refactor(arch): redesign the code structure
This commit is contained in:
Horldsence
@@ -21,3 +21,6 @@ docs/paper/*.fls
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docs/paper/*.fdb_latexmk
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docs/paper/*.xdv
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docs/paper/*.synctex.gz
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# pytest
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.pytest_cache/
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@@ -1,29 +1,92 @@
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# B题问题一 交会定位
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# mcm26b — CUMCM 2026 B题：无线电干扰源的快速自动定位与清除
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给定同一干扰源的检测点坐标及带 $\pm 1^\circ$ 误差的示向度，计算前向角域交集、定位区域直径、直径圆覆盖判断与最小包围圆。
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统一框架：有界误差几何定位、主动选点、带覆盖证明的搜索、按真实动作耗时调度。
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分析依据 `issue/B题.pdf`、附件1《模拟器使用说明》、附件2《通信接口说明及编程指南》。
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- [完整中文解答与算法证明](docs/问题一解答.md)
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- [修订后的四问思路与P0–P7计划](B题建模分析与实施计划.md)
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- [核心代码](geometry/localization.py)
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- [离线交互模拟](output/q1/question1.html)
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- [官方演练观测与原始记录](output/q1/practice/)
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- [优化与舍入敏感性报告](output/q1/optimization_report.json)
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- [四问建模分析与 P0–P7 实施计划](docs/B题建模分析与实施计划.md)
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- [协议规则表、字段表与状态机（P0 交付）](docs/协议规则表与状态机.md)
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- [问题一完整解答](docs/问题一解答.md)
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- [论文](docs/paper/main.tex)
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Python3.10及以上，核心算法和演示生成无需安装第三方库。
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## 项目结构
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```powershell
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python -m geometry examples/q1/triangle.json
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python main.py examples/q1/normal.json -o output/q1/result.json
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python -m geometry examples/q1/normal.json --rounding-margin-deg 0.005
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python -m unittest discover -s tests -v
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python scripts/build_q1_demo.py
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python scripts/benchmark_q1.py
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```
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src/mcm26b/
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├── config.py # 参数中心：题面常量[题面] + 工程参数[工程]，唯一字面量来源
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├── protocol/ # P0/P1 字段表、计时模型、状态机、串行幂等客户端（已完工）
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├── geometry/ # P2 角域交会、直径、MEC、问题二安全候选盘证书（已完工）
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├── sim/ # 自建模拟器、故障注入、演练日志回放（测试专用，已完工）
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├── belief/ # P3 逐频道候选集合 K_c（骨架）
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├── coverage/ # P4 49点覆盖账本（骨架 + 网格生成）
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├── planner/ # P3 选点 / P4 全向闭环 / P5 定向扩展（骨架）
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└── evaluation/ # 日志复算与统计（复算已完工）
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tests/ # pytest（兼容 unittest 风格），53 项
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scripts/ # 采集、基准、可视化与校核脚本
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output/ examples/ # 演练证据、算例与生成产物
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```
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用浏览器打开 `output/q1/question1.html`。可选择合成反例或官方演练，逐个加入测点，切换全景与定位区域放大。
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## 快速开始
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输出新增直径圆覆盖反例顶点、最大超出距离和 20 米清除余量；默认仍为题设 $\pm 1^\circ$，舍入裕量须显式启用。最小包围圆使用可复现的随机增量算法，原枚举法保留作独立对照。`geometry.first_bearing_candidate_disk` 提供问题二首次测向安全区域的解析证书；问题二选点优化器及问题三、四的全清闭环仍待实现。
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Python ≥ 3.10，依赖仅 `requests`（测试另需 `pytest`）。
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可视化事件检查使用Node.js：`node scripts/verify_visualization.cjs`。可选PNG重绘使用Pillow及Windows微软雅黑字体：`python scripts/render_q1_figures.py`；这些只用于图形校核，不是核心求解依赖。
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```bash
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uv sync # 安装（可编辑挂载本包）
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uv run pytest # 全部测试
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uv run mcm26b sim-check # P0 自检：复现附件计时示例 105/111/194/199
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uv run mcm26b q1 examples/q1/normal.json # 问题一求解（等价 python -m mcm26b.geometry ...）
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uv run python main.py examples/q1/triangle.json --rounding-margin-deg 0.005
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```
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本项目只使用官方**演练**采集了问题一所需观测，未使用正式测试。采集器不会启动测试，必须先在界面确认“问题3演练”、接口已就绪，再提供 `--practice-confirmed` 和本局案例编码。参见完整解答中的采集说明。
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## 问题一（P2，已完工）
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给定同频道多个检测点及 ±1° 误差示向度，计算前向角域交集（半平面交）、
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定位区域直径、直径圆覆盖判断（含反例顶点与超出距离）与最小包围圆、20m 清除余量。
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```bash
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uv run mcm26b q1 examples/q1/normal.json -o output/q1/result.json
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uv run python scripts/build_q1_demo.py # 重建离线交互可视化 output/q1/question1.html
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uv run python scripts/benchmark_q1.py # MEC 基准与舍入敏感性
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```
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离线交互页：`output/q1/question1.html`。可选 PNG 重绘需要 Pillow 与 Windows
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雅黑字体：`python scripts/render_q1_figures.py`；事件校核需要 Node.js：
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`node scripts/verify_visualization.cjs`。二者仅为图形校核，非求解依赖。
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## 协议基线（P0/P1，已完工）
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- `protocol.rules`：四条指令的字段表、结果码与错误语义（可执行表格）；
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- `protocol.timing`：纯计时模型，逐步复现附件示例 105/111/194/199；
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- `protocol.state.RobotState`：位置/频道/虚拟时刻状态机；accepted=false 不更新，
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`/clear` 不切频道，虚拟时刻以 accepted 响应为准；
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- `protocol.client.SimulatorClient`：串行发送、幂等重试（同 ID 同内容原样重发）、
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连接/读超时、基于 `remaining_real_duration_s` 的本地截止时钟与退出预留、JSONL 会话日志；
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- `sim.LocalSimulator`：按附件语义复现模拟器（观测门限、定向覆盖角、幂等回放、
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400/accepted=false 语义），真值只对测试端开放；`ScriptedFaultTransport` 注入断连/超时/500，
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`PlaybackTransport` 回放官方演练日志。
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```python
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from mcm26b.protocol import SimulatorClient
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client = SimulatorClient("参赛队号") # 默认 http://127.0.0.1:2026
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client.enter()
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outcome = client.measure((300, 400), 1) # MeasureOutcome(result, svd_deg, ...)
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client.exit()
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```
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## 阶段状态（对照 P0–P6 计划）
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| 阶段 | 状态 |
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| --- | --- |
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| P0 规则固定（规则表/状态机/字段表，示例逐步 105/111/194/199） | ✅ 完成 |
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| P1 协议基线（客户端 + 自建回放/故障注入测试） | ✅ 完成 |
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| P2 几何内核（角域交、直径、MEC、证书） | ✅ 完成（迁入 `mcm26b.geometry`） |
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| P3 问题二选点（K1、候选区域 Q、采样评估） | 🦴 骨架（证书已完工） |
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| P4 问题3全向闭环（49点覆盖、定位队列、清除、停止） | 🦴 骨架 |
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| P5 问题4定向扩展（联合约束、后备清除、预算） | 🦴 骨架 |
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| P6 加速与消融 | 🦴 未开始 |
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## 采集与正式测试约束
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本项目只使用官方**演练**采集观测，从未使用正式测试。`scripts/capture_practice.py`
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不会启动测试：必须先在界面确认“问题3演练”、接口已就绪，再提供
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`--practice-confirmed` 与本局案例编码。正式测试由团队按计划另行安排；
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加密日志上传上限 2MB，程序避免异常高频循环。
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@@ -0,0 +1,123 @@
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# 协议规则表、字段表与状态机（P0 交付）
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依据：`issue/附件/附件1.docx`《模拟器使用说明》、`issue/附件/附件2.docx`《模拟器通信接口说明及编程指南》。
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本文是人类可读版本；**可执行版本**是 `src/mcm26b/protocol/rules.py`（字段表与错误语义）、
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`src/mcm26b/protocol/timing.py`（计时模型）与 `src/mcm26b/config.py`（全部常量），
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三者由 `tests/test_protocol_timing.py`、`tests/test_protocol_client.py` 固化验收。
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## 1. 动作与耗时规则表
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| 动作 | 指令 | 虚拟耗时 | 说明 |
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| --- | --- | --- | --- |
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| 开始 | `POST /enter` | 0 | 初始位置 (0,0)，初始频道 1；虚拟/程序时钟开始 |
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| 检测 | `POST /measure` | 5 + 移动 + 换频道 | 无论结果（no_signal/near/direction）均为 5s |
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| 清除 | `POST /clear` | 未发现 3 / 成功 5 + 移动 | 5 = 光学定位 3 + 激光清除 2；**不切换测向频道** |
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| 结束 | `POST /exit` | 0 | 成功响应中 exit_reason 固定 `user_exit` |
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| 切换频道 | 无独立指令 | 1 | 只由合法 `/measure` 的 channel 变化推断 |
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| 移动 | 无独立指令 | 直线距离/5(m/s) | 由 `/measure` 或 `/clear` 的 position 推断 |
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派生事实（易错点）：
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- 一次合法 `/measure` 完成后，测向机频道更新为本次检测频道；
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- `/clear` 的 channel 只是目标频道，既不切频道、也不产生切换耗时，因此
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"清除后原地再测"的耗时只取决于上一次 **/measure** 的频道；
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- 只有 accepted=true 的请求推进虚拟时钟；`accepted=false` 的 virtual_time_s=0 不是当前时刻；
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- 5 秒检测只是虚拟耗时，不要求现实等待。
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## 2. 字段表
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公共请求字段（4 条指令都必填）：
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| 字段 | 类型 | 约束 |
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| --- | --- | --- |
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| arena_id | string | 必须为 `"default"` |
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| robot_id | string | 逐字节等于登录参赛队号；UTF-8 长度 1..64；无控制字符 |
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| request_id | string | 会话内幂等键；UTF-8 长度 1..128；无控制字符 |
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动作字段（实现见 `rules.ACTION_FIELDS`）：
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| 指令 | 字段 | 约束 |
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| --- | --- | --- |
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| /enter | （无附加） | |
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| /measure | position{x,y}, channel | x/y 有限数值且 \|v\|<=2,000,000；channel 整数 1..20（1.0 亦接受，1.5 拒绝） |
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| /clear | position{x,y}, channel | 同上；channel 是目标频道 |
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| /exit | （无附加） | |
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响应字段：
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| 场景 | 字段 |
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| --- | --- |
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| 所有响应 | accepted, real_timestamp_ms, virtual_time_s |
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| accepted=false | 仅上述 3 个字段（virtual_time_s=0） |
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| /enter 成功 | + max_virtual_duration_s, max_real_duration_s, remaining_real_duration_s |
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| /measure 成功 | + measure_result ∈ {no_signal, near, direction}；direction 时另有 svd_deg（保留两位小数） |
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| /clear 成功 | + clear_result ∈ {success, no_target_in_range} |
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| /exit 成功 | + exit_reason = "user_exit" |
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错误语义（必须同时检查 HTTP 状态与 accepted）：
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| 情形 | 结果 | 对 request_id 的影响 |
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| --- | --- | --- |
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| JSON 语法/重复键/缺字段/类型/坐标频道范围 | HTTP 400 | 不占用，修正后可复用 |
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| 未知字段（含 position 下）、arena/robot 不匹配、测试状态拒绝 | HTTP 200, accepted=false | 不占用 |
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| 动作被接受 | HTTP 200, accepted=true | 占用 |
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| 同 ID 不同内容，或并发不同动作 | HTTP 409 | — |
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| 网络失败重试同一动作 | 复用原 ID+原内容，服务器回放首次响应 | 不重复生效 |
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| 429/500 | 可原样重试 | — |
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| 404/405/413/415 | 确定性错误，不得重试 | — |
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物理规则速查：Ω 半径 1800m；源数 10–16；频道 1–20；接收半径 [1000,1500]m（逐源未知）；
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near 阈值 5m；清除半径 20m（与定向朝向无关）；定向覆盖 = 朝向两侧各 90°（含边界）；
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示向度误差幅度 ±1°，保留两位小数；虚拟限时 360000s；程序限时 1200s（以 /enter 的
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remaining_real_duration_s 为准，不得假定恒为 1200）；测试窗口 25 分钟。
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## 3. 状态机
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机器狗会话状态（`protocol.state.RobotState` + 客户端会话标志）：
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```
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/enter accepted /exit accepted
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[未进入] ───────────────▶ [已进入] ───────────────▶ [已退出]
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│ accepted=false │ accepted=false │ 任何动作 accepted=false
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└── 不变 └── 不变 └── 不变
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```
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[已进入] 状态内跟踪：position、测向机 channel、virtual_time_s。转移规则：
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| 事件 | position | channel | virtual_time_s |
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| --- | --- | --- | --- |
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| /enter accepted | (0,0) | 1 | 0 |
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| /measure accepted | ← 本次 position | ← 本次 channel | ← 响应值（=旧值+移动+切换+5） |
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| /clear accepted | ← 本次 position | **不变** | ← 响应值（=旧值+移动+3或5） |
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| /exit accepted | 不变 | 不变 | ← 响应值 |
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| accepted=false / 网络 / 400 | 不变 | 不变 | 不变 |
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虚拟时刻以最近一次 accepted=true 的响应为准；本地预测（timing 模块）只用于
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规划与一致性核对，偏差记入 `RobotState.mismatches` 并写日志（strict 模式抛错）。
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## 4. 计时示例逐步推演（附件1表2 = 附件2第10节）
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| 步 | 指令 | 移动 | 换频道 | 动作 | 本步 | 累计 |
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| --- | --- | --- | --- | --- | --- | --- |
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| 1 | /enter | 0 | 0 | 0 | 0 | **0** |
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| 2 | /measure (300,400) ch1 | 500m→100s | 0（初始即1） | 5 | 105 | **105** |
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| 3 | /measure (300,400) ch2 | 0 | 1 | 5 | 6 | **111** |
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| 4 | /clear (300,0) 目标ch3 | 400m→80s | 0（clear不切频道） | 3（未发现） | 83 | **194** |
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| 5 | /measure (300,0) ch2 | 0 | 0（第3步后已是2，clear未改） | 5 | 5 | **199** |
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| 6 | /exit | 0 | 0 | 0 | 0 | **199** |
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验收：`uv run mcm26b sim-check` 通过完整客户端→本地模拟器链路复现
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`[105, 111, 194, 199]`；`tests/test_protocol_timing.py::TimingModelTests`
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逐步断言每个分项。
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## 5. 客户端设计要点（P1 交付）
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- **串行**：完全同步，一个动作未决不发下一个；
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- **幂等重试**：请求体一次性序列化为 bytes，网络失败/429/500 时原样重发
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（同 request_id 同内容），最多 `max_attempts` 次，指数退避；400/404/405/409/413/415 立即失败；
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- **accepted=false**：抛 `ActionRejected`，状态不更新；virtual_time_s=0 不入时钟；
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- **现实预算**：/enter 成功后 `deadline = monotonic() + remaining_real_duration_s`；
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新动作前检查 `剩余 > reserve_exit_s`（默认 60s [工程]），/exit 豁免；
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- **日志**：`SessionLog` 逐事件追加 JSONL（attempt/transport_error/accepted），
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进程崩溃不丢已发记录，回放测试与 evaluation 复算共用同一格式；
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- **本地预校验**：channel 范围、坐标有限性与 2e6 上限、robot_id/request_id 格式
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在发送前拒绝（与服务器 400 语义一致，省一次往返）。
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+12
-12
@@ -182,15 +182,15 @@ $$
|
||||
|
||||
## 八、运行方式和代码入口
|
||||
|
||||
核心算法仅用Python标准库，支持Python3.10及以上；本次在Python3.12.14中验证。在项目根目录运行：
|
||||
核心算法仅用Python标准库，支持Python3.10及以上；工程依赖仅 `requests`（测试另需 `pytest`）。在项目根目录运行：
|
||||
|
||||
```powershell
|
||||
python -m geometry examples/q1/triangle.json -o output/q1/triangle_recomputed.json
|
||||
python main.py examples/q1/normal.json
|
||||
python -m geometry examples/q1/normal.json --rounding-margin-deg 0.005
|
||||
python -m unittest discover -s tests -v
|
||||
python scripts/build_q1_demo.py
|
||||
python scripts/benchmark_q1.py
|
||||
uv run python -m mcm26b.geometry examples/q1/triangle.json -o output/q1/triangle_recomputed.json
|
||||
uv run mcm26b q1 examples/q1/normal.json
|
||||
uv run python -m mcm26b.geometry examples/q1/normal.json --rounding-margin-deg 0.005
|
||||
uv run pytest
|
||||
uv run python scripts/build_q1_demo.py
|
||||
uv run python scripts/benchmark_q1.py
|
||||
```
|
||||
|
||||
输入JSON的最小格式：
|
||||
@@ -209,22 +209,22 @@ python scripts/benchmark_q1.py
|
||||
|
||||
| 文件 | 职责 |
|
||||
| --- | --- |
|
||||
| `geometry/localization.py` | 测向角域、半平面、区域分类、直径和包围圆 |
|
||||
| `geometry/planning.py` | 问题二首次测向的距离保证候选圆盘；独立于问题一模型 |
|
||||
| `geometry/__main__.py`、`main.py` | JSON命令行输入输出 |
|
||||
| `src/mcm26b/geometry/localization.py` | 测向角域、半平面、区域分类、直径和包围圆 |
|
||||
| `src/mcm26b/geometry/planning.py` | 问题二首次测向的距离保证候选圆盘；独立于问题一模型 |
|
||||
| `src/mcm26b/geometry/__main__.py`、`src/mcm26b/cli.py` | JSON命令行输入输出 |
|
||||
| `tests/test_geometry.py` | 解析反例、随机几何、独立裁剪对照与退化测试 |
|
||||
| `tests/test_practice_replay.py` | 离线复算演练计时与观测结果，不连接模拟器 |
|
||||
| `tests/test_geometry_certificates.py` | 增量圆与穷举法对照、覆盖证据、清除阈值、舍入选项及首次选点证书 |
|
||||
| `scripts/benchmark_q1.py` | 局部性能对比与官方演练误差界敏感性复算 |
|
||||
| `scripts/capture_practice.py` | 在已经启动且已核验的演练中采集少量测向 |
|
||||
| `scripts/build_q1_demo.py` | 用Python算法生成案例、结果和交互图数据 |
|
||||
| `visualization/q1.template.html` | 可视化源模板；不另写一套求解算法 |
|
||||
| `scripts/assets/q1.template.html` | 可视化源模板；不另写一套求解算法 |
|
||||
| `output/q1/question1.html` | 可直接打开的离线交互式模拟，所有数据已内嵌 |
|
||||
|
||||
如需再次采集，先在模拟器明确启动“问题3演练测试”，等待接口就绪，读取案例编码，然后运行：
|
||||
|
||||
```powershell
|
||||
python scripts/capture_practice.py --robot-id 你的参赛队号 --practice-confirmed --case-code 界面中的演练案例编码
|
||||
uv run python scripts/capture_practice.py --robot-id 你的参赛队号 --practice-confirmed --case-code 界面中的演练案例编码
|
||||
```
|
||||
|
||||
接口协议没有返回演练／正式模式的字段，`--practice-confirmed` 是操作者确认已核验界面的显式参数，不能替代界面核查。采集脚本没有启动测试的功能，没有正式模式选项，只会调用 `/enter`、`/measure`、`/exit`。禁止在正式测试会话中运行。
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
from geometry.__main__ import main
|
||||
|
||||
"""兼容入口，转发到统一 CLI（mcm26b）。"""
|
||||
from mcm26b.cli import main
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
raise SystemExit(main())
|
||||
|
||||
+24
-4
@@ -1,7 +1,27 @@
|
||||
[project]
|
||||
name = "math"
|
||||
version = "0.1.0"
|
||||
description = "B题问题一：带误差方位交会定位与可视化"
|
||||
name = "mcm26b"
|
||||
version = "0.2.0"
|
||||
description = "CUMCM 2026 B题：无线电干扰源的快速自动定位与清除（协议基线、几何内核与策略骨架）"
|
||||
readme = "README.md"
|
||||
requires-python = ">=3.10"
|
||||
dependencies = []
|
||||
dependencies = [
|
||||
"requests>=2.31",
|
||||
]
|
||||
|
||||
[dependency-groups]
|
||||
dev = [
|
||||
"pytest>=8",
|
||||
]
|
||||
|
||||
[build-system]
|
||||
requires = ["hatchling"]
|
||||
build-backend = "hatchling.build"
|
||||
|
||||
[tool.hatch.build.targets.wheel]
|
||||
packages = ["src/mcm26b"]
|
||||
|
||||
[project.scripts]
|
||||
mcm26b = "mcm26b.cli:main"
|
||||
|
||||
[tool.pytest.ini_options]
|
||||
testpaths = ["tests"]
|
||||
|
||||
@@ -8,10 +8,11 @@ from statistics import median
|
||||
import sys
|
||||
from time import perf_counter
|
||||
|
||||
from mcm26b.geometry import (Measurement, solve, smallest_enclosing_circle,
|
||||
first_bearing_candidate_disk)
|
||||
from mcm26b.geometry.localization import _enclosing_circle_reference
|
||||
|
||||
ROOT = Path(__file__).resolve().parents[1]
|
||||
sys.path.insert(0, str(ROOT))
|
||||
from geometry import Measurement, solve, smallest_enclosing_circle, first_bearing_candidate_disk
|
||||
from geometry.localization import _enclosing_circle_reference
|
||||
|
||||
|
||||
def timed(function, points, repeats):
|
||||
@@ -4,11 +4,11 @@ from dataclasses import asdict
|
||||
import json
|
||||
import math
|
||||
from pathlib import Path
|
||||
import sys
|
||||
|
||||
ROOT=Path(__file__).resolve().parents[1]
|
||||
sys.path.insert(0,str(ROOT))
|
||||
from geometry import Measurement, solve
|
||||
from mcm26b import Measurement, solve
|
||||
|
||||
ROOT = Path(__file__).resolve().parents[1]
|
||||
ASSETS = Path(__file__).resolve().parent / "assets"
|
||||
|
||||
|
||||
def measured(stations, target, errors):
|
||||
@@ -56,11 +56,11 @@ def main():
|
||||
(examples/(case['id']+'.json')).write_text(json.dumps({k:v for k,v in data.items() if k!='frames'},ensure_ascii=False,indent=2),encoding='utf-8')
|
||||
(results/(case['id']+'_result.json')).write_text(json.dumps(frames[-1],ensure_ascii=False,indent=2,allow_nan=False),encoding='utf-8')
|
||||
(results/'demo_data.json').write_text(json.dumps(dataset,ensure_ascii=False,indent=2,allow_nan=False),encoding='utf-8')
|
||||
template=(ROOT/'visualization/q1.template.html').read_text(encoding='utf-8')
|
||||
template=(ASSETS / 'q1.template.html').read_text(encoding='utf-8')
|
||||
fragment=template.replace('/*__Q1_DATA__*/',json.dumps(dataset,ensure_ascii=False,allow_nan=False))
|
||||
(ROOT/'visualization/question1.html').write_text(fragment,encoding='utf-8')
|
||||
(ROOT/'output'/'q1'/'question1_full.html').write_text(fragment,encoding='utf-8')
|
||||
# A standalone companion uses the same fragment and computation results.
|
||||
theme=(ROOT/'visualization/standalone.css').read_text(encoding='utf-8')
|
||||
theme=(ASSETS / 'standalone.css').read_text(encoding='utf-8')
|
||||
page='<!doctype html><html lang="zh-CN"><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1"><title>B题问题一交会定位</title><style>'+theme+'</style><body>'+fragment+'</body></html>'
|
||||
(results/'question1.html').write_text(page,encoding='utf-8')
|
||||
print(json.dumps({'cases':len(dataset),'fragment_bytes':len(fragment.encode('utf-8')),
|
||||
@@ -8,14 +8,12 @@ import argparse
|
||||
import json
|
||||
import math
|
||||
from pathlib import Path
|
||||
import sys
|
||||
import time
|
||||
import uuid
|
||||
from urllib.error import URLError
|
||||
from urllib.request import Request, urlopen
|
||||
|
||||
sys.path.insert(0, str(Path(__file__).resolve().parents[1]))
|
||||
from geometry import Measurement, solve
|
||||
from mcm26b import Measurement, solve
|
||||
|
||||
|
||||
class PracticeClient:
|
||||
@@ -4,7 +4,7 @@
|
||||
*/
|
||||
const fs=require('node:fs'),path=require('node:path'),vm=require('node:vm'),assert=require('node:assert');
|
||||
const rootDir=path.resolve(__dirname,'..');
|
||||
const source=fs.readFileSync(path.join(rootDir,'visualization/question1.html'),'utf8');
|
||||
const source=fs.readFileSync(path.join(rootDir,'output/q1/question1_full.html'),'utf8');
|
||||
const script=source.match(/<script>([\s\S]*?)<\/script>/)[1];
|
||||
class Element {
|
||||
constructor(tag) {this.tag=tag;this.attrs={};this.children=[];this.style={};this.events={};this.value='';this.max='3';this.textContent='';}
|
||||
@@ -0,0 +1,21 @@
|
||||
"""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"]
|
||||
@@ -0,0 +1,58 @@
|
||||
"""P3 逐频道信念状态：候选集合 K_c 维护与频道处理状态。
|
||||
|
||||
现状：骨架（P3 起填充）。接口与不变式先行固定，防止后续实现漂移。
|
||||
|
||||
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；任何更新不得因误差、
|
||||
圆弧离散或浮点容差把真点排除（自建真值案例中真源始终保留）；
|
||||
- direction 读数：K_c ⊆ Ω ∩ W(s, θ±δ) ∩ B(s, 1500)（首次测向构造见
|
||||
geometry.planning.first_bearing_candidate_disk 的解析证书）；
|
||||
- no_signal 读数（P4，全向源）：仅可排除 B(s, 1000)；用于定向源时
|
||||
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）；
|
||||
- /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。
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from dataclasses import dataclass, field
|
||||
from enum import Enum
|
||||
|
||||
from ..config import ProblemConfig
|
||||
|
||||
|
||||
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）
|
||||
|
||||
|
||||
@dataclass
|
||||
class ChannelBelief:
|
||||
channel: int
|
||||
status: ChannelStatus = ChannelStatus.UNKNOWN
|
||||
measurements: list = field(default_factory=list) # (位置, 结果, svd_deg) 记录
|
||||
|
||||
|
||||
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)}
|
||||
|
||||
def update_measure(self, channel: int, position, result: str,
|
||||
svd_deg: float | None) -> None:
|
||||
"""按读数收敛候选集合。未实现：需要几何模块的在线圆盘角域交。"""
|
||||
raise NotImplementedError("P3：接入 geometry 的圆盘约束角域交后实现")
|
||||
|
||||
def candidate_set(self, channel: int):
|
||||
"""返回该频道当前候选集合（保守外包形式）。未实现。"""
|
||||
raise NotImplementedError("P3")
|
||||
|
||||
def mark_cleared(self, channel: int) -> None:
|
||||
self.channels[channel].status = ChannelStatus.CLEARED
|
||||
@@ -0,0 +1,78 @@
|
||||
"""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 用自建模拟器复现附件计时示例（P0 自检）
|
||||
- run 全向闭环（P4 骨架，未实现）
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import argparse
|
||||
import json
|
||||
import sys
|
||||
|
||||
from .config import ProblemConfig
|
||||
from .geometry.__main__ import main as q1_main
|
||||
from .protocol.client import SimulatorClient
|
||||
from .protocol.rules import EXIT_USER
|
||||
from .sim import LocalSimTransport, LocalSimulator, Source
|
||||
|
||||
|
||||
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。"""
|
||||
simulator = LocalSimulator([], robot_id=args.robot_id)
|
||||
client = SimulatorClient(args.robot_id, transport=LocalSimTransport(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:
|
||||
raise NotImplementedError(
|
||||
"P4 全向闭环尚未实现；当前可用子命令：q1（问题一求解）、sim-check（协议自检）")
|
||||
|
||||
|
||||
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="P4 全向闭环（骨架）")
|
||||
run.add_argument("--robot-id", required=True)
|
||||
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())
|
||||
@@ -0,0 +1,88 @@
|
||||
"""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
|
||||
|
||||
|
||||
@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)≈989.95<=1000
|
||||
grid_half_cells: int = 3 # i,j ∈ [-3,3]，49 点覆盖 [-2100,2100]^2 ⊇ Ω
|
||||
fallback_clear_grid_m: float = 20.0 # P5 后备清除网格；10*sqrt(2)<=20
|
||||
bearing_rounding_margin_deg: float = 0.0 # 默认不加舍入裕量；敏感性分析时显式设 0.005
|
||||
|
||||
|
||||
@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()
|
||||
|
||||
|
||||
DEFAULT_CONFIG = ProblemConfig()
|
||||
@@ -0,0 +1,56 @@
|
||||
"""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 ∈ [-3,3]}，|S| = 49，覆盖 [-2100,2100]² ⊇ 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 ≈ 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=lambda: 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)
|
||||
@@ -0,0 +1,81 @@
|
||||
"""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
|
||||
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"]
|
||||
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 += predicted.total_s
|
||||
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 += predicted.total_s
|
||||
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}
|
||||
@@ -1,4 +1,7 @@
|
||||
"""B题问题一：有界误差方位交会定位。仅使用 Python 标准库。"""
|
||||
"""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
|
||||
@@ -1,4 +1,4 @@
|
||||
"""python -m geometry observations.json [-o result.json]"""
|
||||
"""python -m mcm26b.geometry observations.json [-o result.json]"""
|
||||
|
||||
import argparse
|
||||
import json
|
||||
@@ -8,13 +8,13 @@ from pathlib import Path
|
||||
from .localization import Measurement, solve
|
||||
|
||||
|
||||
def main():
|
||||
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()
|
||||
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"]]
|
||||
@@ -0,0 +1,80 @@
|
||||
"""P3/P4/P5 策略层：主动选点、全向闭环与定向扩展。
|
||||
|
||||
现状：骨架。各入口先固定签名与验收标准，逐阶段填充实现。
|
||||
|
||||
P3 第二检测点（验收：保证收到信号；Q 空时退化；near 分支）：
|
||||
- K1 = Ω ∩ W(s1, θ1±δ) ∩ B(s1, 1500)；安全候选盘证书见
|
||||
geometry.planning.first_bearing_candidate_disk（δ<=1.005° 时非空）；
|
||||
- 在证书圆盘内围绕测向轴两侧采样候选点，以"最坏后验包围圆半径"
|
||||
为主指标、移动+检测代价为次指标；
|
||||
- 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 源正确退出；边界朝外不漏；停止条件正确）：
|
||||
发现（coverage.CoverageLedger）→ 定位（belief 收敛）→ 清除 → 停止判定
|
||||
（清除数达 16，或每频道均有清除成功/不存在证明）→ /exit。
|
||||
发现 10 源、连续无信号、候选采样为空都不是停止条件。
|
||||
|
||||
P5 定向扩展（验收：朝外边界源能发现；失去信号能清除；不误删真源）：
|
||||
no_signal 是"位置×朝向"联合约束，基线不据此删空间候选；
|
||||
失去信号后对有界候选做 <=20m 有限圆盘覆盖逐点 /clear，
|
||||
并按预算上界（格数×请求耗时）决定是否执行。
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from dataclasses import dataclass
|
||||
|
||||
from ..config import ProblemConfig
|
||||
from ..protocol.client import SimulatorClient
|
||||
|
||||
|
||||
@dataclass
|
||||
class SecondPointPlan:
|
||||
"""第二检测点的候选与依据（P3 输出形态预览）。"""
|
||||
|
||||
position: tuple[float, float]
|
||||
worst_posterior_radius_m: float
|
||||
move_cost_s: float
|
||||
reason: str
|
||||
|
||||
|
||||
def select_second_point(client: SimulatorClient,
|
||||
first_position, first_bearing_deg: float,
|
||||
config: ProblemConfig = ProblemConfig()):
|
||||
"""在安全候选盘内选择第二检测点。未实现：P3。"""
|
||||
raise NotImplementedError("P3：先实现 belief 候选集，再实现采样评估")
|
||||
|
||||
|
||||
class OmnidirectionalLoop:
|
||||
"""问题3全向"发现—定位—清除—停止"闭环。未实现：P4。"""
|
||||
|
||||
def __init__(self, client: SimulatorClient,
|
||||
config: ProblemConfig = ProblemConfig()):
|
||||
self.client = client
|
||||
self.config = config
|
||||
|
||||
def run(self) -> dict:
|
||||
raise NotImplementedError("P4：依赖 coverage + belief + planner 就位")
|
||||
|
||||
|
||||
class DirectionalExtension:
|
||||
"""问题4定向源扩展：朝向不确定下的覆盖与后备清除。未实现：P5。"""
|
||||
|
||||
def __init__(self, client: SimulatorClient,
|
||||
config: ProblemConfig = ProblemConfig()):
|
||||
self.client = client
|
||||
self.config = config
|
||||
|
||||
def run(self) -> dict:
|
||||
raise NotImplementedError("P5：依赖 P4 闭环稳定后扩展")
|
||||
|
||||
|
||||
def fallback_clear_cells(center, width_m: float, height_m: float,
|
||||
config: ProblemConfig = ProblemConfig()):
|
||||
"""失去信号后的后备清除格心列表（<=20m 圆盘覆盖）。
|
||||
|
||||
半开区间统一索引，源在格线上时至少归入一格；相交判定数值
|
||||
不确定时保留格子（宁可多测）。格数即 /clear 请求预算上界。
|
||||
未实现：P5（先由演练实测请求预算决定启用规模）。
|
||||
"""
|
||||
raise NotImplementedError("P5")
|
||||
@@ -0,0 +1,15 @@
|
||||
"""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"]
|
||||
@@ -0,0 +1,288 @@
|
||||
"""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 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 value != value or value in (float("inf"), float("-inf")):
|
||||
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
|
||||
|
||||
# ------------------------------------------------------------ 公共动作 API
|
||||
def enter(self) -> dict:
|
||||
response = self._call("/enter", self._payload("/enter"))
|
||||
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)
|
||||
return response
|
||||
|
||||
def measure(self, position: Vec2, channel: int) -> MeasureOutcome:
|
||||
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)
|
||||
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:
|
||||
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)
|
||||
return ClearOutcome(result, response["virtual_time_s"], predicted, response)
|
||||
|
||||
def exit(self) -> ExitInfo:
|
||||
response = self._call("/exit", self._payload("/exit"))
|
||||
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)
|
||||
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 _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
|
||||
@@ -0,0 +1,34 @@
|
||||
"""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]
|
||||
@@ -0,0 +1,94 @@
|
||||
"""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")
|
||||
@@ -0,0 +1,97 @@
|
||||
"""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")
|
||||
@@ -0,0 +1,55 @@
|
||||
"""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.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
|
||||
@@ -0,0 +1,44 @@
|
||||
"""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)
|
||||
@@ -0,0 +1,8 @@
|
||||
"""自建模拟器与测试侧传输：只对测试端开放真值，策略端仅见观测。"""
|
||||
|
||||
from .playback import PlaybackTransport
|
||||
from .simulator import LocalSimulator, Source
|
||||
from .transport import LocalSimTransport, ScriptedFaultTransport
|
||||
|
||||
__all__ = ["LocalSimTransport", "LocalSimulator", "PlaybackTransport",
|
||||
"ScriptedFaultTransport", "Source"]
|
||||
@@ -0,0 +1,38 @@
|
||||
"""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"))
|
||||
@@ -0,0 +1,231 @@
|
||||
"""自建本地模拟器：按附件1/2语义复现官方模拟器的可观测行为。
|
||||
|
||||
用途（P1 验收"自建回放测试"）：不依赖官方模拟器即可测试客户端、
|
||||
故障恢复与后续策略。真值 Source 只对测试端开放，策略端只能拿到响应。
|
||||
|
||||
与官方实现的边界：本类只承诺"协议可观测行为一致"（响应字段、
|
||||
耗时推进、幂等与拒绝语义）；示向度误差分布是测试假设，不代表官方实现。
|
||||
"""
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
import hashlib
|
||||
import json
|
||||
from dataclasses import dataclass, field
|
||||
from math import atan2, degrees, hypot, isfinite
|
||||
from random import Random
|
||||
from time import time
|
||||
|
||||
from ..config import ProblemConfig
|
||||
from ..protocol.rules import (ACTION_FIELDS, CLEAR_NO_TARGET, CLEAR_RESULTS,
|
||||
CLEAR_SUCCESS, COMMON_FIELDS, DIRECTION,
|
||||
EXIT_USER, MEASURE_RESULTS, NEAR, NO_SIGNAL,
|
||||
POSITION_FIELDS)
|
||||
from ..protocol.timing import clear_cost, measure_cost
|
||||
|
||||
|
||||
@dataclass(frozen=True)
|
||||
class Source:
|
||||
"""一局真值。每个频道最多一个源 [题面]；构造时强制检查。"""
|
||||
|
||||
channel: int
|
||||
x: float
|
||||
y: float
|
||||
r_eff_m: float # 有效接收半径，题目范围 1000..1500
|
||||
directional: bool = False
|
||||
heading_deg: float = 0.0 # 定向源朝向；全向源忽略
|
||||
|
||||
|
||||
class LocalSimulator:
|
||||
"""handle(path, payload) -> (http_status, body_dict)。"""
|
||||
|
||||
def __init__(self, sources: list[Source], *, robot_id: str = "2026001",
|
||||
config: ProblemConfig = ProblemConfig(),
|
||||
error_half_deg: float | None = None, error_seed: int = 20260910,
|
||||
rtt_ms: float = 40.0):
|
||||
channels = [s.channel for s in sources]
|
||||
if len(channels) != len(set(channels)):
|
||||
raise ValueError("每个频道最多对应一个干扰源")
|
||||
for s in sources:
|
||||
if not (config.field.channel_min <= s.channel <= config.field.channel_max):
|
||||
raise ValueError("频道超出 1..20")
|
||||
if not s.directional and s.heading_deg != 0.0:
|
||||
raise ValueError("全向源不应有朝向")
|
||||
self.sources = list(sources)
|
||||
self.robot_id = robot_id
|
||||
self.config = config
|
||||
self.field = config.field
|
||||
self.cost = config.cost
|
||||
self.error_half_deg = (self.field.bearing_error_half_deg
|
||||
if error_half_deg is None else error_half_deg)
|
||||
self._rng = Random(error_seed)
|
||||
self._rtt_ms = rtt_ms
|
||||
self.entered = False
|
||||
self.exited = False
|
||||
self.position = (0.0, 0.0)
|
||||
self.channel = self.field.channel_min
|
||||
self.virtual_time_s = 0.0
|
||||
self.cleared: set[int] = set()
|
||||
self._idempotency: dict[str, tuple[str, int, dict]] = {} # id -> (指纹, 状态码, 响应)
|
||||
|
||||
# ------------------------------------------------------------------ 主入口
|
||||
def handle(self, path: str, payload) -> tuple[int, dict]:
|
||||
if path not in ACTION_FIELDS:
|
||||
return 404, self._reject(path)
|
||||
if not isinstance(payload, dict):
|
||||
return 400, self._reject(path)
|
||||
# 1) 公共字段存在性与类型（缺失/类型错 -> 400 [题面]）
|
||||
for name, spec in COMMON_FIELDS.items():
|
||||
value = payload.get(name)
|
||||
if not isinstance(value, str) or (spec.max_bytes
|
||||
and len(value.encode("utf-8")) > spec.max_bytes):
|
||||
return 400, self._reject(path)
|
||||
if not value:
|
||||
return 400, self._reject(path)
|
||||
# 2) 动作字段存在性 -> 400
|
||||
spec = ACTION_FIELDS[path]
|
||||
for name in spec:
|
||||
if name not in payload:
|
||||
return 400, self._reject(path)
|
||||
# 3) 未知字段 -> 200 accepted=false（不占用 request_id [题面]）
|
||||
known = set(COMMON_FIELDS) | set(spec)
|
||||
if set(payload) != known:
|
||||
return 200, self._not_accepted()
|
||||
# 4) arena / robot 不匹配 -> 200 accepted=false（不占用 request_id [题面]）
|
||||
if payload["arena_id"] != "default" or payload["robot_id"] != self.robot_id:
|
||||
return 200, self._not_accepted()
|
||||
# 4.5) position 下的未知字段同样 -> 200 accepted=false [题面 7.4]
|
||||
if path in ("/measure", "/clear"):
|
||||
position = payload.get("position")
|
||||
if isinstance(position, dict) and set(position) - set(POSITION_FIELDS):
|
||||
return 200, self._not_accepted()
|
||||
# 5) 幂等：同一 ID 同一内容回放首次响应；不同内容 409 [题面]
|
||||
request_id = payload["request_id"]
|
||||
fingerprint = self._fingerprint(path, payload)
|
||||
if request_id in self._idempotency:
|
||||
seen_fp, seen_status, seen_body = self._idempotency[request_id]
|
||||
if seen_fp == fingerprint:
|
||||
return seen_status, dict(seen_body)
|
||||
return 409, self._reject(path)
|
||||
# 6) 业务状态机
|
||||
status, body = self._execute(path, payload)
|
||||
if status == 200 and body.get("accepted") is True:
|
||||
self._idempotency[request_id] = (fingerprint, status, dict(body))
|
||||
return status, body
|
||||
|
||||
# ------------------------------------------------------------------ 动作
|
||||
def _execute(self, path: str, payload: dict) -> tuple[int, dict]:
|
||||
if path == "/enter":
|
||||
if self.entered or self.exited:
|
||||
return 200, self._not_accepted()
|
||||
self.entered = True
|
||||
return 200, self._ok({
|
||||
"max_virtual_duration_s": self.field.max_virtual_duration_s,
|
||||
"max_real_duration_s": self.field.max_real_duration_s,
|
||||
"remaining_real_duration_s": self.field.max_real_duration_s,
|
||||
})
|
||||
if not self.entered or self.exited:
|
||||
return 200, self._not_accepted()
|
||||
if path == "/exit":
|
||||
self.exited = True
|
||||
return 200, self._ok({"exit_reason": EXIT_USER})
|
||||
# /measure 与 /clear 共同的字段校验 -> 400 [题面]
|
||||
position = payload.get("position")
|
||||
if not isinstance(position, dict) or not set(POSITION_FIELDS) <= set(position):
|
||||
return 400, self._reject(path)
|
||||
for key in ("x", "y"):
|
||||
value = position[key]
|
||||
if isinstance(value, bool) or not isinstance(value, (int, float)) \
|
||||
or not isfinite(value) or abs(value) > self.field.coord_abs_limit_m:
|
||||
return 400, self._reject(path)
|
||||
channel = payload.get("channel")
|
||||
if isinstance(channel, bool) or not isinstance(channel, (int, float)) \
|
||||
or not float(channel).is_integer() \
|
||||
or not self.field.channel_min <= channel <= self.field.channel_max:
|
||||
return 400, self._reject(path)
|
||||
channel = int(channel)
|
||||
pos = (float(position["x"]), float(position["y"]))
|
||||
|
||||
if path == "/measure":
|
||||
return self._measure(pos, channel)
|
||||
return self._clear(pos, channel)
|
||||
|
||||
def _measure(self, pos, channel: int) -> tuple[int, dict]:
|
||||
breakdown = measure_cost(self.position, pos, self.channel, channel, self.cost)
|
||||
result, svd = self._observe(pos, channel)
|
||||
self.position = pos
|
||||
self.channel = channel # 只有合法 /measure 更新频道 [题面]
|
||||
self._advance(breakdown.total_s)
|
||||
body = {"measure_result": result}
|
||||
if result == DIRECTION:
|
||||
body["svd_deg"] = svd
|
||||
return 200, self._ok(body)
|
||||
|
||||
def _clear(self, pos, channel: int) -> tuple[int, dict]:
|
||||
source = self._source(channel)
|
||||
success = (source is not None and source.channel not in self.cleared
|
||||
and hypot(pos[0] - source.x, pos[1] - source.y)
|
||||
<= self.field.clear_radius_m)
|
||||
breakdown = clear_cost(self.position, pos, success, self.cost)
|
||||
self.position = pos # /clear 不改变频道 [题面]
|
||||
if success:
|
||||
self.cleared.add(channel)
|
||||
self._advance(breakdown.total_s)
|
||||
result = CLEAR_SUCCESS if success else CLEAR_NO_TARGET
|
||||
return 200, self._ok({"clear_result": result})
|
||||
|
||||
# ------------------------------------------------------------------ 观测
|
||||
def _observe(self, pos, channel: int):
|
||||
source = self._source(channel)
|
||||
if source is None or channel in self.cleared:
|
||||
return NO_SIGNAL, None
|
||||
distance = hypot(pos[0] - source.x, pos[1] - source.y)
|
||||
if distance > source.r_eff_m:
|
||||
return NO_SIGNAL, None
|
||||
if source.directional:
|
||||
bearing_to_point = degrees(atan2(pos[1] - source.y, pos[0] - source.x))
|
||||
if self._angular_gap(bearing_to_point, source.heading_deg) \
|
||||
> self.field.directional_half_angle_deg:
|
||||
return NO_SIGNAL, None
|
||||
if distance <= self.field.near_radius_m:
|
||||
return NEAR, None
|
||||
true_bearing = degrees(atan2(source.y - pos[1], source.x - pos[0]))
|
||||
error = self._rng.uniform(-self.error_half_deg, self.error_half_deg)
|
||||
svd = round(true_bearing + error, self.field.bearing_decimals) % 360.0
|
||||
return DIRECTION, svd
|
||||
|
||||
def _source(self, channel: int):
|
||||
for source in self.sources:
|
||||
if source.channel == channel:
|
||||
return source
|
||||
return None
|
||||
|
||||
@staticmethod
|
||||
def _angular_gap(a: float, b: float) -> float:
|
||||
return abs((a - b + 180.0) % 360.0 - 180.0)
|
||||
|
||||
# ------------------------------------------------------------------ 计时与响应
|
||||
def _advance(self, seconds: float) -> None:
|
||||
self.virtual_time_s += seconds
|
||||
|
||||
def _ok(self, extra: dict) -> dict:
|
||||
self._rtt_ms += 40.0
|
||||
body = {"accepted": True,
|
||||
"real_timestamp_ms": 1_760_000_000_000.0 + self._rtt_ms,
|
||||
"virtual_time_s": self.virtual_time_s, **extra}
|
||||
return body
|
||||
|
||||
def _not_accepted(self) -> dict:
|
||||
return {"accepted": False, "real_timestamp_ms": 1_760_000_000_000.0,
|
||||
"virtual_time_s": 0} # accepted=false 时恒为 0 [题面]
|
||||
|
||||
def _reject(self, path: str) -> dict:
|
||||
return {"accepted": False, "real_timestamp_ms": 1_760_000_000_000.0,
|
||||
"virtual_time_s": 0, "detail": f"{path} 请求被拒绝"}
|
||||
|
||||
@staticmethod
|
||||
def _fingerprint(path: str, payload) -> str:
|
||||
canonical = json.dumps({"path": path, "payload": payload},
|
||||
sort_keys=True, ensure_ascii=False,
|
||||
separators=(",", ":"))
|
||||
return hashlib.sha256(canonical.encode("utf-8")).hexdigest()
|
||||
@@ -0,0 +1,53 @@
|
||||
"""测试侧传输：把 LocalSimulator 挂到 Transport 接口 + 故障注入脚本。
|
||||
|
||||
故障脚本用于 P1 验收"失败重试不污染状态"：
|
||||
- ``"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
|
||||
|
||||
import json
|
||||
from urllib.parse import urlsplit
|
||||
|
||||
from ..protocol.transport import Transport, TransportError, TransportResponse
|
||||
from .simulator import LocalSimulator
|
||||
|
||||
|
||||
class LocalSimTransport(Transport):
|
||||
"""内存回环：不经过网络栈的本地模拟器传输。"""
|
||||
|
||||
def __init__(self, simulator: LocalSimulator):
|
||||
self.simulator = simulator
|
||||
self.received: list[tuple[str, dict]] = []
|
||||
|
||||
def post(self, url, body, headers, timeout):
|
||||
path = urlsplit(url).path
|
||||
payload = json.loads(body.decode("utf-8"))
|
||||
self.received.append((path, payload))
|
||||
status, response = self.simulator.handle(path, payload)
|
||||
return TransportResponse(status, json.dumps(response, ensure_ascii=False).encode("utf-8"))
|
||||
|
||||
|
||||
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":
|
||||
return TransportResponse(int(fault[1]), b'{"accepted": false, "real_timestamp_ms": 0, "virtual_time_s": 0}')
|
||||
return self.inner.post(url, body, headers, timeout)
|
||||
File diff suppressed because one or more lines are too long
@@ -2,8 +2,8 @@ import math
|
||||
import random
|
||||
import unittest
|
||||
|
||||
from geometry import Measurement, solve, smallest_enclosing_circle
|
||||
from geometry.localization import halfplanes, distance
|
||||
from mcm26b.geometry import Measurement, solve, smallest_enclosing_circle
|
||||
from mcm26b.geometry.localization import halfplanes, distance
|
||||
|
||||
|
||||
class GeometryTests(unittest.TestCase):
|
||||
@@ -6,8 +6,9 @@ import subprocess
|
||||
import sys
|
||||
import unittest
|
||||
|
||||
from geometry import Measurement, solve, smallest_enclosing_circle, first_bearing_candidate_disk
|
||||
from geometry.localization import _enclosing_circle_reference, distance
|
||||
from mcm26b.geometry import (Measurement, solve, smallest_enclosing_circle,
|
||||
first_bearing_candidate_disk)
|
||||
from mcm26b.geometry.localization import _enclosing_circle_reference, distance
|
||||
|
||||
ROOT = Path(__file__).resolve().parents[1]
|
||||
|
||||
@@ -93,7 +94,7 @@ class CertificateTests(unittest.TestCase):
|
||||
first_bearing_candidate_disk(Measurement(0, 0, 0, 46))
|
||||
|
||||
def test_cli_explicit_rounding_margin(self):
|
||||
base = [sys.executable, '-m', 'geometry', 'examples/q1/triangle.json']
|
||||
base = [sys.executable, '-m', 'mcm26b.geometry', 'examples/q1/triangle.json']
|
||||
outputs = [json.loads(subprocess.check_output(base+args, cwd=ROOT, encoding='utf-8'))
|
||||
for args in [[], ['--rounding-margin-deg', '0.005']]]
|
||||
self.assertEqual(outputs[0]['error_policy']['effective_half_angles_deg'], [1, 1, 1])
|
||||
@@ -4,7 +4,7 @@ import json
|
||||
import math
|
||||
from pathlib import Path
|
||||
import unittest
|
||||
from geometry import Measurement, solve
|
||||
from mcm26b.geometry import Measurement, solve
|
||||
|
||||
ROOT=Path(__file__).resolve().parents[1]
|
||||
|
||||
@@ -0,0 +1,253 @@
|
||||
"""P1 验收测试：幂等重试、故障恢复、现实预算与真实演练日志回放。
|
||||
|
||||
对应验收标准（docs/B题建模分析与实施计划.md P1 行）：
|
||||
- accepted=false 和超时重试不污染状态；
|
||||
- 失败重试复用原 request_id 与原内容，服务器端动作恰好生效一次；
|
||||
- 用 /enter 的 remaining_real_duration_s 建立本地截止时钟；
|
||||
- 官方演练日志可完整回放，本地重建状态与服务器记录逐步吻合。
|
||||
"""
|
||||
|
||||
import json
|
||||
import math
|
||||
import tempfile
|
||||
import unittest
|
||||
from dataclasses import replace
|
||||
from pathlib import Path
|
||||
|
||||
from mcm26b.config import ProblemConfig
|
||||
from mcm26b.evaluation import recompute_virtual_time, summarize
|
||||
from mcm26b.protocol.client import (DeadlineExceeded, ProtocolError,
|
||||
SimulatorClient)
|
||||
from mcm26b.protocol.log import SessionLog
|
||||
from mcm26b.protocol.transport import TransportError
|
||||
from mcm26b.sim import (LocalSimTransport, LocalSimulator,
|
||||
PlaybackTransport, ScriptedFaultTransport, Source)
|
||||
|
||||
ROOT = Path(__file__).resolve().parents[1]
|
||||
|
||||
|
||||
class FaultRecoveryTests(unittest.TestCase):
|
||||
"""故障注入：失败重试不污染状态、不重复生效。"""
|
||||
|
||||
def _client(self, script, sources=None):
|
||||
simulator = LocalSimulator(sources or [], robot_id="T001")
|
||||
inner = LocalSimTransport(simulator)
|
||||
faults = ScriptedFaultTransport(inner, script)
|
||||
client = SimulatorClient("T001", transport=faults)
|
||||
return client, faults, simulator
|
||||
|
||||
def test_timeout_after_apply_replays_cached_response(self):
|
||||
"""读超时（服务器已生效）后重试：同一响应回放，动作不二次生效。"""
|
||||
# 脚本按请求顺序消耗：enter 放行，measure 第一次注入"已生效但超时"。
|
||||
client, faults, simulator = self._client([None, "timeout_after", None, None])
|
||||
client.enter()
|
||||
outcome = client.measure((0, 0), 1)
|
||||
self.assertEqual(outcome.virtual_time_s, 5.0)
|
||||
# measure 只被服务器执行了一次：请求发出两次，但虚拟时刻只推进一次。
|
||||
measure_bodies = [body for body in faults.sent_requests[1:]]
|
||||
self.assertEqual(len(measure_bodies), 2, "应发出原始请求+一次重试")
|
||||
first, retry = (json.loads(b) for b in measure_bodies)
|
||||
self.assertEqual(first["request_id"], retry["request_id"],
|
||||
"重试必须复用原 request_id")
|
||||
self.assertEqual(first, retry, "重试请求体必须逐字段一致")
|
||||
self.assertEqual(simulator.virtual_time_s, 5.0, "动作只生效一次")
|
||||
self.assertEqual(client.state.virtual_time_s, 5.0)
|
||||
|
||||
def test_drop_before_apply_is_safe_to_retry(self):
|
||||
"""连接失败（未送达）后重试成功，无残留效果。"""
|
||||
client, faults, simulator = self._client(["drop_before", None])
|
||||
client.enter()
|
||||
client.measure((100, 0), 1)
|
||||
self.assertEqual(simulator.virtual_time_s, 25.0) # 100/5 移动 + 5 检测
|
||||
self.assertEqual(client.state.virtual_time_s, 25.0)
|
||||
|
||||
def test_server_500_retried_with_same_id(self):
|
||||
client, faults, simulator = self._client([None, ("status", 500), None, None])
|
||||
client.enter()
|
||||
client.measure((0, 0), 1)
|
||||
self.assertEqual(client.state.virtual_time_s, 5.0)
|
||||
|
||||
def test_exhausted_retries_raise_and_leave_state_clean(self):
|
||||
# enter 放行后，measure 连续注入断连直至超过 max_attempts=3。
|
||||
client, faults, simulator = self._client([None, "drop_before", "drop_before",
|
||||
"drop_before"])
|
||||
client.enter()
|
||||
with self.assertRaises(TransportError):
|
||||
client.measure((0, 0), 1)
|
||||
self.assertEqual(client.state.virtual_time_s, 0.0,
|
||||
"失败动作不得污染本地状态")
|
||||
self.assertTrue(simulator.entered) # enter 已成功，会话仍然有效
|
||||
# 后续新动作用新 request_id 正常执行（脚本已耗尽，全部放行）。
|
||||
outcome = client.measure((0, 0), 1)
|
||||
self.assertEqual(outcome.virtual_time_s, 5.0)
|
||||
|
||||
def test_accepted_false_raises_and_state_untouched(self):
|
||||
client, faults, simulator = self._client([None])
|
||||
with self.assertRaises(ProtocolError) as ctx:
|
||||
client.measure((0, 0), 1) # 未 enter -> accepted=false
|
||||
self.assertEqual(ctx.exception.status, 200)
|
||||
self.assertEqual(client.state.virtual_time_s, 0.0)
|
||||
|
||||
|
||||
class DeadlineBudgetTests(unittest.TestCase):
|
||||
"""现实预算：本地单调时钟、预留余量、/exit 豁免。"""
|
||||
|
||||
def test_deadline_from_enter_remaining(self):
|
||||
now = [1000.0]
|
||||
simulator = LocalSimulator([], robot_id="T001")
|
||||
client = SimulatorClient("T001", transport=LocalSimTransport(simulator),
|
||||
clock=lambda: now[0])
|
||||
client.enter()
|
||||
self.assertAlmostEqual(client.real_remaining_s, 1200.0)
|
||||
now[0] += 300.0
|
||||
self.assertAlmostEqual(client.real_remaining_s, 900.0)
|
||||
|
||||
def test_action_blocked_when_reserve_margin_cannot_be_kept(self):
|
||||
now = [0.0]
|
||||
simulator = LocalSimulator([], robot_id="T001")
|
||||
client = SimulatorClient("T001", transport=LocalSimTransport(simulator),
|
||||
clock=lambda: now[0])
|
||||
client.enter() # remaining = 1200s
|
||||
now[0] += 1145.0 # 只剩 55s < 60s 预留
|
||||
with self.assertRaises(DeadlineExceeded):
|
||||
client.measure((0, 0), 1)
|
||||
info = client.exit() # /exit 不受预算拦截
|
||||
self.assertEqual(info.reason, "user_exit")
|
||||
|
||||
def test_custom_reserve_margin(self):
|
||||
now = [0.0]
|
||||
simulator = LocalSimulator([], robot_id="T001")
|
||||
config = replace(ProblemConfig(),
|
||||
session=replace(ProblemConfig().session,
|
||||
reserve_exit_s=10.0))
|
||||
client = SimulatorClient("T001", config=config,
|
||||
transport=LocalSimTransport(simulator),
|
||||
clock=lambda: now[0])
|
||||
client.enter()
|
||||
now[0] += 1195.0 # 剩 5s < 新预留 10s
|
||||
with self.assertRaises(DeadlineExceeded):
|
||||
client.measure((0, 0), 1)
|
||||
|
||||
|
||||
class PracticeReplayTests(unittest.TestCase):
|
||||
"""官方演练日志经 PlaybackTransport 驱动完整客户端。"""
|
||||
|
||||
def _events(self):
|
||||
files = sorted((ROOT / "output" / "q1" / "practice").glob("*_actions.json"))
|
||||
self.assertTrue(files, "缺少演练采集证据")
|
||||
events = []
|
||||
for path in files:
|
||||
events.extend(json.loads(path.read_text(encoding="utf-8")))
|
||||
return events
|
||||
|
||||
def test_client_state_matches_recorded_server_clock(self):
|
||||
events = self._events()
|
||||
client = SimulatorClient("任意队号", transport=PlaybackTransport(events))
|
||||
for event in events:
|
||||
path, request = event["path"], event["request"]
|
||||
if path == "/enter":
|
||||
client.enter()
|
||||
elif path == "/measure":
|
||||
client.measure((request["position"]["x"], request["position"]["y"]),
|
||||
request["channel"])
|
||||
elif path == "/exit":
|
||||
client.exit()
|
||||
self.assertAlmostEqual(
|
||||
client.state.virtual_time_s,
|
||||
event["response"]["virtual_time_s"], places=5,
|
||||
msg=f"{path} 后本地虚拟时刻应与服务器记录一致")
|
||||
self.assertTrue(client.state.exited)
|
||||
|
||||
def test_evaluation_recompute_agrees_with_recording(self):
|
||||
events = [dict(path=e["path"], request=e["request"], response=e["response"])
|
||||
for e in self._events()
|
||||
if e["response"].get("accepted") is True]
|
||||
report = recompute_virtual_time(events)
|
||||
self.assertEqual(report["mismatches"], [])
|
||||
self.assertAlmostEqual(report["final_virtual_time_s"],
|
||||
events[-1]["response"]["virtual_time_s"], places=5)
|
||||
|
||||
def test_summarize_counts(self):
|
||||
events = [dict(path=e["path"], request=e["request"], response=e["response"])
|
||||
for e in self._events()]
|
||||
stats = summarize(events)
|
||||
directions = [e for e in events
|
||||
if e["response"].get("measure_result") == "direction"]
|
||||
self.assertGreater(stats["measures"], 0)
|
||||
self.assertEqual(stats["clears"], 0, "该次演练只采集观测，未调用 /clear")
|
||||
|
||||
|
||||
class LocalSimObservationTests(unittest.TestCase):
|
||||
"""观测语义：no_signal / near / direction 与定向覆盖角。"""
|
||||
|
||||
def test_distance_and_coverage_gate(self):
|
||||
source = Source(channel=1, x=500, y=0, r_eff_m=1000)
|
||||
simulator = LocalSimulator([source], robot_id="T001")
|
||||
client = SimulatorClient("T001", transport=LocalSimTransport(simulator))
|
||||
client.enter()
|
||||
self.assertEqual(client.measure((1505, 0), 1).result, "no_signal") # 距源1005>1000
|
||||
self.assertEqual(client.measure((500, 998), 1).result, "direction") # 1000内
|
||||
self.assertEqual(client.measure((500, 0), 1).result, "near") # <=5m
|
||||
|
||||
def test_directional_source_backside_invisible(self):
|
||||
source = Source(channel=1, x=500, y=0, r_eff_m=1500,
|
||||
directional=True, heading_deg=90.0) # 朝北
|
||||
simulator = LocalSimulator([source], robot_id="T001")
|
||||
client = SimulatorClient("T001", transport=LocalSimTransport(simulator))
|
||||
client.enter()
|
||||
self.assertEqual(client.measure((500, 600), 1).result, "direction") # 正北
|
||||
self.assertEqual(client.measure((500, -300), 1).result, "no_signal") # 正南背面
|
||||
self.assertEqual(client.measure((500, 998), 1).result, "direction") # 边界含90度
|
||||
|
||||
def test_clear_ignores_directional_facing(self):
|
||||
"""清除只看距离：定向源背面同样可清除 [题面]。"""
|
||||
source = Source(channel=7, x=0, y=0, r_eff_m=1500,
|
||||
directional=True, heading_deg=180.0)
|
||||
simulator = LocalSimulator([source], robot_id="T001")
|
||||
client = SimulatorClient("T001", transport=LocalSimTransport(simulator))
|
||||
client.enter()
|
||||
self.assertEqual(client.state.channel, 1)
|
||||
outcome = client.clear((15, 0), 7) # 距离15m<=20，位于背面
|
||||
self.assertEqual(outcome.result, "success")
|
||||
outcome = client.clear((0, 0), 7) # 同源只能清除一次
|
||||
self.assertEqual(outcome.result, "no_target_in_range")
|
||||
# 两次 /clear 后测向机频道仍是初始 1：/clear 不切换频道 [题面]。
|
||||
self.assertEqual(client.state.channel, 1)
|
||||
# 清除后同频道无信号；/measure 会把频道更新为 7。
|
||||
self.assertEqual(client.measure((100, 0), 7).result, "no_signal")
|
||||
self.assertEqual(client.state.channel, 7)
|
||||
|
||||
def test_bearing_error_within_bound(self):
|
||||
source = Source(channel=1, x=1000, y=300, r_eff_m=1500)
|
||||
simulator = LocalSimulator([source], error_half_deg=1.0, robot_id="T001")
|
||||
client = SimulatorClient("T001", transport=LocalSimTransport(simulator))
|
||||
client.enter()
|
||||
outcome = client.measure((0, 0), 1)
|
||||
true_bearing = math.degrees(math.atan2(300, 1000))
|
||||
# 误差在 ±1° 内均匀分布，返回值再保留两位小数。
|
||||
self.assertLessEqual(abs(outcome.svd_deg - true_bearing), 1.005)
|
||||
|
||||
|
||||
class SessionLogTests(unittest.TestCase):
|
||||
def test_log_records_attempts_and_accepted(self):
|
||||
with tempfile.TemporaryDirectory() as folder:
|
||||
path = Path(folder) / "session.jsonl"
|
||||
simulator = LocalSimulator([], robot_id="T001")
|
||||
faults = ScriptedFaultTransport(LocalSimTransport(simulator),
|
||||
[None, "drop_before", None, None])
|
||||
client = SimulatorClient("T001", transport=faults,
|
||||
log=SessionLog(path=path))
|
||||
client.enter()
|
||||
client.measure((0, 0), 1)
|
||||
client.exit()
|
||||
rows = [json.loads(line) for line in
|
||||
path.read_text(encoding="utf-8").splitlines()]
|
||||
accepted = [row for row in rows if row["event"] == "accepted"]
|
||||
self.assertEqual(len(accepted), 3)
|
||||
self.assertEqual(accepted[1]["attempts"], 2, "重试后成功应记录尝试次数")
|
||||
self.assertEqual(len({row["request_id"] for row in accepted}), 3,
|
||||
"每个被接受动作各占一个 request_id")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
@@ -0,0 +1,207 @@
|
||||
"""P0 验收测试：计时示例、状态机规则与字段表语义。
|
||||
|
||||
对应验收标准（docs/B题建模分析与实施计划.md P0 行）：
|
||||
- 附件计时示例能逐步得到 105、111、194、199 秒；
|
||||
- /clear 不切换测向频道；
|
||||
- accepted=false 不更新状态，其 virtual_time_s=0 不当作当前虚拟时刻。
|
||||
"""
|
||||
|
||||
import unittest
|
||||
|
||||
from mcm26b.config import CostConfig
|
||||
from mcm26b.protocol.rules import CLEAR_NO_TARGET
|
||||
from mcm26b.protocol.state import RobotState, StateError
|
||||
from mcm26b.protocol.timing import clear_cost, measure_cost
|
||||
from mcm26b.sim import LocalSimTransport, LocalSimulator
|
||||
from mcm26b.protocol.client import ActionRejected, SimulatorClient
|
||||
|
||||
|
||||
class TimingModelTests(unittest.TestCase):
|
||||
"""附件1表2 / 附件2第10节示例逐步分解。"""
|
||||
|
||||
def setUp(self):
|
||||
self.cost = CostConfig()
|
||||
|
||||
def test_measure_step2_move_500_no_switch(self):
|
||||
breakdown = measure_cost((0, 0), (300, 400), 1, 1, self.cost)
|
||||
self.assertAlmostEqual(breakdown.move_s, 100) # 500m / 5(m/s)
|
||||
self.assertAlmostEqual(breakdown.switch_s, 0) # 初始频道即1
|
||||
self.assertAlmostEqual(breakdown.action_s, 5)
|
||||
self.assertAlmostEqual(breakdown.total_s, 105)
|
||||
|
||||
def test_measure_step3_in_place_switch_channel(self):
|
||||
breakdown = measure_cost((300, 400), (300, 400), 1, 2, self.cost)
|
||||
self.assertAlmostEqual(breakdown.move_s, 0)
|
||||
self.assertAlmostEqual(breakdown.switch_s, 1)
|
||||
self.assertAlmostEqual(breakdown.total_s, 6)
|
||||
|
||||
def test_clear_step4_move_400_no_target(self):
|
||||
breakdown = clear_cost((300, 400), (300, 0), success=False, cost=self.cost)
|
||||
self.assertAlmostEqual(breakdown.move_s, 80) # 400m / 5
|
||||
self.assertAlmostEqual(breakdown.switch_s, 0) # /clear 不产生换频道耗时
|
||||
self.assertAlmostEqual(breakdown.action_s, 3) # 未发现=光学定位3s
|
||||
self.assertAlmostEqual(breakdown.total_s, 83)
|
||||
|
||||
def test_measure_step5_same_channel_after_clear(self):
|
||||
# 第4步 /clear 后测向机仍是频道2，原地再测频道2无切换耗时。
|
||||
breakdown = measure_cost((300, 0), (300, 0), 2, 2, self.cost)
|
||||
self.assertAlmostEqual(breakdown.total_s, 5)
|
||||
|
||||
def test_virtual_clock_walk(self):
|
||||
"""累积虚拟时刻逐步得到附件给定值 0/105/111/194/199/199。"""
|
||||
virtual = 0.0
|
||||
expected = [0, 105, 111, 194, 199, 199]
|
||||
sequence = [
|
||||
measure_cost((0, 0), (300, 400), 1, 1, self.cost),
|
||||
measure_cost((300, 400), (300, 400), 1, 2, self.cost),
|
||||
clear_cost((300, 400), (300, 0), False, self.cost),
|
||||
measure_cost((300, 0), (300, 0), 2, 2, self.cost),
|
||||
None, # /exit
|
||||
]
|
||||
results = [virtual]
|
||||
for breakdown in sequence:
|
||||
virtual += 0 if breakdown is None else breakdown.total_s
|
||||
results.append(round(virtual, 6))
|
||||
self.assertEqual(results, [float(v) for v in expected])
|
||||
|
||||
|
||||
class StateMachineTests(unittest.TestCase):
|
||||
"""状态更新规则：accepted=false 不更新；/clear 不动频道。"""
|
||||
|
||||
@staticmethod
|
||||
def _accepted_measure(virtual):
|
||||
return {"accepted": True, "real_timestamp_ms": 0,
|
||||
"virtual_time_s": virtual,
|
||||
"measure_result": "no_signal"}
|
||||
|
||||
def test_clear_keeps_channel(self):
|
||||
state = RobotState()
|
||||
state.entered = True
|
||||
measure_req = {"position": {"x": 300, "y": 400}, "channel": 2}
|
||||
state.apply_measure(measure_req, self._accepted_measure(106))
|
||||
self.assertEqual(state.channel, 2)
|
||||
clear_req = {"position": {"x": 300, "y": 0}, "channel": 3}
|
||||
response = {"accepted": True, "real_timestamp_ms": 0,
|
||||
"virtual_time_s": 189,
|
||||
"clear_result": CLEAR_NO_TARGET}
|
||||
state.apply_clear(clear_req, response)
|
||||
self.assertEqual(state.channel, 2, "/clear 不得改变测向机频道")
|
||||
|
||||
def test_rejected_response_never_updates(self):
|
||||
state = RobotState(position=(10, 20), channel=5, virtual_time_s=77)
|
||||
rejected = {"accepted": False, "real_timestamp_ms": 1, "virtual_time_s": 0}
|
||||
request = {"position": {"x": 0, "y": 0}, "channel": 1}
|
||||
with self.assertRaises(StateError):
|
||||
state.apply_measure(request, rejected)
|
||||
with self.assertRaises(StateError):
|
||||
state.apply_clear(request, rejected)
|
||||
with self.assertRaises(StateError):
|
||||
state.apply_enter(rejected)
|
||||
self.assertEqual((state.position, state.channel, state.virtual_time_s),
|
||||
((10, 20), 5, 77), "accepted=false 不得更新任何状态")
|
||||
|
||||
def test_virtual_time_zero_of_rejection_is_not_a_clock(self):
|
||||
"""accepted=false 的 virtual_time_s=0 不是当前时刻（回归附件2 4.1）。"""
|
||||
state = RobotState(virtual_time_s=300)
|
||||
rejected = {"accepted": False, "real_timestamp_ms": 9, "virtual_time_s": 0}
|
||||
with self.assertRaises(StateError):
|
||||
state.apply_measure({"position": {"x": 0, "y": 0}, "channel": 1}, rejected)
|
||||
self.assertEqual(state.virtual_time_s, 300)
|
||||
|
||||
def test_strict_mode_flags_prediction_gap(self):
|
||||
state = RobotState()
|
||||
state.entered = True
|
||||
request = {"position": {"x": 100, "y": 0}, "channel": 1}
|
||||
bad = {"accepted": True, "real_timestamp_ms": 0, "virtual_time_s": 3,
|
||||
"measure_result": "no_signal"} # 应为 25s，伪造 3s
|
||||
with self.assertRaises(StateError):
|
||||
state.apply_measure(request, bad, strict=True)
|
||||
|
||||
|
||||
class FieldTableSimTests(unittest.TestCase):
|
||||
"""字段表与错误语义（附件2 5.1/5.3/6.3/7.4）。"""
|
||||
|
||||
def setUp(self):
|
||||
self.sim = LocalSimulator([], robot_id="T001")
|
||||
self.base = {"arena_id": "default", "robot_id": "T001"}
|
||||
|
||||
def _measure(self, **override):
|
||||
payload = {**self.base, "request_id": "m1",
|
||||
"position": {"x": 0, "y": 0}, "channel": 1, **override}
|
||||
return self.sim.handle("/measure", payload)
|
||||
|
||||
def test_measure_before_enter_rejected(self):
|
||||
status, body = self._measure()
|
||||
self.assertEqual((status, body["accepted"]), (200, False))
|
||||
self.assertEqual(body["virtual_time_s"], 0)
|
||||
self.assertEqual(set(body) >= {"accepted", "real_timestamp_ms", "virtual_time_s"}, True)
|
||||
|
||||
def test_unknown_field_rejected_but_id_not_consumed(self):
|
||||
self.sim.handle("/enter", {**self.base, "request_id": "e1"})
|
||||
status, body = self._measure(extra_field=1) # 未声明字段
|
||||
self.assertEqual((status, body["accepted"]), (200, False))
|
||||
status, body = self._measure() # 同 ID 修正后可复用
|
||||
self.assertEqual((status, body["accepted"]), (200, True))
|
||||
|
||||
def test_wrong_robot_id_rejected(self):
|
||||
status, body = self.sim.handle("/enter", {**self.base, "robot_id": "OTHER",
|
||||
"request_id": "e1"})
|
||||
self.assertEqual((status, body["accepted"]), (200, False))
|
||||
|
||||
def test_channel_and_coordinate_validation_400(self):
|
||||
self.sim.handle("/enter", {**self.base, "request_id": "e1"})
|
||||
for channel in (0, 21, 1.5):
|
||||
status, _ = self._measure(request_id=f"c{channel}", channel=channel)
|
||||
self.assertEqual(status, 400)
|
||||
status, _ = self._measure(request_id="far",
|
||||
position={"x": 2_000_001, "y": 0})
|
||||
self.assertEqual(status, 400)
|
||||
|
||||
def test_position_unknown_field_rejected(self):
|
||||
self.sim.handle("/enter", {**self.base, "request_id": "e1"})
|
||||
status, body = self._measure(request_id="p1",
|
||||
position={"x": 0, "y": 0, "z": 0})
|
||||
self.assertEqual((status, body["accepted"]), (200, False))
|
||||
|
||||
def test_double_enter_rejected_then_measure_ok(self):
|
||||
status, body = self.sim.handle("/enter", {**self.base, "request_id": "e1"})
|
||||
self.assertEqual(body["accepted"], True)
|
||||
status, body = self.sim.handle("/enter", {**self.base, "request_id": "e2"})
|
||||
self.assertEqual((status, body["accepted"]), (200, False))
|
||||
status, body = self._measure(request_id="m1")
|
||||
self.assertEqual(body["accepted"], True)
|
||||
|
||||
|
||||
class WorkedExampleEndToEndTests(unittest.TestCase):
|
||||
"""完整链路：客户端 → 本地模拟器复现附件示例。"""
|
||||
|
||||
def test_attachment_example_reaches_199(self):
|
||||
simulator = LocalSimulator([], robot_id="T001")
|
||||
client = SimulatorClient("T001", transport=LocalSimTransport(simulator))
|
||||
client.enter()
|
||||
self.assertTrue(client.state.entered)
|
||||
self.assertEqual((client.state.position, client.state.channel), ((0.0, 0.0), 1))
|
||||
got = [client.measure((300, 400), 1).virtual_time_s,
|
||||
client.measure((300, 400), 2).virtual_time_s,
|
||||
client.clear((300, 0), 3).virtual_time_s,
|
||||
client.measure((300, 0), 2).virtual_time_s]
|
||||
self.assertEqual([round(v, 6) for v in got], [105, 111, 194, 199])
|
||||
self.assertEqual(client.state.channel, 2)
|
||||
info = client.exit()
|
||||
self.assertEqual((info.reason, round(info.virtual_time_s, 6)),
|
||||
("user_exit", 199))
|
||||
self.assertEqual(client.state.mismatches, [], "预测与服务器计时应完全一致")
|
||||
|
||||
def test_rejected_action_keeps_client_state(self):
|
||||
simulator = LocalSimulator([], robot_id="T001")
|
||||
client = SimulatorClient("T001", transport=LocalSimTransport(simulator))
|
||||
with self.assertRaises(ActionRejected):
|
||||
client.measure((0, 0), 1) # 未 enter
|
||||
self.assertEqual(client.state.virtual_time_s, 0)
|
||||
self.assertFalse(client.state.entered)
|
||||
client.enter()
|
||||
self.assertEqual(client.state.virtual_time_s, 0)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
@@ -3,6 +3,363 @@ revision = 3
|
||||
requires-python = ">=3.10"
|
||||
|
||||
[[package]]
|
||||
name = "math"
|
||||
version = "0.1.0"
|
||||
source = { virtual = "." }
|
||||
name = "certifi"
|
||||
version = "2026.7.22"
|
||||
source = { registry = "https://mirrors.aliyun.com/pypi/simple/" }
|
||||
sdist = { url = "https://mirrors.aliyun.com/pypi/packages/a3/c2/24167ea9858356b47a87a50d39908bfdb72ceeefe0041586e704e5376b3a/certifi-2026.7.22.tar.gz", hash = "sha256:741e2c3b351ddf169a738da9f2c048608ff7f2c5cc02f1ebc6b118bb090d5d55" }
|
||||
wheels = [
|
||||
{ url = "https://mirrors.aliyun.com/pypi/packages/0b/a7/71ac2cff56fec219ed242bb11b8efb69fcc4bec75db06fb7bfe35de520e6/certifi-2026.7.22-py3-none-any.whl", hash = "sha256:62f22742b58a1a33014a2b6b706588a8d7e2a88ae7bd1a6ebe8c992928483775" },
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "charset-normalizer"
|
||||
version = "3.5.1"
|
||||
source = { registry = "https://mirrors.aliyun.com/pypi/simple/" }
|
||||
sdist = { url = "https://mirrors.aliyun.com/pypi/packages/e5/3f/143b048436775b0f76ac3eec145c019e8173ccc2885c8f20319b996d5e83/charset_normalizer-3.5.1.tar.gz", hash = "sha256:6117b84ea48435e5356dc737f5121485c30920ba43375fa7b434fd753df0eac3" }
|
||||
wheels = [
|
||||
{ url = "https://mirrors.aliyun.com/pypi/packages/71/aa/554e2614f38fc34c58ff1d0911ae8535ad2516440d5482d76fe59f1088b0/charset_normalizer-3.5.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:d1ee1e296209fdce05b81b663250eefa02213a2da7b41bf26f7829b8ba3545aa" },
|
||||
{ url = "https://mirrors.aliyun.com/pypi/packages/03/6d/439231dfc3ccfa6f8c06477b7da2219cbd41a2de3d49084df8ec7b5100f2/charset_normalizer-3.5.1-cp310-cp310-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:e9fbdce1e47394b09bc9f26ab117dfc8d6491977a11d86f592bb42c779db2fda" },
|
||||
{ url = "https://mirrors.aliyun.com/pypi/packages/55/53/7d819bd23a00ef45039146fa2cce1daa2f0771e758c5653ee1f6edac91ed/charset_normalizer-3.5.1-cp310-cp310-manylinux2014_armv7l.manylinux_2_17_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:00668ebb0609751758682eb0b5857e7c35b9f00e84dfdef062e103244ec94d45" },
|
||||
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{ url = "https://mirrors.aliyun.com/pypi/packages/ef/be/605a6261cac79fba2ec0c9827e986e00323a1945700969b8ee0b30d85453/tomli-2.4.1-cp314-cp314t-win32.whl", hash = "sha256:b1d22e6e9387bf4739fbe23bfa80e93f6b0373a7f1b96c6227c32bef95a4d7a8" },
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{ url = "https://mirrors.aliyun.com/pypi/packages/5a/cd/e80b62269fc78fc36c9af5a6b89c835baa8af28ff5ad28c7028d60860320/tomli-2.4.1-cp314-cp314t-win_arm64.whl", hash = "sha256:eab21f45c7f66c13f2a9e0e1535309cee140182a9cdae1e041d02e47291e8396" },
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{ url = "https://mirrors.aliyun.com/pypi/packages/7b/61/cceae43728b7de99d9b847560c262873a1f6c98202171fd5ed62640b494b/tomli-2.4.1-py3-none-any.whl", hash = "sha256:0d85819802132122da43cb86656f8d1f8c6587d54ae7dcaf30e90533028b49fe" },
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||||
]
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||||
|
||||
[[package]]
|
||||
name = "typing-extensions"
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||||
version = "4.16.0"
|
||||
source = { registry = "https://mirrors.aliyun.com/pypi/simple/" }
|
||||
sdist = { url = "https://mirrors.aliyun.com/pypi/packages/f6/cc/6253133b5bb138fc3306cebfbda2c520f545d36b5be2c7255cc528bb45d6/typing_extensions-4.16.0.tar.gz", hash = "sha256:dc983d19a509c94dba722ee6abd33940f7c05a89e243c47e907eb4db6f1a43e5" }
|
||||
wheels = [
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||||
{ url = "https://mirrors.aliyun.com/pypi/packages/49/d3/b8441a820a491ddfc024b0b0cf0393375b75ea13866d9c66727e54c2fc80/typing_extensions-4.16.0-py3-none-any.whl", hash = "sha256:481caa481374e813c1b176ada14e97f1f67a4539ce9cfeb3f350d78d6370c2e8" },
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]
|
||||
|
||||
[[package]]
|
||||
name = "urllib3"
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||||
version = "2.7.0"
|
||||
source = { registry = "https://mirrors.aliyun.com/pypi/simple/" }
|
||||
sdist = { url = "https://mirrors.aliyun.com/pypi/packages/53/0c/06f8b233b8fd13b9e5ee11424ef85419ba0d8ba0b3138bf360be2ff56953/urllib3-2.7.0.tar.gz", hash = "sha256:231e0ec3b63ceb14667c67be60f2f2c40a518cb38b03af60abc813da26505f4c" }
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wheels = [
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||||
{ url = "https://mirrors.aliyun.com/pypi/packages/7f/3e/5db95bcf282c52709639744ca2a8b149baccf648e39c8cc87553df9eae0c/urllib3-2.7.0-py3-none-any.whl", hash = "sha256:9fb4c81ebbb1ce9531cce37674bbc6f1360472bc18ca9a553ede278ef7276897" },
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||||
]
|
||||
|
||||
Reference in New Issue
Block a user