From b15db59ac300ee8187233cb1c6b6a185cad77689 Mon Sep 17 00:00:00 2001 From: Horldsence Date: Fri, 11 Sep 2026 17:24:29 +0800 Subject: [PATCH] 14 --- .../sessions/6X58-XQ7U-CJ24-JQQR/log.jsonl | 126 +++++++++++++ .../sessions/6X58-XQ7U-CJ24-JQQR/meta.json | 112 +++++++++++ .../sessions/BAU8-WBA6-KTVC-ZEXJ/log.jsonl | 133 +++++++++++++ .../sessions/BAU8-WBA6-KTVC-ZEXJ/meta.json | 88 +++++++++ referee/src/referee/static/replay.js | 26 ++- referee/tests/js/replay_harness.cjs | 177 ++++++++++++++++++ referee/tests/test_replay_player_js.py | 25 +++ scripts/benchmark_q3_revision.py | 5 +- tests/test_planner_revision.py | 3 +- 9 files changed, 683 insertions(+), 12 deletions(-) create mode 100644 referee-data/sessions/6X58-XQ7U-CJ24-JQQR/log.jsonl create mode 100644 referee-data/sessions/6X58-XQ7U-CJ24-JQQR/meta.json create mode 100644 referee-data/sessions/BAU8-WBA6-KTVC-ZEXJ/log.jsonl create mode 100644 referee-data/sessions/BAU8-WBA6-KTVC-ZEXJ/meta.json create mode 100644 referee/tests/js/replay_harness.cjs create mode 100644 referee/tests/test_replay_player_js.py diff --git a/referee-data/sessions/6X58-XQ7U-CJ24-JQQR/log.jsonl b/referee-data/sessions/6X58-XQ7U-CJ24-JQQR/log.jsonl new file mode 100644 index 0000000..2251304 --- /dev/null +++ b/referee-data/sessions/6X58-XQ7U-CJ24-JQQR/log.jsonl @@ -0,0 +1,126 @@ +{"event": "session_start", "case_code": "6X58-XQ7U-CJ24-JQQR", "module": "q4_practice", "robot_id": "1", "seed": 477239471, "countdown_s": 5.0, "window_s": 1500.0, "max_real_duration_s": 1200.0, "truth": [{"channel": 17, "x": -1178.1831977517415, "y": -1351.4242739803465, "r_eff_m": 1058.2857083120255, "directional": true, "heading_deg": 228.91780452670704}, {"channel": 1, "x": 616.704399833097, "y": 1665.0757168990908, "r_eff_m": 1324.912278063795, "directional": true, "heading_deg": 69.67656996032791}, {"channel": 7, "x": 875.9714308961434, "y": -356.413074975542, "r_eff_m": 1417.6410943244593, "directional": true, "heading_deg": 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-316.6685045965652, "y": -701.8080492945575}, "channel": 11}, "response": {"accepted": true, "real_timestamp_ms": 1789098288767, "virtual_time_s": 3473.582149, "measure_result": "no_signal"}} +{"event": "action", "seq": 128, "wall_ts_ms": 1789098288786, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "40d2ecd3a4e3-0128", "position": {"x": -316.6685045965652, "y": -701.8080492945575}, "channel": 11}, "response": {"accepted": true, "real_timestamp_ms": 1789098288786, "virtual_time_s": 3478.582149, "measure_result": "no_signal"}} +{"event": "action", "seq": 129, "wall_ts_ms": 1789098288809, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "40d2ecd3a4e3-0129", "position": {"x": -316.6685045965652, "y": -701.8080492945575}, "channel": 11}, "response": {"accepted": true, "real_timestamp_ms": 1789098288809, "virtual_time_s": 3483.582149, "measure_result": "no_signal"}} +{"event": "action", "seq": 130, "wall_ts_ms": 1789098288832, "method": "POST", "path": "/measure", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "40d2ecd3a4e3-0130", "position": {"x": -316.6685045965652, "y": -701.8080492945575}, "channel": 11}, "response": {"accepted": true, "real_timestamp_ms": 1789098288832, "virtual_time_s": 3488.582149, "measure_result": "no_signal"}} +{"event": "action", "seq": 131, "wall_ts_ms": 1789098288834, "method": "POST", "path": "/exit", "status": 200, "request": {"arena_id": "default", "robot_id": "1", "request_id": "40d2ecd3a4e3-0131"}, "response": {"accepted": true, "real_timestamp_ms": 1789098288834, "virtual_time_s": 3488.582149, "exit_reason": "user_exit"}} +{"event": "session_end", "reason": "user_exit", "virtual_time_s": 3488.582149, "real_elapsed_s": 6.480214, "request_count": 131, "cleared_count": 9} diff --git a/referee-data/sessions/BAU8-WBA6-KTVC-ZEXJ/meta.json b/referee-data/sessions/BAU8-WBA6-KTVC-ZEXJ/meta.json new file mode 100644 index 0000000..2fe9afa --- /dev/null +++ b/referee-data/sessions/BAU8-WBA6-KTVC-ZEXJ/meta.json @@ -0,0 +1,88 @@ +{ + "case_code": "BAU8-WBA6-KTVC-ZEXJ", + "module": "q4_practice", + "robot_id": "1", + "seed": 1724280692, + "truth": [ + { + "channel": 11, + "x": -651.4491911816699, + "y": -861.9941841983957, + "r_eff_m": 1158.6608380331968, + "directional": true, + "heading_deg": 183.92591871574925 + }, + { + "channel": 12, + "x": 1585.5153767709246, + "y": -598.9783966903034, + "r_eff_m": 1422.1912155936766, + "directional": true, + "heading_deg": 181.61389868883072 + }, + { + "channel": 6, + "x": 31.50984974130298, + "y": -1431.359436573822, + "r_eff_m": 1485.36130365001, + "directional": true, + "heading_deg": 92.85184332916663 + }, + { + "channel": 1, + "x": -108.01732725078004, + "y": -1695.4363576323935, + "r_eff_m": 1493.4753791235612, + "directional": false, + "heading_deg": 0.0 + }, + { + "channel": 13, + "x": 1201.552514046707, + "y": 190.10520305773161, + "r_eff_m": 1303.4011108874158, + "directional": false, + "heading_deg": 0.0 + }, + { + "channel": 16, + "x": 979.2068152143753, + "y": 146.43846094844704, + "r_eff_m": 1232.2441710447958, + "directional": false, + "heading_deg": 0.0 + }, + { + "channel": 8, + "x": 567.6868428443917, + "y": -32.68947299569081, + "r_eff_m": 1242.1787489349902, + "directional": false, + "heading_deg": 0.0 + }, + { + "channel": 3, + "x": -307.0094050788321, + "y": 931.898187331384, + "r_eff_m": 1339.2730119404985, + "directional": false, + "heading_deg": 0.0 + }, + { + "channel": 2, + "x": 1385.5262555901513, + "y": 595.9468914421283, + "r_eff_m": 1050.5024603796926, + "directional": false, + "heading_deg": 0.0 + }, + { + "channel": 10, + "x": 1365.446283577057, + "y": -619.1808438513183, + "r_eff_m": 1495.4685578869562, + "directional": false, + "heading_deg": 0.0 + } + ] +} \ No newline at end of file diff --git a/referee/src/referee/static/replay.js b/referee/src/referee/static/replay.js index 3011791..97c75e0 100644 --- a/referee/src/referee/static/replay.js +++ b/referee/src/referee/static/replay.js @@ -48,7 +48,7 @@ } else { $("rp-info").textContent = "还没有可回放的会话"; } - } catch (err) { $("rp-info").textContent = "会话列表加载失败"; } + } catch (err) { console.error("[replay] 会话加载失败:", err); $("rp-info").textContent = "会话列表加载失败"; } } async function loadReplay(code) { @@ -64,8 +64,10 @@ $("rp-session").onchange = () => loadReplay($("rp-session").value); // ------------------------------------------------ 手动选定 JSONL（文件选择 + 拖拽） - function applyEvents(events, meta, label) { - events = events; meta = meta || {}; + function applyEvents(newEvents, newMeta, label) { + // 注意：参数必须换名——`events = events` 会自赋值，模块级状态永远为空 + events = newEvents; + meta = newMeta || {}; buildTimeline(); t = 0; view = { zoom: 1, panX: 0, panY: 0 }; loaded = true; @@ -163,7 +165,8 @@ virt += moveS; pos = to; } if (ev.path === "/measure" && req.channel !== channel) { - segments.push({ kind: "switch", t0: virt, t1: virt + SWITCH_S, from: channel, to: req.channel, ev }); + segments.push({ kind: "switch", t0: virt, t1: virt + SWITCH_S, at: { ...pos }, + from: channel, to: req.channel, ev }); virt += SWITCH_S; channel = req.channel; } if (ev.path === "/measure") { @@ -227,6 +230,9 @@ if (rafId !== null) { cancelAnimationFrame(rafId); rafId = null; } } function frame(now) { + // 先重排下一帧：即使某帧绘制抛错，播放循环也不被永久杀死（错误照常进控制台） + if (!$("page-replay").classList.contains("hidden")) rafId = requestAnimationFrame(frame); + else { rafId = null; return; } if (playing) { const speed = Number($("rp-speed").value); t += (now - lastFrame) / 1000 * speed; @@ -234,8 +240,6 @@ } lastFrame = now; draw(); - if (!$("page-replay").classList.contains("hidden")) rafId = requestAnimationFrame(frame); - else { rafId = null; } } // ---------------------------------------------------------------- 进度刻度 @@ -327,7 +331,8 @@ robot = { x: curSeg.from.x + (curSeg.to.x - curSeg.from.x) * u, y: curSeg.from.y + (curSeg.to.y - curSeg.from.y) * u }; pts.push(robot); - } else { robot = { ...curSeg.at }; pts.push(robot); } + } else if (curSeg.at) { robot = { ...curSeg.at }; pts.push(robot); } + // enter/exit/reject 等瞬时段不携带位置：沿用上一位置，避免 NaN 传导 } // 轨迹线 if (pts.length > 1) { @@ -364,7 +369,8 @@ } function drawTruth() { - for (const s of (meta.truth || [])) { + const truthList = (meta && meta.truth) || []; + for (const s of truthList) { const sx = X(s.x), sy = Y(s.y); ctx.strokeStyle = "rgba(244,63,94,.15)"; ctx.beginPath(); ctx.arc(sx, sy, s.r_eff_m * scale(), 0, Math.PI * 2); ctx.stroke(); @@ -459,11 +465,13 @@ // ---------------------------------------------------------------- HUD function updateHud(curSeg, robot, channel, cur) { + const rx = Number.isFinite(robot && robot.x) ? robot.x : 0; + const ry = Number.isFinite(robot && robot.y) ? robot.y : 0; const cleared = segments.filter((s) => s.kind === "clear" && s.result === "success" && s.t1 <= t + 1e-9).length; const chips = [ ["虚拟时刻", `${fmtV(t)} / ${fmtV(total)} s`], ["频道", channel], - ["位置", `(${robot.x.toFixed(1)}, ${robot.y.toFixed(1)})`], + ["位置", `(${rx.toFixed(1)}, ${ry.toFixed(1)})`], ["清除成功", cleared], ["进度", `${boundaries.findIndex((b) => b >= t - 1e-9)} / ${boundaries.length - 1} 步`], ]; diff --git a/referee/tests/js/replay_harness.cjs b/referee/tests/js/replay_harness.cjs new file mode 100644 index 0000000..374eed3 --- /dev/null +++ b/referee/tests/js/replay_harness.cjs @@ -0,0 +1,177 @@ +/* 回放器播放器逻辑回归测试（由 pytest 经 node 调起，见 test_replay_player_js.py）。 + 以 DOM 桩加载发布的 app.js 与 replay.js 原文，完整走一遍： + 切回放Tab → 自动加载存档 → 手动导入 JSONL → 播放/逐步/进度条/缩放， + 断言 HUD 刷新与时间线正确。曾回归出两类冻结 bug（applyEvents 参数遮蔽 + 外层状态、switch 段缺 at 导致 robot.x TypeError），本文件防其复发。 */ +"use strict"; +const fs = require("fs"); +const path = require("path"); + +const REPO = process.env.REPO; +if (!REPO) throw new Error("REPO env required"); + +// ---- 构造一局日志：复刻"原点换频道"致病模式（第一步原地检测且换频道） ---- +function base(id) { return { arena_id: "default", robot_id: "2026001", request_id: id }; } +const sources = [{ channel: 4, x: 100, y: 0, r_eff_m: 1200, directional: false, heading_deg: 0 }]; +const refereeLog = [ + JSON.stringify({ event: "session_start", case_code: "TEST-CASE-0001", module: "q3_practice", + robot_id: "2026001", seed: 9, truth: sources }), + JSON.stringify({ event: "action", seq: 1, method: "POST", path: "/enter", status: 200, + request: base("e1"), response: { accepted: true, virtual_time_s: 0, + remaining_real_duration_s: 1200 } }), + // 原地检测 + 换频道：无 move 段、switch 段在 t=0 + JSON.stringify({ event: "action", seq: 2, method: "POST", path: "/measure", status: 200, + request: { ...base("m1"), position: { x: 0, y: 0 }, channel: 4 }, + response: { accepted: true, virtual_time_s: 5, measure_result: "no_signal" } }), + JSON.stringify({ event: "action", seq: 3, method: "POST", path: "/measure", status: 200, + request: { ...base("m2"), position: { x: 300, y: 400 }, channel: 7 }, + response: { accepted: true, virtual_time_s: 111, measure_result: "direction", svd_deg: 36.87 } }), + JSON.stringify({ event: "action", seq: 4, method: "POST", path: "/clear", status: 200, + request: { ...base("c1"), position: { x: 0, y: 0 }, channel: 4 }, + response: { accepted: true, virtual_time_s: 194, clear_result: "no_target_in_range" } }), + JSON.stringify({ event: "action", seq: 5, method: "POST", path: "/exit", status: 200, + request: base("x1"), response: { accepted: true, virtual_time_s: 194, exit_reason: "user_exit" } }), + JSON.stringify({ event: "session_end", reason: "user_exit", virtual_time_s: 215 }), + // 参赛队客户端会话日志格式（accepted 事件，含重试噪声） + JSON.stringify({ event: "step", virtual_time_s: 1.0 }), + JSON.stringify({ event: "attempt", path: "/enter", request: base("a1") }), + JSON.stringify({ event: "accepted", path: "/clear", request: { ...base("c9"), position: { x: 10, y: 0 }, channel: 9 }, + response: { accepted: true, virtual_time_s: 202, clear_result: "success" } }), +].join("\n"); + +// ---- DOM 桩 ---- +function makeClassList() { + const set = new Set(["hidden"]); + return { + add: (...c) => c.forEach((x) => set.add(x)), + remove: (...c) => c.forEach((x) => set.delete(x)), + toggle: (c, force) => { const on = force === undefined ? !set.has(c) : !!force; + on ? set.add(c) : set.delete(c); return on; }, + contains: (c) => set.has(c), + }; +} +const ctxStub = new Proxy({}, { + get(t, prop) { + if (!(prop in t)) t[prop] = (typeof prop === "string" && + /^(arc|beginPath|closePath|fill|stroke|moveTo|lineTo|fillText|strokeRect|fillRect|clearRect)$/.test(prop)) + ? () => {} : function () {}; + return t[prop]; + }, + set(t, prop, v) { t[prop] = v; return true; }, +}); +function makeEl(id) { + return { + id, textContent: "", innerHTML: "", value: "", checked: true, files: [], + width: 640, height: 640, style: {}, handlers: {}, children: [], + get classList() { return (this._cls ||= makeClassList()); }, + addEventListener(type, fn) { (this.handlers[type] ||= []).push(fn); }, + click() {}, matches() { return false; }, + appendChild(child) { this.children.push(child); }, + querySelector() { return makeEl("nested"); }, + getContext() { return ctxStub; }, + getBoundingClientRect() { return { left: 0, top: 0, width: 640, height: 640 } }, + }; +} +const els = new Map(); +const $get = (id) => { if (!els.has(id)) els.set(id, makeEl(id)); return els.get(id); }; +$get("page-replay").classList.remove("hidden"); // 回放 Tab 打开 +$get("page-live").classList.add("hidden"); + +const rafQueue = []; +globalThis.requestAnimationFrame = (cb) => { rafQueue.push(cb); return rafQueue.length; }; +globalThis.cancelAnimationFrame = () => { rafQueue.length = 0; }; +globalThis.performance = { now: () => Date.now() }; +globalThis.setInterval = () => 0; +globalThis.location = { port: "8026" }; +globalThis.confirm = () => true; +globalThis.alert = () => {}; +globalThis.addEventListener = () => {}; +globalThis.window = globalThis; +globalThis.document = { + getElementById: $get, + createElement: (tag) => makeEl(tag), + addEventListener() {}, +}; +globalThis.FileReader = class { + readAsText(file) { this.result = file.__text; queueMicrotask(() => this.onload && this.onload()); } +}; +const replayEvents = refereeLog.split("\n").map((l) => JSON.parse(l)); +globalThis.fetch = async (url) => { + const json = async () => { + if (url.startsWith("/ui/api/sessions")) + return { sessions: [{ case_code: "TEST-CASE-0001", module: "q3_practice", robot_id: "2026001" }] }; + if (url.startsWith("/ui/api/replay")) + return { case_code: "TEST-CASE-0001", module: "q3_practice", + meta: { module: "q3_practice", robot_id: "2026001", truth: sources }, events: replayEvents }; + if (url.startsWith("/ui/api/state")) + return { phase: "idle", action_port: 2026, display_limit: 1000, modules: {}, attempts: {} }; + throw new Error("unexpected fetch " + url); + }; + return { ok: true, json }; +}; + +// ---- 装载发布代码原文（跨文件全局函数按浏览器语义显式挂到全局） ---- +const staticDir = path.join(REPO, "referee", "src", "referee", "static"); +const appSrc = fs.readFileSync(path.join(staticDir, "app.js"), "utf8"); +const replaySrc = fs.readFileSync(path.join(staticDir, "replay.js"), "utf8"); +const appApi = new Function(appSrc + "\n;return { fmtV, escapeHtml, sumReq, sumRes };")(); +Object.assign(globalThis, appApi); +new Function(replaySrc)(); + +const flush = async () => { for (let i = 0; i < 20; i++) await new Promise((r) => setImmediate(r)); }; +function assert(cond, message) { if (!cond) throw new Error(message); } + +(async () => { + // 1) 自动加载存档 + $get("tab-replay").onclick(); + await flush(); + const ev0 = $get("rp-event").innerHTML; + assert(ev0 && !ev0.includes("加载一局后开始回放"), "事件面板未刷新: " + JSON.stringify(ev0)); + assert($get("rp-t-total").textContent === "215 s", + "总时长错误: " + $get("rp-t-total").textContent); + + // 2) 逐步穿过 move/switch/measure/clear 段（含原点换频道的致病模式） + for (let i = 0; i < 6; i++) $get("rp-next").onclick(); + assert($get("rp-event").innerHTML !== ev0, "逐步后事件面板未刷新"); + assert(/频道\d+<\/b>/.test($get("rp-status").innerHTML), "状态栏缺频道信息"); + + // 3) 播放推进（10× 倍速播 1 秒真实帧） + $get("rp-play").onclick(); + let now = 1000; + for (let i = 0; i < 60; i++) { const cb = rafQueue.shift(); if (!cb) break; now += 16; cb(now); } + assert($get("rp-t-cur").textContent !== "0 s", "播放未推进: " + $get("rp-t-cur").textContent); + + // 4) 进度条拖到 50% + $get("rp-slider").value = "500"; + $get("rp-slider").handlers.input[0](); + assert($get("rp-t-cur").textContent === "107.5 s", + "拖到50%应为 107.5 s: " + $get("rp-t-cur").textContent); + + // 5) 缩放 + $get("rp-zoom-out").onclick(); + assert($get("rp-zoom-label").textContent === "80%", "缩放标签未更新"); + + // 6) 手动导入评测机日志（含真值） + $get("rp-open-file").onclick(); + $get("rp-file").files = [{ name: "BBM9-HZG2-77N5-NKKC.log.jsonl", __text: refereeLog }]; + for (const fn of $get("rp-file").handlers.change || []) fn(); + await flush(); + const info = $get("rp-info").textContent; + assert(info.includes("BBM9-HZG2-77N5-NKKC.log.jsonl") && info.includes("动作 6 条") && + info.includes("含真值 1 源"), "手动导入（评测机日志）信息异常: " + info); + + // 7) 手动导入客户端会话日志（accepted 事件、无真值、剔除重试噪声） + $get("rp-file").files = [{ name: "client-session.jsonl", __text: refereeLog }]; + await flush(); + for (const fn of $get("rp-file").handlers.change || []) fn(); + await flush(); + for (let i = 0; i < 3; i++) $get("rp-next").onclick(); + assert(($get("rp-event").innerHTML || "").length > 0, "导入后逐步无事件面板"); + + // 8) 拖到结尾 + $get("rp-slider").value = "1000"; + $get("rp-slider").handlers.input[0](); + assert($get("rp-t-cur").textContent === $get("rp-t-total").textContent, "结尾时刻不一致"); + + console.log("replay player harness: ALL PASS"); +})().catch((err) => { console.error("replay player harness FAILED:", err.message); process.exit(1); }); diff --git a/referee/tests/test_replay_player_js.py b/referee/tests/test_replay_player_js.py new file mode 100644 index 0000000..ff45f17 --- /dev/null +++ b/referee/tests/test_replay_player_js.py @@ -0,0 +1,25 @@ +"""回放器播放器的 JS 逻辑回归：用 DOM 桩跑发布的 app.js/replay.js 原文。 + +曾回归出两类"加载即冻结"bug（applyEvents 参数遮蔽模块级状态、switch 段缺 +at 导致 robot.x TypeError），当时只有 Python 层测试、JS 层零覆盖——本文件 +补上该防线：有 node 环境则执行 referee/tests/js/replay_harness.cjs， +无 node 环境跳过（回放器为纯前端功能，Python 测试仅覆盖静态资源存在性）。 +""" + +import os +import shutil +import subprocess +from pathlib import Path + +import pytest + +REPO = Path(__file__).resolve().parents[2] +HARNESS = REPO / "referee" / "tests" / "js" / "replay_harness.cjs" + + +@pytest.mark.skipif(shutil.which("node") is None, reason="需要 node 环境运行 JS 桩测试") +def test_replay_player_logic(): + result = subprocess.run(["node", str(HARNESS)], capture_output=True, text=True, + env={**os.environ, "REPO": str(REPO)}, timeout=60) + assert result.returncode == 0, f"回放器逻辑测试失败:\n{result.stdout}\n{result.stderr}" + assert "ALL PASS" in result.stdout diff --git a/scripts/benchmark_q3_revision.py b/scripts/benchmark_q3_revision.py index 1266fed..80b2208 100644 --- a/scripts/benchmark_q3_revision.py +++ b/scripts/benchmark_q3_revision.py @@ -18,8 +18,9 @@ from mcm26b.config import ProblemConfig from mcm26b.evaluation import recompute_virtual_time from mcm26b.planner.bayes_loop import BayesLoop from mcm26b.protocol.client import SimulatorClient -from mcm26b.sim import LocalSimulator, LocalSimTransport, Source -from mcm26b.sim.scenes import random_omni_scene +from mcm26b.harness import LocalSimTransport, LocalSimulator +from referee import Source +from mcm26b.harness import random_omni_scene def main(): diff --git a/tests/test_planner_revision.py b/tests/test_planner_revision.py index 9c556a4..54b95bc 100644 --- a/tests/test_planner_revision.py +++ b/tests/test_planner_revision.py @@ -5,12 +5,13 @@ import math import pytest from mcm26b.config import ProblemConfig +from mcm26b.harness import LocalSimTransport, LocalSimulator from mcm26b.planner import ClearCertificate, DirectionalExtension from mcm26b.planner.bayes_loop import BayesLoop, Task from mcm26b.planner.seven import validate_seven_coverage from mcm26b.protocol.client import SimulatorClient from mcm26b.protocol.rules import DIRECTION, NO_SIGNAL -from mcm26b.sim import LocalSimulator, LocalSimTransport, Source +from referee import Source def setup(sources=(), cls=BayesLoop, config=ProblemConfig()):