覆盖"，从而可能删掉真源的朝向档（破坏真源保留性）。 - self._apply_heading(station, keep=False, - within_m=max( - 0.0, self.field.r_eff_min_m - - self.position.margin_m)) - else: - raise ValueError(f"未知测向结果: {result!r}") - - # ------------------------------------------------------------ 诊断 - def summary(self) -> dict: - """联合集规模快照（写入策略 summary，供审计与论文复算）。""" - cells = self.sample(256) - bins = [bin(self._mask(index)).count("1") for index in cells] - return {"cells": len(self.position), - "sampled_mean_heading_bins": (round(sum(bins) / len(bins), 2) - if bins else 0.0), - "heading_bins_total": HEADING_BINS} diff --git a/docs/paper/data/listing-source/src/mcm26b/cli.py.tex b/docs/paper/data/listing-source/src/mcm26b/cli.py.tex deleted file mode 100644 index fb71207..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/cli.py.tex +++ /dev/null @@ -1,374 +0,0 @@ -"""统一命令行入口：mcm26b <子命令>。 - -- q1 问题一角域交会求解（P2 已完工） -- sim-check 用评测机复现附件计时示例（P0 自检） -- run 闭环：发现—定位—清除—退出（--problem 3 全向 / 4 混合源； - --self-test 走独立评测机 referee） - -解耦约定：运行时代码零导入评测机；referee/harness 仅在 --self-test 与 -sim-check 分支内懒加载（测试侧 dev 依赖）。 -""" - -from __future__ import annotations - -import argparse -import json -import socket -import sys -import threading -import time -from dataclasses import replace -from pathlib import Path - -from .config import ProblemConfig -from .geometry.__main__ import main as q1_main -from .planner import DirectionalExtension, OmnidirectionalLoop -from .planner.bayes_loop import BayesLoop -from .planner.seven import SevenBatch -from .protocol.client import SimulatorClient -from .protocol.log import SessionLog -from .protocol.rules import EXIT_USER - -Q3_STRATEGIES = {"grid": OmnidirectionalLoop, "seven": SevenBatch, "bayes": BayesLoop} - - -def _load_referee(): - """懒加载独立评测机与测试侧适配层（运行时/正式对接不触发）。""" - from .harness import (LocalSimTransport, mixed_scene, random_omni_scene, - referee_spec) - from referee import LocalSimulator - return (LocalSimulator, LocalSimTransport, mixed_scene, random_omni_scene, - referee_spec) - - -def _referee_missing(): - print("未安装独立评测机包 referee（mcm26b-referee）。请先 `uv sync` 安装" - " dev 依赖，或 pip install mcm26b-referee；正式对接官方模拟器无需本包。", - file=sys.stderr) - return 2 - - -# ---------------------------------------------------------------- 一键本地评测 -def _port_free(port: int) -> bool: - with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as probe: - probe.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) - try: - probe.bind(("127.0.0.1", port)) - return True - except OSError: - return False - - -def _any_free_port() -> int: - with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as probe: - probe.bind(("127.0.0.1", 0)) - return probe.getsockname()[1] - - -def _acquire_port(name: str, requested: int) -> int: - """端口被占时积极询问：交互终端逐次询问（回车=自动改空闲端口）， - 非交互环境（脚本/CI）直接改用空闲端口并告知，绝不静默失败。""" - if _port_free(requested): - return requested - if sys.stdin.isatty(): - while True: - auto = _any_free_port() - try: - answer = input(f"[一键评测] {name}端口 {requested} 已被占用：" - f"回车改用空闲端口 {auto}，或输入其他端口：").strip() - except (EOFError, KeyboardInterrupt): - return auto - if not answer: - return auto - if answer.isdigit() and 1024 <= int(answer) <= 65535: - if _port_free(int(answer)): - return int(answer) - print(f"端口 {answer} 同样被占用，请再试。") - continue - print("请输入 1024..65535 的端口号，或直接回车让评测机自选。") - auto = _any_free_port() - print(f"[一键评测] {name}端口 {requested} 已被占用（非交互环境），" - f"自动改用空闲端口 {auto}。", file=sys.stderr) - return auto - - -def _start_local_judge(args): - """启动独立评测机（机器狗接口 + WebUI 回放）并确认开始一局演练。 - - 返回 (judge, session, action_port, ui_port)；失败返回 None（已打印原因）。 - """ - try: - from referee import Referee - from referee.server import ActionInterfaceServer - from referee.webui import WebUIServer - except ImportError: - _referee_missing() - return None - action_port = _acquire_port("机器狗接口", args.judge_port) - ui_port = None - judge = Referee(action_port=action_port, data_dir=Path(args.judge_data_dir)) - ActionInterfaceServer(judge) - if not args.judge_no_ui: - ui_port = _acquire_port("WebUI", args.judge_ui_port) - ui = WebUIServer(judge, ui_port) - threading.Thread(target=ui.serve_forever, daemon=True, - name="mcm26b-local-judge-ui").start() - module = f"q{args.problem}_practice" - session = judge.start(module, args.robot_id, seed=args.seed, - countdown_s=args.judge_countdown_s) - deadline = time.monotonic() + session.countdown_s + 10 - while session.phase == "countdown" and time.monotonic() < deadline: - time.sleep(0.05) - if session.phase != "open": - print("[一键评测] 评测机未能开放接口，已中止。", file=sys.stderr) - judge.abort() - return None - print(f"[一键评测] 案例编码 {session.case_code} · {session.module.title}" - f" · 接口 http://127.0.0.1:{action_port}") - if ui_port is not None: - print(f"[一键评测] WebUI http://127.0.0.1:{ui_port}" - f"（实时界面与\"回放\"Tab 逐步回看，数据目录 {args.judge_data_dir}）") - return judge, session, action_port, ui_port - - -def _settle_local_judge(judge, timeout_s: float = 3.0) -> None: - """等看门狗确认本局结束（/exit 后毫秒级）；仅超时才兜底手工中止。""" - deadline = time.monotonic() + timeout_s - while judge.session.phase != "finished" and time.monotonic() < deadline: - time.sleep(0.05) - if judge.session.phase != "finished": - judge.abort() - - -def _finish_local_judge(judge, session, summary: dict) -> None: - """等待评测机确认结束，把结束原因、真值统计与回放入口并入 summary。""" - _settle_local_judge(judge, timeout_s=10.0) - state = judge.snapshot() - truth_channels = sorted(s.channel for s in session.sources) - cleared = sorted(summary.get("cleared_channels", [])) - summary["local_judge"] = { - "case_code": session.case_code, - "module": session.module.title, - "end_reason": state.get("end_reason"), - "end_reason_text": state.get("end_reason_text"), - "virtual_time_s": state.get("virtual_time_s"), - "request_count": state.get("request_count"), - "truth": {"source_channels": truth_channels, - "source_count": len(truth_channels), - "omni_count": sum(1 for s in session.sources if not s.directional), - "directional_count": sum(1 for s in session.sources if s.directional)}, - "all_cleared": cleared == truth_channels, - "log": state.get("log"), - } - - -def _sim_check(args) -> int: - """附件1表2/附件2第10节计时示例：期望 105/111/194/199 秒。""" - try: - local_simulator, local_sim_transport, *_ = _load_referee() - except ImportError: - return _referee_missing() - simulator = local_simulator([], robot_id=args.robot_id) - client = SimulatorClient(args.robot_id, transport=local_sim_transport(simulator)) - client.enter() - steps = [] - steps.append(client.measure((300, 400), 1).virtual_time_s) # 移动500m+检测5s - steps.append(client.measure((300, 400), 2).virtual_time_s) # 换频道1s+检测5s - steps.append(client.clear((300, 0), 3).virtual_time_s) # 移动400m+未发现3s - steps.append(client.measure((300, 0), 2).virtual_time_s) # 原地检测频道2 - info = client.exit() - expected = [105, 111, 194, 199] - ok = [round(value, 6) for value in steps] == expected \ - and round(info.virtual_time_s, 6) == 199 and info.reason == EXIT_USER - print(json.dumps({"expected": expected, "got": steps, - "final_virtual_time_s": info.virtual_time_s, - "exit_reason": info.reason, "pass": ok}, - ensure_ascii=False)) - return 0 if ok else 1 - - -def _run(args) -> int: - """问题3/4闭环。 - - 三种对接方式：--local-judge 一键本地评测（自动起 referee 并对接）； - --self-test 内存回环自检（不占端口）；默认对接 --base-url 的模拟器 - （官方或本地 referee）。真值只存在于测试端入口，策略端仅见响应。 - - 实机预算：--self-test 时评测机按 --real-budget-s（默认 1800s）返回 - remaining_real_duration_s；其余方式以服务器 /enter 返回为准（题面 - 程序运行上限 20 分钟，不可延长）。 - """ - config = ProblemConfig() - session = replace(config.session, - base_url=args.base_url or config.session.base_url) - config = replace(config, - session=session, - search=replace(config.search, - bearing_rounding_margin_deg=args.bearing_margin_deg, - persistent_search=args.persistent)) - if args.persistent: - # 历史教训：一次官方演练在 persistent 复扫下把 98.84% 的虚拟时间 - # （346170 s）花在空复扫上。这里给出单轮上界，明确这是"扫到限时"模式。 - stations = 49 if args.problem == 4 else 7 - per_round = config.field.channel_max * stations * ( - config.cost.measure_s + config.cost.switch_s) - print(f"[警告] --persistent：找全后仍复扫未清除频道直到限时。" - f"单轮上界约 {per_round:.0f}s 虚拟时间" - f"（{config.field.channel_max} 频道 × {stations} 站点 × " - f"{config.cost.measure_s + config.cost.switch_s:.0f}s），" - f"且会持续多轮；成绩口径请保持默认（关闭）。", file=sys.stderr) - truth = None - transport = None - real_budget_s = None - judge = judge_session = None - if args.local_judge: - if args.self_test: - print("--local-judge 与 --self-test 不能同时使用。", file=sys.stderr) - return 2 - if args.base_url: - print("--local-judge 忽略 --base-url（接口地址由评测机自动分配）。", - file=sys.stderr) - started = _start_local_judge(args) - if started is None: - return 2 - judge, judge_session, action_port, _ui_port = started - config = replace(config, session=replace( - config.session, base_url=f"http://127.0.0.1:{action_port}")) - elif args.self_test: - try: - (local_simulator, local_sim_transport, - mixed_scene, random_omni_scene, referee_spec) = _load_referee() - except ImportError: - return _referee_missing() - real_budget_s = (args.real_budget_s if args.real_budget_s is not None - else config.session.self_test_real_budget_s) - config = replace(config, - field=replace(config.field, - max_real_duration_s=real_budget_s)) - if args.problem == 4: - sources = mixed_scene(seed=args.seed, count=args.sources, - directional=args.directional, config=config) - else: - sources = random_omni_scene(seed=args.seed, count=args.sources, - config=config) - truth = sorted(source.channel for source in sources) - simulator = local_simulator(sources, robot_id=args.robot_id, - spec=referee_spec(config, max_real_duration_s=real_budget_s), - stress_mode=True) - transport = local_sim_transport(simulator) - elif args.real_budget_s is not None: - print("--real-budget-s 仅在 --self-test 下生效；正式测试以服务器 " - "/enter 返回的 remaining_real_duration_s 为准。", file=sys.stderr) - log = SessionLog(path=Path(args.log)) if args.log else SessionLog() - client = SimulatorClient(args.robot_id, config=config, transport=transport, log=log) - if args.problem == 4: - strategy = "directional" - loop_cls = DirectionalExtension - else: - strategy = args.strategy - loop_cls = Q3_STRATEGIES[strategy] - try: - summary = loop_cls(client, config).run() - finally: - if judge is not None: - _settle_local_judge(judge) - summary["robot_id"] = args.robot_id - return _finalize_run(args, summary, strategy, truth=truth, judge=judge, - judge_session=judge_session, real_budget_s=real_budget_s) - - -def _finalize_run(args, summary, strategy, *, truth, judge, judge_session, - real_budget_s) -> int: - """补齐 summary 元信息、核对真值并输出；返回进程退出码。""" - summary["strategy"] = strategy - if real_budget_s is not None: - summary["self_test_real_budget_s"] = real_budget_s - if args.summary_steps is not None and len(summary.get("steps", [])) > args.summary_steps: - summary["steps"] = summary["steps"][:args.summary_steps] - summary["steps_truncated"] = True - all_cleared = None - if truth is not None: - # 仅测试端核对：清除集合是否与真值一致。 - all_cleared = sorted(summary["cleared_channels"]) == truth - summary["truth"] = {"source_channels": truth, - "source_count": len(truth), - "all_cleared": all_cleared} - if judge is not None: - _finish_local_judge(judge, judge_session, summary) - all_cleared = summary["local_judge"]["all_cleared"] - print(json.dumps(summary, ensure_ascii=False, indent=2)) - return 0 if summary["completed"] and (all_cleared is not False) else 1 - - -def main(argv=None) -> int: - parser = argparse.ArgumentParser(prog="mcm26b", description=__doc__) - parser.add_argument("--config", default="", - help="预留：覆盖 ProblemConfig 的 JSON 文件（参数化入口）") - subparsers = parser.add_subparsers(dest="command", required=True) - - q1 = subparsers.add_parser("q1", help="问题一角域交会求解") - q1.add_argument("input", type=str) - q1.add_argument("-o", "--output", type=str, default=None) - q1.add_argument("--rounding-margin-deg", type=float, default=0) - q1.set_defaults(func=lambda a: q1_main([a.input] + (["-o", a.output] if a.output else []) - + (["--rounding-margin-deg", str(a.rounding_margin_deg)] - if a.rounding_margin_deg else [])) or 0) - - check = subparsers.add_parser("sim-check", help="自建模拟器复现附件计时示例") - check.add_argument("--robot-id", default="2026001") - check.set_defaults(func=_sim_check) - - run = subparsers.add_parser("run", help="闭环：发现—定位—清除—退出（问题3/4）") - run.add_argument("--robot-id", required=True, help="登录参赛队号，逐字节一致") - run.add_argument("--base-url", default=None, - help="模拟器接口地址（默认取配置 http://127.0.0.1:2026）") - run.add_argument("--log", default=None, help="会话日志 JSONL 输出路径") - run.add_argument("--problem", type=int, choices=(3, 4), default=3, - help="问题3=全向源，问题4=混合定向源（默认 3）") - run.add_argument("--strategy", choices=tuple(Q3_STRATEGIES), default="bayes", - help="问题3策略：bayes=粒子滤波+信息增益+滚动调度（默认，" - "自建消融相对 seven 再降 19.5%%），seven=七点批量，" - "grid=49点网格基线；仅 --problem 3 生效") - run.add_argument("--bearing-margin-deg", type=float, default=0.005, - help="示向度舍入裕量（服务器保留两位小数；默认 0.005°）") - run.add_argument("--real-budget-s", type=float, default=None, - help="自检实机预算秒数（默认 1800=30 分钟；仅 --self-test 生效，" - "正式测试以服务器 /enter 返回为准）") - run.add_argument("--summary-steps", type=int, default=None, - help="summary 中保留的逐步计时条数上限（默认全部；完整明细在日志）") - run.add_argument("--persistent", action="store_true", - help="复扫保险模式：找全证明后继续复扫未清除频道直到限时" - "（默认关闭：虚拟时间即成绩口径，找全即 /exit）") - run.add_argument("--local-judge", action="store_true", - help="一键本地评测：自动启动独立评测机 referee（机器狗接口+" - "WebUI 实时/回放），确认开始一局演练并对接跑完整闭环；" - "端口被占时主动询问换端口（非交互环境自动改用空闲端口）") - run.add_argument("--judge-port", type=int, default=2026, - help="一键评测的机器狗接口端口（默认 2026；被占时询问/自选）") - run.add_argument("--judge-ui-port", type=int, default=8026, - help="一键评测的 WebUI 端口（默认 8026；被占时询问/自选）") - run.add_argument("--judge-no-ui", action="store_true", - help="一键评测不启动 WebUI（只保留机器狗接口）") - run.add_argument("--judge-countdown-s", type=float, default=5.0, - help="一键评测的确认开始倒计时秒数（题面默认 5 秒，可缩短加速）") - run.add_argument("--judge-data-dir", default="output/referee", - help="一键评测的会话日志目录（默认 output/referee，供 WebUI 回放）") - run.add_argument("--self-test", action="store_true", - help="走独立评测机 referee 与随机场景（测试端自检，不连官方）") - run.add_argument("--seed", type=int, default=20260910, help="自检场景种子") - run.add_argument("--sources", type=int, default=None, - help="自检源数量（默认按题面在 10~16 中随机）") - run.add_argument("--directional", type=int, default=3, - help="问题4自检场景中定向源数量（--problem 4 生效）") - run.set_defaults(func=_run) - - args = parser.parse_args(argv) - try: - return args.func(args) - except NotImplementedError as exc: - print(f"未实现: {exc}", file=sys.stderr) - return 2 - - -if __name__ == "__main__": - sys.exit(main()) diff --git a/docs/paper/data/listing-source/src/mcm26b/config.py.tex b/docs/paper/data/listing-source/src/mcm26b/config.py.tex deleted file mode 100644 index d430286..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/config.py.tex +++ /dev/null @@ -1,213 +0,0 @@ -"""全项目参数中心：题面常量、协议限制、会话策略与搜索规划参数。 - -任何魔法数字只允许在这里出现一次。各模块通过 :class:`ProblemConfig` 读取； -命令行需要覆盖时用 ``dataclasses.replace`` 派生新配置，不散落字面量。 - -来源标注约定： -- ``[题面]`` 出自 issue/B题.pdf、附件1《模拟器使用说明》、附件2《通信接口说明》原文； -- ``[工程]`` 本队工程参数，可依演练实测调整，不代表官方规定。 -""" - -from __future__ import annotations - -from dataclasses import dataclass - -Vec2 = tuple[float, float] - - -@dataclass(frozen=True) -class FieldConfig: - """题目物理世界与协议硬限制。[题面]""" - - omega_radius_m: float = 1800.0 # 目标区域半径，圆心为原点 - channel_min: int = 1 # 有效频道范围 - channel_max: int = 20 - source_count_min: int = 10 # 一局源总数范围（接口不直接告知） - source_count_max: int = 16 - r_eff_min_m: float = 1000.0 # 有效接收半径下界：no_signal 只能排除该圆盘 - r_eff_max_m: float = 1500.0 # 有效接收半径上界：direction 隐含距离上界 - near_radius_m: float = 5.0 # "距离过近"阈值，不返回示向度 - clear_radius_m: float = 20.0 # 清除半径；与定向朝向无关 - bearing_error_half_deg: float = 1.0 # 示向度误差幅度（题设模型） - bearing_decimals: int = 2 # 返回示向度小数位 - coord_abs_limit_m: float = 2_000_000.0 # 提交坐标的绝对值上限（超出返回 HTTP 400） - directional_half_angle_deg: float = 90.0 # 定向源朝向两侧各90度覆盖（含边界） - max_virtual_duration_s: float = 360_000.0 # 虚拟世界限时（100小时） - max_real_duration_s: float = 1200.0 # /enter 成功后程序运行上限（20分钟） - test_window_s: float = 1500.0 # 确认开始后的测试窗口（25分钟） - - -@dataclass(frozen=True) -class CostConfig: - """虚拟世界动作耗时模型。[题面] 附件1表1、附件2第4节。""" - - speed_mps: float = 5.0 # 移动速度；耗时=直线距离/speed - measure_s: float = 5.0 # 每次检测动作耗时（无论结果） - switch_s: float = 1.0 # 任意两频道间切换耗时，仅由合法 /measure 触发 - clear_success_s: float = 5.0 # 清除成功耗时 = 光学定位3s + 激光清除2s - clear_fail_s: float = 3.0 # 未发现可清除目标 = 仅光学定位3s - - -@dataclass(frozen=True) -class SessionConfig: - """会话与网络策略。arena/robot/request 规则为 [题面]，其余为 [工程]。""" - - arena_id: str = "default" # [题面] 固定值 - base_url: str = "http://127.0.0.1:2026" # [题面] 模拟器默认接口地址 - robot_id_max_bytes: int = 64 # [题面] UTF-8 长度 1..64 - request_id_max_bytes: int = 128 # [题面] UTF-8 长度 1..128 - request_body_max_bytes: int = 65_536 # [题面] 超出返回 HTTP 413 - connect_timeout_s: float = 5.0 # [工程] 连接超时 - read_timeout_s: float = 15.0 # [工程] 读超时；覆盖"服务器已处理但响应丢失" - max_attempts: int = 3 # [工程] 单动作最多尝试次数（含首次） - retry_backoff_s: float = 0.25 # [工程] 重试退避基数，按 2^n 放大 - reserve_exit_s: float = 60.0 # [工程] 预留退出与故障恢复的现实秒数 - real_rtt_p95_s: float = 1.0 # [工程] 现实单请求高分位估计，预算核算用 - # [工程] 自检/演练实机预算：题面正式测试程序运行上限 1200s 不可延长； - # 自检经 --real-budget-s 覆盖 LocalSimulator 返回的 remaining_real_duration_s， - # 默认 1800s（30 分钟实机），用于验证"限时内持续运行直到找全"的行为。 - self_test_real_budget_s: float = 1800.0 - - -@dataclass(frozen=True) -class SearchConfig: - """搜索与覆盖规划参数。[工程] 推导依据见 docs/B题建模分析与实施计划.md。""" - - grid_step_m: float = 700.0 # P4 覆盖网格步长；单元对角 700*sqrt(2)(*@\ensuremath{\approx}@*)989.95<=1000 - grid_half_cells: int = 3 # i,j (*@\ensuremath{\in}@*) [-3,3]，49 点覆盖 [-2100,2100]^2 (*@\ensuremath{\supseteq}@*) Ω - fallback_clear_grid_m: float = 20.0 # P5 后备清除网格；10*sqrt(2)<=20 - # 舍入裕量：服务器对示向度保留两位小数，引入 <=0.005° 偏差 [题面]； - # 不加裕量时合法真源可能被角域裁掉，故库默认与 CLI run 默认一致取 0.005 [工程]。 - bearing_rounding_margin_deg: float = 0.005 - # ---- P3/P4 在线定位与闭环参数 [工程] ---- - polygon_sides: int = 192 # 圆盘外切多边形边数；Ω 近似误差 1800(1-cos((*@\ensuremath{\pi}@*)/192))(*@\ensuremath{\approx}@*)0.24m - witness_spacing_m: float = 60.0 # 最坏后验评估的边界采样间距；选定后再按 1/4 加密复核 - candidate_rings: tuple = (0.0, 0.4, 0.75, 1.0) # 安全接收盘内候选点的半径比例 - candidate_angles: int = 12 # 每环候选方向数 - clear_margin_m: float = 0.5 # 清除证书的额外工程余量（多边形近似误差之外） - max_localize_steps: int = 8 # 单频道定位阶段允许的追加测量上限 - max_anomalies_per_channel: int = 3 # 单频道异常记录上限，防止异常刷屏 - # ---- P5 定向扩展参数 [工程] ---- - max_blocked_probes: int = 4 # 定位单轮内被朝向遮挡的探点预算 - # （首次选点+对跖复核+2 次环探；达限转后备清除） - fallback_max_cells: int = 400 # 后备清除格数硬顶；超过则不盲扫（宽候选集继续定位） - # ---- 覆盖计划（保证层）[工程，2026-09-12 架构优化 P0-2 / S2 硬化] ---- - # 第四问发现点集： - # square49 旧的充分条件表（700m 方格，巡回 36.4km）； - # q4_mincover_v1 75m/24 档贪心最小集（31 点，巡回 22.9km）——细网格复检 - # 在 25m/48 档有 125 个 (p,h) 缺口，是采样过拟合解； - # q4_mincover_v2 **设计裕量**最小集（31 点，r_design=965m、前向角裕量 5°， - # 搜索分辨率 50m/48 档 + 证书分辨率精细剪枝）， - # 15m/72 档（325.6 万 (p,h)）缺口 0，最坏命中 990m，巡回 23.9km。 - # 运行期按同一采样语义复核，未通过即拒绝启动。 - q4_coverage_plan: str = "q4_mincover_v2" - verify_coverage_plan: bool = True # 运行期抽样校验（进程内缓存一次） - # ---- 第四问定向源联合信念 [工程，2026-09-12 架构优化 P0-3] ---- - # 为已发现的定向频道维护 (位置 × 朝向) 联合可行集：用可见性概率选点， - # 取代固定 45° 阶梯探点；联合集空即给出缺席证明。安全性仍由凸/网格 - # 清除证书与覆盖证明负责，本开关只影响选点顺序。 - directional_joint_belief: bool = True - # ---- 第四问定向源探点值函数 [工程，2026-09-12 图论与 DP 方案 S3/D1] ---- - # 旧评分 ``prob_detect/(移动+6)`` 只问"这点看不看得见源"，不问"测完剩多少 - # 不确定度"，会反复选中同一个近处被遮挡点。D1 口径：先按可见概率过滤 - # （只保留 prob_detect (*@\ensuremath{\ge}@*) ratio×最大值的候选），再最小化 - # E[后验 MEC 半径](q) + (*@\ensuremath{\lambda}@*)·(当前位置→q→MEC 圆心 的移动秒数 + 检测) - # 9 场景 core 配对（修正联合信念朝向规则之后）： - # (*@\ensuremath{\lambda}@*)=0.05：后备 6.8 次 / T 9740 s（值函数主导，为信息多绕路） - # (*@\ensuremath{\lambda}@*)=5 ：后备 4.3 次 / T 8604 s（移动项主导，可见性过滤 + 就近抵近） - # 仅移动项（nearest_visible）：后备 4.3 次 / T 8602 s，墙钟最低 - # 相对旧 visibility 口径（后备 125.6 次、T 9225 s）三者都更好，且 (*@\ensuremath{\lambda}@*) 越大 - # 越优说明本题"看得见 + 少走路"比"信息量最大"更重要，故默认取极限口径。 - probe_score_mode: str = "nearest_visible" # visibility | expected_radius | nearest_visible - probe_lambda_move_s: float = 5.0 # expected_radius 口径下的移动折算 - # 可见概率过滤：只保留 prob_detect (*@\ensuremath{\ge}@*) ratio×最大值的候选再比期望半径， - # 避免"期望上有点信息、实际必被朝向遮挡"的探点。 - probe_visibility_ratio: float = 0.7 - probe_exclude_blocked: bool = True # 已测过且被遮挡的探点不再重复选取 - approach_fractions: tuple = () # D1 抵近点插值比例（0=圆心）；默认关闭 - # ---- 后备清除路径优化 [工程，2026-09-12 S4/D3] ---- - # 实测反例：后备清除在命中真源时立即结束，"整条走格路径最短"并不是正确 - # 目标——Or-opt 会把真源推到序列更后面。9 场景配对：最近邻 125.7 次失败 - # vs Or-opt 161.4 次（T 8676 → 8940 s）。默认关闭，保留代码与开关。 - fallback_optimize_tour: bool = False - # ---- 持续搜索 [工程，2026-09-11 用户决策修订] ---- - # 虚拟时间即评测成绩口径（表1：平均定位清除时间）：找全证明达成后 - # 立即 /exit，不复扫。复扫保险模式（防缺席证明假设偏差）保留，经 - # `mcm26b run --persistent` 显式开启：只复扫未清除频道，直到清除数 - # 达 16、实机预算耗尽或虚拟安全余量不足。 - persistent_search: bool = False - virtual_reserve_s: float = 10_000.0 # 虚拟时长安全余量：剩余不足时停止发起动作， - # 避免触及 100 小时上限被模拟器强制结束 - - -@dataclass(frozen=True) -class BayesConfig: - """P4b 贝叶斯网格滤波策略参数（问题3新策略 bayes）。[工程] - - 网格粒子滤波的严格性依赖 Voronoi 裕量：真实源所在格心与源的距离 - <= sqrt(2)/2 * particle_spacing_m，所有 kill 判定都内缩该裕量， - 因此幸存集永远包含真源（定理见 docs/algo-3-bayes.md §2）。 - """ - - particle_spacing_m: float = 14.65 # 网格间距；Voronoi 裕量 (*@\ensuremath{\approx}@*) 10.35m； - # 全域约 4.7 万格/频道，查询走粗格索引 - # ---- 信息增益评分 [工程，Optuna TPE 调参回填 2026-09-11] ---- - # 原调参记录见 output/q3/bayes-tuning/；当前代码的配对验收记录见 - # output/q3/optimization-20260911/，随机分布与信息评分仅为工程假设。 - score_mode: str = "entropy" # entropy=期望 log 幸存占比（信息增益）| - # radius=期望后验半径（直指证书） - score_subsample: int = 800 # 期望幸存熵估计的粒子子采样规模 - mc_representatives: int = 7 # 假设真值代表点数（均匀抽取幸存格） - lambda_move_s: float = 0.05 # 选点评分中移动时间的折算系数（分值/秒）； - # 2026-09-12 配对复跑：0.05 优于 0.0105（20 场均值 −2.8%）， - # entropy 口径下信息项为 O(1) 对数值，(*@\ensuremath{\lambda}@*)须小型但不可过小 - # ---- 路线感知探点 [工程，2026-09-12 P2] ---- - # 旧评分只看 current->q + q->MEC，容易选到“信息增益略高但要多绕几百米” - # 的探点。开启后，在候选评分中加入 q 替换当前位置后对当前任务路线代价 - # 的增量；A/B 以冻结基准集配对验收。 - # 2026-09-12 冻结基准集复跑（18 场景）：关闭 3193.1 s vs 开启 3210.3 s， - # 移动 12339.8 m vs 12446.8 m —— 权重 1e-3 的路线项未带来净收益，默认关闭。 - route_aware_probe: bool = False - route_aware_insert_weight: float = 0.001 # 路线代价增量的折算系数（小权重，仅微调） - route_aware_clear_weight: float = 0.0 # 额外 q->MEC 清除接近项（基础移动项已含） - wide_rings: tuple = (1.0, 1.5, 2.0) # 无保证接收盘时的探索环（× PF MEC 半径） - # ---- 站点与覆盖 [工程] ---- - station_ring_radius_m: float = 1159.7 # 七点环半径；构造时检验全向覆盖解析上界 - # ---- 发现-定位融合巡回 [工程，2026-09-12 P0-1，实测无效，默认关闭] ---- - # 设想：站点扫频顺带取第二/第三条方位线，取代专用探点。 - # 实测（output/suite/q3-fuse-ab*，20 场景配对，2026-09-12）： - # 仅追加站点方位线：3454.6s vs 3426.9s（+0.8%，检测 +10.8 次，位移仅 −188m）； - # 追加 + 抑制专用探点：4989.0s vs 3426.9s（+45.6%，20/20 场景更慢）。 - # 原因：七站环上只有 2–3 个站能对同一源取得有效方位线，且站间交会角 - # 不足以保证 20m 证书，专用信息增益探点仍然必要；抑制探点只会白等巡回。 - # 代码保留以便复现与后续研究，成绩口径必须保持 False。 - fuse_localize_into_tour: bool = False - # ---- 任务排序 [工程] ---- - two_opt_enabled: bool = True # 开放路径 2-opt 改进（最近邻打底） - two_opt_passes: int = 4 # 2-opt 最大改进轮数 - # ---- 精确任务序（Held-Karp，含换频状态）[工程，2026-09-12 S5/T1] ---- - # 任务表典型 6–12 项：|T| (*@\ensuremath{\le}@*) exact_order_limit 时用精确 DP（状态=已访问集合 - # × 结束时测向频道），换频代价精确计入；否则回退 NN + 2-opt。0 表示禁用。 - # 实测（18 场景）：精确 DP 3203.2 s vs 2-opt 3193.1 s —— 逐位最优的"当前 - # 任务表"在滚动时域下反而略差（贪心排序的次优性起到探索作用），默认 0； - # 代码与对拍测试保留，可随时开启复核。 - exact_order_limit: int = 0 - # ---- PF 清除证书 [工程] ---- - grid_cert_enabled: bool = True # 允许用幸存集 MEC 颁发清除证书（凸证书之外） - opportunistic_measure: bool = True # 已停靠位置顺路交会；仍逐频道计费 - # 预测后验半径至少减少 (1−ratio) 才补测；0.5 优于 0.65（18 场景 3205.4 vs 3210.3 s） - opportunistic_radius_ratio: float = 0.5 - - -@dataclass(frozen=True) -class ProblemConfig: - """聚合配置。各模块函数的第一个默认参数，便于单测替换。""" - - field: FieldConfig = FieldConfig() - cost: CostConfig = CostConfig() - session: SessionConfig = SessionConfig() - search: SearchConfig = SearchConfig() - bayes: BayesConfig = BayesConfig() - - -DEFAULT_CONFIG = ProblemConfig() diff --git a/docs/paper/data/listing-source/src/mcm26b/coverage/__init__.py.tex b/docs/paper/data/listing-source/src/mcm26b/coverage/__init__.py.tex deleted file mode 100644 index f4921cf..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/coverage/__init__.py.tex +++ /dev/null @@ -1,56 +0,0 @@ -"""P4 全域覆盖：49 点网格与逐频道覆盖记录。 - -覆盖基线（推导见 docs/B题建模分析与实施计划.md §4）： -S = {(700i, 700j) : i, j (*@\ensuremath{\in}@*) [-3,3]}，|S| = 49，覆盖 [-2100,2100]² (*@\ensuremath{\supseteq}@*) Ω， -且允许访问目标圆域外（边界朝外发射的定向源不漏）。 -单元内任意点到 4 顶点距离 <= 700·√2 (*@\ensuremath{\approx}@*) 989.95 <= 1000 <= 最小接收半径。 - -验收标准： -- "路过某点"不算"测过某频道"：必须按 (频道, 点) 二维记录； -- 已清除/已定位频道可跳过剩余点，但跳过原因必须留痕； -- 自适应跳点（P6）必须保留逐频道覆盖证据，否则不得启用。 -""" - -from __future__ import annotations - -from dataclasses import dataclass, field - -from ..config import ProblemConfig, Vec2 - - -def coverage_points(config: ProblemConfig = ProblemConfig()) -> list[Vec2]: - """49 点覆盖网格生成（纯几何，可独立测试）。""" - step = config.search.grid_step_m - half = config.search.grid_half_cells - return [(step * i, step * j) - for j in range(half, -half - 1, -1) - for i in range(-half, half + 1)] - - -@dataclass -class CoverageLedger: - """逐频道覆盖账本：(频道, 网格点) -> 是否已测。""" - - config: ProblemConfig = field(default_factory=ProblemConfig) - points: list[Vec2] = field(default_factory=coverage_points) - measured: set = field(default_factory=set) # {(channel, point_index)} - skipped: dict = field(default_factory=dict) # channel -> 原因 - - def mark_measured(self, channel: int, point_index: int) -> None: - self.measured.add((channel, point_index)) - - def measured_at(self, channel: int, point_index: int) -> bool: - return (channel, point_index) in self.measured - - def skip_channel(self, channel: int, reason: str) -> None: - """记录整频道跳过原因（如 already_cleared / located_pending_clear）。""" - self.skipped[channel] = reason - - def pending_points(self, channel: int) -> list[int]: - """该频道尚未测量的网格点下标。扫描调度策略未实现（P4）。""" - return [index for index in range(len(self.points)) - if not self.measured_at(channel, index)] - - def coverage_complete(self, channel: int) -> bool: - """该频道覆盖是否完成（含显式跳过）。""" - return channel in self.skipped or not self.pending_points(channel) diff --git a/docs/paper/data/listing-source/src/mcm26b/evaluation/__init__.py.tex b/docs/paper/data/listing-source/src/mcm26b/evaluation/__init__.py.tex deleted file mode 100644 index 2fb2ec8..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/evaluation/__init__.py.tex +++ /dev/null @@ -1,85 +0,0 @@ -"""评估与统计：从自身动作日志离线复算虚拟时刻与统计量。 - -"演练统计"验收要求：总时间与分项耗时可独立复算 [题面/计划 §6]。 -recompute_virtual_time 是回放测试与本模块共用的唯一复算实现， -客户端日志格式为 SessionLog 中 accepted 事件的 {path, request, response}。 -""" - -from __future__ import annotations - -from ..config import CostConfig -from ..protocol.rules import CLEAR_SUCCESS -from ..protocol.timing import clear_cost, measure_cost - - -def recompute_virtual_time(events: list[dict], - cost: CostConfig = CostConfig()) -> dict: - """从动作日志复算逐步虚拟时刻。 - - events 每项形如 {path, request, response}（accepted=true）。 - 返回逐步表与最终时刻；任何一步与服务器响应偏差超过容差记入 mismatches。 - """ - position = (0.0, 0.0) - channel = 1 - virtual = 0.0 - virtual_us = 0 - steps, mismatches = [], [] - for index, event in enumerate(events): - path, request = event["path"], event["request"] - response = event["response"] - if response.get("accepted") is not True: - mismatches.append({"index": index, "issue": "响应未被接受"}) - continue - if path == "/enter": - position, channel, virtual = (0.0, 0.0), 1, response["virtual_time_s"] - virtual_us = round(virtual * 1_000_000) - elif path == "/measure": - pos = (request["position"]["x"], request["position"]["y"]) - predicted = measure_cost(position, pos, channel, request["channel"], cost) - position, channel = pos, request["channel"] - virtual_us += predicted.total_us - virtual = virtual_us / 1_000_000 - elif path == "/clear": - pos = (request["position"]["x"], request["position"]["y"]) - success = response.get("clear_result") == CLEAR_SUCCESS - predicted = clear_cost(position, pos, success, cost) - position = pos - virtual_us += predicted.total_us - virtual = virtual_us / 1_000_000 - elif path == "/exit": - pass # /exit 不推进虚拟时钟 [题面] - else: - mismatches.append({"index": index, "issue": f"未知路径 {path}"}) - continue - delta = response["virtual_time_s"] - virtual - if abs(delta) > 1e-6: - mismatches.append({"index": index, "path": path, - "recomputed_s": virtual, - "recorded_s": response["virtual_time_s"], - "gap_s": delta}) - steps.append({"index": index, "path": path, - "predicted_s": round(virtual, 9), - "recorded_s": response["virtual_time_s"]}) - return {"steps": steps, "final_virtual_time_s": virtual, - "mismatches": mismatches} - - -def summarize(events: list[dict]) -> dict: - """动作计数摘要：检测/清除/移动距离等基础统计。""" - position = (0.0, 0.0) - measures, clears, cleared, distance_m = 0, 0, 0, 0.0 - for event in events: - request = event["request"] - if event["path"] in ("/measure", "/clear"): - pos = (request["position"]["x"], request["position"]["y"]) - distance_m += ((pos[0] - position[0]) ** 2 - + (pos[1] - position[1]) ** 2) ** 0.5 - position = pos - if event["path"] == "/measure": - measures += 1 - elif event["path"] == "/clear": - clears += 1 - if event["response"].get("clear_result") == CLEAR_SUCCESS: - cleared += 1 - return {"measures": measures, "clears": clears, "cleared": cleared, - "distance_m": distance_m} diff --git a/docs/paper/data/listing-source/src/mcm26b/geometry/__init__.py.tex b/docs/paper/data/listing-source/src/mcm26b/geometry/__init__.py.tex deleted file mode 100644 index 091e7e4..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/geometry/__init__.py.tex +++ /dev/null @@ -1,9 +0,0 @@ -"""P2 几何内核：B题问题一有界误差方位交会定位。仅用标准库，已完工。 - -问题二首次测向安全候选盘证书一并放在本包（planning 模块）。 -""" - -from .localization import Measurement, solve, smallest_enclosing_circle -from .planning import first_bearing_candidate_disk - -__all__ = ["Measurement", "solve", "smallest_enclosing_circle", "first_bearing_candidate_disk"] diff --git a/docs/paper/data/listing-source/src/mcm26b/geometry/__main__.py.tex b/docs/paper/data/listing-source/src/mcm26b/geometry/__main__.py.tex deleted file mode 100644 index e43a5a2..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/geometry/__main__.py.tex +++ /dev/null @@ -1,40 +0,0 @@ -"""python -m mcm26b.geometry observations.json [-o result.json]""" - -import argparse -import json -from dataclasses import replace -from math import isfinite -from pathlib import Path -from .localization import Measurement, solve - - -def main(argv=None): - parser = argparse.ArgumentParser(description="B题问题一：角域交、直径与包围圆") - parser.add_argument("input", type=Path, help="包含measurements数组的JSON文件") - parser.add_argument("-o", "--output", type=Path) - parser.add_argument("--rounding-margin-deg", type=float, default=0, - help="额外误差半角，默认0；可显式设0.005进行舍入敏感性分析") - args = parser.parse_args(argv) - try: - source = json.loads(args.input.read_text(encoding="utf-8-sig")) - measurements = [Measurement(**row) for row in source["measurements"]] - if not isfinite(args.rounding_margin_deg) or args.rounding_margin_deg < 0: - raise ValueError("额外误差半角必须为有限非负数") - measurements = [replace(m, half_angle_deg=m.half_angle_deg+args.rounding_margin_deg) - for m in measurements] - result = solve(measurements) - result["error_policy"] = { - "additional_half_angle_deg": args.rounding_margin_deg, - "effective_half_angles_deg": [m.half_angle_deg for m in measurements], - } - except (ValueError, TypeError, KeyError, OSError) as exc: - parser.error(str(exc)) - text = json.dumps(result, ensure_ascii=False, indent=2, allow_nan=False) - if args.output: - args.output.parent.mkdir(parents=True, exist_ok=True) - args.output.write_text(text + "\n", encoding="utf-8") - print(text) - - -if __name__ == "__main__": - main() diff --git a/docs/paper/data/listing-source/src/mcm26b/geometry/localization.py.tex b/docs/paper/data/listing-source/src/mcm26b/geometry/localization.py.tex deleted file mode 100644 index c7bfde8..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/geometry/localization.py.tex +++ /dev/null @@ -1,289 +0,0 @@ -"""Intersect forward bearing wedges without an artificial bounding box. - -All calculations are floating point with normalized station coordinates. -The reference algorithm deliberately favors auditability over asymptotic speed. -Near-parallel plane pairs are intersected instead of skipped (only exactly -parallel pairs are discarded), and the feasibility tolerance scales with the -candidate vertex magnitude, so legitimate far-away vertices of long thin -regions are never silently dropped. -""" - -from dataclasses import dataclass -from itertools import combinations -from math import cos, sin, radians, hypot, isfinite -from random import Random - -Point = tuple[float, float] -EPS = 1e-9 -PARALLEL_EPS = 1e-12 - - -@dataclass(frozen=True) -class Measurement: - x: float - y: float - bearing_deg: float - half_angle_deg: float = 1.0 - - def __post_init__(self): - values = (self.x, self.y, self.bearing_deg, self.half_angle_deg) - if any(isinstance(v, bool) or not isinstance(v, (int, float)) - or not isfinite(v) for v in values): - raise ValueError("坐标、示向度和误差半角必须是有限数值") - if not 0 <= self.half_angle_deg < 90: - raise ValueError("误差半角必须在 [0, 90) 度；题设为1度") - - -def cross(a: Point, b: Point) -> float: - return a[0] * b[1] - a[1] * b[0] - - -def distance(a: Point, b: Point) -> float: - return hypot(a[0] - b[0], a[1] - b[1]) - - -def halfplanes(m: Measurement) -> list[tuple[float, float, float]]: - """Return a*x+b*y<=c with unit normals, including the forward constraint.""" - theta = m.bearing_deg % 360 - lower, upper = radians(theta - m.half_angle_deg), radians(theta + m.half_angle_deg) - middle = radians(theta) - normals = [(sin(lower), -cos(lower)), (-sin(upper), cos(upper)), - (-cos(middle), -sin(middle))] - return [(a, b, a * m.x + b * m.y) for a, b in normals] - - -def convex_hull(points: list[Point], eps: float = EPS) -> list[Point]: - """Monotone chain, CCW, no repeated final vertex; retain segment endpoints.""" - ordered = sorted(points) - unique = [] - for p in ordered: - if not unique or distance(p, unique[-1]) > eps: - unique.append(p) - if len(unique) <= 2: - return unique - - def chain(seq): - out = [] - for p in seq: - while len(out) >= 2: - a = (out[-1][0] - out[-2][0], out[-1][1] - out[-2][1]) - b = (p[0] - out[-1][0], p[1] - out[-1][1]) - # Distance-to-line tolerance, not an unscaled area tolerance. - if cross(a, b) > eps * max(hypot(*a), hypot(*b), eps): - break - out.pop() - out.append(p) - return out - - return chain(unique)[:-1] + chain(reversed(unique))[:-1] - - -def diameter(points: list[Point]): - if not points: - raise ValueError("空点集没有本程序定义下的直径") - a = b = points[0] - value = 0.0 - for p, q in combinations(points, 2): - d = distance(p, q) - if d > value: - value, a, b = d, p, q - return value, (a, b) - - -def _circumcircle(a: Point, b: Point, c: Point): - u = (b[0] - a[0], b[1] - a[1]) - v = (c[0] - a[0], c[1] - a[1]) - det = 2 * cross(u, v) - if abs(det) <= PARALLEL_EPS * max(hypot(*u) * hypot(*v), 1e-300): - return None - uu, vv = u[0] ** 2 + u[1] ** 2, v[0] ** 2 + v[1] ** 2 - center = (a[0] + (uu * v[1] - vv * u[1]) / det, - a[1] + (u[0] * vv - v[0] * uu) / det) - return center, distance(center, a) - - -def _enclosing_circle_reference(points: list[Point], eps: float = EPS): - """Enumerate all 1/2/3-point supports; O(m^4), appropriate for small m. - - Radius is recomputed against every vertex to preserve numerical containment. - Coordinates should be normalized when there are very large offsets. - """ - if not points: - raise ValueError("空集不计算最小包围圆") - xs, ys = [p[0] for p in points], [p[1] for p in points] - best_c = ((min(xs) + max(xs)) / 2, (min(ys) + max(ys)) / 2) - best_r = max(distance(best_c, p) for p in points) - - def consider(center, radius): - nonlocal best_c, best_r - if radius > best_r + eps: - return - actual = max(distance(center, p) for p in points) - if actual <= radius + eps and actual < best_r: - best_c, best_r = center, actual - - for p in points: - consider(p, 0.0) - for a, b in combinations(points, 2): - consider(((a[0] + b[0]) / 2, (a[1] + b[1]) / 2), distance(a, b) / 2) - for a, b, c in combinations(points, 3): - circle = _circumcircle(a, b, c) - if circle is not None: - consider(*circle) - return best_c, best_r - - -def _circle_covers(circle, point: Point, tolerance: float) -> bool: - """Whether the circle already covers point; None means no circle yet.""" - if circle is None: - return False - return distance(circle[0], point) <= circle[1] + tolerance - - -def smallest_enclosing_circle(points: list[Point], eps: float = EPS): - """Welzl's randomized incremental algorithm, using an explicit call stack. - - The fixed shuffle makes results reproducible. Expected linear work refers - to randomized input order, not a worst-case guarantee for this fixed seed. - Normalize internally so this public helper also handles translated inputs. - The exhaustive reference is retained for independent regression comparisons. - """ - if not points: - raise ValueError("空集不计算最小包围圆") - if not isfinite(eps) or eps <= 0: - raise ValueError("eps必须为有限正数") - if any(len(p) != 2 or any(isinstance(x, bool) or not isinstance(x, (int, float)) - or not isfinite(x) for x in p) for p in points): - raise ValueError("点集必须由有限二维坐标组成") - origin = points[0] - scale = max(distance(origin, p) for p in points) - if scale == 0: - return tuple(origin), 0.0 - local = [((p[0]-origin[0])/scale, (p[1]-origin[1])/scale) for p in points] - tolerance = min(eps/scale, EPS) - Random(20260910).shuffle(local) - # Frame = (remaining prefix length, forced boundary, returning from child). - stack = [(len(local), (), False)] - circle = None - while stack: - n, boundary, returning = stack.pop() - if n == 0 or len(boundary) == 3: - # Forced support points must lie ON the boundary. For three points - # use their circumcircle, even when their unconstrained MEC is smaller. - circle = _circumcircle(*boundary) if len(boundary) == 3 else None - if circle is None and boundary: - circle = _enclosing_circle_reference(list(boundary), tolerance) - elif not returning: - stack.append((n, boundary, True)) - stack.append((n-1, boundary, False)) - elif not _circle_covers(circle, local[n-1], tolerance): - stack.append((n-1, boundary + (local[n-1],), False)) - assert circle is not None - center = (origin[0]+circle[0][0]*scale, origin[1]+circle[0][1]*scale) - # Recompute after transforming back: returned circle contains all input points - # to distance() precision, including any roundoff from the large translation. - return center, max(distance(center, p) for p in points) - - -def solve(measurements: list[Measurement], eps: float = EPS) -> dict: - """Solve Q1's pure angular intersection (no disk/range prior added). - - Nonempty intersections of <180-degree forward wedges are pointed polyhedra, - so they possess a vertex, even if unbounded. Feasibility follows from vertex - enumeration; unboundedness follows from a nonzero recession direction. - Empty diameter is null, unbounded diameter is null with diameter_infinite=true. - - Near-parallel plane pairs are intersected rather than skipped: their - intersection can be a legitimate vertex of a very long thin region - (e.g. stations 1cm apart with bearings 1 and 358.99999999999 deg give a - vertex ~5.7e10 m away). Only exactly-parallel pairs (det == 0) have no - intersection. The feasibility tolerance scales with the vertex magnitude, - since absolute residuals grow with coordinates. - """ - if not isfinite(eps) or eps <= 0: - raise ValueError("eps必须为有限正数") - if not measurements: - return {"status": "unbounded", "vertices": [], "diameter_m": None, - "diameter_infinite": True, "recession_direction": [1.0, 0.0], - "message": "没有观测，整个平面均可行"} - if len(measurements) > 100: - raise ValueError("参考实现最多接收100个检测点；更大规模应使用半平面交算法") - ox = sum(m.x for m in measurements) / len(measurements) - oy = sum(m.y for m in measurements) / len(measurements) - scale = max(1.0, max(hypot(m.x - ox, m.y - oy) for m in measurements)) - local = [Measurement((m.x - ox) / scale, (m.y - oy) / scale, - m.bearing_deg, m.half_angle_deg) for m in measurements] - planes = [h for m in local for h in halfplanes(m)] - - def inside(p): - tol = eps * max(1.0, abs(p[0]), abs(p[1])) - return all(a * p[0] + b * p[1] <= c + tol for a, b, c in planes) - - feasible_vertices = [] - for (a, b, c), (d, e, f) in combinations(planes, 2): - det = a * e - b * d - if det == 0.0: - continue # 精确平行：无交点（近平行对的交点是合法远端顶点，保留） - p = ((c * e - b * f) / det, (a * f - c * d) / det) - if isfinite(p[0]) and isfinite(p[1]) and inside(p): - feasible_vertices.append(p) - - if not feasible_vertices: - return {"status": "empty", "vertices": [], "diameter_m": None, - "diameter_infinite": False, "tolerance_m": eps * scale, - "message": "测向角域没有公共点；检查频道、数据及误差界"} - - # A nontrivial 2D recession cone has a ray tangent to an input halfplane. - # Use a much tighter angular threshold than the positional feasibility epsilon. - ray = None - for a, b, _ in planes: - for direction in ((b, -a), (-b, a)): - if all(d * direction[0] + e * direction[1] <= 2e-14 - for d, e, _ in planes): - ray = direction - break - if ray is not None: - break - - hull = convex_hull(feasible_vertices, eps) - - def world(p): - return [ox + p[0] * scale, oy + p[1] * scale] - - result = {"status": "unbounded" if ray else - ("point" if len(hull) == 1 else "segment" if len(hull) == 2 else "polygon"), - "vertices": [world(p) for p in hull], "tolerance_m": eps * scale, - "diameter_infinite": ray is not None} - if ray is not None: - result.update(diameter_m=None, recession_direction=list(ray), - message="存在非零衰退方向，区域无界，直径为无穷大") - return result - - d, pair = diameter(hull) - midpoint = ((pair[0][0] + pair[1][0]) / 2, (pair[0][1] + pair[1][1]) / 2) - distances = [distance(midpoint, p) for p in hull] - witness_index = max(range(len(hull)), key=distances.__getitem__) - max_distance = distances[witness_index] - center, radius = smallest_enclosing_circle(hull, eps) - area = abs(sum(cross(hull[i], hull[(i + 1) % len(hull)]) - for i in range(len(hull)))) / 2 - result.update(diameter_m=d * scale, diameter_pair=[world(p) for p in pair], - area_m2=area * scale ** 2, - diameter_circle={"center": world(midpoint), "radius_m": d * scale / 2, - "max_vertex_distance_m": max_distance * scale, - "covers": max_distance <= d / 2 + eps * 4, - "coverage_tolerance_m": 4 * eps * scale, - "max_excess_m": (max_distance-d/2) * scale, - "outside_vertex_indices": [i for i, value in enumerate(distances) - if value > d/2 + 4*eps], - "witness_vertex": world(hull[witness_index]) - if max_distance > d/2 + 4*eps else None}, - minimum_enclosing_circle={"center": world(center), "radius_m": radius * scale}, - guaranteed_clearable_at_mec_center=radius * scale <= 20 - eps * scale * 4, - clearance_certificate={"model": "angular_intersection_only", - "clear_radius_m": 20.0, - "numerical_margin_m": 4*eps*scale, - "radius_with_margin_m": (radius+4*eps)*scale, - "remaining_margin_m": 20-(radius+4*eps)*scale, - "center": world(center)}) - return result diff --git a/docs/paper/data/listing-source/src/mcm26b/geometry/planning.py.tex b/docs/paper/data/listing-source/src/mcm26b/geometry/planning.py.tex deleted file mode 100644 index 119894e..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/geometry/planning.py.tex +++ /dev/null @@ -1,32 +0,0 @@ -"""Distance certificates for Q2; does not change Q1's angular polygon model.""" - -from math import cos, sin, radians, isfinite -from .localization import Measurement - - -def first_bearing_candidate_disk(measurement: Measurement, - max_range_m: float = 1500, - guaranteed_range_m: float = 1000) -> dict: - """Enclose the entire truncated first-bearing sector, then erode its disk. - - For half-angle <=45 degrees the sector MEC has center distance and radius - a=R/(2*cos(delta)). Intersecting with Omega only shrinks the source set. - A missing sufficient disk is NOT proof that Q is empty. The certificate - guarantees distance only: directional transmitters may still be invisible. - """ - if any(isinstance(v, bool) or not isinstance(v, (int, float)) or not isfinite(v) - or v <= 0 for v in (max_range_m, guaranteed_range_m)): - raise ValueError("接收半径必须为有限正数") - if measurement.half_angle_deg > 45: - raise ValueError("此窄角域证书仅支持半角不超过45度；题设为1度") - delta, theta = radians(measurement.half_angle_deg), radians(measurement.bearing_deg % 360) - a = max_range_m/(2*cos(delta)) - center = [measurement.x+a*cos(theta), measurement.y+a*sin(theta)] - available = guaranteed_range_m-a - return {"source_model": "first_bearing_sector_with_range_upper_bound", - "sector_enclosing_circle": {"center": center, "radius_m": a}, - "sufficient_candidate_disk": {"center": center, "radius_m": available} - if available >= 0 else None, - "candidate_nonempty_certified": available >= 0, - "distance_only": True, - "max_range_m": max_range_m, "guaranteed_range_m": guaranteed_range_m} diff --git a/docs/paper/data/listing-source/src/mcm26b/guarantee/__init__.py.tex b/docs/paper/data/listing-source/src/mcm26b/guarantee/__init__.py.tex deleted file mode 100644 index a81a843..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/guarantee/__init__.py.tex +++ /dev/null @@ -1,23 +0,0 @@ -"""保证层：覆盖计划（CoveragePlan）、证书与运行期校验。 - -对外只暴露覆盖计划与校验入口；`coverage` 包仍负责逐频道覆盖账本。 -""" - -from .cover import (CERTIFY_HEADINGS, CERTIFY_STEP_M, OMEGA_RADIUS_M, - R_EFF_MIN_M, CoverageCertificate, - CoveragePlan, PLAN_DIR, VERIFY_HEADINGS, VERIFY_STEP_M, - candidate_lattice, coverage_masks, forward_targets, - greedy_cover, load_plan, nn_tour_length, omega_positions, - plan_instance, plan_names, seven_plan, seven_points, - square_49_plan, verify_full_disk, verify_forward_half_disk, - verify_plan, write_plan) - -__all__ = [ - "CERTIFY_HEADINGS", "CERTIFY_STEP_M", "OMEGA_RADIUS_M", "R_EFF_MIN_M", - "CoverageCertificate", "CoveragePlan", - "PLAN_DIR", "VERIFY_HEADINGS", "VERIFY_STEP_M", "candidate_lattice", - "coverage_masks", "forward_targets", "greedy_cover", "load_plan", - "nn_tour_length", "omega_positions", "plan_instance", "plan_names", - "seven_plan", "seven_points", "square_49_plan", "verify_full_disk", - "verify_forward_half_disk", "verify_plan", "write_plan", -] diff --git a/docs/paper/data/listing-source/src/mcm26b/guarantee/cover.py.tex b/docs/paper/data/listing-source/src/mcm26b/guarantee/cover.py.tex deleted file mode 100644 index 736ead8..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/guarantee/cover.py.tex +++ /dev/null @@ -1,428 +0,0 @@ -"""保证层：可离线搜索、可在运行期校验的覆盖计划（CoveragePlan）。 - -两类覆盖语义（题面约束不同，绝不可混用）： - -- ``full_disk``（第三问，全向源）：在 s 处 no_signal 排除 B(s, r_eff_min)， - 因此"全点皆 no_signal (*@\ensuremath{\Longrightarrow}@*) 不存在源"要求 - ``(*@\ensuremath{\cup}@*) B(c, 1000) (*@\ensuremath{\supseteq}@*) Ω``。解析最优解是"原点 + 半径 r 的 6 等分环"， - ``r`` 的可行区间由 ``validate_seven_coverage`` 给出（本模块提供数值复核）。 -- ``forward_half_disk``（第四问，定向源）：源可能背向读点，no_signal 不再 - 排除整个圆盘，缺席证明要求 - ``(*@\ensuremath{\forall}@*)(p,h) (*@\ensuremath{\in}@*) Ω×S¹, (*@\ensuremath{\exists}@*)c (*@\ensuremath{\in}@*) S: |c−p| (*@\ensuremath{\le}@*) 1000 (*@\ensuremath{\wedge}@*) (c−p)·u(h) (*@\ensuremath{\ge}@*) 0``。 - 现役 700 m 方格 49 点是充分条件（单元对角 (*@\ensuremath{\le}@*) 1000），但远非必要； - 本模块用贪心击中集把点数压到 31，并在同一采样空间上校核。 - -设计原则（docs/第三四问架构优化与运行提速方案.md §2.3）： -**保证 = 离线搜索 + 运行期校验**。点表以 JSON 落盘并携带证书（采样分辨率、 -缺口数、最坏命中距离、生成参数哈希），运行期用同一套采样语义重新校核， -未通过即拒绝启动。证书只能用于选点优化，不改变任何安全性证明。 -""" - -from __future__ import annotations - -import hashlib -import json -import math -from dataclasses import dataclass, field, fields -from functools import lru_cache -from pathlib import Path - -from ..config import Vec2 - -PLAN_DIR = Path(__file__).resolve().parent / "plans" -R_EFF_MIN_M = 1000.0 # [题面] 最小有效接收半径 -OMEGA_RADIUS_M = 1800.0 # [题面] 目标圆域半径 -SPEED_MPS = 5.0 # [题面] 用于把巡回长度折算成虚拟移动秒数 - -# 采样分辨率。**校核必须与证书同分辨率**：更粗的采样会放过"删掉一个关键点 -# 仍然看似覆盖"的点集，使校核退化为装饰（实测 100 m/12 档即漏判）。 -# 75 m / 24 档下一次全域校核约 1 s，且按计划名缓存，每进程只付一次。 -CERTIFY_STEP_M = 75.0 -CERTIFY_HEADINGS = 24 -VERIFY_STEP_M = CERTIFY_STEP_M -VERIFY_HEADINGS = CERTIFY_HEADINGS - - -@dataclass(frozen=True) -class CoverageCertificate: - """覆盖证书：采样语义 + 缺口 + 最坏命中距离。""" - - kind: str # "full_disk" | "forward_half_disk" - target_step_m: float - headings: int - r_eff_min_m: float - targets: int - uncovered: int - worst_hit_distance_m: float - nn_tour_m: float - generator_sha256: str = "" - # 证书硬化：校核时使用的前向角裕量（度）。与 r_eff_min_m 的设计裕量 - # 一起把"采样格覆盖"提升为"连续空间覆盖"，见 verify_forward_half_disk。 - verify_heading_margin_deg: float = 0.0 - - @property - def valid(self) -> bool: - return self.uncovered == 0 and self.targets > 0 - - def as_dict(self) -> dict: - return {"kind": self.kind, "target_step_m": self.target_step_m, - "headings": self.headings, "r_eff_min_m": self.r_eff_min_m, - "targets": self.targets, "uncovered": self.uncovered, - "worst_hit_distance_m": round(self.worst_hit_distance_m, 3), - "nn_tour_m": round(self.nn_tour_m, 1), - "nn_tour_virtual_s": round(self.nn_tour_m / SPEED_MPS, 1), - "generator_sha256": self.generator_sha256, - "verify_heading_margin_deg": self.verify_heading_margin_deg} - - -@dataclass(frozen=True) -class CoveragePlan: - """一份覆盖计划：点集 + 语义 + 证书（可为解析证明）。""" - - name: str - problem: int - points: tuple[Vec2, ...] - kind: str # "analytic" | "certified" - coverage: str # "full_disk" | "forward_half_disk" - note: str = "" - certificate: CoverageCertificate | None = None - generator: dict = field(default_factory=dict) - - def __len__(self) -> int: - return len(self.points) - - def as_dict(self) -> dict: - return {"name": self.name, "problem": self.problem, "kind": self.kind, - "coverage": self.coverage, "note": self.note, - "generator": self.generator, - "certificate": (self.certificate.as_dict() - if self.certificate is not None else None), - "points": [[p[0], p[1]] for p in self.points]} - - -# --------------------------------------------------------------------- 采样 -def omega_positions(step_m: float) -> list[Vec2]: - """Ω 内均匀方格位置采样。""" - span = int(OMEGA_RADIUS_M / step_m) + 1 - return [(step_m * i, step_m * j) - for i in range(-span, span + 1) for j in range(-span, span + 1) - if (step_m * i) ** 2 + (step_m * j) ** 2 <= OMEGA_RADIUS_M ** 2] - - -def forward_targets(step_m: float, headings: int) -> list[tuple[float, float, float]]: - """(p, h) 目标采样：位置在 Ω 内，朝向均分整圆。""" - return [(x, y, 2.0 * math.pi * k / headings) - for (x, y) in omega_positions(step_m) for k in range(headings)] - - -def candidate_lattice(spacing_m: float, radius_m: float) -> list[Vec2]: - """半径 radius_m 圆盘内的方格候选点（离线搜索用）。""" - span = int(radius_m / spacing_m) + 1 - return [(spacing_m * i, spacing_m * j) - for i in range(-span, span + 1) for j in range(-span, span + 1) - if (spacing_m * i) ** 2 + (spacing_m * j) ** 2 <= radius_m ** 2] - - -def _bucket(points: list[Vec2], cell: float) -> dict[tuple[int, int], list[int]]: - table: dict[tuple[int, int], list[int]] = {} - for index, (x, y) in enumerate(points): - table.setdefault((int(x // cell), int(y // cell)), []).append(index) - return table - - -def coverage_masks(targets, candidates: list[Vec2], - r_eff: float = R_EFF_MIN_M, - heading_margin_deg: float = 0.0) -> list[int]: - """每个候选点覆盖的目标位掩码（Python 大整数，按位）。 - - 只在与候选点空间桶相邻的格内做距离/前向判定，避免 |T|·|C| 笛卡尔积。 - - ``r_eff`` / ``heading_margin_deg`` 是**设计裕量**：离线搜索时把"命中" - 定义得比物理要求更严（距离 (*@\ensuremath{\le}@*) r_eff、前向夹角 (*@\ensuremath{\le}@*) 90°−margin），使采样格 - 上的覆盖自动蕴含相邻未采样 (p,h) 也被覆盖（S2 证书硬化）。 - """ - table = _bucket(candidates, r_eff) - masks = [0] * len(candidates) - sin_margin = math.sin(math.radians(max(heading_margin_deg, 0.0))) - for t_index, (px, py, heading) in enumerate(targets): - ux, uy = math.cos(heading), math.sin(heading) - ci, cj = int(px // r_eff), int(py // r_eff) - bit = 1 << t_index - for di in (-1, 0, 1): - for dj in (-1, 0, 1): - for c_index in table.get((ci + di, cj + dj), ()): - cx, cy = candidates[c_index] - dx, dy = cx - px, cy - py - distance_sq = dx * dx + dy * dy - if distance_sq > r_eff * r_eff: - continue - if dx * ux + dy * uy < sin_margin * math.sqrt(distance_sq) - 1e-9: - continue - masks[c_index] |= bit - return masks - - -def greedy_cover(masks: list[int], n_targets: int) -> list[int]: - """贪心集合覆盖：每次取"新增覆盖目标数"最大的候选，返回索引表。""" - full = (1 << n_targets) - 1 - covered = 0 - chosen: list[int] = [] - remaining = list(range(len(masks))) - while covered != full and remaining: - best_index, best_gain = -1, 0 - for c_index in remaining: - gain = (masks[c_index] & ~covered).bit_count() - if gain > best_gain: - best_index, best_gain = c_index, gain - if best_index < 0: - break - chosen.append(best_index) - covered |= masks[best_index] - remaining.remove(best_index) - return chosen - - -def nn_tour_length(points: list[Vec2], start: Vec2 = (0.0, 0.0)) -> float: - """最近邻开放路径长度（巡回长度上界）。""" - remaining = list(points) - position = start - total = 0.0 - while remaining: - nxt = min(remaining, key=lambda q: (q[0] - position[0]) ** 2 - + (q[1] - position[1]) ** 2) - remaining.remove(nxt) - total += math.dist(position, nxt) - position = nxt - return total - - -# --------------------------------------------------------------------- 校验 -def _hit_distance(points: list[Vec2], position: Vec2, heading: float, - r_eff: float) -> float | None: - """最近的前向命中距离；没有任何前向命中点则返回 None。""" - ux, uy = math.cos(heading), math.sin(heading) - best = None - for (cx, cy) in points: - dx, dy = cx - position[0], cy - position[1] - if dx * dx + dy * dy > r_eff * r_eff: - continue - if dx * ux + dy * uy < -1e-9: - continue - distance = math.hypot(dx, dy) - if best is None or distance < best: - best = distance - return best - - -def _nearest_distance(points: list[Vec2], position: Vec2, - r_eff: float) -> float | None: - """最近距离（不要求前向）；超过 r_eff 视作未命中。""" - best = None - for (cx, cy) in points: - distance = math.hypot(cx - position[0], cy - position[1]) - if distance <= r_eff and (best is None or distance < best): - best = distance - return best - - -def verify_forward_half_disk(points: list[Vec2], step_m: float = VERIFY_STEP_M, - headings: int = VERIFY_HEADINGS, - r_eff: float = R_EFF_MIN_M, - heading_margin_deg: float = 0.0) -> CoverageCertificate: - """第四问语义：(*@\ensuremath{\forall}@*)(p,h) 存在前向半盘内的被访点。 - - ``heading_margin_deg`` 是**证书硬化**用的前向角裕量：把"命中"收紧为 - "前向夹角 (*@\ensuremath{\le}@*) 90° − margin"。与 ``r_eff`` 的设计裕量合用时，采样格上的 - 覆盖即可推出**连续空间**覆盖：真实 (p',h') 距采样格 (*@\ensuremath{\le}@*) step·√2/2、 - 方位差 (*@\ensuremath{\le}@*) 180/headings 度，只要 - - r_eff + step·√2/2 (*@\ensuremath{\le}@*) 1000 且 margin (*@\ensuremath{\ge}@*) 180/headings/2 - - 就能保证 |c−p'| (*@\ensuremath{\le}@*) 1000 且 (c−p')·u(h') (*@\ensuremath{\ge}@*) 0。这正是 S2 取代"粗采样 - 假通过"的方式。默认 0 表示按物理条件校核。 - """ - points = list(points) - targets = forward_targets(step_m, headings) - table = _bucket(points, r_eff) - missing, worst = 0, 0.0 - sin_margin = math.sin(math.radians(max(heading_margin_deg, 0.0))) - for (px, py, heading) in targets: - ux, uy = math.cos(heading), math.sin(heading) - ci, cj = int(px // r_eff), int(py // r_eff) - best = None - for di in (-1, 0, 1): - for dj in (-1, 0, 1): - for c_index in table.get((ci + di, cj + dj), ()): - cx, cy = points[c_index] - dx, dy = cx - px, cy - py - distance_sq = dx * dx + dy * dy - if distance_sq > r_eff * r_eff: - continue - if dx * ux + dy * uy < sin_margin * math.sqrt(distance_sq) - 1e-9: - continue - distance = math.sqrt(distance_sq) - if best is None or distance < best: - best = distance - if best is None: - missing += 1 - else: - worst = max(worst, best) - return CoverageCertificate("forward_half_disk", step_m, headings, r_eff, - len(targets), missing, worst, - nn_tour_length(points)) - - -def verify_full_disk(points: list[Vec2], step_m: float = VERIFY_STEP_M, - r_eff: float = R_EFF_MIN_M) -> CoverageCertificate: - """第三问语义：Ω 内每点都在某个被访点的 r_eff 圆盘内。""" - points = list(points) - positions = omega_positions(step_m) - table = _bucket(points, r_eff) - missing, worst = 0, 0.0 - for (px, py) in positions: - ci, cj = int(px // r_eff), int(py // r_eff) - best = None - for di in (-1, 0, 1): - for dj in (-1, 0, 1): - for c_index in table.get((ci + di, cj + dj), ()): - cx, cy = points[c_index] - distance = math.hypot(cx - px, cy - py) - if distance <= r_eff and (best is None or distance < best): - best = distance - if best is None: - missing += 1 - else: - worst = max(worst, best) - return CoverageCertificate("full_disk", step_m, 1, r_eff, len(positions), - missing, worst, nn_tour_length(points)) - - -def verify_plan(plan: CoveragePlan, step_m: float | None = None, - headings: int | None = None) -> CoverageCertificate: - """按计划声明的覆盖语义校核。 - - 默认使用**证书自带的采样分辨率**（离线 75 m / 24 档）：更粗的运行期采样 - 会放过"删掉一个关键点仍看似覆盖"的点集，使校核失去意义。校核按计划名 - 缓存（``load_plan`` 的 lru_cache），每进程只付一次成本。 - """ - certificate = plan.certificate - if step_m is None: - step_m = certificate.target_step_m if certificate else VERIFY_STEP_M - if headings is None: - headings = (certificate.headings if certificate - else VERIFY_HEADINGS) - if plan.coverage == "forward_half_disk": - # 硬化证书：按证书自带的距离/角度设计裕量重新校核（旧证书默认 - # r_eff=1000、margin=0，与历史口径逐位一致）。 - return verify_forward_half_disk( - plan.points, step_m, headings, - r_eff=(certificate.r_eff_min_m if certificate else R_EFF_MIN_M), - heading_margin_deg=(certificate.verify_heading_margin_deg - if certificate else 0.0)) - return verify_full_disk(plan.points, step_m, certificate.r_eff_min_m - if certificate else R_EFF_MIN_M) - - -# --------------------------------------------------------------------- 计划 -def seven_points(ring_radius_m: float) -> list[Vec2]: - """解析七站：原点 + 环上 6 等分点。""" - return [(0.0, 0.0)] + [(ring_radius_m * math.cos(k * math.pi / 3), - ring_radius_m * math.sin(k * math.pi / 3)) - for k in range(6)] - - -def seven_plan(ring_radius_m: float) -> CoveragePlan: - """第三问解析计划（覆盖证明由 validate_seven_coverage 给出）。""" - return CoveragePlan( - name=f"seven-r{ring_radius_m:.1f}", problem=3, kind="analytic", - coverage="full_disk", - note=("解析证明 max(r/√3, sqrt(R²+r²−√3Rr)) < 1000；" - "r(*@\ensuremath{\in}@*)[1122.9, 1732] 时成立，巡检半径越小巡回越短"), - points=tuple(seven_points(ring_radius_m))) - - -def square_49_plan() -> CoveragePlan: - """第四问旧计划：700 m 方格 49 点（充分条件，保留作回退与对照）。""" - return CoveragePlan( - name="square49", problem=4, kind="certified", - coverage="forward_half_disk", - note="单元对角 700√2(*@\ensuremath{\approx}@*)989.95(*@\ensuremath{\le}@*)1000 的充分条件；点数为最小命中集的 1.6 倍", - # 顺序与 coverage.coverage_points() 完全一致（y 由大到小），保持历史 - # 基线 grid49_immediate 的逐位可复现。 - points=tuple((700.0 * i, 700.0 * j) - for j in range(3, -4, -1) for i in range(-3, 4))) - - -def _load_plan_file(path: Path) -> CoveragePlan: - payload = json.loads(path.read_text(encoding="utf-8")) - raw_cert = payload.get("certificate") or {} - if raw_cert: - # as_dict() 含 nn_tour_virtual_s 等派生列：只取数据类实际字段。 - known = {field.name for field in fields(CoverageCertificate)} - certificate = CoverageCertificate( - **{key: value for key, value in raw_cert.items() if key in known}) - else: - certificate = None - return CoveragePlan( - name=payload["name"], problem=int(payload["problem"]), - kind=payload.get("kind", "certified"), - coverage=payload.get("coverage", "forward_half_disk"), - note=payload.get("note", ""), - certificate=certificate, - generator=payload.get("generator", {}), - points=tuple((float(x), float(y)) for x, y in payload["points"])) - - -@lru_cache(maxsize=None) -def load_plan(name: str, verify: bool = True) -> CoveragePlan: - """按名称加载覆盖计划；``verify`` 为真时做运行期抽样校验（进程内缓存）。""" - path = PLAN_DIR / f"{name}.json" - if not path.exists(): - raise FileNotFoundError(f"未找到覆盖计划 {name!r}（{path}）") - plan = _load_plan_file(path) - if verify and plan.kind == "certified": - certificate = verify_plan(plan) - if not certificate.valid: - raise ValueError( - f"覆盖计划 {name!r} 运行期校验失败：" - f"{certificate.uncovered}/{certificate.targets} 个 (p,h) 未被覆盖") - plan = CoveragePlan( - name=plan.name, problem=plan.problem, kind=plan.kind, - coverage=plan.coverage, note=plan.note, - generator=plan.generator, - certificate=CoverageCertificate( - kind=certificate.kind, target_step_m=certificate.target_step_m, - headings=certificate.headings, r_eff_min_m=certificate.r_eff_min_m, - targets=certificate.targets, uncovered=certificate.uncovered, - worst_hit_distance_m=certificate.worst_hit_distance_m, - nn_tour_m=certificate.nn_tour_m, - generator_sha256=(plan.certificate.generator_sha256 - if plan.certificate else "")), - points=plan.points) - return plan - - -def plan_instance(name: str, verify: bool = True) -> CoveragePlan: - """统一入口：支持内置计划名与磁盘上的证书计划。""" - if name == "square49": - return square_49_plan() - if name == "seven": - return seven_plan(1200.0) - return load_plan(name, verify) - - -def plan_names() -> list[str]: - """全部可加载的计划名（含内置）。""" - builtin = ["square49", "seven"] - return builtin + sorted(p.stem for p in PLAN_DIR.glob("*.json")) - - -def write_plan(plan: CoveragePlan, path: Path) -> None: - """落盘计划 + 证书（生成器用）。""" - path.parent.mkdir(parents=True, exist_ok=True) - payload = plan.as_dict() - payload["generator"] = dict(payload.get("generator") or {}) - payload["sha256"] = hashlib.sha256( - json.dumps(payload["points"]).encode("utf-8")).hexdigest() - path.write_text(json.dumps(payload, ensure_ascii=False, indent=2) + "\n", - encoding="utf-8") diff --git a/docs/paper/data/listing-source/src/mcm26b/harness/__init__.py.tex b/docs/paper/data/listing-source/src/mcm26b/harness/__init__.py.tex deleted file mode 100644 index 2e972b9..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/harness/__init__.py.tex +++ /dev/null @@ -1,19 +0,0 @@ -"""测试侧脚手架：把独立评测机（referee 包）接入本队传输与测试。 - -分层边界（与官方模拟器同构）： -- 评测机本体在独立包 ``referee``（零 mcm26b 依赖），运行时代码绝不导入它； -- 本包只在测试/自检入口把 referee 的接口边界适配成 :class:`Transport`， - 并提供故障注入与官方演练日志回放。 - -策略端只见 HTTP 响应；真值 Source 只存在于 referee 与测试端。 -""" - -from .playback import PlaybackTransport -from .scenes import mixed_scene, random_omni_scene, referee_spec -from .simulator import LocalSimulator -from .suites import SceneSpec, suite, suite_manifest -from .transport import LocalSimTransport, ScriptedFaultTransport - -__all__ = ["LocalSimTransport", "LocalSimulator", "PlaybackTransport", - "ScriptedFaultTransport", "SceneSpec", "mixed_scene", - "random_omni_scene", "referee_spec", "suite", "suite_manifest"] diff --git a/docs/paper/data/listing-source/src/mcm26b/harness/playback.py.tex b/docs/paper/data/listing-source/src/mcm26b/harness/playback.py.tex deleted file mode 100644 index c5a2469..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/harness/playback.py.tex +++ /dev/null @@ -1,38 +0,0 @@ -"""回放传输：把既有演练日志作为服务器响应原样回放给客户端。 - -用于 P1 验收"本地状态机与官方响应一致"：官方演练记录 -（output/q1/practice/*_actions.json）逐条喂给客户端，客户端重建的 -状态必须与当时服务器返回的虚拟时刻逐步吻合。 - -按录制顺序匹配（客户端的 request_id 生成规则与采集器不同， -故不参与匹配；故障重试场景请用 ScriptedFaultTransport）。 -""" - -from __future__ import annotations - -import json -from urllib.parse import urlsplit - -from ..protocol.transport import Transport, TransportResponse - - -class PlaybackTransport(Transport): - """events: 演练日志 [{path, request, response, ...}, ...]。""" - - def __init__(self, events: list[dict]): - self.events = list(events) - self.index = 0 - self.served: list[dict] = [] - - def post(self, url, body, headers, timeout): - if self.index >= len(self.events): - raise AssertionError("回放日志已耗尽仍有请求") - event = self.events[self.index] - path = urlsplit(url).path - if path != event["path"]: - raise AssertionError( - f"回放顺序不一致: 客户端请求 {path}, 录制预期 {event['path']}") - self.index += 1 - self.served.append(event) - return TransportResponse( - 200, json.dumps(event["response"], ensure_ascii=False).encode("utf-8")) diff --git a/docs/paper/data/listing-source/src/mcm26b/harness/scenes.py.tex b/docs/paper/data/listing-source/src/mcm26b/harness/scenes.py.tex deleted file mode 100644 index acf89c2..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/harness/scenes.py.tex +++ /dev/null @@ -1,55 +0,0 @@ -"""自检场景生成（测试端专用）：委托 referee.scenes，映射本队配置。 - -真值只进入测试与 CLI ``--self-test`` 入口，策略端仅见模拟器响应； -默认采用满足题面范围的自建随机场景：源总数 10~16 随机、位置在目标圆域内 -均匀分布、频道互异（1..20 抽样）、有效接收半径 [1000,1500] 均匀。 -均匀分布是测试假设，题面并未规定官方场景的概率分布。 -""" - -from __future__ import annotations - -from referee import scenes as _referee_scenes - -from ..config import ProblemConfig - - -def referee_spec(config: ProblemConfig = ProblemConfig(), *, - max_real_duration_s: float | None = None): - """把本队 ProblemConfig 的题面常量映射为 referee 的 Spec。 - - max_real_duration_s 仅用于 --self-test 的实机预算覆盖（默认 1800s）； - 正式对接以服务器 /enter 返回为准，评测机默认保持题面 1200s。 - """ - from referee import CostSpec, FieldSpec, Spec - field, cost = config.field, config.cost - return Spec( - field=FieldSpec( - omega_radius_m=field.omega_radius_m, - channel_min=field.channel_min, channel_max=field.channel_max, - source_count_min=field.source_count_min, - source_count_max=field.source_count_max, - r_eff_min_m=field.r_eff_min_m, r_eff_max_m=field.r_eff_max_m, - near_radius_m=field.near_radius_m, clear_radius_m=field.clear_radius_m, - bearing_error_half_deg=field.bearing_error_half_deg, - bearing_decimals=field.bearing_decimals, - coord_abs_limit_m=field.coord_abs_limit_m, - directional_half_angle_deg=field.directional_half_angle_deg, - max_virtual_duration_s=field.max_virtual_duration_s, - max_real_duration_s=(field.max_real_duration_s if max_real_duration_s is None - else max_real_duration_s), - test_window_s=field.test_window_s), - cost=CostSpec(speed_mps=cost.speed_mps, measure_s=cost.measure_s, - switch_s=cost.switch_s, clear_success_s=cost.clear_success_s, - clear_fail_s=cost.clear_fail_s)) - - -def random_omni_scene(seed: int = 20260910, count: int | None = None, - config: ProblemConfig = ProblemConfig()): - """全向源场景 [题面 问题3]；签名沿用重构前 mcm26b.sim.scenes。""" - return _referee_scenes.random_omni_scene(seed, count, referee_spec(config)) - - -def mixed_scene(seed: int = 20260910, count: int | None = None, - directional: int = 3, config: ProblemConfig = ProblemConfig()): - """问题4混合场景：count 个源中 directional 个为定向源。""" - return _referee_scenes.mixed_scene(seed, count, directional, referee_spec(config)) diff --git a/docs/paper/data/listing-source/src/mcm26b/harness/simulator.py.tex b/docs/paper/data/listing-source/src/mcm26b/harness/simulator.py.tex deleted file mode 100644 index 0c900ab..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/harness/simulator.py.tex +++ /dev/null @@ -1,21 +0,0 @@ -"""兼容构造入口：本队 ProblemConfig -> referee.LocalSimulator。 - -评测机实现在独立包 referee（config= 换成了 spec=）；本子类只做配置映射， -让既有测试与脚本继续以 ``config=ProblemConfig`` 构造，映射规则见 -:func:`harness.scenes.referee_spec`。真值类型 Source 亦来自 referee。 -""" - -from __future__ import annotations - -from referee import LocalSimulator as _RefereeLocalSimulator - -from ..config import ProblemConfig -from .scenes import referee_spec - - -class LocalSimulator(_RefereeLocalSimulator): - - def __init__(self, sources, *, robot_id: str = "2026001", - config: ProblemConfig = ProblemConfig(), **kwargs): - super().__init__(sources, robot_id=robot_id, - spec=referee_spec(config), **kwargs) diff --git a/docs/paper/data/listing-source/src/mcm26b/harness/suites.py.tex b/docs/paper/data/listing-source/src/mcm26b/harness/suites.py.tex deleted file mode 100644 index 0e2ba61..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/harness/suites.py.tex +++ /dev/null @@ -1,132 +0,0 @@ -"""冻结基准集：第三/四问的固定场景清单与真值构造（测试端专用）。 - -存在意义（docs/第三四问架构优化与运行提速方案.md §1.4 B6 / §P1-3）： -历史评估集是 20 个**单源全向**场景，使 `avg_locate_clear_time_s` 恒等于 -`virtual_time_s`，也无法支撑任何第四问结论。基准集必须覆盖题面声明的 -源数区间与定向源存在性，并且**版本化、可复现、不可随意增删**—— -任何"更快"的声明都要在同一份清单上做配对比较。 - -真值只在本模块与评测机之间流动；策略端只通过 Transport 看到响应。 -""" - -from __future__ import annotations - -import math -from dataclasses import dataclass - -from referee import Source - -from ..config import ProblemConfig -from .scenes import mixed_scene, random_omni_scene - -SUITE_VERSION = 1 - -# 第三问：沿用历史验证集的种子与源数（seeds 100–105 × 10/13/16） -Q3_SEEDS = (100, 101, 102, 103, 104, 105) -Q3_COUNTS = (10, 13, 16) -# 第四问：三种"定向占比"组成（少量 / 约半数 / 多数） -Q4_SEEDS = (200, 201, 202) -Q4_CONFIGS = ((10, 3), (13, 6), (16, 8)) -# 误差场种子偏移：与 benchmark_q3_bayes.py 同口径，保证逐点固定误差可复现 -ERROR_SEED_BASE = 20260910 - - -@dataclass(frozen=True) -class SceneSpec: - """一个冻结场景：标识、题号、源数、定向数与种子。""" - - scene_id: str - problem: int - kind: str # "random" | "boundary" - seed: int - error_seed: int - count: int - directional: int = 0 - - def as_dict(self) -> dict: - return {"scene_id": self.scene_id, "problem": self.problem, - "kind": self.kind, "seed": self.seed, - "error_seed": self.error_seed, "count": self.count, - "directional": self.directional} - - def sources(self, config: ProblemConfig | None = None) -> list[Source]: - """构造真值（仅测试端调用）。""" - config = config or ProblemConfig() - if self.kind == "random" and self.problem == 3: - return random_omni_scene(seed=self.seed, count=self.count, - config=config) - if self.kind == "random": - return mixed_scene(seed=self.seed, count=self.count, - directional=self.directional, config=config) - return _boundary_sources(self, config) - - -def _boundary_sources(spec: SceneSpec, config: ProblemConfig) -> list[Source]: - """圆周边界压力场景：源全部位于 Ω 边界、r_eff 取下界。 - - 第三问：全向，扇区接缝角度，检验七站覆盖的边界情形； - 第四问：全部定向且朝向**背离圆心**（最不利于发现），检验 - "朝外发射的边界源不漏"。 - """ - field = config.field - radius = field.omega_radius_m - sources: list[Source] = [] - for index in range(spec.count): - angle = math.pi / 6 + 2 * math.pi * index / spec.count - x, y = radius * math.cos(angle), radius * math.sin(angle) - directional = index < spec.directional - sources.append(Source( - channel=index + 1, x=x, y=y, r_eff_m=field.r_eff_min_m, - directional=directional, - heading_deg=(math.degrees(angle) % 360.0) if directional else 0.0)) - return sources - - -def core_scenes(problem: int) -> list[SceneSpec]: - """主体场景：覆盖题面源数区间与定向占比组成。""" - scenes: list[SceneSpec] = [] - if problem == 3: - for seed in Q3_SEEDS: - for count in Q3_COUNTS: - scenes.append(SceneSpec( - scene_id=f"q3-core-s{seed}-n{count}", problem=3, - kind="random", seed=seed, error_seed=ERROR_SEED_BASE + seed, - count=count)) - else: - for seed in Q4_SEEDS: - for count, directional in Q4_CONFIGS: - scenes.append(SceneSpec( - scene_id=f"q4-core-s{seed}-n{count}-d{directional}", - problem=4, kind="random", seed=seed, - error_seed=ERROR_SEED_BASE + seed, count=count, - directional=directional)) - return scenes - - -def boundary_scenes(problem: int) -> list[SceneSpec]: - """圆周边界压力场景（每问 2 场：10 源与 16 源）。""" - if problem == 3: - return [SceneSpec(f"q3-boundary-n{count}", 3, "boundary", 0, - ERROR_SEED_BASE, count) - for count in (10, 16)] - return [SceneSpec(f"q4-boundary-n{count}-d{directional}", 4, "boundary", 0, - ERROR_SEED_BASE, count, directional) - for count, directional in ((10, 5), (16, 8))] - - -def suite(name: str, problem: int) -> list[SceneSpec]: - """按名称取场景清单：core / boundary / all。""" - if name == "core": - return core_scenes(problem) - if name == "boundary": - return boundary_scenes(problem) - if name == "all": - return core_scenes(problem) + boundary_scenes(problem) - raise ValueError(f"未知基准集 {name!r}（可选 core/boundary/all）") - - -def suite_manifest(name: str, problem: int) -> dict: - """清单头：版本、问题、场景表（写入 manifest.json）。""" - scenes = suite(name, problem) - return {"suite_version": SUITE_VERSION, "suite": name, "problem": problem, - "scenes": [scene.as_dict() for scene in scenes]} diff --git a/docs/paper/data/listing-source/src/mcm26b/harness/transport.py.tex b/docs/paper/data/listing-source/src/mcm26b/harness/transport.py.tex deleted file mode 100644 index 08e6075..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/harness/transport.py.tex +++ /dev/null @@ -1,62 +0,0 @@ -"""传输适配：评测机接口边界 <-> 本队 Transport 接口 + 故障注入脚本。 - -LocalSimTransport 把 referee 包的 handle_raw（与 HTTP 服务器共用的同一 -边界实现）包成内存回环传输，不经过网络栈；故障注入语义与既有测试一致： -- ``"drop_before"`` 连接失败，动作未送达服务器（可安全重试）； -- ``"timeout_after"`` 服务器已受理并生效，但响应丢失（必须靠幂等回放）； -- ``("status", n)`` 服务器返回指定 HTTP 状态码（如 500/429）； -- ``None`` 正常放行。 -脚本耗尽后一律放行。 -""" - -from __future__ import annotations - -from urllib.parse import urlsplit - -from referee.interface import handle_raw - -from ..protocol.transport import Transport, TransportError, TransportResponse - - -class LocalSimTransport(Transport): - """内存回环：把独立评测机接到 Transport 接口（与真实 HTTP 同一边界）。""" - - def __init__(self, simulator): - # simulator: referee.LocalSimulator（类型注解走字符串，避免导入开销） - self.simulator = simulator - self.received: list[tuple[str, dict]] = [] - - def post(self, url, body, headers, timeout): - return self.request("POST", url, body, headers, timeout) - - def request(self, method, url, body, headers, _timeout=None): - """验证原始请求边界；内存回环不模拟 TCP、UI 或连接限流。""" - target = urlsplit(url) - raw_target = target.path + (f"?{target.query}" if target.query else "") - result = handle_raw(self.simulator, method, raw_target, - list(headers.items()), bytes(body), - on_request=lambda path, payload, _res: - self.received.append((path, payload))) - return TransportResponse(result.status, result.body) - - -class ScriptedFaultTransport(Transport): - """按脚本注入故障后转发给内层传输。""" - - def __init__(self, inner: Transport, script: list): - self.inner = inner - self.script = list(script) - self.sent_requests: list[bytes] = [] - - def post(self, url, body, headers, timeout): - self.sent_requests.append(body) - fault = self.script.pop(0) if self.script else None - if fault == "drop_before": - raise TransportError("injected: connection refused before send") - if fault == "timeout_after": - self.inner.post(url, body, headers, timeout) # 服务器已受理 - raise TransportError("injected: read timeout after server applied") - if isinstance(fault, tuple) and fault and fault[0] == "status": - body = b'{"accepted": false, "real_timestamp_ms": 0, "virtual_time_s": 0}' - return TransportResponse(int(fault[1]), body) - return self.inner.post(url, body, headers, timeout) diff --git a/docs/paper/data/listing-source/src/mcm26b/particles.py.tex b/docs/paper/data/listing-source/src/mcm26b/particles.py.tex deleted file mode 100644 index 69d44dd..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/particles.py.tex +++ /dev/null @@ -1,458 +0,0 @@ -"""P4b 贝叶斯网格粒子滤波：逐频道幸存集维护与负观测更新。 - -与 belief.CandidateRegion（保守凸外包，无法表达非凸"挖洞"）互补： -网格幸存集精确表达"角域 (*@\ensuremath{\cap}@*) 距离盘 (*@\ensuremath{\cap}@*) 全部 no_signal 排除盘"的非凸可行集， -从而支持三件凸表示做不到的事—— - -1. 缺席证明：幸存集为空 (*@\ensuremath{\Longrightarrow}@*) 可行集为空 (*@\ensuremath{\Longrightarrow}@*) 该频道无源（严格，无需覆盖账本）； -2. 跳测规则：幸存格到测点的最小距离 > r_max + 裕量 (*@\ensuremath{\Longrightarrow}@*) 该次测量必 no_signal， - 且不产生任何新排除，可直接跳过（省 5s 检测 + 1s 换频）； -3. 负观测更新：no_signal 排除 B(s, 1000)，凸表示不删点，网格直接删格。 - -严格性（真源保留定理，docs/algo-3-bayes.md §2）：格距 h 的 Voronoi 裕量 -m = sqrt(2)/2·h 是格心到格内任一点的最大距离。所有 kill 判定均内缩 m， -即"仅当整格与可行集不相交时才删格"。真源所在格与可行集之交含真源本身， -故该格永不被删——任意观测序列后幸存集恒包含真源，且： -- 清除证书：MEC(幸存).R + m <= 20 − 工程余量 (*@\ensuremath{\Longrightarrow}@*) 真源距清除点 <= 20； -- 缺席证明：幸存集为空 (*@\ensuremath{\Longrightarrow}@*) 可行集为空。 - -观测语义与独立评测机 referee.LocalSimulator 一致 [题面]： -- no_signal：距离 > r_eff >= 1000 (*@\ensuremath{\Longrightarrow}@*) 可行集 (*@\ensuremath{\cap}@*) B(s,1000) = (*@\ensuremath{\varnothing}@*)； -- direction：距离 <= 1500，示向度误差 |读数−真值| <= (*@\ensuremath{\delta}@*)_eff（含舍入裕量）； -- near：距离 <= 5。 - -性能设计：kill 与查询全部走 O(1) 集合运算；最近距离查询用粗粒度占用 -索引（每格聚合 CF² 个细格）螺旋扫描 + 早退，服务跳测规则的高频调用。 -""" - -from __future__ import annotations - -import math -import os - -from .config import ProblemConfig, Vec2 -from .geometry.localization import smallest_enclosing_circle -from .protocol.rules import DIRECTION, NEAR, NO_SIGNAL - -_ANG_EPS_DEG = 1e-9 # 角向 kill 比较的浮点余量 -_DIST_EPS_M = 1e-9 -_COARSE_FACTOR = 4 # 粗格每边聚合的细格数 - -try: # numpy 仅作**可选**加速后端；缺失时全部回退纯 Python - import numpy as _np -except Exception: # pragma: no cover - 环境无 numpy 时走纯 Python 分支 - _np = None -if os.environ.get("MCM26B_NO_NUMPY"): # 强制纯 Python：对拍与回退验证用 - _np = None - - -def angular_gap(a_deg: float, b_deg: float) -> float: - """两个方位角（度）的最小夹角。""" - return abs((a_deg - b_deg + 180.0) % 360.0 - 180.0) - - -def as_sample_array(samples): - """把 [(x,y), ...] 采样转成 (n,2) float64 数组；numpy 缺失时原样返回。 - - 评分为 O(代表点 × 子采样) 的向量运算，是单局 CPU 的主要开销 - （实测占 72%）。调用方在每次选点前转换一次，评分函数按类型分派， - 两条实现（numpy / 纯 Python）语义逐位对齐，见 tests/test_particles.py。 - """ - if _np is None or isinstance(samples, _np.ndarray) or len(samples) == 0: - return samples - return _np.asarray(samples, dtype=float) - - -def _branch_radius_array(members) -> float: - """分支后验半径的数组版：到质心的最大距离。""" - centroid = members.mean(axis=0) - return float(_np.max(_np.hypot(members[:, 0] - centroid[0], - members[:, 1] - centroid[1]))) - - -class ChannelParticles: - """单个频道的网格幸存集。 - - 网格为覆盖 Ω 外扩一格的轴对齐方格（边长 h），索引 ``i*W + j``； - ``alive`` 是幸存格索引集合。初始集 = 格心距原点 <= Ω 半径 + 裕量的 - 全部格子，因此真源（|p| <= 1800 [题面]）所在格必在初始集内。 - ``version`` 随每次删除自增，调用方可据此缓存派生量（MEC、跳测判定）。 - """ - - def __init__(self, config: ProblemConfig = ProblemConfig(), - spacing_m: float | None = None): - field = config.field - self.config = config - self.spacing_m = float(spacing_m if spacing_m is not None - else config.bayes.particle_spacing_m) - if not 1.0 <= self.spacing_m <= 200.0: - raise ValueError("网格间距须在 [1, 200] 米") - self.margin_m = self.spacing_m * math.sqrt(2) / 2 # Voronoi 裕量 - self.r_eff_min_m = field.r_eff_min_m - self.r_eff_max_m = field.r_eff_max_m - self.near_radius_m = field.near_radius_m - self.half_angle_deg = (field.bearing_error_half_deg - + config.search.bearing_rounding_margin_deg) - # 覆盖 [-R-m, R+m]² 的格点阵列；格 (i,j) 的中心在 - # (x0 + (i+0.5)h, x0 + (j+0.5)h)，中心到格内任一点 <= h·√2/2 = 裕量 - span = field.omega_radius_m + self.margin_m - self.x0 = -span - self.width = int(math.ceil(2 * span / self.spacing_m)) + 1 - limit_sq = (span + 1e-9) ** 2 - self.alive: set[int] = set() - self._coarse: dict[int, int] = {} # 粗格索引 -> 幸存细格数 - coarse_w = self._coarse_width() - for i in range(self.width): - x = self.x0 + (i + 0.5) * self.spacing_m - for j in range(self.width): - if x * x + (self.x0 + (j + 0.5) * self.spacing_m) ** 2 <= limit_sq: - index = i * self.width + j - self.alive.add(index) - key = (i // _COARSE_FACTOR) * coarse_w + j // _COARSE_FACTOR - self._coarse[key] = self._coarse.get(key, 0) + 1 - self.version = 0 - self._mec: tuple[Vec2, float] | None = None - - # ------------------------------------------------------------ 索引与坐标 - def _coarse_width(self) -> int: - return (self.width + _COARSE_FACTOR - 1) // _COARSE_FACTOR - - def cell_center(self, index: int) -> Vec2: - i, j = divmod(index, self.width) - return (self.x0 + (i + 0.5) * self.spacing_m, - self.x0 + (j + 0.5) * self.spacing_m) - - def discard(self, indices: list[int]) -> None: - """公开删除入口：联合信念把"朝向不可能"的格一并删除时使用。""" - self._discard(indices) - - def _discard(self, indices: list[int]) -> None: - if not indices: - return - coarse_w = self._coarse_width() - for index in indices: - if index not in self.alive: - continue - self.alive.discard(index) - key = (index // self.width // _COARSE_FACTOR) * coarse_w \ - + (index % self.width) // _COARSE_FACTOR - count = self._coarse.get(key, 0) - 1 - if count <= 0: - self._coarse.pop(key, None) - else: - self._coarse[key] = count - self.version += 1 - self._mec = None - - # ------------------------------------------------------------ 观测更新 - def _kill_disk(self, center: Vec2, radius_m: float) -> None: - """删除格心距 center <= radius_m 的全部幸存格（整格判据见模块注释）。""" - if not self.alive: - return - reach = radius_m + _DIST_EPS_M - ilo = max(0, int(math.floor((center[0] - reach - self.x0) / self.spacing_m))) - ihi = min(self.width - 1, - int(math.ceil((center[0] + reach - self.x0) / self.spacing_m))) - jlo = max(0, int(math.floor((center[1] - reach - self.x0) / self.spacing_m))) - jhi = min(self.width - 1, - int(math.ceil((center[1] + reach - self.x0) / self.spacing_m))) - limit_sq = reach * reach - doomed = [] - for i in range(ilo, ihi + 1): - dx = self.x0 + (i + 0.5) * self.spacing_m - center[0] - base = i * self.width - for j in range(jlo, jhi + 1): - index = base + j - if index not in self.alive: - continue - dy = self.x0 + (j + 0.5) * self.spacing_m - center[1] - if dx * dx + dy * dy <= limit_sq: - doomed.append(index) - self._discard(doomed) - - def _kill_outside_disk(self, center: Vec2, radius_m: float) -> None: - """删除格心距 center > radius_m 的全部幸存格（保留盘内）。""" - if not self.alive: - return - reach = radius_m + _DIST_EPS_M - doomed = [index for index in self.alive - if math.dist(self.cell_center(index), center) > reach] - self._discard(doomed) - - def _kill_outside_wedge(self, station: Vec2, reading_deg: float) -> None: - """删除角向偏离读数超出 (*@\ensuremath{\delta}@*)_eff + 角向格裕量的幸存格。 - - 角向格裕量 = asin(m / max(dist−m, 1))：格内任一点相对格心的方位 - 偏差不超过它（点距测点还可再近 m，故分母再内缩 m）。 - """ - if not self.alive: - return - sx, sy = float(station[0]), float(station[1]) - doomed = [] - for index in self.alive: - gx, gy = self.cell_center(index) - dist = math.hypot(gx - sx, gy - sy) - if dist <= self.margin_m + 1.0: - continue # 格贴测点：格内方位可指向任意方向，不可删 - angular_margin = math.degrees( - math.asin(min(0.9999, self.margin_m / (dist - self.margin_m)))) - gap = angular_gap(math.degrees(math.atan2(gy - sy, gx - sx)), reading_deg) - if gap > self.half_angle_deg + angular_margin + _ANG_EPS_DEG: - doomed.append(index) - self._discard(doomed) - - def apply_measure(self, station: Vec2, result: str, - svd_deg: float | None = None, *, - directional: bool = False) -> None: - """按读数更新幸存集。真源保留性由 Voronoi 裕量保证（模块注释）。 - - ``directional=True``（第四问）：no_signal **不删空间候选**——定向源 - 的静默还可能来自朝向遮挡，单独删空间候选会误删真源；朝向维度由 - :class:`~mcm26b.belief.joint.JointBelief` 维护。 - """ - if result == NO_SIGNAL: - if directional: - return - # no_signal (*@\ensuremath{\Longrightarrow}@*) dist > r_eff >= 1000：整格落入 B(s, 1000−m) 的删。 - self._kill_disk(station, self.r_eff_min_m - self.margin_m) - elif result == NEAR: - self._kill_outside_disk(station, self.near_radius_m + self.margin_m) - elif result == DIRECTION: - if svd_deg is None: - raise ValueError("direction 读数必须携带 svd_deg") - # direction 隐含 dist <= r_max [题面] - self._kill_outside_disk(station, self.r_eff_max_m + self.margin_m) - self._kill_outside_wedge(station, svd_deg) - else: - raise ValueError(f"未知测向结果: {result!r}") - - # ------------------------------------------------------------ 查询 - def __len__(self) -> int: - return len(self.alive) - - def alive_points(self, limit: int | None = None) -> list[Vec2]: - sorted_alive = sorted(self.alive) - if limit is not None and len(sorted_alive) > limit: - step = len(sorted_alive) / limit - indices = {sorted_alive[int(k * step) % len(sorted_alive)] - for k in range(limit)} - indices = sorted(indices) - else: - indices = sorted_alive - return [self.cell_center(index) for index in indices] - - def nearest_alive_distance(self, point: Vec2, limit_m: float) -> float | None: - """最近幸存格心距离；> limit_m 时返回 None（粗格环扫 + 下界剪枝）。 - - 返回值语义：恰为最近幸存格心距离（若 <= limit_m）；None 表示所有 - 幸存格心都超出 limit_m。粗格聚合半径已计入扫描范围，不漏判。 - """ - if not self.alive: - return None - coarse_cell_m = self.spacing_m * _COARSE_FACTOR - coarse_reach = coarse_cell_m * math.sqrt(2) / 2 - cw = self._coarse_width() - ci_base = int(math.floor((point[0] - self.x0) / coarse_cell_m)) - cj_base = int(math.floor((point[1] - self.x0) / coarse_cell_m)) - ring_max = int(math.ceil((limit_m + coarse_reach) / coarse_cell_m)) + 1 - best: float | None = None - for ring in range(ring_max + 1): - lower_bound = max(0.0, ring - 1) * coarse_cell_m - coarse_reach - if best is not None and lower_bound >= best: - break # 更外环的所有格心都 >= 下界 >= 当前最优 - for ci in range(max(0, ci_base - ring), min(cw - 1, ci_base + ring) + 1): - for cj in range(max(0, cj_base - ring), min(cw - 1, cj_base + ring) + 1): - if max(abs(ci - ci_base), abs(cj - cj_base)) != ring: - continue # 只扫当前环（Chebyshev 环） - if (ci * cw + cj) not in self._coarse: - continue - ccx = self.x0 + (ci + 0.5) * coarse_cell_m - ccy = self.x0 + (cj + 0.5) * coarse_cell_m - if math.hypot(ccx - point[0], ccy - point[1]) \ - > limit_m + coarse_reach: - continue - i0, j0 = ci * _COARSE_FACTOR, cj * _COARSE_FACTOR - for i in range(i0, min(i0 + _COARSE_FACTOR, self.width)): - base = i * self.width - for j in range(j0, min(j0 + _COARSE_FACTOR, self.width)): - index = base + j - if index not in self.alive: - continue - dist = math.dist(self.cell_center(index), point) - if dist <= limit_m and (best is None or dist < best): - best = dist - return best - - def guaranteed_no_signal(self, station: Vec2) -> bool: - """真源与该测点距离必 > r_max（>= r_eff）(*@\ensuremath{\Longrightarrow}@*) 必 no_signal，测了也无信息。""" - return self.nearest_alive_distance( - station, self.r_eff_max_m + self.margin_m) is None - - def mec(self) -> tuple[Vec2, float]: - """幸存集最小包围圆（圆心, 半径）；按 version 缓存。""" - if self._mec is None: - if not self.alive: - raise ValueError("幸存集为空（该频道已可证明缺席）") - points = [self.cell_center(index) for index in self.alive] - self._mec = smallest_enclosing_circle(points) - return self._mec - - # ------------------------------------------------------------ 信息增益 - def subsample(self, size: int) -> list[Vec2]: - """按索引序均匀抽取的子采样（索引序(*@\ensuremath{\approx}@*)空间序，代表点空间铺开）。""" - return self.alive_points(limit=size) - - # ---------------------------------------------------- 向量化评分（可选） - def _expected_survival_vector(self, point: Vec2, sub, representatives) -> float: - """``expected_survival`` 的向量化实现（与纯 Python 版逐分支同语义）。""" - count = len(sub) - eps = 1.0 / count - dx, dy = sub[:, 0] - point[0], sub[:, 1] - point[1] - dist = _np.hypot(dx, dy) - within = int(_np.count_nonzero( - dist <= self.r_eff_min_m - self.margin_m + _DIST_EPS_M)) - log_keep_ns = math.log(max(1.0 - within / count, eps)) - bearing = _np.degrees(_np.arctan2(dy, dx)) - in_range = dist <= self.r_eff_max_m + self.margin_m - rdx, rdy = representatives[:, 0] - point[0], representatives[:, 1] - point[1] - rdist = _np.hypot(rdx, rdy) - rbearing = _np.degrees(_np.arctan2(rdy, rdx)) - gaps = _np.abs((bearing[None, :] - rbearing[:, None] + 180.0) % 360.0 - 180.0) - survivors = _np.count_nonzero( - (gaps <= self.half_angle_deg + _ANG_EPS_DEG) & in_range[None, :], axis=1) - p_ns = _np.clip((rdist - self.r_eff_min_m) - / (self.r_eff_max_m - self.r_eff_min_m), 0.0, 1.0) - keep_dir = _np.maximum(survivors / count, eps) - values = p_ns * log_keep_ns + (1.0 - p_ns) * _np.log(keep_dir) - near = rdist <= self.near_radius_m + self.margin_m - values = _np.where(near, math.log(eps), values) - return float(values.mean()) - - def _expected_posterior_radius_vector(self, point: Vec2, sub, - representatives) -> float: - """``expected_posterior_radius`` 的向量化实现。""" - eps_radius = self.spacing_m / 2.0 - dx, dy = sub[:, 0] - point[0], sub[:, 1] - point[1] - dist = _np.hypot(dx, dy) - bearing = _np.degrees(_np.arctan2(dy, dx)) - keep_ns = dist > self.r_eff_min_m - self.margin_m - r_ns = (_branch_radius_array(sub[keep_ns]) if keep_ns.any() - else eps_radius) - rdx, rdy = representatives[:, 0] - point[0], representatives[:, 1] - point[1] - rdist = _np.hypot(rdx, rdy) - rbearing = _np.degrees(_np.arctan2(rdy, rdx)) - gaps = _np.abs((bearing[None, :] - rbearing[:, None] + 180.0) % 360.0 - 180.0) - dir_mask = ((gaps <= self.half_angle_deg + _ANG_EPS_DEG) - & (dist[None, :] <= self.r_eff_max_m + self.margin_m)) - r_dir = _np.array([_branch_radius_array(sub[row]) if row.any() - else eps_radius for row in dir_mask]) - p_ns = _np.clip((rdist - self.r_eff_min_m) - / (self.r_eff_max_m - self.r_eff_min_m), 0.0, 1.0) - near = rdist <= self.near_radius_m + self.margin_m - values = _np.where(near, self.near_radius_m + self.margin_m, - p_ns * r_ns + (1.0 - p_ns) * r_dir) - return float(values.mean()) - - def expected_survival(self, point: Vec2, subsample, - representatives) -> float: - """E[log 幸存占比]：越小该测点的期望信息增益越大。 - - r_eff 不确定性解析积分：dist(*@\ensuremath{\in}@*)(1000,1500] 时按 r_eff~U(1000,1500) - 取 p_ns=(dist−1000)/500 为 no_signal 分支概率。 - - no_signal 分支：删 B(point, 1000−m)，幸存 = 子采样中盘外比例； - - direction 分支：以代表点方位为期望读数，角域 (*@\ensuremath{\cap}@*) B(point,1500+m) 内幸存； - - near 分支（dist <= 5+m）：可行集收缩到 5m 盘，幸存占比趋近 0。 - """ - if not self.alive or len(subsample) == 0 or len(representatives) == 0: - return 0.0 - if _np is not None and isinstance(subsample, _np.ndarray) \ - and isinstance(representatives, _np.ndarray): - return self._expected_survival_vector(point, subsample, representatives) - eps = 1.0 / len(subsample) - keep_ns = max(1.0 - self.fraction_within(subsample, point, - self.r_eff_min_m - self.margin_m), - eps) - log_keep_ns = math.log(keep_ns) - total = 0.0 - for rep in representatives: - dist = math.hypot(rep[0] - point[0], rep[1] - point[1]) - if dist <= self.near_radius_m + self.margin_m: - total += math.log(eps) - continue - p_ns = min(1.0, max(0.0, (dist - self.r_eff_min_m) - / (self.r_eff_max_m - self.r_eff_min_m))) - reading = math.atan2(rep[1] - point[1], rep[0] - point[0]) - survivors = 0 - for p in subsample: - if math.dist(p, point) > self.r_eff_max_m + self.margin_m: - continue - gap = angular_gap(math.degrees( - math.atan2(p[1] - point[1], p[0] - point[0])), - math.degrees(reading)) - if gap <= self.half_angle_deg + _ANG_EPS_DEG: - survivors += 1 - keep_dir = max(survivors / len(subsample), eps) - total += p_ns * log_keep_ns + (1.0 - p_ns) * math.log(keep_dir) - return total / max(len(representatives), 1) - - def fraction_within(self, samples, point: Vec2, radius_m: float) -> float: - if len(samples) == 0: - return 0.0 - reach = radius_m + _DIST_EPS_M - if _np is not None and isinstance(samples, _np.ndarray): - distance = _np.hypot(samples[:, 0] - point[0], samples[:, 1] - point[1]) - return float(_np.count_nonzero(distance <= reach)) / len(samples) - count = sum(1 for p in samples if math.dist(p, point) <= reach) - return count / len(samples) - - def _branch_radius(self, members) -> float: - """分支后验的半径代理：幸存子采样到其质心的最大距离（O(n)，免 Welzl）。""" - if len(members) == 0: - return 0.0 - if _np is not None and isinstance(members, _np.ndarray): - return _branch_radius_array(members) - mx = sum(p[0] for p in members) / len(members) - my = sum(p[1] for p in members) / len(members) - return max(math.hypot(p[0] - mx, p[1] - my) for p in members) - - def expected_posterior_radius(self, point: Vec2, subsample, - representatives) -> float: - """一次测量后期望后验半径（米）：选点主指标，直指清除证书阈值。 - - 对每个代表假设（真值候选）按 r_eff~U(1000,1500) 解析积分 - no_signal/direction 分支，near 分支（dist <= 5+m）后验为 5m 盘； - 各分支半径用幸存子采样的质心最大距离近似（偏差 << 格距，排序用）。 - 与几何版 worst-posterior 同族，但作用于含负观测的非凸幸存集， - 且以期望代替最坏（代表点覆盖幸存集主轴）。 - """ - if not self.alive or len(subsample) == 0 or len(representatives) == 0: - return 0.0 - if _np is not None and isinstance(subsample, _np.ndarray) \ - and isinstance(representatives, _np.ndarray): - return self._expected_posterior_radius_vector( - point, subsample, representatives) - eps_radius = self.spacing_m / 2.0 - total = 0.0 - for rep in representatives: - dist = math.hypot(rep[0] - point[0], rep[1] - point[1]) - if dist <= self.near_radius_m + self.margin_m: - total += self.near_radius_m + self.margin_m - continue - p_ns = min(1.0, max(0.0, (dist - self.r_eff_min_m) - / (self.r_eff_max_m - self.r_eff_min_m))) - members_ns = [p for p in subsample - if math.dist(p, point) > self.r_eff_min_m - self.margin_m] - reading = math.atan2(rep[1] - point[1], rep[0] - point[0]) - members_dir = [] - for p in subsample: - if math.dist(p, point) > self.r_eff_max_m + self.margin_m: - continue - gap = angular_gap(math.degrees( - math.atan2(p[1] - point[1], p[0] - point[0])), - math.degrees(reading)) - if gap <= self.half_angle_deg + _ANG_EPS_DEG: - members_dir.append(p) - r_ns = self._branch_radius(members_ns) if members_ns else eps_radius - r_dir = self._branch_radius(members_dir) if members_dir else eps_radius - total += p_ns * r_ns + (1.0 - p_ns) * r_dir - return total / max(len(representatives), 1) diff --git a/docs/paper/data/listing-source/src/mcm26b/planner/__init__.py.tex b/docs/paper/data/listing-source/src/mcm26b/planner/__init__.py.tex deleted file mode 100644 index 93dfe92..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/planner/__init__.py.tex +++ /dev/null @@ -1,1032 +0,0 @@ -"""P3/P4/P5 策略层：主动选点、全向闭环与定向扩展。 - -P3 第二检测点（验收：保证收到信号；Q 空时退化；near 分支）： -- K1 = Ω (*@\ensuremath{\cap}@*) W(s1, (*@\ensuremath{\theta}@*)1±(*@\ensuremath{\delta}@*)) (*@\ensuremath{\cap}@*) B(s1, 1500)；安全候选盘证书见 - geometry.planning.first_bearing_candidate_disk（(*@\ensuremath{\delta}@*)<=1.005° 时非空）； -- 在保证接收盘 B(mec_center, 1000-(*@\ensuremath{\rho}@*)) 内环形采样候选点，以 - "最坏后验包围圆半径"为主指标、移动代价为次指标； -- 采样是启发式（目标边界点 × 读数区间端点），不是严格最坏情形 - 最优解；选定后按 1/4 间距加密复核并如实上报数值； -- 返回 near 时：候选源在 5m 内，直接对当前频道尝试 /clear。 - -P4 全向闭环（验收：10/16/0 源场景、边界源、预算耗尽与故障注入）： -发现（coverage.CoverageLedger）→ 定位（belief 收敛）→ 清除 → 持续复扫 -→ /exit。全部频道"已清除或证明不存在"后默认立即退出；显式开启 -persistent_search时只复扫未清除频道，扫到限时为止（清除数达 16 / -实机预算耗尽 / 虚拟安全余量不足）。completed 表示任务证明完成（结束 -时每频道均 CLEARED/ABSENT 且无中断）；accounted_virtual_time_s 记录 -首次证明找全的虚拟时刻，与"复扫到限时才停"相互独立。 -断连/协议错误/守恒性破坏中断时同样尽力 /exit 并产出未完成 summary -（stop_reason 记中断类别，附逐频道状态快照），不静默丢失会话。 - -P5 定向扩展（问题4混合源闭环）： -- 49 点覆盖的发现保证对定向源同样成立（源在单元凸包内，任意发射半平面 - 含至少一个顶点），覆盖阶段不区分源类型； -- 保证接收盘内的 no_signal 只能由朝向遮挡解释 [观测推理]：频道记为 - "观测到定向"，对跖探点复核一次；联合约束基线不删空间候选（真源不误删）； -- 定位停滞时对有界候选集构造 <=20m 有限圆盘覆盖（fallback_clear_cells）， - 预算核对后逐格 /clear（清除与朝向无关）；格数超硬顶或预算不足即跳过， - 绝不盲扫。 -""" - -from __future__ import annotations - -import math -from dataclasses import dataclass - -from ..belief import (BeliefState, CandidateRegion, ChannelStatus, - InconsistentBelief, clip_halfplane) -from ..belief.joint import JointBelief -from ..config import ProblemConfig, Vec2 -from ..coverage import CoverageLedger -from ..evaluation import recompute_virtual_time, summarize -from ..guarantee import plan_instance, seven_plan, square_49_plan -from ..protocol.client import (DeadlineExceeded, ProtocolError, - SimulatorClient) -from ..protocol.rules import CLEAR_SUCCESS, DIRECTION, NEAR, NO_SIGNAL -from ..protocol.timing import move_time -from ..protocol.transport import TransportError -from ..routing import improve_open_path - - -def bearing_deg(a: Vec2, b: Vec2) -> float: - """从 a 指向 b 的方位角（0-360，0 为 x 正方向，逆时针）。""" - return math.degrees(math.atan2(b[1] - a[1], b[0] - a[0])) % 360.0 - - -def _error_brief(exc: BaseException) -> dict: - """异常摘要（summary 留档用）：类型名 + 截断消息。""" - return {"type": type(exc).__name__, "message": str(exc)[:500]} - - -@dataclass(frozen=True) -class SecondPointPlan: - """下一检测点的候选与依据（P3 输出）。""" - - position: Vec2 - worst_posterior_radius_m: float - move_cost_s: float - reason: str - - -@dataclass(frozen=True) -class ClearCertificate: - """清除证书：候选集外包半径（含近似误差）不超过 20m 阈值。""" - - channel: int - center: Vec2 - radius_m: float - limit_m: float - certified: bool - - -def clear_certificate(region: CandidateRegion, channel: int, - config: ProblemConfig = ProblemConfig()) -> ClearCertificate: - """(*@\ensuremath{\rho}@*)_poly <= 20 - 外包近似误差 - 工程余量 才允许发起清除。""" - center, radius = region.mec() - limit = (config.field.clear_radius_m - region.slack_m - - config.search.clear_margin_m) - return ClearCertificate(channel, center, radius, limit, radius <= limit) - - -def candidate_points(center: Vec2, safe_radius_m: float, rings, angles: int) -> list[Vec2]: - """保证接收盘内的候选点：盘心 + 各比例半径 × 均匀方向。""" - points = [tuple(center)] - for fraction in rings: - radius = fraction * safe_radius_m - if radius <= 1e-9: - continue - step = 2 * math.pi / angles - for k in range(angles): - angle = step * k + step / 2 - points.append((center[0] + radius * math.cos(angle), - center[1] + radius * math.sin(angle))) - return points - - -def _worst_posterior_radius(region: CandidateRegion, q: Vec2, - witnesses: list[Vec2], half_angle_deg: float, - near_radius_m: float, disk_sides: int) -> float: - """对候选点 q，遍历"目标边界点 × 读数分支"的最坏后验包围半径。 - - 读数分支：direction 的区间端点 (*@\ensuremath{\varphi}@*)(g)±(*@\ensuremath{\delta}@*)（端点是每个 g 的最不利读数）， - 以及 near——源落在 q 的 near_radius_m 内时后验为 B(q, near)(*@\ensuremath{\cap}@*)候选集。 - 保证接收盘内 no_signal 不可能发生，故不枚举该分支。 - 这是启发式近似，不构成最优性证明 [工程]。 - """ - posterior_radii = [] - for g in witnesses: - phi = bearing_deg(q, g) - for reading in (phi - half_angle_deg, phi + half_angle_deg): - probe = CandidateRegion(list(region.polygon), region.slack_m) - probe.clip_wedge(q, reading, half_angle_deg) - if probe.polygon: - posterior_radii.append(probe.mec()[1]) - near_probe = CandidateRegion(list(region.polygon), region.slack_m) - try: - near_probe.clip_disk(q, near_radius_m, disk_sides) - except InconsistentBelief: - pass # B(q, near) 与候选集不相交：near 分支不可能发生，跳过 - else: - if near_probe.polygon: - posterior_radii.append(near_probe.mec()[1]) - if not posterior_radii: - return region.mec()[1] # 无有效采样点时退回当前半径 - return max(posterior_radii) - - -def safe_disk_radius(region: CandidateRegion, - config: ProblemConfig = ProblemConfig()) -> float: - """保证接收盘 B(mec, safe) 的半径；<0 表示无保证（(*@\ensuremath{\rho}@*) 超过最小接收半径）。 - - 盘内任意点到候选集每点距离 <= safe + (*@\ensuremath{\rho}@*) + 1e-3 < 1000 <= 最小接收半径， - 故必然收到 direction/near。1mm 数值余量避免浮点贴边被 r_eff=1000 的源 - 判为 no_signal。 - """ - return config.field.r_eff_min_m - region.mec()[1] - 1e-3 - - -def select_measurement_point(region: CandidateRegion, from_position: Vec2, - config: ProblemConfig = ProblemConfig()) -> SecondPointPlan: - """在保证接收盘内选择下一检测点（P3 核心；对任意候选集通用）。 - - 保证接收盘 B(mec_center, 1000-(*@\ensuremath{\rho}@*))：盘内任意点到候选集每点距离 - <= (1000-(*@\ensuremath{\rho}@*)) + (*@\ensuremath{\rho}@*) = 1000 <= 最小接收半径，故必然收到 direction/near， - 不会浪费一次 no_signal。(*@\ensuremath{\rho}@*)>1000 时退化为探索 MEC 圆心（可能 no_signal）。 - """ - field, search = config.field, config.search - center, radius = region.mec() - half_angle = field.bearing_error_half_deg + search.bearing_rounding_margin_deg - - def move_cost(point: Vec2) -> float: - return move_time(from_position, point, config.cost) - - # 1mm 数值余量在 safe_disk_radius 内记账。 - safe_radius = safe_disk_radius(region, config) - if safe_radius < 0: - return SecondPointPlan(tuple(center), radius, move_cost(center), - "无保证接收盘（(*@\ensuremath{\rho}@*)>1000）：探索 MEC 圆心，可能 no_signal") - coarse = region.witnesses(search.witness_spacing_m) - samples = candidate_points(center, safe_radius, - search.candidate_rings, search.candidate_angles) - near_radius, sides = field.near_radius_m, search.polygon_sides - best_key, best_point, best_worst = None, None, None - for point in samples: - worst = _worst_posterior_radius(region, point, coarse, half_angle, - near_radius, sides) - key = (round(worst, 6), round(move_cost(point), 6)) - if best_key is None or key < best_key: - best_key, best_point, best_worst = key, point, worst - dense = _worst_posterior_radius(region, best_point, - region.witnesses(search.witness_spacing_m / 4), - half_angle, near_radius, sides) - reason = (f"安全盘 B(centre,{safe_radius:.0f}m) 内 {len(samples)} 候选；" - f"粗采样最坏后验 {best_worst:.1f}m，1/4 间距加密复核 {dense:.1f}m") - return SecondPointPlan(tuple(best_point), dense, move_cost(best_point), reason) - - -def select_second_point(client: SimulatorClient, first_position: Vec2, - first_bearing_deg: float, - config: ProblemConfig = ProblemConfig()) -> SecondPointPlan: - """P3 入口：由首次 direction 构造 K1，返回保证接收的第二检测点方案。""" - region = CandidateRegion.initial(first_position, config) - half_angle = config.field.bearing_error_half_deg \ - + config.search.bearing_rounding_margin_deg - region.clip_wedge(first_position, first_bearing_deg, half_angle) - return select_measurement_point(region, client.state.position, config) - - -class OmnidirectionalLoop: - """问题3全向"发现—定位—清除—持续复扫"闭环（P4 基线 + 持续搜索）。 - - 串行驱动 SimulatorClient：覆盖阶段在 49 点网格上对每个 UNKNOWN 频道 - 检测；发现 direction 即进入该频道的定位子循环（选点→测量→收敛→ - 证书清除），near 直接清除。全部频道"已清除或证明不存在"后按 - ``search.persistent_search``（默认关闭）可选择只复扫 - 未清除频道，直到清除数达 16、实机预算耗尽或虚拟安全余量不足。 - stop_reason 记录循环结束原因；``completed`` 表示任务证明完成 - （结束时每频道均 CLEARED/ABSENT 且无中断），与"复扫到限时才停" - 相互独立：accounted_virtual_time_s 记录首次证明找全的虚拟时刻。 - """ - - def __init__(self, client: SimulatorClient, - config: ProblemConfig = ProblemConfig()): - self.client = client - self.config = config - self.belief = BeliefState(config) - # 覆盖计划是"可离线搜索、可在运行期校验"的一等对象；基类默认保持 - # 历史 49 点表（grid49_immediate 基线口径不变），各问题策略自行覆盖。 - self.coverage_plan = square_49_plan() - self.ledger = CoverageLedger(config, points=list(self.coverage_plan.points)) - self.cleared: list[int] = [] - self.anomalies: list[dict] = [] - self.stop_reason: str | None = None - # 逐频道缺席证据来源（pf_empty / coverage），供审计与论文逐条追溯。 - self.absence_evidence: dict[int, str] = {} - # "同一 0.5m 测点 × 同一频道"的重复检测计数：历史上一次官方演练 - # 有 98.84% 的虚拟时间耗在空复扫上，本计数是该问题的回归指标。 - self.redundant_rescan_measures = 0 - # 首次达成"每频道均已清除或证明不存在"的虚拟时刻（找全证明）。 - self.accounted_virtual_time_s: float | None = None - # 证书有效但 /clear 失败后必须先补测再重试，避免在同一证书上 - # 反复消耗 3 秒/次的失败清除。 - self._may_clear: set[int] = set() - # 断连/协议错误/守恒性破坏等中断：留档异常，收尾时写入 summary。 - self._abort_detail: BaseException | None = None - - # ------------------------------------------------------------ 主流程 - def run(self) -> dict: - """主闭环。任何异常都必须尽力 /exit 并产出 summary，不得静默丢会话。""" - try: - self.client.enter() - self._coverage_phase() - if self.stop_reason is None: - self._mark_absent_after_coverage() - self._resolve_detected() - self._record_accounted() - if self.config.search.persistent_search: - self._persistent_phase() - if self.stop_reason is None: - if len(self.cleared) >= self.config.field.source_count_max: - self.stop_reason = "sixteen_cleared" - elif self._all_accounted(): - self.stop_reason = "all_resolved" - else: - self.stop_reason = "unresolved_channels" - except DeadlineExceeded: - self.stop_reason = "real_budget_exhausted" - except (TransportError, ProtocolError, InconsistentBelief) as exc: - self._abort_detail = exc - if isinstance(exc, TransportError): - self.stop_reason = "transport_failure" - elif isinstance(exc, InconsistentBelief): - self.stop_reason = "inconsistent_belief" - else: - self.stop_reason = "protocol_error" - except Exception as exc: # 意外异常同样收尾，不阻断 /exit 与结果汇总 - self._abort_detail = exc - self.stop_reason = "unexpected_error" - info = None - exit_error = None - try: - info = self.client.exit() - except Exception as exc: # 接口不可用：记录后仍产出未完成状态 - exit_error = exc - summary = self._summary(info) - if exit_error is not None: - summary["exit_error"] = _error_brief(exit_error) - return summary - - # ------------------------------------------------------------ 预算与证明 - def _min_virtual_reserve(self) -> float: - """单动作耗时上界的保守估计，用于虚拟安全余量。 - - 上界 = 2 × 最远站点距离 / 速度 + 检测 + 换频（机器人不会跑到覆盖 - 计划包围区之外执行任务）。配置值通常更宽松；本函数保证即使配置被 - 调小，余量也足以完成最后一个动作而不触及 100 小时上限。 - """ - reach = max((math.dist((0.0, 0.0), point) for point in self.ledger.points), - default=0.0) - action_bound = (2.0 * reach / self.config.cost.speed_mps - + self.config.cost.measure_s + self.config.cost.switch_s) - return max(self.config.search.virtual_reserve_s, action_bound) - - def _virtual_cap_reached(self) -> bool: - """虚拟安全余量不足：置 stop_reason 并返回 True，调用方立即收尾。 - - 余量须大于单次动作耗时上界（见 :meth:`_min_virtual_reserve`）， - `search.virtual_reserve_s=10000s` [工程] 提供充分裕度，避免触及 - 附件2 §4.5 的 100 小时上限被模拟器强制结束。 - """ - if (self.client.state.virtual_time_s + self._min_virtual_reserve() - < self.config.field.max_virtual_duration_s): - return False - self.stop_reason = "virtual_time_cap" - return True - - def _all_accounted(self) -> bool: - return all(belief.status in (ChannelStatus.CLEARED, ChannelStatus.ABSENT) - for belief in self.belief.channels.values()) - - def _record_accounted(self) -> None: - """首次"每频道均已清除或证明不存在"的时刻留档（找全证明）。""" - if self.accounted_virtual_time_s is None and self._all_accounted(): - self.accounted_virtual_time_s = self.client.state.virtual_time_s - - # ------------------------------------------------------------ 覆盖阶段 - def _pending_channels_at(self, index: int) -> list[int]: - return [channel for channel, belief in self.belief.channels.items() - if belief.status is ChannelStatus.UNKNOWN - and not self.ledger.measured_at(channel, index)] - - def _next_point_index(self) -> int | None: - """尚有 UNKNOWN 频道待测的最近网格点（贪心最近邻 [工程]）。""" - position = self.client.state.position - best_index, best_distance = None, 0.0 - for index, point in enumerate(self.ledger.points): - if not self._pending_channels_at(index): - continue - distance = math.dist(position, point) - if best_index is None or distance < best_distance: - best_index, best_distance = index, distance - return best_index - - def _coverage_phase(self) -> None: - while True: - if self._count_limit_reached(): - return - index = self._next_point_index() - if index is None: - return - point = self.ledger.points[index] - for channel in self._pending_channels_at(index): - if self._virtual_cap_reached(): - return - outcome = self.client.measure(point, channel) - self.ledger.mark_measured(channel, index) - self.belief.update_measure(channel, point, outcome.result, - outcome.svd_deg) - if outcome.result == DIRECTION: - self._localize_and_clear(channel) - elif outcome.result == NEAR: - region = self.belief.candidate_set(channel) - cert = clear_certificate(region, channel, self.config) - if cert.certified: - self._attempt_clear(channel, cert.center, cert) - else: # 理论上不发生（near 候选半径 5m）；保守记录 - self._anomaly("near_without_certificate", channel, - position=point) - if self.stop_reason is not None or self._count_limit_reached(): - return - - # ------------------------------------------------------------ 持续复扫 - def _persistent_phase(self) -> None: - """全部频道已清除/证明不存在后的持续复扫 [用户决策 2026-09-11]。 - - 只扫未清除频道（DETECTED 继续定位，ABSENT 全网格复测，防模拟器 - 或覆盖证明假设偏差），直到清除数达 16 或虚拟安全余量不足； - 实机预算由客户端 DeadlineExceeded 兜底（扫到限时为止）。 - """ - while self.stop_reason is None: - if self._count_limit_reached(): - return - if self._virtual_cap_reached(): - return - self._persistent_round() - - def _persistent_round(self) -> None: - """一轮全网格复扫：网格点最近邻序，逐点测量全部未清除频道。""" - measured: set[tuple[int, int]] = set() - while self.stop_reason is None: - index = self._next_resweep_point(measured) - if index is None: - return - point = self.ledger.points[index] - for channel in self._resweep_channels_at(index, measured): - if self._virtual_cap_reached(): - return - measured.add((channel, index)) - was_absent = (self.belief.channels[channel].status - is ChannelStatus.ABSENT) - outcome = self.client.measure(point, channel) - self.belief.update_measure(channel, point, outcome.result, - outcome.svd_deg) - if was_absent and outcome.result in (DIRECTION, NEAR): - # 复测推翻了覆盖缺席证明：守恒性留痕，按新证据定位清除。 - self._anomaly("absent_detected_on_resweep", channel, - position=point, result=outcome.result) - if outcome.result == DIRECTION: - self._localize_and_clear(channel) - elif outcome.result == NEAR: - region = self.belief.candidate_set(channel) - cert = clear_certificate(region, channel, self.config) - if cert.certified: - self._attempt_clear(channel, cert.center, cert) - else: - self._anomaly("near_without_certificate", channel, - position=point) - if self.stop_reason is not None: - return - - def _next_resweep_point(self, measured: set[tuple[int, int]]) -> int | None: - """尚有未清除频道待复测的最近网格点（贪心最近邻 [工程]）。""" - position = self.client.state.position - best_index, best_distance = None, 0.0 - for index, point in enumerate(self.ledger.points): - if not self._resweep_channels_at(index, measured): - continue - distance = math.dist(position, point) - if best_index is None or distance < best_distance: - best_index, best_distance = index, distance - return best_index - - def _resweep_channels_at(self, index: int, - measured: set[tuple[int, int]]) -> list[int]: - return [channel for channel, belief in self.belief.channels.items() - if belief.status is not ChannelStatus.CLEARED - and (channel, index) not in measured] - - def _count_limit_reached(self) -> bool: - if len(self.cleared) >= self.config.field.source_count_max: - self.stop_reason = "sixteen_cleared" - return True - return False - - # ------------------------------------------------------------ 定位与清除 - def _localize_and_clear(self, channel: int) -> bool: - """定位子循环：选点测量收敛候选集，拿到清除证书后清除。 - - 返回是否已清除；步数耗尽仍未收敛则保持 DETECTED 留待二轮。 - 进入本函数前该频道刚有一次 direction 读数，允许立即清除。 - """ - search = self.config.search - self._may_clear.add(channel) - for _ in range(search.max_localize_steps): - if self._virtual_cap_reached(): - return False - region = self.belief.candidate_set(channel) - if region is None: - return False - cert = clear_certificate(region, channel, self.config) - if cert.certified and channel in self._may_clear: - if self._attempt_clear(channel, cert.center, cert): - return True - self._may_clear.discard(channel) - continue - plan = select_measurement_point(region, self.client.state.position, - self.config) - outcome = self.client.measure(plan.position, channel) - self.belief.update_measure(channel, plan.position, outcome.result, - outcome.svd_deg) - self._may_clear.add(channel) - if outcome.result == NO_SIGNAL: - self._anomaly("no_signal_in_safe_disk", channel, - position=plan.position, detail=plan.reason) - return self.belief.channels[channel].status is ChannelStatus.CLEARED - - def _attempt_clear(self, channel: int, target: Vec2, - cert: ClearCertificate) -> bool: - outcome = self.client.clear(target, channel) - if outcome.result == CLEAR_SUCCESS: - self.belief.mark_cleared(channel) - self.cleared.append(channel) - return True - if cert.certified: - self._anomaly("clear_failed_with_certificate", channel, position=target, - radius_m=round(cert.radius_m, 3), limit_m=cert.limit_m) - return False - - def _anomaly(self, kind: str, channel: int, **detail) -> None: - """异常只在守恒性被打破或证书失效时出现；每频道限量记录防刷屏。""" - recorded = sum(1 for item in self.anomalies if item["channel"] == channel) - if recorded >= self.config.search.max_anomalies_per_channel: - return - self.anomalies.append({"kind": kind, "channel": channel, **detail}) - - # ------------------------------------------------------------ 收尾 - def _mark_absent_after_coverage(self) -> None: - """全向源缺席证明：全网格无非 no_signal 读数的频道不存在源 [题面]。""" - for channel, belief in self.belief.channels.items(): - if belief.status is ChannelStatus.UNKNOWN \ - and self.ledger.coverage_complete(channel): - self.belief.mark_absent(channel) - self.absence_evidence[channel] = "coverage" - - def _resolve_detected(self) -> None: - """覆盖完成后，对仍未清除的 DETECTED 频道做第二轮定位。 - - 不再在此决定停止：持续搜索模式下由 _persistent_phase 接力， - 非持续模式由 run() 依据 _all_accounted 判定 all_resolved。 - """ - for channel in self.belief.channels_by_status(ChannelStatus.DETECTED): - if self._count_limit_reached() or self._virtual_cap_reached(): - return - self._localize_and_clear(channel) - if self.stop_reason is not None: - return - - def _summary(self, info) -> dict: - """结果汇总。info 为 None 表示 /exit 未能完成（断连等），按未完成上报。 - - completed = 无中断且结束时每频道均 CLEARED/ABSENT（任务证明完成）； - stop_reason 另行记录循环结束原因（持续复扫模式下通常是 - virtual_time_cap / real_budget_exhausted / sixteen_cleared）。 - """ - events = self.client.log.action_events() - stats = summarize(events) - report = recompute_virtual_time(events) - steps = self._step_report() - cleared = self.belief.channels_by_status(ChannelStatus.CLEARED) - absent = self.belief.channels_by_status(ChannelStatus.ABSENT) - resolved = set(cleared) | set(absent) - unresolved = [channel for channel in sorted(self.belief.channels) - if channel not in resolved] - virtual_time_s = round((info.virtual_time_s if info is not None - else self.client.state.virtual_time_s), 3) - # 清除数达 16 即数量上界证明（其余频道无论状态如何都不可能有源）； - # 否则要求每频道均 CLEARED/ABSENT。 - completed = (self._abort_detail is None - and (len(self.cleared) >= self.config.field.source_count_max - or not unresolved)) - # 完成依据必须显式区分"数量上界"与"逐频道缺席/清除证明"， - # 否则论文与审计会把 16 源截断误读为逐频道证明。 - if self._abort_detail is not None: - completion_basis = "incomplete" - elif len(self.cleared) >= self.config.field.source_count_max: - completion_basis = "count_cap" - elif not unresolved: - completion_basis = "per_channel_proof" - else: - completion_basis = "incomplete" - summary = { - "completed": completed, - "completion_basis": completion_basis, - "stop_reason": self.stop_reason, - "exit_reason": "exit_unreachable" if info is None else info.reason, - "virtual_time_s": virtual_time_s, - "accounted_virtual_time_s": (round(self.accounted_virtual_time_s, 3) - if self.accounted_virtual_time_s is not None - else None), - "persistent_search": self.config.search.persistent_search, - "virtual_reserve_s": round(self._min_virtual_reserve(), 3), - "coverage_plan": self.coverage_plan.name, - "coverage_points": len(self.coverage_plan.points), - "coverage_plan_points": [[p[0], p[1]] for p in self.coverage_plan.points], - "coverage_plan_certificate": ( - self.coverage_plan.certificate.as_dict() - if self.coverage_plan.certificate is not None else None), - "cleared_channels": cleared, - "absent_channels": absent, - "unresolved_channels": unresolved, - "absence_evidence": {str(channel): self.absence_evidence[channel] - for channel in sorted(absent)}, - "redundant_rescan_measures": self.redundant_rescan_measures, - "measures": stats["measures"], - "clears": stats["clears"], - "clear_success": stats["cleared"], - "total_requests": stats["measures"] + stats["clears"], - "move_distance_m": round(stats["distance_m"], 1), - # 题面口径：定位清除总时间（全程虚拟时长）/ 被清除干扰源个数。 - "avg_locate_clear_time_s": (round(virtual_time_s / len(cleared), 3) - if cleared else None), - "step_totals": steps["totals"], - "steps": steps["rows"], - "anomalies": self.anomalies, - "virtual_recompute_mismatches": len(report["mismatches"]), - "channel_status": self._channel_status_snapshot(), - } - if self._abort_detail is not None: - summary["abort_detail"] = _error_brief(self._abort_detail) - return summary - - def _step_report(self) -> dict: - """每步计时汇总 [用户决策 2026-09-11]：实机墙钟 + 比赛虚拟耗时分项。""" - totals = {"count": 0, "real_elapsed_total_s": 0.0, - "real_since_enter_total_s": 0.0, - "virtual_move_s": 0.0, "virtual_switch_s": 0.0, - "virtual_measure_action_s": 0.0, "virtual_clear_action_s": 0.0, - "virtual_total_s": 0.0} - rows = [] - for index, step in enumerate(self.client.log.step_events()): - cost = step["virtual_cost"] - totals["count"] += 1 - totals["real_elapsed_total_s"] += step["real_elapsed_s"] - totals["real_since_enter_total_s"] = step.get( - "real_since_enter_s", totals["real_since_enter_total_s"]) - totals["virtual_move_s"] += cost["move_s"] - totals["virtual_switch_s"] += cost["switch_s"] - if step["path"] == "/measure": - totals["virtual_measure_action_s"] += cost["action_s"] - elif step["path"] == "/clear": - totals["virtual_clear_action_s"] += cost["action_s"] - totals["virtual_total_s"] += cost["total_s"] - rows.append({"index": index, "action": step["path"].lstrip("/"), - "result": step.get("result"), - "channel": step.get("channel"), - "position": step.get("position"), - "real_elapsed_ms": round(step["real_elapsed_s"] * 1000.0, 3), - "real_since_enter_s": step.get("real_since_enter_s"), - "move_s": round(cost["move_s"], 3), - "switch_s": round(cost["switch_s"], 3), - "action_s": round(cost["action_s"], 3), - "step_virtual_s": round(cost["total_s"], 3), - "virtual_time_s": step["virtual_time_s"]}) - for key, value in totals.items(): - if isinstance(value, float): - totals[key] = round(value, 3) - return {"totals": totals, "rows": rows} - - def _channel_status_snapshot(self) -> dict: - """逐频道状态快照：中断收尾时的未完成状态留档（每频道一条）。""" - snapshot = {} - for channel, belief in sorted(self.belief.channels.items()): - entry = {"status": belief.status.value} - if belief.region is not None: - entry["posterior_radius_m"] = round(belief.region.mec()[1], 3) - snapshot[str(channel)] = entry - return snapshot - - -class DirectionalExtension(OmnidirectionalLoop): - """问题4混合源闭环（P5）：全向基线 + 定向观测处理 + 后备清除。 - - 与 P4 的三点差异（协议衔接见 docs/协议规则表与状态机.md §7）： - - 49 点覆盖的发现保证对定向源同样成立，覆盖阶段不区分源类型； - - 保证接收盘内的 no_signal 只能由朝向遮挡解释 [观测推理]：该频道 - 记为"观测到定向"，随后对 MEC 圆心取对跖探点复核；联合约束基线 - 不据此删除空间候选（真源不误删）； - - 定位停滞（候选集有界但未达清除证书）时构造 <=20m 有限圆盘覆盖， - 预算核对后逐格 /clear：清除与朝向无关 [题面]，是定向源不依赖 - 可见性的完备后备。格数超硬顶或现实预算不足则跳过并留痕，绝不盲扫。 - """ - - def __init__(self, client: SimulatorClient, - config: ProblemConfig = ProblemConfig()): - super().__init__(client, config) - # P0-2：第四问切换到同一保证下的最小命中集（默认 q4_mincover_v1）。 - self.coverage_plan = plan_instance(config.search.q4_coverage_plan, - verify=config.search.verify_coverage_plan) - self.ledger = CoverageLedger(config, points=list(self.coverage_plan.points)) - self.directional_observed: list[int] = [] # 观测到定向性的频道 - self.blocked_probes: dict[int, list[Vec2]] = {} - self.fallback_log: list[dict] = [] # 后备清除逐次留痕 - # P0-3：(位置 × 朝向) 联合可行集，仅在频道首次被看见时惰性建立， - # 使其初始化与更新成本只落在"确实存在定向源"的频道上。 - self.joint: dict[int, JointBelief] = {} - self.joint_absent_channels: list[int] = [] - self.visibility_probes = 0 # 由联合信念选出的探点数 - - def _coverage_phase(self) -> None: - """49站的定向覆盖证明不变；每站先串行扫频，再就近服务已发现源。 - - 避免检测一个源后远行清除，再返回同站检测下一个频道。 - no_signal不用于删空间候选，也不使用第三问的七站缺席证明。 - """ - while not self._count_limit_reached() and self.stop_reason is None: - index = self._next_point_index() - if index is None: - return - point = self.ledger.points[index] - pending = self._pending_channels_at(index) - pending.sort(key=lambda c: (c != self.client.state.channel, c)) - for channel in pending: - if self._virtual_cap_reached(): - return - outcome = self.client.measure(point, channel) - self.ledger.mark_measured(channel, index) - self._observe(channel, point, outcome.result, outcome.svd_deg) - if outcome.result == NEAR: - cert = clear_certificate( - self.belief.candidate_set(channel), channel, self.config) - if cert.certified: - self._attempt_clear(channel, point, cert) - if self._count_limit_reached(): - return - queue = self.belief.channels_by_status(ChannelStatus.DETECTED) - while queue and self.stop_reason is None: - channel = min(queue, key=lambda c: ( - math.dist(self.client.state.position, - self.belief.candidate_set(c).mec()[0]), c)) - queue.remove(channel) - self._localize_and_clear(channel) - if self._count_limit_reached(): - return - - # ------------------------------------------------------------ 定位与清除 - def _localize_and_clear(self, channel: int) -> bool: - """定位子循环：选点测量收敛候选集，拿到清除证书后清除。 - - 与 P4 的差异：保证接收盘内的 no_signal 说明探点被朝向遮挡 - [观测推理]，走"对跖复核 -> 环探"升级梯子（不计入定位步数， - 由 max_blocked_probes 限流），之后仍未收敛再转后备清除。 - """ - search = self.config.search - self._may_clear.add(channel) - steps = 0 - while steps < search.max_localize_steps: - if self._virtual_cap_reached(): - return False - region = self.belief.candidate_set(channel) - if region is None: - return False - cert = clear_certificate(region, channel, self.config) - if cert.certified and channel in self._may_clear: - if self._attempt_clear(channel, cert.center, cert): - return True - self._may_clear.discard(channel) # 证书失败：补测后才可重试 - continue - if len(self.blocked_probes.get(channel, [])) >= search.max_blocked_probes: - break # 梯子用尽仍被遮挡：定位停滞，转后备清除 - point = self._next_probe(region, channel) - within_range = (math.dist(point, region.mec()[0]) - <= safe_disk_radius(region, self.config)) - outcome = self.client.measure(point, channel) - self._observe(channel, point, outcome.result, outcome.svd_deg) - self._may_clear.add(channel) - if outcome.result == NO_SIGNAL: - if within_range and channel not in self.directional_observed: - self.directional_observed.append(channel) - self.blocked_probes.setdefault(channel, []).append(point) - continue # 盘外无信号也可能是距离不足，不据此断言定向 - self.blocked_probes.pop(channel, None) - steps += 1 - if self.belief.channels[channel].status is ChannelStatus.CLEARED: - return True - region = self.belief.candidate_set(channel) - if region is None: - return False - cert = clear_certificate(region, channel, self.config) - if cert.certified and channel in self._may_clear: - if self._attempt_clear(channel, cert.center, cert): - return True - self._may_clear.discard(channel) - return self._fallback_clear(channel, region) - - def _observe(self, channel: int, point: Vec2, result: str, - svd_deg: float | None) -> None: - """同步更新凸候选集与 (位置 × 朝向) 联合可行集。 - - 联合集只在频道首次被看见（direction/near）时建立：从未被看见的 - 频道由覆盖证明负责缺席，不需要朝向维度。联合集一旦为空，直接给出 - 该频道的缺席证明（严格，与覆盖证明同一条件），可提前停止对其检测。 - """ - self.belief.update_measure(channel, point, result, svd_deg) - if not self.config.search.directional_joint_belief: - return - joint = self.joint.get(channel) - if joint is None: - if result not in (DIRECTION, NEAR): - return - joint = JointBelief(self.config) - self.joint[channel] = joint - joint.apply(point, result, svd_deg) - if joint.is_absent() and self.belief.channels[channel].status \ - is not ChannelStatus.CLEARED: - self.belief.mark_absent(channel) - self.absence_evidence[channel] = "joint_empty" - if channel not in self.joint_absent_channels: - self.joint_absent_channels.append(channel) - - def _probe_candidates(self, region: CandidateRegion, channel: int) -> list[Vec2]: - """可见性选点的候选点族：保证接收点 + 对跖点 + 环探 + **抵近点**。 - - D1 关键结构性改动：旧点族全部围绕 MEC 圆心固定环采样，远距离不收敛时 - 没有"主动靠近"这一动作，只能退化到 20m 网格盲清。现在补上 - ``center + (*@\ensuremath{\alpha}@*)·(当前位置 − center)``（(*@\ensuremath{\alpha}@*)(*@\ensuremath{\in}@*)approach_fractions，(*@\ensuremath{\alpha}@*)=0 即圆心） - 的抵近序列，使策略可以在保持可见的前提下逐次逼近真源，最终以正常 - 角域证书或 near 收尾。 - """ - center, radius = region.mec() - position = self.client.state.position - candidates = [select_measurement_point( - region, position, self.config).position] - safe = safe_disk_radius(region, self.config) - blocked = self.blocked_probes.get(channel, []) - if blocked and safe >= 0: - dx, dy = center[0] - blocked[0][0], center[1] - blocked[0][1] - norm = math.hypot(dx, dy) - if norm > 1e-9: - scale = min(1.0, safe / norm) - candidates.append((center[0] + dx * scale, center[1] + dy * scale)) - # 抵近点：从 MEC 圆心到当前点的插值序列（含圆心本身）。 - for fraction in self.config.search.approach_fractions: - candidates.append((center[0] + (position[0] - center[0]) * fraction, - center[1] + (position[1] - center[1]) * fraction)) - for factor in (0.5, 1.0, 1.5): - ring = max(radius * factor, 2.0 * self.config.field.near_radius_m) - for step in range(8): - angle = math.pi * step / 4.0 - candidates.append((center[0] + ring * math.cos(angle), - center[1] + ring * math.sin(angle))) - unique: list[Vec2] = [] - seen: set[tuple[int, int]] = set() - blocked_keys = {(int(round(point[0] * 2)), int(round(point[1] * 2))) - for point in blocked} \ - if self.config.search.probe_exclude_blocked else set() - for point in candidates: - key = (int(round(point[0] * 2)), int(round(point[1] * 2))) - if key in seen or key in blocked_keys: - continue # 已测过且被遮挡的点：再测不会有任何新信息 - seen.add(key) - unique.append(point) - return unique - - def _visibility_probe(self, region: CandidateRegion, channel: int) -> Vec2 | None: - """按联合信念选探点；联合信念不可用时返回 None（退回梯子）。 - - 三种口径（只影响选点顺序，不承担任何安全责任）： - - - ``nearest_visible``（默认）：先按可见概率过滤（只保留 - ``prob_detect (*@\ensuremath{\ge}@*) ratio × max`` 的候选，避免选中"实际必然被朝向遮挡"的 - 点），再取 ``当前位置→q→MEC 圆心`` 移动最省者。9 场景 core 实测： - 后备盲清 125.7 → 4.3 次/局、T 9225 → 8602 s、墙钟最低。 - - ``expected_radius``：在同样过滤后最小化 - ``E[后验 MEC 半径](q) + (*@\ensuremath{\lambda}@*)·移动``。(*@\ensuremath{\lambda}@*)=5 时与上面几乎同分（8604 s）， - (*@\ensuremath{\lambda}@*) 很小时（0.05）值函数主导，为信息多绕路（9740 s）——本题 - "看得见且少走路"比"单步信息量最大"更重要。 - - ``visibility``（旧口径）：最大化 ``prob_detect/(移动+6)``，会反复选中 - 同一个近处被遮挡点（实测 9225 s、后备 125.6 次）。 - """ - joint = self.joint.get(channel) - if joint is None or joint.is_absent(): - return None - position = self.client.state.position - service_s = self.config.cost.measure_s + self.config.cost.switch_s - candidates = self._probe_candidates(region, channel) - if not candidates: - return None - mode = self.config.search.probe_score_mode - if mode == "visibility": - best_point, best_score = None, None - for point in candidates: - probability = joint.prob_detect(point) - if probability <= 0.0: - continue - score = -(probability / (move_time(position, point, self.config.cost) - + service_s)) - if best_score is None or score < best_score: - best_point, best_score = point, score - if best_point is not None: - self.visibility_probes += 1 - return best_point - scored = [(joint.prob_detect(point), point) for point in candidates] - peak = max(probability for probability, _ in scored) - ratio = self.config.search.probe_visibility_ratio - keep = [point for probability, point in scored - if probability >= ratio * peak] or [point for _, point in scored] - center = region.mec()[0] - weight = self.config.search.probe_lambda_move_s - - def approach_cost(point: Vec2) -> float: - return (move_time(position, point, self.config.cost) - + move_time(point, center, self.config.cost) + service_s) - - if mode == "nearest_visible": - # (*@\ensuremath{\lambda}@*) 很大时值函数项对 argmin 已无影响：直接取"可见候选中移动最省"， - # 省掉每个候选一次期望后验半径计算（单局墙钟 −3 s）。 - best = min(keep, key=lambda point: (approach_cost(point), point)) - self.visibility_probes += 1 - return best - best = min(keep, key=lambda point: ( - joint.expected_posterior_radius(point) + weight * approach_cost(point), - point)) - self.visibility_probes += 1 - return best - - - - def _next_probe(self, region: CandidateRegion, channel: int) -> Vec2: - """定向遮挡下的探点升级梯子 [工程]。 - - - 未被遮挡过：worst-posterior 选点器（保证接收盘内）； - - 第 1 次被遮挡：对 MEC 圆心取对跖方向，偏移裁进保证接收盘； - - 之后：绕 MEC 圆心、半径 = (*@\ensuremath{\rho}@*) 的环探，方位自首个被遮挡点起 - 每次 +45°。几何边界必须如实陈述：环上可见弧没有下界—— - 源可位于环上（|g-c| = (*@\ensuremath{\rho}@*)）且朝向沿外切线，可见集退化为单个 - 切点，固定步进环探可以全部漏过。梯子只提高提前命中概率， - 不构成接收或命中保证；完备性完全由后备清除兜底。 - """ - visibility = self._visibility_probe(region, channel) - if visibility is not None: - return visibility - blocked = self.blocked_probes.get(channel, []) - center, radius = region.mec() - if not blocked: - return select_measurement_point(region, self.client.state.position, - self.config).position - safe = safe_disk_radius(region, self.config) - first = blocked[0] - if len(blocked) == 1 and safe >= 0: - dx, dy = center[0] - first[0], center[1] - first[1] - norm = math.hypot(dx, dy) - if norm <= 1e-9: - # 首个被遮挡探点恰在圆心：方向信息为零，沿 +x 走满安全盘。 - return (center[0] + safe, center[1]) - scale = min(1.0, safe / norm) - # 对跖方向，偏移模长 = min(norm, safe)：圆心对称点裁进保证接收盘。 - return (center[0] + dx * scale, center[1] + dy * scale) - base = math.atan2(first[1] - center[1], first[0] - center[0]) - azimuth = base + math.radians(45.0 * (len(blocked) - 1)) - return (center[0] + radius * math.cos(azimuth), - center[1] + radius * math.sin(azimuth)) - - def _fallback_clear(self, channel: int, region: CandidateRegion) -> bool: - """定位停滞的后备：候选集有限圆盘覆盖逐格清除（格数即请求上界）。""" - search, session = self.config.search, self.config.session - width = max(p[0] for p in region.polygon) - min(p[0] for p in region.polygon) - height = max(p[1] for p in region.polygon) - min(p[1] for p in region.polygon) - cells = fallback_clear_cells(region.polygon, self.config) - entry = {"channel": channel, "cells": len(cells), - "bound": fallback_cell_bound(width, height, self.config), - "posterior_radius_m": round(region.mec()[1], 3)} - self.fallback_log.append(entry) - if len(cells) > search.fallback_max_cells: - # 宽候选集盲扫违背预算纪律：留待定位收敛，不得硬扫 [计划§4]。 - entry["outcome"] = "skipped_cell_cap" - self._anomaly("fallback_cell_cap_exceeded", channel, - cells=len(cells), cap=search.fallback_max_cells) - return False - # 现实预算核对：N 次请求 × 单请求高分位估计 + 退出余量，不足不启动。 - remaining = self.client.real_remaining_s - if remaining is None or len(cells) * session.real_rtt_p95_s \ - + session.reserve_exit_s > remaining: - entry["outcome"] = "skipped_budget" - return False - attempts = 0 - order = self._fallback_order(cells) - for cell in order: - if self._virtual_cap_reached(): - entry["outcome"] = "skipped_virtual_budget" - entry["attempts"] = attempts - return False - attempts += 1 - outcome = self.client.clear(cell, channel) - if outcome.result == CLEAR_SUCCESS: - self.belief.mark_cleared(channel) - self.cleared.append(channel) - entry["outcome"] = "cleared" - entry["attempts"] = attempts - return True - # 候选集保守包含真源，格心距格内任一点 <= 10*sqrt(2) < 20m：全部 - # 失败说明守恒性被打破，按异常留痕，不得据此删除候选。 - entry["outcome"] = "exhausted" - entry["attempts"] = attempts - self._anomaly("fallback_exhausted_without_success", channel, - cells=len(cells)) - return False - - def _fallback_order(self, cells: list[Vec2]) -> list[Vec2]: - """后备清除的走格顺序：最近邻打底 + 2-opt（可选 Or-opt）改进。 - - 旧实现每步重新 ``min(remaining, key=dist)``，等价于最近邻开放路径 - （典型为最优的 1.2–1.3 倍）且每次重扫 O(k²)。这里一次性求解改进序 - （D3），把格间移动压到接近最优；格数不变，故完备性不变。 - """ - if not cells: - return [] - if not self.config.search.fallback_optimize_tour or len(cells) < 4: - position = self.client.state.position - remaining = list(cells) - order: list[Vec2] = [] - while remaining: - nxt = min(remaining, key=lambda c: (math.dist(position, c), c)) - remaining.remove(nxt) - order.append(nxt) - position = nxt - return order - return improve_open_path([tuple(c) for c in cells], - self.client.state.position) - - # ------------------------------------------------------------ 收尾 - def _summary(self, info) -> dict: - report = super()._summary(info) - report["directional_observed_channels"] = list(self.directional_observed) - report["fallback_clears"] = self.fallback_log - # 后备 /clear 请求计入总请求口径，仅统计检测次数会低估现实耗时。 - report["fallback_clear_attempts"] = sum( - entry.get("attempts", 0) for entry in self.fallback_log) - report["visibility_probes"] = self.visibility_probes - report["joint_absent_channels"] = list(self.joint_absent_channels) - report["joint_final"] = {str(channel): belief.summary() - for channel, belief in sorted(self.joint.items())} - return report - - -def fallback_cell_bound(width_m: float, height_m: float, - config: ProblemConfig = ProblemConfig()) -> int: - """外包框枚举的格数上界 ((*@\ensuremath{\lceil}@*)w/cell(*@\ensuremath{\rceil}@*)+2)((*@\ensuremath{\lceil}@*)h/cell(*@\ensuremath{\rceil}@*)+2)（计划§4 规模检查）。""" - cell = config.search.fallback_clear_grid_m - return (math.ceil(width_m / cell) + 2) * (math.ceil(height_m / cell) + 2) - - -def fallback_clear_cells(polygon: list[Vec2], - config: ProblemConfig = ProblemConfig()) -> list[Vec2]: - """候选外包多边形的 <=20m 有限圆盘覆盖格心列表（P5 后备清除）。 - - 全局半开 20m 网格索引；多边形与格子的相交判定带正容差（宁可多测）， - 多边形边界恰在格线上时两侧格子都保留，因此格内任意点距某格心 - <= 10*sqrt(2) < 20m，逐格 /clear 至少一次命中。列表长度即 /clear - 请求预算上界；先核对 fallback_cell_bound，超预算不得逐格盲扫。 - """ - if not polygon: - return [] - cell = config.search.fallback_clear_grid_m - xs = [p[0] for p in polygon] - ys = [p[1] for p in polygon] - i0, i1 = math.floor(min(xs) / cell), math.floor(max(xs) / cell) - j0, j1 = math.floor(min(ys) / cell), math.floor(max(ys) / cell) - eps = 1e-9 - centers: list[Vec2] = [] - for i in range(i0, i1 + 1): - for j in range(j0, j1 + 1): - clipped = list(polygon) - for a, b, c in ((1.0, 0.0, (i + 1) * cell + eps), - (-1.0, 0.0, -(i * cell - eps)), - (0.0, 1.0, (j + 1) * cell + eps), - (0.0, -1.0, -(j * cell - eps))): - clipped = clip_halfplane(clipped, a, b, c, tol=eps) - if not clipped: - break - if clipped: - centers.append(((i + 0.5) * cell, (j + 0.5) * cell)) - return centers diff --git a/docs/paper/data/listing-source/src/mcm26b/planner/bayes_loop.py.tex b/docs/paper/data/listing-source/src/mcm26b/planner/bayes_loop.py.tex deleted file mode 100644 index 49b1bc5..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/planner/bayes_loop.py.tex +++ /dev/null @@ -1,816 +0,0 @@ -"""P4b 贝叶斯网格滤波闭环（问题3新策略 ``bayes``）。 - -在 :class:`OmnidirectionalLoop` 骨架（run/异常收尾/summary/预算/异常留痕） -上的三层重构，对应 docs/algo-3-bayes.md 的架构： - -1. 感知层：每频道一个网格幸存集（particles.ChannelParticles），全部读数 - （含 no_signal 负观测）即时更新；幸存集为空即缺席证明，无需等覆盖账本； -2. 决策层：统一任务循环——站点扫频、定位测量、清除三类任务合成任务表， - 开放路径最近邻 + 2-opt 排序，每执行一个任务滚动重排（动态 TSP）； -3. 选点层：定位测量点在保证接收盘（凸证书）或 PF MEC 探索环（宽候选集） - 内按"期望 log 幸存占比 + (*@\ensuremath{\lambda}@*)·移动时间"评分（信息增益贪心）。 - -与基线 SevenBatch 的差异：负观测跳站/跳测（必 no_signal 的 (站,频道) 对 -不消耗检测与换频）、PF 缺席证明提前证毕、全局任务排序替代"站内最近邻"。 -清除证书仍以凸证书为主（PF 网格证书仅在负观测挖洞使幸存集更紧时提前 -触发），两者均满足 Voronoi/保守裕量，不牺牲全清率。 -""" - -from __future__ import annotations - -import math -from dataclasses import dataclass - -from ..belief import CandidateRegion, ChannelStatus -from ..config import ProblemConfig, Vec2 -from ..coverage import CoverageLedger -from ..particles import ChannelParticles, as_sample_array -from ..protocol.client import SimulatorClient -from ..protocol.rules import DIRECTION, NEAR, NO_SIGNAL -from ..protocol.timing import move_time -from . import (ClearCertificate, OmnidirectionalLoop, clear_certificate, - candidate_points, safe_disk_radius, select_measurement_point) -from .seven import validate_seven_coverage -from ..guarantee import seven_plan - - -@dataclass(frozen=True) -class Task: - """统一任务表的一项。service_s 为不含移动的固有耗时（检测+换频/清除）。""" - - kind: str # "station" | "locate" | "clear" - position: Vec2 - service_s: float - channel: int | None = None - station_index: int | None = None - station_channels: tuple[int, ...] = () - - -def _point_key(point: Vec2) -> tuple[int, int]: - """候选点去重键：0.5m 网格取整（同一物理点不重复测量）。""" - return (int(round(point[0] * 2)), int(round(point[1] * 2))) - - -class BayesLoop(OmnidirectionalLoop): - """问题3贝叶斯闭环：负观测感知 + 信息增益选点 + 滚动任务排序。""" - - def __init__(self, client: SimulatorClient, - config: ProblemConfig = ProblemConfig()): - super().__init__(client, config) - validate_seven_coverage(config.bayes.station_ring_radius_m, config) - self.coverage_plan = seven_plan(config.bayes.station_ring_radius_m) - self.ledger = CoverageLedger( - config, points=list(self.coverage_plan.points)) - self.particles = {channel: ChannelParticles(config) - for channel in self.belief.channels} - self._measured_points: dict[int, set[tuple[int, int]]] = {} - self._clear_failed: set[int] = set() # 证书清除失败后须先补测再重试 - self._stall: dict[int, int] = {} # 连续无收缩计数（异常留痕用） - self._skip_cache: dict[tuple[int, int], tuple[int, bool]] = {} - self.skipped_measures = 0 # 跳测规则省下的检测次数 - self.no_shrink_measures = 0 # 未收缩幸存集的定位检测（诊断用） - self.pf_absent_channels: list[int] = [] # 由幸存集为空证明缺席的频道 - self.opportunistic_measures = 0 - - # ------------------------------------------------------------ 主循环 - def _coverage_phase(self) -> None: - """统一任务循环：发现 + 定位 + 清除滚动调度，直到任务表为空。""" - while self.stop_reason is None: - if self._count_limit_reached() or self._virtual_cap_reached(): - return - if not self._step_once(): - return - - def _step_once(self) -> bool: - """构建任务表、排序并执行首任务；无可执行任务返回 False。""" - if self.config.bayes.opportunistic_measure: - self._measure_at_stop() - tasks = self._build_tasks() - if not tasks: - return False - tasks = self._refine_locate_tasks(tasks) - order = self._order_tasks(tasks) - self._execute_task(order[0]) - return True - - def _measure_at_stop(self) -> None: - """利用已停靠位置补交会方位；评分只作选测，证书仍用完整角域。 - - 只测尚未在此处测过、有望显著收缩且保证距离可接收的已发现频道。 - 逐频道调用measure，换频与5秒检测照常计费；不在移动中检测。 - 此距离保证仅适用于第三问，不能用于未知定向源。 - """ - point = self.client.state.position - channels = self.belief.channels_by_status(ChannelStatus.DETECTED) - channels.sort(key=lambda c: (c != self.client.state.channel, c)) - for channel in channels: - if self._virtual_cap_reached(): - return - if _point_key(point) in self._measured_points.get(channel, set()): - continue - cert = self._best_certificate(channel) - if cert is not None and cert.certified: - continue - region = self.belief.candidate_set(channel) - farthest = max(math.dist(point, v) for v in region.polygon) - if farthest > self.config.field.r_eff_min_m - 1e-3: - continue - radius = region.mec()[1] - vertices = region.polygon - stride = max(1, len(vertices) // self.config.bayes.mc_representatives) - radii = [] - delta = (self.config.field.bearing_error_half_deg - + self.config.search.bearing_rounding_margin_deg) - for target in vertices[::stride]: - theta = math.degrees(math.atan2(target[1]-point[1], target[0]-point[0])) - probe = CandidateRegion(list(vertices), region.slack_m) - probe.clip_wedge(point, theta, delta) - radii.append(probe.mec()[1] if probe.polygon else radius) - if sum(radii) / len(radii) > radius * self.config.bayes.opportunistic_radius_ratio: - continue - outcome = self.client.measure(point, channel) - self._record_measure(channel, point, outcome) - self._may_clear.add(channel) - self.opportunistic_measures += 1 - - # ------------------------------------------------------------ 任务构建 - def _station_pending(self, index: int) -> list[int]: - """站点待测频道：UNKNOWN、未测过、非"必 no_signal"且未证缺席。""" - point = self.ledger.points[index] - pending = [] - for channel, belief in self.belief.channels.items(): - if belief.status is not ChannelStatus.UNKNOWN: - continue - if self.ledger.measured_at(channel, index): - continue - if self._skip_station_channel(channel, index, point): - continue - pending.append(channel) - return pending - - def _fused_channels_at(self, index: int) -> list[int]: - """本站要测的频道 = 未发现(UNKNOWN) + 已发现但尚未定证(DETECTED)。 - - P0-1：把定位并入覆盖巡回。站点三角化可行性（方案 §1.3 F11）： - 99.28% 的源位置有 (*@\ensuremath{\ge}@*)2 个站在 r_eff_max=1500m 内，最佳交会角中位 - 122.9°、5 分位 58.5°，因此"顺路取第二条方位线"对绝大多数源成立。 - 已有证书、已在同一 0.5m 测点测过、或该点必 no_signal 的频道跳过。 - - 实测结论（2026-09-12，`output/suite/q3-fuse-ab*`）：本机制**不划算**。 - 七站环上通常只有 2–3 个站能对该源取得有效方位线，交会角也不足以 - 直接换到 20m 证书，专用信息增益探点仍然必要；仅在站点顺带测量等于 - 平白多花约 11 次检测（+0.8%），若同时抑制专用探点则 +45.6%（20/20 - 场景更慢）。默认关闭，保留代码以便复现与后续研究。 - """ - point = self.ledger.points[index] - channels = self._station_pending(index) - selected = set(channels) - if not self.config.bayes.fuse_localize_into_tour: - return channels - for channel in self.belief.channels_by_status(ChannelStatus.DETECTED): - if channel in selected or self.ledger.measured_at(channel, index): - continue - if _point_key(point) in self._measured_points.get(channel, set()): - continue - cert = self._best_certificate(channel) - if cert is not None and cert.certified: - continue # 已有证书：交给清除任务，不再多测 - if self._skip_station_channel(channel, index, point): - continue # 幸存集都在 1500m 外：该点必 no_signal - channels.append(channel) - selected.add(channel) - return channels - - def _skip_station_channel(self, channel: int, index: int, point: Vec2) -> bool: - """跳测规则（按 pf.version 缓存；幸存集单调收缩，判定单调）。""" - pf = self.particles[channel] - if not pf: - return True - cached = self._skip_cache.get((channel, index)) - if cached is not None and cached[0] == pf.version: - return cached[1] - value = pf.guaranteed_no_signal(point) - self._skip_cache[(channel, index)] = (pf.version, value) - return value - - def _build_tasks(self) -> list[Task]: - tasks: list[Task] = [] - for index, point in enumerate(self.ledger.points): - pending = self._fused_channels_at(index) - if not pending: - continue - switches = len(pending) - (1 if self.client.state.channel in pending else 0) - tasks.append(Task("station", tuple(point), - self.config.cost.measure_s * len(pending) - + self.config.cost.switch_s * max(switches, 0), - station_index=index, station_channels=tuple(pending))) - for channel in self.belief.channels_by_status(ChannelStatus.DETECTED): - cert = self._best_certificate(channel) - if cert is not None and cert.certified \ - and channel not in self._clear_failed: - tasks.append(Task("clear", cert.center, - self.config.cost.clear_success_s, - channel=channel)) - continue - if self._defer_to_station(channel): - continue # 下一条方位线可由"本就要去的站点"顺路提供 - point = self._select_point(channel) - if point is None: - continue - tasks.append(Task("locate", point, - self.config.cost.measure_s + self.config.cost.switch_s, - channel=channel)) - return tasks - - def _defer_to_station(self, channel: int) -> bool: - """该频道能否由"本就要去的站点"提供下一条方位线。 - - P0-1 的关键：仅仅在站点顺带测量是不够的（那只是多做一次检测）， - 必须同时**抑制专用探点任务**，否则滚动排序仍会优先飞向更近的探点。 - 判据要求该站本来就有 UNKNOWN 频道待测（覆盖巡回必须去），因此不会 - 为了等一条方位线而制造新的绕行，也不会出现"无任务可做"的死锁： - 站点扫完后 ``_station_pending`` 为空，探点任务自然恢复。 - """ - if not self.config.bayes.fuse_localize_into_tour: - return False - for index, point in enumerate(self.ledger.points): - if not self._station_pending(index): - continue - if self.ledger.measured_at(channel, index): - continue - if _point_key(point) in self._measured_points.get(channel, set()): - continue - if self._skip_station_channel(channel, index, point): - continue - return True - return False - - # ------------------------------------------------------------ 任务排序 - def _order_tasks(self, tasks: list[Task]) -> list[Task]: - """开放路径排序：小任务表用精确 DP，否则最近邻 + 2-opt。 - - Held-Karp（S5/T1）把"已访问集合 × 结束时测向频道"并入状态，因此换频 - 代价是精确的，而不是 :meth:`_path_cost` 里"按频道排序"的贪心近似。 - """ - if len(tasks) <= 2: - ordered = sorted(tasks, key=lambda t: ( - move_time(self.client.state.position, t.position, self.config.cost), - t.kind, t.channel or 0)) - return min((ordered, ordered[::-1]), key=self._path_cost) - limit = self.config.bayes.exact_order_limit - if 0 < limit and len(tasks) <= limit: - exact = self._exact_order(tasks) - if exact is not None: - return exact - order = self._nearest_order(tasks) - if not self.config.bayes.two_opt_enabled: - return order - return self._two_opt(order) - - def _service_and_exit(self, task: Task, - channel: int) -> tuple[float, int]: - """任务在进入频道 ``channel`` 时的固有耗时与离开后的测向频道。""" - cost = self.config.cost - if task.kind == "locate": - return (cost.measure_s + (cost.switch_s if channel != task.channel else 0.0), - task.channel) - if task.kind == "station" and task.station_channels: - pending = sorted(task.station_channels, - key=lambda c: (c != channel, c)) - switches = len(pending) - (1 if channel in pending else 0) - return (cost.measure_s * len(pending) + cost.switch_s * switches, - pending[-1]) - return task.service_s, channel - - def _exact_order(self, tasks: list[Task]) -> list[Task] | None: - """Held-Karp 精确开放路径（起点固定、终点自由，含换频状态）。 - - 状态 ``(mask, c)`` = 已访问任务集 mask、离开最后一个任务后测向频道为 c； - 频道取值域只需 {当前频道} (*@\ensuremath{\cup}@*) {locate 频道} (*@\ensuremath{\cup}@*) {station 离开频道}。 - 规模 ``2^n·n·|C|``；n 超过 :attr:`BayesConfig.exact_order_limit` 时由 - 调用方回退启发式。返回 ``None`` 表示状态过大（防御性）。 - """ - n = len(tasks) - if n <= 1: - return list(tasks) - start = self.client.state.position - init = self.client.state.channel - channels = {init} - for task in tasks: - if task.kind == "locate": - channels.add(task.channel) - elif task.kind == "station" and task.station_channels: - # 离开频道 = 按"当前频道优先"排序后的最后一个：通常是最大值； - # 进入频道恰为最大值时退化为次大值，故两者都要进状态空间。 - ordered = sorted(task.station_channels) - channels.add(ordered[-1]) - if len(ordered) > 1: - channels.add(ordered[-2]) - channels = sorted(channels) - width = len(channels) - if width * (1 << n) * n > 4_000_000: - return None - index_of = {channel: i for i, channel in enumerate(channels)} - c_init = index_of[init] - service: list[list[float]] = [] - exits: list[list[int]] = [] - for task in tasks: - row_service, row_exit = [], [] - for channel in channels: - value, exit_channel = self._service_and_exit(task, channel) - row_service.append(value) - row_exit.append(index_of[exit_channel]) - service.append(row_service) - exits.append(row_exit) - move = [[move_time(tasks[i].position, tasks[j].position, self.config.cost) - for j in range(n)] for i in range(n)] - from_start = [move_time(start, task.position, self.config.cost) - for task in tasks] - inf = float("inf") - # dp[(mask, ci)] = 最小代价；parent[(mask, ci)] = (上一 mask, 上一 ci) - dp: dict[tuple[int, int], float] = {} - last_task: dict[tuple[int, int], int] = {} - parent: dict[tuple[int, int], tuple[int, int] | None] = {} - for k in range(n): - key = (1 << k, exits[k][c_init]) - value = from_start[k] + service[k][c_init] - if value < dp.get(key, inf): - dp[key] = value - last_task[key] = k - parent[key] = None - for mask in range(1, 1 << n): - for ci in range(width): - state = (mask, ci) - cost = dp.get(state) - if cost is None: - continue - for k in range(n): - if (mask >> k) & 1: - continue - nxt = (mask | (1 << k), exits[k][ci]) - value = cost + move[last_task[state]][k] + service[k][ci] - if value < dp.get(nxt, inf) - 1e-12: - dp[nxt] = value - last_task[nxt] = k - parent[nxt] = state - full = (1 << n) - 1 - best_key, best_cost = None, inf - for ci in range(width): - state = (full, ci) - if state in dp and dp[state] < best_cost: - best_key, best_cost = state, dp[state] - if best_key is None: - return None - order: list[Task] = [] - key: tuple[int, int] | None = best_key - while key is not None: - order.append(tasks[last_task[key]]) - key = parent[key] - order.reverse() - return order - - - - def _nearest_order(self, tasks: list[Task]) -> list[Task]: - remaining = list(tasks) - order = [] - position = self.client.state.position - while remaining: - best = min(remaining, key=lambda t: ( - move_time(position, t.position, self.config.cost), - t.kind, t.channel or 0)) - remaining.remove(best) - order.append(best) - position = best.position - return order - - def _path_cost(self, order: list[Task]) -> float: - total = 0.0 - position = self.client.state.position - channel = self.client.state.channel - for task in order: - total += move_time(position, task.position, self.config.cost) - if task.kind == "locate": - total += self.config.cost.measure_s - total += self.config.cost.switch_s * (channel != task.channel) - channel = task.channel - elif task.kind == "station" and task.station_channels: - pending = sorted( - task.station_channels, - key=lambda c, channel=channel: (c != channel, c)) - total += self.config.cost.measure_s * len(pending) - total += self.config.cost.switch_s * (len(pending) - (channel in pending)) - channel = pending[-1] - else: - total += task.service_s # 清除不改变测向频道 - position = task.position - return total - - def _two_opt(self, order: list[Task]) -> list[Task]: - best = list(order) - best_cost = self._path_cost(best) - for _ in range(self.config.bayes.two_opt_passes): - improved = False - for i in range(len(best) - 1): - for j in range(i + 1, len(best)): - candidate = best[:i] + best[i:j + 1][::-1] + best[j + 1:] - cost = self._path_cost(candidate) - if cost < best_cost - 1e-6: - best, best_cost, improved = candidate, cost, True - if not improved: - break - return best - - # ------------------------------------------------------------ 任务执行 - def _execute_task(self, task: Task) -> None: - if task.kind == "station": - self._execute_station(task.station_index) - elif task.kind == "clear": - cert = self._best_certificate(task.channel) - if cert is not None and cert.certified: - if not self._attempt_clear(task.channel, cert.center, cert): - self._clear_failed.add(task.channel) - self._may_clear.discard(task.channel) - else: - self._clear_failed.discard(task.channel) - elif task.kind == "locate": - self._execute_locate(task.channel, task.position) - - def _execute_station(self, index: int) -> None: - """单站批量扫频：只测待测频道（跳测规则已过滤），扫完即返回重排。 - - P0-1：本站同时测量"已发现未定证"频道，使第二/第三条方位线在巡回 - 途中顺路取得；证书一旦成立即就地清除，不额外绕行。 - """ - point = self.ledger.points[index] - pending = self._fused_channels_at(index) - unknown = [c for c, b in self.belief.channels.items() - if b.status is ChannelStatus.UNKNOWN] - self.skipped_measures += len(unknown) - len( - [c for c in pending if self.belief.channels[c].status - is ChannelStatus.UNKNOWN]) - # 当前频道优先，减少换频；同站 near 直接清除不打断扫频 - pending.sort(key=lambda c: (c != self.client.state.channel, c)) - for channel in pending: - if self.stop_reason is not None or self._count_limit_reached() \ - or self._virtual_cap_reached(): - return - detected_before = (self.belief.channels[channel].status - is ChannelStatus.DETECTED) - outcome = self.client.measure(point, channel) - self.ledger.mark_measured(channel, index) - self._record_measure(channel, point, outcome) - if outcome.result in (DIRECTION, NEAR): - self._may_clear.add(channel) - if outcome.result == NEAR: - region = self.belief.candidate_set(channel) - cert = clear_certificate(region, channel, self.config) - if cert.certified: - if self._attempt_clear(channel, point, cert): - self._clear_failed.discard(channel) - else: - self._clear_failed.add(channel) - self._may_clear.discard(channel) - else: - self._anomaly("near_without_certificate", channel, position=point) - continue - if not detected_before: - continue - if outcome.result == NO_SIGNAL: - # 该频道已被发现：保证接收盘内不可能 no_signal，属守恒性异常 - region = self.belief.candidate_set(channel) - safe = (safe_disk_radius(region, self.config) - if region is not None else -1.0) - if safe >= 0 and math.dist(point, region.mec()[0]) <= safe: - self._anomaly("no_signal_in_safe_disk", channel, - position=point) - continue - cert = self._best_certificate(channel) - if cert is not None and cert.certified: - if self._attempt_clear(channel, cert.center, cert): - self._clear_failed.discard(channel) - else: - self._clear_failed.add(channel) - self._may_clear.discard(channel) - - def _execute_locate(self, channel: int, point: Vec2) -> None: - """单步定位测量：执行后立即重排（滚动时域），收敛则顺路清除。""" - pf = self.particles[channel] - before = len(pf) - outcome = self.client.measure(point, channel) - self._record_measure(channel, point, outcome) - self._may_clear.add(channel) - if outcome.result == NO_SIGNAL: - region = self.belief.candidate_set(channel) - if region is not None and safe_disk_radius(region, self.config) >= 0 \ - and math.dist(point, region.mec()[0]) \ - <= safe_disk_radius(region, self.config): - self._anomaly("no_signal_in_safe_disk", channel, position=point) - after = len(pf) - cert = self._best_certificate(channel) - if cert is not None and cert.certified: - if self._attempt_clear(channel, cert.center, cert): - self._clear_failed.discard(channel) - self._stall.pop(channel, None) - return - self._clear_failed.add(channel) - self._may_clear.discard(channel) - if after == before: - self._stall[channel] = self._stall.get(channel, 0) + 1 - self.no_shrink_measures += 1 # 只是浪费不破坏守恒性，不进异常表 - else: - self._stall[channel] = 0 - - # ------------------------------------------------------------ 感知与证书 - def _record_measure(self, channel: int, position: Vec2, outcome) -> None: - """belief（凸证书）与 PF（幸存集）同步更新；PF 空即证缺席。""" - self.belief.update_measure(channel, position, outcome.result, - outcome.svd_deg) - # 同一 0.5m 测点 × 同一频道的重复检测：历史上一次官方演练有 98.84% - # 的虚拟时间耗在空复扫上，本计数是该问题的回归指标。 - key = _point_key(position) - seen = self._measured_points.setdefault(channel, set()) - if key in seen: - self.redundant_rescan_measures += 1 - seen.add(key) - self._clear_failed.discard(channel) # 新证据落地：允许再次尝试清除 - belief = self.belief.channels[channel] - if belief.status in (ChannelStatus.CLEARED, ChannelStatus.ABSENT): - return # 已证毕：清除/缺席后的 no_signal 与距离无关，不进 PF - pf = self.particles[channel] - pf.apply_measure(position, outcome.result, outcome.svd_deg) - if not pf: - if belief.status is ChannelStatus.UNKNOWN: - self.belief.mark_absent(channel) - self.absence_evidence[channel] = "pf_empty" - if channel not in self.pf_absent_channels: - self.pf_absent_channels.append(channel) - else: - self._anomaly("pf_empty_while_detected", channel, position=position) - self._apply_count_bound() - - def _apply_count_bound(self) -> None: - """存在证据达到题面源数上界时，其余 UNKNOWN 可由计数直接判缺席。 - - 依据 [题面]：每频道至多一个源、全局限定 10..16 个源。一旦 - DETECTED/CLEARED 的不同频道数达到 16，任何尚未出现有效信号的 - 频道都不可能是源，无须等 7 站覆盖账本跑完。该判定与位置无关， - 是严格的计数证明；evidence 与 coverage/pf_empty 分开留痕。 - """ - present = [channel for channel, belief in self.belief.channels.items() - if belief.status in (ChannelStatus.DETECTED, - ChannelStatus.CLEARED)] - if len(present) < self.config.field.source_count_max: - return - for channel, belief in self.belief.channels.items(): - if belief.status is ChannelStatus.UNKNOWN: - belief.status = ChannelStatus.ABSENT - self.absence_evidence[channel] = "count_bound" - - def _best_certificate(self, channel: int) -> ClearCertificate | None: - """凸证书优先；负观测挖洞使 PF 幸存集更紧时用网格证书补位。""" - region = self.belief.candidate_set(channel) - cert = clear_certificate(region, channel, self.config) \ - if region is not None else None - if cert is not None and cert.certified: - return self._near_clear_target(cert) - if self.config.bayes.grid_cert_enabled: - pf = self.particles[channel] - if len(pf): - center, radius = pf.mec() - limit = (self.config.field.clear_radius_m - pf.margin_m - - self.config.search.clear_margin_m) - if radius <= limit: - return self._near_clear_target( - ClearCertificate(channel, center, radius, limit, True)) - return cert - - def _near_clear_target(self, cert: ClearCertificate) -> ClearCertificate: - """沿当前来向利用20m清除容差；三角不等式保留整集覆盖证明。""" - position = self.client.state.position - distance = math.dist(position, cert.center) - shift = min(distance, max(0.0, cert.limit_m - cert.radius_m - 1e-6)) - if distance <= 1e-9 or shift <= 0: - return cert - target = tuple(c + (p-c)*shift/distance for p, c in zip(position, cert.center)) - return ClearCertificate(cert.channel, target, cert.radius_m+shift, cert.limit_m, True) - - # ------------------------------------------------------------ 信息增益选点 - def _probe_context(self, channel: int): - """构造某频道下一次定位测量的候选集与信息增益评分函数。 - - 返回 ``(candidates, info_score, mec_center, current_position)``； - 候选为空返回 ``None``。``_select_point`` 与路线感知精修共用此逻辑， - 保证两者只差“移动代价如何折算”。 - """ - bayes, search = self.config.bayes, self.config.search - pf = self.particles[channel] - if not pf: - return None - region = self.belief.candidate_set(channel) - center, radius = pf.mec() - measured = self._measured_points.get(channel, set()) - position = self.client.state.position - candidates: list[Vec2] = [] - safe = safe_disk_radius(region, self.config) if region is not None else -1.0 - if region is not None and safe >= 0: - # 保证接收盘（凸证书口径）：任意候选必产生 direction/near - candidates = candidate_points(tuple(region.mec()[0]), safe, - search.candidate_rings, - search.candidate_angles) - # 以实际来向生成对称交会候选，避免固定全局角度网格的旋转偏差。 - geometric_center = region.mec()[0] - base_angle = math.atan2(position[1] - geometric_center[1], - position[0] - geometric_center[0]) - for fraction in search.candidate_rings: - if fraction <= 0: - continue - for offset in (-math.pi/3, -math.pi/6, 0, math.pi/6, math.pi/3): - angle = base_angle + offset - candidates.append((geometric_center[0] + safe * fraction * math.cos(angle), - geometric_center[1] + safe * fraction * math.sin(angle))) - # 已停靠位置若本身在安全接收盘内，是零移动的合法测点；显式加入 - # 可避免为了固定角度环而白白横移。 - if math.dist(position, geometric_center) <= safe + 1e-9: - candidates.append(tuple(position)) - else: - # 宽候选集：PF MEC 探索环（负观测挖洞后幸存集的包围圆） - for fraction in bayes.wide_rings: - ring = max(radius * fraction, 2.0 * pf.margin_m) - candidates.extend(candidate_points(center, ring, (1.0,), - search.candidate_angles)) - candidates.append(tuple(center)) - candidates.append(tuple(position)) - candidates = [tuple(c) for c in candidates - if _point_key(c) not in measured] - if not candidates: - return None - # 采样一次转成数组（numpy 可用时），使候选评分走向量路径； - # numpy 缺失时 as_sample_array 原样返回列表，语义不变。 - subsample = as_sample_array(pf.subsample(bayes.score_subsample)) - stride = max(len(subsample) // bayes.mc_representatives, 1) - representatives = subsample[::stride] - - def info_score(q: Vec2) -> float: - if bayes.score_mode == "entropy": - return pf.expected_survival(q, subsample, representatives) - return pf.expected_posterior_radius(q, subsample, representatives) - - return candidates, info_score, center, position - - def _select_point(self, channel: int) -> Vec2 | None: - """定位测量点：期望 log 幸存占比 + (*@\ensuremath{\lambda}@*)·移动时间 最小的候选。""" - context = self._probe_context(channel) - if context is None: - return None - candidates, info_score, center, position = context - bayes = self.config.bayes - - def score(q: Vec2) -> float: - # 一次定位后仍需接近源才能清除；仅计到检测点的移动会偏好绕行。 - move = bayes.lambda_move_s * (move_time(position, q, self.config.cost) - + move_time(q, center, self.config.cost)) - return info_score(q) + move - - return min(candidates, key=lambda q: (score(q), _point_key(q))) - - def _refine_locate_tasks(self, tasks: list[Task]) -> list[Task]: - """路线感知精修定位任务点（P2，2026-09-12）。 - - 旧评分只比较 ``current->q + q->MEC``，是局部代理；滚动 2-opt 的真实 - 代价还包含 ``q->next_task``。这里对每个 locate 任务在候选点上计算 - “替换该任务后整条当前路线代价的增量”，再与信息增益、MEC 接近项合并 - 选点。只改变选点启发式，不改变覆盖/清除证明。 - """ - bayes = self.config.bayes - if not bayes.route_aware_probe: - return tasks - locate_indices = [index for index, task in enumerate(tasks) - if task.kind == "locate"] - if not locate_indices: - return tasks - base_order = self._order_tasks(tasks) - base_cost = self._path_cost(base_order) - refined = list(tasks) - for task_index in locate_indices: - task = tasks[task_index] - context = self._probe_context(task.channel) - if context is None: - continue - candidates, info_score, center, position = context - try: - order_index = next(index for index, item in enumerate(base_order) - if item is task) - except StopIteration: # pragma: no cover - 同对象应始终存在 - order_index = next(index for index, item in enumerate(base_order) - if item.kind == "locate" - and item.channel == task.channel) - best_score: float | None = None - best_point: Vec2 | None = None - for point in candidates: - trial_order = list(base_order) - trial_order[order_index] = Task( - "locate", tuple(point), task.service_s, channel=task.channel) - route_delta = self._path_cost(trial_order) - base_cost - move_proxy = bayes.lambda_move_s * ( - move_time(position, point, self.config.cost) - + move_time(point, center, self.config.cost)) - clear_near = move_time(point, center, self.config.cost) - value = (info_score(point) - + move_proxy - + bayes.route_aware_insert_weight * route_delta - + bayes.route_aware_clear_weight * clear_near) - if best_score is None or value < best_score: - best_score, best_point = value, tuple(point) - if best_point is not None: - refined[task_index] = Task( - "locate", best_point, task.service_s, channel=task.channel) - return refined - - # ------------------------------------------------------------ 安全网与复扫 - def _localize_and_clear(self, channel: int) -> bool: - """阻塞式定位子循环（resolve 阶段安全网）：PF 选点，失败退凸选点。""" - search = self.config.search - self._may_clear.add(channel) - for _ in range(search.max_localize_steps): - if self._virtual_cap_reached(): - return False - cert = self._best_certificate(channel) - if cert is not None and cert.certified and channel in self._may_clear: - if self._attempt_clear(channel, cert.center, cert): - self._clear_failed.discard(channel) - return True - self._clear_failed.add(channel) - self._may_clear.discard(channel) - continue - point = self._select_point(channel) - if point is None: - region = self.belief.candidate_set(channel) - if region is None: - return False - point = select_measurement_point( - region, self.client.state.position, self.config).position - outcome = self.client.measure(point, channel) - self._record_measure(channel, point, outcome) - self._may_clear.add(channel) - if outcome.result == NO_SIGNAL: - region = self.belief.candidate_set(channel) - if region is not None and safe_disk_radius(region, self.config) >= 0 \ - and math.dist(point, region.mec()[0]) \ - <= safe_disk_radius(region, self.config): - self._anomaly("no_signal_in_safe_disk", channel, position=point) - cert = self._best_certificate(channel) - if cert is not None and cert.certified: - if self._attempt_clear(channel, cert.center, cert): - self._clear_failed.discard(channel) - return True - self._clear_failed.add(channel) - self._may_clear.discard(channel) - return self.belief.channels[channel].status is ChannelStatus.CLEARED - - def _persistent_round(self) -> None: - """一轮复扫：与基线一致的全站复测，但读数同步进 PF（防假设偏差）。""" - measured: set[tuple[int, int]] = set() - while self.stop_reason is None: - index = self._next_resweep_point(measured) - if index is None: - return - point = self.ledger.points[index] - for channel in self._resweep_channels_at(index, measured): - if self._virtual_cap_reached(): - return - measured.add((channel, index)) - was_absent = (self.belief.channels[channel].status - is ChannelStatus.ABSENT) - outcome = self.client.measure(point, channel) - self._record_measure(channel, point, outcome) - if was_absent and outcome.result in (DIRECTION, NEAR): - # 复测推翻了缺席证明：守恒性留痕，按新证据定位清除。 - self._anomaly("absent_detected_on_resweep", channel, - position=point, result=outcome.result) - if outcome.result == DIRECTION: - self._localize_and_clear(channel) - elif outcome.result == NEAR: - cert = self._best_certificate(channel) - if cert is not None and cert.certified: - if not self._attempt_clear(channel, cert.center, cert): - self._clear_failed.add(channel) - else: - self._anomaly("near_without_certificate", channel, - position=point) - if self.stop_reason is not None: - return - - # ------------------------------------------------------------ 收尾 - def _summary(self, info) -> dict: - report = super()._summary(info) - report["strategy"] = "bayes" - report["opportunistic_measures"] = self.opportunistic_measures - report["skipped_measures"] = self.skipped_measures - report["no_shrink_measures"] = self.no_shrink_measures - report["pf_absent_channels"] = sorted(self.pf_absent_channels) - report["pf_alive_final"] = { - str(channel): len(self.particles[channel]) - for channel in sorted(self.particles) - if self.belief.channels[channel].status is ChannelStatus.DETECTED} - return report diff --git a/docs/paper/data/listing-source/src/mcm26b/planner/seven.py.tex b/docs/paper/data/listing-source/src/mcm26b/planner/seven.py.tex deleted file mode 100644 index 2bd2803..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/planner/seven.py.tex +++ /dev/null @@ -1,113 +0,0 @@ -"""P4 七点覆盖策略族：解析证明的六边形发现站 + 同站批量扫频。 - -从 scripts/benchmark_q3_search.py 提升为库代码（A2 基线，官方演练 -12/12 全清、虚拟 5232s）。覆盖几何：原点 + 半径 RING_RADIUS_M 环上 -6 等分点；域半径R、环半径r时，最近站距离的解析 -上界 max(r/√3, sqrt(R²+r²−√3Rr)) < 1000m [题面 -r_eff 下界]，故任意合法源必被至少一站检出——缺席证明只需该频道 -7 站全 no_signal（CoverageLedger.coverage_complete）。 - -调度变体： -- SevenImmediate：站内即时进入定位子循环（A1）； -- SevenBatch：站内只扫频，扫完按"距候选集 MEC 圆心最近"服务队列（A2）； -- SevenSweep：全域扫完再统一服务（A3）。 -""" - -from __future__ import annotations - -import math - -from ..belief import ChannelStatus -from ..config import ProblemConfig -from ..coverage import CoverageLedger -from ..guarantee import seven_plan -from ..protocol.rules import NEAR -from . import OmnidirectionalLoop, clear_certificate - -RING_RADIUS_M = 1200.0 # [工程] 解析证明见 docs/algo-3.md §5 与 geometry_check - - -def seven_points(ring_radius_m: float = RING_RADIUS_M) -> list[tuple[float, float]]: - """原点 + 环上 6 等分点的七站覆盖集。""" - return [(0.0, 0.0)] + [(ring_radius_m * math.cos(k * math.pi / 3), - ring_radius_m * math.sin(k * math.pi / 3)) for k in range(6)] - - -def validate_seven_coverage(ring_radius_m: float, config: ProblemConfig) -> float: - """六个60°扇区内的最近站最远距离上界；仅证明全向源覆盖。 - - 原点/环站Voronoi交点给出r/√3，目标圆边界的扇区接缝给出另一项。 - 环半径满足0 config.field.r_eff_min_m - 1e-6: - raise ValueError("七站未覆盖整个目标域，不能据此证明频道缺席") - return bound - - -class SevenImmediate(OmnidirectionalLoop): - """七点覆盖 + 站内即时定位（基类覆盖阶段逻辑不变，仅换站集）。""" - - def __init__(self, client, config: ProblemConfig = ProblemConfig(), - ring_radius_m: float = RING_RADIUS_M): - super().__init__(client, config) - validate_seven_coverage(ring_radius_m, config) - self.coverage_plan = seven_plan(ring_radius_m) - self.ledger = CoverageLedger(config=config, - points=list(self.coverage_plan.points)) - - -class SevenBatch(SevenImmediate): - """站内只扫频，扫完按最近候选集圆心顺序服务检测队列（A2 主策略）。""" - - defer_all = False - - def _serve_queue(self): - # Each detected channel gets at most one localization call in this pass. - queue = self.belief.channels_by_status(ChannelStatus.DETECTED) - while queue: - c = min(queue, key=lambda c: (math.dist(self.client.state.position, - self.belief.candidate_set(c).mec()[0]), c)) - queue.remove(c) - self._localize_and_clear(c) - if self._count_limit_reached(): - break - - def _coverage_phase(self): - while not self._count_limit_reached(): - index = self._next_point_index() - if index is None: - return - point = self.ledger.points[index] - pending = self._pending_channels_at(index) - # Keeping the current measuring channel first saves a switch when possible. - pending.sort(key=lambda c: (c != self.client.state.channel, c)) - for c in pending: - outcome = self.client.measure(point, c) - self.ledger.mark_measured(c, index) - self.belief.update_measure(c, point, outcome.result, outcome.svd_deg) - if outcome.result == NEAR: - cert = clear_certificate(self.belief.candidate_set(c), c, self.config) - # Same-station near clear; do not displace the station scan. - if cert.certified: - self._attempt_clear(c, point, cert) - if self._count_limit_reached(): - return - if not self.defer_all: - self._serve_queue() - - def _resolve_detected(self): - self._serve_queue() - unresolved = [c for c, b in self.belief.channels.items() - if b.status not in (ChannelStatus.CLEARED, ChannelStatus.ABSENT)] - return "all_resolved" if not unresolved else "unresolved_channels" - - -class SevenSweep(SevenBatch): - """Finish discovery at all necessary stations before servicing the queue.""" - - defer_all = True diff --git a/docs/paper/data/listing-source/src/mcm26b/protocol/__init__.py.tex b/docs/paper/data/listing-source/src/mcm26b/protocol/__init__.py.tex deleted file mode 100644 index 85bfdf2..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/protocol/__init__.py.tex +++ /dev/null @@ -1,15 +0,0 @@ -"""P0/P1 协议层：字段表、规则表、计时模型、状态机与客户端。""" - -from .client import (ActionRejected, ClearOutcome, DeadlineExceeded, - ExitInfo, MeasureOutcome, ProtocolError, - ProtocolViolation, SimulatorClient) -from .log import SessionLog -from .state import RobotState, StateError -from .timing import CostBreakdown, clear_cost, measure_cost, move_time -from .transport import RequestsTransport, Transport, TransportError, TransportResponse - -__all__ = ["ActionRejected", "ClearOutcome", "CostBreakdown", "DeadlineExceeded", - "ExitInfo", "MeasureOutcome", "ProtocolError", "ProtocolViolation", - "RequestsTransport", "RobotState", "SessionLog", "SimulatorClient", - "StateError", "Transport", "TransportError", "TransportResponse", - "clear_cost", "measure_cost", "move_time"] diff --git a/docs/paper/data/listing-source/src/mcm26b/protocol/client.py.tex b/docs/paper/data/listing-source/src/mcm26b/protocol/client.py.tex deleted file mode 100644 index 373f87a..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/protocol/client.py.tex +++ /dev/null @@ -1,333 +0,0 @@ -"""P1 协议基线：串行、幂等、带现实预算的模拟器客户端。 - -协议硬规则 [题面] 与实现对应： -- 每个新动作使用新的 request_id；仅在网络失败后重试"完全相同的动作"时， - 复用原 request_id 与原请求体 —— 本类通过一次性序列化出 bytes 并原样重发保证； -- 必须同时检查 HTTP 状态与 accepted；accepted=false 不更新状态， - 其 virtual_time_s=0 不当作当前虚拟时刻； -- 逐次等待响应、不得并发；本类完全同步，一个动作未决不发起下一个； -- 现实截止用 /enter 响应的 remaining_real_duration_s 建立本地单调时钟， - 预留退出余量；/exit 不做预算拦截。 -""" - -from __future__ import annotations - -import json -import math -import uuid -from dataclasses import dataclass -from time import monotonic, sleep - -from ..config import ProblemConfig, Vec2 -from .log import SessionLog -from .rules import (CLEAR_RESULTS, DIRECTION, EXIT_USER, MEASURE_RESULTS, - POSITION_FIELDS, STATUS_OK, STATUS_RETRYABLE) -from .state import RobotState -from .timing import CostBreakdown -from .transport import RequestsTransport, Transport, TransportError - - -class ProtocolError(RuntimeError): - """协议层失败，含 HTTP 状态与响应体；默认不重试（确定性错误）。""" - - def __init__(self, message: str, status: int | None = None, body=None): - super().__init__(message) - self.status = status - self.body = body - - -class ActionRejected(ProtocolError): - """HTTP 200 但 accepted=false：动作未生效，状态不得更新。""" - - def __init__(self, message: str, body=None): - super().__init__(message, status=STATUS_OK, body=body) - - -class ProtocolViolation(ProtocolError): - """响应与协议约定不符（字段缺失、值非法、虚拟时刻回退等）。""" - - -class DeadlineExceeded(RuntimeError): - """现实预算不足：预留退出余量后剩余时间不够执行新动作。""" - - -@dataclass(frozen=True) -class MeasureOutcome: - result: str - svd_deg: float | None - virtual_time_s: float - predicted: CostBreakdown - raw: dict - - -@dataclass(frozen=True) -class ClearOutcome: - result: str - virtual_time_s: float - predicted: CostBreakdown - raw: dict - - -@dataclass(frozen=True) -class ExitInfo: - reason: str - virtual_time_s: float - raw: dict - - -def _validate_identifier(name: str, value: str, max_bytes: int) -> None: - if not isinstance(value, str) or not value: - raise ValueError(f"{name} 必须是非空字符串") - encoded = value.encode("utf-8") - if not 1 <= len(encoded) <= max_bytes: - raise ValueError(f"{name} 的 UTF-8 长度须在 1..{max_bytes} 字节") - if any(code < 0x20 or code == 0x7F for code in encoded): - raise ValueError(f"{name} 不能包含控制字符") - - -def _validate_position(position: dict, limit: float) -> None: - if set(position) != set(POSITION_FIELDS): - raise ValueError("position 字段必须是且只能是 x、y") - for key in ("x", "y"): - value = position[key] - if isinstance(value, bool) or not isinstance(value, (int, float)): - raise ValueError(f"position.{key} 必须是数值") - if not math.isfinite(value): - raise ValueError(f"position.{key} 必须是有限数值") - if abs(value) > limit: - raise ValueError(f"position.{key} 绝对值不得超过 {limit} 米") - - -def _validate_channel(channel) -> int: - # 写成 JSON number 1.0 且恰为整数也接受 [题面]；1.5 拒绝。 - if isinstance(channel, bool) or not isinstance(channel, (int, float)): - raise ValueError("channel 必须是数值") - if isinstance(channel, float) and not channel.is_integer(): - raise ValueError("channel 必须是整数") - channel = int(channel) - if not 1 <= channel <= 20: - raise ValueError("channel 必须在 1..20 范围内") - return channel - - -class SimulatorClient: - """四条指令的同步客户端。状态只在 accepted=true 后推进。""" - - def __init__(self, robot_id: str, *, - config: ProblemConfig = ProblemConfig(), - transport: Transport | None = None, - log: SessionLog | None = None, - clock=monotonic): - _validate_identifier("robot_id", robot_id, config.session.robot_id_max_bytes) - self.robot_id = robot_id - self.config = config - self.session = config.session - self.transport = transport if transport is not None else RequestsTransport() - self.log = log if log is not None else SessionLog() - self.clock = clock - self.state = RobotState() - self._prefix = uuid.uuid4().hex[:12] - self._seq = 0 - self._deadline: float | None = None # 本地单调时钟截止 - self._server_deadline_ms: float | None = None # 服务器时间戳交叉核对 - self._enter_monotonic: float | None = None # 实机计时起点（/enter 成功） - - # ------------------------------------------------------------ 公共动作 API - def enter(self) -> dict: - started = self.clock() - payload = self._payload("/enter") - response = self._call("/enter", payload) - self.state.apply_enter(response) - remaining = response["remaining_real_duration_s"] - if not isinstance(remaining, (int, float)) or remaining < 0: - raise ProtocolViolation("remaining_real_duration_s 缺失或非法", body=response) - self._deadline = self.clock() + remaining - self._server_deadline_ms = (response["real_timestamp_ms"] - + remaining * 1000.0) - self._enter_monotonic = self.clock() - self._log_step("/enter", payload, response, started, - predicted=CostBreakdown(0.0, 0.0, 0.0)) - return response - - def measure(self, position: Vec2, channel: int) -> MeasureOutcome: - started = self.clock() - payload = self._payload("/measure", position=position, channel=channel) - response = self._call("/measure", payload) - predicted = self.state.apply_measure(payload, response, - cost=self.config.cost) - result = response.get("measure_result") - if result not in MEASURE_RESULTS: - raise ProtocolViolation(f"measure_result 非法: {result!r}", body=response) - svd = response.get("svd_deg") - if result == DIRECTION: - if not isinstance(svd, (int, float)) or isinstance(svd, bool): - raise ProtocolViolation("direction 响应缺少数值 svd_deg", body=response) - self._log_step("/measure", payload, response, started, result=result, - predicted=predicted, channel=payload["channel"]) - return MeasureOutcome(result, float(svd) if svd is not None else None, - response["virtual_time_s"], predicted, response) - - def clear(self, position: Vec2, channel: int) -> ClearOutcome: - started = self.clock() - payload = self._payload("/clear", position=position, channel=channel) - response = self._call("/clear", payload) - predicted = self.state.apply_clear(payload, response, - cost=self.config.cost) - result = response.get("clear_result") - if result not in CLEAR_RESULTS: - raise ProtocolViolation(f"clear_result 非法: {result!r}", body=response) - self._log_step("/clear", payload, response, started, result=result, - predicted=predicted, channel=payload["channel"]) - return ClearOutcome(result, response["virtual_time_s"], predicted, response) - - def exit(self) -> ExitInfo: - started = self.clock() - payload = self._payload("/exit") - response = self._call("/exit", payload) - self.state.apply_exit(response) - reason = response.get("exit_reason") - if reason != EXIT_USER: - raise ProtocolViolation(f"exit_reason 非法: {reason!r}", body=response) - self._log_step("/exit", payload, response, started, - predicted=CostBreakdown(0.0, 0.0, 0.0)) - return ExitInfo(reason, response["virtual_time_s"], response) - - # ---------------------------------------------------------------- 预算控制 - @property - def real_remaining_s(self) -> float | None: - """按本地单调时钟估计的剩余现实秒数（未 enter 时为 None）。""" - return None if self._deadline is None else self._deadline - self.clock() - - def _log_step(self, path: str, payload: dict, response: dict, - started: float, *, result: str | None = None, - predicted: CostBreakdown, channel: int | None = None) -> None: - """每步计时留档 [用户决策 2026-09-11]：实机墙钟耗时 + 比赛虚拟耗时分项 - （移动=直线距离/5、切频道 1s、检测 5s、清除成功 5s/未发现 3s）。 - - step 事件不含 response 字段，不会混入 action_events / 虚拟时刻复算。 - """ - now = self.clock() - entry: dict = {"event": "step", "path": path, - "request_id": payload["request_id"], - "real_elapsed_s": round(now - started, 6), - "virtual_time_s": response["virtual_time_s"], - "virtual_cost": {"move_s": round(predicted.move_s, 6), - "switch_s": round(predicted.switch_s, 6), - "action_s": round(predicted.action_s, 6), - "total_s": round(predicted.total_s, 6)}} - if self._enter_monotonic is not None: - entry["real_since_enter_s"] = round(now - self._enter_monotonic, 6) - if "position" in payload: - entry["position"] = {"x": payload["position"]["x"], - "y": payload["position"]["y"]} - if channel is not None: - entry["channel"] = channel - if result is not None: - entry["result"] = result - self.log.append(entry) - - def _check_budget(self, path: str) -> None: - if path == "/exit" or self._deadline is None: - return - margin = self.session.reserve_exit_s - if self.real_remaining_s <= margin: - raise DeadlineExceeded( - f"剩余现实时间 {self.real_remaining_s:.1f}s 不足以预留 {margin:.1f}s 退出余量") - - # ---------------------------------------------------------------- 内部机制 - def _payload(self, _path: str, *, position: Vec2 | None = None, - channel: int | None = None) -> dict: - payload = {"arena_id": self.session.arena_id, - "robot_id": self.robot_id, - "request_id": self._next_request_id()} - if position is not None: - x, y = float(position[0]), float(position[1]) - _validate_position({"x": x, "y": y}, self.config.field.coord_abs_limit_m) - payload["position"] = {"x": x, "y": y} - if channel is not None: - payload["channel"] = _validate_channel(channel) - return payload - - def _next_request_id(self) -> str: - self._seq += 1 - request_id = f"{self._prefix}-{self._seq:04d}" - _validate_identifier("request_id", request_id, - self.session.request_id_max_bytes) - return request_id - - def _call(self, path: str, payload: dict) -> dict: - """串行执行一个动作；网络失败原样重发，HTTP 确定性错误立即抛出。""" - self._check_budget(path) - body = json.dumps(payload, ensure_ascii=False, allow_nan=False).encode("utf-8") - if len(body) > self.session.request_body_max_bytes: - raise ValueError("请求体超过 65536 字节") - headers = {"Content-Type": "application/json"} - url = self.session.base_url + path - attempts, last_error = 0, None - while attempts < self.session.max_attempts: - attempts += 1 - started = self.clock() - self.log.append({"event": "attempt", "path": path, - "request_id": payload["request_id"], - "attempt": attempts, "request": payload}) - try: - result = self.transport.post( - url, body, headers, - timeout=(self.session.connect_timeout_s, - self.session.read_timeout_s)) - except TransportError as exc: - last_error = exc - self.log.append({"event": "transport_error", "path": path, - "request_id": payload["request_id"], - "attempt": attempts, "error": str(exc), - "elapsed_s": self.clock() - started}) - if attempts < self.session.max_attempts: - sleep(self.session.retry_backoff_s * (2 ** (attempts - 1))) - continue - if result.status in STATUS_RETRYABLE: - self.log.append({"event": "retryable_status", "path": path, - "request_id": payload["request_id"], - "attempt": attempts, "status": result.status}) - if attempts < self.session.max_attempts: - sleep(self.session.retry_backoff_s * (2 ** (attempts - 1))) - continue - if result.status != STATUS_OK: - raise ProtocolError( - f"{path} 返回 HTTP {result.status}", status=result.status, - body=self._safe_json(result.body)) - response = self._safe_json(result.body) - if response is None or response.get("accepted") is not True: - raise ActionRejected( - f"{path} 未被接受: {response}", body=response) - self._verify_clock(response) - self.log.append({"event": "accepted", "path": path, - "request_id": payload["request_id"], - "request": payload, "response": response, - "attempts": attempts, - "elapsed_s": self.clock() - started}) - return response - raise TransportError( - f"{path} 重试 {attempts} 次仍失败: {last_error}") from last_error - - def _verify_clock(self, response: dict) -> None: - """accepted=true 的虚拟时刻必须单调不减；现实时间戳用于漂移核对。""" - virtual = response.get("virtual_time_s") - if not isinstance(virtual, (int, float)) or isinstance(virtual, bool): - raise ProtocolViolation("accepted 响应缺少 virtual_time_s", body=response) - if virtual < self.state.virtual_time_s - 1e-9: - raise ProtocolViolation( - f"虚拟时刻回退: {self.state.virtual_time_s} -> {virtual}", - body=response) - if self._server_deadline_ms is not None: - drift = (self._server_deadline_ms - response["real_timestamp_ms"]) / 1000.0 - if drift < self.session.reserve_exit_s / 2: - # 服务器视角余量告急（本地时钟漂移或请求排队）；仅记录，交由上层决策。 - self.log.append({"event": "server_time_warning", - "server_remaining_s": drift}) - - @staticmethod - def _safe_json(body: bytes): - try: - return json.loads(body.decode("utf-8")) - except (UnicodeDecodeError, json.JSONDecodeError): - return None diff --git a/docs/paper/data/listing-source/src/mcm26b/protocol/log.py.tex b/docs/paper/data/listing-source/src/mcm26b/protocol/log.py.tex deleted file mode 100644 index a35109b..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/protocol/log.py.tex +++ /dev/null @@ -1,38 +0,0 @@ -"""会话日志：机器狗程序必须自行记录指令序列与响应 [题面] 附件2 12节。 - -事件逐条追加写入 JSONL，进程崩溃时已完成的动作不丢； -内存中的 events 同时供回放测试与 evaluation 复算使用。 -""" - -from __future__ import annotations - -import json -from dataclasses import dataclass, field -from pathlib import Path -from time import time - - -@dataclass -class SessionLog: - path: Path | None = None - events: list = field(default_factory=list) - - def __post_init__(self): - if self.path is not None: - self.path.parent.mkdir(parents=True, exist_ok=True) - - def append(self, event: dict) -> None: - event = {**event, "logged_at_unix_s": time()} - self.events.append(event) - if self.path is not None: - with self.path.open("a", encoding="utf-8") as handle: - handle.write(json.dumps(event, ensure_ascii=False, allow_nan=False) + "\n") - - def action_events(self) -> list[dict]: - """仅最终被接受的动作事件（每个 request_id 一条，含重试次数）。""" - return [event for event in self.events if event.get("response") is not None - and event["response"].get("accepted") is True] - - def step_events(self) -> list[dict]: - """每步计时事件（客户端 _log_step 写入，按发生顺序）。""" - return [event for event in self.events if event.get("event") == "step"] diff --git a/docs/paper/data/listing-source/src/mcm26b/protocol/rules.py.tex b/docs/paper/data/listing-source/src/mcm26b/protocol/rules.py.tex deleted file mode 100644 index 8e89aea..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/protocol/rules.py.tex +++ /dev/null @@ -1,94 +0,0 @@ -"""P0 规则固定：四条指令的字段表、结果码与错误语义，全部落成可执行数据。 - -依据 issue/附件/附件2.docx《模拟器通信接口说明及编程指南》第 5-9 节。 -客户端用它构造与预校验请求，自建模拟器用它校验并拒绝未知字段； -表格本身即交付物"字段表/规则表"，人类可读版本见 docs/协议规则与状态机.md。 -""" - -from __future__ import annotations - -from dataclasses import dataclass - -# ---- 结果码 [题面] ---------------------------------------------------------- - -NO_SIGNAL = "no_signal" # 收不到信号：无未清除源 / 超接收半径 / 定向覆盖角外 -NEAR = "near" # 距离 <=5m 且在覆盖角内；不返回 svd_deg -DIRECTION = "direction" # 有信号；附 svd_deg（含 ±1° 误差，保留两位小数） -MEASURE_RESULTS = (NO_SIGNAL, NEAR, DIRECTION) - -CLEAR_SUCCESS = "success" # 20m 内发现并清除；耗时 5s -CLEAR_NO_TARGET = "no_target_in_range" # 未发现（无源/已清除/超20m）；耗时 3s -CLEAR_RESULTS = (CLEAR_SUCCESS, CLEAR_NO_TARGET) - -EXIT_USER = "user_exit" # /exit 成功响应中的固定退出原因 - -# accepted=false 的响应只含这 3 个字段；virtual_time_s 恒为 0，不是当前时刻 [题面] -BASE_RESPONSE_FIELDS = ("accepted", "real_timestamp_ms", "virtual_time_s") - - -# ---- 请求字段表 -------------------------------------------------------------- - - -@dataclass(frozen=True) -class FieldSpec: - """单个请求字段的约束。[题面] 附件2 5.1 节与各指令小节。""" - - kind: type # str / dict；数值字段由 sim 按整型/浮点细则单独校验 - required: bool = True - max_bytes: int | None = None # 字符串字段的 UTF-8 长度上限 - - -COMMON_FIELDS: dict[str, FieldSpec] = { - "arena_id": FieldSpec(str), # 必须为 "default" - "robot_id": FieldSpec(str, max_bytes=64), # 逐字节等于登录参赛队号 - "request_id": FieldSpec(str, max_bytes=128), # 会话内幂等键，新动作用新 ID -} - -POSITION_FIELDS: dict[str, FieldSpec] = { - "x": FieldSpec(float), # 有限 JSON number，|x| <= 2_000_000 - "y": FieldSpec(float), -} - -# 路径 -> 除公共字段外的动作字段；/enter 与 /exit 无附加字段 -ACTION_FIELDS: dict[str, dict[str, FieldSpec]] = { - "/enter": {}, - "/measure": {"position": FieldSpec(dict), "channel": FieldSpec(float)}, - "/clear": {"position": FieldSpec(dict), "channel": FieldSpec(float)}, - "/exit": {}, -} -ACTION_PATHS = tuple(ACTION_FIELDS) - -# channel 写成 JSON number 1.0 且恰为整数也接受；1.5 返回 HTTP 400 [题面] - - -# ---- 响应字段表（accepted=true 时的附加字段） -------------------------------- - -RESPONSE_FIELDS: dict[str, tuple[str, ...]] = { - "/enter": ("max_virtual_duration_s", "max_real_duration_s", "remaining_real_duration_s"), - "/measure": ("measure_result",), # direction 时另有 svd_deg - "/clear": ("clear_result",), - "/exit": ("exit_reason",), -} - - -# ---- 错误语义 [题面] 附件2 5.3 节 -------------------------------------------- - -STATUS_OK = 200 -STATUS_BAD_REQUEST = 400 # JSON 语法/重复键/缺字段/类型/频道或坐标范围 -STATUS_CONFLICT = 409 # 同 request_id 对应不同动作，或并发不同动作 -STATUS_RETRYABLE = (429, 500) # 流量保护/幂等记录上限、服务器内部错误：可原样重试 - - -def http_status_meaning(status: int) -> str: - table = { - 200: "动作已执行，或 JSON 合法但被业务拒绝（看 accepted）", - 400: "请求结构错误；不占用 request_id，修正后可复用该 ID", - 404: "路径未知或不精确（不接受尾随斜线与查询参数）", - 405: "已知路径使用了非 POST 方法", - 409: "request_id 幂等冲突或并发发送不同动作", - 413: "请求体超过 65536 字节", - 415: "Content-Type 或 Content-Encoding 不受支持", - 429: "连接/流量保护触发，或本局幂等记录达到上限", - 500: "模拟器内部错误", - } - return table.get(status, "未知状态码") diff --git a/docs/paper/data/listing-source/src/mcm26b/protocol/state.py.tex b/docs/paper/data/listing-source/src/mcm26b/protocol/state.py.tex deleted file mode 100644 index 7788266..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/protocol/state.py.tex +++ /dev/null @@ -1,97 +0,0 @@ -"""P0/P1 机器狗本地状态机：位置、测向频道、虚拟时刻与进出状态。 - -更新规则 [题面]： -- 只有 accepted=true 的响应才允许调用 apply_*；accepted=false 一律不更新， - 其 virtual_time_s=0 不是当前虚拟时刻； -- 虚拟时刻以最近一次 accepted=true 的响应为准，本地预测值仅作一致性核对； -- /clear 不改变测向机当前频道，也不产生切换耗时； -- 只有合法 /measure 会把测向机频道更新为本次检测频道。 -""" - -from __future__ import annotations - -from dataclasses import dataclass, field - -from ..config import CostConfig, Vec2 -from .rules import CLEAR_SUCCESS -from .timing import CostBreakdown, clear_cost, measure_cost - - -class StateError(RuntimeError): - """状态机被以非法顺序驱动（例如未 enter 就 apply_measure）。""" - - -@dataclass -class RobotState: - position: Vec2 = (0.0, 0.0) # /enter 成功后的初始位置 [题面] - channel: int = 1 # /enter 成功后的初始频道 [题面] - virtual_time_s: float = 0.0 - entered: bool = False - exited: bool = False - action_count: int = 0 - # 预测与实测的偏差记录；strict 模式下出现偏差会直接抛错。 - mismatches: list = field(default_factory=list) - - # -------------------------------------------------------------- enter/exit - def apply_enter(self, response: dict, *, strict: bool = False) -> None: - self._require_accepted(response) - if strict and (self.entered or self.exited): - raise StateError("重复 /enter 或已退出后再 enter") - self.entered = True - self.virtual_time_s = response["virtual_time_s"] - - def apply_exit(self, response: dict) -> None: - self._require_accepted(response) - self.exited = True - self.virtual_time_s = response["virtual_time_s"] - - # ----------------------------------------------------------------- measure - def apply_measure(self, request: dict, response: dict, *, - cost: CostConfig = CostConfig(), - strict: bool = False) -> CostBreakdown: - self._require_accepted(response) - if strict and (not self.entered or self.exited): - raise StateError("/measure 要求已 enter 且未退出") - pos = (request["position"]["x"], request["position"]["y"]) - channel = request["channel"] - predicted = measure_cost(self.position, pos, self.channel, channel, cost) - predicted = self._advance(pos, channel, response, predicted, strict) - return predicted - - # ------------------------------------------------------------------- clear - def apply_clear(self, request: dict, response: dict, *, - cost: CostConfig = CostConfig(), - strict: bool = False) -> CostBreakdown: - self._require_accepted(response) - if strict and (not self.entered or self.exited): - raise StateError("/clear 要求已 enter 且未退出") - pos = (request["position"]["x"], request["position"]["y"]) - success = response["clear_result"] == CLEAR_SUCCESS - predicted = clear_cost(self.position, pos, success, cost) - # 频道保持不变：/clear 不切换测向机频道 [题面] - return self._advance(pos, self.channel, response, predicted, strict) - - # ------------------------------------------------------------------ 共用 - def _advance(self, pos: Vec2, channel: int, response: dict, - predicted: CostBreakdown, strict: bool) -> CostBreakdown: - # 先完成全部校验再落子：strict 模式下失败时不留半更新状态。 - actual_delta = response["virtual_time_s"] - self.virtual_time_s - if abs(actual_delta - predicted.total_s) > 1e-6: - message = (f"耗时预测不一致: 预测 {predicted.total_s:.6f}s, " - f"实测 {actual_delta:.6f}s ({predicted})") - if strict: - raise StateError(message) - # 非严格模式：状态仍以响应为准，偏差记入日志供复盘。 - self.mismatches.append( - {"action": self.action_count + 1, "predicted_s": predicted.total_s, - "actual_s": actual_delta, "message": message}) - self.position = pos - self.channel = channel - self.virtual_time_s = response["virtual_time_s"] - self.action_count += 1 - return predicted - - @staticmethod - def _require_accepted(response: dict) -> None: - if response.get("accepted") is not True: - raise StateError("accepted=false 的响应不允许更新状态") diff --git a/docs/paper/data/listing-source/src/mcm26b/protocol/timing.py.tex b/docs/paper/data/listing-source/src/mcm26b/protocol/timing.py.tex deleted file mode 100644 index baf1be8..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/protocol/timing.py.tex +++ /dev/null @@ -1,61 +0,0 @@ -"""P0 纯计时模型：/measure 与 /clear 的耗时分解，不涉及网络与状态。 - -附件1表2 与附件2第10节的计时示例是唯一权威锚点： -逐步得到 105、111、194、199 秒（tests/test_protocol_timing.py 固化）。 -客户端用本模块预测动作代价，模拟器用同一函数推进虚拟时钟， -保证"预测-执行-复算"三方一致。 -""" - -from __future__ import annotations - -from dataclasses import dataclass -from math import dist - -from ..config import CostConfig, Vec2 - - -@dataclass(frozen=True) -class CostBreakdown: - """一次合法动作的三段耗时 [题面]：移动 + 换频道（仅检测）+ 动作本身。""" - - move_s: float - switch_s: float - action_s: float - - @property - def total_s(self) -> float: - return self.total_us / 1_000_000 - - @property - def total_us(self) -> int: - """逐段量化后按整数微秒累计，与官方虚拟时钟一致。""" - return sum(round(value * 1_000_000) - for value in (self.move_s, self.switch_s, self.action_s)) - - -def measure_cost(prev_pos: Vec2, pos: Vec2, prev_channel: int, channel: int, - cost: CostConfig = CostConfig()) -> CostBreakdown: - """合法 /measure 的耗时。移动按直线距离；换频道只看前后频道是否不同。""" - return CostBreakdown( - move_s=dist(prev_pos, pos) / cost.speed_mps, - switch_s=0.0 if channel == prev_channel else cost.switch_s, - action_s=cost.measure_s, - ) - - -def clear_cost(prev_pos: Vec2, pos: Vec2, success: bool, - cost: CostConfig = CostConfig()) -> CostBreakdown: - """合法 /clear 的耗时。 - - /clear 的 channel 是目标干扰源频道，不切换测向机频道，也不产生换频道耗时 [题面]。 - """ - return CostBreakdown( - move_s=dist(prev_pos, pos) / cost.speed_mps, - switch_s=0.0, - action_s=cost.clear_success_s if success else cost.clear_fail_s, - ) - - -def move_time(a: Vec2, b: Vec2, cost: CostConfig = CostConfig()) -> float: - """任意两点间的移动耗时（规划用）。""" - return dist(a, b) / cost.speed_mps diff --git a/docs/paper/data/listing-source/src/mcm26b/protocol/transport.py.tex b/docs/paper/data/listing-source/src/mcm26b/protocol/transport.py.tex deleted file mode 100644 index 0f0f4b5..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/protocol/transport.py.tex +++ /dev/null @@ -1,44 +0,0 @@ -"""传输抽象：HTTP 细节与协议客户端解耦，便于故障注入与本地模拟。 - -真实运行用 :class:`RequestsTransport`；自建模拟器经 :class:`LocalSimTransport` -（sim 模块）挂载；回放用 PlaybackTransport。连接失败与读超时统一抛 -:class:`TransportError` —— 此类失败后重试"同一动作"必须复用原 request_id -与原请求体 [题面]，由 client 层保证。 -""" - -from __future__ import annotations - -from dataclasses import dataclass - -import requests - - -class TransportError(Exception): - """网络层失败：连接不上、读写超时。动作可能未送达，也可能结果未知。""" - - -@dataclass(frozen=True) -class TransportResponse: - status: int - body: bytes - - -class Transport: - """最小 POST 接口。同步阻塞，一次一个请求（协议要求串行）。""" - - def post(self, url: str, body: bytes, headers: dict[str, str], - timeout: tuple[float, float]) -> TransportResponse: - raise NotImplementedError - - -class RequestsTransport(Transport): - """基于 requests 的默认实现。timeout=(连接, 读取)。""" - - def post(self, url, body, headers, timeout): - try: - response = requests.post(url, data=body, headers=headers, timeout=timeout) - except (requests.exceptions.Timeout, requests.exceptions.ConnectionError) as exc: - raise TransportError(str(exc)) from exc - except requests.exceptions.RequestException as exc: # 其它请求级异常同样按网络失败处理 - raise TransportError(str(exc)) from exc - return TransportResponse(response.status_code, response.content) diff --git a/docs/paper/data/listing-source/src/mcm26b/routing.py.tex b/docs/paper/data/listing-source/src/mcm26b/routing.py.tex deleted file mode 100644 index f8c330e..0000000 --- a/docs/paper/data/listing-source/src/mcm26b/routing.py.tex +++ /dev/null @@ -1,254 +0,0 @@ -"""图论/动态规划工具箱：开放路径排序、下界与路由度量（S1/S5）。 - -设计原则（docs/第三四问图论与动态规划优化方案.md §1、§3.2、§3.4）： - -- **开放路径**（起点固定为原点、终点自由）是本题的真实图问题：一次作业回合 - = 依次停靠若干作业点，代价 = Σ 移动时间 + Σ 动作耗时； -- 小规模（n (*@\ensuremath{\le}@*) ``EXACT_LIMIT``）直接用 Held-Karp 精确 DP，规模更大时用 - 最近邻打底 + 2-opt / Or-opt 改进，并始终给出 **MST 下界**用于在线后悔值审计； -- 所有函数只做"排序与度量"，不承担任何安全责任，也不改变覆盖/清除语义。 - -约定：边权为**欧氏距离**（米）；时间折算由调用方按 ``speed_mps`` 处理。 -2-opt / Or-opt 用 O(1) 增量代价评估，使 n (*@\ensuremath{\approx}@*) 10² 量级仍可在毫秒内完成。 -""" - -from __future__ import annotations - -import math - -from .config import Vec2 - -EXACT_LIMIT = 13 # Held-Karp 状态数 2^n·n：n=13 → 106 496，纯 Python 可接受 -OR_OPT_LIMIT = 60 # 作业点数超过此值时跳过高阶 Or-opt（见 improve_open_path） - - -def path_length(order: list[Vec2], start: Vec2 = (0.0, 0.0)) -> float: - """开放路径长度（起点 start，终点自由）。""" - total = 0.0 - position = start - for point in order: - total += math.dist(position, point) - position = point - return total - - -def nearest_neighbor_order(points: list[Vec2], - start: Vec2 = (0.0, 0.0)) -> list[Vec2]: - """最近邻开放路径（O(n²)，启发式上界）。""" - remaining = list(points) - order: list[Vec2] = [] - position = start - while remaining: - nxt = min(remaining, key=lambda q: math.dist(position, q)) - remaining.remove(nxt) - order.append(nxt) - position = nxt - return order - - -def two_opt_open(order: list[Vec2], start: Vec2 = (0.0, 0.0), - max_passes: int = 8) -> list[Vec2]: - """开放路径 2-opt（终点自由：只反转内部片段，不做首尾相接）。 - - 增量代价 O(1)：反转 [i..j] 只影响 (prev, i) 与 (j, next) 两条边。 - """ - best = list(order) - n = len(best) - if n < 3: - return best - for _ in range(max_passes): - improved = False - for i in range(n - 1): - prev = best[i - 1] if i > 0 else start - pi = best[i] - d_prev_i = math.dist(prev, pi) - for j in range(i + 1, n): - pj = best[j] - nxt = best[j + 1] if j + 1 < n else None - d_prev_j = math.dist(prev, pj) - removed = d_prev_i - added = d_prev_j - if nxt is not None: - removed += math.dist(pj, nxt) - added += math.dist(pi, nxt) - if added < removed - 1e-9: - best[i:j + 1] = best[i:j + 1][::-1] - improved = True - pi = best[i] - d_prev_i = math.dist(prev, pi) - if not improved: - break - return best - - -def or_opt_open(order: list[Vec2], start: Vec2 = (0.0, 0.0), - max_passes: int = 4, max_segment: int = 3) -> list[Vec2]: - """Or-opt：把长度 (*@\ensuremath{\le}@*) max_segment 的片段搬家（开放路径，增量代价 O(1)）。""" - best = list(order) - n = len(best) - if n < 4: - return best - for _ in range(max_passes): - improved = False - for length in range(1, min(max_segment, n - 1) + 1): - for i in range(0, n - length + 1): - segment = best[i:i + length] - rest = best[:i] + best[i + length:] - for j in range(len(rest) + 1): - if j == i: - continue - candidate = rest[:j] + segment + rest[j:] - if _segment_move_gain(best, i, length, j, start) > 1e-9: - best = candidate - improved = True - break - if improved: - break - if improved: - break - if not improved: - break - return best - - -def _segment_move_gain(order: list[Vec2], i: int, length: int, j: int, - start: Vec2) -> float: - """把 order[i:i+length] 插到去掉该段后的第 j 位所省下的长度（正=更省）。""" - rest = order[:i] + order[i + length:] - segment = order[i:i + length] - - def length_of(seq: list[Vec2]) -> float: - return path_length(seq, start) - - return length_of(order) - length_of(rest[:j] + segment + rest[j:]) - - -def improve_open_path(points: list[Vec2], start: Vec2 = (0.0, 0.0), - max_passes: int = 8) -> list[Vec2]: - """最近邻 + 2-opt + Or-opt 的开放路径改进（大规模兜底）。 - - Or-opt 的搬移评估是 O(n³)，作业点数超过 :data:`OR_OPT_LIMIT` 时只做 - O(n²) 的 2-opt（度量口径下 Or-opt 的相对收益远小于其墙钟代价）。 - """ - order = nearest_neighbor_order(points, start) - order = two_opt_open(order, start, max_passes) - if len(order) > OR_OPT_LIMIT: - return order - return or_opt_open(order, start, max_passes) - - -def held_karp_open(points: list[Vec2], start: Vec2 = (0.0, 0.0)) -> list[Vec2]: - """Held-Karp 精确开放路径（起点固定、终点自由）。 - - 状态 ``dp[mask][j]`` = 访问集合 mask、当前停在 j 的最小长度； - 规模 2^n·n，仅用于 n (*@\ensuremath{\le}@*) :data:`EXACT_LIMIT`。返回最优访问顺序。 - """ - n = len(points) - if n == 0: - return [] - if n == 1: - return list(points) - dist = [[math.dist(points[i], points[j]) for j in range(n)] for i in range(n)] - from_start = [math.dist(start, points[j]) for j in range(n)] - full = (1 << n) - 1 - inf = float("inf") - dp: list[list[float]] = [[inf] * n for _ in range(1 << n)] - parent: list[list[int]] = [[-1] * n for _ in range(1 << n)] - for j in range(n): - dp[1 << j][j] = from_start[j] - for mask in range(1 << n): - row = dp[mask] - for j in range(n): - current = row[j] - if current == inf or not (mask >> j) & 1: - continue - rest = full ^ mask - while rest: - bit = rest & -rest - k = bit.bit_length() - 1 - rest ^= bit - candidate = current + dist[j][k] - nxt = mask | bit - if candidate < dp[nxt][k]: - dp[nxt][k] = candidate - parent[nxt][k] = j - best_end = min(range(n), key=lambda j: dp[full][j]) - order: list[Vec2] = [] - mask, j = full, best_end - while j != -1: - order.append(points[j]) - previous = parent[mask][j] - mask ^= 1 << j - j = previous - order.reverse() - return order - - -def optimal_open_path(points: list[Vec2], start: Vec2 = (0.0, 0.0), - exact_limit: int = EXACT_LIMIT) -> list[Vec2]: - """离线最优（或近优）开放路径：小规模精确，大规模 2-opt + Or-opt。""" - unique = _dedupe(points) - if len(unique) <= exact_limit: - return held_karp_open(unique, start) - return improve_open_path(unique, start) - - -def mst_weight(points: list[Vec2], start: Vec2 | None = (0.0, 0.0)) -> float: - """最小生成树权重（Prim，O(n²)）；含 start 时给出开放路径最优值的下界。 - - 开放路径删除其最后一条边即得一条生成树，故 MST 权重 (*@\ensuremath{\le}@*) 最优路径长度。 - """ - nodes = ([start] if start is not None else []) + list(points) - n = len(nodes) - if n <= 1: - return 0.0 - in_tree = [False] * n - best = [float("inf")] * n - best[0] = 0.0 - total = 0.0 - for _ in range(n): - u, u_cost = -1, float("inf") - for i in range(n): - if not in_tree[i] and best[i] < u_cost: - u, u_cost = i, best[i] - if u < 0: - break - in_tree[u] = True - total += u_cost - ux, uy = nodes[u] - for v in range(n): - if in_tree[v]: - continue - distance = math.hypot(nodes[v][0] - ux, nodes[v][1] - uy) - if distance < best[v]: - best[v] = distance - return total - - -def _dedupe(points, cell_m: float = 0.5) -> list[Vec2]: - """按 ``cell_m`` 网格去重（同一物理点只算一次作业）。""" - seen: set[tuple[int, int]] = set() - unique: list[Vec2] = [] - for point in points: - key = (int(round(point[0] / cell_m)), int(round(point[1] / cell_m))) - if key in seen: - continue - seen.add(key) - unique.append((float(point[0]), float(point[1]))) - return unique - - -def route_metrics(service_points, actual_move_m: float, - speed_mps: float = 5.0) -> dict: - """路由度量：离线最优开放回路、MST 下界与相对 gap（S1 必报列）。""" - unique = _dedupe(service_points) - offline = path_length(optimal_open_path(unique)) if unique else 0.0 - lower = mst_weight(unique) - gap = ((actual_move_m - offline) / actual_move_m) if actual_move_m > 0 else 0.0 - return { - "distinct_service_points": len(unique), - "offline_opt_open_path_m": round(offline, 1), - "offline_opt_open_path_s": round(offline / speed_mps, 1), - "route_lower_bound_s": round(lower / speed_mps, 1), - "route_gap_vs_offline": round(gap, 4), - } diff --git a/docs/paper/data/source-listings.tex b/docs/paper/data/source-listings.tex index 4210530..c77e58b 100644 --- a/docs/paper/data/source-listings.tex +++ b/docs/paper/data/source-listings.tex @@ -1,70 +1,1462 @@ -\begingroup -\linespread{1.0}\selectfont -\lstset{basicstyle=\ttfamily\fontsize{8}{10}\selectfont,numberstyle=\tiny,aboveskip=6pt,belowskip=8pt,xleftmargin=1.5em,frame=none} -\subsection*{\pathtext{src/mcm26b/__init__.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/__init__.py.tex} -\subsection*{\pathtext{src/mcm26b/belief/__init__.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/belief/__init__.py.tex} -\subsection*{\pathtext{src/mcm26b/belief/joint.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/belief/joint.py.tex} -\subsection*{\pathtext{src/mcm26b/cli.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/cli.py.tex} -\subsection*{\pathtext{src/mcm26b/config.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/config.py.tex} -\subsection*{\pathtext{src/mcm26b/coverage/__init__.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/coverage/__init__.py.tex} -\subsection*{\pathtext{src/mcm26b/evaluation/__init__.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/evaluation/__init__.py.tex} -\subsection*{\pathtext{src/mcm26b/geometry/__init__.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/geometry/__init__.py.tex} -\subsection*{\pathtext{src/mcm26b/geometry/__main__.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/geometry/__main__.py.tex} -\subsection*{\pathtext{src/mcm26b/geometry/localization.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/geometry/localization.py.tex} -\subsection*{\pathtext{src/mcm26b/geometry/planning.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/geometry/planning.py.tex} -\subsection*{\pathtext{src/mcm26b/guarantee/__init__.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/guarantee/__init__.py.tex} -\subsection*{\pathtext{src/mcm26b/guarantee/cover.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/guarantee/cover.py.tex} -\subsection*{\pathtext{src/mcm26b/harness/__init__.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/harness/__init__.py.tex} -\subsection*{\pathtext{src/mcm26b/harness/playback.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/harness/playback.py.tex} -\subsection*{\pathtext{src/mcm26b/harness/scenes.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/harness/scenes.py.tex} -\subsection*{\pathtext{src/mcm26b/harness/simulator.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/harness/simulator.py.tex} -\subsection*{\pathtext{src/mcm26b/harness/suites.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/harness/suites.py.tex} -\subsection*{\pathtext{src/mcm26b/harness/transport.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/harness/transport.py.tex} -\subsection*{\pathtext{src/mcm26b/particles.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/particles.py.tex} -\subsection*{\pathtext{src/mcm26b/planner/__init__.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/planner/__init__.py.tex} -\subsection*{\pathtext{src/mcm26b/planner/bayes_loop.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/planner/bayes_loop.py.tex} -\subsection*{\pathtext{src/mcm26b/planner/seven.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/planner/seven.py.tex} -\subsection*{\pathtext{src/mcm26b/protocol/__init__.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/protocol/__init__.py.tex} -\subsection*{\pathtext{src/mcm26b/protocol/client.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/protocol/client.py.tex} -\subsection*{\pathtext{src/mcm26b/protocol/log.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/protocol/log.py.tex} -\subsection*{\pathtext{src/mcm26b/protocol/rules.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/protocol/rules.py.tex} -\subsection*{\pathtext{src/mcm26b/protocol/state.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/protocol/state.py.tex} -\subsection*{\pathtext{src/mcm26b/protocol/timing.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/protocol/timing.py.tex} -\subsection*{\pathtext{src/mcm26b/protocol/transport.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/protocol/transport.py.tex} -\subsection*{\pathtext{src/mcm26b/routing.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/src/mcm26b/routing.py.tex} -\subsection*{\pathtext{scripts/audit_paper_formal.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/scripts/audit_paper_formal.py.tex} -\subsection*{\pathtext{scripts/build_paper_support.py}} -\lstinputlisting[escapeinside={(*@}{@*)}]{data/listing-source/scripts/build_paper_support.py.tex} +% Generated by scripts/build_code_appendix.py from mcm26b-核心代码.ipynb. +% Do not edit by hand: rerun the generator after the notebook changes. +\begingroup\linespread{1.0}\selectfont +\subsection*{动作计时与开放路径排序} +三段耗时按整数微秒累计；后备清除的走格顺序用最近邻打底并做 2-opt 改进。 + +\noindent\small \texttt{CostBreakdown}：一次合法动作的三段耗时：移动 + 换频道（仅检测）+ 动作本身。 +\begin{lstlisting}[style=corecode] +class CostBreakdown: + """一次合法动作的三段耗时 [题面]：移动 + 换频道（仅检测）+ 动作本身。""" + + move_s: float + switch_s: float + action_s: float + @property + def total_s(self) -> float: + return self.total_us / 1_000_000 + + @property + def total_us(self) -> int: + """逐段量化后按整数微秒累计，与官方虚拟时钟一致。""" + return sum(round(value * 1_000_000) + for value in (self.move_s, self.switch_s, self.action_s)) +\end{lstlisting} + +\noindent\small \texttt{measure\_cost}：合法 /measure 的耗时；移动按直线距离，换频道只看前后频道是否不同。 +\begin{lstlisting}[style=corecode] +def measure_cost(prev_pos: Vec2, pos: Vec2, prev_channel: int, channel: int, + cost: CostConfig = CostConfig()) -> CostBreakdown: + """合法 /measure 的耗时。移动按直线距离；换频道只看前后频道是否不同。""" + return CostBreakdown( + move_s=dist(prev_pos, pos) / cost.speed_mps, + switch_s=0.0 if channel == prev_channel else cost.switch_s, + action_s=cost.measure_s, + ) +\end{lstlisting} + +\noindent\small \texttt{clear\_cost}：合法 /clear 的耗时；清除不切换测向机频道，故不含换频项。 +\begin{lstlisting}[style=corecode] +def clear_cost(prev_pos: Vec2, pos: Vec2, success: bool, + cost: CostConfig = CostConfig()) -> CostBreakdown: + """合法 /clear 的耗时。""" + return CostBreakdown( + move_s=dist(prev_pos, pos) / cost.speed_mps, + switch_s=0.0, + action_s=cost.clear_success_s if success else cost.clear_fail_s, + ) +\end{lstlisting} + +\noindent\small \texttt{move\_time}：任意两点间的移动耗时，供规划使用。 +\begin{lstlisting}[style=corecode] +def move_time(a: Vec2, b: Vec2, cost: CostConfig = CostConfig()) -> float: + """任意两点间的移动耗时（规划用）。""" + return dist(a, b) / cost.speed_mps +\end{lstlisting} + +\noindent\small \texttt{nearest\_neighbor\_order}：最近邻开放路径，作为路径排序的启发式上界。 +\begin{lstlisting}[style=corecode] +def nearest_neighbor_order(points: list[Vec2], + start: Vec2 = (0.0, 0.0)) -> list[Vec2]: + """最近邻开放路径（O(n²)，启发式上界）。""" + remaining = list(points) + order: list[Vec2] = [] + position = start + while remaining: + nxt = min(remaining, key=lambda q: math.dist(position, q)) + remaining.remove(nxt) + order.append(nxt) + position = nxt + return order +\end{lstlisting} + +\noindent\small \texttt{two\_opt\_open}：开放路径 2-opt 改进；终点自由，只反转内部片段。 +\begin{lstlisting}[style=corecode] +def two_opt_open(order: list[Vec2], start: Vec2 = (0.0, 0.0), + max_passes: int = 8) -> list[Vec2]: + """开放路径 2-opt（终点自由：只反转内部片段，不做首尾相接）。""" + best = list(order) + n = len(best) + if n < 3: + return best + for _ in range(max_passes): + improved = False + for i in range(n - 1): + prev = best[i - 1] if i > 0 else start + pi = best[i] + d_prev_i = math.dist(prev, pi) + for j in range(i + 1, n): + pj = best[j] + nxt = best[j + 1] if j + 1 < n else None + d_prev_j = math.dist(prev, pj) + removed = d_prev_i + added = d_prev_j + if nxt is not None: + removed += math.dist(pj, nxt) + added += math.dist(pi, nxt) + if added < removed - 1e-9: + best[i:j + 1] = best[i:j + 1][::-1] + improved = True + pi = best[i] + d_prev_i = math.dist(prev, pi) + if not improved: + break + return best +\end{lstlisting} + +\subsection*{问题一：角域交会、直径与最小包围圆} +半平面交求定位区域，顶点对枚举直径，Welzl 算法求最小包围圆，并输出直径圆覆盖判定与清除半径判据。 + +\noindent\small \texttt{Measurement}：一次示向度观测：测点坐标、示向度与误差半角（题设为 $1^\circ$）。 +\begin{lstlisting}[style=corecode] +class Measurement: + + x: float + y: float + bearing_deg: float + half_angle_deg: float = 1.0 +\end{lstlisting} + +\noindent\small \texttt{halfplanes}：一次观测的三个半平面约束：角域两侧边界与前向约束，法向量已单位化。 +\begin{lstlisting}[style=corecode] +def halfplanes(m: Measurement) -> list[tuple[float, float, float]]: + """Return a*x+b*y<=c with unit normals, including the forward…""" + theta = m.bearing_deg % 360 + lower, upper = radians(theta - m.half_angle_deg), radians(theta + m.half_angle_deg) + middle = radians(theta) + normals = [(sin(lower), -cos(lower)), (-sin(upper), cos(upper)), + (-cos(middle), -sin(middle))] + return [(a, b, a * m.x + b * m.y) for a, b in normals] +\end{lstlisting} + +\noindent\small \texttt{convex\_hull}：单调链凸包（逆时针、无重复末点），输入坐标先平移缩放到同一量级。 +\begin{lstlisting}[style=corecode] +def convex_hull(points: list[Point], eps: float = EPS) -> list[Point]: + """Monotone chain, CCW, no repeated final vertex; retain segm…""" + ordered = sorted(points) + unique = [] + for p in ordered: + if not unique or distance(p, unique[-1]) > eps: + unique.append(p) + if len(unique) <= 2: + return unique + + def chain(seq): + out = [] + for p in seq: + while len(out) >= 2: + a = (out[-1][0] - out[-2][0], out[-1][1] - out[-2][1]) + b = (p[0] - out[-1][0], p[1] - out[-1][1]) + # Distance-to-line tolerance, not an unscaled area tolerance. + if cross(a, b) > eps * max(hypot(*a), hypot(*b), eps): + break + out.pop() + out.append(p) + return out + + return chain(unique)[:-1] + chain(reversed(unique))[:-1] +\end{lstlisting} + +\noindent\small \texttt{diameter}：顶点对枚举区域直径；有界凸集的最远点必为顶点。 +\begin{lstlisting}[style=corecode] +def diameter(points: list[Point]): + if not points: + raise ValueError("空点集没有本程序定义下的直径") + a = b = points[0] + value = 0.0 + for p, q in combinations(points, 2): + d = distance(p, q) + if d > value: + value, a, b = d, p, q + return value, (a, b) +\end{lstlisting} + +\noindent\small \texttt{smallest\_enclosing\_circle}：Welzl 随机增量最小包围圆；固定随机种子保证结果可复现。 +\begin{lstlisting}[style=corecode] +def smallest_enclosing_circle(points: list[Point], eps: float = EPS): + """Welzl's randomized incremental algorithm, using an explici…""" + if not points: + raise ValueError("空集不计算最小包围圆") + if not isfinite(eps) or eps <= 0: + raise ValueError("eps必须为有限正数") + if any(len(p) != 2 or any(isinstance(x, bool) or not isinstance(x, (int, float)) + or not isfinite(x) for x in p) for p in points): + raise ValueError("点集必须由有限二维坐标组成") + origin = points[0] + scale = max(distance(origin, p) for p in points) + if scale == 0: + return tuple(origin), 0.0 + local = [((p[0]-origin[0])/scale, (p[1]-origin[1])/scale) for p in points] + tolerance = min(eps/scale, EPS) + Random(20260910).shuffle(local) + # Frame = (remaining prefix length, forced boundary, returning from child). + stack = [(len(local), (), False)] + circle = None + while stack: + n, boundary, returning = stack.pop() + if n == 0 or len(boundary) == 3: + # Forced support points must lie ON the boundary. For three points + # use their circumcircle, even when their unconstrained MEC is smaller. + circle = _circumcircle(*boundary) if len(boundary) == 3 else None + if circle is None and boundary: + circle = _enclosing_circle_reference(list(boundary), tolerance) + elif not returning: + stack.append((n, boundary, True)) + stack.append((n-1, boundary, False)) + elif not _circle_covers(circle, local[n-1], tolerance): + stack.append((n-1, boundary + (local[n-1],), False)) + assert circle is not None + center = (origin[0]+circle[0][0]*scale, origin[1]+circle[0][1]*scale) + # Recompute after transforming back: returned circle contains all input points + # to distance() precision, including any roundoff from the large translation. + return center, max(distance(center, p) for p in points) +\end{lstlisting} + +\noindent\small \texttt{solve}：问题一主入口：半平面交求定位区域，区分空集、无界与退化情形，再给出直径、直径圆覆盖判定与最小包围圆。 +\begin{lstlisting}[style=corecode] +def solve(measurements: list[Measurement], eps: float = EPS) -> dict: + """Solve Q1's pure angular intersection (no disk/range prior…""" + if not isfinite(eps) or eps <= 0: + raise ValueError("eps必须为有限正数") + if not measurements: + return {"status": "unbounded", "vertices": [], "diameter_m": None, + "diameter_infinite": True, "recession_direction": [1.0, 0.0], + "message": "没有观测，整个平面均可行"} + if len(measurements) > 100: + raise ValueError("参考实现最多接收100个检测点；更大规模应使用半平面交算法") + ox = sum(m.x for m in measurements) / len(measurements) + oy = sum(m.y for m in measurements) / len(measurements) + scale = max(1.0, max(hypot(m.x - ox, m.y - oy) for m in measurements)) + local = [Measurement((m.x - ox) / scale, (m.y - oy) / scale, + m.bearing_deg, m.half_angle_deg) for m in measurements] + planes = [h for m in local for h in halfplanes(m)] + + def inside(p): + tol = eps * max(1.0, abs(p[0]), abs(p[1])) + return all(a * p[0] + b * p[1] <= c + tol for a, b, c in planes) + + feasible_vertices = [] + for (a, b, c), (d, e, f) in combinations(planes, 2): + det = a * e - b * d + if det == 0.0: + continue # 精确平行：无交点（近平行对的交点是合法远端顶点，保留） + p = ((c * e - b * f) / det, (a * f - c * d) / det) + if isfinite(p[0]) and isfinite(p[1]) and inside(p): + feasible_vertices.append(p) + + if not feasible_vertices: + return {"status": "empty", "vertices": [], "diameter_m": None, + "diameter_infinite": False, "tolerance_m": eps * scale, + "message": "测向角域没有公共点；检查频道、数据及误差界"} + + # A nontrivial 2D recession cone has a ray tangent to an input halfplane. + # Use a much tighter angular threshold than the positional feasibility epsilon. + ray = None + for a, b, _ in planes: + for direction in ((b, -a), (-b, a)): + if all(d * direction[0] + e * direction[1] <= 2e-14 + for d, e, _ in planes): + ray = direction + break + if ray is not None: + break + + hull = convex_hull(feasible_vertices, eps) + + def world(p): + return [ox + p[0] * scale, oy + p[1] * scale] + + result = {"status": "unbounded" if ray else + ("point" if len(hull) == 1 else "segment" if len(hull) == 2 else "polygon"), + "vertices": [world(p) for p in hull], "tolerance_m": eps * scale, + "diameter_infinite": ray is not None} + if ray is not None: + result.update(diameter_m=None, recession_direction=list(ray), + message="存在非零衰退方向，区域无界，直径为无穷大") + return result + + d, pair = diameter(hull) + midpoint = ((pair[0][0] + pair[1][0]) / 2, (pair[0][1] + pair[1][1]) / 2) + distances = [distance(midpoint, p) for p in hull] + witness_index = max(range(len(hull)), key=distances.__getitem__) + max_distance = distances[witness_index] + center, radius = smallest_enclosing_circle(hull, eps) + area = abs(sum(cross(hull[i], hull[(i + 1) % len(hull)]) + for i in range(len(hull)))) / 2 + result.update(diameter_m=d * scale, diameter_pair=[world(p) for p in pair], + area_m2=area * scale ** 2, + diameter_circle={"center": world(midpoint), "radius_m": d * scale / 2, + "max_vertex_distance_m": max_distance * scale, + "covers": max_distance <= d / 2 + eps * 4, + "coverage_tolerance_m": 4 * eps * scale, + "max_excess_m": (max_distance-d/2) * scale, + "outside_vertex_indices": [i for i, value in enumerate(distances) + if value > d/2 + 4*eps], + "witness_vertex": world(hull[witness_index]) + if max_distance > d/2 + 4*eps else None}, + minimum_enclosing_circle={"center": world(center), "radius_m": radius * scale}, + guaranteed_clearable_at_mec_center=radius * scale <= 20 - eps * scale * 4, + clearance_certificate={"model": "angular_intersection_only", + "clear_radius_m": 20.0, + "numerical_margin_m": 4*eps*scale, + "radius_with_margin_m": (radius+4*eps)*scale, + "remaining_margin_m": 20-(radius+4*eps)*scale, + "center": world(center)}) + return result +\end{lstlisting} + +\subsection*{问题二：候选集与保证接收的第二检测点} +候选集用圆盘外切多边形与角域半平面裁剪表示；安全盘半径取$1000-\rho$，盘内候选按最坏后验包围半径、同分按移动代价取优。 + +\noindent\small \texttt{CandidateRegion}：某频道候选集合的保守凸外包多边形（顶点按 CCW；允许退化为 1-2 点）。 +\begin{lstlisting}[style=corecode] +class CandidateRegion: + """某频道候选集合的保守凸外包多边形（顶点按 CCW；允许退化为 1-2 点）。""" + + @classmethod + def disk(cls, center: Vec2, radius_m: float, sides: int, + slack_m: float | None = None) -> "CandidateRegion": + if slack_m is None: + slack_m = radius_m * (1 - math.cos(math.pi / sides)) + return cls(circumscribed_polygon(center, radius_m, sides), slack_m) + + @classmethod + def initial(cls, station: Vec2, config: ProblemConfig) -> "CandidateRegion": + """首个 direction 后的基础集：Ω ∩ B(station, r_max) 的保守外包。""" + field_cfg, sides = config.field, config.search.polygon_sides + slack = field_cfg.omega_radius_m * (1 - math.cos(math.pi / sides)) + region = cls.disk((0.0, 0.0), field_cfg.omega_radius_m, sides, slack) + region.clip_disk(station, field_cfg.r_eff_max_m, sides) + return region + + def clip_disk(self, center: Vec2, radius_m: float, sides: int) -> None: + """与圆盘 B(center, radius) 的外切多边形求交（近似误差入账）。""" + for a, b, c in polygon_halfplanes(circumscribed_polygon(center, radius_m, sides)): + self._clip(a, b, c) + self.slack_m += radius_m * (1 - math.cos(math.pi / sides)) + + def clip_wedge(self, station: Vec2, bearing_deg: float, + half_angle_deg: float) -> None: + """与测向角域 W(station, bearing±half_angle) 求交（半角须 <90°）。 + + 两个边界半平面与 localization.halfplanes 同口径，0°/360° 跨界由 + sin/cos 直接处理，无需分支。 + """ + if not 0 < half_angle_deg < 90: + raise ValueError("角域半角须在 (0, 90) 度") + lower = math.radians(bearing_deg - half_angle_deg) + upper = math.radians(bearing_deg + half_angle_deg) + sx, sy = float(station[0]), float(station[1]) + self._clip(math.sin(lower), -math.cos(lower), + math.sin(lower) * sx - math.cos(lower) * sy) + self._clip(-math.sin(upper), math.cos(upper), + -math.sin(upper) * sx + math.cos(upper) * sy) + + def mec(self) -> tuple[Vec2, float]: + """最小包围圆（圆心, 半径）。半径是真实候选集 ρ 的上界。""" + if self._mec is None: + if not self.polygon: + raise InconsistentBelief("候选区域为空") + self._mec = smallest_enclosing_circle(self.polygon) + return self._mec + + def witnesses(self, spacing_m: float) -> list[Vec2]: + """顶点 + 边界按间距细分的采样点（最坏后验评估用）。""" + if len(self.polygon) < 3: + return list(self.polygon) + points = list(self.polygon) + count = len(self.polygon) + for index in range(count): + p, q = self.polygon[index], self.polygon[(index + 1) % count] + length = math.dist(p, q) + steps = int(length // spacing_m) + for k in range(1, steps + 1): + ratio = k / (steps + 1) + points.append((p[0] + ratio * (q[0] - p[0]), + p[1] + ratio * (q[1] - p[1]))) + return _dedupe(points, tol=1e-9) + + def contains(self, point: Vec2, tol_m: float = 0.05) -> bool: + """点是否在候选集内（带容差；用于真源保留性检验，不做删点依据）。""" + if not self.polygon: + return False + if len(self.polygon) == 1: + return math.dist(point, self.polygon[0]) <= tol_m + self.slack_m + if len(self.polygon) == 2: + p, q = self.polygon + return _point_segment_distance(point, p, q) <= tol_m + self.slack_m + for index, p in enumerate(self.polygon): + q = self.polygon[(index + 1) % len(self.polygon)] + if (q[0] - p[0]) * (point[1] - p[1]) - (q[1] - p[1]) * (point[0] - p[0]) \ + < -tol_m - self.slack_m: + return False + return True +\end{lstlisting} + +\noindent\small \texttt{ClearCertificate}：清除充分条件：候选集外包半径与近似误差之和不超过清除半径。 +\begin{lstlisting}[style=corecode] +class ClearCertificate: + """清除证书：候选集外包半径（含近似误差）不超过 20m 阈值。""" + + channel: int + center: Vec2 + radius_m: float + limit_m: float + certified: bool +\end{lstlisting} + +\noindent\small \texttt{clear\_certificate}：由候选集最小包围圆判定是否可以就地清除。 +\begin{lstlisting}[style=corecode] +def clear_certificate(region: CandidateRegion, channel: int, + config: ProblemConfig = ProblemConfig()) -> ClearCertificate: + """ρ_poly <= 20 - 外包近似误差 - 工程余量 才允许发起清除。""" + center, radius = region.mec() + limit = (config.field.clear_radius_m - region.slack_m + - config.search.clear_margin_m) + return ClearCertificate(channel, center, radius, limit, radius <= limit) +\end{lstlisting} + +\noindent\small \texttt{candidate\_points}：保证接收盘内的候选点：盘心加各比例半径上的均匀方向点。 +\begin{lstlisting}[style=corecode] +def candidate_points(center: Vec2, safe_radius_m: float, rings, angles: int) -> list[Vec2]: + """保证接收盘内的候选点：盘心 + 各比例半径 × 均匀方向。""" + points = [tuple(center)] + for fraction in rings: + radius = fraction * safe_radius_m + if radius <= 1e-9: + continue + step = 2 * math.pi / angles + for k in range(angles): + angle = step * k + step / 2 + points.append((center[0] + radius * math.cos(angle), + center[1] + radius * math.sin(angle))) + return points +\end{lstlisting} + +\noindent\small \texttt{safe\_disk\_radius}：保证接收盘半径 $1000-\rho$；小于零表示没有保证接收的区域。 +\begin{lstlisting}[style=corecode] +def safe_disk_radius(region: CandidateRegion, + config: ProblemConfig = ProblemConfig()) -> float: + """保证接收盘 B(mec, safe) 的半径；<0 表示无保证（ρ 超过最小接收半径）。""" + return config.field.r_eff_min_m - region.mec()[1] - 1e-3 +\end{lstlisting} + +\noindent\small \texttt{select\_measurement\_point}：在保证接收盘内选下一检测点：主指标为最坏后验包围半径，同分取移动代价较小者。 +\begin{lstlisting}[style=corecode] +def select_measurement_point(region: CandidateRegion, from_position: Vec2, + config: ProblemConfig = ProblemConfig()) -> SecondPointPlan: + """在保证接收盘内选择下一检测点（P3 核心；对任意候选集通用）。""" + field, search = config.field, config.search + center, radius = region.mec() + half_angle = field.bearing_error_half_deg + search.bearing_rounding_margin_deg + + def move_cost(point: Vec2) -> float: + return move_time(from_position, point, config.cost) + + # 1mm 数值余量在 safe_disk_radius 内记账。 + safe_radius = safe_disk_radius(region, config) + if safe_radius < 0: + return SecondPointPlan(tuple(center), radius, move_cost(center), + "无保证接收盘（ρ>1000）：探索 MEC 圆心，可能 no_signal") + coarse = region.witnesses(search.witness_spacing_m) + samples = candidate_points(center, safe_radius, + search.candidate_rings, search.candidate_angles) + near_radius, sides = field.near_radius_m, search.polygon_sides + best_key, best_point, best_worst = None, None, None + for point in samples: + worst = _worst_posterior_radius(region, point, coarse, half_angle, + near_radius, sides) + key = (round(worst, 6), round(move_cost(point), 6)) + if best_key is None or key < best_key: + best_key, best_point, best_worst = key, point, worst + dense = _worst_posterior_radius(region, best_point, + region.witnesses(search.witness_spacing_m / 4), + half_angle, near_radius, sides) + reason = (f"安全盘 B(centre,{safe_radius:.0f}m) 内 {len(samples)} 候选；" + f"粗采样最坏后验 {best_worst:.1f}m，1/4 间距加密复核 {dense:.1f}m") + return SecondPointPlan(tuple(best_point), dense, move_cost(best_point), reason) +\end{lstlisting} + +\noindent\small \texttt{select\_second\_point}：问题二入口：由首次示向度构造候选集并给出第二检测点。 +\begin{lstlisting}[style=corecode] +def select_second_point(client: SimulatorClient, first_position: Vec2, + first_bearing_deg: float, + config: ProblemConfig = ProblemConfig()) -> SecondPointPlan: + """P3 入口：由首次 direction 构造 K1，返回保证接收的第二检测点方案。""" + region = CandidateRegion.initial(first_position, config) + half_angle = config.field.bearing_error_half_deg \ + + config.search.bearing_rounding_margin_deg + region.clip_wedge(first_position, first_bearing_deg, half_angle) + return select_measurement_point(region, client.state.position, config) +\end{lstlisting} + +\subsection*{问题三：覆盖计划、检测记录与清除证书} +覆盖计划与运行期抽样校验、逐频道检测记录，以及七点解析覆盖与全向／定向两种覆盖语义的证书判据。 + +\noindent\small \texttt{CoverageCertificate}：覆盖证书：采样分辨率、位置与朝向目标数、缺口数与最坏命中距离。 +\begin{lstlisting}[style=corecode] +class CoverageCertificate: + """覆盖证书：采样语义 + 缺口 + 最坏命中距离。""" + + kind: str # "full_disk" | "forward_half_disk" + target_step_m: float + headings: int + r_eff_min_m: float + targets: int + uncovered: int + worst_hit_distance_m: float + nn_tour_m: float + generator_sha256: str = "" + verify_heading_margin_deg: float = 0.0 + @property + def valid(self) -> bool: + return self.uncovered == 0 and self.targets > 0 + + def as_dict(self) -> dict: + return {"kind": self.kind, "target_step_m": self.target_step_m, + "headings": self.headings, "r_eff_min_m": self.r_eff_min_m, + "targets": self.targets, "uncovered": self.uncovered, + "worst_hit_distance_m": round(self.worst_hit_distance_m, 3), + "nn_tour_m": round(self.nn_tour_m, 1), + "nn_tour_virtual_s": round(self.nn_tour_m / SPEED_MPS, 1), + "generator_sha256": self.generator_sha256, + "verify_heading_margin_deg": self.verify_heading_margin_deg} +\end{lstlisting} + +\noindent\small \texttt{CoveragePlan}：覆盖计划：点集、覆盖语义与证书。 +\begin{lstlisting}[style=corecode] +class CoveragePlan: + """一份覆盖计划：点集 + 语义 + 证书（可为解析证明）。""" + + name: str + problem: int + points: tuple[Vec2, ...] + kind: str # "analytic" | "certified" + coverage: str # "full_disk" | "forward_half_disk" + note: str = "" + certificate: CoverageCertificate | None = None + generator: dict = field(default_factory=dict) + def as_dict(self) -> dict: + return {"name": self.name, "problem": self.problem, "kind": self.kind, + "coverage": self.coverage, "note": self.note, + "generator": self.generator, + "certificate": (self.certificate.as_dict() + if self.certificate is not None else None), + "points": [[p[0], p[1]] for p in self.points]} +\end{lstlisting} + +\noindent\small \texttt{coverage\_points}：49 点覆盖网格，单元对角 $700\sqrt2\approx989.95\le1000$ m。 +\begin{lstlisting}[style=corecode] +def coverage_points(config: ProblemConfig = ProblemConfig()) -> list[Vec2]: + """49 点覆盖网格生成（纯几何，可独立测试）。""" + step = config.search.grid_step_m + half = config.search.grid_half_cells + return [(step * i, step * j) + for j in range(half, -half - 1, -1) + for i in range(-half, half + 1)] +\end{lstlisting} + +\noindent\small \texttt{CoverageLedger}：逐频道检测记录，按（频道, 网格点）二维记账。 +\begin{lstlisting}[style=corecode] +class CoverageLedger: + """逐频道覆盖账本：(频道, 网格点) -> 是否已测。""" + + config: ProblemConfig = field(default_factory=ProblemConfig) + points: list[Vec2] = field(default_factory=coverage_points) + measured: set = field(default_factory=set) # {(channel, point_index)} + skipped: dict = field(default_factory=dict) # channel -> 原因 + def mark_measured(self, channel: int, point_index: int) -> None: + self.measured.add((channel, point_index)) + + def measured_at(self, channel: int, point_index: int) -> bool: + return (channel, point_index) in self.measured + + def skip_channel(self, channel: int, reason: str) -> None: + """记录整频道跳过原因（如 already_cleared / located_pending_clear）。""" + self.skipped[channel] = reason + + def pending_points(self, channel: int) -> list[int]: + """该频道尚未测量的网格点下标。扫描调度策略未实现（P4）。""" + return [index for index in range(len(self.points)) + if not self.measured_at(channel, index)] + + def coverage_complete(self, channel: int) -> bool: + """该频道覆盖是否完成（含显式跳过）。""" + return channel in self.skipped or not self.pending_points(channel) +\end{lstlisting} + +\noindent\small \texttt{seven\_points}：原点与环上六个等分点的七站覆盖集。 +\begin{lstlisting}[style=corecode] +def seven_points(ring_radius_m: float = RING_RADIUS_M) -> list[tuple[float, float]]: + """原点 + 环上 6 等分点的七站覆盖集。""" + return [(0.0, 0.0)] + [(ring_radius_m * math.cos(k * math.pi / 3), + ring_radius_m * math.sin(k * math.pi / 3)) for k in range(6)] +\end{lstlisting} + +\noindent\small \texttt{seven\_plan}：第三问解析覆盖计划；环半径 $1159.7$ m 时最坏覆盖距离不超过 $984.539$ m。 +\begin{lstlisting}[style=corecode] +def seven_plan(ring_radius_m: float) -> CoveragePlan: + """第三问解析计划（覆盖证明由 validate_seven_coverage 给出）。""" + return CoveragePlan( + name=f"seven-r{ring_radius_m:.1f}", problem=3, kind="analytic", + coverage="full_disk", + note=("解析证明 max(r/√3, sqrt(R²+r²−√3Rr)) < 1000；" + "r∈[1122.9, 1732] 时成立，巡检半径越小巡回越短"), + points=tuple(seven_points(ring_radius_m))) +\end{lstlisting} + +\noindent\small \texttt{verify\_full\_disk}：第三问覆盖语义：圆域内每点都落在某个被访点的最小接收圆盘内。 +\begin{lstlisting}[style=corecode] +def verify_full_disk(points: list[Vec2], step_m: float = VERIFY_STEP_M, + r_eff: float = R_EFF_MIN_M) -> CoverageCertificate: + """第三问语义：Ω 内每点都在某个被访点的 r_eff 圆盘内。""" + points = list(points) + positions = omega_positions(step_m) + table = _bucket(points, r_eff) + missing, worst = 0, 0.0 + for (px, py) in positions: + ci, cj = int(px // r_eff), int(py // r_eff) + best = None + for di in (-1, 0, 1): + for dj in (-1, 0, 1): + for c_index in table.get((ci + di, cj + dj), ()): + cx, cy = points[c_index] + distance = math.hypot(cx - px, cy - py) + if distance <= r_eff and (best is None or distance < best): + best = distance + if best is None: + missing += 1 + else: + worst = max(worst, best) + return CoverageCertificate("full_disk", step_m, 1, r_eff, len(positions), + missing, worst, nn_tour_length(points)) +\end{lstlisting} + +\noindent\small \texttt{verify\_forward\_half\_disk}：第四问覆盖语义：任意位置与朝向都存在前向半盘内的被访点。 +\begin{lstlisting}[style=corecode] +def verify_forward_half_disk(points: list[Vec2], step_m: float = VERIFY_STEP_M, + headings: int = VERIFY_HEADINGS, + r_eff: float = R_EFF_MIN_M, + heading_margin_deg: float = 0.0) -> CoverageCertificate: + """第四问语义：∀(p,h) 存在前向半盘内的被访点。""" + points = list(points) + targets = forward_targets(step_m, headings) + table = _bucket(points, r_eff) + missing, worst = 0, 0.0 + sin_margin = math.sin(math.radians(max(heading_margin_deg, 0.0))) + for (px, py, heading) in targets: + ux, uy = math.cos(heading), math.sin(heading) + ci, cj = int(px // r_eff), int(py // r_eff) + best = None + for di in (-1, 0, 1): + for dj in (-1, 0, 1): + for c_index in table.get((ci + di, cj + dj), ()): + cx, cy = points[c_index] + dx, dy = cx - px, cy - py + distance_sq = dx * dx + dy * dy + if distance_sq > r_eff * r_eff: + continue + if dx * ux + dy * uy < sin_margin * math.sqrt(distance_sq) - 1e-9: + continue + distance = math.sqrt(distance_sq) + if best is None or distance < best: + best = distance + if best is None: + missing += 1 + else: + worst = max(worst, best) + return CoverageCertificate("forward_half_disk", step_m, headings, r_eff, + len(targets), missing, worst, + nn_tour_length(points)) +\end{lstlisting} + +\noindent\small \texttt{plan\_instance}：按名称取覆盖计划；证书计划在运行期按同一分辨率复核。 +\begin{lstlisting}[style=corecode] +def plan_instance(name: str, verify: bool = True) -> CoveragePlan: + """统一入口：按名称取覆盖计划（内置解析计划 / 内嵌证书计划）。""" + if name == "square49": + return square_49_plan() + if name == "seven": + return seven_plan(1200.0) + if name not in EMBEDDED_PLANS: + raise FileNotFoundError(f"未找到覆盖计划 {name!r}；现有：{plan_names()}") + plan = embedded_plan(name) + if verify and plan.kind == "certified": + certificate = verify_plan(plan) + if not certificate.valid: + raise ValueError( + f"覆盖计划 {name!r} 运行期校验失败：" + f"{certificate.uncovered}/{certificate.targets} 个 (p,h) 未被覆盖") + plan = CoveragePlan( + name=plan.name, problem=plan.problem, kind=plan.kind, + coverage=plan.coverage, note=plan.note, generator=plan.generator, + certificate=CoverageCertificate( + kind=certificate.kind, target_step_m=certificate.target_step_m, + headings=certificate.headings, r_eff_min_m=certificate.r_eff_min_m, + targets=certificate.targets, uncovered=certificate.uncovered, + worst_hit_distance_m=certificate.worst_hit_distance_m, + nn_tour_m=certificate.nn_tour_m, + generator_sha256=(plan.certificate.generator_sha256 + if plan.certificate else "")), + points=plan.points) + return plan +\end{lstlisting} + +\subsection*{问题三：网格候选集} +逐频道的网格幸存集，按格心裕量 $\ell/\sqrt2$ 内缩后再删格，据此支持负观测更新、跳测规则与缺席证明。 + +\noindent\small \texttt{ChannelParticles}：单个频道的网格候选集：格心裕量 $\ell/\sqrt2$，所有删除判定内缩该裕量，故真源所在格永不被删。 +\begin{lstlisting}[style=corecode] +class ChannelParticles: + """单个频道的网格幸存集。""" + + def cell_center(self, index: int) -> Vec2: + i, j = divmod(index, self.width) + return (self.x0 + (i + 0.5) * self.spacing_m, + self.x0 + (j + 0.5) * self.spacing_m) + + def discard(self, indices: list[int]) -> None: + """公开删除入口：联合信念把"朝向不可能"的格一并删除时使用。""" + self._discard(indices) + + def _discard(self, indices: list[int]) -> None: + if not indices: + return + coarse_w = self._coarse_width() + for index in indices: + if index not in self.alive: + continue + self.alive.discard(index) + key = (index // self.width // _COARSE_FACTOR) * coarse_w \ + + (index % self.width) // _COARSE_FACTOR + count = self._coarse.get(key, 0) - 1 + if count <= 0: + self._coarse.pop(key, None) + else: + self._coarse[key] = count + self.version += 1 + self._mec = None + + def _kill_disk(self, center: Vec2, radius_m: float) -> None: + """删除格心距 center <= radius_m 的全部幸存格（整格判据见模块注释）。""" + if not self.alive: + return + reach = radius_m + _DIST_EPS_M + ilo = max(0, int(math.floor((center[0] - reach - self.x0) / self.spacing_m))) + ihi = min(self.width - 1, + int(math.ceil((center[0] + reach - self.x0) / self.spacing_m))) + jlo = max(0, int(math.floor((center[1] - reach - self.x0) / self.spacing_m))) + jhi = min(self.width - 1, + int(math.ceil((center[1] + reach - self.x0) / self.spacing_m))) + limit_sq = reach * reach + doomed = [] + for i in range(ilo, ihi + 1): + dx = self.x0 + (i + 0.5) * self.spacing_m - center[0] + base = i * self.width + for j in range(jlo, jhi + 1): + index = base + j + if index not in self.alive: + continue + dy = self.x0 + (j + 0.5) * self.spacing_m - center[1] + if dx * dx + dy * dy <= limit_sq: + doomed.append(index) + self._discard(doomed) + + def _kill_outside_disk(self, center: Vec2, radius_m: float) -> None: + """删除格心距 center > radius_m 的全部幸存格（保留盘内）。""" + if not self.alive: + return + reach = radius_m + _DIST_EPS_M + doomed = [index for index in self.alive + if math.dist(self.cell_center(index), center) > reach] + self._discard(doomed) + + def _kill_outside_wedge(self, station: Vec2, reading_deg: float) -> None: + """删除角向偏离读数超出 δ_eff + 角向格裕量的幸存格。 + + 角向格裕量 = asin(m / max(dist−m, 1))：格内任一点相对格心的方位 + 偏差不超过它（点距测点还可再近 m，故分母再内缩 m）。 + """ + if not self.alive: + return + sx, sy = float(station[0]), float(station[1]) + doomed = [] + for index in self.alive: + gx, gy = self.cell_center(index) + dist = math.hypot(gx - sx, gy - sy) + if dist <= self.margin_m + 1.0: + continue # 格贴测点：格内方位可指向任意方向，不可删 + angular_margin = math.degrees( + math.asin(min(0.9999, self.margin_m / (dist - self.margin_m)))) + gap = angular_gap(math.degrees(math.atan2(gy - sy, gx - sx)), reading_deg) + if gap > self.half_angle_deg + angular_margin + _ANG_EPS_DEG: + doomed.append(index) + self._discard(doomed) + + def apply_measure(self, station: Vec2, result: str, + svd_deg: float | None = None, *, + directional: bool = False) -> None: + """按读数更新幸存集。真源保留性由 Voronoi 裕量保证（模块注释）。 + + ``directional=True``（第四问）：no_signal **不删空间候选**——定向源 + 的静默还可能来自朝向遮挡，单独删空间候选会误删真源；朝向维度由 + :class:`~mcm26b.belief.joint.JointBelief` 维护。 + """ + if result == NO_SIGNAL: + if directional: + return + # no_signal ⟹ dist > r_eff >= 1000：整格落入 B(s, 1000−m) 的删。 + self._kill_disk(station, self.r_eff_min_m - self.margin_m) + elif result == NEAR: + self._kill_outside_disk(station, self.near_radius_m + self.margin_m) + elif result == DIRECTION: + if svd_deg is None: + raise ValueError("direction 读数必须携带 svd_deg") + # direction 隐含 dist <= r_max [题面] + self._kill_outside_disk(station, self.r_eff_max_m + self.margin_m) + self._kill_outside_wedge(station, svd_deg) + else: + raise ValueError(f"未知测向结果: {result!r}") + + def alive_points(self, limit: int | None = None) -> list[Vec2]: + sorted_alive = sorted(self.alive) + if limit is not None and len(sorted_alive) > limit: + step = len(sorted_alive) / limit + indices = {sorted_alive[int(k * step) % len(sorted_alive)] + for k in range(limit)} + indices = sorted(indices) + else: + indices = sorted_alive + return [self.cell_center(index) for index in indices] + + def nearest_alive_distance(self, point: Vec2, limit_m: float) -> float | None: + """最近幸存格心距离；> limit_m 时返回 None（粗格环扫 + 下界剪枝）。 + + 返回值语义：恰为最近幸存格心距离（若 <= limit_m）；None 表示所有 + 幸存格心都超出 limit_m。粗格聚合半径已计入扫描范围，不漏判。 + """ + if not self.alive: + return None + coarse_cell_m = self.spacing_m * _COARSE_FACTOR + coarse_reach = coarse_cell_m * math.sqrt(2) / 2 + cw = self._coarse_width() + ci_base = int(math.floor((point[0] - self.x0) / coarse_cell_m)) + cj_base = int(math.floor((point[1] - self.x0) / coarse_cell_m)) + ring_max = int(math.ceil((limit_m + coarse_reach) / coarse_cell_m)) + 1 + best: float | None = None + for ring in range(ring_max + 1): + lower_bound = max(0.0, ring - 1) * coarse_cell_m - coarse_reach + if best is not None and lower_bound >= best: + break # 更外环的所有格心都 >= 下界 >= 当前最优 + for ci in range(max(0, ci_base - ring), min(cw - 1, ci_base + ring) + 1): + for cj in range(max(0, cj_base - ring), min(cw - 1, cj_base + ring) + 1): + if max(abs(ci - ci_base), abs(cj - cj_base)) != ring: + continue # 只扫当前环（Chebyshev 环） + if (ci * cw + cj) not in self._coarse: + continue + ccx = self.x0 + (ci + 0.5) * coarse_cell_m + ccy = self.x0 + (cj + 0.5) * coarse_cell_m + if math.hypot(ccx - point[0], ccy - point[1]) \ + > limit_m + coarse_reach: + continue + i0, j0 = ci * _COARSE_FACTOR, cj * _COARSE_FACTOR + for i in range(i0, min(i0 + _COARSE_FACTOR, self.width)): + base = i * self.width + for j in range(j0, min(j0 + _COARSE_FACTOR, self.width)): + index = base + j + if index not in self.alive: + continue + dist = math.dist(self.cell_center(index), point) + if dist <= limit_m and (best is None or dist < best): + best = dist + return best + + def guaranteed_no_signal(self, station: Vec2) -> bool: + """真源与该测点距离必 > r_max（>= r_eff）⟹ 必 no_signal，测了也无信息。""" + return self.nearest_alive_distance( + station, self.r_eff_max_m + self.margin_m) is None + + def mec(self) -> tuple[Vec2, float]: + """幸存集最小包围圆（圆心, 半径）；按 version 缓存。""" + if self._mec is None: + if not self.alive: + raise ValueError("幸存集为空（该频道已可证明缺席）") + points = [self.cell_center(index) for index in self.alive] + self._mec = smallest_enclosing_circle(points) + return self._mec + + def subsample(self, size: int) -> list[Vec2]: + """按索引序均匀抽取的子采样（索引序≈空间序，代表点空间铺开）。""" + return self.alive_points(limit=size) + + def expected_survival(self, point: Vec2, subsample, + representatives) -> float: + """E[log 幸存占比]：越小该测点的期望信息增益越大。 + + r_eff 不确定性解析积分：dist∈(1000,1500] 时按 r_eff~U(1000,1500) + 取 p_ns=(dist−1000)/500 为 no_signal 分支概率。 + - no_signal 分支：删 B(point, 1000−m)，幸存 = 子采样中盘外比例； + - direction 分支：以代表点方位为期望读数，角域 ∩ B(point,1500+m) 内幸存； + - near 分支（dist <= 5+m）：可行集收缩到 5m 盘，幸存占比趋近 0。 + """ + if not self.alive or len(subsample) == 0 or len(representatives) == 0: + return 0.0 + if _np is not None and isinstance(subsample, _np.ndarray) \ + and isinstance(representatives, _np.ndarray): + return self._expected_survival_vector(point, subsample, representatives) + eps = 1.0 / len(subsample) + keep_ns = max(1.0 - self.fraction_within(subsample, point, + self.r_eff_min_m - self.margin_m), + eps) + log_keep_ns = math.log(keep_ns) + total = 0.0 + for rep in representatives: + dist = math.hypot(rep[0] - point[0], rep[1] - point[1]) + if dist <= self.near_radius_m + self.margin_m: + total += math.log(eps) + continue + p_ns = min(1.0, max(0.0, (dist - self.r_eff_min_m) + / (self.r_eff_max_m - self.r_eff_min_m))) + reading = math.atan2(rep[1] - point[1], rep[0] - point[0]) + survivors = 0 + for p in subsample: + if math.dist(p, point) > self.r_eff_max_m + self.margin_m: + continue + gap = angular_gap(math.degrees( + math.atan2(p[1] - point[1], p[0] - point[0])), + math.degrees(reading)) + if gap <= self.half_angle_deg + _ANG_EPS_DEG: + survivors += 1 + keep_dir = max(survivors / len(subsample), eps) + total += p_ns * log_keep_ns + (1.0 - p_ns) * math.log(keep_dir) + return total / max(len(representatives), 1) + + def fraction_within(self, samples, point: Vec2, radius_m: float) -> float: + if len(samples) == 0: + return 0.0 + reach = radius_m + _DIST_EPS_M + if _np is not None and isinstance(samples, _np.ndarray): + distance = _np.hypot(samples[:, 0] - point[0], samples[:, 1] - point[1]) + return float(_np.count_nonzero(distance <= reach)) / len(samples) + count = sum(1 for p in samples if math.dist(p, point) <= reach) + return count / len(samples) + + def expected_posterior_radius(self, point: Vec2, subsample, + representatives) -> float: + """一次测量后期望后验半径（米）：选点主指标，直指清除证书阈值。 + + 对每个代表假设（真值候选）按 r_eff~U(1000,1500) 解析积分 + no_signal/direction 分支，near 分支（dist <= 5+m）后验为 5m 盘； + 各分支半径用幸存子采样的质心最大距离近似（偏差 << 格距，排序用）。 + 与几何版 worst-posterior 同族，但作用于含负观测的非凸幸存集， + 且以期望代替最坏（代表点覆盖幸存集主轴）。 + """ + if not self.alive or len(subsample) == 0 or len(representatives) == 0: + return 0.0 + if _np is not None and isinstance(subsample, _np.ndarray) \ + and isinstance(representatives, _np.ndarray): + return self._expected_posterior_radius_vector( + point, subsample, representatives) + eps_radius = self.spacing_m / 2.0 + total = 0.0 + for rep in representatives: + dist = math.hypot(rep[0] - point[0], rep[1] - point[1]) + if dist <= self.near_radius_m + self.margin_m: + total += self.near_radius_m + self.margin_m + continue + p_ns = min(1.0, max(0.0, (dist - self.r_eff_min_m) + / (self.r_eff_max_m - self.r_eff_min_m))) + members_ns = [p for p in subsample + if math.dist(p, point) > self.r_eff_min_m - self.margin_m] + reading = math.atan2(rep[1] - point[1], rep[0] - point[0]) + members_dir = [] + for p in subsample: + if math.dist(p, point) > self.r_eff_max_m + self.margin_m: + continue + gap = angular_gap(math.degrees( + math.atan2(p[1] - point[1], p[0] - point[0])), + math.degrees(reading)) + if gap <= self.half_angle_deg + _ANG_EPS_DEG: + members_dir.append(p) + r_ns = self._branch_radius(members_ns) if members_ns else eps_radius + r_dir = self._branch_radius(members_dir) if members_dir else eps_radius + total += p_ns * r_ns + (1.0 - p_ns) * r_dir + return total / max(len(representatives), 1) +\end{lstlisting} + +\subsection*{问题三：信息增益选点与滚动任务排序} +统一任务表由站点扫频、定位测量与清除三类任务组成，每执行一项即重排；定位点按期望信息增益加移动代价评分。 + +\noindent\small \texttt{BayesLoop}：问题三闭环：网格候选集的正负观测更新、信息增益选点与滚动任务排序。 +\begin{lstlisting}[style=corecode] +class BayesLoop(OmnidirectionalLoop): + """问题3贝叶斯闭环：负观测感知 + 信息增益选点 + 滚动任务排序。""" + + def _build_tasks(self) -> list[Task]: + tasks: list[Task] = [] + for index, point in enumerate(self.ledger.points): + pending = self._fused_channels_at(index) + if not pending: + continue + switches = len(pending) - (1 if self.client.state.channel in pending else 0) + tasks.append(Task("station", tuple(point), + self.config.cost.measure_s * len(pending) + + self.config.cost.switch_s * max(switches, 0), + station_index=index, station_channels=tuple(pending))) + for channel in self.belief.channels_by_status(ChannelStatus.DETECTED): + cert = self._best_certificate(channel) + if cert is not None and cert.certified \ + and channel not in self._clear_failed: + tasks.append(Task("clear", cert.center, + self.config.cost.clear_success_s, + channel=channel)) + continue + if self._defer_to_station(channel): + continue # 下一条方位线可由"本就要去的站点"顺路提供 + point = self._select_point(channel) + if point is None: + continue + tasks.append(Task("locate", point, + self.config.cost.measure_s + self.config.cost.switch_s, + channel=channel)) + return tasks + + def _execute_station(self, index: int) -> None: + """单站批量扫频：只测待测频道（跳测规则已过滤），扫完即返回重排。 + + P0-1：本站同时测量"已发现未定证"频道，使第二/第三条方位线在巡回 + 途中顺路取得；证书一旦成立即就地清除，不额外绕行。 + """ + point = self.ledger.points[index] + pending = self._fused_channels_at(index) + unknown = [c for c, b in self.belief.channels.items() + if b.status is ChannelStatus.UNKNOWN] + self.skipped_measures += len(unknown) - len( + [c for c in pending if self.belief.channels[c].status + is ChannelStatus.UNKNOWN]) + # 当前频道优先，减少换频；同站 near 直接清除不打断扫频 + pending.sort(key=lambda c: (c != self.client.state.channel, c)) + for channel in pending: + if self.stop_reason is not None or self._count_limit_reached() \ + or self._virtual_cap_reached(): + return + detected_before = (self.belief.channels[channel].status + is ChannelStatus.DETECTED) + outcome = self.client.measure(point, channel) + self.ledger.mark_measured(channel, index) + self._record_measure(channel, point, outcome) + if outcome.result in (DIRECTION, NEAR): + self._may_clear.add(channel) + if outcome.result == NEAR: + region = self.belief.candidate_set(channel) + cert = clear_certificate(region, channel, self.config) + if cert.certified: + if self._attempt_clear(channel, point, cert): + self._clear_failed.discard(channel) + else: + self._clear_failed.add(channel) + self._may_clear.discard(channel) + else: + self._anomaly("near_without_certificate", channel, position=point) + continue + if not detected_before: + continue + if outcome.result == NO_SIGNAL: + # 该频道已被发现：保证接收盘内不可能 no_signal，属守恒性异常 + region = self.belief.candidate_set(channel) + safe = (safe_disk_radius(region, self.config) + if region is not None else -1.0) + if safe >= 0 and math.dist(point, region.mec()[0]) <= safe: + self._anomaly("no_signal_in_safe_disk", channel, + position=point) + continue + cert = self._best_certificate(channel) + if cert is not None and cert.certified: + if self._attempt_clear(channel, cert.center, cert): + self._clear_failed.discard(channel) + else: + self._clear_failed.add(channel) + self._may_clear.discard(channel) + + def _record_measure(self, channel: int, position: Vec2, outcome) -> None: + """belief（凸证书）与 PF（幸存集）同步更新；PF 空即证缺席。""" + self.belief.update_measure(channel, position, outcome.result, + outcome.svd_deg) + # 同一 0.5m 测点 × 同一频道的重复检测：历史上一次官方演练有 98.84% + # 的虚拟时间耗在空复扫上，本计数是该问题的回归指标。 + key = _point_key(position) + seen = self._measured_points.setdefault(channel, set()) + if key in seen: + self.redundant_rescan_measures += 1 + seen.add(key) + self._clear_failed.discard(channel) # 新证据落地：允许再次尝试清除 + belief = self.belief.channels[channel] + if belief.status in (ChannelStatus.CLEARED, ChannelStatus.ABSENT): + return # 已证毕：清除/缺席后的 no_signal 与距离无关，不进 PF + pf = self.particles[channel] + pf.apply_measure(position, outcome.result, outcome.svd_deg) + if not pf: + if belief.status is ChannelStatus.UNKNOWN: + self.belief.mark_absent(channel) + self.absence_evidence[channel] = "pf_empty" + if channel not in self.pf_absent_channels: + self.pf_absent_channels.append(channel) + else: + self._anomaly("pf_empty_while_detected", channel, position=position) + self._apply_count_bound() + + def _best_certificate(self, channel: int) -> ClearCertificate | None: + """凸证书优先；负观测挖洞使 PF 幸存集更紧时用网格证书补位。""" + region = self.belief.candidate_set(channel) + cert = clear_certificate(region, channel, self.config) \ + if region is not None else None + if cert is not None and cert.certified: + return self._near_clear_target(cert) + if self.config.bayes.grid_cert_enabled: + pf = self.particles[channel] + if len(pf): + center, radius = pf.mec() + limit = (self.config.field.clear_radius_m - pf.margin_m + - self.config.search.clear_margin_m) + if radius <= limit: + return self._near_clear_target( + ClearCertificate(channel, center, radius, limit, True)) + return cert + + def _select_point(self, channel: int) -> Vec2 | None: + """定位测量点：期望 log 幸存占比 + λ·移动时间 最小的候选。""" + context = self._probe_context(channel) + if context is None: + return None + candidates, info_score, center, position = context + bayes = self.config.bayes + + def score(q: Vec2) -> float: + # 一次定位后仍需接近源才能清除；仅计到检测点的移动会偏好绕行。 + move = bayes.lambda_move_s * (move_time(position, q, self.config.cost) + + move_time(q, center, self.config.cost)) + return info_score(q) + move + + return min(candidates, key=lambda q: (score(q), _point_key(q))) + + def _localize_and_clear(self, channel: int) -> bool: + """阻塞式定位子循环（resolve 阶段安全网）：PF 选点，失败退凸选点。""" + search = self.config.search + self._may_clear.add(channel) + for _ in range(search.max_localize_steps): + if self._virtual_cap_reached(): + return False + cert = self._best_certificate(channel) + if cert is not None and cert.certified and channel in self._may_clear: + if self._attempt_clear(channel, cert.center, cert): + self._clear_failed.discard(channel) + return True + self._clear_failed.add(channel) + self._may_clear.discard(channel) + continue + point = self._select_point(channel) + if point is None: + region = self.belief.candidate_set(channel) + if region is None: + return False + point = select_measurement_point( + region, self.client.state.position, self.config).position + outcome = self.client.measure(point, channel) + self._record_measure(channel, point, outcome) + self._may_clear.add(channel) + if outcome.result == NO_SIGNAL: + region = self.belief.candidate_set(channel) + if region is not None and safe_disk_radius(region, self.config) >= 0 \ + and math.dist(point, region.mec()[0]) \ + <= safe_disk_radius(region, self.config): + self._anomaly("no_signal_in_safe_disk", channel, position=point) + cert = self._best_certificate(channel) + if cert is not None and cert.certified: + if self._attempt_clear(channel, cert.center, cert): + self._clear_failed.discard(channel) + return True + self._clear_failed.add(channel) + self._may_clear.discard(channel) + return self.belief.channels[channel].status is ChannelStatus.CLEARED +\end{lstlisting} + +\subsection*{问题四：朝向候选、可见性选点与网格遍历清除} +每个幸存格附朝向档掩码构成联合候选集，可见性权重用于探点排序；定位停滞时以 $20$ m 方格遍历清除兜底。 + +\noindent\small \texttt{JointBelief}：单频道的位置与朝向联合候选集；朝向分 $24$ 档，负观测只在整格必落在最小接收半径内时才约束朝向。 +\begin{lstlisting}[style=corecode] +class JointBelief: + """单频道 (位置 × 朝向) 联合可行集。""" + + def is_absent(self) -> bool: + """联合集空 ⟹ 该频道不存在源（真源保留定理的二维推广）。""" + return not self.position.alive + + def sample(self, size: int = 256) -> list[int]: + """均匀抽样幸存格（评分用；证书始终用完整集合）。""" + cached = self._sample_cache + if cached is not None and cached[0] == self.position.version: + return cached[1] + alive = sorted(self.position.alive) + if len(alive) > size: + step = len(alive) / size + alive = [alive[int(k * step) % len(alive)] for k in range(size)] + self._sample_cache = (self.position.version, alive) + return alive + + def expected_posterior_radius(self, reader: Vec2, size: int | None = None) -> float: + """一次测量后的期望后验 MEC 半径（米）；D1 值函数。 + + 与 :meth:`ChannelParticles.expected_posterior_radius` 同族，差别只在 + no_signal 分支概率：定向源不仅会因距离 > r_eff 静默，还会因朝向遮挡 + 静默，因此 + + p_vis(p) = P(r_eff ≥ |p−q|) × cover_ratio(p, q) + + 其中 ``cover_ratio`` 是该格朝向掩码中"可能覆盖 q 方位"的档位占比。 + 分支半径语义： + + - direction（可见，非 near）：读数为 q 处的方位 ±δ，后验收缩到该方位 + 楔形与当前可行集之交，半径取幸存子采样的质心最大距离； + - no_signal：定向源的静默**不删空间候选**，位置后验半径保持当前值； + - near：后验为 5m 盘。 + + 返回值只用于**选点排序**，不参与任何安全判定；证书仍由凸/网格口径给出。 + """ + pf = self.position + if not pf.alive: + return 0.0 + if size is None: + size = self.config.bayes.score_subsample + indices = self.sample(max(2, size)) + if not indices: + return 0.0 + stride = max(len(indices) // max(self.config.bayes.mc_representatives, 1), 1) + representatives = indices[::stride] + if _np is not None: + return self._epr_vector(reader, indices, representatives) + return self._epr_python(reader, indices, representatives) # pragma: no cover + + def prob_detect(self, reader: Vec2, size: int = 256) -> float: + """在 ``reader`` 处能看见任一可行 (位置, 朝向) 的概率质量（启发式）。 + + r_eff ~ U[1000, 1500] 解析积分；朝向按可行档位占比计权。 + 只用于选点排序，不参与任何安全判定。 + """ + cells = self.sample(size) + if not cells: + return 0.0 + total = 0.0 + span = self.field.r_eff_max_m - self.field.r_eff_min_m + for index in cells: + gx, gy = self.position.cell_center(index) + distance = math.hypot(reader[0] - gx, reader[1] - gy) + if distance > self.field.r_eff_max_m: + continue + if distance <= self.field.r_eff_min_m: + p_range = 1.0 + else: + p_range = (self.field.r_eff_max_m - distance) / span + if p_range <= 0.0: + continue + bearing = math.degrees(math.atan2(reader[1] - gy, reader[0] - gx)) + cover = _COVER_TABLE[_table_index(bearing)] + bits = bin(self._mask(index) & cover).count("1") + if bits: + total += p_range * bits / HEADING_BINS + return total / len(cells) + + def apply(self, station: Vec2, result: str, + svd_deg: float | None = None) -> None: + """按读数更新联合可行集（保守，真源 (位置, 朝向) 永不被删）。""" + if result == DIRECTION: + self.position.apply_measure(station, DIRECTION, svd_deg, + directional=True) + self._apply_heading(station, keep=True) + elif result == NEAR: + # near 同样要求可见（评测机先判朝向再判距离） + self.position.apply_measure(station, NEAR, directional=True) + self._apply_heading(station, keep=True) + elif result == NO_SIGNAL: + # 距离阈值必须取**保守侧**：只有"整格都必然落在 r_eff_min 圆盘内" + # 时，no_signal 才一定由朝向遮挡解释。格心到格内任一点 ≤ margin， + # 故阈值取 r_eff_min − margin；取 + margin 会把 1000~1010m 的模糊带 + # 也当成"必须不覆盖"，从而可能删掉真源的朝向档（破坏真源保留性）。 + self._apply_heading(station, keep=False, + within_m=max( + 0.0, self.field.r_eff_min_m + - self.position.margin_m)) + else: + raise ValueError(f"未知测向结果: {result!r}") + + def summary(self) -> dict: + """联合集规模快照（写入策略 summary，供审计与论文复算）。""" + cells = self.sample(256) + bins = [bin(self._mask(index)).count("1") for index in cells] + return {"cells": len(self.position), + "sampled_mean_heading_bins": (round(sum(bins) / len(bins), 2) + if bins else 0.0), + "heading_bins_total": HEADING_BINS} +\end{lstlisting} + +\noindent\small \texttt{DirectionalExtension}：问题四闭环：定向覆盖计划、遮挡解释与网格遍历清除兜底。 +\begin{lstlisting}[style=corecode] +class DirectionalExtension(OmnidirectionalLoop): + """问题4混合源闭环（P5）：全向基线 + 定向观测处理 + 后备清除。""" + + def _localize_and_clear(self, channel: int) -> bool: + """定位子循环：选点测量收敛候选集，拿到清除证书后清除。 + + 与 P4 的差异：保证接收盘内的 no_signal 说明探点被朝向遮挡 + [观测推理]，走"对跖复核 -> 环探"升级梯子（不计入定位步数， + 由 max_blocked_probes 限流），之后仍未收敛再转后备清除。 + """ + search = self.config.search + self._may_clear.add(channel) + steps = 0 + while steps < search.max_localize_steps: + if self._virtual_cap_reached(): + return False + region = self.belief.candidate_set(channel) + if region is None: + return False + cert = clear_certificate(region, channel, self.config) + if cert.certified and channel in self._may_clear: + if self._attempt_clear(channel, cert.center, cert): + return True + self._may_clear.discard(channel) # 证书失败：补测后才可重试 + continue + if len(self.blocked_probes.get(channel, [])) >= search.max_blocked_probes: + break # 梯子用尽仍被遮挡：定位停滞，转后备清除 + point = self._next_probe(region, channel) + within_range = (math.dist(point, region.mec()[0]) + <= safe_disk_radius(region, self.config)) + outcome = self.client.measure(point, channel) + self._observe(channel, point, outcome.result, outcome.svd_deg) + self._may_clear.add(channel) + if outcome.result == NO_SIGNAL: + if within_range and channel not in self.directional_observed: + self.directional_observed.append(channel) + self.blocked_probes.setdefault(channel, []).append(point) + continue # 盘外无信号也可能是距离不足，不据此断言定向 + self.blocked_probes.pop(channel, None) + steps += 1 + if self.belief.channels[channel].status is ChannelStatus.CLEARED: + return True + region = self.belief.candidate_set(channel) + if region is None: + return False + cert = clear_certificate(region, channel, self.config) + if cert.certified and channel in self._may_clear: + if self._attempt_clear(channel, cert.center, cert): + return True + self._may_clear.discard(channel) + return self._fallback_clear(channel, region) + + def _observe(self, channel: int, point: Vec2, result: str, + svd_deg: float | None) -> None: + """同步更新凸候选集与 (位置 × 朝向) 联合可行集。 + + 联合集只在频道首次被看见（direction/near）时建立：从未被看见的 + 频道由覆盖证明负责缺席，不需要朝向维度。联合集一旦为空，直接给出 + 该频道的缺席证明（严格，与覆盖证明同一条件），可提前停止对其检测。 + """ + self.belief.update_measure(channel, point, result, svd_deg) + if not self.config.search.directional_joint_belief: + return + joint = self.joint.get(channel) + if joint is None: + if result not in (DIRECTION, NEAR): + return + joint = JointBelief(self.config) + self.joint[channel] = joint + joint.apply(point, result, svd_deg) + if joint.is_absent() and self.belief.channels[channel].status \ + is not ChannelStatus.CLEARED: + self.belief.mark_absent(channel) + self.absence_evidence[channel] = "joint_empty" + if channel not in self.joint_absent_channels: + self.joint_absent_channels.append(channel) + + def _next_probe(self, region: CandidateRegion, channel: int) -> Vec2: + """定向遮挡下的探点升级梯子 [工程]。 + + - 未被遮挡过：worst-posterior 选点器（保证接收盘内）； + - 第 1 次被遮挡：对 MEC 圆心取对跖方向，偏移裁进保证接收盘； + - 之后：绕 MEC 圆心、半径 = ρ 的环探，方位自首个被遮挡点起 + 每次 +45°。几何边界必须如实陈述：环上可见弧没有下界—— + 源可位于环上（|g-c| = ρ）且朝向沿外切线，可见集退化为单个 + 切点，固定步进环探可以全部漏过。梯子只提高提前命中概率， + 不构成接收或命中保证；完备性完全由后备清除兜底。 + """ + visibility = self._visibility_probe(region, channel) + if visibility is not None: + return visibility + blocked = self.blocked_probes.get(channel, []) + center, radius = region.mec() + if not blocked: + return select_measurement_point(region, self.client.state.position, + self.config).position + safe = safe_disk_radius(region, self.config) + first = blocked[0] + if len(blocked) == 1 and safe >= 0: + dx, dy = center[0] - first[0], center[1] - first[1] + norm = math.hypot(dx, dy) + if norm <= 1e-9: + # 首个被遮挡探点恰在圆心：方向信息为零，沿 +x 走满安全盘。 + return (center[0] + safe, center[1]) + scale = min(1.0, safe / norm) + # 对跖方向，偏移模长 = min(norm, safe)：圆心对称点裁进保证接收盘。 + return (center[0] + dx * scale, center[1] + dy * scale) + base = math.atan2(first[1] - center[1], first[0] - center[0]) + azimuth = base + math.radians(45.0 * (len(blocked) - 1)) + return (center[0] + radius * math.cos(azimuth), + center[1] + radius * math.sin(azimuth)) + + def _fallback_clear(self, channel: int, region: CandidateRegion) -> bool: + """定位停滞的后备：候选集有限圆盘覆盖逐格清除（格数即请求上界）。""" + search, session = self.config.search, self.config.session + width = max(p[0] for p in region.polygon) - min(p[0] for p in region.polygon) + height = max(p[1] for p in region.polygon) - min(p[1] for p in region.polygon) + cells = fallback_clear_cells(region.polygon, self.config) + entry = {"channel": channel, "cells": len(cells), + "bound": fallback_cell_bound(width, height, self.config), + "posterior_radius_m": round(region.mec()[1], 3)} + self.fallback_log.append(entry) + if len(cells) > search.fallback_max_cells: + # 宽候选集盲扫违背预算纪律：留待定位收敛，不得硬扫 [计划§4]。 + entry["outcome"] = "skipped_cell_cap" + self._anomaly("fallback_cell_cap_exceeded", channel, + cells=len(cells), cap=search.fallback_max_cells) + return False + # 现实预算核对：N 次请求 × 单请求高分位估计 + 退出余量，不足不启动。 + remaining = self.client.real_remaining_s + if remaining is None or len(cells) * session.real_rtt_p95_s \ + + session.reserve_exit_s > remaining: + entry["outcome"] = "skipped_budget" + return False + attempts = 0 + order = self._fallback_order(cells) + for cell in order: + if self._virtual_cap_reached(): + entry["outcome"] = "skipped_virtual_budget" + entry["attempts"] = attempts + return False + attempts += 1 + outcome = self.client.clear(cell, channel) + if outcome.result == CLEAR_SUCCESS: + self.belief.mark_cleared(channel) + self.cleared.append(channel) + entry["outcome"] = "cleared" + entry["attempts"] = attempts + return True + # 候选集保守包含真源，格心距格内任一点 <= 10*sqrt(2) < 20m：全部 + # 失败说明守恒性被打破，按异常留痕，不得据此删除候选。 + entry["outcome"] = "exhausted" + entry["attempts"] = attempts + self._anomaly("fallback_exhausted_without_success", channel, + cells=len(cells)) + return False +\end{lstlisting} + \endgroup diff --git a/docs/paper/figures/q4-plan.tex b/docs/paper/figures/q4-plan.tex index fd521ed..45597a9 100644 --- a/docs/paper/figures/q4-plan.tex +++ b/docs/paper/figures/q4-plan.tex @@ -46,5 +46,4 @@ \node[anchor=west,align=left] at (3250,900) {圆域：源位置先验\\蓝点：31个检测站}; \node[anchor=west,align=left] at (3250,-700) {部分站点在圆域外\\用于接收向外发射的源}; \end{tikzpicture} -\caption{第四问集合覆盖模型得到的31个检测站及源位置区域。} -\label{fig:q4plan}\end{figure} +\caption{第四问集合覆盖模型得到的31个检测站及源位置区域。}\end{figure} diff --git a/docs/paper/main.pdf b/docs/paper/main.pdf index 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zlqr}l>7Hbjos}x7x;`1cOv`LrrOtRW;N|kgfpDyW@WOW{rD(TuGUD7+r z>b5LZ(&J~kq)(F7YhF6;n`Di=m-^Q!JJTiolB}u!JXJFLVahrGOS(Ke$(mO`RkEmk zx}<-SwRmN!WPj;@Ou3>(x_m&AwQ_bk9++gU{+FqLU3(=IH*zy~ za2NOUU{dU#{b@!2Kl`skEed6BWOH>>>>>> 78e4420a3e496c43db8e06556e539fd7d2aaf231 + +四问的求解核心已整理为约 $5000$ 行的单文件程序，并按四问主线在附录中列出核心函数 +与一句话说明；评测机、命令行外壳、采集与绘图脚本、测试以及未被采用的方案不计入正文。 \vspace{0.4em} \noindent{\heiti 关键词：}有界误差；交会定位；最小包围圆；主动测量；定向覆盖 diff --git a/docs/paper/sections/appendix.tex b/docs/paper/sections/appendix.tex index 32cd847..d907c6d 100644 --- a/docs/paper/sections/appendix.tex +++ b/docs/paper/sections/appendix.tex @@ -33,28 +33,17 @@ python scripts/audit_paper_formal.py --snapshot docs/paper/data/formal-results.j \toprule 文件或目录 & 用途\\ \midrule -<<<<<<< HEAD -\pathtext{src/mcm26b/} & 几何计算、集合估计、覆盖优化、任务排序与通信实现\\ -\pathtext{src/mcm26b/guarantee/plans/} & 第四问站点方案与离散验证参数\\ -\pathtext{scripts/audit_paper_formal.py} & 正式文件核对、统计计算与表格生成\\ -\pathtext{scripts/build_paper_support.py} & 矢量图、源码附录与支撑包生成\\ -\pathtext{docs/paper/data/} & 六个正式案例的统计快照、表格及校验值\\ -\pathtext{docs/paper/sections/} & 分章论文源文件\\ -\pathtext{docs/paper/figures/} & 几何示意图与正式耗时图的矢量源文件\\ -\pathtext{Jammers-simulator-full/test/} & 六份原名官方正式日志\\ -======= \pathtext{src/mcm26b/} & 四问几何、信念、覆盖、调度与串行通信实现\\ \pathtext{src/mcm26b/guarantee/plans/} & 第四问已实现的覆盖计划及验证参数\\ \pathtext{project/} & 最优与基线配对对比框架及其冻结基准集结果\\ \pathtext{scripts/audit_paper_formal.py} & 正式文件对应核对、匿名快照及表格复算\\ \pathtext{scripts/build_paper_support.py} & 对比表、矢量图、源码附录与支撑包生成\\ \pathtext{scripts/build_figure_data.py}、\pathtext{scripts/matlab/} & 插图数据准备与 MATLAB 出图脚本\\ -\pathtext{docs/paper/data/} & 仅四个所选正式案例的可读统计、表格及哈希\\ +\pathtext{docs/paper/data/} & 六个正式案例的可读统计、表格及校验值\\ \pathtext{docs/paper/sections/} & 分章论文源文件\\ \pathtext{docs/paper/figures/} & 正式累计耗时图的矢量源文件\\ \pathtext{docs/figures/} & 正文插图（PNG）及其数据清单与生成命令\\ -\pathtext{Jammers-simulator-full/test/} & 四份原名官方加密正式日志\\ ->>>>>>> 78e4420a3e496c43db8e06556e539fd7d2aaf231 +\pathtext{Jammers-simulator-full/test/} & 六份原名官方正式日志\\ \pathtext{support-manifest.json} & 支撑包文件清单及逐文件 SHA-256\\ \bottomrule \end{tabularx} @@ -66,9 +55,13 @@ Python 运行时需要 \texttt{requests}，\texttt{numpy} 提供可选加速。 在线测试由模拟器界面启动，接口就绪后执行策略入口。 具体运行指令和编译步骤见支撑包的 \texttt{README.md}。 -\section{完整程序源码} -以下列出当前策略、配套模块及论文数据处理程序的完整源码。 -附录通过生成的显示副本将数学符号转换为 LaTeX 命令， -支撑包保留对应的可执行 Python 文件。 -实验结果见正文正式测试表及附录A的数据清单。 +\section{核心程序代码} +四问的求解核心集中在约 $5000$ 行的单文件程序中，按\textbf{公共层、几何与集合估计层、 +覆盖保证层、策略层}四层组织；评测机、命令行外壳、数据采集与绘图脚本、 +单元测试以及未被采用的方案不属于求解核心，不在此列出。 +完整可执行程序为支撑材料中的 \pathtext{mcm26b-核心代码.ipynb}， +\pathtext{src/mcm26b/} 保留与之逐字对应的模块化版本，两者函数名一一对应。 +下列代码为无改动的摘录：函数体与注释与程序一致，只按核心程度取舍。 +未收录的部分包括独立评测机（按附件协议复现模拟器，与求解代码零耦合）、 +命令行入口、数据采集与论文绘图脚本、单元测试，以及经实测未采用的候选方案。 \input{data/source-listings} diff --git a/docs/paper/sections/comparison.tex b/docs/paper/sections/comparison.tex index 017c25a..b15deb8 100644 --- a/docs/paper/sections/comparison.tex +++ b/docs/paper/sections/comparison.tex @@ -2,7 +2,7 @@ \subsection{对比口径与有效性判定} 本节数据来自仓库内的配对对比框架 \pathtext{project/}， 用于回答上述几何判据与闭环策略相对朴素做法改进在哪里； -它与第~\ref{sec:formal} 节的四份官方正式导出完全分开，两类数字不合并、不相加。 +它与第~\ref{sec:formal} 节的六份官方正式导出完全分开，两类数字不合并、不相加。 框架设三种角色：\textbf{最优实现}直接复用 \pathtext{src/mcm26b} 中已由测试固化的生产代码， 只增加输入输出适配；\textbf{基线实现}是同题下更朴素但能独立跑通的对照， 不共享最优实现的关键步骤；\textbf{独立参考}与分析算法正交，用于判定谁对谁错。 @@ -116,7 +116,8 @@ \end{tabular*} \label{tab:projq3} \end{table} -三种方法在 $\ProjQThreeScenes$ 个冻结场景（源数 $10$、$13$、$16$，种子与源数版本化） +表~\ref{tab:projq3} 汇总三种方法。它们在 $\ProjQThreeScenes$ 个冻结场景 +（源数 $10$、$13$、$16$，种子与源数版本化） 上全部完成全清，缺席误判均为零，差别只在时间： 默认 \texttt{bayes} 平均 $\ProjQThreeMeanOpt$ s， 七点批量 \texttt{seven} $\ProjQThreeMeanSeven$ s，$49$ 点网格 \texttt{grid} $\ProjQThreeMeanBase$ s。 @@ -144,7 +145,7 @@ \end{tabular*} \label{tab:projq4} \end{table} -$\ProjQFourScenes$ 个场景取自 core 与 boundary 两组， +表~\ref{tab:projq4} 汇总三种方法。$\ProjQFourScenes$ 个场景取自 core 与 boundary 两组， boundary 全部是背离圆心发射的边界定向源，属最不利工况。 \texttt{directional} 在 $\ProjQFourValidOpt$ 局上全部有效，全清率 $\ProjQFourClearOpt$， 平均后备清除 $\ProjQFourFallbackOpt$ 次，对应遮挡导致的定位停滞。 diff --git a/docs/paper/sections/q1.tex b/docs/paper/sections/q1.tex index 0a597e7..1da7b9f 100644 --- a/docs/paper/sections/q1.tex +++ b/docs/paper/sections/q1.tex @@ -95,9 +95,6 @@ $D\le\norm{a-z}+\norm{z-b}\le D$。 等号迫使 $z=o$。反之，圆盘为凸集，包含全部顶点即包含它们的凸包。 \end{proof} 若条件不成立，输出圆外顶点及超出量 -<<<<<<< HEAD -$e=\max_v\norm{v-o}-D/2$，用于量化该圆盘的覆盖误差。 -======= $e=\max_v\norm{v-o}-D/2$，即得到可独立检查的否定证据。 不能仅以直径端点在圆周上判断整个区域被覆盖。 图~\ref{fig:q1geometry}(a) 给出一组三点交会算例：左图为三条前向角域及其交集， @@ -107,7 +104,6 @@ $e=\max_v\norm{v-o}-D/2$，即得到可独立检查的否定证据。 而最远顶点到圆心的距离为 $12.602$ m，故直径圆并不覆盖定位区域； 其最小包围圆半径为 $12.069$ m，满足 $20$ m 的清除判据。 这说明直径不超过 $40$ m 与能否清除是两个不同的判据，覆盖判定必须逐顶点检查。 ->>>>>>> 78e4420a3e496c43db8e06556e539fd7d2aaf231 \subsection{反例与可清除半径} 构造等边三角形 @@ -122,26 +118,6 @@ $40/\sqrt3\approx23.094$ m，同样大于清除半径。 \begin{figure}[htbp] \centering -<<<<<<< HEAD -\begin{tikzpicture}[x=0.095cm,y=0.095cm,font=\small] - \fill[inkblue!10] (0,0)--(40,0)--(20,34.641)--cycle; - \draw[thick] (0,0)--(40,0)--(20,34.641)--cycle; - \draw[warmgray,dashed,thick] (20,0) circle (20); - \draw[inkblue,thick] (20,11.547) circle (23.094); - \fill (0,0) circle (0.6) node[below left] {$A$}; - \fill (40,0) circle (0.6) node[below right] {$B$}; - \fill (20,34.641) circle (0.6) node[above] {$C$}; - \fill[warmgray] (20,0) circle (0.6) node[below] {$o$}; - \fill[inkblue] (20,11.547) circle (0.6) node[right] {$m$}; - \draw[->,warmgray] (49,-14)--(35,-13); - \node[anchor=west,warmgray] at (49,-14) {直径圆：$r=20$}; - \draw[->,inkblue] (49,24)--(41,22); - \node[anchor=west,inkblue] at (49,24) {最小包围圆：$\rho=40/\sqrt3$}; - \node at (20,-26) {$AB=BC=CA=40$ m}; -\end{tikzpicture} -\caption{等边三角形的直径圆与最小包围圆。} -\label{fig:triangle} -======= \begin{minipage}[t]{0.49\linewidth}\centering \includegraphics[width=\linewidth]{geo-q1-convex-intersection-zoom.png} \end{minipage}\hfill @@ -154,7 +130,6 @@ $40/\sqrt3\approx23.094$ m，同样大于清除半径。 (b) 等边三角形解析反例，虚线直径圆 $r=20$ m 不覆盖顶点 $C$， 实线最小包围圆 $\rho=40/\sqrt3\approx23.094$ m 覆盖全部顶点，不是模拟器观测。} \label{fig:q1geometry} ->>>>>>> 78e4420a3e496c43db8e06556e539fd7d2aaf231 \end{figure} 该形状可由题设的 $\pm1^\circ$ 角域构造出来。例如检测点 diff --git a/docs/paper/sections/q3.tex b/docs/paper/sections/q3.tex index e48a6de..2868276 100644 --- a/docs/paper/sections/q3.tex +++ b/docs/paper/sections/q3.tex @@ -1,23 +1,10 @@ \section{问题三：全向多源的覆盖搜索与滚动调度} \subsection{统一时间目标与任务状态} -<<<<<<< HEAD -设整个会话移动距离为 $L$，检测、换频、成功和失败清除次数分别为 -$N_m,N_s,N_c^+,N_c^-$。忽略每段移动时间的微秒量化时，总虚拟耗时为 -\begin{equation} -T=\frac{L}{5}+5N_m+N_s+5N_c^++3N_c^-. -\label{eq:time} -\end{equation} -优化目标是在全部源清除的约束下最小化 $T$。 -题目统计的平均定位清除时间为 $\bar T=T/N_c^+$，包含搜索、定位与清除的全部耗时。 -清除请求中的频道指定操作对象，测向机保持原频道； -进入与退出的虚拟耗时为零，因此采用终点自由的开放路径模型。 -======= 按式~\eqref{eq:time} 的计时记账，优化目标是在全部源清除的约束下最小化虚拟耗时 $T$。 题目统计的平均定位清除时间是 $\bar T=T/N_c^+$； 不能用每次清除动作的固定 $5$ s 代替。 清除请求中的频道是目标频道，不改变测向机频道； 进入与退出均不增加虚拟时间，因此路径终点自由，无需返回原点。 ->>>>>>> 78e4420a3e496c43db8e06556e539fd7d2aaf231 各频道的状态按“未知、已发现、可清除、已清除、已证无源”管理。 首次获得 $\direction$ 或 $\near$ 即确立该频道存在源。 @@ -57,7 +44,6 @@ $r^2+a^2-\sqrt3ar$。 \begin{figure}[htbp] \centering -<<<<<<< HEAD \begin{tikzpicture}[x=0.0019cm,y=0.0019cm,font=\small] \begin{scope} \clip (0,0) circle (1800); @@ -82,14 +68,10 @@ $r^2+a^2-\sqrt3ar$。 {$a=1159.7$ m\\$R=1800$ m\\最坏距离 $\le984.539$ m}; \end{tikzpicture} \caption{七点全向覆盖的站点构造与接收圆盘。} -======= -\includegraphics[width=0.42\linewidth]{geo-q3-seven-point-coverage.png} -\caption{七点全向覆盖构造。站点取自配置参数 $a=1159.7$ m， -圆圈为 $1000$ m 接收盘，最差点位于 $(0,-1825)$ 附近，最坏距离 $\le984.539$ m。} ->>>>>>> 78e4420a3e496c43db8e06556e539fd7d2aaf231 \label{fig:seven} \end{figure} +图~\ref{fig:seven} 给出站点构造与最小接收圆盘的关系。 顺次从原点访问六个环站的开放路径长为 $6a$。 任务总路径由覆盖站间移动以及定位、清除所需的局部移动共同构成。 @@ -209,9 +191,6 @@ C(\pi)=\frac{\norm{p-q_{\pi_1}}}{5} 当前每轮追加有效定位测量上限为 $8$； 停滞、协议异常或预算耗尽时，记录各频道状态并终止。 程序以接口返回的现实预算为准，并预留退出时间， -<<<<<<< HEAD -虚拟动作耗时以整数微秒累计，程序运行时间由官方统计单独记录。 -======= 实际计时在整数微秒状态上累计，避免用实机运行秒数代替虚拟动作耗时。 \subsection{运行过程示例} @@ -228,4 +207,3 @@ C(\pi)=\frac{\norm{p-q_{\pi_1}}}{5} 该局为演练案例，非正式测试记录。} \label{fig:replay3} \end{figure} ->>>>>>> 78e4420a3e496c43db8e06556e539fd7d2aaf231 diff --git a/docs/paper/sections/q4.tex b/docs/paper/sections/q4.tex index 9596f10..fd5e8ba 100644 --- a/docs/paper/sections/q4.tex +++ b/docs/paper/sections/q4.tex @@ -182,11 +182,6 @@ $N_{\mathrm{cell}}\,t_{\mathrm{RTT},95}+t_{\mathrm{reserve}}$。 \item 覆盖任务结束后处理未解决频道；主动退出时报告清除数及停止依据。 \end{enumerate} \end{algorithmblock} -<<<<<<< HEAD -问题四采用站内批量检测与最近邻任务排序。 -算法结合位置集合、朝向约束和剩余预算确定测点及清除顺序， -并以各频道的处理状态作为终止时的输出。 -======= 问题四使用“本站批量扫频、最近候选圆心服务”的调度骨架， 并未直接复用问题三的统一信息增益任务表。 若要求严格的混合源全清证据，除采用连续覆盖计划外， @@ -208,4 +203,3 @@ $N_{\mathrm{cell}}\,t_{\mathrm{RTT},95}+t_{\mathrm{reserve}}$。 紫色半盘为定向源的前向可见区域。该局为演练案例，非正式测试记录。} \label{fig:replay4} \end{figure} ->>>>>>> 78e4420a3e496c43db8e06556e539fd7d2aaf231 diff --git a/docs/paper/sections/results.tex b/docs/paper/sections/results.tex index 8f0dc84..696eed8 100644 --- a/docs/paper/sections/results.tex +++ b/docs/paper/sections/results.tex @@ -1,21 +1,11 @@ -<<<<<<< HEAD -\section{官方正式测试结果与时间分解} -\subsection{实验数据与评价指标} -实验采用官方模拟器 \pathtext{Jammers-simulator-full/test} 目录中的六份正式导出， -包括问题三、四各三次测试。各文件经 SHA-256 校验后，与官方原始导出、 -结果侧文件及正式统计记录建立对应关系\cite{formal}。 -案例编码与文件校验值列于附录~\ref{app:data}。 -======= \section{官方正式测试结果与时间分解}\label{sec:formal} \subsection{数据选择及对应关系核对} 本节实验样本严格限定为官方模拟器 -\pathtext{Jammers-simulator-full/test} 下四个正式导出包。 -问题三、四各有正式序号 $1$、$2$，文件名及案例编码见结果表和附录。 +\pathtext{Jammers-simulator-full/test} 下的六份正式导出包，问题三、四各有三次。 +文件名、案例编码与完整包校验值见结果表与附录~\ref{app:data}。 本节表格不采用 \texttt{project/results} 中的自建评测数据， -也不将历史演练案例当作正式测试补入； -自建配对对比与演练局示例分别在第~\ref{sec:comparison} 节和各问的运行过程示例中单独陈述， -两类数据不合并统计。 ->>>>>>> 78e4420a3e496c43db8e06556e539fd7d2aaf231 +也不将历史演练案例当作正式测试补入：自建配对对比见第~\ref{sec:comparison} 节， +演练局示例见问题三、四的运行过程示例，三类数据分开陈述，不合并统计。 评价指标包括清除数量 $N_c^+$、平均定位清除时间 $\bar T$、程序运行时间 $T_{\mathrm{real}}$，以及检测、换频和清除的动作次数。 @@ -68,6 +58,7 @@ $T_{\mathrm{real}}$ 采用官方记录的毫秒值。 \end{tabularx} \label{tab:formal4} \end{table} +表~\ref{tab:formal4} 给出问题四的三次正式结果。 三次测试分别清除 $13$、$10$、$14$ 个源，累计 $\QFourCount$ 个， 平均定位清除时间分别为 $720.171$、$927.130$、$614.884$ s/个。 总虚拟时间之和为 $\QFourTotal$ s，相应的加权平均时间为 @@ -111,13 +102,6 @@ T_{\mathrm{move}} \end{table} \input{figures/formal-time-bars} -<<<<<<< HEAD -六次测试中，移动时间占总虚拟耗时的 $\FormalMovementMin\%$ 至 $\FormalMovementMax\%$， -是主要时间成本。问题三的检测次数为 $105$、$117$、$117$， -问题四为 $349$、$361$、$264$； -混合源案例中，朝向约束增加了观测与位置选择的复杂度。 -因此，后续优化可同时考虑减少移动距离与提高单次观测的信息增益。 -======= 图~\ref{fig:timingmeasured} 按同一记账口径给出一局全向演练的累计时间构成： 横轴为动作序号，堆叠高度为累计虚拟时间， 移动项在整局中占主要部分，清除阶段表现为阶梯状跃升。 @@ -132,18 +116,13 @@ T_{\mathrm{move}} \label{fig:timingmeasured} \end{figure} -四局移动时间占总虚拟时间的 $76.59\%$ 至 $78.02\%$。 -从这一组正式样本看，减少移动是影响总耗时的主要方向， -检测与换频仍应同时计入路径选择。 -由 $L_{\mathrm{eq}}=5T_{\mathrm{move}}$ 得四局等效距离分别约为 -$12.045$、$13.627$、$36.386$、$35.507$ km。 -它们由已量化的移动时间反推，不是独立轨迹测得的长度。 ->>>>>>> 78e4420a3e496c43db8e06556e539fd7d2aaf231 - -由 $L_{\mathrm{eq}}=5T_{\mathrm{move}}$ 得问题三的等效移动距离依次为 -$12.045$、$13.627$、$10.824$ km，问题四依次为 -$36.386$、$35.507$、$35.027$ km。 -该距离由官方时间计数及移动速度计算。 +六次测试的移动时间占总虚拟耗时的 $\FormalMovementMin\%$ 至 $\FormalMovementMax\%$， +是主要的时间成本，减少移动因而也是缩短总耗时的主要方向， +但检测与换频仍需一并计入路径选择。 +由 $L_{\mathrm{eq}}=5T_{\mathrm{move}}$ 反推等效移动距离： +问题三依次为 $12.045$、$13.627$、$10.824$ km， +问题四依次为 $36.386$、$35.507$、$35.027$ km。 +该等效距离由官方动作计数与移动速度换算得到，不是独立轨迹测得的长度。 所有平均值先以官方整数单位求和、相除，最后保留三位小数。 \subsection{实验结果分析} diff --git a/mcm26b-核心代码.ipynb b/mcm26b-核心代码.ipynb new file mode 100644 index 0000000..85c5d15 --- /dev/null +++ b/mcm26b-核心代码.ipynb @@ -0,0 +1,6143 @@ +{ + "cells": [ + { + "cell_type": "markdown", + "id": "9f704249", + "metadata": {}, + "source": [ + "# CUMCM 2026 B 题 · 无线电干扰源的快速自动定位与清除\n", + "## 单文件核心代码（问题一 ~ 问题四）\n", + "\n", + "本 notebook 是四问**生产实现**的自包含整理版：按求解流程顺序排列的算法内核，\n", + "不含评测机、命令行外壳、采集/基准/绘图脚本、单元测试，也不含未被采用的方案。\n", + "\n", + "### 1. 求解主线\n", + "\n", + "| 问 | 任务 | 本文档中的实现 |\n", + "| --- | --- | --- |\n", + "| 一 | 由 ±1° 有界误差示向度交会定位，求定位区域、直径、直径圆覆盖判定、最小包围圆与 20 m 清除证书（并给出直径圆不覆盖区域的等边三角形反例） | `Measurement` / `halfplanes` / `convex_hull` / `diameter` / `smallest_enclosing_circle` / `solve` |\n", + "| 二 | 选择第二个检测点，使目标必被接收且交会角最优 | `first_bearing_candidate_disk` / `CandidateRegion` / `safe_disk_radius` / `select_second_point` |\n", + "| 三 | 全向源：发现全部干扰源、逐一定位清除，最小化虚拟总时间 | `SevenBatch`（对照）与 `BayesLoop`（默认：网格粒子滤波 + 负观测 + 信息增益选点 + 滚动 2-opt） |\n", + "| 四 | 含定向发射源（半盘覆盖）：不可见的静默必须与\"距离不足\"区分 | `DirectionalExtension`（定向覆盖最小命中集 + (位置×朝向) 联合信念 + ≤20 m 后备清除） |\n", + "\n", + "### 2. 公共层（四问共用）\n", + "\n", + "- **参数中心**（`ProblemConfig`）：题面常量与工程参数的唯一字面量来源；\n", + "- **协议层**：字段表/结果码（`rules`）、纯计时模型（`timing`）、本地状态机（`state`）、\n", + " 传输抽象（`transport`）、会话日志（`log`）、串行幂等客户端（`SimulatorClient`）；\n", + "- **信念层**：逐频道保守凸候选集（`CandidateRegion`）、网格幸存集（`ChannelParticles`）、\n", + " (位置×朝向) 联合可行集（`JointBelief`）；\n", + "- **保证层**：覆盖账本（`CoverageLedger`）、覆盖计划与证书（`CoveragePlan`）；\n", + "- **调度层**：开放路径排序（`nearest_neighbor_order` / `two_opt_open` / `improve_open_path`）。\n", + "\n", + "### 3. 三条硬约束（贯穿全部代码）\n", + "\n", + "1. **保守性**：真源（第四问含朝向）永远不被观测更新删掉——候选集用外切多边形外包圆盘、\n", + " 半平面裁剪带正容差、网格幸存集按 Voronoi 裕量内缩后再删格；\n", + "2. **幂等串行**：一个动作未决不发起下一个；网络失败时原样重发同一 `request_id` 与请求体；\n", + " `accepted=false` 不更新任何状态，其 `virtual_time_s=0` 不是当前时刻；\n", + "3. **计时一致**：预测（客户端）—执行（模拟器）—复算（日志）三方用同一计时模型，\n", + " 按整数微秒累计。\n", + "\n", + "### 4. 与仓库原文件的关系\n", + "\n", + "各代码单元逐字取自 `src/mcm26b/**`，仅做机械化改写（去包内相对导入、去文件 docstring、\n", + "去掉覆盖计划的 JSON 文件读取改为内嵌字面量、去掉未被生产路径调用的函数）。\n", + "本文件可独立运行：只依赖标准库与 `numpy`（可选加速，缺失时自动回退纯 Python）。\n" + ] + }, + { + "cell_type": "markdown", + "id": "dabe0eb2", + "metadata": {}, + "source": [ + "## 0. 环境与依赖\n" + ] + }, + { + "cell_type": "code", + "execution_count": 1, + "id": "47afaab3", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "numpy 加速后端: 启用\n" + ] + } + ], + "source": [ + "import json\n", + "import math\n", + "import os\n", + "import uuid\n", + "from dataclasses import dataclass, field, fields, replace\n", + "from enum import Enum\n", + "from functools import lru_cache\n", + "from itertools import combinations\n", + "from math import cos, dist, hypot, isfinite, radians, sin\n", + "from pathlib import Path\n", + "from random import Random\n", + "from time import monotonic, sleep\n", + "\n", + "try: # numpy 仅作可选加速后端；缺失时全部回退纯 Python\n", + " import numpy as _np\n", + "except Exception: # pragma: no cover - 环境无 numpy 时走纯 Python 分支\n", + " _np = None\n", + "\n", + "print(\"numpy 加速后端:\", \"启用\" if _np is not None else \"缺失（纯 Python 回退）\")\n" + ] + }, + { + "cell_type": "markdown", + "id": "648b9bca", + "metadata": {}, + "source": [ + "# 第一部分 · 公共层\n", + "\n", + "## 1. 参数中心（`config.py`）\n", + "\n", + "题面常量标 `[题面]`，工程参数标 `[工程]`；后者可依演练实测调整，不代表官方规定。\n", + "任何魔法数字只在这里出现一次，其余模块通过 `ProblemConfig` 读取。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "id": "a77d00d5", + "metadata": {}, + "outputs": [], + "source": [ + "Vec2 = tuple[float, float]\n", + "\n", + "\n", + "@dataclass(frozen=True)\n", + "class FieldConfig:\n", + " \"\"\"题目物理世界与协议硬限制。[题面]\"\"\"\n", + "\n", + " omega_radius_m: float = 1800.0 # 目标区域半径，圆心为原点\n", + " channel_min: int = 1 # 有效频道范围\n", + " channel_max: int = 20\n", + " source_count_min: int = 10 # 一局源总数范围（接口不直接告知）\n", + " source_count_max: int = 16\n", + " r_eff_min_m: float = 1000.0 # 有效接收半径下界：no_signal 只能排除该圆盘\n", + " r_eff_max_m: float = 1500.0 # 有效接收半径上界：direction 隐含距离上界\n", + " near_radius_m: float = 5.0 # \"距离过近\"阈值，不返回示向度\n", + " clear_radius_m: float = 20.0 # 清除半径；与定向朝向无关\n", + " bearing_error_half_deg: float = 1.0 # 示向度误差幅度（题设模型）\n", + " bearing_decimals: int = 2 # 返回示向度小数位\n", + " coord_abs_limit_m: float = 2_000_000.0 # 提交坐标的绝对值上限（超出返回 HTTP 400）\n", + " directional_half_angle_deg: float = 90.0 # 定向源朝向两侧各90度覆盖（含边界）\n", + " max_virtual_duration_s: float = 360_000.0 # 虚拟世界限时（100小时）\n", + " max_real_duration_s: float = 1200.0 # /enter 成功后程序运行上限（20分钟）\n", + " test_window_s: float = 1500.0 # 确认开始后的测试窗口（25分钟）\n", + "\n", + "\n", + "@dataclass(frozen=True)\n", + "class CostConfig:\n", + " \"\"\"虚拟世界动作耗时模型。[题面] 附件1表1、附件2第4节。\"\"\"\n", + "\n", + " speed_mps: float = 5.0 # 移动速度；耗时=直线距离/speed\n", + " measure_s: float = 5.0 # 每次检测动作耗时（无论结果）\n", + " switch_s: float = 1.0 # 任意两频道间切换耗时，仅由合法 /measure 触发\n", + " clear_success_s: float = 5.0 # 清除成功耗时 = 光学定位3s + 激光清除2s\n", + " clear_fail_s: float = 3.0 # 未发现可清除目标 = 仅光学定位3s\n", + "\n", + "\n", + "@dataclass(frozen=True)\n", + "class SessionConfig:\n", + " \"\"\"会话与网络策略。arena/robot/request 规则为 [题面]，其余为 [工程]。\"\"\"\n", + "\n", + " arena_id: str = \"default\" # [题面] 固定值\n", + " base_url: str = \"http://127.0.0.1:2026\" # [题面] 模拟器默认接口地址\n", + " robot_id_max_bytes: int = 64 # [题面] UTF-8 长度 1..64\n", + " request_id_max_bytes: int = 128 # [题面] UTF-8 长度 1..128\n", + " request_body_max_bytes: int = 65_536 # [题面] 超出返回 HTTP 413\n", + " connect_timeout_s: float = 5.0 # [工程] 连接超时\n", + " read_timeout_s: float = 15.0 # [工程] 读超时；覆盖\"服务器已处理但响应丢失\"\n", + " max_attempts: int = 3 # [工程] 单动作最多尝试次数（含首次）\n", + " retry_backoff_s: float = 0.25 # [工程] 重试退避基数，按 2^n 放大\n", + " reserve_exit_s: float = 60.0 # [工程] 预留退出与故障恢复的现实秒数\n", + " real_rtt_p95_s: float = 1.0 # [工程] 现实单请求高分位估计，预算核算用\n", + " # [工程] 自检/演练实机预算：题面正式测试程序运行上限 1200s 不可延长；\n", + " # 自检经 --real-budget-s 覆盖 LocalSimulator 返回的 remaining_real_duration_s，\n", + " # 默认 1800s（30 分钟实机），用于验证\"限时内持续运行直到找全\"的行为。\n", + " self_test_real_budget_s: float = 1800.0\n", + "\n", + "\n", + "@dataclass(frozen=True)\n", + "class SearchConfig:\n", + " \"\"\"搜索与覆盖规划参数。[工程] 推导依据见 docs/B题建模分析与实施计划.md。\"\"\"\n", + "\n", + " grid_step_m: float = 700.0 # P4 覆盖网格步长；单元对角 700*sqrt(2)≈989.95<=1000\n", + " grid_half_cells: int = 3 # i,j ∈ [-3,3]，49 点覆盖 [-2100,2100]^2 ⊇ Ω\n", + " fallback_clear_grid_m: float = 20.0 # P5 后备清除网格；10*sqrt(2)<=20\n", + " # 舍入裕量：服务器对示向度保留两位小数，引入 <=0.005° 偏差 [题面]；\n", + " # 不加裕量时合法真源可能被角域裁掉，故库默认与 CLI run 默认一致取 0.005 [工程]。\n", + " bearing_rounding_margin_deg: float = 0.005\n", + " # ---- P3/P4 在线定位与闭环参数 [工程] ----\n", + " polygon_sides: int = 192 # 圆盘外切多边形边数；Ω 近似误差 1800(1-cos(π/192))≈0.24m\n", + " witness_spacing_m: float = 60.0 # 最坏后验评估的边界采样间距；选定后再按 1/4 加密复核\n", + " candidate_rings: tuple = (0.0, 0.4, 0.75, 1.0) # 安全接收盘内候选点的半径比例\n", + " candidate_angles: int = 12 # 每环候选方向数\n", + " clear_margin_m: float = 0.5 # 清除证书的额外工程余量（多边形近似误差之外）\n", + " max_localize_steps: int = 8 # 单频道定位阶段允许的追加测量上限\n", + " max_anomalies_per_channel: int = 3 # 单频道异常记录上限，防止异常刷屏\n", + " # ---- P5 定向扩展参数 [工程] ----\n", + " max_blocked_probes: int = 4 # 定位单轮内被朝向遮挡的探点预算\n", + " # （首次选点+对跖复核+2 次环探；达限转后备清除）\n", + " fallback_max_cells: int = 400 # 后备清除格数硬顶；超过则不盲扫（宽候选集继续定位）\n", + " # ---- 覆盖计划（保证层）[工程，2026-09-12 架构优化 P0-2 / S2 硬化] ----\n", + " # 第四问发现点集：\n", + " # square49 旧的充分条件表（700m 方格，巡回 36.4km）；\n", + " # q4_mincover_v1 75m/24 档贪心最小集（31 点，巡回 22.9km）——细网格复检\n", + " # 在 25m/48 档有 125 个 (p,h) 缺口，是采样过拟合解；\n", + " # q4_mincover_v2 **设计裕量**最小集（31 点，r_design=965m、前向角裕量 5°，\n", + " # 搜索分辨率 50m/48 档 + 证书分辨率精细剪枝），\n", + " # 15m/72 档（325.6 万 (p,h)）缺口 0，最坏命中 990m，巡回 23.9km。\n", + " # 运行期按同一采样语义复核，未通过即拒绝启动。\n", + " q4_coverage_plan: str = \"q4_mincover_v2\"\n", + " verify_coverage_plan: bool = True # 运行期抽样校验（进程内缓存一次）\n", + " # ---- 第四问定向源联合信念 [工程，2026-09-12 架构优化 P0-3] ----\n", + " # 为已发现的定向频道维护 (位置 × 朝向) 联合可行集：用可见性概率选点，\n", + " # 取代固定 45° 阶梯探点；联合集空即给出缺席证明。安全性仍由凸/网格\n", + " # 清除证书与覆盖证明负责，本开关只影响选点顺序。\n", + " directional_joint_belief: bool = True\n", + " # ---- 第四问定向源探点值函数 [工程，2026-09-12 图论与 DP 方案 S3/D1] ----\n", + " # 旧评分 ``prob_detect/(移动+6)`` 只问\"这点看不看得见源\"，不问\"测完剩多少\n", + " # 不确定度\"，会反复选中同一个近处被遮挡点。D1 口径：先按可见概率过滤\n", + " # （只保留 prob_detect ≥ ratio×最大值的候选），再最小化\n", + " # E[后验 MEC 半径](q) + λ·(当前位置→q→MEC 圆心 的移动秒数 + 检测)\n", + " # 9 场景 core 配对（修正联合信念朝向规则之后）：\n", + " # λ=0.05：后备 6.8 次 / T 9740 s（值函数主导，为信息多绕路）\n", + " # λ=5 ：后备 4.3 次 / T 8604 s（移动项主导，可见性过滤 + 就近抵近）\n", + " # 仅移动项（nearest_visible）：后备 4.3 次 / T 8602 s，墙钟最低\n", + " # 相对旧 visibility 口径（后备 125.6 次、T 9225 s）三者都更好，且 λ 越大\n", + " # 越优说明本题\"看得见 + 少走路\"比\"信息量最大\"更重要，故默认取极限口径。\n", + " probe_score_mode: str = \"nearest_visible\" # visibility | expected_radius | nearest_visible\n", + " probe_lambda_move_s: float = 5.0 # expected_radius 口径下的移动折算\n", + " # 可见概率过滤：只保留 prob_detect ≥ ratio×最大值的候选再比期望半径，\n", + " # 避免\"期望上有点信息、实际必被朝向遮挡\"的探点。\n", + " probe_visibility_ratio: float = 0.7\n", + " probe_exclude_blocked: bool = True # 已测过且被遮挡的探点不再重复选取\n", + " approach_fractions: tuple = () # D1 抵近点插值比例（0=圆心）；默认关闭\n", + " # ---- 后备清除路径优化 [工程，2026-09-12 S4/D3] ----\n", + " # 实测反例：后备清除在命中真源时立即结束，\"整条走格路径最短\"并不是正确\n", + " # 目标——Or-opt 会把真源推到序列更后面。9 场景配对：最近邻 125.7 次失败\n", + " # vs Or-opt 161.4 次（T 8676 → 8940 s）。默认关闭，保留代码与开关。\n", + " fallback_optimize_tour: bool = False\n", + " # ---- 持续搜索 [工程，2026-09-11 用户决策修订] ----\n", + " # 虚拟时间即评测成绩口径（表1：平均定位清除时间）：找全证明达成后\n", + " # 立即 /exit，不复扫。复扫保险模式（防缺席证明假设偏差）保留，经\n", + " # `mcm26b run --persistent` 显式开启：只复扫未清除频道，直到清除数\n", + " # 达 16、实机预算耗尽或虚拟安全余量不足。\n", + " persistent_search: bool = False\n", + " virtual_reserve_s: float = 10_000.0 # 虚拟时长安全余量：剩余不足时停止发起动作，\n", + " # 避免触及 100 小时上限被模拟器强制结束\n", + "\n", + "\n", + "@dataclass(frozen=True)\n", + "class BayesConfig:\n", + " \"\"\"P4b 贝叶斯网格滤波策略参数（问题3新策略 bayes）。[工程]\n", + "\n", + " 网格粒子滤波的严格性依赖 Voronoi 裕量：真实源所在格心与源的距离\n", + " <= sqrt(2)/2 * particle_spacing_m，所有 kill 判定都内缩该裕量，\n", + " 因此幸存集永远包含真源（定理见 docs/algo-3-bayes.md §2）。\n", + " \"\"\"\n", + "\n", + " particle_spacing_m: float = 14.65 # 网格间距；Voronoi 裕量 ≈ 10.35m；\n", + " # 全域约 4.7 万格/频道，查询走粗格索引\n", + " # ---- 信息增益评分 [工程，Optuna TPE 调参回填 2026-09-11] ----\n", + " # 原调参记录见 output/q3/bayes-tuning/；当前代码的配对验收记录见\n", + " # output/q3/optimization-20260911/，随机分布与信息评分仅为工程假设。\n", + " score_mode: str = \"entropy\" # entropy=期望 log 幸存占比（信息增益）|\n", + " # radius=期望后验半径（直指证书）\n", + " score_subsample: int = 800 # 期望幸存熵估计的粒子子采样规模\n", + " mc_representatives: int = 7 # 假设真值代表点数（均匀抽取幸存格）\n", + " lambda_move_s: float = 0.05 # 选点评分中移动时间的折算系数（分值/秒）；\n", + " # 2026-09-12 配对复跑：0.05 优于 0.0105（20 场均值 −2.8%），\n", + " # entropy 口径下信息项为 O(1) 对数值，λ须小型但不可过小\n", + " # ---- 路线感知探点 [工程，2026-09-12 P2] ----\n", + " # 旧评分只看 current->q + q->MEC，容易选到“信息增益略高但要多绕几百米”\n", + " # 的探点。开启后，在候选评分中加入 q 替换当前位置后对当前任务路线代价\n", + " # 的增量；A/B 以冻结基准集配对验收。\n", + " # 2026-09-12 冻结基准集复跑（18 场景）：关闭 3193.1 s vs 开启 3210.3 s，\n", + " # 移动 12339.8 m vs 12446.8 m —— 权重 1e-3 的路线项未带来净收益，默认关闭。\n", + " route_aware_probe: bool = False\n", + " route_aware_insert_weight: float = 0.001 # 路线代价增量的折算系数（小权重，仅微调）\n", + " route_aware_clear_weight: float = 0.0 # 额外 q->MEC 清除接近项（基础移动项已含）\n", + " wide_rings: tuple = (1.0, 1.5, 2.0) # 无保证接收盘时的探索环（× PF MEC 半径）\n", + " # ---- 站点与覆盖 [工程] ----\n", + " station_ring_radius_m: float = 1159.7 # 七点环半径；构造时检验全向覆盖解析上界\n", + " # ---- 发现-定位融合巡回 [工程，2026-09-12 P0-1，实测无效，默认关闭] ----\n", + " # 设想：站点扫频顺带取第二/第三条方位线，取代专用探点。\n", + " # 实测（output/suite/q3-fuse-ab*，20 场景配对，2026-09-12）：\n", + " # 仅追加站点方位线：3454.6s vs 3426.9s（+0.8%，检测 +10.8 次，位移仅 −188m）；\n", + " # 追加 + 抑制专用探点：4989.0s vs 3426.9s（+45.6%，20/20 场景更慢）。\n", + " # 原因：七站环上只有 2–3 个站能对同一源取得有效方位线，且站间交会角\n", + " # 不足以保证 20m 证书，专用信息增益探点仍然必要；抑制探点只会白等巡回。\n", + " # 代码保留以便复现与后续研究，成绩口径必须保持 False。\n", + " fuse_localize_into_tour: bool = False\n", + " # ---- 任务排序 [工程] ----\n", + " two_opt_enabled: bool = True # 开放路径 2-opt 改进（最近邻打底）\n", + " two_opt_passes: int = 4 # 2-opt 最大改进轮数\n", + " # ---- 精确任务序（Held-Karp，含换频状态）[工程，2026-09-12 S5/T1] ----\n", + " # 任务表典型 6–12 项：|T| ≤ exact_order_limit 时用精确 DP（状态=已访问集合\n", + " # × 结束时测向频道），换频代价精确计入；否则回退 NN + 2-opt。0 表示禁用。\n", + " # 实测（18 场景）：精确 DP 3203.2 s vs 2-opt 3193.1 s —— 逐位最优的\"当前\n", + " # 任务表\"在滚动时域下反而略差（贪心排序的次优性起到探索作用），默认 0；\n", + " # 代码与对拍测试保留，可随时开启复核。\n", + " exact_order_limit: int = 0\n", + " # ---- PF 清除证书 [工程] ----\n", + " grid_cert_enabled: bool = True # 允许用幸存集 MEC 颁发清除证书（凸证书之外）\n", + " opportunistic_measure: bool = True # 已停靠位置顺路交会；仍逐频道计费\n", + " # 预测后验半径至少减少 (1−ratio) 才补测；0.5 优于 0.65（18 场景 3205.4 vs 3210.3 s）\n", + " opportunistic_radius_ratio: float = 0.5\n", + "\n", + "\n", + "@dataclass(frozen=True)\n", + "class ProblemConfig:\n", + " \"\"\"聚合配置。各模块函数的第一个默认参数，便于单测替换。\"\"\"\n", + "\n", + " field: FieldConfig = FieldConfig()\n", + " cost: CostConfig = CostConfig()\n", + " session: SessionConfig = SessionConfig()\n", + " search: SearchConfig = SearchConfig()\n", + " bayes: BayesConfig = BayesConfig()\n", + "\n", + "\n", + "DEFAULT_CONFIG = ProblemConfig()\n" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "id": "18c1702d", + "metadata": {}, + "outputs": [], + "source": [ + "@dataclass(frozen=True)\n", + "class ProblemConfig:\n", + " \"\"\"聚合配置。各模块函数的第一个默认参数，便于单测替换。\"\"\"\n", + "\n", + " field: FieldConfig = FieldConfig()\n", + " cost: CostConfig = CostConfig()\n", + " session: SessionConfig = SessionConfig()\n", + " search: SearchConfig = SearchConfig()\n", + " bayes: BayesConfig = BayesConfig()\n", + "\n", + "\n", + "DEFAULT_CONFIG = ProblemConfig()\n" + ] + }, + { + "cell_type": "markdown", + "id": "eb41e595", + "metadata": {}, + "source": [ + "## 2. 协议层（`protocol/`）\n", + "\n", + "### 2.1 规则表与字段表（`rules.py`）\n", + "\n", + "四条指令的字段约束、结果码与 HTTP 错误语义，全部落成可执行数据：\n", + "客户端用它构造并预校验请求，模拟器用同一张表校验并拒绝未知字段。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "id": "52874146", + "metadata": {}, + "outputs": [], + "source": [ + "# ---- 结果码 [题面] ----------------------------------------------------------\n", + "\n", + "NO_SIGNAL = \"no_signal\" # 收不到信号：无未清除源 / 超接收半径 / 定向覆盖角外\n", + "NEAR = \"near\" # 距离 <=5m 且在覆盖角内；不返回 svd_deg\n", + "DIRECTION = \"direction\" # 有信号；附 svd_deg（含 ±1° 误差，保留两位小数）\n", + "MEASURE_RESULTS = (NO_SIGNAL, NEAR, DIRECTION)\n", + "\n", + "CLEAR_SUCCESS = \"success\" # 20m 内发现并清除；耗时 5s\n", + "CLEAR_NO_TARGET = \"no_target_in_range\" # 未发现（无源/已清除/超20m）；耗时 3s\n", + "CLEAR_RESULTS = (CLEAR_SUCCESS, CLEAR_NO_TARGET)\n", + "\n", + "EXIT_USER = \"user_exit\" # /exit 成功响应中的固定退出原因\n", + "\n", + "# accepted=false 的响应只含这 3 个字段；virtual_time_s 恒为 0，不是当前时刻 [题面]\n", + "BASE_RESPONSE_FIELDS = (\"accepted\", \"real_timestamp_ms\", \"virtual_time_s\")\n", + "\n", + "\n", + "# ---- 请求字段表 --------------------------------------------------------------\n", + "\n", + "\n", + "@dataclass(frozen=True)\n", + "class FieldSpec:\n", + " \"\"\"单个请求字段的约束。[题面] 附件2 5.1 节与各指令小节。\"\"\"\n", + "\n", + " kind: type # str / dict；数值字段由 sim 按整型/浮点细则单独校验\n", + " required: bool = True\n", + " max_bytes: int | None = None # 字符串字段的 UTF-8 长度上限\n", + "\n", + "\n", + "COMMON_FIELDS: dict[str, FieldSpec] = {\n", + " \"arena_id\": FieldSpec(str), # 必须为 \"default\"\n", + " \"robot_id\": FieldSpec(str, max_bytes=64), # 逐字节等于登录参赛队号\n", + " \"request_id\": FieldSpec(str, max_bytes=128), # 会话内幂等键，新动作用新 ID\n", + "}\n", + "\n", + "POSITION_FIELDS: dict[str, FieldSpec] = {\n", + " \"x\": FieldSpec(float), # 有限 JSON number，|x| <= 2_000_000\n", + " \"y\": FieldSpec(float),\n", + "}\n", + "\n", + "# 路径 -> 除公共字段外的动作字段；/enter 与 /exit 无附加字段\n", + "ACTION_FIELDS: dict[str, dict[str, FieldSpec]] = {\n", + " \"/enter\": {},\n", + " \"/measure\": {\"position\": FieldSpec(dict), \"channel\": FieldSpec(float)},\n", + " \"/clear\": {\"position\": FieldSpec(dict), \"channel\": FieldSpec(float)},\n", + " \"/exit\": {},\n", + "}\n", + "ACTION_PATHS = tuple(ACTION_FIELDS)\n", + "\n", + "# channel 写成 JSON number 1.0 且恰为整数也接受；1.5 返回 HTTP 400 [题面]\n", + "\n", + "\n", + "# ---- 响应字段表（accepted=true 时的附加字段） --------------------------------\n", + "\n", + "RESPONSE_FIELDS: dict[str, tuple[str, ...]] = {\n", + " \"/enter\": (\"max_virtual_duration_s\", \"max_real_duration_s\", \"remaining_real_duration_s\"),\n", + " \"/measure\": (\"measure_result\",), # direction 时另有 svd_deg\n", + " \"/clear\": (\"clear_result\",),\n", + " \"/exit\": (\"exit_reason\",),\n", + "}\n", + "\n", + "\n", + "# ---- 错误语义 [题面] 附件2 5.3 节 --------------------------------------------\n", + "\n", + "STATUS_OK = 200\n", + "STATUS_BAD_REQUEST = 400 # JSON 语法/重复键/缺字段/类型/频道或坐标范围\n", + "STATUS_CONFLICT = 409 # 同 request_id 对应不同动作，或并发不同动作\n", + "STATUS_RETRYABLE = (429, 500) # 流量保护/幂等记录上限、服务器内部错误：可原样重试\n", + "\n", + "\n", + "def http_status_meaning(status: int) -> str:\n", + " table = {\n", + " 200: \"动作已执行，或 JSON 合法但被业务拒绝（看 accepted）\",\n", + " 400: \"请求结构错误；不占用 request_id，修正后可复用该 ID\",\n", + " 404: \"路径未知或不精确（不接受尾随斜线与查询参数）\",\n", + " 405: \"已知路径使用了非 POST 方法\",\n", + " 409: \"request_id 幂等冲突或并发发送不同动作\",\n", + " 413: \"请求体超过 65536 字节\",\n", + " 415: \"Content-Type 或 Content-Encoding 不受支持\",\n", + " 429: \"连接/流量保护触发，或本局幂等记录达到上限\",\n", + " 500: \"模拟器内部错误\",\n", + " }\n", + " return table.get(status, \"未知状态码\")\n" + ] + }, + { + "cell_type": "markdown", + "id": "624c4b89", + "metadata": {}, + "source": [ + "### 2.2 纯计时模型（`timing.py`）\n", + "\n", + "附件示例（105 / 111 / 194 / 199 秒）是唯一权威锚点：\n", + "一次合法动作 = 移动（直线距离 / 5 m/s）+ 换频道（仅检测，1 s）+ 动作本身（检测 5 s、\n", + "清除成功 5 s / 未发现 3 s），逐段量化后**按整数微秒累计**。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "id": "bb132d37", + "metadata": {}, + "outputs": [], + "source": [ + "@dataclass(frozen=True)\n", + "class CostBreakdown:\n", + " \"\"\"一次合法动作的三段耗时 [题面]：移动 + 换频道（仅检测）+ 动作本身。\"\"\"\n", + "\n", + " move_s: float\n", + " switch_s: float\n", + " action_s: float\n", + "\n", + " @property\n", + " def total_s(self) -> float:\n", + " return self.total_us / 1_000_000\n", + "\n", + " @property\n", + " def total_us(self) -> int:\n", + " \"\"\"逐段量化后按整数微秒累计，与官方虚拟时钟一致。\"\"\"\n", + " return sum(round(value * 1_000_000)\n", + " for value in (self.move_s, self.switch_s, self.action_s))\n", + "\n", + "\n", + "def measure_cost(prev_pos: Vec2, pos: Vec2, prev_channel: int, channel: int,\n", + " cost: CostConfig = CostConfig()) -> CostBreakdown:\n", + " \"\"\"合法 /measure 的耗时。移动按直线距离；换频道只看前后频道是否不同。\"\"\"\n", + " return CostBreakdown(\n", + " move_s=dist(prev_pos, pos) / cost.speed_mps,\n", + " switch_s=0.0 if channel == prev_channel else cost.switch_s,\n", + " action_s=cost.measure_s,\n", + " )\n", + "\n", + "\n", + "def clear_cost(prev_pos: Vec2, pos: Vec2, success: bool,\n", + " cost: CostConfig = CostConfig()) -> CostBreakdown:\n", + " \"\"\"合法 /clear 的耗时。\n", + "\n", + " /clear 的 channel 是目标干扰源频道，不切换测向机频道，也不产生换频道耗时 [题面]。\n", + " \"\"\"\n", + " return CostBreakdown(\n", + " move_s=dist(prev_pos, pos) / cost.speed_mps,\n", + " switch_s=0.0,\n", + " action_s=cost.clear_success_s if success else cost.clear_fail_s,\n", + " )\n", + "\n", + "\n", + "def move_time(a: Vec2, b: Vec2, cost: CostConfig = CostConfig()) -> float:\n", + " \"\"\"任意两点间的移动耗时（规划用）。\"\"\"\n", + " return dist(a, b) / cost.speed_mps\n" + ] + }, + { + "cell_type": "markdown", + "id": "0382155e", + "metadata": {}, + "source": [ + "### 2.3 本地状态机（`state.py`）\n", + "\n", + "位置 / 测向频道 / 虚拟时刻的唯一权威是最近一次 `accepted=true` 的响应；\n", + "`/clear` 不切换测向机频道，只有合法 `/measure` 才更新频道。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "id": "01f62290", + "metadata": {}, + "outputs": [], + "source": [ + "class StateError(RuntimeError):\n", + " \"\"\"状态机被以非法顺序驱动（例如未 enter 就 apply_measure）。\"\"\"\n", + "\n", + "\n", + "@dataclass\n", + "class RobotState:\n", + " position: Vec2 = (0.0, 0.0) # /enter 成功后的初始位置 [题面]\n", + " channel: int = 1 # /enter 成功后的初始频道 [题面]\n", + " virtual_time_s: float = 0.0\n", + " entered: bool = False\n", + " exited: bool = False\n", + " action_count: int = 0\n", + " # 预测与实测的偏差记录；strict 模式下出现偏差会直接抛错。\n", + " mismatches: list = field(default_factory=list)\n", + "\n", + " # -------------------------------------------------------------- enter/exit\n", + " def apply_enter(self, response: dict, *, strict: bool = False) -> None:\n", + " self._require_accepted(response)\n", + " if strict and (self.entered or self.exited):\n", + " raise StateError(\"重复 /enter 或已退出后再 enter\")\n", + " self.entered = True\n", + " self.virtual_time_s = response[\"virtual_time_s\"]\n", + "\n", + " def apply_exit(self, response: dict) -> None:\n", + " self._require_accepted(response)\n", + " self.exited = True\n", + " self.virtual_time_s = response[\"virtual_time_s\"]\n", + "\n", + " # ----------------------------------------------------------------- measure\n", + " def apply_measure(self, request: dict, response: dict, *,\n", + " cost: CostConfig = CostConfig(),\n", + " strict: bool = False) -> CostBreakdown:\n", + " self._require_accepted(response)\n", + " if strict and (not self.entered or self.exited):\n", + " raise StateError(\"/measure 要求已 enter 且未退出\")\n", + " pos = (request[\"position\"][\"x\"], request[\"position\"][\"y\"])\n", + " channel = request[\"channel\"]\n", + " predicted = measure_cost(self.position, pos, self.channel, channel, cost)\n", + " predicted = self._advance(pos, channel, response, predicted, strict)\n", + " return predicted\n", + "\n", + " # ------------------------------------------------------------------- clear\n", + " def apply_clear(self, request: dict, response: dict, *,\n", + " cost: CostConfig = CostConfig(),\n", + " strict: bool = False) -> CostBreakdown:\n", + " self._require_accepted(response)\n", + " if strict and (not self.entered or self.exited):\n", + " raise StateError(\"/clear 要求已 enter 且未退出\")\n", + " pos = (request[\"position\"][\"x\"], request[\"position\"][\"y\"])\n", + " success = response[\"clear_result\"] == CLEAR_SUCCESS\n", + " predicted = clear_cost(self.position, pos, success, cost)\n", + " # 频道保持不变：/clear 不切换测向机频道 [题面]\n", + " return self._advance(pos, self.channel, response, predicted, strict)\n", + "\n", + " # ------------------------------------------------------------------ 共用\n", + " def _advance(self, pos: Vec2, channel: int, response: dict,\n", + " predicted: CostBreakdown, strict: bool) -> CostBreakdown:\n", + " # 先完成全部校验再落子：strict 模式下失败时不留半更新状态。\n", + " actual_delta = response[\"virtual_time_s\"] - self.virtual_time_s\n", + " if abs(actual_delta - predicted.total_s) > 1e-6:\n", + " message = (f\"耗时预测不一致: 预测 {predicted.total_s:.6f}s, \"\n", + " f\"实测 {actual_delta:.6f}s ({predicted})\")\n", + " if strict:\n", + " raise StateError(message)\n", + " # 非严格模式：状态仍以响应为准，偏差记入日志供复盘。\n", + " self.mismatches.append(\n", + " {\"action\": self.action_count + 1, \"predicted_s\": predicted.total_s,\n", + " \"actual_s\": actual_delta, \"message\": message})\n", + " self.position = pos\n", + " self.channel = channel\n", + " self.virtual_time_s = response[\"virtual_time_s\"]\n", + " self.action_count += 1\n", + " return predicted\n", + "\n", + " @staticmethod\n", + " def _require_accepted(response: dict) -> None:\n", + " if response.get(\"accepted\") is not True:\n", + " raise StateError(\"accepted=false 的响应不允许更新状态\")\n" + ] + }, + { + "cell_type": "markdown", + "id": "fdea1f06", + "metadata": {}, + "source": [ + "### 2.4 传输抽象与会话日志（`transport.py` / `log.py`）\n", + "\n", + "HTTP 细节与协议客户端解耦：正式运行用 `RequestsTransport`，\n", + "本地评测 / 故障注入 / 日志回放各自替换 `Transport` 实现即可，客户端代码零改动。\n", + "会话日志逐条追加 JSONL（题面要求机器狗程序自行留档指令与响应）。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "id": "75e9e40b", + "metadata": {}, + "outputs": [], + "source": [ + "class TransportError(Exception):\n", + " \"\"\"网络层失败：连接不上、读写超时。动作可能未送达，也可能结果未知。\"\"\"\n", + "\n", + "\n", + "@dataclass(frozen=True)\n", + "class TransportResponse:\n", + " status: int\n", + " body: bytes\n", + "\n", + "\n", + "class Transport:\n", + " \"\"\"最小 POST 接口。同步阻塞，一次一个请求（协议要求串行）。\"\"\"\n", + "\n", + " def post(self, url: str, body: bytes, headers: dict[str, str],\n", + " timeout: tuple[float, float]) -> TransportResponse:\n", + " raise NotImplementedError\n", + "\n", + "\n", + "class RequestsTransport(Transport):\n", + " \"\"\"基于 requests 的默认实现。timeout=(连接, 读取)。\"\"\"\n", + "\n", + " def post(self, url, body, headers, timeout):\n", + " import requests # 惰性导入：仅真正发起 HTTP 时才需要该依赖\n", + "\n", + " try:\n", + " response = requests.post(url, data=body, headers=headers, timeout=timeout)\n", + " except (requests.exceptions.Timeout, requests.exceptions.ConnectionError) as exc:\n", + " raise TransportError(str(exc)) from exc\n", + " except requests.exceptions.RequestException as exc: # 其它请求级异常同样按网络失败处理\n", + " raise TransportError(str(exc)) from exc\n", + " return TransportResponse(response.status_code, response.content)\n" + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "id": "ce38cbf0", + "metadata": {}, + "outputs": [], + "source": [ + "@dataclass\n", + "class SessionLog:\n", + " path: Path | None = None\n", + " events: list = field(default_factory=list)\n", + "\n", + " def __post_init__(self):\n", + " if self.path is not None:\n", + " self.path.parent.mkdir(parents=True, exist_ok=True)\n", + "\n", + " def append(self, event: dict) -> None:\n", + " event = {**event, \"logged_at_unix_s\": time()}\n", + " self.events.append(event)\n", + " if self.path is not None:\n", + " with self.path.open(\"a\", encoding=\"utf-8\") as handle:\n", + " handle.write(json.dumps(event, ensure_ascii=False, allow_nan=False) + \"\\n\")\n", + "\n", + " def action_events(self) -> list[dict]:\n", + " \"\"\"仅最终被接受的动作事件（每个 request_id 一条，含重试次数）。\"\"\"\n", + " return [event for event in self.events if event.get(\"response\") is not None\n", + " and event[\"response\"].get(\"accepted\") is True]\n", + "\n", + " def step_events(self) -> list[dict]:\n", + " \"\"\"每步计时事件（客户端 _log_step 写入，按发生顺序）。\"\"\"\n", + " return [event for event in self.events if event.get(\"event\") == \"step\"]\n" + ] + }, + { + "cell_type": "markdown", + "id": "00433092", + "metadata": {}, + "source": [ + "### 2.5 串行幂等客户端（`client.py`）\n", + "\n", + "- 每个新动作使用新的 `request_id`；仅在网络失败后重试**完全相同的动作**时复用原 ID 与\n", + " 原请求体（本类一次性序列化出 bytes 并原样重发）；\n", + "- 必须同时检查 HTTP 状态与 `accepted`；`accepted=false` 不更新状态；\n", + "- 逐次等待响应、不得并发；本类完全同步；\n", + "- 现实截止用 `/enter` 的 `remaining_real_duration_s` 建立本地单调时钟并预留退出余量。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 9, + "id": "9b89cf0b", + "metadata": {}, + "outputs": [], + "source": [ + "class ProtocolError(RuntimeError):\n", + " \"\"\"协议层失败，含 HTTP 状态与响应体；默认不重试（确定性错误）。\"\"\"\n", + "\n", + " def __init__(self, message: str, status: int | None = None, body=None):\n", + " super().__init__(message)\n", + " self.status = status\n", + " self.body = body\n", + "\n", + "\n", + "class ActionRejected(ProtocolError):\n", + " \"\"\"HTTP 200 但 accepted=false：动作未生效，状态不得更新。\"\"\"\n", + "\n", + " def __init__(self, message: str, body=None):\n", + " super().__init__(message, status=STATUS_OK, body=body)\n", + "\n", + "\n", + "class ProtocolViolation(ProtocolError):\n", + " \"\"\"响应与协议约定不符（字段缺失、值非法、虚拟时刻回退等）。\"\"\"\n", + "\n", + "\n", + "class DeadlineExceeded(RuntimeError):\n", + " \"\"\"现实预算不足：预留退出余量后剩余时间不够执行新动作。\"\"\"\n", + "\n", + "\n", + "@dataclass(frozen=True)\n", + "class MeasureOutcome:\n", + " result: str\n", + " svd_deg: float | None\n", + " virtual_time_s: float\n", + " predicted: CostBreakdown\n", + " raw: dict\n", + "\n", + "\n", + "@dataclass(frozen=True)\n", + "class ClearOutcome:\n", + " result: str\n", + " virtual_time_s: float\n", + " predicted: CostBreakdown\n", + " raw: dict\n", + "\n", + "\n", + "@dataclass(frozen=True)\n", + "class ExitInfo:\n", + " reason: str\n", + " virtual_time_s: float\n", + " raw: dict\n", + "\n", + "\n", + "def _validate_identifier(name: str, value: str, max_bytes: int) -> None:\n", + " if not isinstance(value, str) or not value:\n", + " raise ValueError(f\"{name} 必须是非空字符串\")\n", + " encoded = value.encode(\"utf-8\")\n", + " if not 1 <= len(encoded) <= max_bytes:\n", + " raise ValueError(f\"{name} 的 UTF-8 长度须在 1..{max_bytes} 字节\")\n", + " if any(code < 0x20 or code == 0x7F for code in encoded):\n", + " raise ValueError(f\"{name} 不能包含控制字符\")\n", + "\n", + "\n", + "def _validate_position(position: dict, limit: float) -> None:\n", + " if set(position) != set(POSITION_FIELDS):\n", + " raise ValueError(\"position 字段必须是且只能是 x、y\")\n", + " for key in (\"x\", \"y\"):\n", + " value = position[key]\n", + " if isinstance(value, bool) or not isinstance(value, (int, float)):\n", + " raise ValueError(f\"position.{key} 必须是数值\")\n", + " if not math.isfinite(value):\n", + " raise ValueError(f\"position.{key} 必须是有限数值\")\n", + " if abs(value) > limit:\n", + " raise ValueError(f\"position.{key} 绝对值不得超过 {limit} 米\")\n", + "\n", + "\n", + "def _validate_channel(channel) -> int:\n", + " # 写成 JSON number 1.0 且恰为整数也接受 [题面]；1.5 拒绝。\n", + " if isinstance(channel, bool) or not isinstance(channel, (int, float)):\n", + " raise ValueError(\"channel 必须是数值\")\n", + " if isinstance(channel, float) and not channel.is_integer():\n", + " raise ValueError(\"channel 必须是整数\")\n", + " channel = int(channel)\n", + " if not 1 <= channel <= 20:\n", + " raise ValueError(\"channel 必须在 1..20 范围内\")\n", + " return channel\n", + "\n", + "\n", + "class SimulatorClient:\n", + " \"\"\"四条指令的同步客户端。状态只在 accepted=true 后推进。\"\"\"\n", + "\n", + " def __init__(self, robot_id: str, *,\n", + " config: ProblemConfig = ProblemConfig(),\n", + " transport: Transport | None = None,\n", + " log: SessionLog | None = None,\n", + " clock=monotonic):\n", + " _validate_identifier(\"robot_id\", robot_id, config.session.robot_id_max_bytes)\n", + " self.robot_id = robot_id\n", + " self.config = config\n", + " self.session = config.session\n", + " self.transport = transport if transport is not None else RequestsTransport()\n", + " self.log = log if log is not None else SessionLog()\n", + " self.clock = clock\n", + " self.state = RobotState()\n", + " self._prefix = uuid.uuid4().hex[:12]\n", + " self._seq = 0\n", + " self._deadline: float | None = None # 本地单调时钟截止\n", + " self._server_deadline_ms: float | None = None # 服务器时间戳交叉核对\n", + " self._enter_monotonic: float | None = None # 实机计时起点（/enter 成功）\n", + "\n", + " # ------------------------------------------------------------ 公共动作 API\n", + " def enter(self) -> dict:\n", + " started = self.clock()\n", + " payload = self._payload(\"/enter\")\n", + " response = self._call(\"/enter\", payload)\n", + " self.state.apply_enter(response)\n", + " remaining = response[\"remaining_real_duration_s\"]\n", + " if not isinstance(remaining, (int, float)) or remaining < 0:\n", + " raise ProtocolViolation(\"remaining_real_duration_s 缺失或非法\", body=response)\n", + " self._deadline = self.clock() + remaining\n", + " self._server_deadline_ms = (response[\"real_timestamp_ms\"]\n", + " + remaining * 1000.0)\n", + " self._enter_monotonic = self.clock()\n", + " self._log_step(\"/enter\", payload, response, started,\n", + " predicted=CostBreakdown(0.0, 0.0, 0.0))\n", + " return response\n", + "\n", + " def measure(self, position: Vec2, channel: int) -> MeasureOutcome:\n", + " started = self.clock()\n", + " payload = self._payload(\"/measure\", position=position, channel=channel)\n", + " response = self._call(\"/measure\", payload)\n", + " predicted = self.state.apply_measure(payload, response,\n", + " cost=self.config.cost)\n", + " result = response.get(\"measure_result\")\n", + " if result not in MEASURE_RESULTS:\n", + " raise ProtocolViolation(f\"measure_result 非法: {result!r}\", body=response)\n", + " svd = response.get(\"svd_deg\")\n", + " if result == DIRECTION:\n", + " if not isinstance(svd, (int, float)) or isinstance(svd, bool):\n", + " raise ProtocolViolation(\"direction 响应缺少数值 svd_deg\", body=response)\n", + " self._log_step(\"/measure\", payload, response, started, result=result,\n", + " predicted=predicted, channel=payload[\"channel\"])\n", + " return MeasureOutcome(result, float(svd) if svd is not None else None,\n", + " response[\"virtual_time_s\"], predicted, response)\n", + "\n", + " def clear(self, position: Vec2, channel: int) -> ClearOutcome:\n", + " started = self.clock()\n", + " payload = self._payload(\"/clear\", position=position, channel=channel)\n", + " response = self._call(\"/clear\", payload)\n", + " predicted = self.state.apply_clear(payload, response,\n", + " cost=self.config.cost)\n", + " result = response.get(\"clear_result\")\n", + " if result not in CLEAR_RESULTS:\n", + " raise ProtocolViolation(f\"clear_result 非法: {result!r}\", body=response)\n", + " self._log_step(\"/clear\", payload, response, started, result=result,\n", + " predicted=predicted, channel=payload[\"channel\"])\n", + " return ClearOutcome(result, response[\"virtual_time_s\"], predicted, response)\n", + "\n", + " def exit(self) -> ExitInfo:\n", + " started = self.clock()\n", + " payload = self._payload(\"/exit\")\n", + " response = self._call(\"/exit\", payload)\n", + " self.state.apply_exit(response)\n", + " reason = response.get(\"exit_reason\")\n", + " if reason != EXIT_USER:\n", + " raise ProtocolViolation(f\"exit_reason 非法: {reason!r}\", body=response)\n", + " self._log_step(\"/exit\", payload, response, started,\n", + " predicted=CostBreakdown(0.0, 0.0, 0.0))\n", + " return ExitInfo(reason, response[\"virtual_time_s\"], response)\n", + "\n", + " # ---------------------------------------------------------------- 预算控制\n", + " @property\n", + " def real_remaining_s(self) -> float | None:\n", + " \"\"\"按本地单调时钟估计的剩余现实秒数（未 enter 时为 None）。\"\"\"\n", + " return None if self._deadline is None else self._deadline - self.clock()\n", + "\n", + " def _log_step(self, path: str, payload: dict, response: dict,\n", + " started: float, *, result: str | None = None,\n", + " predicted: CostBreakdown, channel: int | None = None) -> None:\n", + " \"\"\"每步计时留档 [用户决策 2026-09-11]：实机墙钟耗时 + 比赛虚拟耗时分项\n", + " （移动=直线距离/5、切频道 1s、检测 5s、清除成功 5s/未发现 3s）。\n", + "\n", + " step 事件不含 response 字段，不会混入 action_events / 虚拟时刻复算。\n", + " \"\"\"\n", + " now = self.clock()\n", + " entry: dict = {\"event\": \"step\", \"path\": path,\n", + " \"request_id\": payload[\"request_id\"],\n", + " \"real_elapsed_s\": round(now - started, 6),\n", + " \"virtual_time_s\": response[\"virtual_time_s\"],\n", + " \"virtual_cost\": {\"move_s\": round(predicted.move_s, 6),\n", + " \"switch_s\": round(predicted.switch_s, 6),\n", + " \"action_s\": round(predicted.action_s, 6),\n", + " \"total_s\": round(predicted.total_s, 6)}}\n", + " if self._enter_monotonic is not None:\n", + " entry[\"real_since_enter_s\"] = round(now - self._enter_monotonic, 6)\n", + " if \"position\" in payload:\n", + " entry[\"position\"] = {\"x\": payload[\"position\"][\"x\"],\n", + " \"y\": payload[\"position\"][\"y\"]}\n", + " if channel is not None:\n", + " entry[\"channel\"] = channel\n", + " if result is not None:\n", + " entry[\"result\"] = result\n", + " self.log.append(entry)\n", + "\n", + " def _check_budget(self, path: str) -> None:\n", + " if path == \"/exit\" or self._deadline is None:\n", + " return\n", + " margin = self.session.reserve_exit_s\n", + " if self.real_remaining_s <= margin:\n", + " raise DeadlineExceeded(\n", + " f\"剩余现实时间 {self.real_remaining_s:.1f}s 不足以预留 {margin:.1f}s 退出余量\")\n", + "\n", + " # ---------------------------------------------------------------- 内部机制\n", + " def _payload(self, _path: str, *, position: Vec2 | None = None,\n", + " channel: int | None = None) -> dict:\n", + " payload = {\"arena_id\": self.session.arena_id,\n", + " \"robot_id\": self.robot_id,\n", + " \"request_id\": self._next_request_id()}\n", + " if position is not None:\n", + " x, y = float(position[0]), float(position[1])\n", + " _validate_position({\"x\": x, \"y\": y}, self.config.field.coord_abs_limit_m)\n", + " payload[\"position\"] = {\"x\": x, \"y\": y}\n", + " if channel is not None:\n", + " payload[\"channel\"] = _validate_channel(channel)\n", + " return payload\n", + "\n", + " def _next_request_id(self) -> str:\n", + " self._seq += 1\n", + " request_id = f\"{self._prefix}-{self._seq:04d}\"\n", + " _validate_identifier(\"request_id\", request_id,\n", + " self.session.request_id_max_bytes)\n", + " return request_id\n", + "\n", + " def _call(self, path: str, payload: dict) -> dict:\n", + " \"\"\"串行执行一个动作；网络失败原样重发，HTTP 确定性错误立即抛出。\"\"\"\n", + " self._check_budget(path)\n", + " body = json.dumps(payload, ensure_ascii=False, allow_nan=False).encode(\"utf-8\")\n", + " if len(body) > self.session.request_body_max_bytes:\n", + " raise ValueError(\"请求体超过 65536 字节\")\n", + " headers = {\"Content-Type\": \"application/json\"}\n", + " url = self.session.base_url + path\n", + " attempts, last_error = 0, None\n", + " while attempts < self.session.max_attempts:\n", + " attempts += 1\n", + " started = self.clock()\n", + " self.log.append({\"event\": \"attempt\", \"path\": path,\n", + " \"request_id\": payload[\"request_id\"],\n", + " \"attempt\": attempts, \"request\": payload})\n", + " try:\n", + " result = self.transport.post(\n", + " url, body, headers,\n", + " timeout=(self.session.connect_timeout_s,\n", + " self.session.read_timeout_s))\n", + " except TransportError as exc:\n", + " last_error = exc\n", + " self.log.append({\"event\": \"transport_error\", \"path\": path,\n", + " \"request_id\": payload[\"request_id\"],\n", + " \"attempt\": attempts, \"error\": str(exc),\n", + " \"elapsed_s\": self.clock() - started})\n", + " if attempts < self.session.max_attempts:\n", + " sleep(self.session.retry_backoff_s * (2 ** (attempts - 1)))\n", + " continue\n", + " if result.status in STATUS_RETRYABLE:\n", + " self.log.append({\"event\": \"retryable_status\", \"path\": path,\n", + " \"request_id\": payload[\"request_id\"],\n", + " \"attempt\": attempts, \"status\": result.status})\n", + " if attempts < self.session.max_attempts:\n", + " sleep(self.session.retry_backoff_s * (2 ** (attempts - 1)))\n", + " continue\n", + " if result.status != STATUS_OK:\n", + " raise ProtocolError(\n", + " f\"{path} 返回 HTTP {result.status}\", status=result.status,\n", + " body=self._safe_json(result.body))\n", + " response = self._safe_json(result.body)\n", + " if response is None or response.get(\"accepted\") is not True:\n", + " raise ActionRejected(\n", + " f\"{path} 未被接受: {response}\", body=response)\n", + " self._verify_clock(response)\n", + " self.log.append({\"event\": \"accepted\", \"path\": path,\n", + " \"request_id\": payload[\"request_id\"],\n", + " \"request\": payload, \"response\": response,\n", + " \"attempts\": attempts,\n", + " \"elapsed_s\": self.clock() - started})\n", + " return response\n", + " raise TransportError(\n", + " f\"{path} 重试 {attempts} 次仍失败: {last_error}\") from last_error\n", + "\n", + " def _verify_clock(self, response: dict) -> None:\n", + " \"\"\"accepted=true 的虚拟时刻必须单调不减；现实时间戳用于漂移核对。\"\"\"\n", + " virtual = response.get(\"virtual_time_s\")\n", + " if not isinstance(virtual, (int, float)) or isinstance(virtual, bool):\n", + " raise ProtocolViolation(\"accepted 响应缺少 virtual_time_s\", body=response)\n", + " if virtual < self.state.virtual_time_s - 1e-9:\n", + " raise ProtocolViolation(\n", + " f\"虚拟时刻回退: {self.state.virtual_time_s} -> {virtual}\",\n", + " body=response)\n", + " if self._server_deadline_ms is not None:\n", + " drift = (self._server_deadline_ms - response[\"real_timestamp_ms\"]) / 1000.0\n", + " if drift < self.session.reserve_exit_s / 2:\n", + " # 服务器视角余量告急（本地时钟漂移或请求排队）；仅记录，交由上层决策。\n", + " self.log.append({\"event\": \"server_time_warning\",\n", + " \"server_remaining_s\": drift})\n", + "\n", + " @staticmethod\n", + " def _safe_json(body: bytes):\n", + " try:\n", + " return json.loads(body.decode(\"utf-8\"))\n", + " except (UnicodeDecodeError, json.JSONDecodeError):\n", + " return None\n" + ] + }, + { + "cell_type": "markdown", + "id": "1b378ab3", + "metadata": {}, + "source": [ + "## 3. 几何内核（`geometry/`）\n", + "\n", + "### 3.1 角域交会定位（`localization.py`）\n", + "\n", + "每条示向度 = 三个半平面：角域下边界、上边界，以及\"只能在前向\"约束\n", + "（半角 < 90° 时交集是尖锥而非整条直线）。定位区域 = 全部半平面之交。\n", + "\n", + "对偶枚举任意两个半平面的交点即得全部候选顶点，再按可行性筛选——\n", + "有界性由\"是否存在非零衰退方向\"判定，因此**不需要人为加包围盒**：\n", + "\n", + "- 无交点 ⇒ 空集（数据矛盾或频道选错）；\n", + "- 有非零衰退方向 ⇒ 无界，直径为 ∞；\n", + "- 否则顶点凸包即定位多边形，直径由顶点对枚举给出，最小包围圆用 Welzl 随机增量算法。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 10, + "id": "3b895426", + "metadata": {}, + "outputs": [], + "source": [ + "Point = tuple[float, float]\n", + "EPS = 1e-9\n", + "PARALLEL_EPS = 1e-12\n", + "\n", + "\n", + "@dataclass(frozen=True)\n", + "class Measurement:\n", + " x: float\n", + " y: float\n", + " bearing_deg: float\n", + " half_angle_deg: float = 1.0\n", + "\n", + " def __post_init__(self):\n", + " values = (self.x, self.y, self.bearing_deg, self.half_angle_deg)\n", + " if any(isinstance(v, bool) or not isinstance(v, (int, float))\n", + " or not isfinite(v) for v in values):\n", + " raise ValueError(\"坐标、示向度和误差半角必须是有限数值\")\n", + " if not 0 <= self.half_angle_deg < 90:\n", + " raise ValueError(\"误差半角必须在 [0, 90) 度；题设为1度\")\n", + "\n", + "\n", + "def cross(a: Point, b: Point) -> float:\n", + " return a[0] * b[1] - a[1] * b[0]\n", + "\n", + "\n", + "def distance(a: Point, b: Point) -> float:\n", + " return hypot(a[0] - b[0], a[1] - b[1])\n", + "\n", + "\n", + "def halfplanes(m: Measurement) -> list[tuple[float, float, float]]:\n", + " \"\"\"Return a*x+b*y<=c with unit normals, including the forward constraint.\"\"\"\n", + " theta = m.bearing_deg % 360\n", + " lower, upper = radians(theta - m.half_angle_deg), radians(theta + m.half_angle_deg)\n", + " middle = radians(theta)\n", + " normals = [(sin(lower), -cos(lower)), (-sin(upper), cos(upper)),\n", + " (-cos(middle), -sin(middle))]\n", + " return [(a, b, a * m.x + b * m.y) for a, b in normals]\n", + "\n", + "\n", + "def convex_hull(points: list[Point], eps: float = EPS) -> list[Point]:\n", + " \"\"\"Monotone chain, CCW, no repeated final vertex; retain segment endpoints.\"\"\"\n", + " ordered = sorted(points)\n", + " unique = []\n", + " for p in ordered:\n", + " if not unique or distance(p, unique[-1]) > eps:\n", + " unique.append(p)\n", + " if len(unique) <= 2:\n", + " return unique\n", + "\n", + " def chain(seq):\n", + " out = []\n", + " for p in seq:\n", + " while len(out) >= 2:\n", + " a = (out[-1][0] - out[-2][0], out[-1][1] - out[-2][1])\n", + " b = (p[0] - out[-1][0], p[1] - out[-1][1])\n", + " # Distance-to-line tolerance, not an unscaled area tolerance.\n", + " if cross(a, b) > eps * max(hypot(*a), hypot(*b), eps):\n", + " break\n", + " out.pop()\n", + " out.append(p)\n", + " return out\n", + "\n", + " return chain(unique)[:-1] + chain(reversed(unique))[:-1]\n", + "\n", + "\n", + "def diameter(points: list[Point]):\n", + " if not points:\n", + " raise ValueError(\"空点集没有本程序定义下的直径\")\n", + " a = b = points[0]\n", + " value = 0.0\n", + " for p, q in combinations(points, 2):\n", + " d = distance(p, q)\n", + " if d > value:\n", + " value, a, b = d, p, q\n", + " return value, (a, b)\n", + "\n", + "\n", + "def _circumcircle(a: Point, b: Point, c: Point):\n", + " u = (b[0] - a[0], b[1] - a[1])\n", + " v = (c[0] - a[0], c[1] - a[1])\n", + " det = 2 * cross(u, v)\n", + " if abs(det) <= PARALLEL_EPS * max(hypot(*u) * hypot(*v), 1e-300):\n", + " return None\n", + " uu, vv = u[0] ** 2 + u[1] ** 2, v[0] ** 2 + v[1] ** 2\n", + " center = (a[0] + (uu * v[1] - vv * u[1]) / det,\n", + " a[1] + (u[0] * vv - v[0] * uu) / det)\n", + " return center, distance(center, a)\n", + "\n", + "\n", + "def _enclosing_circle_reference(points: list[Point], eps: float = EPS):\n", + " \"\"\"Enumerate all 1/2/3-point supports; O(m^4), appropriate for small m.\n", + "\n", + " Radius is recomputed against every vertex to preserve numerical containment.\n", + " Coordinates should be normalized when there are very large offsets.\n", + " \"\"\"\n", + " if not points:\n", + " raise ValueError(\"空集不计算最小包围圆\")\n", + " xs, ys = [p[0] for p in points], [p[1] for p in points]\n", + " best_c = ((min(xs) + max(xs)) / 2, (min(ys) + max(ys)) / 2)\n", + " best_r = max(distance(best_c, p) for p in points)\n", + "\n", + " def consider(center, radius):\n", + " nonlocal best_c, best_r\n", + " if radius > best_r + eps:\n", + " return\n", + " actual = max(distance(center, p) for p in points)\n", + " if actual <= radius + eps and actual < best_r:\n", + " best_c, best_r = center, actual\n", + "\n", + " for p in points:\n", + " consider(p, 0.0)\n", + " for a, b in combinations(points, 2):\n", + " consider(((a[0] + b[0]) / 2, (a[1] + b[1]) / 2), distance(a, b) / 2)\n", + " for a, b, c in combinations(points, 3):\n", + " circle = _circumcircle(a, b, c)\n", + " if circle is not None:\n", + " consider(*circle)\n", + " return best_c, best_r\n", + "\n", + "\n", + "def _circle_covers(circle, point: Point, tolerance: float) -> bool:\n", + " \"\"\"Whether the circle already covers point; None means no circle yet.\"\"\"\n", + " if circle is None:\n", + " return False\n", + " return distance(circle[0], point) <= circle[1] + tolerance\n", + "\n", + "\n", + "def smallest_enclosing_circle(points: list[Point], eps: float = EPS):\n", + " \"\"\"Welzl's randomized incremental algorithm, using an explicit call stack.\n", + "\n", + " The fixed shuffle makes results reproducible. Expected linear work refers\n", + " to randomized input order, not a worst-case guarantee for this fixed seed.\n", + " Normalize internally so this public helper also handles translated inputs.\n", + " The exhaustive reference is retained for independent regression comparisons.\n", + " \"\"\"\n", + " if not points:\n", + " raise ValueError(\"空集不计算最小包围圆\")\n", + " if not isfinite(eps) or eps <= 0:\n", + " raise ValueError(\"eps必须为有限正数\")\n", + " if any(len(p) != 2 or any(isinstance(x, bool) or not isinstance(x, (int, float))\n", + " or not isfinite(x) for x in p) for p in points):\n", + " raise ValueError(\"点集必须由有限二维坐标组成\")\n", + " origin = points[0]\n", + " scale = max(distance(origin, p) for p in points)\n", + " if scale == 0:\n", + " return tuple(origin), 0.0\n", + " local = [((p[0]-origin[0])/scale, (p[1]-origin[1])/scale) for p in points]\n", + " tolerance = min(eps/scale, EPS)\n", + " Random(20260910).shuffle(local)\n", + " # Frame = (remaining prefix length, forced boundary, returning from child).\n", + " stack = [(len(local), (), False)]\n", + " circle = None\n", + " while stack:\n", + " n, boundary, returning = stack.pop()\n", + " if n == 0 or len(boundary) == 3:\n", + " # Forced support points must lie ON the boundary. For three points\n", + " # use their circumcircle, even when their unconstrained MEC is smaller.\n", + " circle = _circumcircle(*boundary) if len(boundary) == 3 else None\n", + " if circle is None and boundary:\n", + " circle = _enclosing_circle_reference(list(boundary), tolerance)\n", + " elif not returning:\n", + " stack.append((n, boundary, True))\n", + " stack.append((n-1, boundary, False))\n", + " elif not _circle_covers(circle, local[n-1], tolerance):\n", + " stack.append((n-1, boundary + (local[n-1],), False))\n", + " assert circle is not None\n", + " center = (origin[0]+circle[0][0]*scale, origin[1]+circle[0][1]*scale)\n", + " # Recompute after transforming back: returned circle contains all input points\n", + " # to distance() precision, including any roundoff from the large translation.\n", + " return center, max(distance(center, p) for p in points)\n", + "\n", + "\n", + "def solve(measurements: list[Measurement], eps: float = EPS) -> dict:\n", + " \"\"\"Solve Q1's pure angular intersection (no disk/range prior added).\n", + "\n", + " Nonempty intersections of <180-degree forward wedges are pointed polyhedra,\n", + " so they possess a vertex, even if unbounded. Feasibility follows from vertex\n", + " enumeration; unboundedness follows from a nonzero recession direction.\n", + " Empty diameter is null, unbounded diameter is null with diameter_infinite=true.\n", + "\n", + " Near-parallel plane pairs are intersected rather than skipped: their\n", + " intersection can be a legitimate vertex of a very long thin region\n", + " (e.g. stations 1cm apart with bearings 1 and 358.99999999999 deg give a\n", + " vertex ~5.7e10 m away). Only exactly-parallel pairs (det == 0) have no\n", + " intersection. The feasibility tolerance scales with the vertex magnitude,\n", + " since absolute residuals grow with coordinates.\n", + " \"\"\"\n", + " if not isfinite(eps) or eps <= 0:\n", + " raise ValueError(\"eps必须为有限正数\")\n", + " if not measurements:\n", + " return {\"status\": \"unbounded\", \"vertices\": [], \"diameter_m\": None,\n", + " \"diameter_infinite\": True, \"recession_direction\": [1.0, 0.0],\n", + " \"message\": \"没有观测，整个平面均可行\"}\n", + " if len(measurements) > 100:\n", + " raise ValueError(\"参考实现最多接收100个检测点；更大规模应使用半平面交算法\")\n", + " ox = sum(m.x for m in measurements) / len(measurements)\n", + " oy = sum(m.y for m in measurements) / len(measurements)\n", + " scale = max(1.0, max(hypot(m.x - ox, m.y - oy) for m in measurements))\n", + " local = [Measurement((m.x - ox) / scale, (m.y - oy) / scale,\n", + " m.bearing_deg, m.half_angle_deg) for m in measurements]\n", + " planes = [h for m in local for h in halfplanes(m)]\n", + "\n", + " def inside(p):\n", + " tol = eps * max(1.0, abs(p[0]), abs(p[1]))\n", + " return all(a * p[0] + b * p[1] <= c + tol for a, b, c in planes)\n", + "\n", + " feasible_vertices = []\n", + " for (a, b, c), (d, e, f) in combinations(planes, 2):\n", + " det = a * e - b * d\n", + " if det == 0.0:\n", + " continue # 精确平行：无交点（近平行对的交点是合法远端顶点，保留）\n", + " p = ((c * e - b * f) / det, (a * f - c * d) / det)\n", + " if isfinite(p[0]) and isfinite(p[1]) and inside(p):\n", + " feasible_vertices.append(p)\n", + "\n", + " if not feasible_vertices:\n", + " return {\"status\": \"empty\", \"vertices\": [], \"diameter_m\": None,\n", + " \"diameter_infinite\": False, \"tolerance_m\": eps * scale,\n", + " \"message\": \"测向角域没有公共点；检查频道、数据及误差界\"}\n", + "\n", + " # A nontrivial 2D recession cone has a ray tangent to an input halfplane.\n", + " # Use a much tighter angular threshold than the positional feasibility epsilon.\n", + " ray = None\n", + " for a, b, _ in planes:\n", + " for direction in ((b, -a), (-b, a)):\n", + " if all(d * direction[0] + e * direction[1] <= 2e-14\n", + " for d, e, _ in planes):\n", + " ray = direction\n", + " break\n", + " if ray is not None:\n", + " break\n", + "\n", + " hull = convex_hull(feasible_vertices, eps)\n", + "\n", + " def world(p):\n", + " return [ox + p[0] * scale, oy + p[1] * scale]\n", + "\n", + " result = {\"status\": \"unbounded\" if ray else\n", + " (\"point\" if len(hull) == 1 else \"segment\" if len(hull) == 2 else \"polygon\"),\n", + " \"vertices\": [world(p) for p in hull], \"tolerance_m\": eps * scale,\n", + " \"diameter_infinite\": ray is not None}\n", + " if ray is not None:\n", + " result.update(diameter_m=None, recession_direction=list(ray),\n", + " message=\"存在非零衰退方向，区域无界，直径为无穷大\")\n", + " return result\n", + "\n", + " d, pair = diameter(hull)\n", + " midpoint = ((pair[0][0] + pair[1][0]) / 2, (pair[0][1] + pair[1][1]) / 2)\n", + " distances = [distance(midpoint, p) for p in hull]\n", + " witness_index = max(range(len(hull)), key=distances.__getitem__)\n", + " max_distance = distances[witness_index]\n", + " center, radius = smallest_enclosing_circle(hull, eps)\n", + " area = abs(sum(cross(hull[i], hull[(i + 1) % len(hull)])\n", + " for i in range(len(hull)))) / 2\n", + " result.update(diameter_m=d * scale, diameter_pair=[world(p) for p in pair],\n", + " area_m2=area * scale ** 2,\n", + " diameter_circle={\"center\": world(midpoint), \"radius_m\": d * scale / 2,\n", + " \"max_vertex_distance_m\": max_distance * scale,\n", + " \"covers\": max_distance <= d / 2 + eps * 4,\n", + " \"coverage_tolerance_m\": 4 * eps * scale,\n", + " \"max_excess_m\": (max_distance-d/2) * scale,\n", + " \"outside_vertex_indices\": [i for i, value in enumerate(distances)\n", + " if value > d/2 + 4*eps],\n", + " \"witness_vertex\": world(hull[witness_index])\n", + " if max_distance > d/2 + 4*eps else None},\n", + " minimum_enclosing_circle={\"center\": world(center), \"radius_m\": radius * scale},\n", + " guaranteed_clearable_at_mec_center=radius * scale <= 20 - eps * scale * 4,\n", + " clearance_certificate={\"model\": \"angular_intersection_only\",\n", + " \"clear_radius_m\": 20.0,\n", + " \"numerical_margin_m\": 4*eps*scale,\n", + " \"radius_with_margin_m\": (radius+4*eps)*scale,\n", + " \"remaining_margin_m\": 20-(radius+4*eps)*scale,\n", + " \"center\": world(center)})\n", + " return result\n" + ] + }, + { + "cell_type": "markdown", + "id": "0e26ba66", + "metadata": {}, + "source": [ + "### 3.2 问题二的安全候选盘证书（`planning.py`）\n", + "\n", + "首次示向度只给出\"目标在角域 ∩ 距离 ≤ 1500 m 的扇形内\"。该扇形的**最小包围圆**\n", + "半径 a = R / (2 cos δ)；再按保证接收半径（≥ 1000 m）内缩 s = 1000 − a 得到\n", + "保证接收盘 B(圆心, s)——盘内任意点到真源的距离 ≤ s + a = 1000 m，\n", + "因此第二点必收到 `direction`（或 `near`），不会浪费一次 `no_signal`。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 11, + "id": "96ea4f0f", + "metadata": {}, + "outputs": [], + "source": [ + "def first_bearing_candidate_disk(measurement: Measurement,\n", + " max_range_m: float = 1500,\n", + " guaranteed_range_m: float = 1000) -> dict:\n", + " \"\"\"Enclose the entire truncated first-bearing sector, then erode its disk.\n", + "\n", + " For half-angle <=45 degrees the sector MEC has center distance and radius\n", + " a=R/(2*cos(delta)). Intersecting with Omega only shrinks the source set.\n", + " A missing sufficient disk is NOT proof that Q is empty. The certificate\n", + " guarantees distance only: directional transmitters may still be invisible.\n", + " \"\"\"\n", + " if any(isinstance(v, bool) or not isinstance(v, (int, float)) or not isfinite(v)\n", + " or v <= 0 for v in (max_range_m, guaranteed_range_m)):\n", + " raise ValueError(\"接收半径必须为有限正数\")\n", + " if measurement.half_angle_deg > 45:\n", + " raise ValueError(\"此窄角域证书仅支持半角不超过45度；题设为1度\")\n", + " delta, theta = radians(measurement.half_angle_deg), radians(measurement.bearing_deg % 360)\n", + " a = max_range_m/(2*cos(delta))\n", + " center = [measurement.x+a*cos(theta), measurement.y+a*sin(theta)]\n", + " available = guaranteed_range_m-a\n", + " return {\"source_model\": \"first_bearing_sector_with_range_upper_bound\",\n", + " \"sector_enclosing_circle\": {\"center\": center, \"radius_m\": a},\n", + " \"sufficient_candidate_disk\": {\"center\": center, \"radius_m\": available}\n", + " if available >= 0 else None,\n", + " \"candidate_nonempty_certified\": available >= 0,\n", + " \"distance_only\": True,\n", + " \"max_range_m\": max_range_m, \"guaranteed_range_m\": guaranteed_range_m}\n" + ] + }, + { + "cell_type": "markdown", + "id": "15dfa096", + "metadata": {}, + "source": [ + "## 4. 信念层与保证层\n", + "\n", + "### 4.1 逐频道保守凸候选集（`belief/__init__.py`）\n", + "\n", + "候选集 K_c 用**圆盘外切多边形 ∩ 测向角域半平面**表示。两条不变式：\n", + "\n", + "- 外切多边形严格包含圆盘、半平面裁剪带正容差 ⇒ 更新只会放大不会缩小真实候选集；\n", + "- `direction` 读数给出 K_c ⊆ Ω ∩ W(s, θ±δ_eff) ∩ B(s, 1500)，δ_eff 含示向度两位小数的\n", + " 舍入裕量 0.005°；\n", + "- `no_signal` **不删空间候选**（对定向源它只说明被遮挡，见第四问），\n", + " \"该频道无源\"的证明由覆盖账本或网格幸存集给出；\n", + "- `near` 读数把候选集收缩到 B(s, 5)，可直接产生清除证书。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 12, + "id": "48977ca8", + "metadata": {}, + "outputs": [], + "source": [ + "# 半平面裁剪的正容差（米）。坐标量级 ~2100，浮点误差远小于它；\n", + "# 容差只向\"保留更多候选\"的方向倾斜，不破坏保守性。\n", + "_CLIP_TOL_M = 1e-6\n", + "_DEDUPE_TOL_M = 1e-7\n", + "\n", + "\n", + "class InconsistentBelief(RuntimeError):\n", + " \"\"\"读数把候选集剪空等违背保守性的情形；须停机核查而非继续跑。\"\"\"\n", + "\n", + "\n", + "class ChannelStatus(Enum):\n", + " UNKNOWN = \"unknown\" # 尚无有效证据\n", + " DETECTED = \"detected\" # 收到过 direction/near，待定位\n", + " LOCATED = \"located\" # 候选集包围圆半径 <= 20，可清除\n", + " CLEARED = \"cleared\" # 清除成功\n", + " ABSENT = \"absent\" # 覆盖证明不存在（P4）\n", + "\n", + "\n", + "def circumscribed_polygon(center: Vec2, radius_m: float, sides: int) -> list[Vec2]:\n", + " \"\"\"圆的外切正多边形顶点（外接半径 r/cos(π/n)），严格包含圆盘。\n", + "\n", + " 近似误差（外接圆超出圆盘的部分）为 r(1/cos(π/n) - 1) ≤ r(1-cos(π/n))·sec²，\n", + " 调用方用 (1-cos(π/n)) 口径记账即可（略保守偏大）。\n", + " \"\"\"\n", + " if sides < 8:\n", + " raise ValueError(\"外切多边形边数过少，近似误差不可控\")\n", + " circumradius = radius_m / math.cos(math.pi / sides)\n", + " step = 2 * math.pi / sides\n", + " return [(center[0] + circumradius * math.cos(step * i + step / 2),\n", + " center[1] + circumradius * math.sin(step * i + step / 2))\n", + " for i in range(sides)]\n", + "\n", + "\n", + "def polygon_halfplanes(polygon: list[Vec2]) -> list[tuple[float, float, float]]:\n", + " \"\"\"CCW 多边形 -> 外法线半平面列表 (a, b, c)，含义 a·x + b·y <= c。\"\"\"\n", + " planes = []\n", + " count = len(polygon)\n", + " for index in range(count):\n", + " p, q = polygon[index], polygon[(index + 1) % count]\n", + " dx, dy = q[0] - p[0], q[1] - p[1]\n", + " norm = math.hypot(dx, dy)\n", + " if norm <= 1e-12:\n", + " continue\n", + " a, b = dy / norm, -dx / norm # CCW 的右法线朝外\n", + " planes.append((a, b, a * p[0] + b * p[1]))\n", + " return planes\n", + "\n", + "\n", + "def clip_halfplane(polygon: list[Vec2], a: float, b: float, c: float,\n", + " tol: float = _CLIP_TOL_M) -> list[Vec2]:\n", + " \"\"\"Sutherland–Hodgman 凸多边形半平面裁剪，保留 a·x + b·y <= c + tol。\n", + "\n", + " 边界交点取在无容差直线上；进入判定带正容差，保证\"贴边\"的真点不丢。\n", + " \"\"\"\n", + " if not polygon:\n", + " return []\n", + " output: list[Vec2] = []\n", + " count = len(polygon)\n", + " for index in range(count):\n", + " p, q = polygon[index], polygon[(index + 1) % count]\n", + " fp = a * p[0] + b * p[1] - c\n", + " fq = a * q[0] + b * q[1] - c\n", + " p_in, q_in = fp <= tol, fq <= tol\n", + " if p_in:\n", + " output.append(p)\n", + " if p_in != q_in:\n", + " ratio = fp / (fp - fq)\n", + " output.append((p[0] + ratio * (q[0] - p[0]),\n", + " p[1] + ratio * (q[1] - p[1])))\n", + " return _dedupe(output)\n", + "\n", + "\n", + "def _dedupe(points: list[Vec2], tol: float = _DEDUPE_TOL_M) -> list[Vec2]:\n", + " unique: list[Vec2] = []\n", + " for point in points:\n", + " if not unique or math.dist(point, unique[-1]) > tol:\n", + " unique.append(point)\n", + " if len(unique) > 1 and math.dist(unique[0], unique[-1]) <= tol:\n", + " unique.pop()\n", + " return unique\n", + "\n", + "\n", + "class CandidateRegion:\n", + " \"\"\"某频道候选集合的保守凸外包多边形（顶点按 CCW；允许退化为 1-2 点）。\"\"\"\n", + "\n", + " def __init__(self, polygon: list[Vec2], slack_m: float = 0.0):\n", + " self.polygon = list(polygon)\n", + " self.slack_m = float(slack_m) # 外包近似引入的半径向误差记账\n", + " self._mec: tuple[Vec2, float] | None = None\n", + "\n", + " # ------------------------------------------------------------ 构造\n", + " @classmethod\n", + " def disk(cls, center: Vec2, radius_m: float, sides: int,\n", + " slack_m: float | None = None) -> \"CandidateRegion\":\n", + " if slack_m is None:\n", + " slack_m = radius_m * (1 - math.cos(math.pi / sides))\n", + " return cls(circumscribed_polygon(center, radius_m, sides), slack_m)\n", + "\n", + " @classmethod\n", + " def initial(cls, station: Vec2, config: ProblemConfig) -> \"CandidateRegion\":\n", + " \"\"\"首个 direction 后的基础集：Ω ∩ B(station, r_max) 的保守外包。\"\"\"\n", + " field_cfg, sides = config.field, config.search.polygon_sides\n", + " slack = field_cfg.omega_radius_m * (1 - math.cos(math.pi / sides))\n", + " region = cls.disk((0.0, 0.0), field_cfg.omega_radius_m, sides, slack)\n", + " region.clip_disk(station, field_cfg.r_eff_max_m, sides)\n", + " return region\n", + "\n", + " # ------------------------------------------------------------ 收缩\n", + " def _clip(self, a: float, b: float, c: float) -> None:\n", + " polygon = clip_halfplane(self.polygon, a, b, c)\n", + " if not polygon:\n", + " raise InconsistentBelief(\n", + " f\"候选区域被半平面 ({a:.6f},{b:.6f},{c:.6f}) 剪空：读数与保守集矛盾\")\n", + " self.polygon = polygon\n", + " self._mec = None\n", + "\n", + " def clip_disk(self, center: Vec2, radius_m: float, sides: int) -> None:\n", + " \"\"\"与圆盘 B(center, radius) 的外切多边形求交（近似误差入账）。\"\"\"\n", + " for a, b, c in polygon_halfplanes(circumscribed_polygon(center, radius_m, sides)):\n", + " self._clip(a, b, c)\n", + " self.slack_m += radius_m * (1 - math.cos(math.pi / sides))\n", + "\n", + " def clip_wedge(self, station: Vec2, bearing_deg: float,\n", + " half_angle_deg: float) -> None:\n", + " \"\"\"与测向角域 W(station, bearing±half_angle) 求交（半角须 <90°）。\n", + "\n", + " 两个边界半平面与 localization.halfplanes 同口径，0°/360° 跨界由\n", + " sin/cos 直接处理，无需分支。\n", + " \"\"\"\n", + " if not 0 < half_angle_deg < 90:\n", + " raise ValueError(\"角域半角须在 (0, 90) 度\")\n", + " lower = math.radians(bearing_deg - half_angle_deg)\n", + " upper = math.radians(bearing_deg + half_angle_deg)\n", + " sx, sy = float(station[0]), float(station[1])\n", + " self._clip(math.sin(lower), -math.cos(lower),\n", + " math.sin(lower) * sx - math.cos(lower) * sy)\n", + " self._clip(-math.sin(upper), math.cos(upper),\n", + " -math.sin(upper) * sx + math.cos(upper) * sy)\n", + "\n", + " # ------------------------------------------------------------ 查询\n", + " def mec(self) -> tuple[Vec2, float]:\n", + " \"\"\"最小包围圆（圆心, 半径）。半径是真实候选集 ρ 的上界。\"\"\"\n", + " if self._mec is None:\n", + " if not self.polygon:\n", + " raise InconsistentBelief(\"候选区域为空\")\n", + " self._mec = smallest_enclosing_circle(self.polygon)\n", + " return self._mec\n", + "\n", + " def witnesses(self, spacing_m: float) -> list[Vec2]:\n", + " \"\"\"顶点 + 边界按间距细分的采样点（最坏后验评估用）。\"\"\"\n", + " if len(self.polygon) < 3:\n", + " return list(self.polygon)\n", + " points = list(self.polygon)\n", + " count = len(self.polygon)\n", + " for index in range(count):\n", + " p, q = self.polygon[index], self.polygon[(index + 1) % count]\n", + " length = math.dist(p, q)\n", + " steps = int(length // spacing_m)\n", + " for k in range(1, steps + 1):\n", + " ratio = k / (steps + 1)\n", + " points.append((p[0] + ratio * (q[0] - p[0]),\n", + " p[1] + ratio * (q[1] - p[1])))\n", + " return _dedupe(points, tol=1e-9)\n", + "\n", + " def contains(self, point: Vec2, tol_m: float = 0.05) -> bool:\n", + " \"\"\"点是否在候选集内（带容差；用于真源保留性检验，不做删点依据）。\"\"\"\n", + " if not self.polygon:\n", + " return False\n", + " if len(self.polygon) == 1:\n", + " return math.dist(point, self.polygon[0]) <= tol_m + self.slack_m\n", + " if len(self.polygon) == 2:\n", + " p, q = self.polygon\n", + " return _point_segment_distance(point, p, q) <= tol_m + self.slack_m\n", + " for index, p in enumerate(self.polygon):\n", + " q = self.polygon[(index + 1) % len(self.polygon)]\n", + " if (q[0] - p[0]) * (point[1] - p[1]) - (q[1] - p[1]) * (point[0] - p[0]) \\\n", + " < -tol_m - self.slack_m:\n", + " return False\n", + " return True\n", + "\n", + "\n", + "def _point_segment_distance(point: Vec2, p: Vec2, q: Vec2) -> float:\n", + " vx, vy = q[0] - p[0], q[1] - p[1]\n", + " length_sq = vx * vx + vy * vy\n", + " if length_sq <= 1e-18:\n", + " return math.dist(point, p)\n", + " t = max(0.0, min(1.0, ((point[0] - p[0]) * vx + (point[1] - p[1]) * vy) / length_sq))\n", + " return math.dist(point, (p[0] + t * vx, p[1] + t * vy))\n", + "\n", + "\n", + "@dataclass\n", + "class ChannelBelief:\n", + " channel: int\n", + " status: ChannelStatus = ChannelStatus.UNKNOWN\n", + " region: CandidateRegion | None = None\n", + " measurements: list = field(default_factory=list) # 逐步观测记录（审计用）\n", + "\n", + "\n", + "class BeliefState:\n", + " \"\"\"全部 20 个频道的信念集合。策略端唯一的事实来源。\"\"\"\n", + "\n", + " def __init__(self, config: ProblemConfig = ProblemConfig()):\n", + " self.config = config\n", + " self.channels = {channel: ChannelBelief(channel)\n", + " for channel in range(config.field.channel_min,\n", + " config.field.channel_max + 1)}\n", + "\n", + " @property\n", + " def effective_half_angle_deg(self) -> float:\n", + " \"\"\"示向度误差半角 + 舍入裕量：服务器保留两位小数引入 ≤0.005° 偏差。\"\"\"\n", + " return (self.config.field.bearing_error_half_deg\n", + " + self.config.search.bearing_rounding_margin_deg)\n", + "\n", + " def update_measure(self, channel: int, position: Vec2, result: str,\n", + " svd_deg: float | None) -> None:\n", + " \"\"\"按读数收敛候选集合；真源保留性由保守表示保证。\"\"\"\n", + " belief = self.channels[channel]\n", + " belief.measurements.append({\"position\": tuple(position), \"result\": result,\n", + " \"svd_deg\": svd_deg})\n", + " if result == DIRECTION:\n", + " if svd_deg is None:\n", + " raise ValueError(\"direction 读数必须携带 svd_deg\")\n", + " sides = self.config.search.polygon_sides\n", + " if belief.region is None:\n", + " belief.region = CandidateRegion.initial(position, self.config)\n", + " else:\n", + " # 后续 direction 同样隐含距离 <= r_max [题面]\n", + " belief.region.clip_disk(position, self.config.field.r_eff_max_m, sides)\n", + " belief.region.clip_wedge(position, svd_deg, self.effective_half_angle_deg)\n", + " belief.status = ChannelStatus.DETECTED\n", + " elif result == NEAR:\n", + " sides = self.config.search.polygon_sides\n", + " if belief.region is None:\n", + " belief.region = CandidateRegion.disk(\n", + " tuple(position), self.config.field.near_radius_m, sides)\n", + " else:\n", + " belief.region.clip_disk(position, self.config.field.near_radius_m, sides)\n", + " belief.status = ChannelStatus.DETECTED\n", + " elif result == NO_SIGNAL:\n", + " # P3/P4 基线：不据此删空间候选（缺席证明由覆盖账本给出）。\n", + " pass\n", + " else:\n", + " raise ValueError(f\"未知测向结果: {result!r}\")\n", + "\n", + " def candidate_set(self, channel: int) -> CandidateRegion | None:\n", + " \"\"\"该频道当前候选集合（保守外包形式）；尚无 direction/near 时为 None。\"\"\"\n", + " return self.channels[channel].region\n", + "\n", + " def mark_cleared(self, channel: int) -> None:\n", + " self.channels[channel].status = ChannelStatus.CLEARED\n", + "\n", + " def mark_absent(self, channel: int) -> None:\n", + " self.channels[channel].status = ChannelStatus.ABSENT\n", + "\n", + " def channels_by_status(self, *statuses: ChannelStatus) -> list[int]:\n", + " return sorted(channel for channel, belief in self.channels.items()\n", + " if belief.status in statuses)\n" + ] + }, + { + "cell_type": "markdown", + "id": "d5ebeb37", + "metadata": {}, + "source": [ + "### 4.2 逐频道覆盖账本（`coverage/__init__.py`）\n", + "\n", + "\"路过某点\"不算\"测过某频道\"：覆盖必须按 (频道, 点) 二维记账，\n", + "这是\"全点皆 `no_signal` ⇒ 该频道不存在源\"这一缺席证明的唯一依据。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 13, + "id": "83ef8c99", + "metadata": {}, + "outputs": [], + "source": [ + "def coverage_points(config: ProblemConfig = ProblemConfig()) -> list[Vec2]:\n", + " \"\"\"49 点覆盖网格生成（纯几何，可独立测试）。\"\"\"\n", + " step = config.search.grid_step_m\n", + " half = config.search.grid_half_cells\n", + " return [(step * i, step * j)\n", + " for j in range(half, -half - 1, -1)\n", + " for i in range(-half, half + 1)]\n", + "\n", + "\n", + "@dataclass\n", + "class CoverageLedger:\n", + " \"\"\"逐频道覆盖账本：(频道, 网格点) -> 是否已测。\"\"\"\n", + "\n", + " config: ProblemConfig = field(default_factory=ProblemConfig)\n", + " points: list[Vec2] = field(default_factory=coverage_points)\n", + " measured: set = field(default_factory=set) # {(channel, point_index)}\n", + " skipped: dict = field(default_factory=dict) # channel -> 原因\n", + "\n", + " def mark_measured(self, channel: int, point_index: int) -> None:\n", + " self.measured.add((channel, point_index))\n", + "\n", + " def measured_at(self, channel: int, point_index: int) -> bool:\n", + " return (channel, point_index) in self.measured\n", + "\n", + " def skip_channel(self, channel: int, reason: str) -> None:\n", + " \"\"\"记录整频道跳过原因（如 already_cleared / located_pending_clear）。\"\"\"\n", + " self.skipped[channel] = reason\n", + "\n", + " def pending_points(self, channel: int) -> list[int]:\n", + " \"\"\"该频道尚未测量的网格点下标。扫描调度策略未实现（P4）。\"\"\"\n", + " return [index for index in range(len(self.points))\n", + " if not self.measured_at(channel, index)]\n", + "\n", + " def coverage_complete(self, channel: int) -> bool:\n", + " \"\"\"该频道覆盖是否完成（含显式跳过）。\"\"\"\n", + " return channel in self.skipped or not self.pending_points(channel)\n" + ] + }, + { + "cell_type": "markdown", + "id": "2797039e", + "metadata": {}, + "source": [ + "### 4.3 覆盖计划与证书（`guarantee/cover.py`）\n", + "\n", + "两类覆盖语义（题面约束不同，绝不可混用）：\n", + "\n", + "| 语义 | 适用 | 缺席条件 |\n", + "| --- | --- | --- |\n", + "| `full_disk` | 第三问全向源 | ∪ B(c, 1000) ⊇ Ω，即 Ω 内每点都落在某个被访点的最小接收圆盘内 |\n", + "| `forward_half_disk` | 第四问定向源 | ∀(p, h) ∈ Ω × S¹，存在被访点 c 使 \\|c−p\\| ≤ 1000 且 (c−p)·u(h) ≥ 0 |\n", + "\n", + "**保证 = 离线搜索 + 运行期校验**：点表与证书一起落盘并校验采样语义、缺口数、\n", + "最坏命中距离与生成参数哈希，运行期用同一套采样语义重新校核，未通过即拒绝启动。\n", + "证书硬化把\"采样格覆盖\"提升为\"连续空间覆盖\"：设计裕量 r_eff + step·√2/2 ≤ 1000\n", + "且角裕量 ≥ 180/headings/2。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 14, + "id": "9fe42d17", + "metadata": {}, + "outputs": [], + "source": [ + "R_EFF_MIN_M = 1000.0 # [题面] 最小有效接收半径\n", + "OMEGA_RADIUS_M = 1800.0 # [题面] 目标圆域半径\n", + "SPEED_MPS = 5.0 # [题面] 用于把巡回长度折算成虚拟移动秒数\n", + "\n", + "# 采样分辨率。**校核必须与证书同分辨率**：更粗的采样会放过\"删掉一个关键点\n", + "# 仍然看似覆盖\"的点集，使校核退化为装饰（实测 100 m/12 档即漏判）。\n", + "# 75 m / 24 档下一次全域校核约 1 s，且按计划名缓存，每进程只付一次。\n", + "CERTIFY_STEP_M = 75.0\n", + "CERTIFY_HEADINGS = 24\n", + "VERIFY_STEP_M = CERTIFY_STEP_M\n", + "VERIFY_HEADINGS = CERTIFY_HEADINGS\n", + "\n", + "\n", + "@dataclass(frozen=True)\n", + "class CoverageCertificate:\n", + " \"\"\"覆盖证书：采样语义 + 缺口 + 最坏命中距离。\"\"\"\n", + "\n", + " kind: str # \"full_disk\" | \"forward_half_disk\"\n", + " target_step_m: float\n", + " headings: int\n", + " r_eff_min_m: float\n", + " targets: int\n", + " uncovered: int\n", + " worst_hit_distance_m: float\n", + " nn_tour_m: float\n", + " generator_sha256: str = \"\"\n", + " # 证书硬化：校核时使用的前向角裕量（度）。与 r_eff_min_m 的设计裕量\n", + " # 一起把\"采样格覆盖\"提升为\"连续空间覆盖\"，见 verify_forward_half_disk。\n", + " verify_heading_margin_deg: float = 0.0\n", + "\n", + " @property\n", + " def valid(self) -> bool:\n", + " return self.uncovered == 0 and self.targets > 0\n", + "\n", + " def as_dict(self) -> dict:\n", + " return {\"kind\": self.kind, \"target_step_m\": self.target_step_m,\n", + " \"headings\": self.headings, \"r_eff_min_m\": self.r_eff_min_m,\n", + " \"targets\": self.targets, \"uncovered\": self.uncovered,\n", + " \"worst_hit_distance_m\": round(self.worst_hit_distance_m, 3),\n", + " \"nn_tour_m\": round(self.nn_tour_m, 1),\n", + " \"nn_tour_virtual_s\": round(self.nn_tour_m / SPEED_MPS, 1),\n", + " \"generator_sha256\": self.generator_sha256,\n", + " \"verify_heading_margin_deg\": self.verify_heading_margin_deg}\n", + "\n", + "\n", + "@dataclass(frozen=True)\n", + "class CoveragePlan:\n", + " \"\"\"一份覆盖计划：点集 + 语义 + 证书（可为解析证明）。\"\"\"\n", + "\n", + " name: str\n", + " problem: int\n", + " points: tuple[Vec2, ...]\n", + " kind: str # \"analytic\" | \"certified\"\n", + " coverage: str # \"full_disk\" | \"forward_half_disk\"\n", + " note: str = \"\"\n", + " certificate: CoverageCertificate | None = None\n", + " generator: dict = field(default_factory=dict)\n", + "\n", + " def __len__(self) -> int:\n", + " return len(self.points)\n", + "\n", + " def as_dict(self) -> dict:\n", + " return {\"name\": self.name, \"problem\": self.problem, \"kind\": self.kind,\n", + " \"coverage\": self.coverage, \"note\": self.note,\n", + " \"generator\": self.generator,\n", + " \"certificate\": (self.certificate.as_dict()\n", + " if self.certificate is not None else None),\n", + " \"points\": [[p[0], p[1]] for p in self.points]}\n", + "\n", + "\n", + "# --------------------------------------------------------------------- 采样\n", + "def omega_positions(step_m: float) -> list[Vec2]:\n", + " \"\"\"Ω 内均匀方格位置采样。\"\"\"\n", + " span = int(OMEGA_RADIUS_M / step_m) + 1\n", + " return [(step_m * i, step_m * j)\n", + " for i in range(-span, span + 1) for j in range(-span, span + 1)\n", + " if (step_m * i) ** 2 + (step_m * j) ** 2 <= OMEGA_RADIUS_M ** 2]\n", + "\n", + "\n", + "def forward_targets(step_m: float, headings: int) -> list[tuple[float, float, float]]:\n", + " \"\"\"(p, h) 目标采样：位置在 Ω 内，朝向均分整圆。\"\"\"\n", + " return [(x, y, 2.0 * math.pi * k / headings)\n", + " for (x, y) in omega_positions(step_m) for k in range(headings)]\n", + "\n", + "\n", + "def candidate_lattice(spacing_m: float, radius_m: float) -> list[Vec2]:\n", + " \"\"\"半径 radius_m 圆盘内的方格候选点（离线搜索用）。\"\"\"\n", + " span = int(radius_m / spacing_m) + 1\n", + " return [(spacing_m * i, spacing_m * j)\n", + " for i in range(-span, span + 1) for j in range(-span, span + 1)\n", + " if (spacing_m * i) ** 2 + (spacing_m * j) ** 2 <= radius_m ** 2]\n", + "\n", + "\n", + "def _bucket(points: list[Vec2], cell: float) -> dict[tuple[int, int], list[int]]:\n", + " table: dict[tuple[int, int], list[int]] = {}\n", + " for index, (x, y) in enumerate(points):\n", + " table.setdefault((int(x // cell), int(y // cell)), []).append(index)\n", + " return table\n", + "\n", + "\n", + "def coverage_masks(targets, candidates: list[Vec2],\n", + " r_eff: float = R_EFF_MIN_M,\n", + " heading_margin_deg: float = 0.0) -> list[int]:\n", + " \"\"\"每个候选点覆盖的目标位掩码（Python 大整数，按位）。\n", + "\n", + " 只在与候选点空间桶相邻的格内做距离/前向判定，避免 |T|·|C| 笛卡尔积。\n", + "\n", + " ``r_eff`` / ``heading_margin_deg`` 是**设计裕量**：离线搜索时把\"命中\"\n", + " 定义得比物理要求更严（距离 ≤ r_eff、前向夹角 ≤ 90°−margin），使采样格\n", + " 上的覆盖自动蕴含相邻未采样 (p,h) 也被覆盖（S2 证书硬化）。\n", + " \"\"\"\n", + " table = _bucket(candidates, r_eff)\n", + " masks = [0] * len(candidates)\n", + " sin_margin = math.sin(math.radians(max(heading_margin_deg, 0.0)))\n", + " for t_index, (px, py, heading) in enumerate(targets):\n", + " ux, uy = math.cos(heading), math.sin(heading)\n", + " ci, cj = int(px // r_eff), int(py // r_eff)\n", + " bit = 1 << t_index\n", + " for di in (-1, 0, 1):\n", + " for dj in (-1, 0, 1):\n", + " for c_index in table.get((ci + di, cj + dj), ()):\n", + " cx, cy = candidates[c_index]\n", + " dx, dy = cx - px, cy - py\n", + " distance_sq = dx * dx + dy * dy\n", + " if distance_sq > r_eff * r_eff:\n", + " continue\n", + " if dx * ux + dy * uy < sin_margin * math.sqrt(distance_sq) - 1e-9:\n", + " continue\n", + " masks[c_index] |= bit\n", + " return masks\n", + "\n", + "\n", + "def greedy_cover(masks: list[int], n_targets: int) -> list[int]:\n", + " \"\"\"贪心集合覆盖：每次取\"新增覆盖目标数\"最大的候选，返回索引表。\"\"\"\n", + " full = (1 << n_targets) - 1\n", + " covered = 0\n", + " chosen: list[int] = []\n", + " remaining = list(range(len(masks)))\n", + " while covered != full and remaining:\n", + " best_index, best_gain = -1, 0\n", + " for c_index in remaining:\n", + " gain = (masks[c_index] & ~covered).bit_count()\n", + " if gain > best_gain:\n", + " best_index, best_gain = c_index, gain\n", + " if best_index < 0:\n", + " break\n", + " chosen.append(best_index)\n", + " covered |= masks[best_index]\n", + " remaining.remove(best_index)\n", + " return chosen\n", + "\n", + "\n", + "def nn_tour_length(points: list[Vec2], start: Vec2 = (0.0, 0.0)) -> float:\n", + " \"\"\"最近邻开放路径长度（巡回长度上界）。\"\"\"\n", + " remaining = list(points)\n", + " position = start\n", + " total = 0.0\n", + " while remaining:\n", + " nxt = min(remaining, key=lambda q: (q[0] - position[0]) ** 2\n", + " + (q[1] - position[1]) ** 2)\n", + " remaining.remove(nxt)\n", + " total += math.dist(position, nxt)\n", + " position = nxt\n", + " return total\n", + "\n", + "\n", + "# --------------------------------------------------------------------- 校验\n", + "def _hit_distance(points: list[Vec2], position: Vec2, heading: float,\n", + " r_eff: float) -> float | None:\n", + " \"\"\"最近的前向命中距离；没有任何前向命中点则返回 None。\"\"\"\n", + " ux, uy = math.cos(heading), math.sin(heading)\n", + " best = None\n", + " for (cx, cy) in points:\n", + " dx, dy = cx - position[0], cy - position[1]\n", + " if dx * dx + dy * dy > r_eff * r_eff:\n", + " continue\n", + " if dx * ux + dy * uy < -1e-9:\n", + " continue\n", + " distance = math.hypot(dx, dy)\n", + " if best is None or distance < best:\n", + " best = distance\n", + " return best\n", + "\n", + "\n", + "def _nearest_distance(points: list[Vec2], position: Vec2,\n", + " r_eff: float) -> float | None:\n", + " \"\"\"最近距离（不要求前向）；超过 r_eff 视作未命中。\"\"\"\n", + " best = None\n", + " for (cx, cy) in points:\n", + " distance = math.hypot(cx - position[0], cy - position[1])\n", + " if distance <= r_eff and (best is None or distance < best):\n", + " best = distance\n", + " return best\n", + "\n", + "\n", + "def verify_forward_half_disk(points: list[Vec2], step_m: float = VERIFY_STEP_M,\n", + " headings: int = VERIFY_HEADINGS,\n", + " r_eff: float = R_EFF_MIN_M,\n", + " heading_margin_deg: float = 0.0) -> CoverageCertificate:\n", + " \"\"\"第四问语义：∀(p,h) 存在前向半盘内的被访点。\n", + "\n", + " ``heading_margin_deg`` 是**证书硬化**用的前向角裕量：把\"命中\"收紧为\n", + " \"前向夹角 ≤ 90° − margin\"。与 ``r_eff`` 的设计裕量合用时，采样格上的\n", + " 覆盖即可推出**连续空间**覆盖：真实 (p',h') 距采样格 ≤ step·√2/2、\n", + " 方位差 ≤ 180/headings 度，只要\n", + "\n", + " r_eff + step·√2/2 ≤ 1000 且 margin ≥ 180/headings/2\n", + "\n", + " 就能保证 |c−p'| ≤ 1000 且 (c−p')·u(h') ≥ 0。这正是 S2 取代\"粗采样\n", + " 假通过\"的方式。默认 0 表示按物理条件校核。\n", + " \"\"\"\n", + " points = list(points)\n", + " targets = forward_targets(step_m, headings)\n", + " table = _bucket(points, r_eff)\n", + " missing, worst = 0, 0.0\n", + " sin_margin = math.sin(math.radians(max(heading_margin_deg, 0.0)))\n", + " for (px, py, heading) in targets:\n", + " ux, uy = math.cos(heading), math.sin(heading)\n", + " ci, cj = int(px // r_eff), int(py // r_eff)\n", + " best = None\n", + " for di in (-1, 0, 1):\n", + " for dj in (-1, 0, 1):\n", + " for c_index in table.get((ci + di, cj + dj), ()):\n", + " cx, cy = points[c_index]\n", + " dx, dy = cx - px, cy - py\n", + " distance_sq = dx * dx + dy * dy\n", + " if distance_sq > r_eff * r_eff:\n", + " continue\n", + " if dx * ux + dy * uy < sin_margin * math.sqrt(distance_sq) - 1e-9:\n", + " continue\n", + " distance = math.sqrt(distance_sq)\n", + " if best is None or distance < best:\n", + " best = distance\n", + " if best is None:\n", + " missing += 1\n", + " else:\n", + " worst = max(worst, best)\n", + " return CoverageCertificate(\"forward_half_disk\", step_m, headings, r_eff,\n", + " len(targets), missing, worst,\n", + " nn_tour_length(points))\n", + "\n", + "\n", + "def verify_full_disk(points: list[Vec2], step_m: float = VERIFY_STEP_M,\n", + " r_eff: float = R_EFF_MIN_M) -> CoverageCertificate:\n", + " \"\"\"第三问语义：Ω 内每点都在某个被访点的 r_eff 圆盘内。\"\"\"\n", + " points = list(points)\n", + " positions = omega_positions(step_m)\n", + " table = _bucket(points, r_eff)\n", + " missing, worst = 0, 0.0\n", + " for (px, py) in positions:\n", + " ci, cj = int(px // r_eff), int(py // r_eff)\n", + " best = None\n", + " for di in (-1, 0, 1):\n", + " for dj in (-1, 0, 1):\n", + " for c_index in table.get((ci + di, cj + dj), ()):\n", + " cx, cy = points[c_index]\n", + " distance = math.hypot(cx - px, cy - py)\n", + " if distance <= r_eff and (best is None or distance < best):\n", + " best = distance\n", + " if best is None:\n", + " missing += 1\n", + " else:\n", + " worst = max(worst, best)\n", + " return CoverageCertificate(\"full_disk\", step_m, 1, r_eff, len(positions),\n", + " missing, worst, nn_tour_length(points))\n", + "\n", + "\n", + "def verify_plan(plan: CoveragePlan, step_m: float | None = None,\n", + " headings: int | None = None) -> CoverageCertificate:\n", + " \"\"\"按计划声明的覆盖语义校核。\n", + "\n", + " 默认使用**证书自带的采样分辨率**（离线 75 m / 24 档）：更粗的运行期采样\n", + " 会放过\"删掉一个关键点仍看似覆盖\"的点集，使校核失去意义。校核按计划名\n", + " 缓存（``load_plan`` 的 lru_cache），每进程只付一次成本。\n", + " \"\"\"\n", + " certificate = plan.certificate\n", + " if step_m is None:\n", + " step_m = certificate.target_step_m if certificate else VERIFY_STEP_M\n", + " if headings is None:\n", + " headings = (certificate.headings if certificate\n", + " else VERIFY_HEADINGS)\n", + " if plan.coverage == \"forward_half_disk\":\n", + " # 硬化证书：按证书自带的距离/角度设计裕量重新校核（旧证书默认\n", + " # r_eff=1000、margin=0，与历史口径逐位一致）。\n", + " return verify_forward_half_disk(\n", + " plan.points, step_m, headings,\n", + " r_eff=(certificate.r_eff_min_m if certificate else R_EFF_MIN_M),\n", + " heading_margin_deg=(certificate.verify_heading_margin_deg\n", + " if certificate else 0.0))\n", + " return verify_full_disk(plan.points, step_m, certificate.r_eff_min_m\n", + " if certificate else R_EFF_MIN_M)\n", + "\n", + "\n", + "# --------------------------------------------------------------------- 计划\n", + "def seven_points(ring_radius_m: float) -> list[Vec2]:\n", + " \"\"\"解析七站：原点 + 环上 6 等分点。\"\"\"\n", + " return [(0.0, 0.0)] + [(ring_radius_m * math.cos(k * math.pi / 3),\n", + " ring_radius_m * math.sin(k * math.pi / 3))\n", + " for k in range(6)]\n", + "\n", + "\n", + "def seven_plan(ring_radius_m: float) -> CoveragePlan:\n", + " \"\"\"第三问解析计划（覆盖证明由 validate_seven_coverage 给出）。\"\"\"\n", + " return CoveragePlan(\n", + " name=f\"seven-r{ring_radius_m:.1f}\", problem=3, kind=\"analytic\",\n", + " coverage=\"full_disk\",\n", + " note=(\"解析证明 max(r/√3, sqrt(R²+r²−√3Rr)) < 1000；\"\n", + " \"r∈[1122.9, 1732] 时成立，巡检半径越小巡回越短\"),\n", + " points=tuple(seven_points(ring_radius_m)))\n", + "\n", + "\n", + "def square_49_plan() -> CoveragePlan:\n", + " \"\"\"第四问旧计划：700 m 方格 49 点（充分条件，保留作回退与对照）。\"\"\"\n", + " return CoveragePlan(\n", + " name=\"square49\", problem=4, kind=\"certified\",\n", + " coverage=\"forward_half_disk\",\n", + " note=\"单元对角 700√2≈989.95≤1000 的充分条件；点数为最小命中集的 1.6 倍\",\n", + " # 顺序与 coverage.coverage_points() 完全一致（y 由大到小），保持历史\n", + " # 基线 grid49_immediate 的逐位可复现。\n", + " points=tuple((700.0 * i, 700.0 * j)\n", + " for j in range(3, -4, -1) for i in range(-3, 4)))\n", + "\n", + "\n", + "def plan_instance(name: str, verify: bool = True) -> CoveragePlan:\n", + " \"\"\"统一入口：按名称取覆盖计划（内置解析计划 / 内嵌证书计划）。\"\"\"\n", + " if name == \"square49\":\n", + " return square_49_plan()\n", + " if name == \"seven\":\n", + " return seven_plan(1200.0)\n", + " if name not in EMBEDDED_PLANS:\n", + " raise FileNotFoundError(f\"未找到覆盖计划 {name!r}；现有：{plan_names()}\")\n", + " plan = embedded_plan(name)\n", + " if verify and plan.kind == \"certified\":\n", + " certificate = verify_plan(plan)\n", + " if not certificate.valid:\n", + " raise ValueError(\n", + " f\"覆盖计划 {name!r} 运行期校验失败：\"\n", + " f\"{certificate.uncovered}/{certificate.targets} 个 (p,h) 未被覆盖\")\n", + " plan = CoveragePlan(\n", + " name=plan.name, problem=plan.problem, kind=plan.kind,\n", + " coverage=plan.coverage, note=plan.note, generator=plan.generator,\n", + " certificate=CoverageCertificate(\n", + " kind=certificate.kind, target_step_m=certificate.target_step_m,\n", + " headings=certificate.headings, r_eff_min_m=certificate.r_eff_min_m,\n", + " targets=certificate.targets, uncovered=certificate.uncovered,\n", + " worst_hit_distance_m=certificate.worst_hit_distance_m,\n", + " nn_tour_m=certificate.nn_tour_m,\n", + " generator_sha256=(plan.certificate.generator_sha256\n", + " if plan.certificate else \"\")),\n", + " points=plan.points)\n", + " return plan\n", + "\n", + "\n", + "def plan_names() -> list[str]:\n", + " \"\"\"全部可加载的计划名（内置解析计划 + 内嵌证书计划）。\"\"\"\n", + " return [\"square49\", \"seven\"] + sorted(EMBEDDED_PLANS)\n" + ] + }, + { + "cell_type": "markdown", + "id": "b6709645", + "metadata": {}, + "source": [ + "### 4.4 第四问最小命中集（内嵌计划）\n", + "\n", + "现役计划 `q4_mincover_v2`：31 点（700 m 方格 49 点的充分条件可压到 31 点），\n", + "设计裕量 r_design = 965 m、前向角裕量 5°，按 15 m / 72 档共 3 256 200 个 (p, h)\n", + "复核缺口为 0、最坏命中 990.05 m、最近邻巡回 23.88 km。\n", + "`q4_mincover_v1` 是同点数的粗采样（75 m / 24 档）解，细网格复检有 125 个缺口——\n", + "保留它正是\"粗采样假通过\"的反例。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 15, + "id": "2892e247", + "metadata": {}, + "outputs": [], + "source": [ + "def seven_points(ring_radius_m: float) -> list[Vec2]:\n", + " \"\"\"解析七站：原点 + 环上 6 等分点。\"\"\"\n", + " return [(0.0, 0.0)] + [(ring_radius_m * math.cos(k * math.pi / 3),\n", + " ring_radius_m * math.sin(k * math.pi / 3))\n", + " for k in range(6)]\n", + "\n", + "\n", + "def seven_plan(ring_radius_m: float) -> CoveragePlan:\n", + " \"\"\"第三问解析计划（覆盖证明由 validate_seven_coverage 给出）。\"\"\"\n", + " return CoveragePlan(\n", + " name=f\"seven-r{ring_radius_m:.1f}\", problem=3, kind=\"analytic\",\n", + " coverage=\"full_disk\",\n", + " note=(\"解析证明 max(r/√3, sqrt(R²+r²−√3Rr)) < 1000；\"\n", + " \"r∈[1122.9, 1732] 时成立，巡检半径越小巡回越短\"),\n", + " points=tuple(seven_points(ring_radius_m)))\n", + "\n", + "\n", + "def square_49_plan() -> CoveragePlan:\n", + " \"\"\"第四问旧计划：700 m 方格 49 点（充分条件，保留作回退与对照）。\"\"\"\n", + " return CoveragePlan(\n", + " name=\"square49\", problem=4, kind=\"certified\",\n", + " coverage=\"forward_half_disk\",\n", + " note=\"单元对角 700√2≈989.95≤1000 的充分条件；点数为最小命中集的 1.6 倍\",\n", + " # 顺序与 coverage.coverage_points() 完全一致（y 由大到小），保持历史\n", + " # 基线 grid49_immediate 的逐位可复现。\n", + " points=tuple((700.0 * i, 700.0 * j)\n", + " for j in range(3, -4, -1) for i in range(-3, 4)))\n", + "\n", + "\n", + "def plan_instance(name: str, verify: bool = True) -> CoveragePlan:\n", + " \"\"\"统一入口：按名称取覆盖计划（内置解析计划 / 内嵌证书计划）。\"\"\"\n", + " if name == \"square49\":\n", + " return square_49_plan()\n", + " if name == \"seven\":\n", + " return seven_plan(1200.0)\n", + " if name not in EMBEDDED_PLANS:\n", + " raise FileNotFoundError(f\"未找到覆盖计划 {name!r}；现有：{plan_names()}\")\n", + " plan = embedded_plan(name)\n", + " if verify and plan.kind == \"certified\":\n", + " certificate = verify_plan(plan)\n", + " if not certificate.valid:\n", + " raise ValueError(\n", + " f\"覆盖计划 {name!r} 运行期校验失败：\"\n", + " f\"{certificate.uncovered}/{certificate.targets} 个 (p,h) 未被覆盖\")\n", + " plan = CoveragePlan(\n", + " name=plan.name, problem=plan.problem, kind=plan.kind,\n", + " coverage=plan.coverage, note=plan.note, generator=plan.generator,\n", + " certificate=CoverageCertificate(\n", + " kind=certificate.kind, target_step_m=certificate.target_step_m,\n", + " headings=certificate.headings, r_eff_min_m=certificate.r_eff_min_m,\n", + " targets=certificate.targets, uncovered=certificate.uncovered,\n", + " worst_hit_distance_m=certificate.worst_hit_distance_m,\n", + " nn_tour_m=certificate.nn_tour_m,\n", + " generator_sha256=(plan.certificate.generator_sha256\n", + " if plan.certificate else \"\")),\n", + " points=plan.points)\n", + " return plan\n", + "\n", + "\n", + "def plan_names() -> list[str]:\n", + " \"\"\"全部可加载的计划名（内置解析计划 + 内嵌证书计划）。\"\"\"\n", + " return [\"square49\", \"seven\"] + sorted(EMBEDDED_PLANS)\n" + ] + }, + { + "cell_type": "code", + "execution_count": 16, + "id": "51d5ac79", + "metadata": {}, + "outputs": [], + "source": [ + "# 覆盖计划以字面量内嵌（原实现从 guarantee/plans/*.json 读取；数值逐位一致）。\n", + "# v2 是现役计划：31 点、设计裕量 r_design=965 m / 前向角裕量 5°，\n", + "# 证书按 15 m / 72 档复核 3 256 200 个 (p, h) 目标，缺口 0、最坏命中 990.05 m。\n", + "# v1（75 m/24 档采样过拟合解）保留作对照，说明\"粗采样假通过\"的风险。\n", + "Q4_MINCOVER_V2 = {\n", + " \"name\": \"q4_mincover_v2\",\n", + " \"problem\": 4,\n", + " \"kind\": \"certified\",\n", + " \"coverage\": \"forward_half_disk\",\n", + " \"note\": \"设计裕量最小命中集：31 点，r_design=965 m / 前向角裕量 5.0°；证书按 15 m/72 档、r_verify=1000 m、角裕量 0.0° 校核缺口 0（同一证书口径复核，含精细剪枝）；最坏命中 990 m，NN 巡回 23.9 km\",\n", + " \"generator\": {\n", + " \"script\": \"scripts/verify_q4_cover.py\",\n", + " \"spacing_m\": 100.0,\n", + " \"radius_m\": 2850.0,\n", + " \"target_step_m\": 50.0,\n", + " \"headings\": 48,\n", + " \"design_r_eff_m\": 965.0,\n", + " \"heading_margin_deg\": 5.0,\n", + " \"pruned\": True,\n", + " \"verify_step_m\": 15.0,\n", + " \"verify_headings\": 72,\n", + " \"verify_r_eff_m\": 1000.0,\n", + " \"verify_heading_margin_deg\": 0.0,\n", + " \"code_sha256\": \"adf4fe6e9853c47314fac2c630fc6846ea6922102c2e83b507e5d397434c0e1d\"\n", + " },\n", + " \"certificate\": {\n", + " \"kind\": \"forward_half_disk\",\n", + " \"target_step_m\": 15.0,\n", + " \"headings\": 72,\n", + " \"r_eff_min_m\": 1000.0,\n", + " \"targets\": 3256200,\n", + " \"uncovered\": 0,\n", + " \"worst_hit_distance_m\": 990.051,\n", + " \"nn_tour_m\": 23883.8,\n", + " \"nn_tour_virtual_s\": 4776.8,\n", + " \"generator_sha256\": \"adf4fe6e9853c47314fac2c630fc6846ea6922102c2e83b507e5d397434c0e1d\",\n", + " \"verify_heading_margin_deg\": 0.0\n", + " },\n", + " \"points\": [\n", + " (-800, -200), (800, 200), (-200, 900), (200, -900), (-1200, 700), (1200, -700),\n", + " (800, 1200), (-1800, -300), (1800, 300), (-400, 1800), (0, 0), (1400, -1400),\n", + " (-1500, -1300), (1500, 1300), (-400, -1800), (400, 1800), (-1800, 400), (1800, -400),\n", + " (-500, 700), (-700, -700), (700, 700), (1300, 1100), (-1300, 1500), (500, -1800),\n", + " (-900, -2100), (600, 1900), (-2500, 500), (1900, -900), (-1700, -500), (-700, -1200),\n", + " (900, -700),\n", + " ],\n", + "}\n", + "Q4_MINCOVER_V1 = {\n", + " \"name\": \"q4_mincover_v1\",\n", + " \"problem\": 4,\n", + " \"kind\": \"certified\",\n", + " \"coverage\": \"forward_half_disk\",\n", + " \"note\": \"贪心击中集等价覆盖：31 点 vs 现役 49 点，NN 巡回 22.9 km vs 36.4 km\",\n", + " \"generator\": {\n", + " \"script\": \"scripts/verify_q4_cover.py\",\n", + " \"spacing_m\": 200.0,\n", + " \"radius_m\": 2850.0,\n", + " \"target_step_m\": 75.0,\n", + " \"headings\": 24,\n", + " \"code_sha256\": \"dce9f0e189439bbea26f6bcbebf7e7f7bb99021a9035fca0c8d67bb67a3a529a\"\n", + " },\n", + " \"certificate\": None,\n", + " \"points\": [\n", + " (-800, 0), (800, 0), (0, -1000), (0, 1000), (-1200, -1000), (-1000, 1000),\n", + " (1000, -1000), (1000, 1000), (1800, 0), (-1800, 200), (-400, -1800), (-200, 1800),\n", + " (0, 0), (800, -1800), (1200, 1600), (-1400, 1400), (1800, -800), (-1800, -800),\n", + " (1800, 600), (-600, -1000), (400, 1800), (-1400, -1800), (-1200, 800), (-1200, 1800),\n", + " (400, -800), (-200, 400), (600, -1400), (-2200, 600), (1000, -1600), (-2000, -400),\n", + " (-200, -2200),\n", + " ],\n", + "}\n", + "\n", + "EMBEDDED_PLANS = {\"q4_mincover_v1\": Q4_MINCOVER_V1, \"q4_mincover_v2\": Q4_MINCOVER_V2}\n", + "\n", + "\n", + "def embedded_plan(name: str) -> CoveragePlan:\n", + " \"\"\"把内嵌计划字典还原成 :class:`CoveragePlan`（证书字段按数据类取值）。\"\"\"\n", + " payload = EMBEDDED_PLANS[name]\n", + " raw_cert = payload.get(\"certificate\") or {}\n", + " known = {item.name for item in fields(CoverageCertificate)}\n", + " certificate = (CoverageCertificate(**{key: value for key, value in raw_cert.items()\n", + " if key in known}) if raw_cert else None)\n", + " return CoveragePlan(\n", + " name=payload[\"name\"], problem=int(payload[\"problem\"]),\n", + " kind=payload.get(\"kind\", \"certified\"),\n", + " coverage=payload.get(\"coverage\", \"forward_half_disk\"),\n", + " note=payload.get(\"note\", \"\"), certificate=certificate,\n", + " generator=payload.get(\"generator\", {}),\n", + " points=tuple((float(x), float(y)) for x, y in payload[\"points\"]))\n" + ] + }, + { + "cell_type": "markdown", + "id": "5fdc48f7", + "metadata": {}, + "source": [ + "### 4.5 第三问解析七站计划（`planner/seven.py` 覆盖部分）\n", + "\n", + "原点 + 半径 r 的 6 等分环：域半径 R、环半径 r 时，域内任一点到最近站的距离\n", + "≤ max(r/√3, √(R² + r² − √3Rr))，只要该上界 < 1000 m（最小有效接收半径），\n", + "\"7 站全 `no_signal`\"就是严格的缺席证明。r ∈ [1122.9, 1732] 可行，巡检半径越小巡回越短。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 17, + "id": "62b4aec6", + "metadata": {}, + "outputs": [], + "source": [ + "RING_RADIUS_M = 1200.0 # [工程] 解析证明见 docs/algo-3.md §5 与 geometry_check\n", + "\n", + "\n", + "def seven_points(ring_radius_m: float = RING_RADIUS_M) -> list[tuple[float, float]]:\n", + " \"\"\"原点 + 环上 6 等分点的七站覆盖集。\"\"\"\n", + " return [(0.0, 0.0)] + [(ring_radius_m * math.cos(k * math.pi / 3),\n", + " ring_radius_m * math.sin(k * math.pi / 3)) for k in range(6)]\n", + "\n", + "\n", + "def validate_seven_coverage(ring_radius_m: float, config: ProblemConfig) -> float:\n", + " \"\"\"六个60°扇区内的最近站最远距离上界；仅证明全向源覆盖。\n", + "\n", + " 原点/环站Voronoi交点给出r/√3，目标圆边界的扇区接缝给出另一项。\n", + " 环半径满足0 config.field.r_eff_min_m - 1e-6:\n", + " raise ValueError(\"七站未覆盖整个目标域，不能据此证明频道缺席\")\n", + " return bound\n" + ] + }, + { + "cell_type": "markdown", + "id": "d0db208e", + "metadata": {}, + "source": [ + "### 4.6 网格幸存集粒子滤波（`particles.py`）\n", + "\n", + "保守凸外包无法表达\"角域 ∩ 距离盘 ∩ 全部 no_signal 排除盘\"这类**非凸（挖洞）**可行集。\n", + "网格幸存集可以，并额外买到三件事：\n", + "\n", + "1. **缺席证明**：幸存集为空 ⇒ 可行集为空 ⇒ 该频道无源（严格，不必等覆盖账本跑完）；\n", + "2. **跳测规则**：幸存格到测点的最小距离 > r_max ⇒ 该次测量必 `no_signal` 且不产生新排除，\n", + " 直接跳过（省 5 s 检测 + 1 s 换频）；\n", + "3. **负观测更新**：`no_signal` 直接删掉 B(s, 1000) 内的整格。\n", + "\n", + "严格性由 **Voronoi 裕量**保证：格距 h 的裕量 m = √2/2·h 是格心到格内任一点的最大距离，\n", + "所有删除判定都内缩 m（\"整格都在可行集外才删\"），因此真源所在格永不被删。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 18, + "id": "63499de6", + "metadata": {}, + "outputs": [], + "source": [ + "_ANG_EPS_DEG = 1e-9 # 角向 kill 比较的浮点余量\n", + "_DIST_EPS_M = 1e-9\n", + "_COARSE_FACTOR = 4 # 粗格每边聚合的细格数\n", + "\n", + "try: # numpy 仅作**可选**加速后端；缺失时全部回退纯 Python\n", + " import numpy as _np\n", + "except Exception: # pragma: no cover - 环境无 numpy 时走纯 Python 分支\n", + " _np = None\n", + "if os.environ.get(\"MCM26B_NO_NUMPY\"): # 强制纯 Python：对拍与回退验证用\n", + " _np = None\n", + "\n", + "\n", + "def angular_gap(a_deg: float, b_deg: float) -> float:\n", + " \"\"\"两个方位角（度）的最小夹角。\"\"\"\n", + " return abs((a_deg - b_deg + 180.0) % 360.0 - 180.0)\n", + "\n", + "\n", + "def as_sample_array(samples):\n", + " \"\"\"把 [(x,y), ...] 采样转成 (n,2) float64 数组；numpy 缺失时原样返回。\n", + "\n", + " 评分为 O(代表点 × 子采样) 的向量运算，是单局 CPU 的主要开销\n", + " （实测占 72%）。调用方在每次选点前转换一次，评分函数按类型分派，\n", + " 两条实现（numpy / 纯 Python）语义逐位对齐，见 tests/test_particles.py。\n", + " \"\"\"\n", + " if _np is None or isinstance(samples, _np.ndarray) or len(samples) == 0:\n", + " return samples\n", + " return _np.asarray(samples, dtype=float)\n", + "\n", + "\n", + "def _branch_radius_array(members) -> float:\n", + " \"\"\"分支后验半径的数组版：到质心的最大距离。\"\"\"\n", + " centroid = members.mean(axis=0)\n", + " return float(_np.max(_np.hypot(members[:, 0] - centroid[0],\n", + " members[:, 1] - centroid[1])))\n", + "\n", + "\n", + "class ChannelParticles:\n", + " \"\"\"单个频道的网格幸存集。\n", + "\n", + " 网格为覆盖 Ω 外扩一格的轴对齐方格（边长 h），索引 ``i*W + j``；\n", + " ``alive`` 是幸存格索引集合。初始集 = 格心距原点 <= Ω 半径 + 裕量的\n", + " 全部格子，因此真源（|p| <= 1800 [题面]）所在格必在初始集内。\n", + " ``version`` 随每次删除自增，调用方可据此缓存派生量（MEC、跳测判定）。\n", + " \"\"\"\n", + "\n", + " def __init__(self, config: ProblemConfig = ProblemConfig(),\n", + " spacing_m: float | None = None):\n", + " field = config.field\n", + " self.config = config\n", + " self.spacing_m = float(spacing_m if spacing_m is not None\n", + " else config.bayes.particle_spacing_m)\n", + " if not 1.0 <= self.spacing_m <= 200.0:\n", + " raise ValueError(\"网格间距须在 [1, 200] 米\")\n", + " self.margin_m = self.spacing_m * math.sqrt(2) / 2 # Voronoi 裕量\n", + " self.r_eff_min_m = field.r_eff_min_m\n", + " self.r_eff_max_m = field.r_eff_max_m\n", + " self.near_radius_m = field.near_radius_m\n", + " self.half_angle_deg = (field.bearing_error_half_deg\n", + " + config.search.bearing_rounding_margin_deg)\n", + " # 覆盖 [-R-m, R+m]² 的格点阵列；格 (i,j) 的中心在\n", + " # (x0 + (i+0.5)h, x0 + (j+0.5)h)，中心到格内任一点 <= h·√2/2 = 裕量\n", + " span = field.omega_radius_m + self.margin_m\n", + " self.x0 = -span\n", + " self.width = int(math.ceil(2 * span / self.spacing_m)) + 1\n", + " limit_sq = (span + 1e-9) ** 2\n", + " self.alive: set[int] = set()\n", + " self._coarse: dict[int, int] = {} # 粗格索引 -> 幸存细格数\n", + " coarse_w = self._coarse_width()\n", + " for i in range(self.width):\n", + " x = self.x0 + (i + 0.5) * self.spacing_m\n", + " for j in range(self.width):\n", + " if x * x + (self.x0 + (j + 0.5) * self.spacing_m) ** 2 <= limit_sq:\n", + " index = i * self.width + j\n", + " self.alive.add(index)\n", + " key = (i // _COARSE_FACTOR) * coarse_w + j // _COARSE_FACTOR\n", + " self._coarse[key] = self._coarse.get(key, 0) + 1\n", + " self.version = 0\n", + " self._mec: tuple[Vec2, float] | None = None\n", + "\n", + " # ------------------------------------------------------------ 索引与坐标\n", + " def _coarse_width(self) -> int:\n", + " return (self.width + _COARSE_FACTOR - 1) // _COARSE_FACTOR\n", + "\n", + " def cell_center(self, index: int) -> Vec2:\n", + " i, j = divmod(index, self.width)\n", + " return (self.x0 + (i + 0.5) * self.spacing_m,\n", + " self.x0 + (j + 0.5) * self.spacing_m)\n", + "\n", + " def discard(self, indices: list[int]) -> None:\n", + " \"\"\"公开删除入口：联合信念把\"朝向不可能\"的格一并删除时使用。\"\"\"\n", + " self._discard(indices)\n", + "\n", + " def _discard(self, indices: list[int]) -> None:\n", + " if not indices:\n", + " return\n", + " coarse_w = self._coarse_width()\n", + " for index in indices:\n", + " if index not in self.alive:\n", + " continue\n", + " self.alive.discard(index)\n", + " key = (index // self.width // _COARSE_FACTOR) * coarse_w \\\n", + " + (index % self.width) // _COARSE_FACTOR\n", + " count = self._coarse.get(key, 0) - 1\n", + " if count <= 0:\n", + " self._coarse.pop(key, None)\n", + " else:\n", + " self._coarse[key] = count\n", + " self.version += 1\n", + " self._mec = None\n", + "\n", + " # ------------------------------------------------------------ 观测更新\n", + " def _kill_disk(self, center: Vec2, radius_m: float) -> None:\n", + " \"\"\"删除格心距 center <= radius_m 的全部幸存格（整格判据见模块注释）。\"\"\"\n", + " if not self.alive:\n", + " return\n", + " reach = radius_m + _DIST_EPS_M\n", + " ilo = max(0, int(math.floor((center[0] - reach - self.x0) / self.spacing_m)))\n", + " ihi = min(self.width - 1,\n", + " int(math.ceil((center[0] + reach - self.x0) / self.spacing_m)))\n", + " jlo = max(0, int(math.floor((center[1] - reach - self.x0) / self.spacing_m)))\n", + " jhi = min(self.width - 1,\n", + " int(math.ceil((center[1] + reach - self.x0) / self.spacing_m)))\n", + " limit_sq = reach * reach\n", + " doomed = []\n", + " for i in range(ilo, ihi + 1):\n", + " dx = self.x0 + (i + 0.5) * self.spacing_m - center[0]\n", + " base = i * self.width\n", + " for j in range(jlo, jhi + 1):\n", + " index = base + j\n", + " if index not in self.alive:\n", + " continue\n", + " dy = self.x0 + (j + 0.5) * self.spacing_m - center[1]\n", + " if dx * dx + dy * dy <= limit_sq:\n", + " doomed.append(index)\n", + " self._discard(doomed)\n", + "\n", + " def _kill_outside_disk(self, center: Vec2, radius_m: float) -> None:\n", + " \"\"\"删除格心距 center > radius_m 的全部幸存格（保留盘内）。\"\"\"\n", + " if not self.alive:\n", + " return\n", + " reach = radius_m + _DIST_EPS_M\n", + " doomed = [index for index in self.alive\n", + " if math.dist(self.cell_center(index), center) > reach]\n", + " self._discard(doomed)\n", + "\n", + " def _kill_outside_wedge(self, station: Vec2, reading_deg: float) -> None:\n", + " \"\"\"删除角向偏离读数超出 δ_eff + 角向格裕量的幸存格。\n", + "\n", + " 角向格裕量 = asin(m / max(dist−m, 1))：格内任一点相对格心的方位\n", + " 偏差不超过它（点距测点还可再近 m，故分母再内缩 m）。\n", + " \"\"\"\n", + " if not self.alive:\n", + " return\n", + " sx, sy = float(station[0]), float(station[1])\n", + " doomed = []\n", + " for index in self.alive:\n", + " gx, gy = self.cell_center(index)\n", + " dist = math.hypot(gx - sx, gy - sy)\n", + " if dist <= self.margin_m + 1.0:\n", + " continue # 格贴测点：格内方位可指向任意方向，不可删\n", + " angular_margin = math.degrees(\n", + " math.asin(min(0.9999, self.margin_m / (dist - self.margin_m))))\n", + " gap = angular_gap(math.degrees(math.atan2(gy - sy, gx - sx)), reading_deg)\n", + " if gap > self.half_angle_deg + angular_margin + _ANG_EPS_DEG:\n", + " doomed.append(index)\n", + " self._discard(doomed)\n", + "\n", + " def apply_measure(self, station: Vec2, result: str,\n", + " svd_deg: float | None = None, *,\n", + " directional: bool = False) -> None:\n", + " \"\"\"按读数更新幸存集。真源保留性由 Voronoi 裕量保证（模块注释）。\n", + "\n", + " ``directional=True``（第四问）：no_signal **不删空间候选**——定向源\n", + " 的静默还可能来自朝向遮挡，单独删空间候选会误删真源；朝向维度由\n", + " :class:`~mcm26b.belief.joint.JointBelief` 维护。\n", + " \"\"\"\n", + " if result == NO_SIGNAL:\n", + " if directional:\n", + " return\n", + " # no_signal ⟹ dist > r_eff >= 1000：整格落入 B(s, 1000−m) 的删。\n", + " self._kill_disk(station, self.r_eff_min_m - self.margin_m)\n", + " elif result == NEAR:\n", + " self._kill_outside_disk(station, self.near_radius_m + self.margin_m)\n", + " elif result == DIRECTION:\n", + " if svd_deg is None:\n", + " raise ValueError(\"direction 读数必须携带 svd_deg\")\n", + " # direction 隐含 dist <= r_max [题面]\n", + " self._kill_outside_disk(station, self.r_eff_max_m + self.margin_m)\n", + " self._kill_outside_wedge(station, svd_deg)\n", + " else:\n", + " raise ValueError(f\"未知测向结果: {result!r}\")\n", + "\n", + " # ------------------------------------------------------------ 查询\n", + " def __len__(self) -> int:\n", + " return len(self.alive)\n", + "\n", + " def alive_points(self, limit: int | None = None) -> list[Vec2]:\n", + " sorted_alive = sorted(self.alive)\n", + " if limit is not None and len(sorted_alive) > limit:\n", + " step = len(sorted_alive) / limit\n", + " indices = {sorted_alive[int(k * step) % len(sorted_alive)]\n", + " for k in range(limit)}\n", + " indices = sorted(indices)\n", + " else:\n", + " indices = sorted_alive\n", + " return [self.cell_center(index) for index in indices]\n", + "\n", + " def nearest_alive_distance(self, point: Vec2, limit_m: float) -> float | None:\n", + " \"\"\"最近幸存格心距离；> limit_m 时返回 None（粗格环扫 + 下界剪枝）。\n", + "\n", + " 返回值语义：恰为最近幸存格心距离（若 <= limit_m）；None 表示所有\n", + " 幸存格心都超出 limit_m。粗格聚合半径已计入扫描范围，不漏判。\n", + " \"\"\"\n", + " if not self.alive:\n", + " return None\n", + " coarse_cell_m = self.spacing_m * _COARSE_FACTOR\n", + " coarse_reach = coarse_cell_m * math.sqrt(2) / 2\n", + " cw = self._coarse_width()\n", + " ci_base = int(math.floor((point[0] - self.x0) / coarse_cell_m))\n", + " cj_base = int(math.floor((point[1] - self.x0) / coarse_cell_m))\n", + " ring_max = int(math.ceil((limit_m + coarse_reach) / coarse_cell_m)) + 1\n", + " best: float | None = None\n", + " for ring in range(ring_max + 1):\n", + " lower_bound = max(0.0, ring - 1) * coarse_cell_m - coarse_reach\n", + " if best is not None and lower_bound >= best:\n", + " break # 更外环的所有格心都 >= 下界 >= 当前最优\n", + " for ci in range(max(0, ci_base - ring), min(cw - 1, ci_base + ring) + 1):\n", + " for cj in range(max(0, cj_base - ring), min(cw - 1, cj_base + ring) + 1):\n", + " if max(abs(ci - ci_base), abs(cj - cj_base)) != ring:\n", + " continue # 只扫当前环（Chebyshev 环）\n", + " if (ci * cw + cj) not in self._coarse:\n", + " continue\n", + " ccx = self.x0 + (ci + 0.5) * coarse_cell_m\n", + " ccy = self.x0 + (cj + 0.5) * coarse_cell_m\n", + " if math.hypot(ccx - point[0], ccy - point[1]) \\\n", + " > limit_m + coarse_reach:\n", + " continue\n", + " i0, j0 = ci * _COARSE_FACTOR, cj * _COARSE_FACTOR\n", + " for i in range(i0, min(i0 + _COARSE_FACTOR, self.width)):\n", + " base = i * self.width\n", + " for j in range(j0, min(j0 + _COARSE_FACTOR, self.width)):\n", + " index = base + j\n", + " if index not in self.alive:\n", + " continue\n", + " dist = math.dist(self.cell_center(index), point)\n", + " if dist <= limit_m and (best is None or dist < best):\n", + " best = dist\n", + " return best\n", + "\n", + " def guaranteed_no_signal(self, station: Vec2) -> bool:\n", + " \"\"\"真源与该测点距离必 > r_max（>= r_eff）⟹ 必 no_signal，测了也无信息。\"\"\"\n", + " return self.nearest_alive_distance(\n", + " station, self.r_eff_max_m + self.margin_m) is None\n", + "\n", + " def mec(self) -> tuple[Vec2, float]:\n", + " \"\"\"幸存集最小包围圆（圆心, 半径）；按 version 缓存。\"\"\"\n", + " if self._mec is None:\n", + " if not self.alive:\n", + " raise ValueError(\"幸存集为空（该频道已可证明缺席）\")\n", + " points = [self.cell_center(index) for index in self.alive]\n", + " self._mec = smallest_enclosing_circle(points)\n", + " return self._mec\n", + "\n", + " # ------------------------------------------------------------ 信息增益\n", + " def subsample(self, size: int) -> list[Vec2]:\n", + " \"\"\"按索引序均匀抽取的子采样（索引序≈空间序，代表点空间铺开）。\"\"\"\n", + " return self.alive_points(limit=size)\n", + "\n", + " # ---------------------------------------------------- 向量化评分（可选）\n", + " def _expected_survival_vector(self, point: Vec2, sub, representatives) -> float:\n", + " \"\"\"``expected_survival`` 的向量化实现（与纯 Python 版逐分支同语义）。\"\"\"\n", + " count = len(sub)\n", + " eps = 1.0 / count\n", + " dx, dy = sub[:, 0] - point[0], sub[:, 1] - point[1]\n", + " dist = _np.hypot(dx, dy)\n", + " within = int(_np.count_nonzero(\n", + " dist <= self.r_eff_min_m - self.margin_m + _DIST_EPS_M))\n", + " log_keep_ns = math.log(max(1.0 - within / count, eps))\n", + " bearing = _np.degrees(_np.arctan2(dy, dx))\n", + " in_range = dist <= self.r_eff_max_m + self.margin_m\n", + " rdx, rdy = representatives[:, 0] - point[0], representatives[:, 1] - point[1]\n", + " rdist = _np.hypot(rdx, rdy)\n", + " rbearing = _np.degrees(_np.arctan2(rdy, rdx))\n", + " gaps = _np.abs((bearing[None, :] - rbearing[:, None] + 180.0) % 360.0 - 180.0)\n", + " survivors = _np.count_nonzero(\n", + " (gaps <= self.half_angle_deg + _ANG_EPS_DEG) & in_range[None, :], axis=1)\n", + " p_ns = _np.clip((rdist - self.r_eff_min_m)\n", + " / (self.r_eff_max_m - self.r_eff_min_m), 0.0, 1.0)\n", + " keep_dir = _np.maximum(survivors / count, eps)\n", + " values = p_ns * log_keep_ns + (1.0 - p_ns) * _np.log(keep_dir)\n", + " near = rdist <= self.near_radius_m + self.margin_m\n", + " values = _np.where(near, math.log(eps), values)\n", + " return float(values.mean())\n", + "\n", + " def _expected_posterior_radius_vector(self, point: Vec2, sub,\n", + " representatives) -> float:\n", + " \"\"\"``expected_posterior_radius`` 的向量化实现。\"\"\"\n", + " eps_radius = self.spacing_m / 2.0\n", + " dx, dy = sub[:, 0] - point[0], sub[:, 1] - point[1]\n", + " dist = _np.hypot(dx, dy)\n", + " bearing = _np.degrees(_np.arctan2(dy, dx))\n", + " keep_ns = dist > self.r_eff_min_m - self.margin_m\n", + " r_ns = (_branch_radius_array(sub[keep_ns]) if keep_ns.any()\n", + " else eps_radius)\n", + " rdx, rdy = representatives[:, 0] - point[0], representatives[:, 1] - point[1]\n", + " rdist = _np.hypot(rdx, rdy)\n", + " rbearing = _np.degrees(_np.arctan2(rdy, rdx))\n", + " gaps = _np.abs((bearing[None, :] - rbearing[:, None] + 180.0) % 360.0 - 180.0)\n", + " dir_mask = ((gaps <= self.half_angle_deg + _ANG_EPS_DEG)\n", + " & (dist[None, :] <= self.r_eff_max_m + self.margin_m))\n", + " r_dir = _np.array([_branch_radius_array(sub[row]) if row.any()\n", + " else eps_radius for row in dir_mask])\n", + " p_ns = _np.clip((rdist - self.r_eff_min_m)\n", + " / (self.r_eff_max_m - self.r_eff_min_m), 0.0, 1.0)\n", + " near = rdist <= self.near_radius_m + self.margin_m\n", + " values = _np.where(near, self.near_radius_m + self.margin_m,\n", + " p_ns * r_ns + (1.0 - p_ns) * r_dir)\n", + " return float(values.mean())\n", + "\n", + " def expected_survival(self, point: Vec2, subsample,\n", + " representatives) -> float:\n", + " \"\"\"E[log 幸存占比]：越小该测点的期望信息增益越大。\n", + "\n", + " r_eff 不确定性解析积分：dist∈(1000,1500] 时按 r_eff~U(1000,1500)\n", + " 取 p_ns=(dist−1000)/500 为 no_signal 分支概率。\n", + " - no_signal 分支：删 B(point, 1000−m)，幸存 = 子采样中盘外比例；\n", + " - direction 分支：以代表点方位为期望读数，角域 ∩ B(point,1500+m) 内幸存；\n", + " - near 分支（dist <= 5+m）：可行集收缩到 5m 盘，幸存占比趋近 0。\n", + " \"\"\"\n", + " if not self.alive or len(subsample) == 0 or len(representatives) == 0:\n", + " return 0.0\n", + " if _np is not None and isinstance(subsample, _np.ndarray) \\\n", + " and isinstance(representatives, _np.ndarray):\n", + " return self._expected_survival_vector(point, subsample, representatives)\n", + " eps = 1.0 / len(subsample)\n", + " keep_ns = max(1.0 - self.fraction_within(subsample, point,\n", + " self.r_eff_min_m - self.margin_m),\n", + " eps)\n", + " log_keep_ns = math.log(keep_ns)\n", + " total = 0.0\n", + " for rep in representatives:\n", + " dist = math.hypot(rep[0] - point[0], rep[1] - point[1])\n", + " if dist <= self.near_radius_m + self.margin_m:\n", + " total += math.log(eps)\n", + " continue\n", + " p_ns = min(1.0, max(0.0, (dist - self.r_eff_min_m)\n", + " / (self.r_eff_max_m - self.r_eff_min_m)))\n", + " reading = math.atan2(rep[1] - point[1], rep[0] - point[0])\n", + " survivors = 0\n", + " for p in subsample:\n", + " if math.dist(p, point) > self.r_eff_max_m + self.margin_m:\n", + " continue\n", + " gap = angular_gap(math.degrees(\n", + " math.atan2(p[1] - point[1], p[0] - point[0])),\n", + " math.degrees(reading))\n", + " if gap <= self.half_angle_deg + _ANG_EPS_DEG:\n", + " survivors += 1\n", + " keep_dir = max(survivors / len(subsample), eps)\n", + " total += p_ns * log_keep_ns + (1.0 - p_ns) * math.log(keep_dir)\n", + " return total / max(len(representatives), 1)\n", + "\n", + " def fraction_within(self, samples, point: Vec2, radius_m: float) -> float:\n", + " if len(samples) == 0:\n", + " return 0.0\n", + " reach = radius_m + _DIST_EPS_M\n", + " if _np is not None and isinstance(samples, _np.ndarray):\n", + " distance = _np.hypot(samples[:, 0] - point[0], samples[:, 1] - point[1])\n", + " return float(_np.count_nonzero(distance <= reach)) / len(samples)\n", + " count = sum(1 for p in samples if math.dist(p, point) <= reach)\n", + " return count / len(samples)\n", + "\n", + " def _branch_radius(self, members) -> float:\n", + " \"\"\"分支后验的半径代理：幸存子采样到其质心的最大距离（O(n)，免 Welzl）。\"\"\"\n", + " if len(members) == 0:\n", + " return 0.0\n", + " if _np is not None and isinstance(members, _np.ndarray):\n", + " return _branch_radius_array(members)\n", + " mx = sum(p[0] for p in members) / len(members)\n", + " my = sum(p[1] for p in members) / len(members)\n", + " return max(math.hypot(p[0] - mx, p[1] - my) for p in members)\n", + "\n", + " def expected_posterior_radius(self, point: Vec2, subsample,\n", + " representatives) -> float:\n", + " \"\"\"一次测量后期望后验半径（米）：选点主指标，直指清除证书阈值。\n", + "\n", + " 对每个代表假设（真值候选）按 r_eff~U(1000,1500) 解析积分\n", + " no_signal/direction 分支，near 分支（dist <= 5+m）后验为 5m 盘；\n", + " 各分支半径用幸存子采样的质心最大距离近似（偏差 << 格距，排序用）。\n", + " 与几何版 worst-posterior 同族，但作用于含负观测的非凸幸存集，\n", + " 且以期望代替最坏（代表点覆盖幸存集主轴）。\n", + " \"\"\"\n", + " if not self.alive or len(subsample) == 0 or len(representatives) == 0:\n", + " return 0.0\n", + " if _np is not None and isinstance(subsample, _np.ndarray) \\\n", + " and isinstance(representatives, _np.ndarray):\n", + " return self._expected_posterior_radius_vector(\n", + " point, subsample, representatives)\n", + " eps_radius = self.spacing_m / 2.0\n", + " total = 0.0\n", + " for rep in representatives:\n", + " dist = math.hypot(rep[0] - point[0], rep[1] - point[1])\n", + " if dist <= self.near_radius_m + self.margin_m:\n", + " total += self.near_radius_m + self.margin_m\n", + " continue\n", + " p_ns = min(1.0, max(0.0, (dist - self.r_eff_min_m)\n", + " / (self.r_eff_max_m - self.r_eff_min_m)))\n", + " members_ns = [p for p in subsample\n", + " if math.dist(p, point) > self.r_eff_min_m - self.margin_m]\n", + " reading = math.atan2(rep[1] - point[1], rep[0] - point[0])\n", + " members_dir = []\n", + " for p in subsample:\n", + " if math.dist(p, point) > self.r_eff_max_m + self.margin_m:\n", + " continue\n", + " gap = angular_gap(math.degrees(\n", + " math.atan2(p[1] - point[1], p[0] - point[0])),\n", + " math.degrees(reading))\n", + " if gap <= self.half_angle_deg + _ANG_EPS_DEG:\n", + " members_dir.append(p)\n", + " r_ns = self._branch_radius(members_ns) if members_ns else eps_radius\n", + " r_dir = self._branch_radius(members_dir) if members_dir else eps_radius\n", + " total += p_ns * r_ns + (1.0 - p_ns) * r_dir\n", + " return total / max(len(representatives), 1)\n" + ] + }, + { + "cell_type": "markdown", + "id": "7cfa64a2", + "metadata": {}, + "source": [ + "### 4.7 (位置 × 朝向) 联合可行集（`belief/joint.py`）\n", + "\n", + "第四问的失败全部来自定向源：策略知道\"源可能在哪个空间区域\"，却不知道\"它朝着哪边\"。\n", + "本模块给每个幸存格附一个 24 档（15°）朝向可行性掩码，把\"看不看得见\"变成可推理的量。\n", + "更新规则全部取保守侧并计入**格内角裕量** `asin(margin / max(dist − margin, 1))`\n", + "（格内任一点相对格心方位偏差的上界）：\n", + "\n", + "| 观测 | 位置 | 朝向 |\n", + "| --- | --- | --- |\n", + "| `direction` @ s | 距离 ≤ 1500、角向 \\|gap\\| ≤ δ_eff + 格裕量 | 必须**可能**覆盖 s |\n", + "| `near` @ s | 距离 ≤ 5 | 必须**可能**覆盖 s（near 同样要求可见） |\n", + "| `no_signal` @ s | **不删**（可能是遮挡，也可能是距离不足） | 仅在整格必落在 1000 m 内时，删去\"必然看得见\"的档 |\n", + "\n", + "由此得到二维真源保留定理：真源 (位置, 朝向) 永不被删。`prob_detect` 用可见性概率选点，\n", + "取代固定的 45° 阶梯试探；联合集为空同样就是缺席证明。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 19, + "id": "3e8eb944", + "metadata": {}, + "outputs": [], + "source": [ + "HEADING_BINS = 24 # 15° 一档\n", + "_BIN_HALF_DEG = 180.0 / HEADING_BINS # 7.5°\n", + "_FULL_MASK = (1 << HEADING_BINS) - 1\n", + "_GRID_DEG = 3.0 # 角度查表分辨率\n", + "_GRID_N = int(round(360.0 / _GRID_DEG))\n", + "\n", + "# numpy 仅作可选加速后端（与 particles 同一开关：无 numpy 时走纯 Python 分支）\n", + "_np = _np\n", + "\n", + "\n", + "def heading_gap(a_deg: float, b_deg: float) -> float:\n", + " \"\"\"两个朝向角的最小夹角（度）。\"\"\"\n", + " return abs((a_deg - b_deg + 180.0) % 360.0 - 180.0)\n", + "\n", + "\n", + "def _cover_mask(bearing_deg: float, half_deg: float) -> int:\n", + " \"\"\"与该方位夹角不超过 ``half_deg`` 的朝向档掩码。\"\"\"\n", + " mask = 0\n", + " for k in range(HEADING_BINS):\n", + " if heading_gap(360.0 * k / HEADING_BINS, bearing_deg) <= half_deg:\n", + " mask |= 1 << k\n", + " return mask\n", + "\n", + "\n", + "# 查表：以 bearing 为轴、半角 90° 的可见半平面。\n", + "# - COVER：**可能**覆盖该方位（含半档与查表舍入的保守侧）；\n", + "# - SILENT：**确定**覆盖该方位（内缩半档与舍入）——离散对照表，供审计与\n", + "# 文档比对；实际裁剪走 _cover_mask / _far_mask，因为还必须逐格计入\n", + "# \"格内角裕量\"（格心到格内任一点的方位偏差上界），无法预先制表。\n", + "_COVER_TABLE = tuple(\n", + " _cover_mask(_GRID_DEG * i, 90.0 + _BIN_HALF_DEG + _GRID_DEG / 2)\n", + " for i in range(_GRID_N))\n", + "_SILENT_TABLE = tuple(\n", + " _cover_mask(_GRID_DEG * i, 90.0 - _BIN_HALF_DEG - _GRID_DEG / 2)\n", + " for i in range(_GRID_N))\n", + "\n", + "\n", + "def _far_mask(bearing_deg: float, exclude_half_deg: float) -> int:\n", + " \"\"\"与方位夹角**大于** ``exclude_half_deg`` 的朝向档掩码（no_signal 用）。\n", + "\n", + " 与 :func:`_cover_mask` 互补：no_signal 只允许保留\"确定看不见\"的朝向档。\n", + " \"\"\"\n", + " mask = 0\n", + " for k in range(HEADING_BINS):\n", + " if heading_gap(360.0 * k / HEADING_BINS, bearing_deg) > exclude_half_deg:\n", + " mask |= 1 << k\n", + " return mask\n", + "\n", + "if _np is not None: # 12 位半字 popcount 查表（朝向掩码 24 位）与半平面查表数组\n", + " _POP16 = _np.array([bin(value).count(\"1\") for value in range(1 << 12)],\n", + " dtype=_np.int64)\n", + " _COVER_ARR = _np.array(_COVER_TABLE, dtype=_np.int64)\n", + "else: # pragma: no cover - 无 numpy 分支\n", + " _POP16 = _COVER_ARR = None\n", + "\n", + "\n", + "def _popcount(mask: int) -> int:\n", + " return bin(mask).count(\"1\")\n", + "\n", + "\n", + "def _table_index(bearing_deg: float) -> int:\n", + " return int(round((bearing_deg % 360.0) / _GRID_DEG)) % _GRID_N\n", + "\n", + "\n", + "class JointBelief:\n", + " \"\"\"单频道 (位置 × 朝向) 联合可行集。\"\"\"\n", + "\n", + " def __init__(self, config: ProblemConfig = ProblemConfig()):\n", + " self.config = config\n", + " self.field = config.field\n", + " self.position = ChannelParticles(config)\n", + " self.masks: dict[int, int] = {} # 格索引 -> 朝向掩码（缺省为全档）\n", + " self._sample_cache: tuple[int, list[int]] | None = None\n", + "\n", + " # ------------------------------------------------------------ 查询\n", + " def __len__(self) -> int:\n", + " return len(self.position)\n", + "\n", + " def is_absent(self) -> bool:\n", + " \"\"\"联合集空 ⟹ 该频道不存在源（真源保留定理的二维推广）。\"\"\"\n", + " return not self.position.alive\n", + "\n", + " def _mask(self, index: int) -> int:\n", + " return self.masks.get(index, _FULL_MASK)\n", + "\n", + " def sample(self, size: int = 256) -> list[int]:\n", + " \"\"\"均匀抽样幸存格（评分用；证书始终用完整集合）。\"\"\"\n", + " cached = self._sample_cache\n", + " if cached is not None and cached[0] == self.position.version:\n", + " return cached[1]\n", + " alive = sorted(self.position.alive)\n", + " if len(alive) > size:\n", + " step = len(alive) / size\n", + " alive = [alive[int(k * step) % len(alive)] for k in range(size)]\n", + " self._sample_cache = (self.position.version, alive)\n", + " return alive\n", + "\n", + " def _mask_popcount(self, index: int) -> int:\n", + " return _popcount(self._mask(index))\n", + "\n", + " def expected_posterior_radius(self, reader: Vec2, size: int | None = None) -> float:\n", + " \"\"\"一次测量后的期望后验 MEC 半径（米）；D1 值函数。\n", + "\n", + " 与 :meth:`ChannelParticles.expected_posterior_radius` 同族，差别只在\n", + " no_signal 分支概率：定向源不仅会因距离 > r_eff 静默，还会因朝向遮挡\n", + " 静默，因此\n", + "\n", + " p_vis(p) = P(r_eff ≥ |p−q|) × cover_ratio(p, q)\n", + "\n", + " 其中 ``cover_ratio`` 是该格朝向掩码中\"可能覆盖 q 方位\"的档位占比。\n", + " 分支半径语义：\n", + "\n", + " - direction（可见，非 near）：读数为 q 处的方位 ±δ，后验收缩到该方位\n", + " 楔形与当前可行集之交，半径取幸存子采样的质心最大距离；\n", + " - no_signal：定向源的静默**不删空间候选**，位置后验半径保持当前值；\n", + " - near：后验为 5m 盘。\n", + "\n", + " 返回值只用于**选点排序**，不参与任何安全判定；证书仍由凸/网格口径给出。\n", + " \"\"\"\n", + " pf = self.position\n", + " if not pf.alive:\n", + " return 0.0\n", + " if size is None:\n", + " size = self.config.bayes.score_subsample\n", + " indices = self.sample(max(2, size))\n", + " if not indices:\n", + " return 0.0\n", + " stride = max(len(indices) // max(self.config.bayes.mc_representatives, 1), 1)\n", + " representatives = indices[::stride]\n", + " if _np is not None:\n", + " return self._epr_vector(reader, indices, representatives)\n", + " return self._epr_python(reader, indices, representatives) # pragma: no cover\n", + "\n", + " def _epr_vector(self, reader: Vec2, indices: list[int],\n", + " representatives: list[int]) -> float:\n", + " pf = self.position\n", + " points = _np.array([pf.cell_center(index) for index in indices], dtype=float)\n", + " masks = _np.array([self._mask(index) for index in indices], dtype=_np.int64)\n", + " reps = _np.array([pf.cell_center(index) for index in representatives],\n", + " dtype=float)\n", + " rep_masks = _np.array([self._mask(index) for index in representatives],\n", + " dtype=_np.int64)\n", + " dx, dy = points[:, 0] - reader[0], points[:, 1] - reader[1]\n", + " dist = _np.hypot(dx, dy)\n", + " bearing = _np.degrees(_np.arctan2(dy, dx))\n", + " rdx, rdy = reps[:, 0] - reader[0], reps[:, 1] - reader[1]\n", + " rdist = _np.hypot(rdx, rdy)\n", + " rbearing = _np.degrees(_np.arctan2(rdy, rdx))\n", + " cover = _COVER_ARR[_np.round(_np.mod(rbearing, 360.0) / _GRID_DEG)\n", + " .astype(_np.int64) % _GRID_N]\n", + " visible_mask = rep_masks & cover\n", + " bits = (_POP16[visible_mask & 0xFFF]\n", + " + _POP16[(visible_mask >> 12) & 0xFFF])\n", + " cover_ratio = bits / float(HEADING_BINS)\n", + " p_silent_range = _np.clip((rdist - self.field.r_eff_min_m)\n", + " / (self.field.r_eff_max_m\n", + " - self.field.r_eff_min_m), 0.0, 1.0)\n", + " p_vis = (1.0 - p_silent_range) * cover_ratio\n", + " p_ns = 1.0 - p_vis\n", + " gaps = _np.abs((bearing[None, :] - rbearing[:, None] + 180.0) % 360.0 - 180.0)\n", + " in_wedge = ((gaps <= self.config.field.bearing_error_half_deg\n", + " + self.config.search.bearing_rounding_margin_deg + 1e-9)\n", + " & (dist[None, :] <= self.field.r_eff_max_m + pf.margin_m))\n", + " eps_radius = pf.spacing_m / 2.0\n", + " radii = []\n", + " for row in in_wedge:\n", + " member = points[row]\n", + " radii.append(_branch_radius_array(member)\n", + " if len(member) else eps_radius)\n", + " radii = _np.array(radii, dtype=float)\n", + " current = pf.mec()[1]\n", + " near = rdist <= self.field.near_radius_m + pf.margin_m\n", + " values = _np.where(near, self.field.near_radius_m + pf.margin_m,\n", + " p_ns * current + p_vis * radii)\n", + " return float(values.mean())\n", + "\n", + " def _epr_python(self, reader: Vec2, indices: list[int],\n", + " representatives: list[int]) -> float: # pragma: no cover\n", + " \"\"\"纯 Python 回退（与向量版逐分支同语义，供无 numpy 环境与对拍）。\"\"\"\n", + " pf = self.position\n", + " points = [pf.cell_center(index) for index in indices]\n", + " masks = [self._mask(index) for index in indices]\n", + " eps_radius = pf.spacing_m / 2.0\n", + " current = pf.mec()[1]\n", + " half_angle = (self.config.field.bearing_error_half_deg\n", + " + self.config.search.bearing_rounding_margin_deg)\n", + " total = 0.0\n", + " for rep_index in representatives:\n", + " rx, ry = pf.cell_center(rep_index)\n", + " distance = math.hypot(rx - reader[0], ry - reader[1])\n", + " if distance <= self.field.near_radius_m + pf.margin_m:\n", + " total += self.field.near_radius_m + pf.margin_m\n", + " continue\n", + " reading = math.degrees(math.atan2(ry - reader[1], rx - reader[0]))\n", + " cover = _COVER_TABLE[_table_index(reading)]\n", + " bits = _popcount(self._mask(rep_index) & cover)\n", + " ratio = bits / float(HEADING_BINS)\n", + " if distance <= self.field.r_eff_min_m:\n", + " p_range = 1.0\n", + " elif distance >= self.field.r_eff_max_m:\n", + " p_range = 0.0\n", + " else:\n", + " p_range = ((self.field.r_eff_max_m - distance)\n", + " / (self.field.r_eff_max_m - self.field.r_eff_min_m))\n", + " p_vis = p_range * ratio\n", + " members = []\n", + " for point, mask in zip(points, masks):\n", + " if math.dist(point, reader) > self.field.r_eff_max_m + pf.margin_m:\n", + " continue\n", + " bearing = math.degrees(math.atan2(point[1] - reader[1],\n", + " point[0] - reader[0]))\n", + " if heading_gap(bearing, reading) <= half_angle + 1e-9:\n", + " members.append(point)\n", + " if members:\n", + " mx = sum(p[0] for p in members) / len(members)\n", + " my = sum(p[1] for p in members) / len(members)\n", + " radius = max(math.hypot(p[0] - mx, p[1] - my) for p in members)\n", + " else:\n", + " radius = eps_radius\n", + " total += (1.0 - p_vis) * current + p_vis * radius\n", + " return total / max(len(representatives), 1)\n", + "\n", + "\n", + " def prob_detect(self, reader: Vec2, size: int = 256) -> float:\n", + " \"\"\"在 ``reader`` 处能看见任一可行 (位置, 朝向) 的概率质量（启发式）。\n", + "\n", + " r_eff ~ U[1000, 1500] 解析积分；朝向按可行档位占比计权。\n", + " 只用于选点排序，不参与任何安全判定。\n", + " \"\"\"\n", + " cells = self.sample(size)\n", + " if not cells:\n", + " return 0.0\n", + " total = 0.0\n", + " span = self.field.r_eff_max_m - self.field.r_eff_min_m\n", + " for index in cells:\n", + " gx, gy = self.position.cell_center(index)\n", + " distance = math.hypot(reader[0] - gx, reader[1] - gy)\n", + " if distance > self.field.r_eff_max_m:\n", + " continue\n", + " if distance <= self.field.r_eff_min_m:\n", + " p_range = 1.0\n", + " else:\n", + " p_range = (self.field.r_eff_max_m - distance) / span\n", + " if p_range <= 0.0:\n", + " continue\n", + " bearing = math.degrees(math.atan2(reader[1] - gy, reader[0] - gx))\n", + " cover = _COVER_TABLE[_table_index(bearing)]\n", + " bits = bin(self._mask(index) & cover).count(\"1\")\n", + " if bits:\n", + " total += p_range * bits / HEADING_BINS\n", + " return total / len(cells)\n", + "\n", + " # ------------------------------------------------------------ 观测更新\n", + " def _apply_heading(self, station: Vec2, keep: bool,\n", + " within_m: float | None = None) -> None:\n", + " \"\"\"按可见性约束裁剪朝向档（保守：只删\"必然不可能\"的档）。\n", + "\n", + " ``keep=True``（direction / near）⟹ 朝向必须**可能**覆盖 station：\n", + " 保留与方位夹角 ≤ 90° + 半档 + 查表舍入 + 格内角裕量的档。\n", + "\n", + " ``keep=False``（no_signal 且整格必在 r_eff_min 内）⟹ 朝向必须\n", + " **确定不覆盖** station：只保留与方位夹角 > 90° − 半档 − 查表舍入\n", + " − 格内角裕量的档。\n", + "\n", + " ``格内角裕量 = asin(margin / max(dist − margin, 1))``：格内任一点\n", + " 相对格心的方位偏差上界。两个方向都必须计入它，否则会误删真源的\n", + " 朝向档（keep=True 漏计）或保留必然可见的档（keep=False 漏计）。\n", + " \"\"\"\n", + " margin_m = self.position.margin_m\n", + " doomed: list[int] = []\n", + " for index in self.position.alive:\n", + " gx, gy = self.position.cell_center(index)\n", + " dx, dy = station[0] - gx, station[1] - gy\n", + " distance = math.hypot(dx, dy)\n", + " if within_m is not None and distance > within_m:\n", + " continue\n", + " bearing = math.degrees(math.atan2(dy, dx))\n", + " if distance <= margin_m + 1.0:\n", + " # 格贴测点：格内方位可指向任意方向，任何一侧都不可据此裁剪\n", + " continue\n", + " angular_margin = math.degrees(\n", + " math.asin(min(0.9999, margin_m / (distance - margin_m))))\n", + " if keep:\n", + " updated = self._mask(index) & _cover_mask(\n", + " bearing, 90.0 + _BIN_HALF_DEG + _GRID_DEG / 2 + angular_margin)\n", + " else:\n", + " updated = self._mask(index) & _far_mask(\n", + " bearing, 90.0 - _BIN_HALF_DEG - _GRID_DEG / 2 - angular_margin)\n", + " if updated == 0:\n", + " doomed.append(index)\n", + " self.masks.pop(index, None)\n", + " elif updated != _FULL_MASK:\n", + " self.masks[index] = updated\n", + " if doomed:\n", + " self.position.discard(doomed)\n", + "\n", + " def apply(self, station: Vec2, result: str,\n", + " svd_deg: float | None = None) -> None:\n", + " \"\"\"按读数更新联合可行集（保守，真源 (位置, 朝向) 永不被删）。\"\"\"\n", + " if result == DIRECTION:\n", + " self.position.apply_measure(station, DIRECTION, svd_deg,\n", + " directional=True)\n", + " self._apply_heading(station, keep=True)\n", + " elif result == NEAR:\n", + " # near 同样要求可见（评测机先判朝向再判距离）\n", + " self.position.apply_measure(station, NEAR, directional=True)\n", + " self._apply_heading(station, keep=True)\n", + " elif result == NO_SIGNAL:\n", + " # 距离阈值必须取**保守侧**：只有\"整格都必然落在 r_eff_min 圆盘内\"\n", + " # 时，no_signal 才一定由朝向遮挡解释。格心到格内任一点 ≤ margin，\n", + " # 故阈值取 r_eff_min − margin；取 + margin 会把 1000~1010m 的模糊带\n", + " # 也当成\"必须不覆盖\"，从而可能删掉真源的朝向档（破坏真源保留性）。\n", + " self._apply_heading(station, keep=False,\n", + " within_m=max(\n", + " 0.0, self.field.r_eff_min_m\n", + " - self.position.margin_m))\n", + " else:\n", + " raise ValueError(f\"未知测向结果: {result!r}\")\n", + "\n", + " # ------------------------------------------------------------ 诊断\n", + " def summary(self) -> dict:\n", + " \"\"\"联合集规模快照（写入策略 summary，供审计与论文复算）。\"\"\"\n", + " cells = self.sample(256)\n", + " bins = [bin(self._mask(index)).count(\"1\") for index in cells]\n", + " return {\"cells\": len(self.position),\n", + " \"sampled_mean_heading_bins\": (round(sum(bins) / len(bins), 2)\n", + " if bins else 0.0),\n", + " \"heading_bins_total\": HEADING_BINS}\n" + ] + }, + { + "cell_type": "markdown", + "id": "63720d6b", + "metadata": {}, + "source": [ + "## 5. 调度层：开放路径排序（`routing.py`）\n", + "\n", + "本题的真实图问题是**开放路径**：起点固定在机器人当前位置、终点自由，\n", + "代价 = Σ 移动时间 + Σ 动作耗时。后备清除的走格顺序用最近邻打底 + 2-opt 改进\n", + "（O(1) 增量代价评估，终点自由故只反转内部片段、不做首尾相接）。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 20, + "id": "f2e043c8", + "metadata": {}, + "outputs": [], + "source": [ + "import math\n", + "\n", + "Vec2 = tuple[float, float]\n", + "\n", + "\n", + "def path_length(order: list[Vec2], start: Vec2 = (0.0, 0.0)) -> float:\n", + " \"\"\"开放路径长度（起点 start，终点自由）。\"\"\"\n", + " total = 0.0\n", + " position = start\n", + " for point in order:\n", + " total += math.dist(position, point)\n", + " position = point\n", + " return total\n", + "\n", + "\n", + "def nearest_neighbor_order(points: list[Vec2],\n", + " start: Vec2 = (0.0, 0.0)) -> list[Vec2]:\n", + " \"\"\"最近邻开放路径（O(n²)，启发式上界）。\"\"\"\n", + " remaining = list(points)\n", + " order: list[Vec2] = []\n", + " position = start\n", + " while remaining:\n", + " nxt = min(remaining, key=lambda q: math.dist(position, q))\n", + " remaining.remove(nxt)\n", + " order.append(nxt)\n", + " position = nxt\n", + " return order\n", + "\n", + "\n", + "def two_opt_open(order: list[Vec2], start: Vec2 = (0.0, 0.0),\n", + " max_passes: int = 8) -> list[Vec2]:\n", + " \"\"\"开放路径 2-opt（终点自由：只反转内部片段，不做首尾相接）。\n", + "\n", + " 增量代价 O(1)：反转 [i..j] 只影响 (prev, i) 与 (j, next) 两条边。\n", + " \"\"\"\n", + " best = list(order)\n", + " n = len(best)\n", + " if n < 3:\n", + " return best\n", + " for _ in range(max_passes):\n", + " improved = False\n", + " for i in range(n - 1):\n", + " prev = best[i - 1] if i > 0 else start\n", + " pi = best[i]\n", + " d_prev_i = math.dist(prev, pi)\n", + " for j in range(i + 1, n):\n", + " pj = best[j]\n", + " nxt = best[j + 1] if j + 1 < n else None\n", + " d_prev_j = math.dist(prev, pj)\n", + " removed = d_prev_i\n", + " added = d_prev_j\n", + " if nxt is not None:\n", + " removed += math.dist(pj, nxt)\n", + " added += math.dist(pi, nxt)\n", + " if added < removed - 1e-9:\n", + " best[i:j + 1] = best[i:j + 1][::-1]\n", + " improved = True\n", + " pi = best[i]\n", + " d_prev_i = math.dist(prev, pi)\n", + " if not improved:\n", + " break\n", + " return best\n", + "\n", + "\n", + "def improve_open_path(points: list[Vec2], start: Vec2 = (0.0, 0.0),\n", + " max_passes: int = 8) -> list[Vec2]:\n", + " \"\"\"最近邻打底 + 2-opt 改进的开放路径（后备清除走格顺序用）。\"\"\"\n", + " order = nearest_neighbor_order(points, start)\n", + " return two_opt_open(order, start, max_passes)\n" + ] + }, + { + "cell_type": "markdown", + "id": "9325502c", + "metadata": {}, + "source": [ + "# 第二部分 · 策略层（`planner/`）\n", + "\n", + "## 6. 问题一/二/三共用的选点器与全向闭环\n", + "\n", + "- **问题一**在几何内核里直接求解（第三部分给出算例）；\n", + "- **问题二**用 `select_second_point`：在保证接收盘内环形采样，以\"最坏后验包围圆半径\"\n", + " 为主指标、移动代价为次指标；\n", + "- **问题三**用 `OmnidirectionalLoop` 骨架：覆盖 → 定位 → 清除 → 收尾，\n", + " 子类只替换覆盖计划与调度细节。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 21, + "id": "f4e91fbc", + "metadata": {}, + "outputs": [], + "source": [ + "def bearing_deg(a: Vec2, b: Vec2) -> float:\n", + " \"\"\"从 a 指向 b 的方位角（0-360，0 为 x 正方向，逆时针）。\"\"\"\n", + " return math.degrees(math.atan2(b[1] - a[1], b[0] - a[0])) % 360.0\n", + "\n", + "\n", + "def _error_brief(exc: BaseException) -> dict:\n", + " \"\"\"异常摘要（summary 留档用）：类型名 + 截断消息。\"\"\"\n", + " return {\"type\": type(exc).__name__, \"message\": str(exc)[:500]}\n", + "\n", + "\n", + "@dataclass(frozen=True)\n", + "class SecondPointPlan:\n", + " \"\"\"下一检测点的候选与依据（P3 输出）。\"\"\"\n", + "\n", + " position: Vec2\n", + " worst_posterior_radius_m: float\n", + " move_cost_s: float\n", + " reason: str\n", + "\n", + "\n", + "@dataclass(frozen=True)\n", + "class ClearCertificate:\n", + " \"\"\"清除证书：候选集外包半径（含近似误差）不超过 20m 阈值。\"\"\"\n", + "\n", + " channel: int\n", + " center: Vec2\n", + " radius_m: float\n", + " limit_m: float\n", + " certified: bool\n", + "\n", + "\n", + "def clear_certificate(region: CandidateRegion, channel: int,\n", + " config: ProblemConfig = ProblemConfig()) -> ClearCertificate:\n", + " \"\"\"ρ_poly <= 20 - 外包近似误差 - 工程余量 才允许发起清除。\"\"\"\n", + " center, radius = region.mec()\n", + " limit = (config.field.clear_radius_m - region.slack_m\n", + " - config.search.clear_margin_m)\n", + " return ClearCertificate(channel, center, radius, limit, radius <= limit)\n", + "\n", + "\n", + "def candidate_points(center: Vec2, safe_radius_m: float, rings, angles: int) -> list[Vec2]:\n", + " \"\"\"保证接收盘内的候选点：盘心 + 各比例半径 × 均匀方向。\"\"\"\n", + " points = [tuple(center)]\n", + " for fraction in rings:\n", + " radius = fraction * safe_radius_m\n", + " if radius <= 1e-9:\n", + " continue\n", + " step = 2 * math.pi / angles\n", + " for k in range(angles):\n", + " angle = step * k + step / 2\n", + " points.append((center[0] + radius * math.cos(angle),\n", + " center[1] + radius * math.sin(angle)))\n", + " return points\n", + "\n", + "\n", + "def _worst_posterior_radius(region: CandidateRegion, q: Vec2,\n", + " witnesses: list[Vec2], half_angle_deg: float,\n", + " near_radius_m: float, disk_sides: int) -> float:\n", + " \"\"\"对候选点 q，遍历\"目标边界点 × 读数分支\"的最坏后验包围半径。\n", + "\n", + " 读数分支：direction 的区间端点 φ(g)±δ（端点是每个 g 的最不利读数），\n", + " 以及 near——源落在 q 的 near_radius_m 内时后验为 B(q, near)∩候选集。\n", + " 保证接收盘内 no_signal 不可能发生，故不枚举该分支。\n", + " 这是启发式近似，不构成最优性证明 [工程]。\n", + " \"\"\"\n", + " posterior_radii = []\n", + " for g in witnesses:\n", + " phi = bearing_deg(q, g)\n", + " for reading in (phi - half_angle_deg, phi + half_angle_deg):\n", + " probe = CandidateRegion(list(region.polygon), region.slack_m)\n", + " probe.clip_wedge(q, reading, half_angle_deg)\n", + " if probe.polygon:\n", + " posterior_radii.append(probe.mec()[1])\n", + " near_probe = CandidateRegion(list(region.polygon), region.slack_m)\n", + " try:\n", + " near_probe.clip_disk(q, near_radius_m, disk_sides)\n", + " except InconsistentBelief:\n", + " pass # B(q, near) 与候选集不相交：near 分支不可能发生，跳过\n", + " else:\n", + " if near_probe.polygon:\n", + " posterior_radii.append(near_probe.mec()[1])\n", + " if not posterior_radii:\n", + " return region.mec()[1] # 无有效采样点时退回当前半径\n", + " return max(posterior_radii)\n", + "\n", + "\n", + "def safe_disk_radius(region: CandidateRegion,\n", + " config: ProblemConfig = ProblemConfig()) -> float:\n", + " \"\"\"保证接收盘 B(mec, safe) 的半径；<0 表示无保证（ρ 超过最小接收半径）。\n", + "\n", + " 盘内任意点到候选集每点距离 <= safe + ρ + 1e-3 < 1000 <= 最小接收半径，\n", + " 故必然收到 direction/near。1mm 数值余量避免浮点贴边被 r_eff=1000 的源\n", + " 判为 no_signal。\n", + " \"\"\"\n", + " return config.field.r_eff_min_m - region.mec()[1] - 1e-3\n", + "\n", + "\n", + "def select_measurement_point(region: CandidateRegion, from_position: Vec2,\n", + " config: ProblemConfig = ProblemConfig()) -> SecondPointPlan:\n", + " \"\"\"在保证接收盘内选择下一检测点（P3 核心；对任意候选集通用）。\n", + "\n", + " 保证接收盘 B(mec_center, 1000-ρ)：盘内任意点到候选集每点距离\n", + " <= (1000-ρ) + ρ = 1000 <= 最小接收半径，故必然收到 direction/near，\n", + " 不会浪费一次 no_signal。ρ>1000 时退化为探索 MEC 圆心（可能 no_signal）。\n", + " \"\"\"\n", + " field, search = config.field, config.search\n", + " center, radius = region.mec()\n", + " half_angle = field.bearing_error_half_deg + search.bearing_rounding_margin_deg\n", + "\n", + " def move_cost(point: Vec2) -> float:\n", + " return move_time(from_position, point, config.cost)\n", + "\n", + " # 1mm 数值余量在 safe_disk_radius 内记账。\n", + " safe_radius = safe_disk_radius(region, config)\n", + " if safe_radius < 0:\n", + " return SecondPointPlan(tuple(center), radius, move_cost(center),\n", + " \"无保证接收盘（ρ>1000）：探索 MEC 圆心，可能 no_signal\")\n", + " coarse = region.witnesses(search.witness_spacing_m)\n", + " samples = candidate_points(center, safe_radius,\n", + " search.candidate_rings, search.candidate_angles)\n", + " near_radius, sides = field.near_radius_m, search.polygon_sides\n", + " best_key, best_point, best_worst = None, None, None\n", + " for point in samples:\n", + " worst = _worst_posterior_radius(region, point, coarse, half_angle,\n", + " near_radius, sides)\n", + " key = (round(worst, 6), round(move_cost(point), 6))\n", + " if best_key is None or key < best_key:\n", + " best_key, best_point, best_worst = key, point, worst\n", + " dense = _worst_posterior_radius(region, best_point,\n", + " region.witnesses(search.witness_spacing_m / 4),\n", + " half_angle, near_radius, sides)\n", + " reason = (f\"安全盘 B(centre,{safe_radius:.0f}m) 内 {len(samples)} 候选；\"\n", + " f\"粗采样最坏后验 {best_worst:.1f}m，1/4 间距加密复核 {dense:.1f}m\")\n", + " return SecondPointPlan(tuple(best_point), dense, move_cost(best_point), reason)\n", + "\n", + "\n", + "def select_second_point(client: SimulatorClient, first_position: Vec2,\n", + " first_bearing_deg: float,\n", + " config: ProblemConfig = ProblemConfig()) -> SecondPointPlan:\n", + " \"\"\"P3 入口：由首次 direction 构造 K1，返回保证接收的第二检测点方案。\"\"\"\n", + " region = CandidateRegion.initial(first_position, config)\n", + " half_angle = config.field.bearing_error_half_deg \\\n", + " + config.search.bearing_rounding_margin_deg\n", + " region.clip_wedge(first_position, first_bearing_deg, half_angle)\n", + " return select_measurement_point(region, client.state.position, config)\n" + ] + }, + { + "cell_type": "markdown", + "id": "76749d32", + "metadata": {}, + "source": [ + "### 6.1 全向闭环骨架（`OmnidirectionalLoop`）\n", + "\n", + "发现（覆盖账本）→ 定位（候选集收敛到 20 m 内）→ 清除 → 收尾 `/exit`。\n", + "任何异常都必须尽力 `/exit` 并产出 summary，不得静默丢会话：\n", + "断连、协议错误、守恒性破坏（候选集被剪空 / 保证接收盘内 `no_signal` /\n", + "清除证书失效）都会记入 `stop_reason` 与异常表。\n", + "`completed` 表示任务在证明意义上完成（每频道 CLEARED 或 ABSENT），\n", + "`accounted_virtual_time_s` 记录首次\"找全证明\"的虚拟时刻。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 22, + "id": "22efcd41", + "metadata": {}, + "outputs": [], + "source": [ + "class OmnidirectionalLoop:\n", + " \"\"\"问题3全向\"发现—定位—清除—持续复扫\"闭环（P4 基线 + 持续搜索）。\n", + "\n", + " 串行驱动 SimulatorClient：覆盖阶段在 49 点网格上对每个 UNKNOWN 频道\n", + " 检测；发现 direction 即进入该频道的定位子循环（选点→测量→收敛→\n", + " 证书清除），near 直接清除。全部频道\"已清除或证明不存在\"后按\n", + " ``search.persistent_search``（默认关闭）可选择只复扫\n", + " 未清除频道，直到清除数达 16、实机预算耗尽或虚拟安全余量不足。\n", + " stop_reason 记录循环结束原因；``completed`` 表示任务证明完成\n", + " （结束时每频道均 CLEARED/ABSENT 且无中断），与\"复扫到限时才停\"\n", + " 相互独立：accounted_virtual_time_s 记录首次证明找全的虚拟时刻。\n", + " \"\"\"\n", + "\n", + " def __init__(self, client: SimulatorClient,\n", + " config: ProblemConfig = ProblemConfig()):\n", + " self.client = client\n", + " self.config = config\n", + " self.belief = BeliefState(config)\n", + " # 覆盖计划是\"可离线搜索、可在运行期校验\"的一等对象；基类默认保持\n", + " # 历史 49 点表（grid49_immediate 基线口径不变），各问题策略自行覆盖。\n", + " self.coverage_plan = square_49_plan()\n", + " self.ledger = CoverageLedger(config, points=list(self.coverage_plan.points))\n", + " self.cleared: list[int] = []\n", + " self.anomalies: list[dict] = []\n", + " self.stop_reason: str | None = None\n", + " # 逐频道缺席证据来源（pf_empty / coverage），供审计与论文逐条追溯。\n", + " self.absence_evidence: dict[int, str] = {}\n", + " # \"同一 0.5m 测点 × 同一频道\"的重复检测计数：历史上一次官方演练\n", + " # 有 98.84% 的虚拟时间耗在空复扫上，本计数是该问题的回归指标。\n", + " self.redundant_rescan_measures = 0\n", + " # 首次达成\"每频道均已清除或证明不存在\"的虚拟时刻（找全证明）。\n", + " self.accounted_virtual_time_s: float | None = None\n", + " # 证书有效但 /clear 失败后必须先补测再重试，避免在同一证书上\n", + " # 反复消耗 3 秒/次的失败清除。\n", + " self._may_clear: set[int] = set()\n", + " # 断连/协议错误/守恒性破坏等中断：留档异常，收尾时写入 summary。\n", + " self._abort_detail: BaseException | None = None\n", + "\n", + " # ------------------------------------------------------------ 主流程\n", + " def run(self) -> dict:\n", + " \"\"\"主闭环。任何异常都必须尽力 /exit 并产出 summary，不得静默丢会话。\"\"\"\n", + " try:\n", + " self.client.enter()\n", + " self._coverage_phase()\n", + " if self.stop_reason is None:\n", + " self._mark_absent_after_coverage()\n", + " self._resolve_detected()\n", + " self._record_accounted()\n", + " if self.config.search.persistent_search:\n", + " self._persistent_phase()\n", + " if self.stop_reason is None:\n", + " if len(self.cleared) >= self.config.field.source_count_max:\n", + " self.stop_reason = \"sixteen_cleared\"\n", + " elif self._all_accounted():\n", + " self.stop_reason = \"all_resolved\"\n", + " else:\n", + " self.stop_reason = \"unresolved_channels\"\n", + " except DeadlineExceeded:\n", + " self.stop_reason = \"real_budget_exhausted\"\n", + " except (TransportError, ProtocolError, InconsistentBelief) as exc:\n", + " self._abort_detail = exc\n", + " if isinstance(exc, TransportError):\n", + " self.stop_reason = \"transport_failure\"\n", + " elif isinstance(exc, InconsistentBelief):\n", + " self.stop_reason = \"inconsistent_belief\"\n", + " else:\n", + " self.stop_reason = \"protocol_error\"\n", + " except Exception as exc: # 意外异常同样收尾，不阻断 /exit 与结果汇总\n", + " self._abort_detail = exc\n", + " self.stop_reason = \"unexpected_error\"\n", + " info = None\n", + " exit_error = None\n", + " try:\n", + " info = self.client.exit()\n", + " except Exception as exc: # 接口不可用：记录后仍产出未完成状态\n", + " exit_error = exc\n", + " summary = self._summary(info)\n", + " if exit_error is not None:\n", + " summary[\"exit_error\"] = _error_brief(exit_error)\n", + " return summary\n", + "\n", + " # ------------------------------------------------------------ 预算与证明\n", + " def _min_virtual_reserve(self) -> float:\n", + " \"\"\"单动作耗时上界的保守估计，用于虚拟安全余量。\n", + "\n", + " 上界 = 2 × 最远站点距离 / 速度 + 检测 + 换频（机器人不会跑到覆盖\n", + " 计划包围区之外执行任务）。配置值通常更宽松；本函数保证即使配置被\n", + " 调小，余量也足以完成最后一个动作而不触及 100 小时上限。\n", + " \"\"\"\n", + " reach = max((math.dist((0.0, 0.0), point) for point in self.ledger.points),\n", + " default=0.0)\n", + " action_bound = (2.0 * reach / self.config.cost.speed_mps\n", + " + self.config.cost.measure_s + self.config.cost.switch_s)\n", + " return max(self.config.search.virtual_reserve_s, action_bound)\n", + "\n", + " def _virtual_cap_reached(self) -> bool:\n", + " \"\"\"虚拟安全余量不足：置 stop_reason 并返回 True，调用方立即收尾。\n", + "\n", + " 余量须大于单次动作耗时上界（见 :meth:`_min_virtual_reserve`），\n", + " `search.virtual_reserve_s=10000s` [工程] 提供充分裕度，避免触及\n", + " 附件2 §4.5 的 100 小时上限被模拟器强制结束。\n", + " \"\"\"\n", + " if (self.client.state.virtual_time_s + self._min_virtual_reserve()\n", + " < self.config.field.max_virtual_duration_s):\n", + " return False\n", + " self.stop_reason = \"virtual_time_cap\"\n", + " return True\n", + "\n", + " def _all_accounted(self) -> bool:\n", + " return all(belief.status in (ChannelStatus.CLEARED, ChannelStatus.ABSENT)\n", + " for belief in self.belief.channels.values())\n", + "\n", + " def _record_accounted(self) -> None:\n", + " \"\"\"首次\"每频道均已清除或证明不存在\"的时刻留档（找全证明）。\"\"\"\n", + " if self.accounted_virtual_time_s is None and self._all_accounted():\n", + " self.accounted_virtual_time_s = self.client.state.virtual_time_s\n", + "\n", + " # ------------------------------------------------------------ 覆盖阶段\n", + " def _pending_channels_at(self, index: int) -> list[int]:\n", + " return [channel for channel, belief in self.belief.channels.items()\n", + " if belief.status is ChannelStatus.UNKNOWN\n", + " and not self.ledger.measured_at(channel, index)]\n", + "\n", + " def _next_point_index(self) -> int | None:\n", + " \"\"\"尚有 UNKNOWN 频道待测的最近网格点（贪心最近邻 [工程]）。\"\"\"\n", + " position = self.client.state.position\n", + " best_index, best_distance = None, 0.0\n", + " for index, point in enumerate(self.ledger.points):\n", + " if not self._pending_channels_at(index):\n", + " continue\n", + " distance = math.dist(position, point)\n", + " if best_index is None or distance < best_distance:\n", + " best_index, best_distance = index, distance\n", + " return best_index\n", + "\n", + " def _coverage_phase(self) -> None:\n", + " while True:\n", + " if self._count_limit_reached():\n", + " return\n", + " index = self._next_point_index()\n", + " if index is None:\n", + " return\n", + " point = self.ledger.points[index]\n", + " for channel in self._pending_channels_at(index):\n", + " if self._virtual_cap_reached():\n", + " return\n", + " outcome = self.client.measure(point, channel)\n", + " self.ledger.mark_measured(channel, index)\n", + " self.belief.update_measure(channel, point, outcome.result,\n", + " outcome.svd_deg)\n", + " if outcome.result == DIRECTION:\n", + " self._localize_and_clear(channel)\n", + " elif outcome.result == NEAR:\n", + " region = self.belief.candidate_set(channel)\n", + " cert = clear_certificate(region, channel, self.config)\n", + " if cert.certified:\n", + " self._attempt_clear(channel, cert.center, cert)\n", + " else: # 理论上不发生（near 候选半径 5m）；保守记录\n", + " self._anomaly(\"near_without_certificate\", channel,\n", + " position=point)\n", + " if self.stop_reason is not None or self._count_limit_reached():\n", + " return\n", + "\n", + " # ------------------------------------------------------------ 持续复扫\n", + " def _persistent_phase(self) -> None:\n", + " \"\"\"全部频道已清除/证明不存在后的持续复扫 [用户决策 2026-09-11]。\n", + "\n", + " 只扫未清除频道（DETECTED 继续定位，ABSENT 全网格复测，防模拟器\n", + " 或覆盖证明假设偏差），直到清除数达 16 或虚拟安全余量不足；\n", + " 实机预算由客户端 DeadlineExceeded 兜底（扫到限时为止）。\n", + " \"\"\"\n", + " while self.stop_reason is None:\n", + " if self._count_limit_reached():\n", + " return\n", + " if self._virtual_cap_reached():\n", + " return\n", + " self._persistent_round()\n", + "\n", + " def _persistent_round(self) -> None:\n", + " \"\"\"一轮全网格复扫：网格点最近邻序，逐点测量全部未清除频道。\"\"\"\n", + " measured: set[tuple[int, int]] = set()\n", + " while self.stop_reason is None:\n", + " index = self._next_resweep_point(measured)\n", + " if index is None:\n", + " return\n", + " point = self.ledger.points[index]\n", + " for channel in self._resweep_channels_at(index, measured):\n", + " if self._virtual_cap_reached():\n", + " return\n", + " measured.add((channel, index))\n", + " was_absent = (self.belief.channels[channel].status\n", + " is ChannelStatus.ABSENT)\n", + " outcome = self.client.measure(point, channel)\n", + " self.belief.update_measure(channel, point, outcome.result,\n", + " outcome.svd_deg)\n", + " if was_absent and outcome.result in (DIRECTION, NEAR):\n", + " # 复测推翻了覆盖缺席证明：守恒性留痕，按新证据定位清除。\n", + " self._anomaly(\"absent_detected_on_resweep\", channel,\n", + " position=point, result=outcome.result)\n", + " if outcome.result == DIRECTION:\n", + " self._localize_and_clear(channel)\n", + " elif outcome.result == NEAR:\n", + " region = self.belief.candidate_set(channel)\n", + " cert = clear_certificate(region, channel, self.config)\n", + " if cert.certified:\n", + " self._attempt_clear(channel, cert.center, cert)\n", + " else:\n", + " self._anomaly(\"near_without_certificate\", channel,\n", + " position=point)\n", + " if self.stop_reason is not None:\n", + " return\n", + "\n", + " def _next_resweep_point(self, measured: set[tuple[int, int]]) -> int | None:\n", + " \"\"\"尚有未清除频道待复测的最近网格点（贪心最近邻 [工程]）。\"\"\"\n", + " position = self.client.state.position\n", + " best_index, best_distance = None, 0.0\n", + " for index, point in enumerate(self.ledger.points):\n", + " if not self._resweep_channels_at(index, measured):\n", + " continue\n", + " distance = math.dist(position, point)\n", + " if best_index is None or distance < best_distance:\n", + " best_index, best_distance = index, distance\n", + " return best_index\n", + "\n", + " def _resweep_channels_at(self, index: int,\n", + " measured: set[tuple[int, int]]) -> list[int]:\n", + " return [channel for channel, belief in self.belief.channels.items()\n", + " if belief.status is not ChannelStatus.CLEARED\n", + " and (channel, index) not in measured]\n", + "\n", + " def _count_limit_reached(self) -> bool:\n", + " if len(self.cleared) >= self.config.field.source_count_max:\n", + " self.stop_reason = \"sixteen_cleared\"\n", + " return True\n", + " return False\n", + "\n", + " # ------------------------------------------------------------ 定位与清除\n", + " def _localize_and_clear(self, channel: int) -> bool:\n", + " \"\"\"定位子循环：选点测量收敛候选集，拿到清除证书后清除。\n", + "\n", + " 返回是否已清除；步数耗尽仍未收敛则保持 DETECTED 留待二轮。\n", + " 进入本函数前该频道刚有一次 direction 读数，允许立即清除。\n", + " \"\"\"\n", + " search = self.config.search\n", + " self._may_clear.add(channel)\n", + " for _ in range(search.max_localize_steps):\n", + " if self._virtual_cap_reached():\n", + " return False\n", + " region = self.belief.candidate_set(channel)\n", + " if region is None:\n", + " return False\n", + " cert = clear_certificate(region, channel, self.config)\n", + " if cert.certified and channel in self._may_clear:\n", + " if self._attempt_clear(channel, cert.center, cert):\n", + " return True\n", + " self._may_clear.discard(channel)\n", + " continue\n", + " plan = select_measurement_point(region, self.client.state.position,\n", + " self.config)\n", + " outcome = self.client.measure(plan.position, channel)\n", + " self.belief.update_measure(channel, plan.position, outcome.result,\n", + " outcome.svd_deg)\n", + " self._may_clear.add(channel)\n", + " if outcome.result == NO_SIGNAL:\n", + " self._anomaly(\"no_signal_in_safe_disk\", channel,\n", + " position=plan.position, detail=plan.reason)\n", + " return self.belief.channels[channel].status is ChannelStatus.CLEARED\n", + "\n", + " def _attempt_clear(self, channel: int, target: Vec2,\n", + " cert: ClearCertificate) -> bool:\n", + " outcome = self.client.clear(target, channel)\n", + " if outcome.result == CLEAR_SUCCESS:\n", + " self.belief.mark_cleared(channel)\n", + " self.cleared.append(channel)\n", + " return True\n", + " if cert.certified:\n", + " self._anomaly(\"clear_failed_with_certificate\", channel, position=target,\n", + " radius_m=round(cert.radius_m, 3), limit_m=cert.limit_m)\n", + " return False\n", + "\n", + " def _anomaly(self, kind: str, channel: int, **detail) -> None:\n", + " \"\"\"异常只在守恒性被打破或证书失效时出现；每频道限量记录防刷屏。\"\"\"\n", + " recorded = sum(1 for item in self.anomalies if item[\"channel\"] == channel)\n", + " if recorded >= self.config.search.max_anomalies_per_channel:\n", + " return\n", + " self.anomalies.append({\"kind\": kind, \"channel\": channel, **detail})\n", + "\n", + " # ------------------------------------------------------------ 收尾\n", + " def _mark_absent_after_coverage(self) -> None:\n", + " \"\"\"全向源缺席证明：全网格无非 no_signal 读数的频道不存在源 [题面]。\"\"\"\n", + " for channel, belief in self.belief.channels.items():\n", + " if belief.status is ChannelStatus.UNKNOWN \\\n", + " and self.ledger.coverage_complete(channel):\n", + " self.belief.mark_absent(channel)\n", + " self.absence_evidence[channel] = \"coverage\"\n", + "\n", + " def _resolve_detected(self) -> None:\n", + " \"\"\"覆盖完成后，对仍未清除的 DETECTED 频道做第二轮定位。\n", + "\n", + " 不再在此决定停止：持续搜索模式下由 _persistent_phase 接力，\n", + " 非持续模式由 run() 依据 _all_accounted 判定 all_resolved。\n", + " \"\"\"\n", + " for channel in self.belief.channels_by_status(ChannelStatus.DETECTED):\n", + " if self._count_limit_reached() or self._virtual_cap_reached():\n", + " return\n", + " self._localize_and_clear(channel)\n", + " if self.stop_reason is not None:\n", + " return\n", + "\n", + " def _summary(self, info) -> dict:\n", + " \"\"\"结果汇总。info 为 None 表示 /exit 未能完成（断连等），按未完成上报。\n", + "\n", + " completed = 无中断且结束时每频道均 CLEARED/ABSENT（任务证明完成）；\n", + " stop_reason 另行记录循环结束原因（持续复扫模式下通常是\n", + " virtual_time_cap / real_budget_exhausted / sixteen_cleared）。\n", + " \"\"\"\n", + " events = self.client.log.action_events()\n", + " stats = summarize(events)\n", + " report = recompute_virtual_time(events)\n", + " steps = self._step_report()\n", + " cleared = self.belief.channels_by_status(ChannelStatus.CLEARED)\n", + " absent = self.belief.channels_by_status(ChannelStatus.ABSENT)\n", + " resolved = set(cleared) | set(absent)\n", + " unresolved = [channel for channel in sorted(self.belief.channels)\n", + " if channel not in resolved]\n", + " virtual_time_s = round((info.virtual_time_s if info is not None\n", + " else self.client.state.virtual_time_s), 3)\n", + " # 清除数达 16 即数量上界证明（其余频道无论状态如何都不可能有源）；\n", + " # 否则要求每频道均 CLEARED/ABSENT。\n", + " completed = (self._abort_detail is None\n", + " and (len(self.cleared) >= self.config.field.source_count_max\n", + " or not unresolved))\n", + " # 完成依据必须显式区分\"数量上界\"与\"逐频道缺席/清除证明\"，\n", + " # 否则论文与审计会把 16 源截断误读为逐频道证明。\n", + " if self._abort_detail is not None:\n", + " completion_basis = \"incomplete\"\n", + " elif len(self.cleared) >= self.config.field.source_count_max:\n", + " completion_basis = \"count_cap\"\n", + " elif not unresolved:\n", + " completion_basis = \"per_channel_proof\"\n", + " else:\n", + " completion_basis = \"incomplete\"\n", + " summary = {\n", + " \"completed\": completed,\n", + " \"completion_basis\": completion_basis,\n", + " \"stop_reason\": self.stop_reason,\n", + " \"exit_reason\": \"exit_unreachable\" if info is None else info.reason,\n", + " \"virtual_time_s\": virtual_time_s,\n", + " \"accounted_virtual_time_s\": (round(self.accounted_virtual_time_s, 3)\n", + " if self.accounted_virtual_time_s is not None\n", + " else None),\n", + " \"persistent_search\": self.config.search.persistent_search,\n", + " \"virtual_reserve_s\": round(self._min_virtual_reserve(), 3),\n", + " \"coverage_plan\": self.coverage_plan.name,\n", + " \"coverage_points\": len(self.coverage_plan.points),\n", + " \"coverage_plan_points\": [[p[0], p[1]] for p in self.coverage_plan.points],\n", + " \"coverage_plan_certificate\": (\n", + " self.coverage_plan.certificate.as_dict()\n", + " if self.coverage_plan.certificate is not None else None),\n", + " \"cleared_channels\": cleared,\n", + " \"absent_channels\": absent,\n", + " \"unresolved_channels\": unresolved,\n", + " \"absence_evidence\": {str(channel): self.absence_evidence[channel]\n", + " for channel in sorted(absent)},\n", + " \"redundant_rescan_measures\": self.redundant_rescan_measures,\n", + " \"measures\": stats[\"measures\"],\n", + " \"clears\": stats[\"clears\"],\n", + " \"clear_success\": stats[\"cleared\"],\n", + " \"total_requests\": stats[\"measures\"] + stats[\"clears\"],\n", + " \"move_distance_m\": round(stats[\"distance_m\"], 1),\n", + " # 题面口径：定位清除总时间（全程虚拟时长）/ 被清除干扰源个数。\n", + " \"avg_locate_clear_time_s\": (round(virtual_time_s / len(cleared), 3)\n", + " if cleared else None),\n", + " \"step_totals\": steps[\"totals\"],\n", + " \"steps\": steps[\"rows\"],\n", + " \"anomalies\": self.anomalies,\n", + " \"virtual_recompute_mismatches\": len(report[\"mismatches\"]),\n", + " \"channel_status\": self._channel_status_snapshot(),\n", + " }\n", + " if self._abort_detail is not None:\n", + " summary[\"abort_detail\"] = _error_brief(self._abort_detail)\n", + " return summary\n", + "\n", + " def _step_report(self) -> dict:\n", + " \"\"\"每步计时汇总 [用户决策 2026-09-11]：实机墙钟 + 比赛虚拟耗时分项。\"\"\"\n", + " totals = {\"count\": 0, \"real_elapsed_total_s\": 0.0,\n", + " \"real_since_enter_total_s\": 0.0,\n", + " \"virtual_move_s\": 0.0, \"virtual_switch_s\": 0.0,\n", + " \"virtual_measure_action_s\": 0.0, \"virtual_clear_action_s\": 0.0,\n", + " \"virtual_total_s\": 0.0}\n", + " rows = []\n", + " for index, step in enumerate(self.client.log.step_events()):\n", + " cost = step[\"virtual_cost\"]\n", + " totals[\"count\"] += 1\n", + " totals[\"real_elapsed_total_s\"] += step[\"real_elapsed_s\"]\n", + " totals[\"real_since_enter_total_s\"] = step.get(\n", + " \"real_since_enter_s\", totals[\"real_since_enter_total_s\"])\n", + " totals[\"virtual_move_s\"] += cost[\"move_s\"]\n", + " totals[\"virtual_switch_s\"] += cost[\"switch_s\"]\n", + " if step[\"path\"] == \"/measure\":\n", + " totals[\"virtual_measure_action_s\"] += cost[\"action_s\"]\n", + " elif step[\"path\"] == \"/clear\":\n", + " totals[\"virtual_clear_action_s\"] += cost[\"action_s\"]\n", + " totals[\"virtual_total_s\"] += cost[\"total_s\"]\n", + " rows.append({\"index\": index, \"action\": step[\"path\"].lstrip(\"/\"),\n", + " \"result\": step.get(\"result\"),\n", + " \"channel\": step.get(\"channel\"),\n", + " \"position\": step.get(\"position\"),\n", + " \"real_elapsed_ms\": round(step[\"real_elapsed_s\"] * 1000.0, 3),\n", + " \"real_since_enter_s\": step.get(\"real_since_enter_s\"),\n", + " \"move_s\": round(cost[\"move_s\"], 3),\n", + " \"switch_s\": round(cost[\"switch_s\"], 3),\n", + " \"action_s\": round(cost[\"action_s\"], 3),\n", + " \"step_virtual_s\": round(cost[\"total_s\"], 3),\n", + " \"virtual_time_s\": step[\"virtual_time_s\"]})\n", + " for key, value in totals.items():\n", + " if isinstance(value, float):\n", + " totals[key] = round(value, 3)\n", + " return {\"totals\": totals, \"rows\": rows}\n", + "\n", + " def _channel_status_snapshot(self) -> dict:\n", + " \"\"\"逐频道状态快照：中断收尾时的未完成状态留档（每频道一条）。\"\"\"\n", + " snapshot = {}\n", + " for channel, belief in sorted(self.belief.channels.items()):\n", + " entry = {\"status\": belief.status.value}\n", + " if belief.region is not None:\n", + " entry[\"posterior_radius_m\"] = round(belief.region.mec()[1], 3)\n", + " snapshot[str(channel)] = entry\n", + " return snapshot\n" + ] + }, + { + "cell_type": "markdown", + "id": "1515ae48", + "metadata": {}, + "source": [ + "### 6.2 第四问定向扩展（`DirectionalExtension`）\n", + "\n", + "与第三问的三点差异：\n", + "\n", + "1. 覆盖阶段换成定向覆盖最小命中集（`q4_mincover_v2`），发现保证对定向源同样成立；\n", + "2. 保证接收盘内的 `no_signal` 只能由**朝向遮挡**解释：该频道记为\"观测到定向\"，\n", + " 对 MEC 圆心取对跖探点复核，并用联合信念按可见概率选点；\n", + "3. 定位停滞时对**有界**候选集构造 ≤20 m 有限圆盘覆盖，逐格 `/clear`\n", + " （清除与朝向无关，是完备后备）；格数超硬顶或预算不足即跳过并留痕，绝不盲扫。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 23, + "id": "c2acad85", + "metadata": {}, + "outputs": [], + "source": [ + "class DirectionalExtension(OmnidirectionalLoop):\n", + " \"\"\"问题4混合源闭环（P5）：全向基线 + 定向观测处理 + 后备清除。\n", + "\n", + " 与 P4 的三点差异（协议衔接见 docs/协议规则表与状态机.md §7）：\n", + " - 49 点覆盖的发现保证对定向源同样成立，覆盖阶段不区分源类型；\n", + " - 保证接收盘内的 no_signal 只能由朝向遮挡解释 [观测推理]：该频道\n", + " 记为\"观测到定向\"，随后对 MEC 圆心取对跖探点复核；联合约束基线\n", + " 不据此删除空间候选（真源不误删）；\n", + " - 定位停滞（候选集有界但未达清除证书）时构造 <=20m 有限圆盘覆盖，\n", + " 预算核对后逐格 /clear：清除与朝向无关 [题面]，是定向源不依赖\n", + " 可见性的完备后备。格数超硬顶或现实预算不足则跳过并留痕，绝不盲扫。\n", + " \"\"\"\n", + "\n", + " def __init__(self, client: SimulatorClient,\n", + " config: ProblemConfig = ProblemConfig()):\n", + " super().__init__(client, config)\n", + " # P0-2：第四问切换到同一保证下的最小命中集（默认 q4_mincover_v1）。\n", + " self.coverage_plan = plan_instance(config.search.q4_coverage_plan,\n", + " verify=config.search.verify_coverage_plan)\n", + " self.ledger = CoverageLedger(config, points=list(self.coverage_plan.points))\n", + " self.directional_observed: list[int] = [] # 观测到定向性的频道\n", + " self.blocked_probes: dict[int, list[Vec2]] = {}\n", + " self.fallback_log: list[dict] = [] # 后备清除逐次留痕\n", + " # P0-3：(位置 × 朝向) 联合可行集，仅在频道首次被看见时惰性建立，\n", + " # 使其初始化与更新成本只落在\"确实存在定向源\"的频道上。\n", + " self.joint: dict[int, JointBelief] = {}\n", + " self.joint_absent_channels: list[int] = []\n", + " self.visibility_probes = 0 # 由联合信念选出的探点数\n", + "\n", + " def _coverage_phase(self) -> None:\n", + " \"\"\"49站的定向覆盖证明不变；每站先串行扫频，再就近服务已发现源。\n", + "\n", + " 避免检测一个源后远行清除，再返回同站检测下一个频道。\n", + " no_signal不用于删空间候选，也不使用第三问的七站缺席证明。\n", + " \"\"\"\n", + " while not self._count_limit_reached() and self.stop_reason is None:\n", + " index = self._next_point_index()\n", + " if index is None:\n", + " return\n", + " point = self.ledger.points[index]\n", + " pending = self._pending_channels_at(index)\n", + " pending.sort(key=lambda c: (c != self.client.state.channel, c))\n", + " for channel in pending:\n", + " if self._virtual_cap_reached():\n", + " return\n", + " outcome = self.client.measure(point, channel)\n", + " self.ledger.mark_measured(channel, index)\n", + " self._observe(channel, point, outcome.result, outcome.svd_deg)\n", + " if outcome.result == NEAR:\n", + " cert = clear_certificate(\n", + " self.belief.candidate_set(channel), channel, self.config)\n", + " if cert.certified:\n", + " self._attempt_clear(channel, point, cert)\n", + " if self._count_limit_reached():\n", + " return\n", + " queue = self.belief.channels_by_status(ChannelStatus.DETECTED)\n", + " while queue and self.stop_reason is None:\n", + " channel = min(queue, key=lambda c: (\n", + " math.dist(self.client.state.position,\n", + " self.belief.candidate_set(c).mec()[0]), c))\n", + " queue.remove(channel)\n", + " self._localize_and_clear(channel)\n", + " if self._count_limit_reached():\n", + " return\n", + "\n", + " # ------------------------------------------------------------ 定位与清除\n", + " def _localize_and_clear(self, channel: int) -> bool:\n", + " \"\"\"定位子循环：选点测量收敛候选集，拿到清除证书后清除。\n", + "\n", + " 与 P4 的差异：保证接收盘内的 no_signal 说明探点被朝向遮挡\n", + " [观测推理]，走\"对跖复核 -> 环探\"升级梯子（不计入定位步数，\n", + " 由 max_blocked_probes 限流），之后仍未收敛再转后备清除。\n", + " \"\"\"\n", + " search = self.config.search\n", + " self._may_clear.add(channel)\n", + " steps = 0\n", + " while steps < search.max_localize_steps:\n", + " if self._virtual_cap_reached():\n", + " return False\n", + " region = self.belief.candidate_set(channel)\n", + " if region is None:\n", + " return False\n", + " cert = clear_certificate(region, channel, self.config)\n", + " if cert.certified and channel in self._may_clear:\n", + " if self._attempt_clear(channel, cert.center, cert):\n", + " return True\n", + " self._may_clear.discard(channel) # 证书失败：补测后才可重试\n", + " continue\n", + " if len(self.blocked_probes.get(channel, [])) >= search.max_blocked_probes:\n", + " break # 梯子用尽仍被遮挡：定位停滞，转后备清除\n", + " point = self._next_probe(region, channel)\n", + " within_range = (math.dist(point, region.mec()[0])\n", + " <= safe_disk_radius(region, self.config))\n", + " outcome = self.client.measure(point, channel)\n", + " self._observe(channel, point, outcome.result, outcome.svd_deg)\n", + " self._may_clear.add(channel)\n", + " if outcome.result == NO_SIGNAL:\n", + " if within_range and channel not in self.directional_observed:\n", + " self.directional_observed.append(channel)\n", + " self.blocked_probes.setdefault(channel, []).append(point)\n", + " continue # 盘外无信号也可能是距离不足，不据此断言定向\n", + " self.blocked_probes.pop(channel, None)\n", + " steps += 1\n", + " if self.belief.channels[channel].status is ChannelStatus.CLEARED:\n", + " return True\n", + " region = self.belief.candidate_set(channel)\n", + " if region is None:\n", + " return False\n", + " cert = clear_certificate(region, channel, self.config)\n", + " if cert.certified and channel in self._may_clear:\n", + " if self._attempt_clear(channel, cert.center, cert):\n", + " return True\n", + " self._may_clear.discard(channel)\n", + " return self._fallback_clear(channel, region)\n", + "\n", + " def _observe(self, channel: int, point: Vec2, result: str,\n", + " svd_deg: float | None) -> None:\n", + " \"\"\"同步更新凸候选集与 (位置 × 朝向) 联合可行集。\n", + "\n", + " 联合集只在频道首次被看见（direction/near）时建立：从未被看见的\n", + " 频道由覆盖证明负责缺席，不需要朝向维度。联合集一旦为空，直接给出\n", + " 该频道的缺席证明（严格，与覆盖证明同一条件），可提前停止对其检测。\n", + " \"\"\"\n", + " self.belief.update_measure(channel, point, result, svd_deg)\n", + " if not self.config.search.directional_joint_belief:\n", + " return\n", + " joint = self.joint.get(channel)\n", + " if joint is None:\n", + " if result not in (DIRECTION, NEAR):\n", + " return\n", + " joint = JointBelief(self.config)\n", + " self.joint[channel] = joint\n", + " joint.apply(point, result, svd_deg)\n", + " if joint.is_absent() and self.belief.channels[channel].status \\\n", + " is not ChannelStatus.CLEARED:\n", + " self.belief.mark_absent(channel)\n", + " self.absence_evidence[channel] = \"joint_empty\"\n", + " if channel not in self.joint_absent_channels:\n", + " self.joint_absent_channels.append(channel)\n", + "\n", + " def _probe_candidates(self, region: CandidateRegion, channel: int) -> list[Vec2]:\n", + " \"\"\"可见性选点的候选点族：保证接收点 + 对跖点 + 环探 + **抵近点**。\n", + "\n", + " D1 关键结构性改动：旧点族全部围绕 MEC 圆心固定环采样，远距离不收敛时\n", + " 没有\"主动靠近\"这一动作，只能退化到 20m 网格盲清。现在补上\n", + " ``center + α·(当前位置 − center)``（α∈approach_fractions，α=0 即圆心）\n", + " 的抵近序列，使策略可以在保持可见的前提下逐次逼近真源，最终以正常\n", + " 角域证书或 near 收尾。\n", + " \"\"\"\n", + " center, radius = region.mec()\n", + " position = self.client.state.position\n", + " candidates = [select_measurement_point(\n", + " region, position, self.config).position]\n", + " safe = safe_disk_radius(region, self.config)\n", + " blocked = self.blocked_probes.get(channel, [])\n", + " if blocked and safe >= 0:\n", + " dx, dy = center[0] - blocked[0][0], center[1] - blocked[0][1]\n", + " norm = math.hypot(dx, dy)\n", + " if norm > 1e-9:\n", + " scale = min(1.0, safe / norm)\n", + " candidates.append((center[0] + dx * scale, center[1] + dy * scale))\n", + " # 抵近点：从 MEC 圆心到当前点的插值序列（含圆心本身）。\n", + " for fraction in self.config.search.approach_fractions:\n", + " candidates.append((center[0] + (position[0] - center[0]) * fraction,\n", + " center[1] + (position[1] - center[1]) * fraction))\n", + " for factor in (0.5, 1.0, 1.5):\n", + " ring = max(radius * factor, 2.0 * self.config.field.near_radius_m)\n", + " for step in range(8):\n", + " angle = math.pi * step / 4.0\n", + " candidates.append((center[0] + ring * math.cos(angle),\n", + " center[1] + ring * math.sin(angle)))\n", + " unique: list[Vec2] = []\n", + " seen: set[tuple[int, int]] = set()\n", + " blocked_keys = {(int(round(point[0] * 2)), int(round(point[1] * 2)))\n", + " for point in blocked} \\\n", + " if self.config.search.probe_exclude_blocked else set()\n", + " for point in candidates:\n", + " key = (int(round(point[0] * 2)), int(round(point[1] * 2)))\n", + " if key in seen or key in blocked_keys:\n", + " continue # 已测过且被遮挡的点：再测不会有任何新信息\n", + " seen.add(key)\n", + " unique.append(point)\n", + " return unique\n", + "\n", + " def _visibility_probe(self, region: CandidateRegion, channel: int) -> Vec2 | None:\n", + " \"\"\"按联合信念选探点；联合信念不可用时返回 None（退回梯子）。\n", + "\n", + " 三种口径（只影响选点顺序，不承担任何安全责任）：\n", + "\n", + " - ``nearest_visible``（默认）：先按可见概率过滤（只保留\n", + " ``prob_detect ≥ ratio × max`` 的候选，避免选中\"实际必然被朝向遮挡\"的\n", + " 点），再取 ``当前位置→q→MEC 圆心`` 移动最省者。9 场景 core 实测：\n", + " 后备盲清 125.7 → 4.3 次/局、T 9225 → 8602 s、墙钟最低。\n", + " - ``expected_radius``：在同样过滤后最小化\n", + " ``E[后验 MEC 半径](q) + λ·移动``。λ=5 时与上面几乎同分（8604 s），\n", + " λ 很小时（0.05）值函数主导，为信息多绕路（9740 s）——本题\n", + " \"看得见且少走路\"比\"单步信息量最大\"更重要。\n", + " - ``visibility``（旧口径）：最大化 ``prob_detect/(移动+6)``，会反复选中\n", + " 同一个近处被遮挡点（实测 9225 s、后备 125.6 次）。\n", + " \"\"\"\n", + " joint = self.joint.get(channel)\n", + " if joint is None or joint.is_absent():\n", + " return None\n", + " position = self.client.state.position\n", + " service_s = self.config.cost.measure_s + self.config.cost.switch_s\n", + " candidates = self._probe_candidates(region, channel)\n", + " if not candidates:\n", + " return None\n", + " mode = self.config.search.probe_score_mode\n", + " if mode == \"visibility\":\n", + " best_point, best_score = None, None\n", + " for point in candidates:\n", + " probability = joint.prob_detect(point)\n", + " if probability <= 0.0:\n", + " continue\n", + " score = -(probability / (move_time(position, point, self.config.cost)\n", + " + service_s))\n", + " if best_score is None or score < best_score:\n", + " best_point, best_score = point, score\n", + " if best_point is not None:\n", + " self.visibility_probes += 1\n", + " return best_point\n", + " scored = [(joint.prob_detect(point), point) for point in candidates]\n", + " peak = max(probability for probability, _ in scored)\n", + " ratio = self.config.search.probe_visibility_ratio\n", + " keep = [point for probability, point in scored\n", + " if probability >= ratio * peak] or [point for _, point in scored]\n", + " center = region.mec()[0]\n", + " weight = self.config.search.probe_lambda_move_s\n", + "\n", + " def approach_cost(point: Vec2) -> float:\n", + " return (move_time(position, point, self.config.cost)\n", + " + move_time(point, center, self.config.cost) + service_s)\n", + "\n", + " if mode == \"nearest_visible\":\n", + " # λ 很大时值函数项对 argmin 已无影响：直接取\"可见候选中移动最省\"，\n", + " # 省掉每个候选一次期望后验半径计算（单局墙钟 −3 s）。\n", + " best = min(keep, key=lambda point: (approach_cost(point), point))\n", + " self.visibility_probes += 1\n", + " return best\n", + " best = min(keep, key=lambda point: (\n", + " joint.expected_posterior_radius(point) + weight * approach_cost(point),\n", + " point))\n", + " self.visibility_probes += 1\n", + " return best\n", + "\n", + "\n", + "\n", + " def _next_probe(self, region: CandidateRegion, channel: int) -> Vec2:\n", + " \"\"\"定向遮挡下的探点升级梯子 [工程]。\n", + "\n", + " - 未被遮挡过：worst-posterior 选点器（保证接收盘内）；\n", + " - 第 1 次被遮挡：对 MEC 圆心取对跖方向，偏移裁进保证接收盘；\n", + " - 之后：绕 MEC 圆心、半径 = ρ 的环探，方位自首个被遮挡点起\n", + " 每次 +45°。几何边界必须如实陈述：环上可见弧没有下界——\n", + " 源可位于环上（|g-c| = ρ）且朝向沿外切线，可见集退化为单个\n", + " 切点，固定步进环探可以全部漏过。梯子只提高提前命中概率，\n", + " 不构成接收或命中保证；完备性完全由后备清除兜底。\n", + " \"\"\"\n", + " visibility = self._visibility_probe(region, channel)\n", + " if visibility is not None:\n", + " return visibility\n", + " blocked = self.blocked_probes.get(channel, [])\n", + " center, radius = region.mec()\n", + " if not blocked:\n", + " return select_measurement_point(region, self.client.state.position,\n", + " self.config).position\n", + " safe = safe_disk_radius(region, self.config)\n", + " first = blocked[0]\n", + " if len(blocked) == 1 and safe >= 0:\n", + " dx, dy = center[0] - first[0], center[1] - first[1]\n", + " norm = math.hypot(dx, dy)\n", + " if norm <= 1e-9:\n", + " # 首个被遮挡探点恰在圆心：方向信息为零，沿 +x 走满安全盘。\n", + " return (center[0] + safe, center[1])\n", + " scale = min(1.0, safe / norm)\n", + " # 对跖方向，偏移模长 = min(norm, safe)：圆心对称点裁进保证接收盘。\n", + " return (center[0] + dx * scale, center[1] + dy * scale)\n", + " base = math.atan2(first[1] - center[1], first[0] - center[0])\n", + " azimuth = base + math.radians(45.0 * (len(blocked) - 1))\n", + " return (center[0] + radius * math.cos(azimuth),\n", + " center[1] + radius * math.sin(azimuth))\n", + "\n", + " def _fallback_clear(self, channel: int, region: CandidateRegion) -> bool:\n", + " \"\"\"定位停滞的后备：候选集有限圆盘覆盖逐格清除（格数即请求上界）。\"\"\"\n", + " search, session = self.config.search, self.config.session\n", + " width = max(p[0] for p in region.polygon) - min(p[0] for p in region.polygon)\n", + " height = max(p[1] for p in region.polygon) - min(p[1] for p in region.polygon)\n", + " cells = fallback_clear_cells(region.polygon, self.config)\n", + " entry = {\"channel\": channel, \"cells\": len(cells),\n", + " \"bound\": fallback_cell_bound(width, height, self.config),\n", + " \"posterior_radius_m\": round(region.mec()[1], 3)}\n", + " self.fallback_log.append(entry)\n", + " if len(cells) > search.fallback_max_cells:\n", + " # 宽候选集盲扫违背预算纪律：留待定位收敛，不得硬扫 [计划§4]。\n", + " entry[\"outcome\"] = \"skipped_cell_cap\"\n", + " self._anomaly(\"fallback_cell_cap_exceeded\", channel,\n", + " cells=len(cells), cap=search.fallback_max_cells)\n", + " return False\n", + " # 现实预算核对：N 次请求 × 单请求高分位估计 + 退出余量，不足不启动。\n", + " remaining = self.client.real_remaining_s\n", + " if remaining is None or len(cells) * session.real_rtt_p95_s \\\n", + " + session.reserve_exit_s > remaining:\n", + " entry[\"outcome\"] = \"skipped_budget\"\n", + " return False\n", + " attempts = 0\n", + " order = self._fallback_order(cells)\n", + " for cell in order:\n", + " if self._virtual_cap_reached():\n", + " entry[\"outcome\"] = \"skipped_virtual_budget\"\n", + " entry[\"attempts\"] = attempts\n", + " return False\n", + " attempts += 1\n", + " outcome = self.client.clear(cell, channel)\n", + " if outcome.result == CLEAR_SUCCESS:\n", + " self.belief.mark_cleared(channel)\n", + " self.cleared.append(channel)\n", + " entry[\"outcome\"] = \"cleared\"\n", + " entry[\"attempts\"] = attempts\n", + " return True\n", + " # 候选集保守包含真源，格心距格内任一点 <= 10*sqrt(2) < 20m：全部\n", + " # 失败说明守恒性被打破，按异常留痕，不得据此删除候选。\n", + " entry[\"outcome\"] = \"exhausted\"\n", + " entry[\"attempts\"] = attempts\n", + " self._anomaly(\"fallback_exhausted_without_success\", channel,\n", + " cells=len(cells))\n", + " return False\n", + "\n", + " def _fallback_order(self, cells: list[Vec2]) -> list[Vec2]:\n", + " \"\"\"后备清除的走格顺序：最近邻打底 + 2-opt（可选 Or-opt）改进。\n", + "\n", + " 旧实现每步重新 ``min(remaining, key=dist)``，等价于最近邻开放路径\n", + " （典型为最优的 1.2–1.3 倍）且每次重扫 O(k²)。这里一次性求解改进序\n", + " （D3），把格间移动压到接近最优；格数不变，故完备性不变。\n", + " \"\"\"\n", + " if not cells:\n", + " return []\n", + " if not self.config.search.fallback_optimize_tour or len(cells) < 4:\n", + " position = self.client.state.position\n", + " remaining = list(cells)\n", + " order: list[Vec2] = []\n", + " while remaining:\n", + " nxt = min(remaining, key=lambda c: (math.dist(position, c), c))\n", + " remaining.remove(nxt)\n", + " order.append(nxt)\n", + " position = nxt\n", + " return order\n", + " return improve_open_path([tuple(c) for c in cells],\n", + " self.client.state.position)\n", + "\n", + " # ------------------------------------------------------------ 收尾\n", + " def _summary(self, info) -> dict:\n", + " report = super()._summary(info)\n", + " report[\"directional_observed_channels\"] = list(self.directional_observed)\n", + " report[\"fallback_clears\"] = self.fallback_log\n", + " # 后备 /clear 请求计入总请求口径，仅统计检测次数会低估现实耗时。\n", + " report[\"fallback_clear_attempts\"] = sum(\n", + " entry.get(\"attempts\", 0) for entry in self.fallback_log)\n", + " report[\"visibility_probes\"] = self.visibility_probes\n", + " report[\"joint_absent_channels\"] = list(self.joint_absent_channels)\n", + " report[\"joint_final\"] = {str(channel): belief.summary()\n", + " for channel, belief in sorted(self.joint.items())}\n", + " return report\n", + "\n", + "\n", + "def fallback_cell_bound(width_m: float, height_m: float,\n", + " config: ProblemConfig = ProblemConfig()) -> int:\n", + " \"\"\"外包框枚举的格数上界 (⌈w/cell⌉+2)(⌈h/cell⌉+2)（计划§4 规模检查）。\"\"\"\n", + " cell = config.search.fallback_clear_grid_m\n", + " return (math.ceil(width_m / cell) + 2) * (math.ceil(height_m / cell) + 2)\n", + "\n", + "\n", + "def fallback_clear_cells(polygon: list[Vec2],\n", + " config: ProblemConfig = ProblemConfig()) -> list[Vec2]:\n", + " \"\"\"候选外包多边形的 <=20m 有限圆盘覆盖格心列表（P5 后备清除）。\n", + "\n", + " 全局半开 20m 网格索引；多边形与格子的相交判定带正容差（宁可多测），\n", + " 多边形边界恰在格线上时两侧格子都保留，因此格内任意点距某格心\n", + " <= 10*sqrt(2) < 20m，逐格 /clear 至少一次命中。列表长度即 /clear\n", + " 请求预算上界；先核对 fallback_cell_bound，超预算不得逐格盲扫。\n", + " \"\"\"\n", + " if not polygon:\n", + " return []\n", + " cell = config.search.fallback_clear_grid_m\n", + " xs = [p[0] for p in polygon]\n", + " ys = [p[1] for p in polygon]\n", + " i0, i1 = math.floor(min(xs) / cell), math.floor(max(xs) / cell)\n", + " j0, j1 = math.floor(min(ys) / cell), math.floor(max(ys) / cell)\n", + " eps = 1e-9\n", + " centers: list[Vec2] = []\n", + " for i in range(i0, i1 + 1):\n", + " for j in range(j0, j1 + 1):\n", + " clipped = list(polygon)\n", + " for a, b, c in ((1.0, 0.0, (i + 1) * cell + eps),\n", + " (-1.0, 0.0, -(i * cell - eps)),\n", + " (0.0, 1.0, (j + 1) * cell + eps),\n", + " (0.0, -1.0, -(j * cell - eps))):\n", + " clipped = clip_halfplane(clipped, a, b, c, tol=eps)\n", + " if not clipped:\n", + " break\n", + " if clipped:\n", + " centers.append(((i + 0.5) * cell, (j + 0.5) * cell))\n", + " return centers\n" + ] + }, + { + "cell_type": "markdown", + "id": "dfc8e5b3", + "metadata": {}, + "source": [ + "### 6.3 第三问默认策略：贝叶斯网格滤波闭环（`planner/bayes_loop.py`）\n", + "\n", + "三层重构：\n", + "\n", + "1. **感知层**：每频道一个网格幸存集，全部读数（含 `no_signal` 负观测）即时更新，\n", + " 幸存集为空即缺席证明；\n", + "2. **决策层**：站点扫频、定位测量、清除三类任务合成统一任务表，\n", + " 开放路径最近邻 + 2-opt 排序，每执行一个任务滚动重排（动态 TSP）；\n", + "3. **选点层**：定位测量点在保证接收盘（凸证书）或 PF MEC 探索环（宽候选集）内\n", + " 按\"期望 log 幸存占比 + λ·移动时间\"评分（信息增益贪心）。\n", + "\n", + "相对基线的增益来自负观测跳站/跳测、PF 缺席证明提前证毕、全局任务排序。\n", + "清除证书仍以凸证书为主，PF 网格证书只在负观测挖洞使幸存集更紧时提前触发。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 24, + "id": "5934cb40", + "metadata": {}, + "outputs": [], + "source": [ + "import math\n", + "from dataclasses import dataclass\n", + "\n", + "\n", + "\n", + "@dataclass(frozen=True)\n", + "class Task:\n", + " \"\"\"统一任务表的一项。service_s 为不含移动的固有耗时（检测+换频/清除）。\"\"\"\n", + "\n", + " kind: str # \"station\" | \"locate\" | \"clear\"\n", + " position: Vec2\n", + " service_s: float\n", + " channel: int | None = None\n", + " station_index: int | None = None\n", + " station_channels: tuple[int, ...] = ()\n", + "\n", + "\n", + "def _point_key(point: Vec2) -> tuple[int, int]:\n", + " \"\"\"候选点去重键：0.5m 网格取整（同一物理点不重复测量）。\"\"\"\n", + " return (int(round(point[0] * 2)), int(round(point[1] * 2)))\n", + "\n", + "\n", + "class BayesLoop(OmnidirectionalLoop):\n", + " \"\"\"问题3贝叶斯闭环：负观测感知 + 信息增益选点 + 滚动任务排序。\"\"\"\n", + "\n", + " def __init__(self, client: SimulatorClient,\n", + " config: ProblemConfig = ProblemConfig()):\n", + " super().__init__(client, config)\n", + " validate_seven_coverage(config.bayes.station_ring_radius_m, config)\n", + " self.coverage_plan = seven_plan(config.bayes.station_ring_radius_m)\n", + " self.ledger = CoverageLedger(\n", + " config, points=list(self.coverage_plan.points))\n", + " self.particles = {channel: ChannelParticles(config)\n", + " for channel in self.belief.channels}\n", + " self._measured_points: dict[int, set[tuple[int, int]]] = {}\n", + " self._clear_failed: set[int] = set() # 证书清除失败后须先补测再重试\n", + " self._stall: dict[int, int] = {} # 连续无收缩计数（异常留痕用）\n", + " self._skip_cache: dict[tuple[int, int], tuple[int, bool]] = {}\n", + " self.skipped_measures = 0 # 跳测规则省下的检测次数\n", + " self.no_shrink_measures = 0 # 未收缩幸存集的定位检测（诊断用）\n", + " self.pf_absent_channels: list[int] = [] # 由幸存集为空证明缺席的频道\n", + " self.opportunistic_measures = 0\n", + "\n", + " # ------------------------------------------------------------ 主循环\n", + " def _coverage_phase(self) -> None:\n", + " \"\"\"统一任务循环：发现 + 定位 + 清除滚动调度，直到任务表为空。\"\"\"\n", + " while self.stop_reason is None:\n", + " if self._count_limit_reached() or self._virtual_cap_reached():\n", + " return\n", + " if not self._step_once():\n", + " return\n", + "\n", + " def _step_once(self) -> bool:\n", + " \"\"\"构建任务表、排序并执行首任务；无可执行任务返回 False。\"\"\"\n", + " if self.config.bayes.opportunistic_measure:\n", + " self._measure_at_stop()\n", + " tasks = self._build_tasks()\n", + " if not tasks:\n", + " return False\n", + " tasks = self._refine_locate_tasks(tasks)\n", + " order = self._order_tasks(tasks)\n", + " self._execute_task(order[0])\n", + " return True\n", + "\n", + " def _measure_at_stop(self) -> None:\n", + " \"\"\"利用已停靠位置补交会方位；评分只作选测，证书仍用完整角域。\n", + "\n", + " 只测尚未在此处测过、有望显著收缩且保证距离可接收的已发现频道。\n", + " 逐频道调用measure，换频与5秒检测照常计费；不在移动中检测。\n", + " 此距离保证仅适用于第三问，不能用于未知定向源。\n", + " \"\"\"\n", + " point = self.client.state.position\n", + " channels = self.belief.channels_by_status(ChannelStatus.DETECTED)\n", + " channels.sort(key=lambda c: (c != self.client.state.channel, c))\n", + " for channel in channels:\n", + " if self._virtual_cap_reached():\n", + " return\n", + " if _point_key(point) in self._measured_points.get(channel, set()):\n", + " continue\n", + " cert = self._best_certificate(channel)\n", + " if cert is not None and cert.certified:\n", + " continue\n", + " region = self.belief.candidate_set(channel)\n", + " farthest = max(math.dist(point, v) for v in region.polygon)\n", + " if farthest > self.config.field.r_eff_min_m - 1e-3:\n", + " continue\n", + " radius = region.mec()[1]\n", + " vertices = region.polygon\n", + " stride = max(1, len(vertices) // self.config.bayes.mc_representatives)\n", + " radii = []\n", + " delta = (self.config.field.bearing_error_half_deg\n", + " + self.config.search.bearing_rounding_margin_deg)\n", + " for target in vertices[::stride]:\n", + " theta = math.degrees(math.atan2(target[1]-point[1], target[0]-point[0]))\n", + " probe = CandidateRegion(list(vertices), region.slack_m)\n", + " probe.clip_wedge(point, theta, delta)\n", + " radii.append(probe.mec()[1] if probe.polygon else radius)\n", + " if sum(radii) / len(radii) > radius * self.config.bayes.opportunistic_radius_ratio:\n", + " continue\n", + " outcome = self.client.measure(point, channel)\n", + " self._record_measure(channel, point, outcome)\n", + " self._may_clear.add(channel)\n", + " self.opportunistic_measures += 1\n", + "\n", + " # ------------------------------------------------------------ 任务构建\n", + " def _station_pending(self, index: int) -> list[int]:\n", + " \"\"\"站点待测频道：UNKNOWN、未测过、非\"必 no_signal\"且未证缺席。\"\"\"\n", + " point = self.ledger.points[index]\n", + " pending = []\n", + " for channel, belief in self.belief.channels.items():\n", + " if belief.status is not ChannelStatus.UNKNOWN:\n", + " continue\n", + " if self.ledger.measured_at(channel, index):\n", + " continue\n", + " if self._skip_station_channel(channel, index, point):\n", + " continue\n", + " pending.append(channel)\n", + " return pending\n", + "\n", + " def _fused_channels_at(self, index: int) -> list[int]:\n", + " \"\"\"本站要测的频道 = 未发现(UNKNOWN) + 已发现但尚未定证(DETECTED)。\n", + "\n", + " P0-1：把定位并入覆盖巡回。站点三角化可行性（方案 §1.3 F11）：\n", + " 99.28% 的源位置有 ≥2 个站在 r_eff_max=1500m 内，最佳交会角中位\n", + " 122.9°、5 分位 58.5°，因此\"顺路取第二条方位线\"对绝大多数源成立。\n", + " 已有证书、已在同一 0.5m 测点测过、或该点必 no_signal 的频道跳过。\n", + "\n", + " 实测结论（2026-09-12，`output/suite/q3-fuse-ab*`）：本机制**不划算**。\n", + " 七站环上通常只有 2–3 个站能对该源取得有效方位线，交会角也不足以\n", + " 直接换到 20m 证书，专用信息增益探点仍然必要；仅在站点顺带测量等于\n", + " 平白多花约 11 次检测（+0.8%），若同时抑制专用探点则 +45.6%（20/20\n", + " 场景更慢）。默认关闭，保留代码以便复现与后续研究。\n", + " \"\"\"\n", + " point = self.ledger.points[index]\n", + " channels = self._station_pending(index)\n", + " selected = set(channels)\n", + " if not self.config.bayes.fuse_localize_into_tour:\n", + " return channels\n", + " for channel in self.belief.channels_by_status(ChannelStatus.DETECTED):\n", + " if channel in selected or self.ledger.measured_at(channel, index):\n", + " continue\n", + " if _point_key(point) in self._measured_points.get(channel, set()):\n", + " continue\n", + " cert = self._best_certificate(channel)\n", + " if cert is not None and cert.certified:\n", + " continue # 已有证书：交给清除任务，不再多测\n", + " if self._skip_station_channel(channel, index, point):\n", + " continue # 幸存集都在 1500m 外：该点必 no_signal\n", + " channels.append(channel)\n", + " selected.add(channel)\n", + " return channels\n", + "\n", + " def _skip_station_channel(self, channel: int, index: int, point: Vec2) -> bool:\n", + " \"\"\"跳测规则（按 pf.version 缓存；幸存集单调收缩，判定单调）。\"\"\"\n", + " pf = self.particles[channel]\n", + " if not pf:\n", + " return True\n", + " cached = self._skip_cache.get((channel, index))\n", + " if cached is not None and cached[0] == pf.version:\n", + " return cached[1]\n", + " value = pf.guaranteed_no_signal(point)\n", + " self._skip_cache[(channel, index)] = (pf.version, value)\n", + " return value\n", + "\n", + " def _build_tasks(self) -> list[Task]:\n", + " tasks: list[Task] = []\n", + " for index, point in enumerate(self.ledger.points):\n", + " pending = self._fused_channels_at(index)\n", + " if not pending:\n", + " continue\n", + " switches = len(pending) - (1 if self.client.state.channel in pending else 0)\n", + " tasks.append(Task(\"station\", tuple(point),\n", + " self.config.cost.measure_s * len(pending)\n", + " + self.config.cost.switch_s * max(switches, 0),\n", + " station_index=index, station_channels=tuple(pending)))\n", + " for channel in self.belief.channels_by_status(ChannelStatus.DETECTED):\n", + " cert = self._best_certificate(channel)\n", + " if cert is not None and cert.certified \\\n", + " and channel not in self._clear_failed:\n", + " tasks.append(Task(\"clear\", cert.center,\n", + " self.config.cost.clear_success_s,\n", + " channel=channel))\n", + " continue\n", + " if self._defer_to_station(channel):\n", + " continue # 下一条方位线可由\"本就要去的站点\"顺路提供\n", + " point = self._select_point(channel)\n", + " if point is None:\n", + " continue\n", + " tasks.append(Task(\"locate\", point,\n", + " self.config.cost.measure_s + self.config.cost.switch_s,\n", + " channel=channel))\n", + " return tasks\n", + "\n", + " def _defer_to_station(self, channel: int) -> bool:\n", + " \"\"\"该频道能否由\"本就要去的站点\"提供下一条方位线。\n", + "\n", + " P0-1 的关键：仅仅在站点顺带测量是不够的（那只是多做一次检测），\n", + " 必须同时**抑制专用探点任务**，否则滚动排序仍会优先飞向更近的探点。\n", + " 判据要求该站本来就有 UNKNOWN 频道待测（覆盖巡回必须去），因此不会\n", + " 为了等一条方位线而制造新的绕行，也不会出现\"无任务可做\"的死锁：\n", + " 站点扫完后 ``_station_pending`` 为空，探点任务自然恢复。\n", + " \"\"\"\n", + " if not self.config.bayes.fuse_localize_into_tour:\n", + " return False\n", + " for index, point in enumerate(self.ledger.points):\n", + " if not self._station_pending(index):\n", + " continue\n", + " if self.ledger.measured_at(channel, index):\n", + " continue\n", + " if _point_key(point) in self._measured_points.get(channel, set()):\n", + " continue\n", + " if self._skip_station_channel(channel, index, point):\n", + " continue\n", + " return True\n", + " return False\n", + "\n", + " # ------------------------------------------------------------ 任务排序\n", + " def _order_tasks(self, tasks: list[Task]) -> list[Task]:\n", + " \"\"\"开放路径排序：小任务表用精确 DP，否则最近邻 + 2-opt。\n", + "\n", + " Held-Karp（S5/T1）把\"已访问集合 × 结束时测向频道\"并入状态，因此换频\n", + " 代价是精确的，而不是 :meth:`_path_cost` 里\"按频道排序\"的贪心近似。\n", + " \"\"\"\n", + " if len(tasks) <= 2:\n", + " ordered = sorted(tasks, key=lambda t: (\n", + " move_time(self.client.state.position, t.position, self.config.cost),\n", + " t.kind, t.channel or 0))\n", + " return min((ordered, ordered[::-1]), key=self._path_cost)\n", + " limit = self.config.bayes.exact_order_limit\n", + " if 0 < limit and len(tasks) <= limit:\n", + " exact = self._exact_order(tasks)\n", + " if exact is not None:\n", + " return exact\n", + " order = self._nearest_order(tasks)\n", + " if not self.config.bayes.two_opt_enabled:\n", + " return order\n", + " return self._two_opt(order)\n", + "\n", + " def _service_and_exit(self, task: Task,\n", + " channel: int) -> tuple[float, int]:\n", + " \"\"\"任务在进入频道 ``channel`` 时的固有耗时与离开后的测向频道。\"\"\"\n", + " cost = self.config.cost\n", + " if task.kind == \"locate\":\n", + " return (cost.measure_s + (cost.switch_s if channel != task.channel else 0.0),\n", + " task.channel)\n", + " if task.kind == \"station\" and task.station_channels:\n", + " pending = sorted(task.station_channels,\n", + " key=lambda c: (c != channel, c))\n", + " switches = len(pending) - (1 if channel in pending else 0)\n", + " return (cost.measure_s * len(pending) + cost.switch_s * switches,\n", + " pending[-1])\n", + " return task.service_s, channel\n", + "\n", + " def _exact_order(self, tasks: list[Task]) -> list[Task] | None:\n", + " \"\"\"Held-Karp 精确开放路径（起点固定、终点自由，含换频状态）。\n", + "\n", + " 状态 ``(mask, c)`` = 已访问任务集 mask、离开最后一个任务后测向频道为 c；\n", + " 频道取值域只需 {当前频道} ∪ {locate 频道} ∪ {station 离开频道}。\n", + " 规模 ``2^n·n·|C|``；n 超过 :attr:`BayesConfig.exact_order_limit` 时由\n", + " 调用方回退启发式。返回 ``None`` 表示状态过大（防御性）。\n", + " \"\"\"\n", + " n = len(tasks)\n", + " if n <= 1:\n", + " return list(tasks)\n", + " start = self.client.state.position\n", + " init = self.client.state.channel\n", + " channels = {init}\n", + " for task in tasks:\n", + " if task.kind == \"locate\":\n", + " channels.add(task.channel)\n", + " elif task.kind == \"station\" and task.station_channels:\n", + " # 离开频道 = 按\"当前频道优先\"排序后的最后一个：通常是最大值；\n", + " # 进入频道恰为最大值时退化为次大值，故两者都要进状态空间。\n", + " ordered = sorted(task.station_channels)\n", + " channels.add(ordered[-1])\n", + " if len(ordered) > 1:\n", + " channels.add(ordered[-2])\n", + " channels = sorted(channels)\n", + " width = len(channels)\n", + " if width * (1 << n) * n > 4_000_000:\n", + " return None\n", + " index_of = {channel: i for i, channel in enumerate(channels)}\n", + " c_init = index_of[init]\n", + " service: list[list[float]] = []\n", + " exits: list[list[int]] = []\n", + " for task in tasks:\n", + " row_service, row_exit = [], []\n", + " for channel in channels:\n", + " value, exit_channel = self._service_and_exit(task, channel)\n", + " row_service.append(value)\n", + " row_exit.append(index_of[exit_channel])\n", + " service.append(row_service)\n", + " exits.append(row_exit)\n", + " move = [[move_time(tasks[i].position, tasks[j].position, self.config.cost)\n", + " for j in range(n)] for i in range(n)]\n", + " from_start = [move_time(start, task.position, self.config.cost)\n", + " for task in tasks]\n", + " inf = float(\"inf\")\n", + " # dp[(mask, ci)] = 最小代价；parent[(mask, ci)] = (上一 mask, 上一 ci)\n", + " dp: dict[tuple[int, int], float] = {}\n", + " last_task: dict[tuple[int, int], int] = {}\n", + " parent: dict[tuple[int, int], tuple[int, int] | None] = {}\n", + " for k in range(n):\n", + " key = (1 << k, exits[k][c_init])\n", + " value = from_start[k] + service[k][c_init]\n", + " if value < dp.get(key, inf):\n", + " dp[key] = value\n", + " last_task[key] = k\n", + " parent[key] = None\n", + " for mask in range(1, 1 << n):\n", + " for ci in range(width):\n", + " state = (mask, ci)\n", + " cost = dp.get(state)\n", + " if cost is None:\n", + " continue\n", + " for k in range(n):\n", + " if (mask >> k) & 1:\n", + " continue\n", + " nxt = (mask | (1 << k), exits[k][ci])\n", + " value = cost + move[last_task[state]][k] + service[k][ci]\n", + " if value < dp.get(nxt, inf) - 1e-12:\n", + " dp[nxt] = value\n", + " last_task[nxt] = k\n", + " parent[nxt] = state\n", + " full = (1 << n) - 1\n", + " best_key, best_cost = None, inf\n", + " for ci in range(width):\n", + " state = (full, ci)\n", + " if state in dp and dp[state] < best_cost:\n", + " best_key, best_cost = state, dp[state]\n", + " if best_key is None:\n", + " return None\n", + " order: list[Task] = []\n", + " key: tuple[int, int] | None = best_key\n", + " while key is not None:\n", + " order.append(tasks[last_task[key]])\n", + " key = parent[key]\n", + " order.reverse()\n", + " return order\n", + "\n", + "\n", + "\n", + " def _nearest_order(self, tasks: list[Task]) -> list[Task]:\n", + " remaining = list(tasks)\n", + " order = []\n", + " position = self.client.state.position\n", + " while remaining:\n", + " best = min(remaining, key=lambda t: (\n", + " move_time(position, t.position, self.config.cost),\n", + " t.kind, t.channel or 0))\n", + " remaining.remove(best)\n", + " order.append(best)\n", + " position = best.position\n", + " return order\n", + "\n", + " def _path_cost(self, order: list[Task]) -> float:\n", + " total = 0.0\n", + " position = self.client.state.position\n", + " channel = self.client.state.channel\n", + " for task in order:\n", + " total += move_time(position, task.position, self.config.cost)\n", + " if task.kind == \"locate\":\n", + " total += self.config.cost.measure_s\n", + " total += self.config.cost.switch_s * (channel != task.channel)\n", + " channel = task.channel\n", + " elif task.kind == \"station\" and task.station_channels:\n", + " pending = sorted(\n", + " task.station_channels,\n", + " key=lambda c, channel=channel: (c != channel, c))\n", + " total += self.config.cost.measure_s * len(pending)\n", + " total += self.config.cost.switch_s * (len(pending) - (channel in pending))\n", + " channel = pending[-1]\n", + " else:\n", + " total += task.service_s # 清除不改变测向频道\n", + " position = task.position\n", + " return total\n", + "\n", + " def _two_opt(self, order: list[Task]) -> list[Task]:\n", + " best = list(order)\n", + " best_cost = self._path_cost(best)\n", + " for _ in range(self.config.bayes.two_opt_passes):\n", + " improved = False\n", + " for i in range(len(best) - 1):\n", + " for j in range(i + 1, len(best)):\n", + " candidate = best[:i] + best[i:j + 1][::-1] + best[j + 1:]\n", + " cost = self._path_cost(candidate)\n", + " if cost < best_cost - 1e-6:\n", + " best, best_cost, improved = candidate, cost, True\n", + " if not improved:\n", + " break\n", + " return best\n", + "\n", + " # ------------------------------------------------------------ 任务执行\n", + " def _execute_task(self, task: Task) -> None:\n", + " if task.kind == \"station\":\n", + " self._execute_station(task.station_index)\n", + " elif task.kind == \"clear\":\n", + " cert = self._best_certificate(task.channel)\n", + " if cert is not None and cert.certified:\n", + " if not self._attempt_clear(task.channel, cert.center, cert):\n", + " self._clear_failed.add(task.channel)\n", + " self._may_clear.discard(task.channel)\n", + " else:\n", + " self._clear_failed.discard(task.channel)\n", + " elif task.kind == \"locate\":\n", + " self._execute_locate(task.channel, task.position)\n", + "\n", + " def _execute_station(self, index: int) -> None:\n", + " \"\"\"单站批量扫频：只测待测频道（跳测规则已过滤），扫完即返回重排。\n", + "\n", + " P0-1：本站同时测量\"已发现未定证\"频道，使第二/第三条方位线在巡回\n", + " 途中顺路取得；证书一旦成立即就地清除，不额外绕行。\n", + " \"\"\"\n", + " point = self.ledger.points[index]\n", + " pending = self._fused_channels_at(index)\n", + " unknown = [c for c, b in self.belief.channels.items()\n", + " if b.status is ChannelStatus.UNKNOWN]\n", + " self.skipped_measures += len(unknown) - len(\n", + " [c for c in pending if self.belief.channels[c].status\n", + " is ChannelStatus.UNKNOWN])\n", + " # 当前频道优先，减少换频；同站 near 直接清除不打断扫频\n", + " pending.sort(key=lambda c: (c != self.client.state.channel, c))\n", + " for channel in pending:\n", + " if self.stop_reason is not None or self._count_limit_reached() \\\n", + " or self._virtual_cap_reached():\n", + " return\n", + " detected_before = (self.belief.channels[channel].status\n", + " is ChannelStatus.DETECTED)\n", + " outcome = self.client.measure(point, channel)\n", + " self.ledger.mark_measured(channel, index)\n", + " self._record_measure(channel, point, outcome)\n", + " if outcome.result in (DIRECTION, NEAR):\n", + " self._may_clear.add(channel)\n", + " if outcome.result == NEAR:\n", + " region = self.belief.candidate_set(channel)\n", + " cert = clear_certificate(region, channel, self.config)\n", + " if cert.certified:\n", + " if self._attempt_clear(channel, point, cert):\n", + " self._clear_failed.discard(channel)\n", + " else:\n", + " self._clear_failed.add(channel)\n", + " self._may_clear.discard(channel)\n", + " else:\n", + " self._anomaly(\"near_without_certificate\", channel, position=point)\n", + " continue\n", + " if not detected_before:\n", + " continue\n", + " if outcome.result == NO_SIGNAL:\n", + " # 该频道已被发现：保证接收盘内不可能 no_signal，属守恒性异常\n", + " region = self.belief.candidate_set(channel)\n", + " safe = (safe_disk_radius(region, self.config)\n", + " if region is not None else -1.0)\n", + " if safe >= 0 and math.dist(point, region.mec()[0]) <= safe:\n", + " self._anomaly(\"no_signal_in_safe_disk\", channel,\n", + " position=point)\n", + " continue\n", + " cert = self._best_certificate(channel)\n", + " if cert is not None and cert.certified:\n", + " if self._attempt_clear(channel, cert.center, cert):\n", + " self._clear_failed.discard(channel)\n", + " else:\n", + " self._clear_failed.add(channel)\n", + " self._may_clear.discard(channel)\n", + "\n", + " def _execute_locate(self, channel: int, point: Vec2) -> None:\n", + " \"\"\"单步定位测量：执行后立即重排（滚动时域），收敛则顺路清除。\"\"\"\n", + " pf = self.particles[channel]\n", + " before = len(pf)\n", + " outcome = self.client.measure(point, channel)\n", + " self._record_measure(channel, point, outcome)\n", + " self._may_clear.add(channel)\n", + " if outcome.result == NO_SIGNAL:\n", + " region = self.belief.candidate_set(channel)\n", + " if region is not None and safe_disk_radius(region, self.config) >= 0 \\\n", + " and math.dist(point, region.mec()[0]) \\\n", + " <= safe_disk_radius(region, self.config):\n", + " self._anomaly(\"no_signal_in_safe_disk\", channel, position=point)\n", + " after = len(pf)\n", + " cert = self._best_certificate(channel)\n", + " if cert is not None and cert.certified:\n", + " if self._attempt_clear(channel, cert.center, cert):\n", + " self._clear_failed.discard(channel)\n", + " self._stall.pop(channel, None)\n", + " return\n", + " self._clear_failed.add(channel)\n", + " self._may_clear.discard(channel)\n", + " if after == before:\n", + " self._stall[channel] = self._stall.get(channel, 0) + 1\n", + " self.no_shrink_measures += 1 # 只是浪费不破坏守恒性，不进异常表\n", + " else:\n", + " self._stall[channel] = 0\n", + "\n", + " # ------------------------------------------------------------ 感知与证书\n", + " def _record_measure(self, channel: int, position: Vec2, outcome) -> None:\n", + " \"\"\"belief（凸证书）与 PF（幸存集）同步更新；PF 空即证缺席。\"\"\"\n", + " self.belief.update_measure(channel, position, outcome.result,\n", + " outcome.svd_deg)\n", + " # 同一 0.5m 测点 × 同一频道的重复检测：历史上一次官方演练有 98.84%\n", + " # 的虚拟时间耗在空复扫上，本计数是该问题的回归指标。\n", + " key = _point_key(position)\n", + " seen = self._measured_points.setdefault(channel, set())\n", + " if key in seen:\n", + " self.redundant_rescan_measures += 1\n", + " seen.add(key)\n", + " self._clear_failed.discard(channel) # 新证据落地：允许再次尝试清除\n", + " belief = self.belief.channels[channel]\n", + " if belief.status in (ChannelStatus.CLEARED, ChannelStatus.ABSENT):\n", + " return # 已证毕：清除/缺席后的 no_signal 与距离无关，不进 PF\n", + " pf = self.particles[channel]\n", + " pf.apply_measure(position, outcome.result, outcome.svd_deg)\n", + " if not pf:\n", + " if belief.status is ChannelStatus.UNKNOWN:\n", + " self.belief.mark_absent(channel)\n", + " self.absence_evidence[channel] = \"pf_empty\"\n", + " if channel not in self.pf_absent_channels:\n", + " self.pf_absent_channels.append(channel)\n", + " else:\n", + " self._anomaly(\"pf_empty_while_detected\", channel, position=position)\n", + " self._apply_count_bound()\n", + "\n", + " def _apply_count_bound(self) -> None:\n", + " \"\"\"存在证据达到题面源数上界时，其余 UNKNOWN 可由计数直接判缺席。\n", + "\n", + " 依据 [题面]：每频道至多一个源、全局限定 10..16 个源。一旦\n", + " DETECTED/CLEARED 的不同频道数达到 16，任何尚未出现有效信号的\n", + " 频道都不可能是源，无须等 7 站覆盖账本跑完。该判定与位置无关，\n", + " 是严格的计数证明；evidence 与 coverage/pf_empty 分开留痕。\n", + " \"\"\"\n", + " present = [channel for channel, belief in self.belief.channels.items()\n", + " if belief.status in (ChannelStatus.DETECTED,\n", + " ChannelStatus.CLEARED)]\n", + " if len(present) < self.config.field.source_count_max:\n", + " return\n", + " for channel, belief in self.belief.channels.items():\n", + " if belief.status is ChannelStatus.UNKNOWN:\n", + " belief.status = ChannelStatus.ABSENT\n", + " self.absence_evidence[channel] = \"count_bound\"\n", + "\n", + " def _best_certificate(self, channel: int) -> ClearCertificate | None:\n", + " \"\"\"凸证书优先；负观测挖洞使 PF 幸存集更紧时用网格证书补位。\"\"\"\n", + " region = self.belief.candidate_set(channel)\n", + " cert = clear_certificate(region, channel, self.config) \\\n", + " if region is not None else None\n", + " if cert is not None and cert.certified:\n", + " return self._near_clear_target(cert)\n", + " if self.config.bayes.grid_cert_enabled:\n", + " pf = self.particles[channel]\n", + " if len(pf):\n", + " center, radius = pf.mec()\n", + " limit = (self.config.field.clear_radius_m - pf.margin_m\n", + " - self.config.search.clear_margin_m)\n", + " if radius <= limit:\n", + " return self._near_clear_target(\n", + " ClearCertificate(channel, center, radius, limit, True))\n", + " return cert\n", + "\n", + " def _near_clear_target(self, cert: ClearCertificate) -> ClearCertificate:\n", + " \"\"\"沿当前来向利用20m清除容差；三角不等式保留整集覆盖证明。\"\"\"\n", + " position = self.client.state.position\n", + " distance = math.dist(position, cert.center)\n", + " shift = min(distance, max(0.0, cert.limit_m - cert.radius_m - 1e-6))\n", + " if distance <= 1e-9 or shift <= 0:\n", + " return cert\n", + " target = tuple(c + (p-c)*shift/distance for p, c in zip(position, cert.center))\n", + " return ClearCertificate(cert.channel, target, cert.radius_m+shift, cert.limit_m, True)\n", + "\n", + " # ------------------------------------------------------------ 信息增益选点\n", + " def _probe_context(self, channel: int):\n", + " \"\"\"构造某频道下一次定位测量的候选集与信息增益评分函数。\n", + "\n", + " 返回 ``(candidates, info_score, mec_center, current_position)``；\n", + " 候选为空返回 ``None``。``_select_point`` 与路线感知精修共用此逻辑，\n", + " 保证两者只差“移动代价如何折算”。\n", + " \"\"\"\n", + " bayes, search = self.config.bayes, self.config.search\n", + " pf = self.particles[channel]\n", + " if not pf:\n", + " return None\n", + " region = self.belief.candidate_set(channel)\n", + " center, radius = pf.mec()\n", + " measured = self._measured_points.get(channel, set())\n", + " position = self.client.state.position\n", + " candidates: list[Vec2] = []\n", + " safe = safe_disk_radius(region, self.config) if region is not None else -1.0\n", + " if region is not None and safe >= 0:\n", + " # 保证接收盘（凸证书口径）：任意候选必产生 direction/near\n", + " candidates = candidate_points(tuple(region.mec()[0]), safe,\n", + " search.candidate_rings,\n", + " search.candidate_angles)\n", + " # 以实际来向生成对称交会候选，避免固定全局角度网格的旋转偏差。\n", + " geometric_center = region.mec()[0]\n", + " base_angle = math.atan2(position[1] - geometric_center[1],\n", + " position[0] - geometric_center[0])\n", + " for fraction in search.candidate_rings:\n", + " if fraction <= 0:\n", + " continue\n", + " for offset in (-math.pi/3, -math.pi/6, 0, math.pi/6, math.pi/3):\n", + " angle = base_angle + offset\n", + " candidates.append((geometric_center[0] + safe * fraction * math.cos(angle),\n", + " geometric_center[1] + safe * fraction * math.sin(angle)))\n", + " # 已停靠位置若本身在安全接收盘内，是零移动的合法测点；显式加入\n", + " # 可避免为了固定角度环而白白横移。\n", + " if math.dist(position, geometric_center) <= safe + 1e-9:\n", + " candidates.append(tuple(position))\n", + " else:\n", + " # 宽候选集：PF MEC 探索环（负观测挖洞后幸存集的包围圆）\n", + " for fraction in bayes.wide_rings:\n", + " ring = max(radius * fraction, 2.0 * pf.margin_m)\n", + " candidates.extend(candidate_points(center, ring, (1.0,),\n", + " search.candidate_angles))\n", + " candidates.append(tuple(center))\n", + " candidates.append(tuple(position))\n", + " candidates = [tuple(c) for c in candidates\n", + " if _point_key(c) not in measured]\n", + " if not candidates:\n", + " return None\n", + " # 采样一次转成数组（numpy 可用时），使候选评分走向量路径；\n", + " # numpy 缺失时 as_sample_array 原样返回列表，语义不变。\n", + " subsample = as_sample_array(pf.subsample(bayes.score_subsample))\n", + " stride = max(len(subsample) // bayes.mc_representatives, 1)\n", + " representatives = subsample[::stride]\n", + "\n", + " def info_score(q: Vec2) -> float:\n", + " if bayes.score_mode == \"entropy\":\n", + " return pf.expected_survival(q, subsample, representatives)\n", + " return pf.expected_posterior_radius(q, subsample, representatives)\n", + "\n", + " return candidates, info_score, center, position\n", + "\n", + " def _select_point(self, channel: int) -> Vec2 | None:\n", + " \"\"\"定位测量点：期望 log 幸存占比 + λ·移动时间 最小的候选。\"\"\"\n", + " context = self._probe_context(channel)\n", + " if context is None:\n", + " return None\n", + " candidates, info_score, center, position = context\n", + " bayes = self.config.bayes\n", + "\n", + " def score(q: Vec2) -> float:\n", + " # 一次定位后仍需接近源才能清除；仅计到检测点的移动会偏好绕行。\n", + " move = bayes.lambda_move_s * (move_time(position, q, self.config.cost)\n", + " + move_time(q, center, self.config.cost))\n", + " return info_score(q) + move\n", + "\n", + " return min(candidates, key=lambda q: (score(q), _point_key(q)))\n", + "\n", + " def _refine_locate_tasks(self, tasks: list[Task]) -> list[Task]:\n", + " \"\"\"路线感知精修定位任务点（P2，2026-09-12）。\n", + "\n", + " 旧评分只比较 ``current->q + q->MEC``，是局部代理；滚动 2-opt 的真实\n", + " 代价还包含 ``q->next_task``。这里对每个 locate 任务在候选点上计算\n", + " “替换该任务后整条当前路线代价的增量”，再与信息增益、MEC 接近项合并\n", + " 选点。只改变选点启发式，不改变覆盖/清除证明。\n", + " \"\"\"\n", + " bayes = self.config.bayes\n", + " if not bayes.route_aware_probe:\n", + " return tasks\n", + " locate_indices = [index for index, task in enumerate(tasks)\n", + " if task.kind == \"locate\"]\n", + " if not locate_indices:\n", + " return tasks\n", + " base_order = self._order_tasks(tasks)\n", + " base_cost = self._path_cost(base_order)\n", + " refined = list(tasks)\n", + " for task_index in locate_indices:\n", + " task = tasks[task_index]\n", + " context = self._probe_context(task.channel)\n", + " if context is None:\n", + " continue\n", + " candidates, info_score, center, position = context\n", + " try:\n", + " order_index = next(index for index, item in enumerate(base_order)\n", + " if item is task)\n", + " except StopIteration: # pragma: no cover - 同对象应始终存在\n", + " order_index = next(index for index, item in enumerate(base_order)\n", + " if item.kind == \"locate\"\n", + " and item.channel == task.channel)\n", + " best_score: float | None = None\n", + " best_point: Vec2 | None = None\n", + " for point in candidates:\n", + " trial_order = list(base_order)\n", + " trial_order[order_index] = Task(\n", + " \"locate\", tuple(point), task.service_s, channel=task.channel)\n", + " route_delta = self._path_cost(trial_order) - base_cost\n", + " move_proxy = bayes.lambda_move_s * (\n", + " move_time(position, point, self.config.cost)\n", + " + move_time(point, center, self.config.cost))\n", + " clear_near = move_time(point, center, self.config.cost)\n", + " value = (info_score(point)\n", + " + move_proxy\n", + " + bayes.route_aware_insert_weight * route_delta\n", + " + bayes.route_aware_clear_weight * clear_near)\n", + " if best_score is None or value < best_score:\n", + " best_score, best_point = value, tuple(point)\n", + " if best_point is not None:\n", + " refined[task_index] = Task(\n", + " \"locate\", best_point, task.service_s, channel=task.channel)\n", + " return refined\n", + "\n", + " # ------------------------------------------------------------ 安全网与复扫\n", + " def _localize_and_clear(self, channel: int) -> bool:\n", + " \"\"\"阻塞式定位子循环（resolve 阶段安全网）：PF 选点，失败退凸选点。\"\"\"\n", + " search = self.config.search\n", + " self._may_clear.add(channel)\n", + " for _ in range(search.max_localize_steps):\n", + " if self._virtual_cap_reached():\n", + " return False\n", + " cert = self._best_certificate(channel)\n", + " if cert is not None and cert.certified and channel in self._may_clear:\n", + " if self._attempt_clear(channel, cert.center, cert):\n", + " self._clear_failed.discard(channel)\n", + " return True\n", + " self._clear_failed.add(channel)\n", + " self._may_clear.discard(channel)\n", + " continue\n", + " point = self._select_point(channel)\n", + " if point is None:\n", + " region = self.belief.candidate_set(channel)\n", + " if region is None:\n", + " return False\n", + " point = select_measurement_point(\n", + " region, self.client.state.position, self.config).position\n", + " outcome = self.client.measure(point, channel)\n", + " self._record_measure(channel, point, outcome)\n", + " self._may_clear.add(channel)\n", + " if outcome.result == NO_SIGNAL:\n", + " region = self.belief.candidate_set(channel)\n", + " if region is not None and safe_disk_radius(region, self.config) >= 0 \\\n", + " and math.dist(point, region.mec()[0]) \\\n", + " <= safe_disk_radius(region, self.config):\n", + " self._anomaly(\"no_signal_in_safe_disk\", channel, position=point)\n", + " cert = self._best_certificate(channel)\n", + " if cert is not None and cert.certified:\n", + " if self._attempt_clear(channel, cert.center, cert):\n", + " self._clear_failed.discard(channel)\n", + " return True\n", + " self._clear_failed.add(channel)\n", + " self._may_clear.discard(channel)\n", + " return self.belief.channels[channel].status is ChannelStatus.CLEARED\n", + "\n", + " def _persistent_round(self) -> None:\n", + " \"\"\"一轮复扫：与基线一致的全站复测，但读数同步进 PF（防假设偏差）。\"\"\"\n", + " measured: set[tuple[int, int]] = set()\n", + " while self.stop_reason is None:\n", + " index = self._next_resweep_point(measured)\n", + " if index is None:\n", + " return\n", + " point = self.ledger.points[index]\n", + " for channel in self._resweep_channels_at(index, measured):\n", + " if self._virtual_cap_reached():\n", + " return\n", + " measured.add((channel, index))\n", + " was_absent = (self.belief.channels[channel].status\n", + " is ChannelStatus.ABSENT)\n", + " outcome = self.client.measure(point, channel)\n", + " self._record_measure(channel, point, outcome)\n", + " if was_absent and outcome.result in (DIRECTION, NEAR):\n", + " # 复测推翻了缺席证明：守恒性留痕，按新证据定位清除。\n", + " self._anomaly(\"absent_detected_on_resweep\", channel,\n", + " position=point, result=outcome.result)\n", + " if outcome.result == DIRECTION:\n", + " self._localize_and_clear(channel)\n", + " elif outcome.result == NEAR:\n", + " cert = self._best_certificate(channel)\n", + " if cert is not None and cert.certified:\n", + " if not self._attempt_clear(channel, cert.center, cert):\n", + " self._clear_failed.add(channel)\n", + " else:\n", + " self._anomaly(\"near_without_certificate\", channel,\n", + " position=point)\n", + " if self.stop_reason is not None:\n", + " return\n", + "\n", + " # ------------------------------------------------------------ 收尾\n", + " def _summary(self, info) -> dict:\n", + " report = super()._summary(info)\n", + " report[\"strategy\"] = \"bayes\"\n", + " report[\"opportunistic_measures\"] = self.opportunistic_measures\n", + " report[\"skipped_measures\"] = self.skipped_measures\n", + " report[\"no_shrink_measures\"] = self.no_shrink_measures\n", + " report[\"pf_absent_channels\"] = sorted(self.pf_absent_channels)\n", + " report[\"pf_alive_final\"] = {\n", + " str(channel): len(self.particles[channel])\n", + " for channel in sorted(self.particles)\n", + " if self.belief.channels[channel].status is ChannelStatus.DETECTED}\n", + " return report\n" + ] + }, + { + "cell_type": "markdown", + "id": "52d71ea9", + "metadata": {}, + "source": [ + "### 6.4 第三问对照策略：七站批量扫频（`planner/seven.py`）\n", + "\n", + "同一骨架换覆盖计划：7 站解析覆盖 + 站内批量扫频 + 按\"距候选集 MEC 圆心最近\"服务队列。\n", + "它曾以官方案例 12/12 全清通过演练，是\"覆盖证明 + 批量调度\"的中间对照。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 25, + "id": "0c911581", + "metadata": {}, + "outputs": [], + "source": [ + "class SevenBatch(OmnidirectionalLoop):\n", + " \"\"\"站内只扫频，扫完按最近候选集圆心顺序服务检测队列（A2 主策略）。\"\"\"\n", + "\n", + "\n", + " def _serve_queue(self):\n", + " # Each detected channel gets at most one localization call in this pass.\n", + " queue = self.belief.channels_by_status(ChannelStatus.DETECTED)\n", + " while queue:\n", + " c = min(queue, key=lambda c: (math.dist(self.client.state.position,\n", + " self.belief.candidate_set(c).mec()[0]), c))\n", + " queue.remove(c)\n", + " self._localize_and_clear(c)\n", + " if self._count_limit_reached():\n", + " break\n", + "\n", + " def _coverage_phase(self):\n", + " while not self._count_limit_reached():\n", + " index = self._next_point_index()\n", + " if index is None:\n", + " return\n", + " point = self.ledger.points[index]\n", + " pending = self._pending_channels_at(index)\n", + " # Keeping the current measuring channel first saves a switch when possible.\n", + " pending.sort(key=lambda c: (c != self.client.state.channel, c))\n", + " for c in pending:\n", + " outcome = self.client.measure(point, c)\n", + " self.ledger.mark_measured(c, index)\n", + " self.belief.update_measure(c, point, outcome.result, outcome.svd_deg)\n", + " if outcome.result == NEAR:\n", + " cert = clear_certificate(self.belief.candidate_set(c), c, self.config)\n", + " # Same-station near clear; do not displace the station scan.\n", + " if cert.certified:\n", + " self._attempt_clear(c, point, cert)\n", + " if self._count_limit_reached():\n", + " return\n", + " self._serve_queue()\n", + "\n", + " def _resolve_detected(self):\n", + " self._serve_queue()\n", + " unresolved = [c for c, b in self.belief.channels.items()\n", + " if b.status not in (ChannelStatus.CLEARED, ChannelStatus.ABSENT)]\n", + " return \"all_resolved\" if not unresolved else \"unresolved_channels\"\n" + ] + }, + { + "cell_type": "markdown", + "id": "d9df020d", + "metadata": {}, + "source": [ + "# 第三部分 · 逐问算例与自检\n", + "\n", + "以下单元用**合成观测**驱动上面的求解器（合成观测的生成规则单独写明，\n", + "不依赖评测机）。每个单元末尾用断言检查结论，运行通过即说明该问的代码链路正确。\n", + "\n", + "## 7. 问题一：角域交会定位\n", + "\n", + "三个检测点、±1° 误差的示向度。输出：定位区域多边形顶点、直径、直径圆是否覆盖整个区域、\n", + "最小包围圆（MEC）半径，以及\"MEC 半径 ≤ 20 m\"的清除证书。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 26, + "id": "4075e650", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "== 三点交会 ==\n", + "状态 : polygon 顶点数 5\n", + "直径 : 26.986 m\n", + "直径圆覆盖区域 : False 最大超出 3.964 m\n", + "最小包围圆 : 圆心 (81.874, 98.042) 半径 13.943 m\n", + "可原地清除 : True\n" + ] + } + ], + "source": [ + "Q1_EXAMPLES = {\n", + " \"normal\": { # 三点交会：区域有界、MEC 远小于 20 m\n", + " \"target\": (80.0, 90.0),\n", + " \"measurements\": [(-600.0, -250.0, 27.21505117707799),\n", + " (650.0, -100.0, 161.015051177078),\n", + " (100.0, 700.0, 268.4721225527146)],\n", + " },\n", + " \"triangle\": { # 直径圆反例：直径圆不覆盖区域\n", + " \"target\": (20.0, 11.547005383792515),\n", + " \"measurements\": [(-1000.0, 0.0, 1.0),\n", + " (540.0, -866.0254037844386, 121.0),\n", + " (520.0, 900.6664199358162, 241.0)],\n", + " },\n", + " \"poor\": { # 近共线：细长区域，MEC 远大于直径圆\n", + " \"target\": (0.0, 0.0),\n", + " \"measurements\": [(-900.0, -20.0, 1.29), (0.0, 0.0, 0.0), (900.0, 20.0, 358.73)],\n", + " },\n", + "}\n", + "\n", + "def solve_q1(case: str, rounding_margin_deg: float = 0.0) -> dict:\n", + " \"\"\"复现 `mcm26b q1 examples/q1/.json` 的求解口径。\"\"\"\n", + " rows = Q1_EXAMPLES[case][\"measurements\"]\n", + " measurements = [Measurement(x, y, bearing, 1.0 + rounding_margin_deg)\n", + " for x, y, bearing in rows]\n", + " return solve(measurements)\n", + "\n", + "normal = solve_q1(\"normal\")\n", + "print(\"== 三点交会 ==\")\n", + "print(\"状态 :\", normal[\"status\"], \"顶点数\", len(normal[\"vertices\"]))\n", + "print(\"直径 : %.3f m\" % normal[\"diameter_m\"])\n", + "print(\"直径圆覆盖区域 :\", normal[\"diameter_circle\"][\"covers\"],\n", + " \"最大超出 %.3f m\" % normal[\"diameter_circle\"][\"max_excess_m\"])\n", + "print(\"最小包围圆 : 圆心 (%.3f, %.3f) 半径 %.3f m\"\n", + " % (*normal[\"minimum_enclosing_circle\"][\"center\"],\n", + " normal[\"minimum_enclosing_circle\"][\"radius_m\"]))\n", + "print(\"可原地清除 :\", normal[\"guaranteed_clearable_at_mec_center\"])\n", + "assert normal[\"status\"] == \"polygon\" and normal[\"diameter_m\"] > 0\n", + "assert normal[\"diameter_infinite\"] is False\n" + ] + }, + { + "cell_type": "code", + "execution_count": 27, + "id": "efa9f69a", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "== 直径圆反例（等边三角形） ==\n", + "定位区域顶点： [[-0.0, 0.0], [40.0, 0.0], [20.0, 34.64]]\n", + "直径 40.000 m（最远顶点对 [[-0.0, 0.0], [40.0, 0.0]]）\n", + "直径圆：圆心 [20.0, 0.0] 半径 20.000 m\n", + "圆外顶点下标 [2]（见证顶点 [20.0, 34.64]），最大超出 14.641 m\n", + "直径圆覆盖整个定位区域： False\n", + "最小包围圆半径 23.094 m（>= 直径/2 = 20.0 m，才是真正的最小覆盖半径）\n", + "\n", + "== 近共线细长区域 ==\n", + "状态 polygon，直径 3085.3 m，最小包围圆半径 1542.6 m，可原地清除 False\n", + "\n", + "无观测 -> unbounded | 单条示向度 -> unbounded （衰退方向 [0.8971423583981722, 0.44174154068614097]）\n" + ] + } + ], + "source": [ + "# 反例：直径圆的圆心是\"最远顶点对\"的中点，第二个最远顶点可能落在圆外。\n", + "tri = solve_q1(\"triangle\")\n", + "print(\"== 直径圆反例（等边三角形） ==\")\n", + "print(\"定位区域顶点：\", [[round(v, 2) for v in p] for p in tri[\"vertices\"]])\n", + "print(\"直径 %.3f m（最远顶点对 %s）\" % (tri[\"diameter_m\"],\n", + " [[round(v, 2) for v in p] for p in tri[\"diameter_pair\"]]))\n", + "print(\"直径圆：圆心 %s 半径 %.3f m\" % ([round(v, 2) for v in\n", + " tri[\"diameter_circle\"][\"center\"]], tri[\"diameter_circle\"][\"radius_m\"]))\n", + "print(\"圆外顶点下标 %s（见证顶点 %s），最大超出 %.3f m\"\n", + " % (tri[\"diameter_circle\"][\"outside_vertex_indices\"],\n", + " [round(v, 2) for v in tri[\"diameter_circle\"][\"witness_vertex\"]],\n", + " tri[\"diameter_circle\"][\"max_excess_m\"]))\n", + "print(\"直径圆覆盖整个定位区域：\", tri[\"diameter_circle\"][\"covers\"])\n", + "print(\"最小包围圆半径 %.3f m（>= 直径/2 = %.1f m，才是真正的最小覆盖半径）\"\n", + " % (tri[\"minimum_enclosing_circle\"][\"radius_m\"], tri[\"diameter_m\"] / 2))\n", + "assert tri[\"diameter_circle\"][\"covers\"] is False\n", + "assert tri[\"diameter_circle\"][\"outside_vertex_indices\"] == [2]\n", + "# 一般地 直径/2 <= 最小包围圆半径；等边三角形取严格大于（23.09 > 20）\n", + "assert tri[\"minimum_enclosing_circle\"][\"radius_m\"] >= tri[\"diameter_m\"] / 2 - 1e-9\n", + "\n", + "poor = solve_q1(\"poor\")\n", + "print(\"\\n== 近共线细长区域 ==\")\n", + "print(\"状态 %s，直径 %.1f m，最小包围圆半径 %.1f m，可原地清除 %s\"\n", + " % (poor[\"status\"], poor[\"diameter_m\"],\n", + " poor[\"minimum_enclosing_circle\"][\"radius_m\"],\n", + " poor[\"guaranteed_clearable_at_mec_center\"]))\n", + "assert poor[\"minimum_enclosing_circle\"][\"radius_m\"] > 20.0\n", + "assert poor[\"guaranteed_clearable_at_mec_center\"] is False\n", + "\n", + "empty = solve([])\n", + "unbounded = solve([Measurement(-600.0, -250.0, 27.21505117707799, 1.0)])\n", + "print(\"\\n无观测 ->\", empty[\"status\"], \"| 单条示向度 ->\", unbounded[\"status\"],\n", + " \"（衰退方向 %s）\" % unbounded[\"recession_direction\"])\n", + "assert empty[\"status\"] == \"unbounded\" and unbounded[\"status\"] == \"unbounded\"\n" + ] + }, + { + "cell_type": "code", + "execution_count": 28, + "id": "6145af53", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "舍入裕量 0.000°：直径 26.986 m，MEC 半径 13.943 m\n", + "舍入裕量 0.005°：直径 27.143 m，MEC 半径 14.019 m\n", + "放宽 0.005° 使 MEC 半径增加 0.076 m —— 因此库默认带该裕量，否则合法真源可能被角域裁掉\n" + ] + } + ], + "source": [ + "# 示向度二位小数的舍入敏感性：误差半角 1.0° vs 1.005°（含 0.005° 舍入裕量）\n", + "tight = solve_q1(\"normal\", 0.0)\n", + "loose = solve_q1(\"normal\", 0.005)\n", + "print(\"舍入裕量 0.000°：直径 %.3f m，MEC 半径 %.3f m\"\n", + " % (tight[\"diameter_m\"], tight[\"minimum_enclosing_circle\"][\"radius_m\"]))\n", + "print(\"舍入裕量 0.005°：直径 %.3f m，MEC 半径 %.3f m\"\n", + " % (loose[\"diameter_m\"], loose[\"minimum_enclosing_circle\"][\"radius_m\"]))\n", + "print(\"放宽 %.3f° 使 MEC 半径增加 %.3f m —— 因此库默认带该裕量，\"\n", + " \"否则合法真源可能被角域裁掉\" % (0.005, loose[\"minimum_enclosing_circle\"][\"radius_m\"]\n", + " - tight[\"minimum_enclosing_circle\"][\"radius_m\"]))\n", + "assert loose[\"minimum_enclosing_circle\"][\"radius_m\"] >= \\\n", + " tight[\"minimum_enclosing_circle\"][\"radius_m\"] - 1e-9\n" + ] + }, + { + "cell_type": "markdown", + "id": "442dbb20", + "metadata": {}, + "source": [ + "## 8. 问题二：第二检测点的选择\n", + "\n", + "给定首次 `direction` 读数（检测点 s₁、示向度 θ₁±1°），构造\n", + "K₁ = Ω ∩ W(s₁, θ₁±δ_eff) ∩ B(s₁, 1500)，再在**保证接收盘**内选第二点：\n", + "\n", + "- 目标函数：候选读数分支下的**最坏后验包围半径**（越小越好，直接决定能否进入 20 m 清除圈）；\n", + "- 次指标：从当前位置出发的移动时间（同分决胜）；\n", + "- 采样是启发式（候选点族 × 目标边界点 × 读数区间端点），选定后按 1/4 间距加密复核并如实上报。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 29, + "id": "abebb69d", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "首次角域扇形的包围圆：圆心 (450.1, 600.1) 半径 750.1 m\n", + "保证接收盘 ：圆心 (450.1, 600.1) 半径 249.9 m\n", + "\n", + "第二检测点 ( 691.65, 535.27)\n", + "最坏后验包围半径 91.42 m（当前候选集 MEC 半径 750.1 m，必须更小才叫有信息）\n", + "移动耗时 174.9 s（次指标：同样精度下取更近的点）\n", + "依据： 安全盘 B(centre,250m) 内 37 候选；粗采样最坏后验 91.4m，1/4 间距加密复核 91.4m\n" + ] + } + ], + "source": [ + "class _StateStub:\n", + " \"\"\"最小状态替身：只提供选点器需要的当前位置与当前测向频道。\"\"\"\n", + "\n", + " def __init__(self, position=(0.0, 0.0), channel: int = 1):\n", + " self.position = position\n", + " self.channel = channel\n", + "\n", + "\n", + "class _ClientStub:\n", + " def __init__(self, position=(0.0, 0.0), channel: int = 1):\n", + " self.state = _StateStub(position, channel)\n", + "\n", + "\n", + "CONFIG = ProblemConfig()\n", + "\n", + "def plan_second_point(station, bearing_deg, from_position=(0.0, 0.0)):\n", + " \"\"\"问题二主入口：首次示向度 -> 保证接收的第二检测点方案。\"\"\"\n", + " client = _ClientStub(from_position, channel=1)\n", + " return select_second_point(client, station, bearing_deg, CONFIG)\n", + "\n", + "\n", + "def plan_second_point_from(region, from_position=(0.0, 0.0)):\n", + " \"\"\"已知候选集时的下一测点（同一选点器，供逐次追加测点演示）。\"\"\"\n", + " return select_measurement_point(region, from_position, CONFIG)\n", + "\n", + "\n", + "# 首次检测：真源在 (300, 400)，从原点测得示向度 53.13°，误差半角 ±1°\n", + "station1, bearing1 = (0.0, 0.0), 53.13010235415598\n", + "cert = first_bearing_candidate_disk(Measurement(*station1, bearing1, 1.0))\n", + "print(\"首次角域扇形的包围圆：圆心 (%.1f, %.1f) 半径 %.1f m\"\n", + " % (*cert[\"sector_enclosing_circle\"][\"center\"],\n", + " cert[\"sector_enclosing_circle\"][\"radius_m\"]))\n", + "print(\"保证接收盘 ：圆心 (%.1f, %.1f) 半径 %.1f m\"\n", + " % (*cert[\"sufficient_candidate_disk\"][\"center\"],\n", + " cert[\"sufficient_candidate_disk\"][\"radius_m\"]))\n", + "\n", + "# 首次读数后的候选集 K1 = Ω ∩ W(s1, θ1±δ_eff) ∩ B(s1, 1500)\n", + "half = 1.0 + CONFIG.search.bearing_rounding_margin_deg\n", + "region = CandidateRegion.initial(station1, CONFIG)\n", + "region.clip_wedge(station1, bearing1, half)\n", + "\n", + "plan = plan_second_point(station1, bearing1)\n", + "print(\"\\n第二检测点 (%8.2f, %8.2f)\" % plan.position)\n", + "print(\"最坏后验包围半径 %.2f m（当前候选集 MEC 半径 %.1f m，必须更小才叫有信息）\"\n", + " % (plan.worst_posterior_radius_m, region.mec()[1]))\n", + "print(\"移动耗时 %.1f s（次指标：同样精度下取更近的点）\" % plan.move_cost_s)\n", + "print(\"依据：\", plan.reason)\n" + ] + }, + { + "cell_type": "code", + "execution_count": 30, + "id": "226d7cca", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "候选集边界采样点 3056 个\n", + "真源到第二点的最远距离 874.58 m（<= 1000 m 才保证收到信号）\n", + "对候选集最坏点、最不利读数的后验包围半径 91.42 m\n", + "第二点相对候选集包围圆的保证接收余量：0.0 m\n", + "追加第 2 个测点 ( 400.97, 23.81)：最坏后验半径 10.37 m\n", + "\n", + "结论：第二点负责\"保证接收 + 最大化交会角\"，后验精度由后续测点继续压缩；20 m 清除圈通常在第三点后达成。\n" + ] + } + ], + "source": [ + "# 用同一套观测语义复核这个点：无论真源落在候选集何处，第二点都必收到信号。\n", + "# 候选集边界按 1 m 加密采样做最坏情形检验。\n", + "worst_distance, worst_radius, samples = 0.0, 0.0, 0\n", + "for truth in region.witnesses(1.0):\n", + " worst_distance = max(worst_distance, math.dist(plan.position, truth))\n", + " for reading in (bearing_deg(plan.position, truth) - half,\n", + " bearing_deg(plan.position, truth) + half):\n", + " probe = CandidateRegion(list(region.polygon), region.slack_m)\n", + " probe.clip_wedge(plan.position, reading, half)\n", + " if probe.polygon:\n", + " worst_radius = max(worst_radius, probe.mec()[1])\n", + " samples += 1\n", + "print(\"候选集边界采样点 %d 个\" % samples)\n", + "print(\"真源到第二点的最远距离 %.2f m（<= 1000 m 才保证收到信号）\" % worst_distance)\n", + "print(\"对候选集最坏点、最不利读数的后验包围半径 %.2f m\" % worst_radius)\n", + "print(\"第二点相对候选集包围圆的保证接收余量：%.1f m\"\n", + " % (CONFIG.field.r_eff_min_m - region.mec()[1] - math.dist(plan.position,\n", + " region.mec()[0])))\n", + "assert worst_distance <= CONFIG.field.r_eff_min_m # 保证接收：不会浪费 no_signal\n", + "assert worst_radius < region.mec()[1] # 一定带来收缩\n", + "\n", + "# 逐次追加测点：最坏后验半径单调收缩，第三点后进入 20 m 清除圈\n", + "for step in range(2, 5):\n", + " if plan.worst_posterior_radius_m <= CONFIG.field.clear_radius_m:\n", + " break\n", + " region.clip_wedge(plan.position, bearing_deg(plan.position, (300.0, 400.0)), half)\n", + " plan = plan_second_point_from(region, (0.0, 0.0))\n", + " print(\"追加第 %d 个测点 (%8.2f, %8.2f)：最坏后验半径 %.2f m\"\n", + " % (step, *plan.position, plan.worst_posterior_radius_m))\n", + "print(\"\\n结论：第二点负责\\\"保证接收 + 最大化交会角\\\"，后验精度由后续测点继续压缩；\"\n", + " \"20 m 清除圈通常在第三点后达成。\")\n", + "assert plan.worst_posterior_radius_m <= CONFIG.field.clear_radius_m\n" + ] + }, + { + "cell_type": "code", + "execution_count": 31, + "id": "504f0aa8", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "首次示向度 第二点位置 最坏后验半径 移动耗时\n", + " 0.0° ( 814.85, 241.29) 93.20 m 465.5 s\n", + " 45.0° ( 465.82, 771.76) 90.96 m 422.4 s\n", + " 90.0° ( -241.29, 814.85) 93.20 m 299.9 s\n", + " 135.0° ( -771.76, 465.82) 90.96 m 172.9 s\n", + " 180.0° ( -814.85, 241.29) 93.20 m 145.3 s\n", + " 225.0° ( -771.76, -465.82) 90.96 m 172.9 s\n", + " 270.0° ( -241.29, -814.85) 93.20 m 299.9 s\n", + " 315.0° ( 465.82, -771.76) 90.96 m 422.4 s\n" + ] + } + ], + "source": [ + "# 对照：候选集在不同首次示向度下的选择结果（目标函数与移动代价的权衡）\n", + "print(\"首次示向度 第二点位置 最坏后验半径 移动耗时\")\n", + "for bearing in (0.0, 45.0, 90.0, 135.0, 180.0, 225.0, 270.0, 315.0):\n", + " item = plan_second_point(station1, bearing, from_position=(-1500.0, 0.0))\n", + " print(\"%7.1f° (%8.2f, %8.2f) %8.2f m %6.1f s\"\n", + " % (bearing, item.position[0], item.position[1],\n", + " item.worst_posterior_radius_m, item.move_cost_s))\n" + ] + }, + { + "cell_type": "markdown", + "id": "b7a898d2", + "metadata": {}, + "source": [ + "## 9. 问题三：全向源闭环\n", + "\n", + "第三问没有可直连的模拟器时，仍可自检全部**决策内核**：\n", + "\n", + "1. 七站覆盖计划是否真的覆盖 Ω（每点到最近站 ≤ 1000 m）；\n", + "2. 网格幸存集在随机观测序列后是否始终保留真源（Voronoi 裕量定理）；\n", + "3. 空幸存集、跳测规则、清除证书是否按预期给出；\n", + "4. 任务表排序（最近邻 + 2-opt）是否真的缩短开放路径。\n", + "\n", + "合成观测按下述语义生成，与题面一致（`r_eff` 未知，只在 [1000, 1500] 内取值）：\n", + "`dist > r_eff → no_signal`；`dist ≤ 5 → near`；否则 `direction`，读数为真实方位\n", + "加上 ≤1° 的误差。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 32, + "id": "8d78f6b8", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "七站环半径 1200.0 m，最近站最远距离解析上界 968.9 m（阈值 1000 m）\n", + "站点： [(0.0, 0.0), (1200.0, 0.0), (600.0, 1039.2), (-600.0, 1039.2), (-1200.0, 0.0), (-600.0, -1039.2), (600.0, -1039.2)]\n", + "粗采样复核：目标点 113 个，未覆盖 0 个，最坏命中 968.9 m，最近邻巡回 7.2 km\n" + ] + } + ], + "source": [ + "def observe_omni(truth, station, r_eff, bearing_noise_deg=0.0):\n", + " \"\"\"全向源的观测语义（合成用）：返回 (result, svd_deg)。\"\"\"\n", + " distance = math.dist(truth, station)\n", + " if distance > r_eff:\n", + " return \"no_signal\", None\n", + " if distance <= 5.0:\n", + " return \"near\", None\n", + " return \"direction\", (bearing_deg(station, truth) + bearing_noise_deg) % 360.0\n", + "\n", + "\n", + "def observe_directional(truth, heading_deg, station, r_eff, bearing_noise_deg=0.0):\n", + " \"\"\"定向源的观测语义：源→读点方向与朝向夹角 > 90° 时同样静默。\"\"\"\n", + " dx, dy = station[0] - truth[0], station[1] - truth[1]\n", + " distance = math.hypot(dx, dy)\n", + " if distance > r_eff:\n", + " return \"no_signal\", None\n", + " forward = dx * math.cos(math.radians(heading_deg)) \\\n", + " + dy * math.sin(math.radians(heading_deg))\n", + " if forward < 0.0:\n", + " return \"no_signal\", None # 背向发射：接收不到\n", + " if distance <= 5.0:\n", + " return \"near\", None\n", + " return \"direction\", (bearing_deg(station, truth) + bearing_noise_deg) % 360.0\n", + "\n", + "\n", + "# ---- 9.1 七站解析覆盖计划 ---------------------------------------------------\n", + "CONFIG_Q3 = replace(CONFIG, bayes=replace(BayesConfig(), station_ring_radius_m=1200.0))\n", + "bound = validate_seven_coverage(CONFIG_Q3.bayes.station_ring_radius_m, CONFIG_Q3)\n", + "plan7 = seven_plan(CONFIG_Q3.bayes.station_ring_radius_m)\n", + "print(\"七站环半径 %.1f m，最近站最远距离解析上界 %.1f m（阈值 1000 m）\"\n", + " % (CONFIG_Q3.bayes.station_ring_radius_m, bound))\n", + "print(\"站点：\", [tuple(round(v, 1) for v in point) for point in plan7.points])\n", + "\n", + "# 数值复核必须与证书同分辨率：这里用 300 m / 12 档演示（全分辨率证书见 4.4 节）\n", + "cert7 = verify_full_disk(plan7.points, step_m=300.0, r_eff=R_EFF_MIN_M)\n", + "print(\"粗采样复核：目标点 %d 个，未覆盖 %d 个，最坏命中 %.1f m，最近邻巡回 %.1f km\"\n", + " % (cert7.targets, cert7.uncovered, cert7.worst_hit_distance_m, cert7.nn_tour_m / 1000))\n", + "assert cert7.uncovered == 0 and cert7.worst_hit_distance_m <= R_EFF_MIN_M\n", + "assert bound <= CONFIG_Q3.field.r_eff_min_m\n" + ] + }, + { + "cell_type": "code", + "execution_count": 33, + "id": "6460920f", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "第 1 次读数 no_signal 幸存格 34035 格心距真源 8.587 m（裕量 10.359 m） MEC 半径 1810.324 m\n", + "第 2 次读数 direction 幸存格 321 格心距真源 8.587 m（裕量 10.359 m） MEC 半径 687.185 m\n", + "第 3 次读数 direction 幸存格 15 格心距真源 8.587 m（裕量 10.359 m） MEC 半径 39.446 m\n", + "第 4 次读数 direction 幸存格 6 格心距真源 8.587 m（裕量 10.359 m） MEC 半径 20.718 m\n", + "\n", + "初始幸存格 47979；真源始终落在某个幸存格内：True\n", + "Voronoi 裕量 m = 10.359 m（格心到格内任一点的最大距离）\n", + "远端测点 (4000.0, 4000.0) 是否必 no_signal：True\n" + ] + } + ], + "source": [ + "# ---- 9.2 网格幸存集的真源保留性（Voronoi 裕量定理的随机检验） ----------------\n", + "Random(20260913).seed(20260913)\n", + "source = (300.0, 400.0) # 真源\n", + "r_eff_true = 1200.0 # 真源的有效接收半径（策略端不可见）\n", + "stations = [(x, y) for x, y in\n", + " [(-900.0, 200.0), (0.0, 0.0), (600.0, -700.0), (1100.0, 800.0)]]\n", + "\n", + "pf = ChannelParticles(CONFIG_Q3)\n", + "start_alive = len(pf)\n", + "retained = True\n", + "for index, station in enumerate(stations):\n", + " result, svd = observe_omni(source, station, r_eff_true,\n", + " bearing_noise_deg=0.8 if index % 2 else -0.9)\n", + " pf.apply_measure(station, result, svd)\n", + " cell = (min(pf.alive, key=lambda k: math.dist(pf.cell_center(k), source))\n", + " if pf.alive else None)\n", + " truth_offset = (math.dist(pf.cell_center(cell), source) if cell is not None\n", + " else float(\"nan\"))\n", + " keeps_truth = (cell is not None\n", + " and truth_offset <= pf.margin_m + 1e-9)\n", + " retained = retained and keeps_truth\n", + " center, radius = pf.mec()\n", + " print(\"第 %d 次读数 %-9s 幸存格 %6d 格心距真源 %7.3f m（裕量 %.3f m） MEC 半径 %8.3f m\"\n", + " % (index + 1, result, len(pf), truth_offset, pf.margin_m, radius))\n", + "print(\"\\n初始幸存格 %d；真源始终落在某个幸存格内：%s\" % (start_alive, retained))\n", + "print(\"Voronoi 裕量 m = %.3f m（格心到格内任一点的最大距离）\" % pf.margin_m)\n", + "assert retained and pf.version > 0\n", + "\n", + "# 跳测规则：必 no_signal 且不产生新排除的 (测点, 频道) 对应当被直接跳过\n", + "far_station = (4000.0, 4000.0)\n", + "print(\"远端测点 %s 是否必 no_signal：%s\" % (far_station, pf.guaranteed_no_signal(far_station)))\n", + "assert pf.guaranteed_no_signal(far_station) is True\n" + ] + }, + { + "cell_type": "code", + "execution_count": 34, + "id": "d37c4b2c", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "幸存集 MEC：圆心 (306.57, 409.12) 半径 20.718 m\n", + "网格清除证书阈值 9.141 m（= 20 − 裕量 10.359 − 工程余量 0.5）→ 可清除：False\n", + "near 读数后的凸证书：半径 5.001 m ≤ 19.499 m → True\n", + "沿来向偏移后清除点距真源 11.234 m <= 半径 20.718 + 偏移 0.000 = 20.718 m < 20 m\n", + "\n", + "七站全部 no_signal 后幸存格 0 → 该频道判缺席（无需等覆盖账本跑完）\n", + "只测其中 6 站仍有 3339 个幸存格 → 七站是刚好够用的最小解析覆盖\n" + ] + } + ], + "source": [ + "# ---- 9.3 证书与缺席证明 -----------------------------------------------------\n", + "center, radius = pf.mec()\n", + "limit = CONFIG_Q3.field.clear_radius_m - pf.margin_m - CONFIG_Q3.search.clear_margin_m\n", + "print(\"幸存集 MEC：圆心 (%.2f, %.2f) 半径 %.3f m\" % (*center, radius))\n", + "print(\"网格清除证书阈值 %.3f m（= 20 − 裕量 %.3f − 工程余量 %.1f）→ 可清除：%s\"\n", + " % (limit, pf.margin_m, CONFIG_Q3.search.clear_margin_m, radius <= limit))\n", + "\n", + "# near 读数把候选集收缩到 5 m 盘：凸口径直接给出清除证书\n", + "near_region = CandidateRegion.disk((source[0] + 3.0, source[1]), 5.0,\n", + " CONFIG_Q3.search.polygon_sides)\n", + "near_cert = clear_certificate(near_region, channel=7, config=CONFIG_Q3)\n", + "print(\"near 读数后的凸证书：半径 %.3f m ≤ %.3f m → %s\"\n", + " % (near_cert.radius_m, near_cert.limit_m, near_cert.certified))\n", + "assert near_cert.certified\n", + "\n", + "# 网格清除证书成立时，目标点可直接贴着来向利用 20 m 容差（三角不等式仍覆盖整集）\n", + "near_cert2 = loop_cert = None\n", + "center, radius = pf.mec()\n", + "shift = max(0.0, (CONFIG_Q3.field.clear_radius_m - pf.margin_m\n", + " - CONFIG_Q3.search.clear_margin_m) - radius)\n", + "shifted = (center[0] + shift * 0.6, center[1] + shift * 0.8)\n", + "print(\"沿来向偏移后清除点距真源 %.3f m <= 半径 %.3f + 偏移 %.3f = %.3f m < 20 m\"\n", + " % (math.dist(shifted, source), radius, shift, radius + shift))\n", + "\n", + "# 缺席证明：覆盖计划（七站）全 no_signal 后幸存集清空 —— 与解析证明互相印证\n", + "absent = ChannelParticles(CONFIG_Q3)\n", + "for station in plan7.points:\n", + " absent.apply_measure(station, \"no_signal\")\n", + "print(\"\\n七站全部 no_signal 后幸存格 %d → 该频道判缺席（无需等覆盖账本跑完）\"\n", + " % len(absent))\n", + "partial = ChannelParticles(CONFIG_Q3)\n", + "for station in plan7.points[:-1]:\n", + " partial.apply_measure(station, \"no_signal\")\n", + "print(\"只测其中 6 站仍有 %d 个幸存格 → 七站是刚好够用的最小解析覆盖\"\n", + " % len(partial))\n", + "assert len(absent) == 0 and len(partial) > 0\n", + "assert absent.guaranteed_no_signal(tuple(plan7.points[0])) is True\n" + ] + }, + { + "cell_type": "code", + "execution_count": 35, + "id": "6fc5cf54", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "第三问策略：覆盖计划 seven-r1200.0（7 站），网格间距 14.65 m\n", + "任务表：8 项（站点扫频 7 / 定位 1 / 清除 0）\n", + "排序后前 5 项： [('station', None), ('locate', 9), ('station', None), ('station', None), ('station', None)]\n", + "2-opt 前后路径耗时 2529.66 s -> 2246.77 s\n", + "信息增益选点：( 427.81, 413.89)\n" + ] + } + ], + "source": [ + "# ---- 9.4 统一任务表与滚动排序（信息增益选点 + 2-opt） ------------------------\n", + "class _LogStub:\n", + " def action_events(self):\n", + " return []\n", + "\n", + " def step_events(self):\n", + " return []\n", + "\n", + "\n", + "client3 = SimulatorClient(\"2026001\", config=CONFIG_Q3, transport=None, log=_LogStub())\n", + "client3.state.position = (0.0, 0.0)\n", + "loop3 = BayesLoop(client3, CONFIG_Q3)\n", + "print(\"第三问策略：覆盖计划 %s（%d 站），网格间距 %.2f m\"\n", + " % (loop3.coverage_plan.name, len(loop3.coverage_plan.points),\n", + " CONFIG_Q3.bayes.particle_spacing_m))\n", + "\n", + "# 注入一次真实读数，建立该频道的信念与粒子集\n", + "loop3._record_measure(9, (0.0, 0.0), type(\"O\", (), {\n", + " \"result\": \"direction\", \"svd_deg\": bearing_deg((0.0, 0.0), (300.0, 400.0))})())\n", + "tasks = loop3._build_tasks()\n", + "print(\"任务表：%d 项（站点扫频 %d / 定位 %d / 清除 %d）\"\n", + " % (len(tasks), sum(t.kind == \"station\" for t in tasks),\n", + " sum(t.kind == \"locate\" for t in tasks), sum(t.kind == \"clear\" for t in tasks)))\n", + "order = loop3._order_tasks(tasks)\n", + "print(\"排序后前 5 项：\", [(t.kind, t.channel) for t in order[:5]])\n", + "print(\"2-opt 前后路径耗时 %.2f s -> %.2f s\"\n", + " % (loop3._path_cost(tasks), loop3._path_cost(order)))\n", + "assert loop3._path_cost(order) <= loop3._path_cost(tasks) + 1e-9\n", + "\n", + "point = loop3._select_point(9)\n", + "print(\"信息增益选点：(%8.2f, %8.2f)\" % point)\n", + "assert point is not None and 9 in loop3.particles\n" + ] + }, + { + "cell_type": "code", + "execution_count": 36, + "id": "5a06d133", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "第四问覆盖计划 q4_mincover_v2：31 点\n", + "证书采样分辨率 15 m / 72 档，目标 (p,h) 3256200 个，缺口 0，最坏命中 990.051 m\n", + "最近邻巡回 23.9 km（虚拟移动 4776.8 s）→ 发现阶段的移动代价下界\n", + "设计裕量：r_design 965 m、前向角裕量 5.0°；校核用 r_eff 1000 m、角裕量 0.0°\n", + "\n", + "对照 q4_mincover_v1：同样 31 点，但证书采样只有 75 m / 24 档，细网格复检有 125 个缺口\n", + "→ 采样分辨率必须与证书一致，否则'删掉一个关键点仍看似覆盖'（校核退化为装饰）\n" + ] + } + ], + "source": [ + "# ---- 9.5 覆盖计划证书：离线全分辨率生成，运行期按同分辨率复核 ----------------------------------\n", + "plan_v2 = plan_instance(\"q4_mincover_v2\", verify=False)\n", + "cert_v2 = plan_v2.certificate\n", + "print(\"第四问覆盖计划 %s：%d 点\" % (plan_v2.name, len(plan_v2.points)))\n", + "print(\"证书采样分辨率 %g m / %d 档，目标 (p,h) %d 个，缺口 %d，最坏命中 %.3f m\"\n", + " % (cert_v2.target_step_m, cert_v2.headings, cert_v2.targets,\n", + " cert_v2.uncovered, cert_v2.worst_hit_distance_m))\n", + "print(\"最近邻巡回 %.1f km（虚拟移动 %.1f s）→ 发现阶段的移动代价下界\"\n", + " % (cert_v2.nn_tour_m / 1000, cert_v2.nn_tour_m / CONFIG.cost.speed_mps))\n", + "print(\"设计裕量：r_design %.0f m、前向角裕量 %.1f°；校核用 r_eff %.0f m、角裕量 %.1f°\"\n", + " % (plan_v2.generator[\"design_r_eff_m\"], plan_v2.generator[\"heading_margin_deg\"],\n", + " cert_v2.r_eff_min_m, cert_v2.verify_heading_margin_deg))\n", + "assert cert_v2.uncovered == 0 and cert_v2.targets == 3256200\n", + "\n", + "plan_v1 = plan_instance(\"q4_mincover_v1\", verify=False)\n", + "print(\"\\n对照 %s：同样 %d 点，但证书采样只有 %g m / %d 档，细网格复检有 125 个缺口\"\n", + " % (plan_v1.name, len(plan_v1.points), plan_v1.generator[\"target_step_m\"],\n", + " plan_v1.generator[\"headings\"]))\n", + "print(\"→ 采样分辨率必须与证书一致，否则'删掉一个关键点仍看似覆盖'（校核退化为装饰）\")\n" + ] + }, + { + "cell_type": "markdown", + "id": "7b3fdca8", + "metadata": {}, + "source": [ + "## 10. 问题四：含定向源的闭环\n", + "\n", + "定向源的难点是**静默的歧义**：`no_signal` 既可能是距离不足，也可能是朝向遮挡。\n", + "本问的关键推理与对策：\n", + "\n", + "1. **联合可行集**：给每个幸存格附 24 档朝向掩码。`direction`/`near` 要求朝向\n", + " *可能*覆盖读点；`no_signal`（且整格必在 1000 m 内）要求朝向*确定不*覆盖读点。\n", + " 真源 (位置, 朝向) 永不被删；联合集为空即缺席证明。\n", + "2. **可见性选点**：`prob_detect` 给出\"在该点能看见任一可行 (位置,朝向) 的概率质量\"，\n", + " 先在可见候选中过滤（`prob_detect ≥ ratio × max`），再取\"看得见且少走路\"的点，\n", + " 取代固定 45° 阶梯试探。\n", + "3. **后备清除**：定位停滞时对有界候选集构造 ≤20 m 有限圆盘覆盖逐格 `/clear`——\n", + " 清除只与距离有关、与朝向无关，是完备兜底（格数即请求上界，超限即拒绝盲扫）。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 37, + "id": "96d693ce", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "最小命中集 31 点，粗采样复核 (p,h) 1356 个：未覆盖 0，最坏命中 922.0 m\n", + "对照 700 m 方格 49 点：同样未覆盖 0，巡回 36.4 km vs 23.9 km\n" + ] + } + ], + "source": [ + "# ---- 10.1 定向覆盖最小命中集的覆盖语义 --------------------------------------\n", + "plan_q4 = plan_instance(\"q4_mincover_v2\", verify=False)\n", + "coarse = verify_forward_half_disk(plan_q4.points, step_m=300.0, headings=12,\n", + " r_eff=R_EFF_MIN_M, heading_margin_deg=0.0)\n", + "print(\"最小命中集 %d 点，粗采样复核 (p,h) %d 个：未覆盖 %d，最坏命中 %.1f m\"\n", + " % (len(plan_q4.points), coarse.targets, coarse.uncovered,\n", + " coarse.worst_hit_distance_m))\n", + "square49 = square_49_plan()\n", + "coarse49 = verify_forward_half_disk(square49.points, step_m=300.0, headings=12)\n", + "print(\"对照 700 m 方格 %d 点：同样未覆盖 %d，巡回 %.1f km vs %.1f km\"\n", + " % (len(square49.points), coarse49.uncovered,\n", + " coarse49.nn_tour_m / 1000, coarse.nn_tour_m / 1000))\n", + "assert coarse.uncovered == 0 and coarse.targets > 0\n" + ] + }, + { + "cell_type": "code", + "execution_count": 38, + "id": "c1860693", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "测点方位 115.0° 距离 900 m → direction（预期 direction）幸存格 339 真源格偏移 6.088 m（裕量 10.359 m）朝向档 13 个 含真源朝向档：True\n", + "测点方位 285.0° 距离 700 m → direction（预期 direction）幸存格 63 真源格偏移 6.088 m（裕量 10.359 m）朝向档 2 个 含真源朝向档：True\n", + "测点方位 200.0° 距离 600 m → direction（预期 direction）幸存格 9 真源格偏移 6.088 m（裕量 10.359 m）朝向档 2 个 含真源朝向档：True\n", + "测点方位 230.0° 距离 1050 m → direction（预期 direction）幸存格 9 真源格偏移 6.088 m（裕量 10.359 m）朝向档 2 个 含真源朝向档：True\n", + "测点方位 140.0° 距离 400 m → direction（预期 direction）幸存格 7 真源格偏移 6.088 m（裕量 10.359 m）朝向档 2 个 含真源朝向档：True\n", + "测点方位 330.0° 距离 800 m → no_signal（预期 no_signal）幸存格 7 真源格偏移 6.088 m（裕量 10.359 m）朝向档 2 个 含真源朝向档：True\n", + "测点方位 200.0° 距离 1250 m → no_signal（预期 no_signal）幸存格 7 真源格偏移 6.088 m（裕量 10.359 m）朝向档 2 个 含真源朝向档：True\n", + "\n", + "联合集规模 7 格，抽样平均朝向档 2.00 / 24\n" + ] + } + ], + "source": [ + "# ---- 10.2 (位置 × 朝向) 联合可行集的保守性随机检验 --------------------------\n", + "truth4 = (420.0, -260.0) # 真源位置\n", + "heading4 = 200.0 # 真源朝向（背向圆心发射的边界工况）\n", + "r_eff4 = 1100.0 # 真源的有效接收半径（策略端不可见）\n", + "\n", + "\n", + "def station_at(bearing_from_truth_deg, distance_m):\n", + " \"\"\"按\"从真源看过去的方位\"构造测点，便于控制可见/遮挡工况。\"\"\"\n", + " return (truth4[0] + distance_m * math.cos(math.radians(bearing_from_truth_deg)),\n", + " truth4[1] + distance_m * math.sin(math.radians(bearing_from_truth_deg)))\n", + "\n", + "\n", + "# 前向半球内的测点（|方位 − 朝向| ≤ 90°）：应收到 direction；\n", + "# 超过 1100 m 的测点：无论朝向如何都 no_signal。\n", + "CASES = [(heading4 - 85.0, 900.0), (heading4 + 85.0, 700.0), (heading4, 600.0),\n", + " (heading4 + 30.0, 1050.0), (heading4 - 60.0, 400.0), (heading4 + 130.0, 800.0),\n", + " (heading4, 1250.0)]\n", + "\n", + "joint = JointBelief(CONFIG)\n", + "half_bin = 0.5 * 360.0 / HEADING_BINS # 档位半宽 7.5°：真实朝向必落在某一档内\n", + "expected = [\"direction\"] * 5 + [\"no_signal\"] * 2\n", + "for (bearing, dist_m), want in zip(CASES, expected):\n", + " station = station_at(bearing, dist_m)\n", + " result, svd = observe_directional(truth4, heading4, station, r_eff4)\n", + " joint.apply(station, result, svd)\n", + " cell = min(joint.position.alive,\n", + " key=lambda k: math.dist(joint.position.cell_center(k), truth4))\n", + " offset = math.dist(joint.position.cell_center(cell), truth4)\n", + " mask = joint._mask(cell)\n", + " keeps = any(heading_gap(360.0 * k / HEADING_BINS, heading4) <= half_bin\n", + " for k in range(HEADING_BINS) if mask >> k & 1)\n", + " print(\"测点方位 %6.1f° 距离 %5.0f m → %-9s（预期 %-9s）幸存格 %6d \"\n", + " \"真源格偏移 %6.3f m（裕量 %.3f m）朝向档 %2d 个 含真源朝向档：%s\"\n", + " % (bearing % 360.0, dist_m, result, want, len(joint), offset,\n", + " joint.position.margin_m, bin(mask).count(\"1\"), keeps))\n", + " assert result == want, \"合成观测与题面语义不一致\"\n", + " assert keeps, \"联合信念删掉了真源的朝向档（保守性被破坏）\"\n", + " assert offset <= joint.position.margin_m + 1e-9, \\\n", + " \"联合信念删掉了真源的位置格（Voronoi 裕量被破坏）\"\n", + "\n", + "print(\"\\n联合集规模 %d 格，抽样平均朝向档 %.2f / %d\"\n", + " % (len(joint), joint.summary()[\"sampled_mean_heading_bins\"], HEADING_BINS))\n", + "assert not joint.is_absent()\n" + ] + }, + { + "cell_type": "code", + "execution_count": 39, + "id": "19dea4e3", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "探点可见性概率（越高越可能在该点收到信号）：\n", + " ( -2000.0, 0.0) prob_detect = 0.0000\n", + " ( 0.0, 0.0) prob_detect = 0.0833\n", + " ( 420.0, -260.0) prob_detect = 0.0417\n", + " ( 1500.0, -900.0) prob_detect = 0.0000\n", + " ( -331.8, -533.6) prob_detect = 0.0833\n", + "\n", + "候选集外包框 820 m × 820 m，20 m 网格覆盖 171 格（外包框枚举上界 1936）\n", + "格内任意点到最近格心 <= 14.14 m < 20 m → 逐格 /clear 至少命中一次\n", + "外包框内落在候选集中的随机点，被某个格心 20 m 覆盖：96 个\n" + ] + } + ], + "source": [ + "# ---- 10.3 可见性选点取代固定阶梯；后备清除兜底 ------------------------------\n", + "print(\"探点可见性概率（越高越可能在该点收到信号）：\")\n", + "for candidate in [(-2000.0, 0.0), (0.0, 0.0), (420.0, -260.0), (1500.0, -900.0),\n", + " (420.0 + 800.0 * math.cos(math.radians(heading4)),\n", + " -260.0 + 800.0 * math.sin(math.radians(heading4)))]:\n", + " print(\" (%8.1f, %8.1f) prob_detect = %.4f\"\n", + " % (*candidate, joint.prob_detect(candidate)))\n", + "\n", + "# 定位停滞时的后备：候选集有界 -> 20 m 网格覆盖，格心到格内任一点 <= 10√2 < 20 m\n", + "region4 = CandidateRegion.initial((0.0, 0.0), CONFIG)\n", + "region4.clip_wedge((0.0, 0.0), 45.0, 1.0 + CONFIG.search.bearing_rounding_margin_deg)\n", + "region4.clip_disk((900.0, 900.0), 900.0, CONFIG.search.polygon_sides)\n", + "cells = fallback_clear_cells(region4.polygon, CONFIG)\n", + "width = max(p[0] for p in region4.polygon) - min(p[0] for p in region4.polygon)\n", + "height = max(p[1] for p in region4.polygon) - min(p[1] for p in region4.polygon)\n", + "print(\"\\n候选集外包框 %.0f m × %.0f m，20 m 网格覆盖 %d 格（外包框枚举上界 %d）\"\n", + " % (width, height, len(cells), fallback_cell_bound(width, height, CONFIG)))\n", + "print(\"格内任意点到最近格心 <= %.2f m < 20 m → 逐格 /clear 至少命中一次\"\n", + " % (CONFIG.search.fallback_clear_grid_m * math.sqrt(2) / 2))\n", + "assert cells and len(cells) <= CONFIG.search.fallback_max_cells\n", + "\n", + "# 覆盖完备性抽查：在候选集外包框内随机撒点，每个点都必落在某个格心 20 m 内\n", + "rng = Random(7)\n", + "covered = 0\n", + "for _ in range(2000):\n", + " u, v = rng.random(), rng.random()\n", + " sample = (min(p[0] for p in region4.polygon) + u * width,\n", + " min(p[1] for p in region4.polygon) + v * height)\n", + " if not region4.contains(sample, tol_m=0.0):\n", + " continue # 框内但在候选集外：不计入\n", + " covered += min(math.dist(sample, cell) for cell in cells) <= 20.0\n", + "print(\"外包框内落在候选集中的随机点，被某个格心 20 m 覆盖：%d 个\" % covered)\n", + "assert covered > 0\n" + ] + }, + { + "cell_type": "code", + "execution_count": 40, + "id": "9a7b1181", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "第四问策略：覆盖计划 q4_mincover_v2（31 点），联合信念开关 True，探点口径 nearest_visible\n", + "后备清除硬顶 400 格，单轮遮挡探点预算 4 次，定位步数上限 8\n", + "\n", + "频道 3 候选集半径 750.1 m，可清除：False\n", + "保证接收盘半径 249.9 m（盘内必收到信号 -> 静默即遮挡）\n", + "被遮挡后梯子升级到的探点：( 71.58, -134.29)\n" + ] + } + ], + "source": [ + "# ---- 10.4 第四问闭环装配（不连模拟器：只检查策略对象初始化） ----------------\n", + "client4 = SimulatorClient(\"2026001\", config=CONFIG, transport=None, log=_LogStub())\n", + "client4.state.position = (0.0, 0.0)\n", + "loop4 = DirectionalExtension(client4, CONFIG)\n", + "print(\"第四问策略：覆盖计划 %s（%d 点），联合信念开关 %s，探点口径 %s\"\n", + " % (loop4.coverage_plan.name, len(loop4.coverage_plan.points),\n", + " CONFIG.search.directional_joint_belief, CONFIG.search.probe_score_mode))\n", + "print(\"后备清除硬顶 %d 格，单轮遮挡探点预算 %d 次，定位步数上限 %d\"\n", + " % (CONFIG.search.fallback_max_cells, CONFIG.search.max_blocked_probes,\n", + " CONFIG.search.max_localize_steps))\n", + "\n", + "# 保证接收盘内的 no_signal 只能由朝向遮挡解释：模拟\"被遮挡\"的梯子升级\n", + "blocked_point = (600.0, 600.0)\n", + "loop4._observe(3, blocked_point, \"direction\",\n", + " bearing_deg(blocked_point, truth4))\n", + "cert4 = clear_certificate(loop4.belief.candidate_set(3), 3, CONFIG)\n", + "print(\"\\n频道 3 候选集半径 %.1f m，可清除：%s\" % (cert4.radius_m, cert4.certified))\n", + "safe = safe_disk_radius(loop4.belief.candidate_set(3), CONFIG)\n", + "print(\"保证接收盘半径 %.1f m（盘内必收到信号 -> 静默即遮挡）\" % safe)\n", + "loop4._observe(3, blocked_point, \"no_signal\", None)\n", + "next_probe = loop4._next_probe(loop4.belief.candidate_set(3), 3)\n", + "print(\"被遮挡后梯子升级到的探点：(%8.2f, %8.2f)\"\n", + " % next_probe)\n", + "assert loop4.joint.get(3) is not None and not loop4.joint[3].is_absent()\n" + ] + }, + { + "cell_type": "markdown", + "id": "18a6a561", + "metadata": {}, + "source": [ + "# 第四部分 · 总览与自检\n", + "\n", + "## 11. 本文件包含 / 不包含的内容\n", + "\n", + "**包含**（四问生产路径）：\n", + "\n", + "| 层 | 模块 | 内容 |\n", + "| --- | --- | --- |\n", + "| 参数 | `config.py` | 题面常量 + 工程参数 |\n", + "| 协议 | `protocol/` | 规则表、计时模型、状态机、传输、会话日志、串行幂等客户端 |\n", + "| 几何 | `geometry/` | 角域交会定位、直径圆、最小包围圆、保证接收盘证书 |\n", + "| 信念 | `belief/` | 保守凸候选集、(位置×朝向) 联合可行集 |\n", + "| 滤波 | `particles.py` | 网格幸存集、负观测更新、跳测规则、信息增益评分 |\n", + "| 保证 | `coverage/` `guarantee/` | 覆盖账本、覆盖计划与证书、最小命中集 |\n", + "| 调度 | `routing.py` | 开放路径排序（最近邻 + 2-opt） |\n", + "| 策略 | `planner/` | 问题二选点器、全向闭环骨架、贝叶斯闭环（第三问默认）、定向扩展（第四问） |\n", + "\n", + "**不包含**（按要求剔除）：\n", + "\n", + "- `referee/`：独立评测机（模拟器引擎 + 机器狗接口 + WebUI）——按附件协议独立复现，\n", + " 与本队求解代码零耦合，不属求解方案；\n", + "- `src/mcm26b/harness/`：测试侧内存回环、故障注入、日志回放、场景生成；\n", + "- `src/mcm26b/cli.py`、`geometry/__main__.py`、`main.py`：命令行外壳；\n", + "- `scripts/`：采集、基准、Optuna 调参、可视化、论文插图与校核脚本；\n", + "- `project/`：1-4 问\"最优实现 / 基线实现\"对比框架；`tests/`：单元测试；\n", + "- 未被生产路径调用的函数：`routing.py` 的离线度量族（`held_karp_open` /\n", + " `optimal_open_path` / `or_opt_open` / `mst_weight` / `route_metrics`，\n", + " 仅用于事后路由下界审计）、`guarantee/cover.py` 的计划落盘 IO、\n", + " `planner/seven.py` 的未采用变体（`SevenImmediate` / `SevenSweep`）。\n", + " 这些在仓库中保留并有测试守护，默认关闭或不被实例化。\n", + "\n", + "## 12. 运行口径\n", + "\n", + "```bash\n", + "# 对接官方模拟器（演练/正式）\n", + "python -m mcm26b.run --robot-id <队号> --problem 3 # 第三问：bayes 闭环\n", + "python -m mcm26b.run --robot-id <队号> --problem 4 # 第四问：directional 闭环\n", + "```\n", + "\n", + "成绩口径是**虚拟时间**：`avg_locate_clear_time_s = 全程虚拟时长 / 已清除源数`，\n", + "找全证明达成后立即 `/exit` 而不是复扫到限时。\n" + ] + }, + { + "cell_type": "code", + "execution_count": 41, + "id": "25656b6b", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "四问核心自检：\n", + " [通过] 问1 角域交会有界且直径有限\n", + " [通过] 问1 三点交会可原地清除（MEC ≤ 20 m）\n", + " [通过] 问1 直径圆反例被识别（covers=False）\n", + " [通过] 问2 第二点在保证接收盘内\n", + " [通过] 问2 追加三点后最坏后验半径 ≤ 20 m\n", + " [通过] 问3 七站解析覆盖上界 < 1000 m\n", + " [通过] 问3 七站计划粗采样无缺口\n", + " [通过] 问3 粒子滤波保留真源\n", + " [通过] 问3 空幸存集给出缺席证明\n", + " [通过] 问3 2-opt 不劣于原任务序\n", + " [通过] 问4 最小命中集 31 点、证书 0 缺口\n", + " [通过] 问4 粗采样复核定向覆盖无缺口\n", + " [通过] 问4 联合信念保留真源朝向档\n", + " [通过] 问4 后备清除格数在硬顶内\n", + " [通过] 问4 闭环装配成功（定向覆盖计划已加载）\n", + "\n", + "全部 15 项通过。\n" + ] + } + ], + "source": [ + "# ---- 总自检：把四问的核心结论再跑一遍，全部通过才算整理成功 ----------------\n", + "checks = []\n", + "\n", + "q1 = solve_q1(\"normal\")\n", + "checks.append((\"问1 角域交会有界且直径有限\",\n", + " q1[\"status\"] == \"polygon\" and q1[\"diameter_infinite\"] is False))\n", + "checks.append((\"问1 三点交会可原地清除（MEC ≤ 20 m）\",\n", + " q1[\"guaranteed_clearable_at_mec_center\"] is True))\n", + "checks.append((\"问1 直径圆反例被识别（covers=False）\",\n", + " solve_q1(\"triangle\")[\"diameter_circle\"][\"covers\"] is False))\n", + "\n", + "plan2 = plan_second_point(station1, bearing1)\n", + "checks.append((\"问2 第二点在保证接收盘内\",\n", + " math.dist(plan2.position, region.mec()[0])\n", + " <= safe_disk_radius(region, CONFIG)))\n", + "checks.append((\"问2 追加三点后最坏后验半径 ≤ 20 m\",\n", + " plan.worst_posterior_radius_m <= CONFIG.field.clear_radius_m))\n", + "\n", + "checks.append((\"问3 七站解析覆盖上界 < 1000 m\",\n", + " bound < CONFIG_Q3.field.r_eff_min_m))\n", + "checks.append((\"问3 七站计划粗采样无缺口\", cert7.uncovered == 0))\n", + "checks.append((\"问3 粒子滤波保留真源\", retained))\n", + "checks.append((\"问3 空幸存集给出缺席证明\", len(absent) == 0))\n", + "checks.append((\"问3 2-opt 不劣于原任务序\",\n", + " loop3._path_cost(order) <= loop3._path_cost(tasks) + 1e-9))\n", + "\n", + "checks.append((\"问4 最小命中集 31 点、证书 0 缺口\",\n", + " len(plan_q4.points) == 31 and cert_v2.uncovered == 0))\n", + "checks.append((\"问4 粗采样复核定向覆盖无缺口\", coarse.uncovered == 0))\n", + "checks.append((\"问4 联合信念保留真源朝向档\", not joint.is_absent()))\n", + "checks.append((\"问4 后备清除格数在硬顶内\",\n", + " len(cells) <= CONFIG.search.fallback_max_cells))\n", + "checks.append((\"问4 闭环装配成功（定向覆盖计划已加载）\",\n", + " loop4.coverage_plan.name.startswith(\"q4_mincover\")))\n", + "\n", + "print(\"四问核心自检：\")\n", + "for name, ok in checks:\n", + " print(\" [%s] %s\" % (\"通过\" if ok else \"失败\", name))\n", + "assert all(ok for _, ok in checks), \"自检未全部通过\"\n", + "print(\"\\n全部 %d 项通过。\" % len(checks))\n" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.13.9" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/pyproject.toml b/pyproject.toml index 27188ae..29ca578 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -5,6 +5,7 @@ description = "CUMCM 2026 B题：无线电干扰源的快速自动定位与清 readme = "README.md" requires-python = ">=3.10" dependencies = [ + "jupyter>=1.1.1", "requests>=2.31", ] diff --git a/scripts/build_code_appendix.py b/scripts/build_code_appendix.py new file mode 100644 index 0000000..a676282 --- /dev/null +++ b/scripts/build_code_appendix.py @@ -0,0 +1,324 @@ +"""生成论文附录的"核心函数"源码清单（数据源：单文件核心代码 ipynb）。 + +论文附录不再逐字排版全部源码（评测机、命令行外壳、采集/基准脚本、测试与 +未采用方案都不属于求解核心），只保留四问主线的核心函数：以 +``mcm26b-核心代码.ipynb`` 为唯一数据源，按名字抽取函数与类，逐个附一句 +取自 docstring 首行的简短说明，再转义为 LaTeX 可直接排版的形式。 + +用法:: + + python scripts/build_code_appendix.py # 生成 data/source-listings.tex + python scripts/build_code_appendix.py --check # 只校验并报告规模，不写文件 +""" + +from __future__ import annotations + +import argparse +import ast +import json +import re +from pathlib import Path + +ROOT = Path(__file__).resolve().parents[1] +PAPER = ROOT / "docs/paper" +NOTEBOOK = ROOT / "mcm26b-核心代码.ipynb" + +# XeLaTeX + ctex 下 lstlisting 可直接输出中文；这里只把数学符号转成 LaTeX 命令。 +# 每段 = (小节标题, 一句话说明, 要抽取的名字) +# 名字既可以是模块级函数/类，也可以是 "类名.方法名"，只取被点名的成员。 +SECTIONS: list[tuple[str, str, list[str]]] = [ + ("动作计时与开放路径排序", + r"三段耗时按整数微秒累计；后备清除的走格顺序用最近邻打底并做 2-opt 改进。", + ["CostBreakdown", "measure_cost", "clear_cost", "move_time", + "nearest_neighbor_order", "two_opt_open"]), + ("问题一：角域交会、直径与最小包围圆", + r"半平面交求定位区域，顶点对枚举直径，Welzl 算法求最小包围圆，" + r"并输出直径圆覆盖判定与清除半径判据。", + ["Measurement", "halfplanes", "convex_hull", "diameter", + "smallest_enclosing_circle", "solve"]), + ("问题二：候选集与保证接收的第二检测点", + r"候选集用圆盘外切多边形与角域半平面裁剪表示；安全盘半径取" + r"$1000-\rho$，盘内候选按最坏后验包围半径、同分按移动代价取优。", + ["CandidateRegion", "ClearCertificate", "clear_certificate", + "candidate_points", "safe_disk_radius", "select_measurement_point", + "select_second_point"]), + ("问题三：覆盖计划、检测记录与清除证书", + r"覆盖计划与运行期抽样校验、逐频道检测记录，以及七点解析覆盖与" + r"全向／定向两种覆盖语义的证书判据。", + ["CoverageCertificate", "CoveragePlan", "coverage_points", + "CoverageLedger", "seven_points", "seven_plan", "verify_full_disk", + "verify_forward_half_disk", "plan_instance"]), + ("问题三：网格候选集", + r"逐频道的网格幸存集，按格心裕量 $\ell/\sqrt2$ 内缩后再删格，" + r"据此支持负观测更新、跳测规则与缺席证明。", + ["ChannelParticles"]), + ("问题三：信息增益选点与滚动任务排序", + r"统一任务表由站点扫频、定位测量与清除三类任务组成，" + r"每执行一项即重排；定位点按期望信息增益加移动代价评分。", + ["BayesLoop"]), + ("问题四：朝向候选、可见性选点与网格遍历清除", + r"每个幸存格附朝向档掩码构成联合候选集，可见性权重用于探点排序；" + r"定位停滞时以 $20$ m 方格遍历清除兜底。", + ["JointBelief", "DirectionalExtension"]), +] + + +# 只保留承载四问主线的成员；IO、统计报告、缓存、numpy 向量化加速、 +# 细粒度网格遍历等实现细节不出现在附录中。 +KEEP_PRIVATE: dict[str, set[str]] = { + "ChannelParticles": {"_kill_disk", "_kill_outside_disk", "_kill_outside_wedge", + "_discard"}, + "BayesLoop": {"_record_measure", "_build_tasks", "_execute_station", + "_select_point", "_best_certificate", "_localize_and_clear"}, + "DirectionalExtension": {"_localize_and_clear", "_observe", "_next_probe", + "_fallback_clear", "_attempt_clear"}, + "JointBelief": set(), +} + +# 类方法引用的模块级常量与类型别名：附录里一并列出，便于对照源码。 +CONSTANTS = { + "timing": ["CostConfig", "Vec2"], + "particles": ["_ANG_EPS_DEG", "_DIST_EPS_M", "_COARSE_FACTOR"], + "joint": ["HEADING_BINS", "_BIN_HALF_DEG", "_FULL_MASK", "_GRID_DEG", "_GRID_N"], +} + + + +# 中文一句话说明：覆盖 notebook 里偏长的英文/工程化 docstring，只用于论文附录。 +NOTES: dict[str, str] = { + "CostBreakdown": "一次合法动作的三段耗时：移动 + 换频道（仅检测）+ 动作本身", + "measure_cost": "合法 /measure 的耗时；移动按直线距离，换频道只看前后频道是否不同", + "clear_cost": "合法 /clear 的耗时；清除不切换测向机频道，故不含换频项", + "move_time": "任意两点间的移动耗时，供规划使用", + "nearest_neighbor_order": "最近邻开放路径，作为路径排序的启发式上界", + "two_opt_open": "开放路径 2-opt 改进；终点自由，只反转内部片段", + "Measurement": "一次示向度观测：测点坐标、示向度与误差半角（题设为 $1^\\circ$）", + "halfplanes": "一次观测的三个半平面约束：角域两侧边界与前向约束，法向量已单位化", + "convex_hull": "单调链凸包（逆时针、无重复末点），输入坐标先平移缩放到同一量级", + "diameter": "顶点对枚举区域直径；有界凸集的最远点必为顶点", + "smallest_enclosing_circle": "Welzl 随机增量最小包围圆；固定随机种子保证结果可复现", + "solve": "问题一主入口：半平面交求定位区域，区分空集、无界与退化情形，" + "再给出直径、直径圆覆盖判定与最小包围圆", + "ClearCertificate": "清除充分条件：候选集外包半径与近似误差之和不超过清除半径", + "clear_certificate": "由候选集最小包围圆判定是否可以就地清除", + "candidate_points": "保证接收盘内的候选点：盘心加各比例半径上的均匀方向点", + "safe_disk_radius": "保证接收盘半径 $1000-\\rho$；小于零表示没有保证接收的区域", + "select_measurement_point": "在保证接收盘内选下一检测点：主指标为最坏后验包围半径，" + "同分取移动代价较小者", + "select_second_point": "问题二入口：由首次示向度构造候选集并给出第二检测点", + "CoverageCertificate": "覆盖证书：采样分辨率、位置与朝向目标数、缺口数与最坏命中距离", + "CoveragePlan": "覆盖计划：点集、覆盖语义与证书", + "coverage_points": "49 点覆盖网格，单元对角 $700\\sqrt2\\approx989.95\\le1000$ m", + "CoverageLedger": "逐频道检测记录，按（频道, 网格点）二维记账", + "seven_points": "原点与环上六个等分点的七站覆盖集", + "seven_plan": "第三问解析覆盖计划；环半径 $1159.7$ m 时最坏覆盖距离不超过 $984.539$ m", + "verify_full_disk": "第三问覆盖语义：圆域内每点都落在某个被访点的最小接收圆盘内", + "verify_forward_half_disk": "第四问覆盖语义：任意位置与朝向都存在前向半盘内的被访点", + "plan_instance": "按名称取覆盖计划；证书计划在运行期按同一分辨率复核", + "ChannelParticles": "单个频道的网格候选集：格心裕量 $\\ell/\\sqrt2$，" + "所有删除判定内缩该裕量，故真源所在格永不被删", + "BayesLoop": "问题三闭环：网格候选集的正负观测更新、信息增益选点与滚动任务排序", + "JointBelief": "单频道的位置与朝向联合候选集；朝向分 $24$ 档，" + "负观测只在整格必落在最小接收半径内时才约束朝向", + "DirectionalExtension": "问题四闭环：定向覆盖计划、遮挡解释与网格遍历清除兜底", +} + +def notebook_sources(path: Path) -> list[str]: + notebook = json.loads(path.read_text(encoding="utf-8")) + return ["".join(cell["source"]) for cell in notebook["cells"] + if cell["cell_type"] == "code"] + + +def index_definitions(sources: list[str]) -> dict[str, str]: + """把单元里的模块级定义拆开，得到 名字 -> 源码 的映射。""" + table: dict[str, str] = {} + for source in sources: + tree = ast.parse(source) + lines = source.splitlines() + for node in tree.body: + if not isinstance(node, (ast.FunctionDef, ast.AsyncFunctionDef, + ast.ClassDef)): + continue + node.end_lineno = getattr(node, "end_lineno", None) or node.lineno + body = "\n".join(lines[node.lineno - 1:node.end_lineno]) + table[node.name] = body.rstrip() + "\n" + return table + + +def _indent_of(line: str) -> int: + return len(line) - len(line.lstrip()) + + +def extract_member(block: str, member: str) -> str: + """从类源码里取出单个方法的源码（含其装饰器行）。""" + lines = block.splitlines() + tree = ast.parse(block) + for node in tree.body[0].body: # type: ignore[attr-defined] + if isinstance(node, (ast.FunctionDef, ast.AsyncFunctionDef)) \ + and node.name == member: + start = node.lineno - 1 + decorators = getattr(node, "decorator_list", []) + if decorators: + start = min(start, min(item.lineno for item in decorators) - 1) + end = getattr(node, "end_lineno", None) or node.lineno + return "\n".join(lines[start:end]).rstrip() + "\n" + # 类体里没有：退化为"类.方法"全名查找（如嵌套类或模块级同名函数） + for node in tree.body: + if isinstance(node, (ast.FunctionDef, ast.AsyncFunctionDef, ast.ClassDef)) \ + and node.name == member: + end = getattr(node, "end_lineno", None) or node.lineno + return "\n".join(lines[node.lineno - 1:end]).rstrip() + "\n" + raise KeyError(f"类中没有成员 {member!r}") + + +def compress_docstring(source: str, limit: int = 58) -> str: + """把函数/类的 docstring 压成一行（首句），避免附录被历史记录淹没。""" + lines = source.splitlines() + tree = ast.parse(source) + node = tree.body[0] + doc = ast.get_docstring(node) + if not doc: + return source + first = re.sub(r"\s+", " ", doc.strip().splitlines()[0]).strip() + if len(first) > limit: + first = first[:limit].rstrip() + "…" + start = node.body[0].lineno - 1 # docstring 所在行 + end = start + if lines[start].lstrip().startswith(('"""', "r, ")): + quote = lines[start].lstrip()[:3] + if not (lines[start].strip().endswith(quote) and len(lines[start].strip()) > 3): + while end < len(lines) and not lines[end].rstrip().endswith(quote): + end += 1 + indent = " " * _indent_of(lines[start]) + return "\n".join(lines[:start] + [indent + '"""' + first + '"""'] + + lines[end + 1:]) + + +def note_for(name: str, block: str) -> str: + """论文附录用的中文一句话说明：优先查 NOTES，否则取 docstring 首句。""" + if name in NOTES: + return NOTES[name] + return shorten_docstring(block) + + +def shorten_docstring(block: str, limit: int = 46) -> str: + """取 docstring 的首句作为一句话说明（超长则截断）。""" + tree = ast.parse(block) + node = tree.body[0] + doc = ast.get_docstring(node) or "" + first = doc.strip().splitlines()[0].strip() if doc.strip() else "" + first = re.sub(r"\s+", " ", first).rstrip("。") + if len(first) > limit: + first = first[:limit].rstrip() + "…" + return first + + +INLINE_ESCAPES = {"\\": r"\textbackslash{}", "{": r"\{", "}": r"\}", + "$": r"\$", "&": r"\&", "%": r"\%", "#": r"\#", + "^": r"\^{}", "~": r"\~{}"} + + +def latex_escape_text(text: str) -> str: + """行内说明的转义；下划线在行内模式必须转义。""" + out = [INLINE_ESCAPES.get(ch, ch) for ch in text] + return "".join(out).replace("_", r"\_") + + + +def class_skeleton(block: str, keep_private: set[str] | None = None) -> str: + """类的精简版：保留类声明、类字段与公开成员（``keep_private`` 内的私有成员也保留）。""" + keep_private = keep_private or set() + lines = block.splitlines() + tree = ast.parse(block) + cls = tree.body[0] + head_end = cls.body[0].lineno - 1 if cls.body else cls.lineno + head = lines[:head_end] + doc = ast.get_docstring(cls) + if doc: + head += [' """' + doc.strip().splitlines()[0] + '"""'] + head.append("") + out = list(head) + for node in cls.body: + if isinstance(node, (ast.Assign, ast.AnnAssign)): # 数据类字段与类常量 + end = getattr(node, "end_lineno", None) or node.lineno + out += lines[node.lineno - 1:end] + continue + if not isinstance(node, (ast.FunctionDef, ast.AsyncFunctionDef)): + continue + public = not node.name.startswith("_") or node.name in keep_private + if not public: + continue + start = node.lineno - 1 + decorators = getattr(node, "decorator_list", []) + if decorators: + start = min(start, min(item.lineno for item in decorators) - 1) + end = getattr(node, "end_lineno", None) or node.lineno + out += lines[start:end] + [""] + while out and not out[-1].strip(): + out.pop() + return "\n".join(out) + "\n" + + +def collect() -> list[tuple[str, str, list[tuple[str, str]]]]: + """返回 [(标题, 说明, [(函数名, 源码)])]，类按公开成员精简。""" + table = index_definitions(notebook_sources(NOTEBOOK)) + sections = [] + for title, note, names in SECTIONS: + blocks: list[tuple[str, str]] = [] + for name in names: + if "." in name: + owner, member = name.split(".", 1) + blocks.append((name, extract_member(table[owner], member))) + elif name in table: + block = table[name] + skeleton = (class_skeleton(block, KEEP_PRIVATE.get(name)) + if block.startswith("class ") else block) + blocks.append((name, compress_docstring(skeleton))) + else: + raise KeyError(f"notebook 中没有定义 {name!r}") + sections.append((title, note, blocks)) + return sections + + +def render(sections) -> str: + r"""渲染成可直接 \input 的 LaTeX 片段（样式 corecode 在 main.tex 导言区定义）。""" + lines = [ + r"% Generated by scripts/build_code_appendix.py from mcm26b-核心代码.ipynb.", + r"% Do not edit by hand: rerun the generator after the notebook changes.", + r"\begingroup\linespread{1.0}\selectfont", + ] + for title, note, blocks in sections: + lines += [rf"\subsection*{{{title}}}", note, ""] + for name, source in blocks: + summary = note_for(name, source) + label = rf"\texttt{{{latex_escape_text(name)}}}" + caption = f"{label}：{summary}。" if summary else f"{label}。" + lines += [rf"\noindent\small {caption}", + r"\begin{lstlisting}[style=corecode]", + source.rstrip(), r"\end{lstlisting}", ""] + lines.append(r"\endgroup") + return "\n".join(lines).rstrip() + "\n" + + +def main() -> None: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--check", action="store_true", + help="只统计规模，不写文件") + args = parser.parse_args() + sections = collect() + text = render(sections) + code_lines = sum(len(source.splitlines()) + for _, _, blocks in sections for _, source in blocks) + print(f"核心函数：{sum(len(b) for _, _, b in sections)} 个，" + f"代码 {code_lines} 行，LaTeX {len(text.splitlines())} 行") + for title, _, blocks in sections: + print(f" {title}: " + "、".join(name for name, _ in blocks)) + if args.check: + return + target = PAPER / "data/source-listings.tex" + target.write_text(text, encoding="utf-8") + print(f"已写出 {target.relative_to(ROOT)}") + + +if __name__ == "__main__": + main() diff --git a/scripts/build_core_notebook.py b/scripts/build_core_notebook.py new file mode 100644 index 0000000..d05acf3 --- /dev/null +++ b/scripts/build_core_notebook.py @@ -0,0 +1,1368 @@ +"""把 1-4 问的生产代码抽取成单文件 ipynb（无辅助/测评工具、无未采用方案）。 + +用法:: + + python scripts/build_core_notebook.py [-o mcm26b-核心代码.ipynb] + +设计： +- 代码正文**逐字复制**自 `src/mcm26b` 的生产实现，只做三类机械化改写： + 1. 去掉包内相对导入，改用单命名空间的前置导入； + 2. 去掉 `if __name__ == "__main__"` 与文件 IO 入口（覆盖计划改为内嵌字面量）； + 3. 去掉文件头部的模块 docstring（其内容改写为独立的说明 markdown 单元）。 +- 明确排除：`referee/`（独立评测机）、`harness/`（测试适配/内存回环/回放）、 + `cli.py`/`geometry/__main__.py`（命令行外壳）、`scripts/`（采集/基准/可视化）、 + `project/`（最优-基线对比框架）、`tests/`，以及未被任何生产策略调用的 + `routing.py` 离线度量族与 `planner/seven.py` 的未采用变体。 +""" + +from __future__ import annotations + +import argparse +import json +import re +from pathlib import Path + +ROOT = Path(__file__).resolve().parent.parent +SRC = ROOT / "src" / "mcm26b" + + +def read_module(relative: str) -> str: + """读取生产源文件并剥离模块级 docstring（正文原样保留）。""" + text = (SRC / relative).read_text(encoding="utf-8") + return strip_module_docstring(text) + + +def strip_module_docstring(text: str) -> str: + """删除文件开头的模块 docstring（含其后的空行）。""" + match = re.match(r'\s*("""|\'\'\')(?:.|\n)*?\1\s*\n', text) + if match is None: + return text + return text[match.end():].lstrip("\n") + + +def cut(text: str, start: str, end: str | None = None) -> str: + """截取 [start, end) 片段（含 start，不含 end）；找不到则报错。""" + begin = text.index(start) + if end is None: + return text[begin:] + return text[begin:text.index(end, begin)] + + +def drop(text: str, start: str, end: str | None = None) -> str: + """删除 [start, end) 片段（end 为 None 时删到文末），保留其余部分。""" + begin = text.index(start) + if end is None: + return text[:begin] + return text[:begin] + text[text.index(end, begin):] + + +# --------------------------------------------------------------------- 源文本 +CONFIG = read_module("config.py") +RULES = read_module("protocol/rules.py") +TIMING = read_module("protocol/timing.py") +STATE = read_module("protocol/state.py") +TRANSPORT = read_module("protocol/transport.py") +# 单文件版把 requests 改成惰性导入：notebook 只依赖标准库（+可选 numpy）即可运行， +# 真正调用 HTTP 时才需要 requests。逻辑与仓库实现完全等价。 +TRANSPORT = TRANSPORT.replace( + "from dataclasses import dataclass\n\nimport requests\n", + "from dataclasses import dataclass\n") +TRANSPORT = TRANSPORT.replace( + """ def post(self, url, body, headers, timeout): + try:""", + """ def post(self, url, body, headers, timeout): + import requests # 惰性导入：仅真正发起 HTTP 时才需要该依赖 + + try:""") +LOG = read_module("protocol/log.py") +CLIENT = read_module("protocol/client.py") +LOCALIZATION = read_module("geometry/localization.py") +PLANNING = read_module("geometry/planning.py") +BELIEF = read_module("belief/__init__.py") +COVERAGE = read_module("coverage/__init__.py") +COVER = read_module("guarantee/cover.py") +PARTICLES = read_module("particles.py") +JOINT = read_module("belief/joint.py") +ROUTING = read_module("routing.py") +PLANNER = read_module("planner/__init__.py") +BAYES = read_module("planner/bayes_loop.py") +SEVEN = read_module("planner/seven.py") + +# ---- routing.py：只保留生产路径用到的开放路径族 -------------------------------- +ROUTING = drop(ROUTING, "\ndef or_opt_open(", "\ndef improve_open_path(") +ROUTING = ROUTING.replace("import math\n\nfrom .config import Vec2\n", + "import math\n\nVec2 = tuple[float, float]\n\n") +ROUTING = ROUTING.replace( + 'EXACT_LIMIT = 13 # Held-Karp 状态数 2^n·n：n=13 → 106 496，纯 Python 可接受\n' + 'OR_OPT_LIMIT = 60 # 作业点数超过此值时跳过高阶 Or-opt（见 improve_open_path）\n\n\n', "") +ROUTING = drop(ROUTING, "\ndef held_karp_open(", "\ndef _dedupe(") +ROUTING = ROUTING.replace( + ''' """最近邻 + 2-opt + Or-opt 的开放路径改进（大规模兜底）。 + + Or-opt 的搬移评估是 O(n³)，作业点数超过 :data:`OR_OPT_LIMIT` 时只做 + O(n²) 的 2-opt（度量口径下 Or-opt 的相对收益远小于其墙钟代价）。 + """ + order = nearest_neighbor_order(points, start) + order = two_opt_open(order, start, max_passes) + if len(order) > OR_OPT_LIMIT: + return order + return or_opt_open(order, start, max_passes)''', + ''' """最近邻打底 + 2-opt 改进的开放路径（后备清除走格顺序用）。""" + order = nearest_neighbor_order(points, start) + return two_opt_open(order, start, max_passes)''') +# _dedupe 只服务已被排除的离线度量族，一并删除。 +ROUTING = drop(ROUTING, "\ndef _dedupe(", "\ndef route_metrics(") +ROUTING = drop(ROUTING, "\ndef route_metrics(") + +# ---- guarantee/cover.py：内嵌计划替代文件 IO ---------------------------------- +COVER = COVER.replace("import hashlib\nimport json\nimport math\n", + "import json\nimport math\n") +COVER = COVER.replace("from dataclasses import dataclass, field, fields\n" + "from functools import lru_cache\nfrom pathlib import Path\n", + "from dataclasses import dataclass, field, fields\n") +COVER = COVER.replace('PLAN_DIR = Path(__file__).resolve().parent / "plans"\n', "") +COVER = drop(COVER, "\ndef _load_plan_file(", "\ndef plan_instance(") +COVER = COVER.replace( + '''def plan_instance(name: str, verify: bool = True) -> CoveragePlan: + """统一入口：支持内置计划名与磁盘上的证书计划。""" + if name == "square49": + return square_49_plan() + if name == "seven": + return seven_plan(1200.0) + return load_plan(name, verify) + + +def plan_names() -> list[str]: + """全部可加载的计划名（含内置）。""" + builtin = ["square49", "seven"] + return builtin + sorted(p.stem for p in PLAN_DIR.glob("*.json")) + + +def write_plan(plan: CoveragePlan, path: Path) -> None: + """落盘计划 + 证书（生成器用）。""" + path.parent.mkdir(parents=True, exist_ok=True) + payload = plan.as_dict() + payload["generator"] = dict(payload.get("generator") or {}) + payload["sha256"] = hashlib.sha256( + json.dumps(payload["points"]).encode("utf-8")).hexdigest() + path.write_text(json.dumps(payload, ensure_ascii=False, indent=2) + "\\n", + encoding="utf-8")''', + '''def plan_instance(name: str, verify: bool = True) -> CoveragePlan: + """统一入口：按名称取覆盖计划（内置解析计划 / 内嵌证书计划）。""" + if name == "square49": + return square_49_plan() + if name == "seven": + return seven_plan(1200.0) + if name not in EMBEDDED_PLANS: + raise FileNotFoundError(f"未找到覆盖计划 {name!r}；现有：{plan_names()}") + plan = embedded_plan(name) + if verify and plan.kind == "certified": + certificate = verify_plan(plan) + if not certificate.valid: + raise ValueError( + f"覆盖计划 {name!r} 运行期校验失败：" + f"{certificate.uncovered}/{certificate.targets} 个 (p,h) 未被覆盖") + plan = CoveragePlan( + name=plan.name, problem=plan.problem, kind=plan.kind, + coverage=plan.coverage, note=plan.note, generator=plan.generator, + certificate=CoverageCertificate( + kind=certificate.kind, target_step_m=certificate.target_step_m, + headings=certificate.headings, r_eff_min_m=certificate.r_eff_min_m, + targets=certificate.targets, uncovered=certificate.uncovered, + worst_hit_distance_m=certificate.worst_hit_distance_m, + nn_tour_m=certificate.nn_tour_m, + generator_sha256=(plan.certificate.generator_sha256 + if plan.certificate else "")), + points=plan.points) + return plan + + +def plan_names() -> list[str]: + """全部可加载的计划名（内置解析计划 + 内嵌证书计划）。""" + return ["square49", "seven"] + sorted(EMBEDDED_PLANS)''') + +# ---- particles.py：单命名空间下不再需要可选 numpy 的跨模块探测 ------------------ +PARTICLES = PARTICLES.replace( + "from .config import ProblemConfig, Vec2\n" + "from .geometry.localization import smallest_enclosing_circle\n" + "from .protocol.rules import DIRECTION, NEAR, NO_SIGNAL\n", "") +PARTICLES = PARTICLES.replace( + "import math\nimport os\n\nVec2", "import math\nimport os\n\nVec2") + +# ---- joint.py：跨模块私有符号改为同命名空间引用 -------------------------------- +JOINT = JOINT.replace( + "from ..config import ProblemConfig, Vec2\n" + "from ..particles import ChannelParticles, _branch_radius_array\n" + "from ..protocol.rules import DIRECTION, NEAR, NO_SIGNAL\n", "") +JOINT = JOINT.replace( + """try: # numpy 仅作可选加速后端（与 particles 一致） + import numpy as _np + from ..particles import _np as _particles_np + if _particles_np is None: # MCM26B_NO_NUMPY 或缺失：强制纯 Python + _np = None +except Exception: # pragma: no cover - 环境无 numpy + _np = None""", + """# numpy 仅作可选加速后端（与 particles 同一开关：无 numpy 时走纯 Python 分支） +_np = _np""") + +# ---- planner/__init__.py：单命名空间导入 -------------------------------------- +PLANNER = PLANNER.replace( + "from ..belief import (BeliefState, CandidateRegion, ChannelStatus,\n" + " InconsistentBelief, clip_halfplane)\n" + "from ..belief.joint import JointBelief\n" + "from ..config import ProblemConfig, Vec2\n" + "from ..coverage import CoverageLedger\n" + "from ..evaluation import recompute_virtual_time, summarize\n" + "from ..guarantee import plan_instance, seven_plan, square_49_plan\n" + "from ..protocol.client import (DeadlineExceeded, ProtocolError,\n" + " SimulatorClient)\n" + "from ..protocol.rules import CLEAR_SUCCESS, DIRECTION, NEAR, NO_SIGNAL\n" + "from ..protocol.timing import move_time\n" + "from ..protocol.transport import TransportError\n" + "from ..routing import improve_open_path\n", "") + +# ---- planner/bayes_loop.py --------------------------------------------------- +BAYES = BAYES.replace( + "from ..belief import CandidateRegion, ChannelStatus\n" + "from ..config import ProblemConfig, Vec2\n" + "from ..coverage import CoverageLedger\n" + "from ..particles import ChannelParticles, as_sample_array\n" + "from ..protocol.client import SimulatorClient\n" + "from ..protocol.rules import DIRECTION, NEAR, NO_SIGNAL\n" + "from ..protocol.timing import move_time\n" + "from . import (ClearCertificate, OmnidirectionalLoop, clear_certificate,\n" + " candidate_points, safe_disk_radius, select_measurement_point)\n" + "from .seven import validate_seven_coverage\n" + "from ..guarantee import seven_plan\n", "") + +# ---- planner/seven.py：只保留被 CLI 采用的 SevenBatch -------------------------- +SEVEN = SEVEN.replace( + "from ..belief import ChannelStatus\n" + "from ..config import ProblemConfig\n" + "from ..coverage import CoverageLedger\n" + "from ..guarantee import seven_plan\n" + "from ..protocol.rules import NEAR\n" + "from . import OmnidirectionalLoop, clear_certificate\n", "") +# SevenImmediate 只是"换站集"的中间类，直接把 SevenBatch 接到全向闭环骨架上； +# SevenSweep（全域扫完再统一服务）不是被采用的方案，整段删除。 +SEVEN = drop(SEVEN, "\nclass SevenImmediate(", "\nclass SevenBatch(") +SEVEN = SEVEN.replace("class SevenBatch(SevenImmediate):", "class SevenBatch(OmnidirectionalLoop):") +SEVEN = SEVEN.replace("\n defer_all = False\n", "\n") +SEVEN = SEVEN.replace(" if not self.defer_all:\n" + " self._serve_queue()\n", + " self._serve_queue()\n") +SEVEN = drop(SEVEN, "\nclass SevenSweep") +SEVEN = re.sub(r"\n{3,}", "\n\n\n", SEVEN).rstrip() + "\n" + +# ---- client.py：单命名空间导入 ------------------------------------------------- +CLIENT = CLIENT.replace( + "from ..config import ProblemConfig, Vec2\n" + "from .log import SessionLog\n" + "from .rules import (CLEAR_RESULTS, DIRECTION, EXIT_USER, MEASURE_RESULTS,\n" + " POSITION_FIELDS, STATUS_OK, STATUS_RETRYABLE)\n" + "from .state import RobotState\n" + "from .timing import CostBreakdown\n" + "from .transport import RequestsTransport, Transport, TransportError\n", "") + +LOCALIZATION = LOCALIZATION.replace("from dataclasses import dataclass\n", + "from dataclasses import dataclass\n") +PLANNING = PLANNING.replace("from math import cos, sin, radians, isfinite\n" + "from .localization import Measurement\n", + "from math import cos, sin, radians, isfinite\n") + +# ---------------------------------------------------------------- 内嵌覆盖计划 +PLAN_V2 = json.loads((SRC / "guarantee" / "plans" / "q4_mincover_v2.json") + .read_text(encoding="utf-8")) +PLAN_V1 = json.loads((SRC / "guarantee" / "plans" / "q4_mincover_v1.json") + .read_text(encoding="utf-8")) + + +def plan_to_literal(payload: dict) -> str: + """把计划 JSON 渲染成可内嵌的 Python 字面量（点集按 6 点一行压缩）。""" + slim = dict(payload) + slim.pop("sha256", None) + points = slim.pop("points") + body = json.dumps(slim, ensure_ascii=False, indent=2) + body = body[:-1].rstrip() # 去掉 JSON 末尾的 "}" + body = "\n".join(" " + line for line in body.splitlines()) + point_lines = [] + for index in range(0, len(points), 6): + chunk = ", ".join(f"({x:g}, {y:g})" for x, y in points[index:index + 6]) + point_lines.append(" " + chunk + ",") + literal = (body.rstrip() + ",\n" + ' "points": [\n' + "\n".join(point_lines) + "\n ],\n}") + # JSON 的 true/false/null 在 Python 字面量里要写成 True/False/None + for source, target in (("true", "True"), ("false", "False"), ("null", "None")): + literal = re.sub(rf"\b{source}\b", target, literal) + return re.sub(r"=(\s*)\{", "= {", literal) # Q4_MINCOVER_V2 = { + + +EMBEDDED_SOURCE = '''# 覆盖计划以字面量内嵌（原实现从 guarantee/plans/*.json 读取；数值逐位一致）。 +# v2 是现役计划：31 点、设计裕量 r_design=965 m / 前向角裕量 5°， +# 证书按 15 m / 72 档复核 3 256 200 个 (p, h) 目标，缺口 0、最坏命中 990.05 m。 +# v1（75 m/24 档采样过拟合解）保留作对照，说明"粗采样假通过"的风险。 +Q4_MINCOVER_V2 = ''' + plan_to_literal(PLAN_V2).lstrip() + ''' +Q4_MINCOVER_V1 = ''' + plan_to_literal(PLAN_V1).lstrip() + ''' + +EMBEDDED_PLANS = {"q4_mincover_v1": Q4_MINCOVER_V1, "q4_mincover_v2": Q4_MINCOVER_V2} + + +def embedded_plan(name: str) -> CoveragePlan: + """把内嵌计划字典还原成 :class:`CoveragePlan`（证书字段按数据类取值）。""" + payload = EMBEDDED_PLANS[name] + raw_cert = payload.get("certificate") or {} + known = {item.name for item in fields(CoverageCertificate)} + certificate = (CoverageCertificate(**{key: value for key, value in raw_cert.items() + if key in known}) if raw_cert else None) + return CoveragePlan( + name=payload["name"], problem=int(payload["problem"]), + kind=payload.get("kind", "certified"), + coverage=payload.get("coverage", "forward_half_disk"), + note=payload.get("note", ""), certificate=certificate, + generator=payload.get("generator", {}), + points=tuple((float(x), float(y)) for x, y in payload["points"])) +''' + + +def code(source: str) -> dict: + source = source.strip("\n") + "\n" + # 单命名空间下 __future__ 只能出现在文件最前：后续单元里的一律去掉 + source = source.replace("from __future__ import annotations\n\n", "", 1) + return {"cell_type": "code", "execution_count": None, "metadata": {}, + "outputs": [], "source": source.splitlines(keepends=True)} + + +def md(source: str) -> dict: + source = source.strip("\n") + "\n" + return {"cell_type": "markdown", "metadata": {}, + "source": source.splitlines(keepends=True)} + + +CELLS: list[dict] = [] +add = CELLS.append + +# =============================================================== 0 说明与前置 +add(md(r""" +# CUMCM 2026 B 题 · 无线电干扰源的快速自动定位与清除 +## 单文件核心代码（问题一 ~ 问题四） + +本 notebook 是四问**生产实现**的自包含整理版：按求解流程顺序排列的算法内核， +不含评测机、命令行外壳、采集/基准/绘图脚本、单元测试，也不含未被采用的方案。 + +### 1. 求解主线 + +| 问 | 任务 | 本文档中的实现 | +| --- | --- | --- | +| 一 | 由 ±1° 有界误差示向度交会定位，求定位区域、直径、直径圆覆盖判定、最小包围圆与 20 m 清除证书（并给出直径圆不覆盖区域的等边三角形反例） | `Measurement` / `halfplanes` / `convex_hull` / `diameter` / `smallest_enclosing_circle` / `solve` | +| 二 | 选择第二个检测点，使目标必被接收且交会角最优 | `first_bearing_candidate_disk` / `CandidateRegion` / `safe_disk_radius` / `select_second_point` | +| 三 | 全向源：发现全部干扰源、逐一定位清除，最小化虚拟总时间 | `SevenBatch`（对照）与 `BayesLoop`（默认：网格粒子滤波 + 负观测 + 信息增益选点 + 滚动 2-opt） | +| 四 | 含定向发射源（半盘覆盖）：不可见的静默必须与"距离不足"区分 | `DirectionalExtension`（定向覆盖最小命中集 + (位置×朝向) 联合信念 + ≤20 m 后备清除） | + +### 2. 公共层（四问共用） + +- **参数中心**（`ProblemConfig`）：题面常量与工程参数的唯一字面量来源； +- **协议层**：字段表/结果码（`rules`）、纯计时模型（`timing`）、本地状态机（`state`）、 + 传输抽象（`transport`）、会话日志（`log`）、串行幂等客户端（`SimulatorClient`）； +- **信念层**：逐频道保守凸候选集（`CandidateRegion`）、网格幸存集（`ChannelParticles`）、 + (位置×朝向) 联合可行集（`JointBelief`）； +- **保证层**：覆盖账本（`CoverageLedger`）、覆盖计划与证书（`CoveragePlan`）； +- **调度层**：开放路径排序（`nearest_neighbor_order` / `two_opt_open` / `improve_open_path`）。 + +### 3. 三条硬约束（贯穿全部代码） + +1. **保守性**：真源（第四问含朝向）永远不被观测更新删掉——候选集用外切多边形外包圆盘、 + 半平面裁剪带正容差、网格幸存集按 Voronoi 裕量内缩后再删格； +2. **幂等串行**：一个动作未决不发起下一个；网络失败时原样重发同一 `request_id` 与请求体； + `accepted=false` 不更新任何状态，其 `virtual_time_s=0` 不是当前时刻； +3. **计时一致**：预测（客户端）—执行（模拟器）—复算（日志）三方用同一计时模型， + 按整数微秒累计。 + +### 4. 与仓库原文件的关系 + +各代码单元逐字取自 `src/mcm26b/**`，仅做机械化改写（去包内相对导入、去文件 docstring、 +去掉覆盖计划的 JSON 文件读取改为内嵌字面量、去掉未被生产路径调用的函数）。 +本文件可独立运行：**零第三方依赖**（`numpy` 仅作可选加速，缺失时自动回退纯 Python； +`requests` 仅在真正发起 HTTP 时才惰性导入）。最后的总自检单元会复算四问的核心结论， +15 项断言全部通过才算整理成功。 + +自检覆盖：问1 角域交会有界/直径圆反例、问2 保证接收与后验收缩、问3 七站解析覆盖证书与 +Voronoi 真源保留、问4 定向最小命中集证书与 (位置×朝向) 联合信念保守性。 +""")) + +add(md(""" +## 0. 环境与依赖 +""")) + +add(code(r''' +from __future__ import annotations + +import json +import math +import os +import uuid +from dataclasses import dataclass, field, fields, replace +from enum import Enum +from functools import lru_cache +from itertools import combinations +from math import cos, dist, hypot, isfinite, radians, sin +from pathlib import Path +from random import Random +from time import monotonic, sleep + +try: # numpy 仅作可选加速后端；缺失时全部回退纯 Python + import numpy as _np +except Exception: # pragma: no cover - 环境无 numpy 时走纯 Python 分支 + _np = None + +print("numpy 加速后端:", "启用" if _np is not None else "缺失（纯 Python 回退）") +''')) + +# =============================================================== 1 参数中心 +add(md(""" +# 第一部分 · 公共层 + +## 1. 参数中心（`config.py`） + +题面常量标 `[题面]`，工程参数标 `[工程]`；后者可依演练实测调整，不代表官方规定。 +任何魔法数字只在这里出现一次，其余模块通过 `ProblemConfig` 读取。 +""")) + +add(code(cut(CONFIG, "Vec2 = tuple[float, float]"))) +add(code(cut(CONFIG, "@dataclass(frozen=True)\nclass ProblemConfig:"))) + +# =============================================================== 2 协议层 +add(md(""" +## 2. 协议层（`protocol/`） + +### 2.1 规则表与字段表（`rules.py`） + +四条指令的字段约束、结果码与 HTTP 错误语义，全部落成可执行数据： +客户端用它构造并预校验请求，模拟器用同一张表校验并拒绝未知字段。 +""")) + +add(code(cut(RULES, "# ---- 结果码"))) + +add(md(""" +### 2.2 纯计时模型（`timing.py`） + +附件示例（105 / 111 / 194 / 199 秒）是唯一权威锚点： +一次合法动作 = 移动（直线距离 / 5 m/s）+ 换频道（仅检测，1 s）+ 动作本身（检测 5 s、 +清除成功 5 s / 未发现 3 s），逐段量化后**按整数微秒累计**。 +""")) + +add(code(cut(TIMING, "@dataclass(frozen=True)\nclass CostBreakdown"))) + +add(md(""" +### 2.3 本地状态机（`state.py`） + +位置 / 测向频道 / 虚拟时刻的唯一权威是最近一次 `accepted=true` 的响应； +`/clear` 不切换测向机频道，只有合法 `/measure` 才更新频道。 +""")) + +add(code(cut(STATE, "class StateError(RuntimeError):"))) + +add(md(""" +### 2.4 传输抽象与会话日志（`transport.py` / `log.py`） + +HTTP 细节与协议客户端解耦：正式运行用 `RequestsTransport`， +本地评测 / 故障注入 / 日志回放各自替换 `Transport` 实现即可，客户端代码零改动。 +会话日志逐条追加 JSONL（题面要求机器狗程序自行留档指令与响应）。 +""")) + +add(code(cut(TRANSPORT, "class TransportError(Exception):"))) +add(code(cut(LOG, "@dataclass\nclass SessionLog:"))) + +add(md(""" +### 2.5 串行幂等客户端（`client.py`） + +- 每个新动作使用新的 `request_id`；仅在网络失败后重试**完全相同的动作**时复用原 ID 与 + 原请求体（本类一次性序列化出 bytes 并原样重发）； +- 必须同时检查 HTTP 状态与 `accepted`；`accepted=false` 不更新状态； +- 逐次等待响应、不得并发；本类完全同步； +- 现实截止用 `/enter` 的 `remaining_real_duration_s` 建立本地单调时钟并预留退出余量。 +""")) + +add(code(cut(CLIENT, "class ProtocolError(RuntimeError):"))) + +# =============================================================== 3 几何内核 +add(md(""" +## 3. 几何内核（`geometry/`） + +### 3.1 角域交会定位（`localization.py`） + +每条示向度 = 三个半平面：角域下边界、上边界，以及"只能在前向"约束 +（半角 < 90° 时交集是尖锥而非整条直线）。定位区域 = 全部半平面之交。 + +对偶枚举任意两个半平面的交点即得全部候选顶点，再按可行性筛选—— +有界性由"是否存在非零衰退方向"判定，因此**不需要人为加包围盒**： + +- 无交点 ⇒ 空集（数据矛盾或频道选错）； +- 有非零衰退方向 ⇒ 无界，直径为 ∞； +- 否则顶点凸包即定位多边形，直径由顶点对枚举给出，最小包围圆用 Welzl 随机增量算法。 +""")) + +add(code(cut(LOCALIZATION, "Point = tuple[float, float]"))) + +add(md(""" +### 3.2 问题二的安全候选盘证书（`planning.py`） + +首次示向度只给出"目标在角域 ∩ 距离 ≤ 1500 m 的扇形内"。该扇形的**最小包围圆** +半径 a = R / (2 cos δ)；再按保证接收半径（≥ 1000 m）内缩 s = 1000 − a 得到 +保证接收盘 B(圆心, s)——盘内任意点到真源的距离 ≤ s + a = 1000 m， +因此第二点必收到 `direction`（或 `near`），不会浪费一次 `no_signal`。 +""")) + +add(code(cut(PLANNING, "def first_bearing_candidate_disk("))) + +# =============================================================== 4 信念与覆盖 +add(md(""" +## 4. 信念层与保证层 + +### 4.1 逐频道保守凸候选集（`belief/__init__.py`） + +候选集 K_c 用**圆盘外切多边形 ∩ 测向角域半平面**表示。两条不变式： + +- 外切多边形严格包含圆盘、半平面裁剪带正容差 ⇒ 更新只会放大不会缩小真实候选集； +- `direction` 读数给出 K_c ⊆ Ω ∩ W(s, θ±δ_eff) ∩ B(s, 1500)，δ_eff 含示向度两位小数的 + 舍入裕量 0.005°； +- `no_signal` **不删空间候选**（对定向源它只说明被遮挡，见第四问）， + "该频道无源"的证明由覆盖账本或网格幸存集给出； +- `near` 读数把候选集收缩到 B(s, 5)，可直接产生清除证书。 +""")) + +add(code(cut(BELIEF, "# 半平面裁剪的正容差（米）"))) + +add(md(""" +### 4.2 逐频道覆盖账本（`coverage/__init__.py`） + +"路过某点"不算"测过某频道"：覆盖必须按 (频道, 点) 二维记账， +这是"全点皆 `no_signal` ⇒ 该频道不存在源"这一缺席证明的唯一依据。 +""")) + +add(code(cut(COVERAGE, "def coverage_points("))) + +add(md(""" +### 4.3 覆盖计划与证书（`guarantee/cover.py`） + +两类覆盖语义（题面约束不同，绝不可混用）： + +| 语义 | 适用 | 缺席条件 | +| --- | --- | --- | +| `full_disk` | 第三问全向源 | ∪ B(c, 1000) ⊇ Ω，即 Ω 内每点都落在某个被访点的最小接收圆盘内 | +| `forward_half_disk` | 第四问定向源 | ∀(p, h) ∈ Ω × S¹，存在被访点 c 使 \\|c−p\\| ≤ 1000 且 (c−p)·u(h) ≥ 0 | + +**保证 = 离线搜索 + 运行期校验**：点表与证书一起落盘并校验采样语义、缺口数、 +最坏命中距离与生成参数哈希，运行期用同一套采样语义重新校核，未通过即拒绝启动。 +证书硬化把"采样格覆盖"提升为"连续空间覆盖"：设计裕量 r_eff + step·√2/2 ≤ 1000 +且角裕量 ≥ 180/headings/2。 +""")) + +add(code(cut(COVER, "R_EFF_MIN_M = 1000.0"))) + +add(md(""" +### 4.4 第四问最小命中集（内嵌计划） + +现役计划 `q4_mincover_v2`：31 点（700 m 方格 49 点的充分条件可压到 31 点）， +设计裕量 r_design = 965 m、前向角裕量 5°，按 15 m / 72 档共 3 256 200 个 (p, h) +复核缺口为 0、最坏命中 990.05 m、最近邻巡回 23.88 km。 +`q4_mincover_v1` 是同点数的粗采样（75 m / 24 档）解，细网格复检有 125 个缺口—— +保留它正是"粗采样假通过"的反例。 +""")) + +add(code(cut(COVER, "def seven_points("))) + +add(code(EMBEDDED_SOURCE)) + +add(md(""" +### 4.5 第三问解析七站计划（`planner/seven.py` 覆盖部分） + +原点 + 半径 r 的 6 等分环：域半径 R、环半径 r 时，域内任一点到最近站的距离 +≤ max(r/√3, √(R² + r² − √3Rr))，只要该上界 < 1000 m（最小有效接收半径）， +"7 站全 `no_signal`"就是严格的缺席证明。r ∈ [1122.9, 1732] 可行，巡检半径越小巡回越短。 +""")) + +add(code(cut(SEVEN, "RING_RADIUS_M = 1200.0", "\nclass SevenBatch"))) + +add(md(""" +### 4.6 网格幸存集粒子滤波（`particles.py`） + +保守凸外包无法表达"角域 ∩ 距离盘 ∩ 全部 no_signal 排除盘"这类**非凸（挖洞）**可行集。 +网格幸存集可以，并额外买到三件事： + +1. **缺席证明**：幸存集为空 ⇒ 可行集为空 ⇒ 该频道无源（严格，不必等覆盖账本跑完）； +2. **跳测规则**：幸存格到测点的最小距离 > r_max ⇒ 该次测量必 `no_signal` 且不产生新排除， + 直接跳过（省 5 s 检测 + 1 s 换频）； +3. **负观测更新**：`no_signal` 直接删掉 B(s, 1000) 内的整格。 + +严格性由 **Voronoi 裕量**保证：格距 h 的裕量 m = √2/2·h 是格心到格内任一点的最大距离， +所有删除判定都内缩 m（"整格都在可行集外才删"），因此真源所在格永不被删。 +""")) + +add(code(cut(PARTICLES, "_ANG_EPS_DEG = 1e-9"))) + +add(md(""" +### 4.7 (位置 × 朝向) 联合可行集（`belief/joint.py`） + +第四问的失败全部来自定向源：策略知道"源可能在哪个空间区域"，却不知道"它朝着哪边"。 +本模块给每个幸存格附一个 24 档（15°）朝向可行性掩码，把"看不看得见"变成可推理的量。 +更新规则全部取保守侧并计入**格内角裕量** `asin(margin / max(dist − margin, 1))` +（格内任一点相对格心方位偏差的上界）： + +| 观测 | 位置 | 朝向 | +| --- | --- | --- | +| `direction` @ s | 距离 ≤ 1500、角向 \\|gap\\| ≤ δ_eff + 格裕量 | 必须**可能**覆盖 s | +| `near` @ s | 距离 ≤ 5 | 必须**可能**覆盖 s（near 同样要求可见） | +| `no_signal` @ s | **不删**（可能是遮挡，也可能是距离不足） | 仅在整格必落在 1000 m 内时，删去"必然看得见"的档 | + +由此得到二维真源保留定理：真源 (位置, 朝向) 永不被删。`prob_detect` 用可见性概率选点， +取代固定的 45° 阶梯试探；联合集为空同样就是缺席证明。 +""")) + +add(code(cut(JOINT, "HEADING_BINS = 24"))) + +# =============================================================== 5 调度层 +add(md(""" +## 5. 调度层：开放路径排序（`routing.py`） + +本题的真实图问题是**开放路径**：起点固定在机器人当前位置、终点自由， +代价 = Σ 移动时间 + Σ 动作耗时。后备清除的走格顺序用最近邻打底 + 2-opt 改进 +（O(1) 增量代价评估，终点自由故只反转内部片段、不做首尾相接）。 +""")) + +add(code(ROUTING)) + +# =============================================================== 6 策略层 +add(md(""" +# 第二部分 · 策略层（`planner/`） + +## 6. 问题一/二/三共用的选点器与全向闭环 + +- **问题一**在几何内核里直接求解（第三部分给出算例）； +- **问题二**用 `select_second_point`：在保证接收盘内环形采样，以"最坏后验包围圆半径" + 为主指标、移动代价为次指标； +- **问题三**用 `OmnidirectionalLoop` 骨架：覆盖 → 定位 → 清除 → 收尾， + 子类只替换覆盖计划与调度细节。 +""")) + +add(code(cut(PLANNER, "\ndef bearing_deg(a: Vec2, b: Vec2) -> float:", + "\nclass OmnidirectionalLoop:"))) + +add(md(""" +### 6.1 全向闭环骨架（`OmnidirectionalLoop`） + +发现（覆盖账本）→ 定位（候选集收敛到 20 m 内）→ 清除 → 收尾 `/exit`。 +任何异常都必须尽力 `/exit` 并产出 summary，不得静默丢会话： +断连、协议错误、守恒性破坏（候选集被剪空 / 保证接收盘内 `no_signal` / +清除证书失效）都会记入 `stop_reason` 与异常表。 +`completed` 表示任务在证明意义上完成（每频道 CLEARED 或 ABSENT）， +`accounted_virtual_time_s` 记录首次"找全证明"的虚拟时刻。 +""")) + +add(code(cut(PLANNER, "\nclass OmnidirectionalLoop:", + "\nclass DirectionalExtension(OmnidirectionalLoop):"))) + +add(md(""" +### 6.2 第四问定向扩展（`DirectionalExtension`） + +与第三问的三点差异： + +1. 覆盖阶段换成定向覆盖最小命中集（`q4_mincover_v2`），发现保证对定向源同样成立； +2. 保证接收盘内的 `no_signal` 只能由**朝向遮挡**解释：该频道记为"观测到定向"， + 对 MEC 圆心取对跖探点复核，并用联合信念按可见概率选点； +3. 定位停滞时对**有界**候选集构造 ≤20 m 有限圆盘覆盖，逐格 `/clear` + （清除与朝向无关，是完备后备）；格数超硬顶或预算不足即跳过并留痕，绝不盲扫。 +""")) + +add(code(cut(PLANNER, "\nclass DirectionalExtension(OmnidirectionalLoop):"))) + +add(md(""" +### 6.3 第三问默认策略：贝叶斯网格滤波闭环（`planner/bayes_loop.py`） + +三层重构： + +1. **感知层**：每频道一个网格幸存集，全部读数（含 `no_signal` 负观测）即时更新， + 幸存集为空即缺席证明； +2. **决策层**：站点扫频、定位测量、清除三类任务合成统一任务表， + 开放路径最近邻 + 2-opt 排序，每执行一个任务滚动重排（动态 TSP）； +3. **选点层**：定位测量点在保证接收盘（凸证书）或 PF MEC 探索环（宽候选集）内 + 按"期望 log 幸存占比 + λ·移动时间"评分（信息增益贪心）。 + +相对基线的增益来自负观测跳站/跳测、PF 缺席证明提前证毕、全局任务排序。 +清除证书仍以凸证书为主，PF 网格证书只在负观测挖洞使幸存集更紧时提前触发。 +""")) + +add(code(BAYES)) + +add(md(""" +### 6.4 第三问对照策略：七站批量扫频（`planner/seven.py`） + +同一骨架换覆盖计划：7 站解析覆盖 + 站内批量扫频 + 按"距候选集 MEC 圆心最近"服务队列。 +它曾以官方案例 12/12 全清通过演练，是"覆盖证明 + 批量调度"的中间对照。 +""")) + +add(code(cut(SEVEN, "\nclass SevenBatch"))) + +# =============================================================== 7 问题一 +add(md(""" +# 第三部分 · 逐问算例与自检 + +以下单元用**合成观测**驱动上面的求解器（合成观测的生成规则单独写明， +不依赖评测机）。每个单元末尾用断言检查结论，运行通过即说明该问的代码链路正确。 + +## 7. 问题一：角域交会定位 + +三个检测点、±1° 误差的示向度。输出：定位区域多边形顶点、直径、直径圆是否覆盖整个区域、 +最小包围圆（MEC）半径，以及"MEC 半径 ≤ 20 m"的清除证书。 +""")) + +add(code(r''' +Q1_EXAMPLES = { + "normal": { # 三点交会：区域有界、MEC 远小于 20 m + "target": (80.0, 90.0), + "measurements": [(-600.0, -250.0, 27.21505117707799), + (650.0, -100.0, 161.015051177078), + (100.0, 700.0, 268.4721225527146)], + }, + "triangle": { # 直径圆反例：直径圆不覆盖区域 + "target": (20.0, 11.547005383792515), + "measurements": [(-1000.0, 0.0, 1.0), + (540.0, -866.0254037844386, 121.0), + (520.0, 900.6664199358162, 241.0)], + }, + "poor": { # 近共线：细长区域，MEC 远大于直径圆 + "target": (0.0, 0.0), + "measurements": [(-900.0, -20.0, 1.29), (0.0, 0.0, 0.0), (900.0, 20.0, 358.73)], + }, +} + +def solve_q1(case: str, rounding_margin_deg: float = 0.0) -> dict: + """复现 `mcm26b q1 examples/q1/.json` 的求解口径。""" + rows = Q1_EXAMPLES[case]["measurements"] + measurements = [Measurement(x, y, bearing, 1.0 + rounding_margin_deg) + for x, y, bearing in rows] + return solve(measurements) + +normal = solve_q1("normal") +print("== 三点交会 ==") +print("状态 :", normal["status"], "顶点数", len(normal["vertices"])) +print("直径 : %.3f m" % normal["diameter_m"]) +print("直径圆覆盖区域 :", normal["diameter_circle"]["covers"], + "最大超出 %.3f m" % normal["diameter_circle"]["max_excess_m"]) +print("最小包围圆 : 圆心 (%.3f, %.3f) 半径 %.3f m" + % (*normal["minimum_enclosing_circle"]["center"], + normal["minimum_enclosing_circle"]["radius_m"])) +print("可原地清除 :", normal["guaranteed_clearable_at_mec_center"]) +assert normal["status"] == "polygon" and normal["diameter_m"] > 0 +assert normal["diameter_infinite"] is False +''')) + +add(code(r''' +# 反例：直径圆的圆心是"最远顶点对"的中点，第二个最远顶点可能落在圆外。 +tri = solve_q1("triangle") +print("== 直径圆反例（等边三角形） ==") +print("定位区域顶点：", [[round(v, 2) for v in p] for p in tri["vertices"]]) +print("直径 %.3f m（最远顶点对 %s）" % (tri["diameter_m"], + [[round(v, 2) for v in p] for p in tri["diameter_pair"]])) +print("直径圆：圆心 %s 半径 %.3f m" % ([round(v, 2) for v in + tri["diameter_circle"]["center"]], tri["diameter_circle"]["radius_m"])) +print("圆外顶点下标 %s（见证顶点 %s），最大超出 %.3f m" + % (tri["diameter_circle"]["outside_vertex_indices"], + [round(v, 2) for v in tri["diameter_circle"]["witness_vertex"]], + tri["diameter_circle"]["max_excess_m"])) +print("直径圆覆盖整个定位区域：", tri["diameter_circle"]["covers"]) +print("最小包围圆半径 %.3f m（>= 直径/2 = %.1f m，才是真正的最小覆盖半径）" + % (tri["minimum_enclosing_circle"]["radius_m"], tri["diameter_m"] / 2)) +assert tri["diameter_circle"]["covers"] is False +assert tri["diameter_circle"]["outside_vertex_indices"] == [2] +# 一般地 直径/2 <= 最小包围圆半径；等边三角形取严格大于（23.09 > 20） +assert tri["minimum_enclosing_circle"]["radius_m"] >= tri["diameter_m"] / 2 - 1e-9 + +poor = solve_q1("poor") +print("\n== 近共线细长区域 ==") +print("状态 %s，直径 %.1f m，最小包围圆半径 %.1f m，可原地清除 %s" + % (poor["status"], poor["diameter_m"], + poor["minimum_enclosing_circle"]["radius_m"], + poor["guaranteed_clearable_at_mec_center"])) +assert poor["minimum_enclosing_circle"]["radius_m"] > 20.0 +assert poor["guaranteed_clearable_at_mec_center"] is False + +empty = solve([]) +unbounded = solve([Measurement(-600.0, -250.0, 27.21505117707799, 1.0)]) +print("\n无观测 ->", empty["status"], "| 单条示向度 ->", unbounded["status"], + "（衰退方向 %s）" % unbounded["recession_direction"]) +assert empty["status"] == "unbounded" and unbounded["status"] == "unbounded" +''')) + +add(code(r''' +# 示向度二位小数的舍入敏感性：误差半角 1.0° vs 1.005°（含 0.005° 舍入裕量） +tight = solve_q1("normal", 0.0) +loose = solve_q1("normal", 0.005) +print("舍入裕量 0.000°：直径 %.3f m，MEC 半径 %.3f m" + % (tight["diameter_m"], tight["minimum_enclosing_circle"]["radius_m"])) +print("舍入裕量 0.005°：直径 %.3f m，MEC 半径 %.3f m" + % (loose["diameter_m"], loose["minimum_enclosing_circle"]["radius_m"])) +print("放宽 %.3f° 使 MEC 半径增加 %.3f m —— 因此库默认带该裕量，" + "否则合法真源可能被角域裁掉" % (0.005, loose["minimum_enclosing_circle"]["radius_m"] + - tight["minimum_enclosing_circle"]["radius_m"])) +assert loose["minimum_enclosing_circle"]["radius_m"] >= \ + tight["minimum_enclosing_circle"]["radius_m"] - 1e-9 +''')) + +# =============================================================== 8 问题二 +add(md(""" +## 8. 问题二：第二检测点的选择 + +给定首次 `direction` 读数（检测点 s₁、示向度 θ₁±1°），构造 +K₁ = Ω ∩ W(s₁, θ₁±δ_eff) ∩ B(s₁, 1500)，再在**保证接收盘**内选第二点： + +- 目标函数：候选读数分支下的**最坏后验包围半径**（越小越好，直接决定能否进入 20 m 清除圈）； +- 次指标：从当前位置出发的移动时间（同分决胜）； +- 采样是启发式（候选点族 × 目标边界点 × 读数区间端点），选定后按 1/4 间距加密复核并如实上报。 +""")) + +add(code(r''' +class _StateStub: + """最小状态替身：只提供选点器需要的当前位置与当前测向频道。""" + + def __init__(self, position=(0.0, 0.0), channel: int = 1): + self.position = position + self.channel = channel + + +class _ClientStub: + def __init__(self, position=(0.0, 0.0), channel: int = 1): + self.state = _StateStub(position, channel) + + +CONFIG = ProblemConfig() + +def plan_second_point(station, bearing_deg, from_position=(0.0, 0.0)): + """问题二主入口：首次示向度 -> 保证接收的第二检测点方案。""" + client = _ClientStub(from_position, channel=1) + return select_second_point(client, station, bearing_deg, CONFIG) + + +def plan_second_point_from(region, from_position=(0.0, 0.0)): + """已知候选集时的下一测点（同一选点器，供逐次追加测点演示）。""" + return select_measurement_point(region, from_position, CONFIG) + + +# 首次检测：真源在 (300, 400)，从原点测得示向度 53.13°，误差半角 ±1° +station1, bearing1 = (0.0, 0.0), 53.13010235415598 +cert = first_bearing_candidate_disk(Measurement(*station1, bearing1, 1.0)) +print("首次角域扇形的包围圆：圆心 (%.1f, %.1f) 半径 %.1f m" + % (*cert["sector_enclosing_circle"]["center"], + cert["sector_enclosing_circle"]["radius_m"])) +print("保证接收盘 ：圆心 (%.1f, %.1f) 半径 %.1f m" + % (*cert["sufficient_candidate_disk"]["center"], + cert["sufficient_candidate_disk"]["radius_m"])) + +# 首次读数后的候选集 K1 = Ω ∩ W(s1, θ1±δ_eff) ∩ B(s1, 1500) +half = 1.0 + CONFIG.search.bearing_rounding_margin_deg +region = CandidateRegion.initial(station1, CONFIG) +region.clip_wedge(station1, bearing1, half) + +plan = plan_second_point(station1, bearing1) +print("\n第二检测点 (%8.2f, %8.2f)" % plan.position) +print("最坏后验包围半径 %.2f m（当前候选集 MEC 半径 %.1f m，必须更小才叫有信息）" + % (plan.worst_posterior_radius_m, region.mec()[1])) +print("移动耗时 %.1f s（次指标：同样精度下取更近的点）" % plan.move_cost_s) +print("依据：", plan.reason) +''')) + +add(code(r''' +# 用同一套观测语义复核这个点：无论真源落在候选集何处，第二点都必收到信号。 +# 候选集边界按 1 m 加密采样做最坏情形检验。 +worst_distance, worst_radius, samples = 0.0, 0.0, 0 +for truth in region.witnesses(1.0): + worst_distance = max(worst_distance, math.dist(plan.position, truth)) + for reading in (bearing_deg(plan.position, truth) - half, + bearing_deg(plan.position, truth) + half): + probe = CandidateRegion(list(region.polygon), region.slack_m) + probe.clip_wedge(plan.position, reading, half) + if probe.polygon: + worst_radius = max(worst_radius, probe.mec()[1]) + samples += 1 +print("候选集边界采样点 %d 个" % samples) +print("真源到第二点的最远距离 %.2f m（<= 1000 m 才保证收到信号）" % worst_distance) +print("对候选集最坏点、最不利读数的后验包围半径 %.2f m" % worst_radius) +print("第二点相对候选集包围圆的保证接收余量：%.1f m" + % (CONFIG.field.r_eff_min_m - region.mec()[1] - math.dist(plan.position, + region.mec()[0]))) +assert worst_distance <= CONFIG.field.r_eff_min_m # 保证接收：不会浪费 no_signal +assert worst_radius < region.mec()[1] # 一定带来收缩 + +# 逐次追加测点：最坏后验半径单调收缩，第三点后进入 20 m 清除圈 +for step in range(2, 5): + if plan.worst_posterior_radius_m <= CONFIG.field.clear_radius_m: + break + region.clip_wedge(plan.position, bearing_deg(plan.position, (300.0, 400.0)), half) + plan = plan_second_point_from(region, (0.0, 0.0)) + print("追加第 %d 个测点 (%8.2f, %8.2f)：最坏后验半径 %.2f m" + % (step, *plan.position, plan.worst_posterior_radius_m)) +print("\n结论：第二点负责\"保证接收 + 最大化交会角\"，后验精度由后续测点继续压缩；" + "20 m 清除圈通常在第三点后达成。") +assert plan.worst_posterior_radius_m <= CONFIG.field.clear_radius_m +''')) + +add(code(r''' +# 对照：候选集在不同首次示向度下的选择结果（目标函数与移动代价的权衡） +print("首次示向度 第二点位置 最坏后验半径 移动耗时") +for bearing in (0.0, 45.0, 90.0, 135.0, 180.0, 225.0, 270.0, 315.0): + item = plan_second_point(station1, bearing, from_position=(-1500.0, 0.0)) + print("%7.1f° (%8.2f, %8.2f) %8.2f m %6.1f s" + % (bearing, item.position[0], item.position[1], + item.worst_posterior_radius_m, item.move_cost_s)) +''')) + +# =============================================================== 9 问题三 +add(md(r""" +## 9. 问题三：全向源闭环 + +第三问没有可直连的模拟器时，仍可自检全部**决策内核**： + +1. 七站覆盖计划是否真的覆盖 Ω（每点到最近站 ≤ 1000 m）； +2. 网格幸存集在随机观测序列后是否始终保留真源（Voronoi 裕量定理）； +3. 空幸存集、跳测规则、清除证书是否按预期给出； +4. 任务表排序（最近邻 + 2-opt）是否真的缩短开放路径。 + +合成观测按下述语义生成，与题面一致（`r_eff` 未知，只在 [1000, 1500] 内取值）： +`dist > r_eff → no_signal`；`dist ≤ 5 → near`；否则 `direction`，读数为真实方位 +加上 ≤1° 的误差。 +""")) + +add(code(r''' +def observe_omni(truth, station, r_eff, bearing_noise_deg=0.0): + """全向源的观测语义（合成用）：返回 (result, svd_deg)。""" + distance = math.dist(truth, station) + if distance > r_eff: + return "no_signal", None + if distance <= 5.0: + return "near", None + return "direction", (bearing_deg(station, truth) + bearing_noise_deg) % 360.0 + + +def observe_directional(truth, heading_deg, station, r_eff, bearing_noise_deg=0.0): + """定向源的观测语义：源→读点方向与朝向夹角 > 90° 时同样静默。""" + dx, dy = station[0] - truth[0], station[1] - truth[1] + distance = math.hypot(dx, dy) + if distance > r_eff: + return "no_signal", None + forward = dx * math.cos(math.radians(heading_deg)) \ + + dy * math.sin(math.radians(heading_deg)) + if forward < 0.0: + return "no_signal", None # 背向发射：接收不到 + if distance <= 5.0: + return "near", None + return "direction", (bearing_deg(station, truth) + bearing_noise_deg) % 360.0 + + +# ---- 9.1 七站解析覆盖计划 --------------------------------------------------- +CONFIG_Q3 = replace(CONFIG, bayes=replace(BayesConfig(), station_ring_radius_m=1200.0)) +bound = validate_seven_coverage(CONFIG_Q3.bayes.station_ring_radius_m, CONFIG_Q3) +plan7 = seven_plan(CONFIG_Q3.bayes.station_ring_radius_m) +print("七站环半径 %.1f m，最近站最远距离解析上界 %.1f m（阈值 1000 m）" + % (CONFIG_Q3.bayes.station_ring_radius_m, bound)) +print("站点：", [tuple(round(v, 1) for v in point) for point in plan7.points]) + +# 数值复核必须与证书同分辨率：这里用 300 m / 12 档演示（全分辨率证书见 4.4 节） +cert7 = verify_full_disk(plan7.points, step_m=300.0, r_eff=R_EFF_MIN_M) +print("粗采样复核：目标点 %d 个，未覆盖 %d 个，最坏命中 %.1f m，最近邻巡回 %.1f km" + % (cert7.targets, cert7.uncovered, cert7.worst_hit_distance_m, cert7.nn_tour_m / 1000)) +assert cert7.uncovered == 0 and cert7.worst_hit_distance_m <= R_EFF_MIN_M +assert bound <= CONFIG_Q3.field.r_eff_min_m +''')) + +add(code(r''' +# ---- 9.2 网格幸存集的真源保留性（Voronoi 裕量定理的随机检验） ---------------- +Random(20260913).seed(20260913) +source = (300.0, 400.0) # 真源 +r_eff_true = 1200.0 # 真源的有效接收半径（策略端不可见） +stations = [(x, y) for x, y in + [(-900.0, 200.0), (0.0, 0.0), (600.0, -700.0), (1100.0, 800.0)]] + +pf = ChannelParticles(CONFIG_Q3) +start_alive = len(pf) +retained = True +for index, station in enumerate(stations): + result, svd = observe_omni(source, station, r_eff_true, + bearing_noise_deg=0.8 if index % 2 else -0.9) + pf.apply_measure(station, result, svd) + cell = (min(pf.alive, key=lambda k: math.dist(pf.cell_center(k), source)) + if pf.alive else None) + truth_offset = (math.dist(pf.cell_center(cell), source) if cell is not None + else float("nan")) + keeps_truth = (cell is not None + and truth_offset <= pf.margin_m + 1e-9) + retained = retained and keeps_truth + center, radius = pf.mec() + print("第 %d 次读数 %-9s 幸存格 %6d 格心距真源 %7.3f m（裕量 %.3f m） MEC 半径 %8.3f m" + % (index + 1, result, len(pf), truth_offset, pf.margin_m, radius)) +print("\n初始幸存格 %d；真源始终落在某个幸存格内：%s" % (start_alive, retained)) +print("Voronoi 裕量 m = %.3f m（格心到格内任一点的最大距离）" % pf.margin_m) +assert retained and pf.version > 0 + +# 跳测规则：必 no_signal 且不产生新排除的 (测点, 频道) 对应当被直接跳过 +far_station = (4000.0, 4000.0) +print("远端测点 %s 是否必 no_signal：%s" % (far_station, pf.guaranteed_no_signal(far_station))) +assert pf.guaranteed_no_signal(far_station) is True +''')) + +add(code(r''' +# ---- 9.3 证书与缺席证明 ----------------------------------------------------- +center, radius = pf.mec() +limit = CONFIG_Q3.field.clear_radius_m - pf.margin_m - CONFIG_Q3.search.clear_margin_m +print("幸存集 MEC：圆心 (%.2f, %.2f) 半径 %.3f m" % (*center, radius)) +print("网格清除证书阈值 %.3f m（= 20 − 裕量 %.3f − 工程余量 %.1f）→ 可清除：%s" + % (limit, pf.margin_m, CONFIG_Q3.search.clear_margin_m, radius <= limit)) + +# near 读数把候选集收缩到 5 m 盘：凸口径直接给出清除证书 +near_region = CandidateRegion.disk((source[0] + 3.0, source[1]), 5.0, + CONFIG_Q3.search.polygon_sides) +near_cert = clear_certificate(near_region, channel=7, config=CONFIG_Q3) +print("near 读数后的凸证书：半径 %.3f m ≤ %.3f m → %s" + % (near_cert.radius_m, near_cert.limit_m, near_cert.certified)) +assert near_cert.certified + +# 网格清除证书成立时，目标点可直接贴着来向利用 20 m 容差（三角不等式仍覆盖整集） +near_cert2 = loop_cert = None +center, radius = pf.mec() +shift = max(0.0, (CONFIG_Q3.field.clear_radius_m - pf.margin_m + - CONFIG_Q3.search.clear_margin_m) - radius) +shifted = (center[0] + shift * 0.6, center[1] + shift * 0.8) +print("沿来向偏移后清除点距真源 %.3f m <= 半径 %.3f + 偏移 %.3f = %.3f m < 20 m" + % (math.dist(shifted, source), radius, shift, radius + shift)) + +# 缺席证明：覆盖计划（七站）全 no_signal 后幸存集清空 —— 与解析证明互相印证 +absent = ChannelParticles(CONFIG_Q3) +for station in plan7.points: + absent.apply_measure(station, "no_signal") +print("\n七站全部 no_signal 后幸存格 %d → 该频道判缺席（无需等覆盖账本跑完）" + % len(absent)) +partial = ChannelParticles(CONFIG_Q3) +for station in plan7.points[:-1]: + partial.apply_measure(station, "no_signal") +print("只测其中 6 站仍有 %d 个幸存格 → 七站是刚好够用的最小解析覆盖" + % len(partial)) +assert len(absent) == 0 and len(partial) > 0 +assert absent.guaranteed_no_signal(tuple(plan7.points[0])) is True +''')) + +add(code(r''' +# ---- 9.4 统一任务表与滚动排序（信息增益选点 + 2-opt） ------------------------ +class _LogStub: + def action_events(self): + return [] + + def step_events(self): + return [] + + +client3 = SimulatorClient("2026001", config=CONFIG_Q3, transport=None, log=_LogStub()) +client3.state.position = (0.0, 0.0) +loop3 = BayesLoop(client3, CONFIG_Q3) +print("第三问策略：覆盖计划 %s（%d 站），网格间距 %.2f m" + % (loop3.coverage_plan.name, len(loop3.coverage_plan.points), + CONFIG_Q3.bayes.particle_spacing_m)) + +# 注入一次真实读数，建立该频道的信念与粒子集 +loop3._record_measure(9, (0.0, 0.0), type("O", (), { + "result": "direction", "svd_deg": bearing_deg((0.0, 0.0), (300.0, 400.0))})()) +tasks = loop3._build_tasks() +print("任务表：%d 项（站点扫频 %d / 定位 %d / 清除 %d）" + % (len(tasks), sum(t.kind == "station" for t in tasks), + sum(t.kind == "locate" for t in tasks), sum(t.kind == "clear" for t in tasks))) +order = loop3._order_tasks(tasks) +print("排序后前 5 项：", [(t.kind, t.channel) for t in order[:5]]) +print("2-opt 前后路径耗时 %.2f s -> %.2f s" + % (loop3._path_cost(tasks), loop3._path_cost(order))) +assert loop3._path_cost(order) <= loop3._path_cost(tasks) + 1e-9 + +point = loop3._select_point(9) +print("信息增益选点：(%8.2f, %8.2f)" % point) +assert point is not None and 9 in loop3.particles +''')) + +add(code(r''' +# ---- 9.5 覆盖计划证书：离线全分辨率生成，运行期按同分辨率复核 ---------------------------------- +plan_v2 = plan_instance("q4_mincover_v2", verify=False) +cert_v2 = plan_v2.certificate +print("第四问覆盖计划 %s：%d 点" % (plan_v2.name, len(plan_v2.points))) +print("证书采样分辨率 %g m / %d 档，目标 (p,h) %d 个，缺口 %d，最坏命中 %.3f m" + % (cert_v2.target_step_m, cert_v2.headings, cert_v2.targets, + cert_v2.uncovered, cert_v2.worst_hit_distance_m)) +print("最近邻巡回 %.1f km（虚拟移动 %.1f s）→ 发现阶段的移动代价下界" + % (cert_v2.nn_tour_m / 1000, cert_v2.nn_tour_m / CONFIG.cost.speed_mps)) +print("设计裕量：r_design %.0f m、前向角裕量 %.1f°；校核用 r_eff %.0f m、角裕量 %.1f°" + % (plan_v2.generator["design_r_eff_m"], plan_v2.generator["heading_margin_deg"], + cert_v2.r_eff_min_m, cert_v2.verify_heading_margin_deg)) +assert cert_v2.uncovered == 0 and cert_v2.targets == 3256200 + +plan_v1 = plan_instance("q4_mincover_v1", verify=False) +print("\n对照 %s：同样 %d 点，但证书采样只有 %g m / %d 档，细网格复检有 125 个缺口" + % (plan_v1.name, len(plan_v1.points), plan_v1.generator["target_step_m"], + plan_v1.generator["headings"])) +print("→ 采样分辨率必须与证书一致，否则'删掉一个关键点仍看似覆盖'（校核退化为装饰）") +''')) + +# =============================================================== 10 问题四 +add(md(r""" +## 10. 问题四：含定向源的闭环 + +定向源的难点是**静默的歧义**：`no_signal` 既可能是距离不足，也可能是朝向遮挡。 +本问的关键推理与对策： + +1. **联合可行集**：给每个幸存格附 24 档朝向掩码。`direction`/`near` 要求朝向 + *可能*覆盖读点；`no_signal`（且整格必在 1000 m 内）要求朝向*确定不*覆盖读点。 + 真源 (位置, 朝向) 永不被删；联合集为空即缺席证明。 +2. **可见性选点**：`prob_detect` 给出"在该点能看见任一可行 (位置,朝向) 的概率质量"， + 先在可见候选中过滤（`prob_detect ≥ ratio × max`），再取"看得见且少走路"的点， + 取代固定 45° 阶梯试探。 +3. **后备清除**：定位停滞时对有界候选集构造 ≤20 m 有限圆盘覆盖逐格 `/clear`—— + 清除只与距离有关、与朝向无关，是完备兜底（格数即请求上界，超限即拒绝盲扫）。 +""")) + +add(code(r''' +# ---- 10.1 定向覆盖最小命中集的覆盖语义 -------------------------------------- +plan_q4 = plan_instance("q4_mincover_v2", verify=False) +coarse = verify_forward_half_disk(plan_q4.points, step_m=300.0, headings=12, + r_eff=R_EFF_MIN_M, heading_margin_deg=0.0) +print("最小命中集 %d 点，粗采样复核 (p,h) %d 个：未覆盖 %d，最坏命中 %.1f m" + % (len(plan_q4.points), coarse.targets, coarse.uncovered, + coarse.worst_hit_distance_m)) +square49 = square_49_plan() +coarse49 = verify_forward_half_disk(square49.points, step_m=300.0, headings=12) +print("对照 700 m 方格 %d 点：同样未覆盖 %d，巡回 %.1f km vs %.1f km" + % (len(square49.points), coarse49.uncovered, + coarse49.nn_tour_m / 1000, coarse.nn_tour_m / 1000)) +assert coarse.uncovered == 0 and coarse.targets > 0 +''')) + +add(code(r''' +# ---- 10.2 (位置 × 朝向) 联合可行集的保守性随机检验 -------------------------- +truth4 = (420.0, -260.0) # 真源位置 +heading4 = 200.0 # 真源朝向（背向圆心发射的边界工况） +r_eff4 = 1100.0 # 真源的有效接收半径（策略端不可见） + + +def station_at(bearing_from_truth_deg, distance_m): + """按"从真源看过去的方位"构造测点，便于控制可见/遮挡工况。""" + return (truth4[0] + distance_m * math.cos(math.radians(bearing_from_truth_deg)), + truth4[1] + distance_m * math.sin(math.radians(bearing_from_truth_deg))) + + +# 前向半球内的测点（|方位 − 朝向| ≤ 90°）：应收到 direction； +# 超过 1100 m 的测点：无论朝向如何都 no_signal。 +CASES = [(heading4 - 85.0, 900.0), (heading4 + 85.0, 700.0), (heading4, 600.0), + (heading4 + 30.0, 1050.0), (heading4 - 60.0, 400.0), (heading4 + 130.0, 800.0), + (heading4, 1250.0)] + +joint = JointBelief(CONFIG) +half_bin = 0.5 * 360.0 / HEADING_BINS # 档位半宽 7.5°：真实朝向必落在某一档内 +expected = ["direction"] * 5 + ["no_signal"] * 2 +for (bearing, dist_m), want in zip(CASES, expected): + station = station_at(bearing, dist_m) + result, svd = observe_directional(truth4, heading4, station, r_eff4) + joint.apply(station, result, svd) + cell = min(joint.position.alive, + key=lambda k: math.dist(joint.position.cell_center(k), truth4)) + offset = math.dist(joint.position.cell_center(cell), truth4) + mask = joint._mask(cell) + keeps = any(heading_gap(360.0 * k / HEADING_BINS, heading4) <= half_bin + for k in range(HEADING_BINS) if mask >> k & 1) + print("测点方位 %6.1f° 距离 %5.0f m → %-9s（预期 %-9s）幸存格 %6d " + "真源格偏移 %6.3f m（裕量 %.3f m）朝向档 %2d 个 含真源朝向档：%s" + % (bearing % 360.0, dist_m, result, want, len(joint), offset, + joint.position.margin_m, bin(mask).count("1"), keeps)) + assert result == want, "合成观测与题面语义不一致" + assert keeps, "联合信念删掉了真源的朝向档（保守性被破坏）" + assert offset <= joint.position.margin_m + 1e-9, \ + "联合信念删掉了真源的位置格（Voronoi 裕量被破坏）" + +print("\n联合集规模 %d 格，抽样平均朝向档 %.2f / %d" + % (len(joint), joint.summary()["sampled_mean_heading_bins"], HEADING_BINS)) +assert not joint.is_absent() +''')) + +add(code(r''' +# ---- 10.3 可见性选点取代固定阶梯；后备清除兜底 ------------------------------ +print("探点可见性概率（越高越可能在该点收到信号）：") +for candidate in [(-2000.0, 0.0), (0.0, 0.0), (420.0, -260.0), (1500.0, -900.0), + (420.0 + 800.0 * math.cos(math.radians(heading4)), + -260.0 + 800.0 * math.sin(math.radians(heading4)))]: + print(" (%8.1f, %8.1f) prob_detect = %.4f" + % (*candidate, joint.prob_detect(candidate))) + +# 定位停滞时的后备：候选集有界 -> 20 m 网格覆盖，格心到格内任一点 <= 10√2 < 20 m +region4 = CandidateRegion.initial((0.0, 0.0), CONFIG) +region4.clip_wedge((0.0, 0.0), 45.0, 1.0 + CONFIG.search.bearing_rounding_margin_deg) +region4.clip_disk((900.0, 900.0), 900.0, CONFIG.search.polygon_sides) +cells = fallback_clear_cells(region4.polygon, CONFIG) +width = max(p[0] for p in region4.polygon) - min(p[0] for p in region4.polygon) +height = max(p[1] for p in region4.polygon) - min(p[1] for p in region4.polygon) +print("\n候选集外包框 %.0f m × %.0f m，20 m 网格覆盖 %d 格（外包框枚举上界 %d）" + % (width, height, len(cells), fallback_cell_bound(width, height, CONFIG))) +print("格内任意点到最近格心 <= %.2f m < 20 m → 逐格 /clear 至少命中一次" + % (CONFIG.search.fallback_clear_grid_m * math.sqrt(2) / 2)) +assert cells and len(cells) <= CONFIG.search.fallback_max_cells + +# 覆盖完备性抽查：在候选集外包框内随机撒点，每个点都必落在某个格心 20 m 内 +rng = Random(7) +covered = 0 +for _ in range(2000): + u, v = rng.random(), rng.random() + sample = (min(p[0] for p in region4.polygon) + u * width, + min(p[1] for p in region4.polygon) + v * height) + if not region4.contains(sample, tol_m=0.0): + continue # 框内但在候选集外：不计入 + covered += min(math.dist(sample, cell) for cell in cells) <= 20.0 +print("外包框内落在候选集中的随机点，被某个格心 20 m 覆盖：%d 个" % covered) +assert covered > 0 +''')) + +add(code(r''' +# ---- 10.4 第四问闭环装配（不连模拟器：只检查策略对象初始化） ---------------- +client4 = SimulatorClient("2026001", config=CONFIG, transport=None, log=_LogStub()) +client4.state.position = (0.0, 0.0) +loop4 = DirectionalExtension(client4, CONFIG) +print("第四问策略：覆盖计划 %s（%d 点），联合信念开关 %s，探点口径 %s" + % (loop4.coverage_plan.name, len(loop4.coverage_plan.points), + CONFIG.search.directional_joint_belief, CONFIG.search.probe_score_mode)) +print("后备清除硬顶 %d 格，单轮遮挡探点预算 %d 次，定位步数上限 %d" + % (CONFIG.search.fallback_max_cells, CONFIG.search.max_blocked_probes, + CONFIG.search.max_localize_steps)) + +# 保证接收盘内的 no_signal 只能由朝向遮挡解释：模拟"被遮挡"的梯子升级 +blocked_point = (600.0, 600.0) +loop4._observe(3, blocked_point, "direction", + bearing_deg(blocked_point, truth4)) +cert4 = clear_certificate(loop4.belief.candidate_set(3), 3, CONFIG) +print("\n频道 3 候选集半径 %.1f m，可清除：%s" % (cert4.radius_m, cert4.certified)) +safe = safe_disk_radius(loop4.belief.candidate_set(3), CONFIG) +print("保证接收盘半径 %.1f m（盘内必收到信号 -> 静默即遮挡）" % safe) +loop4._observe(3, blocked_point, "no_signal", None) +next_probe = loop4._next_probe(loop4.belief.candidate_set(3), 3) +print("被遮挡后梯子升级到的探点：(%8.2f, %8.2f)" + % next_probe) +assert loop4.joint.get(3) is not None and not loop4.joint[3].is_absent() +''')) + +# =============================================================== 11 收尾 +add(md(""" +# 第四部分 · 总览与自检 + +## 11. 本文件包含 / 不包含的内容 + +**包含**（四问生产路径）： + +| 层 | 模块 | 内容 | +| --- | --- | --- | +| 参数 | `config.py` | 题面常量 + 工程参数 | +| 协议 | `protocol/` | 规则表、计时模型、状态机、传输、会话日志、串行幂等客户端 | +| 几何 | `geometry/` | 角域交会定位、直径圆、最小包围圆、保证接收盘证书 | +| 信念 | `belief/` | 保守凸候选集、(位置×朝向) 联合可行集 | +| 滤波 | `particles.py` | 网格幸存集、负观测更新、跳测规则、信息增益评分 | +| 保证 | `coverage/` `guarantee/` | 覆盖账本、覆盖计划与证书、最小命中集 | +| 调度 | `routing.py` | 开放路径排序（最近邻 + 2-opt） | +| 策略 | `planner/` | 问题二选点器、全向闭环骨架、贝叶斯闭环（第三问默认）、定向扩展（第四问） | + +**不包含**（按要求剔除）： + +- `referee/`：独立评测机（模拟器引擎 + 机器狗接口 + WebUI）——按附件协议独立复现， + 与本队求解代码零耦合，不属求解方案； +- `src/mcm26b/harness/`：测试侧内存回环、故障注入、日志回放、场景生成； +- `src/mcm26b/cli.py`、`geometry/__main__.py`、`main.py`：命令行外壳； +- `scripts/`：采集、基准、Optuna 调参、可视化、论文插图与校核脚本； +- `project/`：1-4 问"最优实现 / 基线实现"对比框架；`tests/`：单元测试； +- 未被生产路径调用的函数：`routing.py` 的离线度量族（`held_karp_open` / + `optimal_open_path` / `or_opt_open` / `mst_weight` / `route_metrics`， + 仅用于事后路由下界审计）、`guarantee/cover.py` 的计划落盘 IO、 + `planner/seven.py` 的未采用变体（`SevenImmediate` / `SevenSweep`）。 + 这些在仓库中保留并有测试守护，默认关闭或不被实例化。 + +## 12. 运行口径 + +```bash +# 对接官方模拟器（演练/正式） +python -m mcm26b.run --robot-id <队号> --problem 3 # 第三问：bayes 闭环 +python -m mcm26b.run --robot-id <队号> --problem 4 # 第四问：directional 闭环 +``` + +成绩口径是**虚拟时间**：`avg_locate_clear_time_s = 全程虚拟时长 / 已清除源数`， +找全证明达成后立即 `/exit` 而不是复扫到限时。 +""")) + +add(code(r''' +# ---- 总自检：把四问的核心结论再跑一遍，全部通过才算整理成功 ---------------- +checks = [] + +q1 = solve_q1("normal") +checks.append(("问1 角域交会有界且直径有限", + q1["status"] == "polygon" and q1["diameter_infinite"] is False)) +checks.append(("问1 三点交会可原地清除（MEC ≤ 20 m）", + q1["guaranteed_clearable_at_mec_center"] is True)) +checks.append(("问1 直径圆反例被识别（covers=False）", + solve_q1("triangle")["diameter_circle"]["covers"] is False)) + +plan2 = plan_second_point(station1, bearing1) +checks.append(("问2 第二点在保证接收盘内", + math.dist(plan2.position, region.mec()[0]) + <= safe_disk_radius(region, CONFIG))) +checks.append(("问2 追加三点后最坏后验半径 ≤ 20 m", + plan.worst_posterior_radius_m <= CONFIG.field.clear_radius_m)) + +checks.append(("问3 七站解析覆盖上界 < 1000 m", + bound < CONFIG_Q3.field.r_eff_min_m)) +checks.append(("问3 七站计划粗采样无缺口", cert7.uncovered == 0)) +checks.append(("问3 粒子滤波保留真源", retained)) +checks.append(("问3 空幸存集给出缺席证明", len(absent) == 0)) +checks.append(("问3 2-opt 不劣于原任务序", + loop3._path_cost(order) <= loop3._path_cost(tasks) + 1e-9)) + +checks.append(("问4 最小命中集 31 点、证书 0 缺口", + len(plan_q4.points) == 31 and cert_v2.uncovered == 0)) +checks.append(("问4 粗采样复核定向覆盖无缺口", coarse.uncovered == 0)) +checks.append(("问4 联合信念保留真源朝向档", not joint.is_absent())) +checks.append(("问4 后备清除格数在硬顶内", + len(cells) <= CONFIG.search.fallback_max_cells)) +checks.append(("问4 闭环装配成功（定向覆盖计划已加载）", + loop4.coverage_plan.name.startswith("q4_mincover"))) + +print("四问核心自检：") +for name, ok in checks: + print(" [%s] %s" % ("通过" if ok else "失败", name)) +assert all(ok for _, ok in checks), "自检未全部通过" +print("\n全部 %d 项通过。" % len(checks)) +''')) + + +def build(path: Path) -> None: + notebook = { + "cells": CELLS, + "metadata": { + "kernelspec": {"display_name": "Python 3", "language": "python", + "name": "python3"}, + "language_info": {"name": "python", "version": "3.10", + "mimetype": "text/x-python", + "file_extension": ".py", + "pygments_lexer": "ipython3", + "nbconvert_exporter": "python", + "codemirror_mode": {"name": "ipython", "version": 3}}, + }, + "nbformat": 4, + "nbformat_minor": 5, + } + path.write_text(json.dumps(notebook, ensure_ascii=False, indent=1) + "\n", + encoding="utf-8") + code_lines = sum(len(cell["source"]) for cell in CELLS + if cell["cell_type"] == "code") + md_cells = sum(1 for cell in CELLS if cell["cell_type"] == "markdown") + print(f"已写出 {path}：{len(CELLS)} 个单元" + f"（markdown {md_cells}，代码 {len(CELLS) - md_cells}，代码行 {code_lines}）") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="生成四问核心代码单文件 notebook") + parser.add_argument("-o", "--output", type=Path, + default=ROOT / "mcm26b-核心代码.ipynb") + build(parser.parse_args().output) diff --git a/scripts/build_paper_support.py b/scripts/build_paper_support.py index 545c5f5..79e485b 100644 --- a/scripts/build_paper_support.py +++ b/scripts/build_paper_support.py @@ -1,10 +1,11 @@ -"""Build vector figure sources, comparison tables, source listings, and a support ZIP. +"""Build vector figure sources, comparison tables, the formal-data table, and a support ZIP. -Formal figures use the audited snapshot only. Geometric figures use declared -algorithm parameters, not fabricated observations or hidden simulator data. -The paired optimal-versus-baseline tables are generated from project/results/*.json -so that no number in the comparison section is hand copied. +The generated table rows are f-strings whose value equals the LaTeX line to be +written; wrapping them would obscure that one-to-one correspondence, so this module +is exempt from the line-length check (the only pylint exception in scripts/). """ +# pylint: disable=line-too-long + from __future__ import annotations import argparse @@ -18,29 +19,6 @@ ROOT = Path(__file__).resolve().parents[1] PAPER = ROOT / "docs/paper" PROJECT_RESULTS = ROOT / "project/results" -# Display copies only: executable Python files remain byte-for-byte unchanged. -ESCAPE_OPEN = "(" + "*@" -ESCAPE_CLOSE = "@*" + ")" -LATEX_SYMBOLS = { - "\u03b1": r"\alpha", "\u03b4": r"\delta", "\u03b8": r"\theta", - "\u03bb": r"\lambda", "\u03c0": r"\pi", "\u03c1": r"\rho", - "\u03c6": r"\varphi", "\u2308": r"\lceil", "\u2309": r"\rceil", - "\u2200": r"\forall", "\u2203": r"\exists", "\u2205": r"\varnothing", - "\u2208": r"\in", "\u2227": r"\wedge", "\u2229": r"\cap", - "\u222a": r"\cup", "\u2248": r"\approx", "\u2264": r"\le", - "\u2265": r"\ge", "\u2286": r"\subseteq", "\u2287": r"\supseteq", - "\u27f9": r"\Longrightarrow", -} - - -def escaped_listing(source: str) -> str: - if ESCAPE_OPEN in source or ESCAPE_CLOSE in source: - raise ValueError("Source collides with the LaTeX escape delimiters") - return "".join( - ESCAPE_OPEN + r"\ensuremath{" + LATEX_SYMBOLS[c] + "}" + ESCAPE_CLOSE - if c in LATEX_SYMBOLS else c for c in source - ) - def digest(data: bytes) -> str: return hashlib.sha256(data).hexdigest() @@ -49,7 +27,6 @@ def digest(data: bytes) -> str: def figures(rows: list[dict]) -> None: out = PAPER / "figures" out.mkdir(parents=True, exist_ok=True) -<<<<<<< HEAD plan = json.loads((ROOT / "src/mcm26b/guarantee/plans/q4_mincover_v2.json").read_text("utf-8")) lines = [ r"\begin{figure}[htbp]\centering", @@ -72,8 +49,6 @@ def figures(rows: list[dict]) -> None: r"\label{fig:q4plan}\end{figure}", ] (out / "q4-plan.tex").write_text("\n".join(lines) + "\n", "utf-8") -======= ->>>>>>> 78e4420a3e496c43db8e06556e539fd7d2aaf231 colors = ["inkblue", "inkblue!50", "warmgray!70", "black!18"] bars = [ r"\begin{figure}[htbp]\centering", @@ -266,27 +241,12 @@ def project_tables() -> None: def listings(rows: list[dict]) -> None: + """生成正式数据清单；核心函数源码清单由 build_code_appendix.py 单独生成。 + + 论文附录只收录四问主线的核心函数（数据源为单文件核心代码 ipynb）， + 评测机、命令行外壳、采集/绘图脚本、测试与未采用方案不再逐字排版。 + """ data = PAPER / "data" - files = sorted((ROOT / "src/mcm26b").rglob("*.py")) - files += [ROOT / "scripts/audit_paper_formal.py", - ROOT / "scripts/build_paper_support.py"] - text = [ - r"\begingroup", - r"\linespread{1.0}\selectfont", - r"\lstset{basicstyle=\ttfamily\fontsize{8}{10}\selectfont,numberstyle=\tiny," - r"aboveskip=6pt,belowskip=8pt,xleftmargin=1.5em,frame=none}", - ] - for path in files: - rel = path.relative_to(ROOT).as_posix() - display = data / "listing-source" / (rel + ".tex") - display.parent.mkdir(parents=True, exist_ok=True) - display.write_text(escaped_listing(path.read_text("utf-8")), "utf-8") - display_rel = display.relative_to(PAPER).as_posix() - escape_option = "escapeinside={" + ESCAPE_OPEN + "}{" + ESCAPE_CLOSE + "}" - text += [fr"\subsection*{{\pathtext{{{rel}}}}}", - fr"\lstinputlisting[{escape_option}]{{{display_rel}}}"] - text.append(r"\endgroup") - (data / "source-listings.tex").write_text("\n".join(text) + "\n", "utf-8") table = [ r"\begin{longtable}{p{1.15cm}p{13.3cm}}", r"\caption{所选正式导出文件与完整包哈希}\label{tab:packages}\\", @@ -356,7 +316,9 @@ def package(rows: list[dict]) -> Path: if path.is_file() and "__pycache__" not in path.parts) selected.update([PAPER / "main.tex", PAPER / "mcm26b-paper.cls", PAPER / "README.md", PAPER / "REWRITE_NOTES.md", + ROOT / "mcm26b-核心代码.ipynb", ROOT / "scripts/audit_paper_formal.py", + ROOT / "scripts/build_code_appendix.py", ROOT / "scripts/build_paper_support.py"]) for row in rows: path = ROOT / "Jammers-simulator-full" / row["file"] diff --git a/scripts/run_notebook_cells.py b/scripts/run_notebook_cells.py new file mode 100644 index 0000000..ee0fca6 --- /dev/null +++ b/scripts/run_notebook_cells.py @@ -0,0 +1,88 @@ +"""执行 notebook 的全部代码单元（按顺序、共享全局命名空间），用于零依赖自检。 + +用法:: + + python scripts/run_notebook_cells.py [notebook.ipynb] [--record] + +等价于在 Jupyter 中"全部运行"，但不需要 nbformat / nbclient：直接读 ipynb 的 +JSON、拼接 code 单元、写入临时文件后交给 `python` 执行。退出码即执行结果； +``--record`` 额外把逐单元的标准输出写回 notebook 的输出字段（生成已执行副本）。 +""" + +from __future__ import annotations + +import argparse +import contextlib +import io +import json +import subprocess +import sys +import tempfile +from pathlib import Path + +ROOT = Path(__file__).resolve().parent.parent + + +def collect(notebook_path: Path) -> tuple[dict, list[str]]: + notebook = json.loads(notebook_path.read_text(encoding="utf-8")) + codes = ["".join(cell["source"]) + for cell in notebook["cells"] if cell["cell_type"] == "code"] + return notebook, codes + + +def run_and_record(notebook: dict) -> None: + """在本进程内逐单元执行并记录标准输出（写入 notebook 的 outputs 字段）。""" + scope: dict = {"__name__": "__main__"} + index = 0 + for cell in notebook["cells"]: + if cell["cell_type"] != "code": + continue + buffer = io.StringIO() + with contextlib.redirect_stdout(buffer): + # 与 Jupyter 同语义：单元之间共享同一个全局命名空间 + exec(compile("".join(cell["source"]), # pylint: disable=exec-used + f"", "exec"), scope) + text = buffer.getvalue() + cell["execution_count"] = index + 1 + cell["outputs"] = ([{"output_type": "stream", "name": "stdout", + "text": text.splitlines(keepends=True)}] if text else []) + index += 1 + + +def main(argv: list[str] | None = None) -> int: + parser = argparse.ArgumentParser(description="执行 notebook 代码单元并自检") + parser.add_argument("notebook", nargs="?", type=Path, + default=ROOT / "mcm26b-核心代码.ipynb") + parser.add_argument("--record", action="store_true", + help="在当前进程内执行并把输出写回 notebook（生成已执行副本）") + args = parser.parse_args(argv) + + notebook, codes = collect(args.notebook) + # 逐单元做语法检查，定位到具体单元 + for index, cell_source in enumerate(codes): + try: + compile(cell_source, f"", "exec") + except SyntaxError as exc: + print(f"单元 {index} 语法错误：{exc}", file=sys.stderr) + return 1 + total_lines = sum(len(cell.splitlines()) for cell in codes) + print(f"语法检查通过：{len(codes)} 个代码单元，{total_lines} 行") + + if args.record: + run_and_record(notebook) + args.notebook.write_text( + json.dumps(notebook, ensure_ascii=False, indent=1) + "\n", + encoding="utf-8") + print(f"已把逐单元输出写回 {args.notebook}") + return 0 + + with tempfile.TemporaryDirectory() as tmp: + target = Path(tmp) / "notebook_flat.py" + target.write_text("\n\n".join(codes), encoding="utf-8") + process = subprocess.run([sys.executable, str(target)], cwd=ROOT, + check=False) + return process.returncode + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/uv.lock b/uv.lock index 928b90d..894198c 100644 --- a/uv.lock +++ b/uv.lock @@ -2,8 +2,10 @@ version = 1 revision = 3 requires-python = ">=3.10" resolution-markers = [ - "(python_full_version >= '3.12' and sys_platform == 'linux') or (python_full_version >= '3.12' and sys_platform == 'win32')", - "python_full_version >= '3.12' and sys_platform != 'linux' and sys_platform != 'win32'", + "(python_full_version >= '3.14' and sys_platform == 'linux') or (python_full_version >= '3.14' and sys_platform == 'win32')", + "python_full_version >= '3.14' and sys_platform != 'linux' and sys_platform != 'win32'", + "(python_full_version >= '3.12' and python_full_version < '3.14' and sys_platform == 'linux') or (python_full_version >= '3.12' and python_full_version < '3.14' and sys_platform == 'win32')", + "python_full_version >= '3.12' and python_full_version < '3.14' and sys_platform != 'linux' and sys_platform != 'win32'", "(python_full_version == '3.11.*' and sys_platform == 'linux') or (python_full_version == '3.11.*' and sys_platform == 'win32')", "python_full_version == '3.11.*' and sys_platform != 'linux' and sys_platform != 'win32'", "(python_full_version < '3.11' and sys_platform == 'linux') or (python_full_version < '3.11' and sys_platform == 'win32')", @@ -31,6 +33,174 @@ wheels = [ { url = "https://mirrors.aliyun.com/pypi/packages/9c/cb/9014784dcb0585977ae23b6f43331d0a33c51ac0d692506d12b4f5ee9f3b/alembic-1.19.2-py3-none-any.whl", hash = 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