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sloray
2026-09-13 18:05:59 +08:00
parent 9fb15f53f5
commit 89021eb9f8
234 changed files with 28597 additions and 2164 deletions
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scripts/plot_paper_figures.py
+428 -133
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@@ -1,6 +1,6 @@
# -*- coding: utf-8 -*-
from __future__ import annotations
import csv, json, math
import csv, json, math, re
from pathlib import Path
import numpy as np
import matplotlib
@@ -17,11 +17,15 @@ LIGHT = "#9DB7CA"
PALE = "#D9E4EC"
GOLD = "#B58B3A"
GREEN = "#4E7A55"
plt.rcParams.update({"font.sans-serif": ["DejaVu Sans"], "axes.unicode_minus": False,
plt.rcParams.update({"font.sans-serif": ["Microsoft YaHei", "SimHei", "DejaVu Sans"], "axes.unicode_minus": False,
"figure.dpi": 120, "savefig.dpi": 300, "axes.edgecolor": GRAY,
"axes.labelcolor": "#222222", "text.color": "#222222"})
def save(fig, name):
try:
fig.tight_layout()
except Exception:
pass
fig.savefig(FIG / name, bbox_inches="tight", facecolor="white")
plt.close(fig)
@@ -40,27 +44,6 @@ def load_formal():
rows.append(row)
return rows
def fig_formal_total():
rows = load_formal()
labels = ["Q%d-%d" % (r["problem_no"], r["formal_index"]) for r in rows]
total = [r["virtual_time_s"] for r in rows]
runtime = [r["program_run_duration_s"] for r in rows]
colors = [INK, LIGHT, PALE, GOLD, "#C98963", GREEN]
fig, axes = plt.subplots(1, 2, figsize=(10.5, 3.6))
for ax, vals, title, unit in ((axes[0], total, "Total virtual time", "s"),
(axes[1], runtime, "Program runtime", "s")):
bars = ax.barh(labels[::-1], vals[::-1], color=colors[::-1])
ax.set_xlabel(title + " / " + unit)
ax.grid(axis="x", color="#E5E5E5", linewidth=0.7)
ax.set_axisbelow(True)
for bar, val in zip(bars, vals[::-1]):
ax.text(bar.get_width() + max(vals) * 0.015,
bar.get_y() + bar.get_height() / 2,
"%.3f" % val, va="center", fontsize=8)
ax.margins(x=0.18)
fig.suptitle("Direct metrics of three formal tests", fontsize=11)
save(fig, "formal-total-time.png")
def fig_formal_time_bars():
rows = load_formal()
@@ -70,19 +53,34 @@ def fig_formal_time_bars():
switch = np.array([1.0 * r["channel_switch_count"] for r in rows])
clear = np.array([5.0 * r["cleared_jammer_count"] + 3.0 * r["clear_failure_count"] for r in rows])
fig, ax = plt.subplots(figsize=(9.0, 3.8))
ax.barh(labels, move, color=INK, label="Move")
ax.barh(labels, measure, left=move, color=LIGHT, label="Measure")
ax.barh(labels, switch, left=move + measure, color=GRAY, label="Switch")
ax.barh(labels, clear, left=move + measure + switch, color=GOLD, label="Clear")
ax.set_xlabel("Cumulative virtual time / s")
ax.barh(labels, move, color=INK, label="移动")
ax.barh(labels, measure, left=move, color=LIGHT, label="检测")
ax.barh(labels, switch, left=move + measure, color=GRAY, label="换频")
ax.barh(labels, clear, left=move + measure + switch, color=GOLD, label="清除")
ax.set_xlabel("累计虚拟时间 / s")
ax.grid(axis="x", color="#E5E5E5", linewidth=0.7)
ax.set_axisbelow(True)
ax.legend(loc="lower right", frameon=False, ncol=4)
save(fig, "formal-time-bars.png")
def box(ax, x, y, w, h, text, fc=PALE, ec=INK):
def practice_macro(name: str) -> str:
"""从 ``data/practice-macros.tex`` 读取正文主局案例编码。
正文与插图必须引用同一次采集的同一局，因此这里不写死案例编码，
而是读 ``build_practice_data.py`` 生成的宏，避免两处口径分叉。
"""
path = ROOT / "docs" / "paper" / "data" / "practice-macros.tex"
match = re.search(r"\\newcommand\{\\" + name + r"\}\{([^}]*)\}",
path.read_text(encoding="utf-8"))
if match is None:
raise KeyError(f"宏 {name} 不存在；请先运行 scripts/build_practice_data.py")
return match.group(1)
def box(ax, x, y, w, h, text, fc=PALE, ec=INK, size=8):
"""画一个流程框；``size`` 用 pt 指定字号，避免缩放后文字过小或过大。"""
ax.add_patch(Rectangle((x, y), w, h, facecolor=fc, edgecolor=ec, linewidth=1.0))
ax.text(x + w/2, y + h/2, text, ha="center", va="center", fontsize=8, wrap=True)
ax.text(x + w/2, y + h/2, text, ha="center", va="center", fontsize=size, wrap=True)
def arrow(ax, p, q, color=GRAY):
@@ -91,45 +89,73 @@ def arrow(ax, p, q, color=GRAY):
def fig_flow_overall():
fig, ax = plt.subplots(figsize=(8.0, 4.8))
"""四层主线图：紧凑画布，箭头端点一律落在框边，不在框内穿过。
原图四条 L2→L3 的箭头收在同一个点上，箭头头部挤成一团；
这里改为按顺序分别落在 L3 顶边的不同位置，
线不交叉、箭头也不重叠。
"""
fig, ax = plt.subplots(figsize=(7.6, 4.9))
ax.axis("off")
box(ax, 0.5, 4.0, 7.0, 0.8, "L0 Problem abstraction: area, motion, timing, channels", fc="#EFEFEF")
box(ax, 0.5, 3.0, 2.1, 0.7, "L1 Evidence\ncandidate sets")
box(ax, 2.9, 3.0, 2.1, 0.7, "L1 Decision\ntask tables")
box(ax, 5.3, 3.0, 2.1, 0.7, "L1 Execution\nactions")
box(ax, 0.5, 2.0, 1.6, 0.7, "L2 Q1\ngeometry", fc="#E8EEF4")
box(ax, 2.3, 2.0, 1.6, 0.7, "L2 Q2\nactive measure", fc="#E8EEF4")
box(ax, 4.1, 2.0, 1.6, 0.7, "L2 Q3\nomni loop", fc="#E8EEF4")
box(ax, 5.9, 2.0, 1.6, 0.7, "L2 Q4\nmixed loop", fc="#E8EEF4")
box(ax, 1.4, 0.8, 5.2, 0.7, "L3 Discovery -> Localisation -> Clearance", fc="#E6F0E7", ec=GREEN)
box(ax, 0.5, 4.0, 7.0, 0.8, "L0 题面抽象：区域、运动、计时、频道", fc="#EFEFEF",
size=9.5)
box(ax, 0.5, 3.0, 2.1, 0.7, "L1 证据层\n候选集", size=8.5)
box(ax, 2.9, 3.0, 2.1, 0.7, "L1 决策层\n任务表", size=8.5)
box(ax, 5.3, 3.0, 2.1, 0.7, "L1 执行层\n动作", size=8.5)
box(ax, 0.5, 2.0, 1.6, 0.7, "L2 问题一\n几何", fc="#E8EEF4", size=8.5)
box(ax, 2.3, 2.0, 1.6, 0.7, "L2 问题二\n主动测量", fc="#E8EEF4", size=8.5)
box(ax, 4.1, 2.0, 1.6, 0.7, "L2 问题三\n全向闭环", fc="#E8EEF4", size=8.5)
box(ax, 5.9, 2.0, 1.6, 0.7, "L2 问题四\n混合闭环", fc="#E8EEF4", size=8.5)
box(ax, 1.4, 0.8, 5.2, 0.7, "L3 发现 → 定位 → 清除", fc="#E6F0E7", ec=GREEN,
size=9.5)
# L0 → L1：三条竖直箭头，终点取各框顶边中点
for px in (1.55, 3.95, 6.35):
arrow(ax, (px, 4.0), (px, 3.7))
# L2 → L3：四条线先接到 L3 上方的一条汇流线，再由一个箭头进入 L3。
# 直接让四条箭头落在同一条边上时，箭头头部会彼此压住，故改用汇流线。
bus_y = 1.62
ax.plot([2.65, 5.15], [bus_y, bus_y], color=GRAY, linewidth=1.0, zorder=1)
for px in (1.3, 3.1, 4.9, 6.7):
arrow(ax, (px, 2.7), (3.9, 1.5))
ax.set_xlim(0, 8); ax.set_ylim(0, 5.2)
ax.plot([px, px], [2.0, bus_y], color=GRAY, linewidth=1.0, zorder=1)
arrow(ax, (3.9, bus_y), (3.9, 1.5))
ax.set_xlim(0, 8); ax.set_ylim(0.5, 5.2)
save(fig, "flow-overall-architecture.png")
def fig_framework():
fig, ax = plt.subplots(figsize=(5.8, 4.2))
"""闭环决策图：观测—候选集—任务—动作的循环，自下而上闭合。
箭头只画在框与框之间的空白处：起点取框边、终点取框边，
不在框内穿过，也不在一点挤成一团。因此这里给四周留出布线通道，
并用一条水平汇流线把"任务选择"到"退出/报告"的支路接出去。
"""
fig, ax = plt.subplots(figsize=(7.6, 5.15))
ax.axis("off")
box(ax, 0.3, 2.8, 2.0, 0.7, "Observation\nbearing / near / no-signal")
box(ax, 3.1, 2.8, 2.0, 0.7, "Candidate update\ngeometry / grid / heading")
box(ax, 3.1, 1.4, 2.0, 0.7, "Task selection\ncover / locate / clear")
box(ax, 0.3, 1.4, 2.0, 0.7, "Action execution\nmove and timing")
arrow(ax, (2.3, 3.15), (3.1, 3.15)); arrow(ax, (4.1, 2.8), (4.1, 2.1))
arrow(ax, (3.1, 1.75), (2.3, 1.75)); arrow(ax, (1.3, 2.1), (1.3, 2.8))
box(ax, 3.1, 0.3, 2.0, 0.6, "Exit / report", fc="#EFEFEF")
arrow(ax, (4.1, 1.4), (4.1, 0.9))
ax.set_xlim(0, 5.6); ax.set_ylim(0, 4.0)
box(ax, 0.3, 2.8, 2.0, 0.7, "观测\n示向度 / 近距离 / 无信号", size=8.5)
box(ax, 3.1, 2.8, 2.0, 0.7, "候选集更新\n几何 / 网格 / 朝向", size=8.5)
box(ax, 3.1, 1.4, 2.0, 0.7, "任务选择\n覆盖 / 定位 / 清除", size=8.5)
box(ax, 0.3, 1.4, 2.0, 0.7, "动作执行\n移动与计时", size=8.5)
box(ax, 3.1, 0.25, 2.0, 0.6, "退出 / 报告", fc="#EFEFEF", size=8.5)
# 回路：观测 →（右）候选集更新 →（下）任务选择 →（左）动作执行 →（上）观测
arrow(ax, (2.3, 3.15), (3.1, 3.15))
arrow(ax, (4.1, 2.8), (4.1, 2.1))
arrow(ax, (3.1, 1.75), (2.3, 1.75))
arrow(ax, (1.3, 2.1), (1.3, 2.8))
# 支路：任务选择下行到"退出/报告"，箭头端点都落在框边，不进入框内
arrow(ax, (4.1, 1.4), (4.1, 0.85))
ax.set_xlim(0.12, 5.28); ax.set_ylim(0.13, 3.62)
save(fig, "framework-decision-loop.png")
ax.set_xlim(0, 5.6); ax.set_ylim(0.3, 3.7)
save(fig, "framework-decision-loop.png")
def fig_state_machine():
fig, ax = plt.subplots(figsize=(7.0, 2.2))
ax.axis("off")
xs = [(0.1, "IDLE"), (1.8, "ENTER\n5 s countdown"), (3.8, "OPEN\ninterface"),
(5.8, "CLOSED\nexit / timeout")]
xs = [(0.1, "未进入"), (1.8, "进入\n5 s 倒计时"), (3.8, "接口开放"),
(5.8, "关闭\n退出 / 超时")]
for x, t in xs:
box(ax, x, 0.6, 1.5, 0.8, t)
for x in (1.6, 3.6, 5.6):
@@ -139,17 +165,17 @@ def fig_state_machine():
def fig_timing_attachment():
steps = ["step 1", "step 2", "step 3", "step 4"]
steps = ["步骤 1", "步骤 2", "步骤 3", "步骤 4"]
move = np.array([100.0, 0.0, 80.0, 0.0])
action = np.array([5.0, 5.0, 3.0, 5.0])
switch = np.array([0.0, 1.0, 0.0, 0.0])
fig, ax = plt.subplots(figsize=(6.0, 3.2))
ax.bar(steps, move, color=INK, label="Move")
ax.bar(steps, action, bottom=move, color=LIGHT, label="Measure / clear")
ax.bar(steps, switch, bottom=move + action, color=GRAY, label="Switch")
ax.bar(steps, move, color=INK, label="移动")
ax.bar(steps, action, bottom=move, color=LIGHT, label="检测 / 清除")
ax.bar(steps, switch, bottom=move + action, color=GRAY, label="换频")
for i, total in enumerate(move + action + switch):
ax.text(i, total + 2, "%.0f" % total, ha="center", fontsize=8)
ax.set_ylabel("Virtual time / s")
ax.set_ylabel("虚拟时间 / s")
ax.legend(frameon=False)
save(fig, "timing-attachment-example-105-111-194-199.png")
@@ -231,56 +257,93 @@ def min_enclosing_circle(pts):
return best_c, best_r
def fig_q1_counterexample():
A = np.array([0.0, 0.0]); B = np.array([40.0, 0.0]); C = np.array([20.0, 20.0 * math.sqrt(3)])
fig, ax = plt.subplots(figsize=(4.6, 4.2))
ax.add_patch(Polygon([A, B, C], closed=True, fill=False, edgecolor=INK, linewidth=1.4))
dc, dr = pair_circle(A, B); ax.add_patch(Circle(dc, dr, fill=False, edgecolor=GOLD, linestyle="--", linewidth=1.2))
mc, mr = min_enclosing_circle(np.array([A, B, C])); ax.add_patch(Circle(mc, mr, fill=False, edgecolor=GREEN, linewidth=1.4))
ax.scatter([A[0], B[0], C[0]], [A[1], B[1], C[1]], color=INK, s=12)
ax.text(C[0] + 0.8, C[1] + 0.6, "C", fontsize=9)
ax.text(-1.2, -2.0, "A", fontsize=9); ax.text(40.0, -2.0, "B", fontsize=9)
ax.set_aspect("equal"); ax.grid(True, color="#EEEEEE"); ax.set_xlim(-8, 52); ax.set_ylim(-8, 42)
ax.set_xlabel("x / m"); ax.set_ylabel("y / m")
ax.legend(["triangle", "diameter circle (r=20)", "minimum enclosing circle"], frameon=False, fontsize=7, loc="upper left")
save(fig, "geo-q1-diameter-circle-counterexample.png")
def load_q1_example():
"""问题一交会算例（scripts/build_practice_data.py 复算自建模拟器观测）。"""
path = ROOT / "docs" / "paper" / "data" / "practice-geometry.json"
return json.loads(path.read_text(encoding="utf-8"))
def fig_q1_meetup():
data_path = ROOT / "examples" / "q1" / "triangle.json"
meas = json.loads(data_path.read_text(encoding="utf-8"))["measurements"]
poly = intersection_polygon(meas, bound=2500.0)
if len(poly) < 3:
poly = np.array([[0.0, 0.0], [40.0, 0.0], [40.0, 30.0], [0.0, 30.0]])
fig, axes = plt.subplots(1, 2, figsize=(8.2, 4.0))
ax = axes[0]
def set_equal_view(ax, centre, half_width, box_aspect):
"""设定等比例视野，并让轴框高宽比等于 ``box_aspect``。
``set_box_aspect`` 与固定坐标范围同时使用会让 matplotlib 丢弃范围并告警，
因此这里直接按目标高宽比放大较窄的一维：三幅取同一 ``box_aspect`` 与同一宽度后，
轴框尺寸完全一致，版面高度自然严格相等。
"""
half_height = half_width * box_aspect
ax.set_xlim(centre[0] - half_width, centre[0] + half_width)
ax.set_ylim(centre[1] - half_height, centre[1] + half_height)
ax.set_aspect("equal")
def fig_q1_geometry():
"""问题一几何图：角域交会、定位区域放大、等边三角形反例，三幅等高并排。
三幅必须等高才能并排读，因此用 :func:`set_equal_view` 把三个轴框
固定为同一高宽比；三幅取相同宽度后，版面高度严格相等。
视野由观测点与定位区域联合确定，避免只按观测点设限导致区域跑出画面。
反例图原本是独立插图，这里并入同一张图，省去一次浮动与一个图注。
"""
example = load_q1_example()
meas = example["measurements"]
poly = np.array(example["vertices"], dtype=float)
box_aspect = 1.15
fig, (ax, ax2, ax3) = plt.subplots(1, 3, figsize=(9.6, 4.0))
stations = np.array([[m["x"], m["y"]] for m in meas], dtype=float)
for m in meas:
x, y = m["x"], m["y"]; th = math.radians(m["bearing_deg"]); d = math.radians(m["half_angle_deg"])
x, y = m["x"], m["y"]
th = math.radians(m["bearing_deg"])
d = math.radians(example["half_angle_deg"])
for sgn in (-1.0, 1.0):
ang = th + sgn * d
ray = np.array([x, y]) + 3600.0 * np.array([math.cos(ang), math.sin(ang)])
ax.plot([x, ray[0]], [y, ray[1]], color=LIGHT, linewidth=0.8)
ax.scatter([x], [y], color=GRAY, s=14)
ax.text(x + 40, y + 40, "S", fontsize=8)
ax.add_patch(Polygon(poly, closed=True, facecolor=PALE, edgecolor=INK, linewidth=1.4))
ax.set_aspect("equal"); ax.grid(True, color="#EEEEEE")
ax.set_xlim(-1200, 1000); ax.set_ylim(-1000, 1100)
end = np.array([x, y]) + 900.0 * np.array([math.cos(ang), math.sin(ang)])
ax.plot([x, end[0]], [y, end[1]], color=LIGHT, linewidth=0.9, zorder=1)
ax.scatter([x], [y], color=GRAY, s=16, zorder=3)
ax.annotate("S", (x, y), textcoords="offset points", xytext=(6, 5), fontsize=8)
ax.add_patch(Polygon(poly, closed=True, facecolor=PALE, edgecolor=INK,
linewidth=1.4, zorder=2))
# 视野取"观测点 ∪ 定位区域"的外包框，再补边距，保证两者同时入画。
stacked = np.vstack([stations, poly])
lo, hi = stacked.min(axis=0), stacked.max(axis=0)
set_equal_view(ax, (lo + hi) / 2.0, max(hi - lo) * 0.54, box_aspect)
ax.grid(True, color="#EEEEEE")
ax.set_title("(a) 角域交会", fontsize=9)
ax.set_xlabel("x / m"); ax.set_ylabel("y / m")
ax.set_title("Wedge intersection", fontsize=9)
ax2 = axes[1]
ax2.add_patch(Polygon(poly, closed=True, facecolor=PALE, edgecolor=INK, linewidth=1.4))
c, r = min_enclosing_circle(poly)
d = max(np.linalg.norm(poly[i] - poly[j]) for i in range(len(poly)) for j in range(i + 1, len(poly)))
dc, dr = pair_circle(poly[0], poly[np.argmax(np.linalg.norm(poly - poly[0], axis=1))])
ax2.add_patch(Circle(dc, dr, fill=False, edgecolor=GOLD, linestyle="--", linewidth=1.1))
ax2.add_patch(Circle(c, r, fill=False, edgecolor=GREEN, linewidth=1.3))
ax2.scatter(poly[:, 0], poly[:, 1], color=INK, s=10)
lo = poly.min(axis=0) - 4; hi = poly.max(axis=0) + 4
ax2.set_xlim(lo[0], hi[0]); ax2.set_ylim(lo[1], hi[1])
ax2.set_aspect("equal"); ax2.grid(True, color="#EEEEEE")
ax2.set_title("Zoom: diameter vs. enclosing circle", fontsize=9)
ax2.add_patch(Circle(example["diameter_circle_centre"], example["diameter_circle_radius_m"],
fill=False, edgecolor=GOLD, linestyle="--", linewidth=1.2,
label="直径圆"))
ax2.add_patch(Circle(example["mec_centre"], example["mec_radius_m"],
fill=False, edgecolor=GREEN, linewidth=1.4, label="最小包围圆"))
ax2.scatter(poly[:, 0], poly[:, 1], color=INK, s=16, label="定位区域顶点")
lo, hi = poly.min(axis=0), poly.max(axis=0)
set_equal_view(ax2, (lo + hi) / 2.0, max(hi - lo) * 0.62, box_aspect)
ax2.grid(True, color="#EEEEEE")
ax2.set_title("(b) 定位区域放大", fontsize=9)
ax2.set_xlabel("x / m"); ax2.set_ylabel("y / m")
save(fig, "geo-q1-convex-intersection-zoom.png")
ax2.legend(frameon=False, fontsize=7, loc="lower left", bbox_to_anchor=(0.0, 0.0))
tri = np.array([[0.0, 0.0], [40.0, 0.0], [20.0, 20.0 * math.sqrt(3.0)]])
ax3.add_patch(Polygon(tri, closed=True, fill=False, edgecolor=INK, linewidth=1.4))
ax3.add_patch(Circle((20.0, 0.0), 20.0, fill=False, edgecolor=GOLD,
linestyle="--", linewidth=1.2, label="直径圆 ($r=20$ m)"))
ax3.add_patch(Circle((20.0, 20.0 / math.sqrt(3.0)), 40.0 / math.sqrt(3.0), fill=False,
edgecolor=GREEN, linewidth=1.4,
label="最小包围圆 ($\\rho=40/\\sqrt{3}$ m)"))
ax3.scatter(tri[:, 0], tri[:, 1], color=INK, s=16)
for (px, py), name, dx, dy in ((tri[0], "A", -11.0, -3.0), (tri[1], "B", 7.0, -3.0),
(tri[2], "C", -2.0, 9.0)):
ax3.annotate(name, (px, py), textcoords="offset points", xytext=(dx, dy), fontsize=9)
set_equal_view(ax3, (20.0, 15.0), 30.0, box_aspect)
ax3.grid(True, color="#EEEEEE")
ax3.set_title("(c) 等边三角形反例", fontsize=9)
ax3.set_xlabel("x / m"); ax3.set_ylabel("y / m")
ax3.legend(frameon=False, fontsize=6.5, loc="upper right")
save(fig, "geo-q1-geometry.png")
def fig_q2_safe_disk():
delta = math.radians(1.0); rp = 1500.0; a = rp / (2.0 * math.cos(delta)); safe = 1000.0 - a
@@ -294,61 +357,293 @@ def fig_q2_safe_disk():
ax.text(a + 20, 20, "c", fontsize=9); ax.text(10, 15, "s", fontsize=9)
ax.set_aspect("equal"); ax.grid(True, color="#EEEEEE")
ax.set_xlim(-80, rp + 80); ax.set_ylim(-320, 320)
ax.set_xlabel("x / m"); ax.set_ylabel("y / m"); ax.set_title("Truncated wedge and safe disk", fontsize=9)
ax.set_xlabel("x / m"); ax.set_ylabel("y / m"); ax.set_title("截断角域与安全候选盘", fontsize=9)
ax = axes[1]
ax.plot([0, 0], [0, 1], color=GRAY, linewidth=2)
ax.plot([0, 1], [0, 0], color=INK, linewidth=4)
ax.text(0.5, -0.08, "a = 1500/(2cos delta)", ha="center", fontsize=8)
ax.text(0.5, 0.55, "safe radius = 1000 - a", ha="center", fontsize=8)
ax.text(0.5, -0.08, "a = 1500/(2cosδ)", ha="center", fontsize=8)
ax.text(0.5, 0.55, "安全半径 = 1000 - a", ha="center", fontsize=8)
ax.axis("off")
save(fig, "geo-q2-guaranteed-reception-disk.png")
def fig_q3_coverage():
a = 1159.7; R = 1800.0
fig, ax = plt.subplots(figsize=(5.2, 5.0))
ax.add_patch(Circle((0, 0), R, fill=False, edgecolor=INK, linewidth=1.4))
stations = [(0.0, 0.0)] + [(a * math.cos(k * math.pi / 3.0), a * math.sin(k * math.pi / 3.0)) for k in range(6)]
for x, y in stations:
ax.add_patch(Circle((x, y), 1000.0, facecolor=PALE, edgecolor=LIGHT, linewidth=0.7, alpha=0.35))
ax.scatter([x], [y], color=INK, s=16)
ax.add_patch(Circle((0, 0), a, fill=False, edgecolor=GRAY, linestyle="--", linewidth=1.0))
ax.text(0, 0, "O", fontsize=9, ha="right", va="top"); ax.text(a, 0, "a", fontsize=9, ha="center", va="bottom")
ax.set_aspect("equal"); ax.grid(True, color="#EEEEEE"); ax.set_xlim(-2000, 2000); ax.set_ylim(-2000, 2000)
ax.set_xlabel("x / m"); ax.set_ylabel("y / m"); ax.set_title("Seven-point coverage", fontsize=9)
save(fig, "geo-q3-seven-point-coverage.png")
def fig_q4_plan():
data = json.loads((ROOT / "src" / "mcm26b" / "guarantee" / "plans" / "q4_mincover_v2.json").read_text(encoding="utf-8"))
"""31 点最小命中集：站点分布 + 圆域外站点 + 定向源的读图约定。
原图把一枚前向半盘楔形压在站点与轨迹附近，读者无法判断它在说什么。
这里改为：圆外用空心标记单独区分，并在"圆外站点"上给出定向源示例——
绿箭头为朝向、浅绿细线扇形为 ±90° 发射范围、红色虚线为该点实测到的示向度，
三者构成一条完整的"朝向 → 可见范围 → 观测量"读图链。
"""
data = json.loads((ROOT / "src" / "mcm26b" / "guarantee" / "plans"
/ "q4_mincover_v2.json").read_text(encoding="utf-8"))
pts = np.array(data["points"], dtype=float)
fig, ax = plt.subplots(figsize=(5.4, 5.0))
ax.add_patch(Circle((0, 0), 1800.0, facecolor=PALE, edgecolor=INK, linewidth=1.1, alpha=0.45))
ax.scatter(pts[:, 0], pts[:, 1], color=INK, s=18, label="31 stations")
ax.scatter([0], [0], color=GOLD, marker="*", s=50, label="origin")
ax.arrow(1200, 1200, 450, 0, head_width=70, head_length=100, color=GREEN, length_includes_head=True)
ax.add_patch(Wedge((1200, 1200), 650, -90, 90, facecolor=GREEN, alpha=0.10, edgecolor=GREEN, linewidth=0.8))
ax.text(1250, 1250, "forward half-disk", fontsize=8)
ax.set_aspect("equal"); ax.grid(True, color="#EEEEEE"); ax.set_xlim(-2800, 2800); ax.set_ylim(-2800, 2800)
ax.set_xlabel("x / m"); ax.set_ylabel("y / m"); ax.legend(frameon=False, fontsize=8, loc="lower right")
inside = np.linalg.norm(pts, axis=1) <= 1800.0
fig, ax = plt.subplots(figsize=(7.6, 6.6))
ax.add_patch(Circle((0, 0), 1800.0, facecolor=PALE, edgecolor=INK,
linewidth=1.1, alpha=0.45, zorder=1))
ax.text(0, 1840, "Ω", ha="center", va="bottom", fontsize=9)
ax.scatter(pts[inside, 0], pts[inside, 1], color=INK, s=18,
label=f"圆域内检测站（{int(inside.sum())} 个）", zorder=4)
ax.scatter(pts[~inside, 0], pts[~inside, 1], facecolor="white", edgecolor=INK,
linewidth=1.1, s=26, label=f"圆域外检测站（{int((~inside).sum())} 个）",
zorder=4)
ax.scatter([0], [0], color=GOLD, marker="*", s=60, label="原点（出发位置）", zorder=5)
# 定向源示例挂在"离圆域最近的圆外站点"上，扇形朝外，不再压住站点云。
outside = pts[~inside]
anchor = outside[np.argmin(np.linalg.norm(outside, axis=1))] if len(outside) else pts[0]
bearing = 20.0
draw_source(ax, {"x": anchor[0], "y": anchor[1], "heading_deg": bearing,
"directional": True}, fan_radius=560.0, annotate=True)
# 源放在该站的前向半盘内，并画出它到检测站的实测示向度，补全读图链。
src = np.array([anchor[0] + 820.0 * math.cos(math.radians(bearing - 30.0)),
anchor[1] + 820.0 * math.sin(math.radians(bearing - 30.0))])
ax.scatter([src[0]], [src[1]], marker="X", s=110, color="#B33A3A",
label="定向源读图示例（非真实源）", zorder=6)
ax.plot([anchor[0], src[0]], [anchor[1], src[1]], color="#B33A3A",
linestyle=(0, (4, 3)), linewidth=1.1, zorder=3)
measured = math.degrees(math.atan2(src[1] - anchor[1], src[0] - anchor[0]))
ax.annotate(f"实测示向度 {measured:.0f}°",
xy=((anchor[0] + src[0]) / 2, (anchor[1] + src[1]) / 2),
xytext=(src[0] + 320, src[1] + 380), fontsize=7.5, color="#B33A3A",
arrowprops=dict(arrowstyle="->", color="#B33A3A", linewidth=0.8))
draw_reading_guide(ax, "定向源读图约定：绿箭头＝朝向，浅绿细线扇形\n"
"＝该源 ±90° 发射范围，红色虚线＝检测站测得\n"
"的示向度（有朝向遮挡时才可能出现无信号）",
anchor=(0.015, 0.30))
ax.set_aspect("equal")
ax.set_xlim(-3100, 3100)
ax.set_ylim(-3100, 3100)
ax.set_xlabel("x / m")
ax.set_ylabel("y / m")
ax.grid(True, color="#EEEEEE", linewidth=0.6)
ax.legend(frameon=False, fontsize=8, loc="center left", bbox_to_anchor=(1.02, 0.5))
save(fig, "geo-q4-minimum-cover-31-points.png")
def load_practice():
"""自建模拟器演练局复算结果（scripts/build_practice_data.py 生成）。"""
path = ROOT / "docs" / "paper" / "data" / "practice-results.json"
return json.loads(path.read_text(encoding="utf-8"))["records"]
def fig_practice_total():
"""演练局虚拟时间：逐局散点 + 全清局均值，用对数轴容纳四次方的跨度。"""
rows = load_practice()
fig, ax = plt.subplots(figsize=(7.6, 3.6))
styles = {3: (INK, "o", "问题三：全向源"), 4: (GOLD, "s", "问题四：混合源")}
for problem, (color, marker, label) in styles.items():
subset = [r for r in rows if r["problem_no"] == problem]
times = [r["virtual_time_s"] for r in subset]
ax.scatter(times, [problem + (0.13 if r["complete"] else -0.13) for r in subset],
color=color, marker=marker, s=34, label=label, zorder=3)
ok = [r["virtual_time_s"] for r in subset if r["complete"]]
mean = sum(ok) / len(ok)
ax.plot([mean, mean], [problem - 0.28, problem + 0.28], color=color, linewidth=2.2, zorder=4)
ax.text(mean, problem + 0.34, "均值 %.0f s" % mean, color=color, fontsize=8, ha="center")
ax.set_xscale("log")
ax.set_yticks([3, 4])
ax.set_yticklabels(["问题三\n（全向源）", "问题四\n（混合源）"])
ax.set_ylim(2.5, 4.6)
ax.set_xlabel("总虚拟时间 / s")
ax.grid(axis="x", color="#E5E5E5", linewidth=0.7)
ax.set_axisbelow(True)
ax.legend(frameon=False, fontsize=8, ncol=2, loc="lower center",
bbox_to_anchor=(0.5, -0.46))
save(fig, "practice-virtual-time.png")
def main():
fig_formal_total()
fig_formal_time_bars()
fig_practice_total()
fig_flow_overall()
fig_framework()
fig_state_machine()
fig_timing_attachment()
fig_q1_counterexample()
fig_q1_meetup()
fig_q1_geometry()
fig_q2_safe_disk()
fig_q3_coverage()
fig_q4_plan()
fig_selfbuilt_path(practice_macro("PractQThreeMainCase"),
"自建模拟器：全向源搜索与清除路径",
"selfbuilt-q3-search-clear-path.png")
fig_selfbuilt_path(
practice_macro("PractQFourMainCase"),
"自建模拟器：混合源搜索与清除路径（含定向源前向半盘）",
"selfbuilt-q4-search-clear-path.png",
guide="定向源读图约定：绿箭头＝发射朝向，\n"
"浅绿细线扇形＝该源 ±90° 可见范围；\n"
"每条细射线＝一次检测得到的示向度")
def load_selfbuilt_session(case_code):
paths = [ROOT / "referee-data" / "sessions" / case_code / "log.jsonl"]
replay_dir = ROOT / "examples" / "replay"
if replay_dir.exists():
paths += sorted(replay_dir.glob(case_code + "*.jsonl"))
for path in paths:
if path.exists():
data = []
for line in path.read_text(encoding="utf-8").splitlines():
if line.strip():
data.append(json.loads(line))
truth = next((ev.get("truth", []) for ev in data if ev.get("event") == "session_start"), [])
actions = [ev for ev in data if ev.get("event") == "action"]
return truth, actions
raise FileNotFoundError(case_code)
RAY_MAX_M = 620.0 # 示向度射线显示长度上限：过长会盖住轨迹，只画到能读出方向为止
FAN_RADIUS_M = 260.0 # 检测点处示意接收角域的扇形半径
SRC_FAN_RADIUS_M = 300.0 # 定向源前向半盘示意半径：过大即与站点/轨迹重叠
def selfbuilt_path_data(actions):
"""把行为日志整理成画图所需的序列。
返回轨迹、逐次检测（位置、结果、示向度）、成功与失败清除点。
检测结果是画图的关键：``direction`` 反映测到了示向度，
``near`` 表示已进入 5 m 可直接清除，``no_signal`` 表示该点收不到信号。
"""
path = [(0.0, 0.0)]
measures = []
clears_ok = []
clears_fail = []
pos = (0.0, 0.0)
for ev in actions:
req = ev.get("request") or {}
res = ev.get("response") or {}
if "position" in req:
pos = (float(req["position"]["x"]), float(req["position"]["y"]))
if path[-1] != pos:
path.append(pos)
if ev.get("path") == "/measure":
measures.append({"xy": pos,
"result": res.get("measure_result", ""),
"bearing": res.get("svd_deg"),
"channel": req.get("channel")})
elif ev.get("path") == "/clear":
if res.get("clear_result") == "success":
clears_ok.append(pos)
elif "clear_result" in res:
clears_fail.append(pos)
return np.array(path, dtype=float), measures, clears_ok, clears_fail
def draw_source(ax, src, fan_radius=SRC_FAN_RADIUS_M, annotate=False):
"""画一个干扰源；定向源额外画出朝向箭头与其 ±90° 前向半盘。
``annotate`` 只在需要解释读图约定时置真，且每个源只写一次角度标注，
避免同一句话在图上重复出现。
"""
x, y = float(src["x"]), float(src["y"])
if not src.get("directional"):
return
heading = float(src.get("heading_deg", 0.0))
ax.add_patch(Wedge((x, y), fan_radius, heading - 90, heading + 90,
facecolor=GREEN, edgecolor=GREEN, alpha=0.16,
linewidth=0.7, zorder=2))
ax.add_patch(FancyArrowPatch((x, y),
(x + fan_radius * 0.95 * math.cos(math.radians(heading)),
y + fan_radius * 0.95 * math.sin(math.radians(heading))),
arrowstyle="-|>", mutation_scale=9, linewidth=1.2,
color=GREEN, zorder=4))
if annotate:
ax.annotate(f"{heading:.0f}°", xy=(x, y),
xytext=(x - 70, y + fan_radius * 1.12),
fontsize=7.5, color=GREEN, ha="right",
arrowprops=dict(arrowstyle="-", color=GREEN, linewidth=0.6,
shrinkA=1, shrinkB=3))
def draw_reading_guide(ax, text, anchor=(0.015, 0.985)):
"""在坐标区一角写读图约定，替代散落在图上的大段解释文字。"""
ax.text(anchor[0], anchor[1], text, transform=ax.transAxes,
fontsize=7.5, color=GREEN, va="top", ha="left",
bbox=dict(boxstyle="round,pad=0.35", facecolor="white",
edgecolor=GREEN, linewidth=0.6, alpha=0.92), zorder=10)
def draw_measures(ax, measures, ray_color=None):
"""画检测点与示向度射线，并按检测结果区分标记。
射线长度取固定上限：既能读出方向，又不会像原来那样铺满整张图掩盖轨迹。
线宽与不透明度按印刷可辨识度选取——早期版本用 0.5 pt/0.5 太细，
缩到论文栏宽后几乎看不见，这里统一加粗到 1.1 pt 并提高对比度。
"""
ray_color = ray_color or "#7FA6C4"
for item in measures:
x, y = item["xy"]
if item["result"] == "direction" and item["bearing"] is not None:
ang = math.radians(float(item["bearing"]))
unit = np.array([math.cos(ang), math.sin(ang)])
ax.plot([x, x + unit[0] * RAY_MAX_M], [y, y + unit[1] * RAY_MAX_M],
color=ray_color, linewidth=1.1, alpha=0.75, zorder=1,
solid_capstyle="round")
kinds = {
"direction": dict(marker="o", size=16, color=INK, label="检测到示向度（含射线）"),
"near": dict(marker="D", size=18, color=GOLD, label="检测到近距离"),
"no_signal": dict(marker="x", size=12, color="#9A9A9A", label="检测为无信号"),
}
for result, style in kinds.items():
subset = [m for m in measures if m["result"] == result]
if not subset:
continue
xs = [m["xy"][0] for m in subset]
ys = [m["xy"][1] for m in subset]
ax.scatter(xs, ys, marker=style["marker"], s=style["size"], color=style["color"],
linewidths=0.9, label=f"{style['label']}（{len(subset)} 次）", zorder=6)
def fig_selfbuilt_path(case_code, title, outname, guide=None):
"""画一局演练的搜索与清除路径。
``guide`` 只在需要解释定向源读图约定时传入；全向源局不画扇形符号，
以免出现图上没有对应元素的图例文字。
"""
truth, actions = load_selfbuilt_session(case_code)
path, measures, clears_ok, clears_fail = selfbuilt_path_data(actions)
fig, ax = plt.subplots(figsize=(8.6, 7.4))
ax.add_patch(Circle((0, 0), 1800, fill=False, edgecolor=INK, linewidth=1.2, zorder=2))
ax.text(0, 1830, "Ω", ha="center", va="bottom", fontsize=9)
for src in truth:
draw_source(ax, src, annotate=bool(src.get("directional")))
ax.scatter([float(s["x"]) for s in truth], [float(s["y"]) for s in truth],
marker="X", s=70, color=GOLD, label="干扰源真值", zorder=7)
ax.plot(path[:, 0], path[:, 1], color=INK, linewidth=1.4, alpha=0.95,
label="机器狗轨迹", zorder=5)
ax.scatter(path[0, 0], path[0, 1], marker="o", s=45, color=GREEN, label="起点", zorder=8)
ax.scatter(path[-1, 0], path[-1, 1], marker="s", s=45, color=GRAY, label="终点", zorder=8)
draw_measures(ax, measures)
if guide:
draw_reading_guide(ax, guide)
if clears_ok:
xy = np.array(clears_ok)
ax.scatter(xy[:, 0], xy[:, 1], marker="*", s=95, color=GREEN,
edgecolor="white", linewidth=0.5, label="成功清除点", zorder=9)
if clears_fail:
xy = np.array(clears_fail)
ax.scatter(xy[:, 0], xy[:, 1], marker="x", s=45, color="#B33A3A",
label="清除失败点", zorder=9)
ax.set_aspect("equal")
ax.set_xlim(-2150, 2150)
ax.set_ylim(-2150, 2150)
ax.set_xlabel("x / m")
ax.set_ylabel("y / m")
ax.set_title(title, fontsize=11)
ax.grid(True, color="#EEEEEE", linewidth=0.6)
ax.legend(loc="center left", bbox_to_anchor=(1.02, 0.5), frameon=False, fontsize=8)
save(fig, outname)
if __name__ == "__main__":
main()