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tests/test_loop_q3.py

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+"""P4 全向闭环端到端验收：10/16/0 源、边界源、预算耗尽与故障注入。
+
+对应 docs/B题建模分析与实施计划.md P4 行验收门槛（自建部分）：
+- 10/16 源场景正确退出，全清或数量上界证明；
+- 近圆域边界源不漏搜、可清除；
+- 虚拟时刻逐步复算与服务器响应一致；
+- 现实预算耗尽退出记为未完成，不与成功混记；
+- 网络故障重试（幂等回放）不污染闭环结果。
+"""
+
+import unittest
+from dataclasses import replace
+from itertools import count
+
+from mcm26b.config import ProblemConfig
+from mcm26b.coverage import coverage_points
+from mcm26b.evaluation import recompute_virtual_time
+from mcm26b.planner import OmnidirectionalLoop
+from mcm26b.protocol.client import SimulatorClient
+from mcm26b.sim import (LocalSimTransport, LocalSimulator,
+                        ScriptedFaultTransport, Source)
+from mcm26b.sim.scenes import random_omni_scene
+
+CONFIG = replace(ProblemConfig(),
+                 search=replace(ProblemConfig().search,
+                                bearing_rounding_margin_deg=0.005))
+
+
+def _run_scene(sources, fault_script=None, clock=None):
+    simulator = LocalSimulator(sources, robot_id="T001", config=CONFIG)
+    transport = LocalSimTransport(simulator)
+    if fault_script is not None:
+        transport = ScriptedFaultTransport(transport, fault_script)
+    kwargs = {"clock": clock} if clock is not None else {}
+    client = SimulatorClient("T001", config=CONFIG, transport=transport, **kwargs)
+    loop = OmnidirectionalLoop(client, CONFIG)
+    summary = loop.run()
+    report = recompute_virtual_time(client.log.action_events())
+    return summary, report, simulator
+
+
+class LoopAcceptanceTests(unittest.TestCase):
+    def test_ten_sources_all_cleared(self):
+        sources = random_omni_scene(seed=5, count=10)
+        summary, report, simulator = _run_scene(sources)
+        truth = sorted(s.channel for s in sources)
+        self.assertTrue(summary["completed"])
+        self.assertEqual(summary["stop_reason"], "all_resolved")
+        self.assertEqual(sorted(summary["cleared_channels"]), truth)
+        self.assertEqual(len(summary["absent_channels"]), 10)
+        self.assertEqual(summary["unresolved_channels"], [])
+        self.assertEqual(summary["anomalies"], [], "守恒性或证书不应被打破")
+        self.assertEqual(report["mismatches"], [])
+        self.assertEqual(summary["virtual_recompute_mismatches"], 0)
+        self.assertEqual(sorted(simulator.cleared), truth)
+        self.assertEqual(summary["exit_reason"], "user_exit")
+        self.assertLess(summary["virtual_time_s"],
+                        CONFIG.field.max_virtual_duration_s)
+
+    def test_sixteen_sources_stop_by_count_bound(self):
+        sources = random_omni_scene(seed=6, count=16)
+        summary, report, simulator = _run_scene(sources)
+        truth = sorted(s.channel for s in sources)
+        self.assertTrue(summary["completed"])
+        self.assertEqual(summary["stop_reason"], "sixteen_cleared")
+        self.assertEqual(sorted(summary["cleared_channels"]), truth)
+        self.assertEqual(report["mismatches"], [])
+        self.assertEqual(sorted(simulator.cleared), truth)
+
+    def test_empty_field_proves_absence_everywhere(self):
+        summary, report, _ = _run_scene([])
+        self.assertTrue(summary["completed"])
+        self.assertEqual(summary["stop_reason"], "all_resolved")
+        self.assertEqual(summary["cleared_channels"], [])
+        self.assertEqual(summary["absent_channels"], list(range(1, 21)))
+        self.assertEqual(summary["measures"], 49 * 20, "缺席证明要求全网格逐频道检测")
+        self.assertEqual(report["mismatches"], [])
+
+    def test_boundary_source_close_to_domain_edge(self):
+        """半径 1790m、接收半径 1000m 的源：覆盖保证的最近网格点必须发现它。"""
+        source = Source(channel=13, x=1790.0, y=0.0, r_eff_m=1000.0)
+        summary, _, simulator = _run_scene([source])
+        self.assertTrue(summary["completed"])
+        self.assertEqual(sorted(summary["cleared_channels"]), [13])
+        self.assertEqual(sorted(simulator.cleared), [13])
+
+    def test_source_on_grid_vertex(self):
+        source = Source(channel=20, x=-1400.0, y=700.0, r_eff_m=1500.0)
+        summary, _, _ = _run_scene([source])
+        self.assertTrue(summary["completed"])
+        self.assertEqual(sorted(summary["cleared_channels"]), [20])
+
+    def test_real_budget_exhaustion_exits_cleanly(self):
+        """现实预算耗尽：立即退出并记为未证明完成。"""
+        ticks = count(0.0, 200.0)   # 每次查询时钟前进 200s，迅速耗尽 1200s 预算
+        sources = random_omni_scene(seed=8, count=4)
+        summary, _, _ = _run_scene(sources, clock=lambda: next(ticks))
+        self.assertFalse(summary["completed"])
+        self.assertEqual(summary["stop_reason"], "real_budget_exhausted")
+        self.assertEqual(summary["exit_reason"], "user_exit")
+
+    def test_fault_injection_during_coverage(self):
+        """覆盖中途注入读超时与断连：幂等回放保证闭环结果不变。"""
+        sources = random_omni_scene(seed=9, count=3)
+        script = [None, None, None, "timeout_after", None,
+                  "drop_before", None, ("status", 500), None, None]
+        summary, report, simulator = _run_scene(sources, fault_script=script)
+        truth = sorted(s.channel for s in sources)
+        self.assertTrue(summary["completed"])
+        self.assertEqual(sorted(summary["cleared_channels"]), truth)
+        self.assertEqual(report["mismatches"], [])
+        self.assertEqual(sorted(simulator.cleared), truth)
+
+
+class CoverageLedgerIntegrationTests(unittest.TestCase):
+    def test_grid_matches_plan_derivation(self):
+        points = coverage_points(CONFIG)
+        self.assertEqual(len(points), 49)
+        self.assertEqual(min(p[0] for p in points), -2100.0)
+        self.assertEqual(max(p[1] for p in points), 2100.0)
+        # 单元内任意点到最近网格点 <= 700*sqrt(2) <= 1000 的覆盖保证
+        worst = 0.0
+        for gx in range(-20, 21):
+            for gy in range(-20, 21):
+                g = (gx * 90.0, gy * 90.0)
+                if (g[0] ** 2 + g[1] ** 2) ** 0.5 <= 1800.0:
+                    nearest = min(math_dist(g, p) for p in points)
+                    worst = max(worst, nearest)
+        self.assertLessEqual(worst, 700.0 * 2 ** 0.5 + 1e-9)
+
+
+def math_dist(a, b):
+    return ((a[0] - b[0]) ** 2 + (a[1] - b[1]) ** 2) ** 0.5
+
+
+if __name__ == "__main__":
+    unittest.main()