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holy fuking shit

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This commit is contained in:
Horldsence
2026-09-12 01:56:34 +08:00
parent 36f354736c
commit d975309a81
83 changed files with 2748 additions and 896 deletions
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tests/test_loop_q4.py
+8 -8
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@@ -97,7 +97,7 @@ class ProbeLadderGeometryTests(unittest.TestCase):
loop.blocked_probes[7] = [blocked_point]
return loop._next_probe(region, 7)
def test_antipode_reflects_blocked_probe_through_center(self):
def test_antipode_reflects_blocked_probe_in_center(self):
"""圆心为原点、原探点 (200,0)：对跖复核应返回 (-200,0)。"""
region = CandidateRegion.disk((0.0, 0.0), 100.0, 192) # safe≈900>=200
probe = self._probe_after_block(region, (200.0, 0.0))
@@ -113,7 +113,7 @@ class ProbeLadderGeometryTests(unittest.TestCase):
self.assertAlmostEqual(math.hypot(probe[0], probe[1]), safe, places=6)
self.assertLess(probe[0], 0.0, "应位于原探点的对跖方向")
def test_degenerate_center_block_walks_full_safe_radius(self):
def test_degenerate_center_block_walks_safe_radius(self):
"""被遮挡探点恰在圆心：沿 +x 走满安全盘半径，不再钳到 1m。"""
region = CandidateRegion.disk((0.0, 0.0), 100.0, 192)
probe = self._probe_after_block(region, (0.0, 0.0))
@@ -125,7 +125,7 @@ class ProbeLadderGeometryTests(unittest.TestCase):
class MixedLoopAcceptanceTests(unittest.TestCase):
def test_mixed_ten_sources_all_cleared(self):
sources = mixed_scene(seed=5, count=10, directional=3)
summary, report, simulator, _, loop = _run_scene(sources)
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")
@@ -155,7 +155,7 @@ class MixedLoopAcceptanceTests(unittest.TestCase):
self.assertEqual(sorted(simulator.cleared), truth)
self.assertEqual(report["mismatches"], [])
def test_outward_boundary_directional_source_not_missed(self):
def test_outward_boundary_directional_not_missed(self):
"""朝向背离圆心、r_eff=1000 的近边界源：覆盖保证仍发现并清除。"""
source = Source(channel=7, x=1790.0, y=0.0, r_eff_m=1000.0,
directional=True, heading_deg=0.0)
@@ -169,8 +169,8 @@ class MixedLoopAcceptanceTests(unittest.TestCase):
"""固定批量种子回归：任何种子下不得全清失败或破坏守恒性。"""
for seed in range(5, 10):
sources = mixed_scene(seed=seed, count=10, directional=4)
summary, report, simulator, _, _ = _run_scene(sources,
config=SMALL_CAP)
summary, report, _, _, _ = _run_scene(sources,
config=SMALL_CAP)
truth = sorted(s.channel for s in sources)
self.assertTrue(summary["completed"], f"seed={seed}")
self.assertEqual(sorted(summary["cleared_channels"]), truth,
@@ -194,7 +194,7 @@ class JointConstraintBaselineTests(unittest.TestCase):
for witness in region.witnesses(300.0):
self.assertTrue(region.contains(witness, tol_m=0.05))
def test_directional_source_retained_through_blocked_probes(self):
def test_directional_source_kept_after_blocked_probes(self):
"""端到端保留性：定向源被遮挡若干次后仍被清除，不因 no_signal 误删。"""
source = Source(channel=3, x=600.0, y=800.0, r_eff_m=1500.0,
directional=True, heading_deg=200.0)
@@ -261,7 +261,7 @@ class FallbackDisciplineTests(unittest.TestCase):
cells = fallback_clear_cells(region.polygon, CONFIG)
self.assertLessEqual(len(cells), CONFIG.search.fallback_max_cells)
def test_fallback_exhaustion_records_anomaly_without_deletion(self):
def test_fallback_exhaustion_records_anomaly(self):
"""后备全失败（空域）：守恒性异常留痕，且不删除空间候选。"""
simulator = LocalSimulator([], robot_id="T001", config=CONFIG)
client = SimulatorClient("T001", config=CONFIG,