refactor(arch): redesign the code structure

2026-09-10 22:38:27 +08:00
parent 21e8a8bf52
commit 83d2e24448
42 changed files with 2514 additions and 251 deletions
@@ -0,0 +1,121 @@
+"""Collect a few bearings for Q1 from an ALREADY OPEN practice session.
+
+There is deliberately no test-start API, formal mode, or /clear call here.
+The documented robot API does not expose mode: verify the UI before running.
+"""
+
+import argparse
+import json
+import math
+from pathlib import Path
+import time
+import uuid
+from urllib.error import URLError
+from urllib.request import Request, urlopen
+
+from mcm26b import Measurement, solve
+
+
+class PracticeClient:
+    def __init__(self, robot_id, output, base_url='http://127.0.0.1:2026'):
+        self.robot_id = robot_id
+        self.output = output
+        self.base_url = base_url.rstrip('/')
+        self.prefix = uuid.uuid4().hex[:12]
+        self.count = 0
+        self.events = []
+        self.deadline = None
+
+    def action(self, path, **extra):
+        if path not in ('/enter', '/measure', '/exit'):
+            raise ValueError('采集器只允许进入、检测、退出')
+        if self.deadline is not None and path != '/exit' and time.monotonic() > self.deadline-15:
+            raise TimeoutError('剩余时间不足，预留退出时间')
+        self.count += 1
+        payload = dict(arena_id='default', robot_id=self.robot_id,
+                       request_id=f'q1-{self.prefix}-{self.count}', **extra)
+        encoded = json.dumps(payload, allow_nan=False).encode('utf-8')
+        for attempt in range(3):
+            request = Request(self.base_url+path, data=encoded,
+                              headers={'Content-Type':'application/json'}, method='POST')
+            try:
+                with urlopen(request, timeout=5) as response:
+                    status = response.status
+                    body = json.load(response)
+                # A retried action is recorded/consumed only once.
+                self.events.append(dict(path=path, request=payload, response=body, retries=attempt))
+                self.output.write_text(json.dumps(self.events,ensure_ascii=False,indent=2),encoding='utf-8')
+                if status != 200 or body.get('accepted') is not True:
+                    raise RuntimeError(f'动作未被接受: {status}, {body}')
+                if path == '/enter':
+                    self.deadline = time.monotonic()+body['remaining_real_duration_s']
+                return body
+            except URLError:
+                if attempt == 2:
+                    raise
+                time.sleep(.25)
+
+    def measure(self, p, channel):
+        return self.action('/measure',position={'x':p[0],'y':p[1]},channel=channel)
+
+
+def main():
+    parser=argparse.ArgumentParser(description=__doc__)
+    parser.add_argument('--robot-id',required=True)
+    parser.add_argument('--practice-confirmed',action='store_true',required=True,
+                        help='仅在界面确认为问题3演练且接口已就绪时提供')
+    parser.add_argument('--case-code',required=True,help='界面显示的演练案例编码')
+    parser.add_argument('--output',type=Path,default=Path('output/q1/practice'))
+    args=parser.parse_args()
+    args.output.mkdir(parents=True,exist_ok=True)
+    log_path=args.output/f'{args.case_code}_actions.json'
+    if log_path.exists():
+        parser.error('同名采集日志已存在，请使用新的输出目录，避免覆盖证据')
+    client=PracticeClient(args.robot_id,log_path)
+    observations=[]
+    channel=None
+    first=None
+    entered=False
+    repeat=None
+    try:
+        client.action('/enter')
+        entered=True
+        for p in [(0,0),(800,0),(-800,0),(0,800),(0,-800)]:
+            for c in range(1,21):
+                response=client.measure(p,c)
+                if response['measure_result']=='direction':
+                    first=(p,response['svd_deg'])
+                    observations.append(Measurement(*p,response['svd_deg']))
+                    channel=c
+                    break
+            if channel is not None:
+                break
+        if channel is None:
+            raise RuntimeError('预设采样点未取得direction；本次不扩展为全域搜索')
+        p,theta=first
+        repeat=client.measure(p,channel)
+        a=math.radians(theta)
+        # For an omnidirectional source seen initially at <=1500m, these
+        # 700m-forward, +/-200m-lateral points remain within 1000m of its wedge.
+        for lateral in [200,-200,300,-300]:
+            q=(p[0]+700*math.cos(a)-lateral*math.sin(a),
+               p[1]+700*math.sin(a)+lateral*math.cos(a))
+            response=client.measure(q,channel)
+            if response['measure_result']=='direction':
+                observations.append(Measurement(*q,response['svd_deg']))
+            if len(observations)>=3:
+                break
+        data={'name':'官方问题3演练观测','source':'official_practice','case_code':args.case_code,
+              'channel':channel,'ground_truth':None,'measurements':[m.__dict__ for m in observations],
+              'repeated_station_response':repeat,'result':solve(observations),
+              'scope':'仅采集问题一观测，不执行问题三全清除任务；没有调用clear'}
+        path=args.output/f'{args.case_code}_observations.json'
+        path.write_text(json.dumps(data,ensure_ascii=False,indent=2,allow_nan=False),encoding='utf-8')
+        print(json.dumps({'observations':str(path),'count':len(observations),'result':data['result']},ensure_ascii=False,indent=2))
+    finally:
+        if entered:
+            client.action('/exit')
+
+
+if __name__=='__main__':
+    main()