"""docs/figures 的论文插图生成器（matplotlib 版）。 uv run python scripts/make_figures.py # 全部 11 张 uv run python scripts/make_figures.py --list # 图名 uv run python scripts/make_figures.py --only flow-overall-architecture uv run python scripts/make_figures.py --scale 1.5 # 尺寸倍率 约定（与 docs/figures/README.md 对应）： - **只输出 PNG**（不生成 SVG），分辨率按论文插图设置； - **图内不放标题、图注与解释性文字**，只保留坐标轴、图例与数据标注； 图的含义由文件名与 README 清单承担，解释写在论文正文； - 字体取自 ``docs/paper/fonts/``（宋体 / 黑体 / Times New Roman），与 main.tex 一致； - 数据来源与 sha256 写入 ``docs/figures/manifest.json``。 """ from __future__ import annotations import argparse import hashlib import json import math import os import sys from pathlib import Path from typing import Any, Callable, Iterable, Sequence ROOT = Path(__file__).resolve().parents[1] FONT_DIR = ROOT / "docs" / "paper" / "fonts" OUT_DIR = ROOT / "docs" / "figures" SESSIONS_DIR = ROOT / "referee-data" / "sessions" ARCHIVE_DIR = ROOT / "examples" / "replay" CACHE_DIR = ROOT / ".mpl-cache" # matplotlib 的缓存目录：仓库内可写，避免污染用户目录 CACHE_DIR.mkdir(exist_ok=True) os.environ.setdefault("MPLCONFIGDIR", str(CACHE_DIR)) os.environ.setdefault("XDG_CACHE_HOME", str(CACHE_DIR)) import matplotlib # noqa: E402 matplotlib.use("Agg") import numpy as np # noqa: E402 from matplotlib import font_manager as fm # noqa: E402 from matplotlib import pyplot as plt # noqa: E402 from matplotlib.lines import Line2D # noqa: E402 from matplotlib.patches import Circle, FancyArrowPatch, FancyBboxPatch, Polygon # noqa: E402 sys.path.insert(0, str(Path(__file__).resolve().parent)) # 题面常量（与 src/mcm26b/config.py 一致） OMEGA_R = 1800.0 R_EFF = 1000.0 SPEED_MPS = 5.0 MEASURE_S = 5.0 SWITCH_S = 1.0 CLEAR_OK_S = 5.0 CLEAR_NO_S = 3.0 RING_RADIUS_M = 1159.7 SEVEN_R = 1800.0 Q4_DESIGN_R = 965.0 Q4_HEADING_MARGIN_DEG = 5.0 # 论文配色：低饱和，单色打印可辨 C = { "ink": "#1c2430", "muted": "#5c6673", "grid": "#e4e9ee", "primary": "#1f4e79", "primary_fill": "#dce6f1", "accent": "#b03a2e", "accent_fill": "#f6dcd8", "success": "#1e7a5f", "success_fill": "#d8ece5", "warn": "#b8860b", "warn_fill": "#f6ecd2", "violet": "#5b4b8a", } FONTS = { "song": "SongtiSC-Regular.ttf", "song_bold": "SongtiSC-Bold.ttf", "hei": "HeitiSC-Light.ttf", "hei_bold": "HeitiSC-Medium.ttf", "times": "Times New Roman.ttf", "times_bold": "Times New Roman Bold.ttf", } # --------------------------------------------------------------------------- # 样式 # --------------------------------------------------------------------------- def setup_style() -> dict[str, Any]: """注册自带字体并设全局样式，返回 FontProperties 字典。""" for name in FONTS.values(): path = FONT_DIR / name if path.is_file(): fm.fontManager.addfont(str(path)) props = {key: fm.FontProperties(fname=str(FONT_DIR / name)) for key, name in FONTS.items() if (FONT_DIR / name).is_file()} plt.rcParams.update({ "figure.dpi": 120, "savefig.dpi": 200, "font.family": [props["song"].get_name(), "DejaVu Sans"], "font.size": 8.5, "axes.titlesize": 9, "axes.labelsize": 8.5, "xtick.labelsize": 8, "ytick.labelsize": 8, "legend.fontsize": 8, "axes.edgecolor": C["muted"], "axes.labelcolor": C["ink"], "text.color": C["ink"], "xtick.color": C["muted"], "ytick.color": C["muted"], "axes.grid": False, "axes.unicode_minus": False, "lines.linewidth": 1.2, }) return props def new_axes(width_mm: float, height_mm: float, *, ncols: int = 1, nrows: int = 1, scale: float = 1.0, **kw: Any) -> tuple[Any, Any]: """按毫米尺寸建图（论文按 160 mm 宽排版时用 1.0 倍）。""" fig, axes = plt.subplots(nrows, ncols, figsize=(width_mm / 25.4 * scale, height_mm / 25.4 * scale), layout="constrained", **kw) return fig, axes def axes_for_panels(panel_mm: float, aspects: Sequence[float], *, scale: float = 1.0, width_ratios: Sequence[float] | None = None, extra_mm: float = 30.0, **kw: Any) -> tuple[Any, Any]: """按"每个面板高 panel_mm、宽 = 高 × 宽高比"手工排版。 等比例坐标轴（``set_aspect('equal')``）在自动布局（constrained/tight）下会被 挤成一小块，因此这里直接按数据比例分配位置：每个子图的方框宽高比等于 数据宽高比，等比例坐标轴正好铺满方框。 """ del kw ratios = list(width_ratios) if width_ratios else [1.0] * len(aspects) widths = [panel_mm * aspect * ratio for aspect, ratio in zip(aspects, ratios)] left_mm, right_mm, top_mm = 16.0, 6.0, 6.0 gap_mm, bottom_mm = 16.0, 15.0 total_w = left_mm + sum(widths) + gap_mm * (len(widths) - 1) + right_mm total_h = top_mm + panel_mm + bottom_mm fig = plt.figure(figsize=(total_w / 25.4 * scale, total_h / 25.4 * scale)) def frac_x(mm: float) -> float: return mm / total_w def frac_y(mm: float) -> float: return mm / total_h axes = [] cursor = left_mm for width in widths: box = [frac_x(cursor), frac_y(bottom_mm), frac_x(width), frac_y(panel_mm)] axes.append(fig.add_axes(box)) cursor += width + gap_mm return fig, (axes if len(axes) > 1 else axes[0]) def polar_axes(ax: Any, half: float, *, grid: float = 500.0, center: Sequence[float] = (0.0, 0.0)) -> None: """世界坐标视图：等比例、留白、细网格；``center`` 为视图中心。""" cx, cy = float(center[0]), float(center[1]) step = grid ticks = [] while step <= half * 1.2: ticks += [-step, step] step *= 2 ticks = sorted({round(cx + t) for t in ticks if abs(t) <= half * 1.05} | {round(cy + t) for t in ticks if abs(t) <= half * 1.05}) # 顺序要紧：set_xticks 会在数据范围内重新 autoscale，必须最后再钉住范围 ax.set_xticks(ticks) ax.set_yticks(ticks) ax.set_xlim(cx - half, cx + half) ax.set_ylim(cy - half, cy + half) # 面板方框由 axes_for_panels 按数据宽高比分配，刻度范围也是 1:1， # 不需要再让 matplotlib 调 aspect（它会反过来改写已设定的范围） ax.set_aspect("auto") ax.grid(True, color=C["grid"], lw=0.6) for side in ("top", "right"): ax.spines[side].set_visible(False) ax.set_axisbelow(True) def save(fig: Any, stem: str, sources: Sequence[dict[str, Any]], scale: float) -> dict[str, Any]: """落盘 PNG（仅 PNG：论文插图不再维护矢量版），返回 manifest 条目。""" OUT_DIR.mkdir(parents=True, exist_ok=True) png = OUT_DIR / f"{stem}.png" fig.savefig(png, format="png") plt.close(fig) return {"stem": stem, "png": str(png.relative_to(ROOT)), "scale": scale, "sources": list(sources)} def source(path: str | Path, **extra: Any) -> dict[str, Any]: """记录数据来源：仓库内相对路径、sha256 前 12 位、行数。""" p = Path(path) p = p if p.is_absolute() else ROOT / p digest, lines = "-", 0 if p.is_file(): data = p.read_bytes() digest = hashlib.sha256(data).hexdigest()[:12] lines = data.count(b"\n") + (0 if data.endswith(b"\n") else 1) rel = str(p.relative_to(ROOT)) if p.is_relative_to(ROOT) else str(p) return {"path": rel, "sha256_12": digest, "lines": lines, **extra} # --------------------------------------------------------------------------- # 行为日志：解析、计时复算、归档回退 # --------------------------------------------------------------------------- def parse_jsonl(path: Path) -> dict[str, Any]: """兼容评测机 ``event=action`` 与客户端 ``event=accepted`` 两种日志。""" meta: dict[str, Any] = {} actions: list[dict[str, Any]] = [] fallback: dict[str, dict[str, Any]] = {} seq = 0 for line in path.read_text(encoding="utf-8").splitlines(): line = line.strip() if not line: continue try: ev = json.loads(line) except json.JSONDecodeError: continue kind = ev.get("event") if kind == "session_start": meta = ev elif kind == "action": seq += 1 actions.append(dict(seq=ev.get("seq", seq), path=ev.get("path", ""), request=ev.get("request") or {}, response=ev.get("response") or {}, wall_ts_ms=ev.get("wall_ts_ms"))) elif kind == "accepted": fallback[str(ev.get("request_id", ""))] = ev elif kind == "step" and str(ev.get("request_id", "")) not in fallback: fallback[str(ev.get("request_id", ""))] = ev if not actions: for ev in fallback.values(): if not ev.get("path"): continue seq += 1 stamp = ev.get("logged_at_unix_s") actions.append(dict(seq=seq, path=ev["path"], request=ev.get("request") or {}, response=ev.get("response") or {}, wall_ts_ms=stamp * 1000 if stamp else None)) if not actions: raise ValueError(f"{path} 没有可回放的动作事件") return dict(label=path.stem, case_code=meta.get("case_code") or path.parent.name, module=meta.get("module") or "?", robot_id=str(meta.get("robot_id") or "?"), truth=list(meta.get("truth") or []), actions=actions, source=path) def discover_runs() -> list[dict[str, Any]]: runs: list[dict[str, Any]] = [] if SESSIONS_DIR.is_dir(): for log in sorted(SESSIONS_DIR.glob("*/log.jsonl")): try: runs.append(parse_jsonl(log)) except ValueError: continue if not runs and ARCHIVE_DIR.is_dir(): for log in sorted(ARCHIVE_DIR.glob("*.jsonl")): try: runs.append(parse_jsonl(log)) except ValueError: continue return runs def pick_run(runs: Sequence[dict[str, Any]], module: str, truth: int) -> dict[str, Any]: cands = [r for r in runs if r["module"].startswith(module) and len(r["truth"]) >= truth and sum(1 for a in r["actions"] if a["path"] == "/measure") > 0] if not cands: cands = [r for r in runs if r["module"].startswith(module)] return sorted(cands, key=lambda r: (abs(len(r["truth"]) - truth), len(r["actions"])))[0] def decompose(run: dict[str, Any]) -> dict[str, Any]: """按附件规则逐动作复算移动 / 换频 / 动作耗时。""" pos = (0.0, 0.0) channel: int | None = None rows: list[dict[str, Any]] = [] for act in run["actions"]: req, res = act["request"], act["response"] move_m = switch = action_s = 0.0 if act["path"] in ("/measure", "/clear") and "position" in req: tgt = (float(req["position"]["x"]), float(req["position"]["y"])) move_m = math.dist(pos, tgt) if move_m > 0: pos = tgt if act["path"] == "/measure": ch = int(req.get("channel", 0)) switch = 0.0 if channel in (None, ch) else SWITCH_S channel = ch action_s = MEASURE_S elif act["path"] == "/clear": action_s = CLEAR_OK_S if str(res.get("clear_result")) == "success" else CLEAR_NO_S rows.append(dict(seq=act["seq"], path=act["path"], move_s=move_m / SPEED_MPS, switch_s=switch, action_s=action_s, move_m=move_m, virtual_s=float(res.get("virtual_time_s") or 0.0), hit=str(res.get("measure_result")) == "direction", cleared=str(res.get("clear_result")) == "success", channel=req.get("channel"), x=req.get("position", {}).get("x"), y=req.get("position", {}).get("y"))) wall = [r for r in run["actions"] if r.get("wall_ts_ms")] real_s = (wall[-1]["wall_ts_ms"] - wall[0]["wall_ts_ms"]) / 1000.0 if len(wall) > 1 else 0.0 return dict(rows=rows, virtual_s=float(run["actions"][-1]["response"].get("virtual_time_s") or 0), real_s=real_s, move_s=sum(r["move_s"] for r in rows), switch_s=sum(r["switch_s"] for r in rows), action_s=sum(r["action_s"] for r in rows), move_m=sum(r["move_m"] for r in rows)) def solved_channels(run: dict[str, Any]) -> list[int]: return sorted({int(a["request"]["channel"]) for a in run["actions"] if a["path"] == "/clear" and "channel" in a["request"] and str(a["response"].get("clear_result")) == "success"}) # --------------------------------------------------------------------------- # 几何工具 # --------------------------------------------------------------------------- def clip_halfplane(poly: np.ndarray, a: float, b: float, c: float) -> np.ndarray: """Sutherland–Hodgman：半平面 a·x + b·y <= c 裁剪凸多边形。""" if len(poly) == 0: return poly out: list[list[float]] = [] n = len(poly) for i in range(n): cur, nxt = poly[i], poly[(i + 1) % n] dc = a * cur[0] + b * cur[1] - c dn = a * nxt[0] + b * nxt[1] - c if dc <= 1e-9: out.append(list(cur)) if dn > 1e-9: t = dc / (dc - dn) out.append([cur[0] + t * (nxt[0] - cur[0]), cur[1] + t * (nxt[1] - cur[1])]) elif dn <= 1e-9: t = dc / (dc - dn) out.append([cur[0] + t * (nxt[0] - cur[0]), cur[1] + t * (nxt[1] - cur[1])]) return np.array(out) if out else np.empty((0, 2)) def wedge_polygon(station: Sequence[float], bearing: float, half_deg: float, reach: float) -> np.ndarray: a0, a1 = math.radians(bearing - half_deg), math.radians(bearing + half_deg) ang = np.linspace(a0, a1, 16) pts = [[station[0], station[1]]] + \ [[station[0] + reach * math.cos(t), station[1] + reach * math.sin(t)] for t in ang] return np.array(pts) def clip_convex(region: np.ndarray, a: float, b: float, c: float) -> np.ndarray: """半平面 a·x + b·y <= c 裁剪（对 numpy 数组的薄封装）。""" return clip_halfplane(np.asarray(region, dtype=float), a, b, c) def clip_wedge(region: np.ndarray, station: Sequence[float], bearing: float, half_deg: float) -> np.ndarray: """用角域 W(s, θ ± δ) 裁剪区域。 角域是两条边界射线的半平面交。示向度可能跨越 0/360 度，法向的正负不能靠叉积 猜：两个半平面各试一次，用"结果中心与站点的连线是否落在示向度 ±δ 内"来判定 哪一侧是角域内部。 """ region = np.asarray(region, dtype=float) if len(region) == 0: return region for edge in (bearing - half_deg, bearing + half_deg): ang = math.radians(edge) a, b = -math.sin(ang), math.cos(ang) c = a * station[0] + b * station[1] candidates = [cand for cand in (clip_convex(region, a, b, c), clip_convex(region, -a, -b, -c)) if len(cand) >= 3] if not candidates: return np.empty((0, 2)) if len(candidates) == 1: region = candidates[0] continue region = min(candidates, key=lambda cand: _direction_error(cand, station, bearing, half_deg)) return region def _direction_error(poly: np.ndarray, station: Sequence[float], bearing: float, half_deg: float) -> float: """多边形中心方向与示向度的偏差；用于挑正确的半平面一侧。""" centre = poly.mean(axis=0) dx, dy = centre[0] - station[0], centre[1] - station[1] if abs(dx) < 1e-12 and abs(dy) < 1e-12: return 0.0 return abs(angle_diff(math.degrees(math.atan2(dy, dx)), bearing)) def polygon_area(poly: np.ndarray) -> float: if len(poly) < 3: return 0.0 x, y = poly[:, 0], poly[:, 1] return 0.5 * abs(float(np.dot(x, np.roll(y, -1)) - np.dot(y, np.roll(x, -1)))) def angle_diff(a: float, b: float) -> float: return (a - b + 180.0) % 360.0 - 180.0 def wedge_clip(station: Sequence[float], bearing: float, half_deg: float, box: Sequence[float]) -> np.ndarray: """角域与视窗矩形的交集，用于局部放大图。""" x0, y0, x1, y1 = box poly = np.array([[x0, y0], [x1, y0], [x1, y1], [x0, y1]], dtype=float) return clip_wedge(poly, station, bearing, half_deg) def q1_solve(stations: Sequence[Sequence[float]]) -> dict[str, Any]: """调用生产求解器，避免图中数字与代码不一致。""" sys.path.insert(0, str(ROOT / "src")) from mcm26b import Measurement, solve # noqa: PLC0415 res = solve([Measurement(x, y, b, h) for x, y, b, h in stations]) dc, mec = res["diameter_circle"], res["minimum_enclosing_circle"] return dict(vertices=np.array(res["vertices"]), pair=res["diameter_pair"], dc=dc, mec=mec) def q1_practice_case() -> dict[str, Any] | None: for path in sorted((ROOT / "output" / "q1" / "practice").glob("*_observations.json")): doc = json.loads(path.read_text(encoding="utf-8")) if doc.get("result"): doc["_path"] = path return doc return None def load_plan(name: str) -> dict[str, Any]: path = ROOT / "src" / "mcm26b" / "guarantee" / "plans" / f"{name}.json" return json.loads(path.read_text(encoding="utf-8")) def seven_bound(a: float = RING_RADIUS_M, radius: float = SEVEN_R) -> float: return max(a / math.sqrt(3), math.sqrt(radius ** 2 + a ** 2 - math.sqrt(3) * radius * a)) # --------------------------------------------------------------------------- # 排版小工具 # --------------------------------------------------------------------------- def draw_boxes(ax: Any, boxes: Sequence[dict[str, Any]], font: Any) -> None: """画一组统一风格的圆角框（流程示意图用）。""" for b in boxes: ax.add_patch(FancyBboxPatch((b["x"], b["y"]), b["w"], b["h"], boxstyle="round,pad=0.02,rounding_size=0.6", linewidth=1.0, edgecolor=b.get("edge", C["primary"]), facecolor=b.get("face", C["primary_fill"]), zorder=2)) ax.text(b["x"] + b["w"] / 2, b["y"] + b["h"] / 2, b["label"], ha="center", va="center", fontproperties=b.get("font", font["hei_bold"]), fontsize=b.get("size", 8.2), color=b.get("color", C["ink"]), linespacing=1.5, zorder=3) def connect(ax: Any, p0: Sequence[float], p1: Sequence[float], *, color: str | None = None, style: str = "-", lw: float = 1.0, rad: float = 0.0) -> None: ax.add_patch(FancyArrowPatch(p0, p1, arrowstyle="-|>", mutation_scale=9, linewidth=lw, color=color or C["muted"], linestyle=style, zorder=4, connectionstyle=f"arc3,rad={rad}")) def chips(ax: Any, items: Sequence[tuple[str, str]], *, x: float = 0.02, y: float = 0.02, dy: float = 0.06, font: Any = None) -> None: """左下角竖排色块图例（坐标用 axes 分数）。""" for i, (label, color) in enumerate(items): yy = y + i * dy ax.add_patch(FancyBboxPatch((x, yy - 0.012), 0.018, 0.024, boxstyle="round,pad=0.002,rounding_size=0.004", transform=ax.transAxes, facecolor=color, edgecolor="none", zorder=5, clip_on=False)) ax.text(x + 0.026, yy, label, transform=ax.transAxes, va="center", ha="left", fontproperties=font, fontsize=7.6, color=C["ink"], zorder=5) # =========================================================================== # 1. 总体思路与算法主线 # =========================================================================== def fig_flow_overall(font: dict[str, Any]) -> Any: fig, ax = new_axes(170, 96) ax.set_xlim(0, 120) ax.set_ylim(0, 56) ax.axis("off") def band(tag: str, y: float, items: Sequence[tuple[str, float, float]], face: str, color: str) -> None: ax.text(3.0, y + 3.0, tag, ha="center", va="center", fontproperties=font["hei_bold"], fontsize=8.6, color=color) for label, x, width in items: draw_boxes(ax, [dict(x=x, y=y, w=width, h=6.0, label=label, face=face, edge=color, font=font["song"], size=7.8)], font) ax.plot([8.0, 116.0], [y - 1.6, y - 1.6], color=C["grid"], lw=0.8, zorder=1) band("L0", 46.0, [ ("区域 Ω：半径 1800 m", 9.0, 26.5), ("移动 5 m/s · 检测 5 s", 36.0, 26.5), ("换频 1 s · 清除 5/3 s", 63.0, 26.5), ("源 10~16 个 · 频道 1~20", 90.0, 25.5)], C["primary_fill"], C["primary"]) band("L1", 33.0, [ ("证据层：候选集与粒子幸存集", 9.0, 33.0), ("决策层：选点与任务表", 44.0, 33.0), ("执行层：串行客户端", 79.0, 33.0)], C["primary_fill"], C["primary"]) for x in (42.6, 77.6): connect(ax, (x, 36.0), (x + 1.4, 36.0), color=C["ink"]) band("L2", 20.0, [ ("问题 1 定位解算", 9.0, 25.5), ("问题 2 第二点选择", 35.5, 25.5), ("问题 3 全向搜索", 62.0, 25.5), ("问题 4 混合定向", 88.5, 27.0)], C["accent_fill"], C["accent"]) band("L3", 7.0, [ ("发现闭环", 9.0, 33.0), ("定位闭环", 44.0, 33.0), ("清除闭环", 79.0, 33.0)], C["success_fill"], C["success"]) return fig # =========================================================================== # 2. 执行步骤：会话状态机 # =========================================================================== def fig_steps_state_machine(font: dict[str, Any]) -> Any: fig, ax = new_axes(160, 34) ax.set_xlim(0, 100) ax.set_ylim(0, 22) ax.axis("off") states = [("IDLE", 3, C["grid"], C["muted"]), ("倒计时 5 s", 26, C["warn_fill"], C["warn"]), ("OPEN 接口开放", 49, C["success_fill"], C["success"]), ("CLOSED 断连", 72, C["accent_fill"], C["accent"])] for label, x, face, edge in states: draw_boxes(ax, [dict(x=x, y=9, w=22, h=6.5, label=label, face=face, edge=edge, font=font["hei_bold"], size=8.4)], font) for i in range(3): connect(ax, (25 + i * 23 + 0.3, 12.2), (26 + i * 23 - 0.5, 12.2), color=C["ink"]) ax.text(50, 6.2, "现实预算 1200 s（程序）与测试窗口 1500 s（服务端）独立计时", ha="center", fontproperties=font["song"], fontsize=7.6, color=C["muted"]) ax.text(83, 4.0, "剩余不足 60 s 时预留 /exit", ha="center", fontproperties=font["song"], fontsize=7.6, color=C["accent"]) return fig # =========================================================================== # 3. 执行时间：附件示例逐步推演 # =========================================================================== EXAMPLE_STEPS = [ ("/enter", 0.0, 0.0, 0.0), ("/measure ch1", 100.0, 0.0, 5.0), ("/measure ch2", 0.0, 1.0, 5.0), ("/clear ch3", 80.0, 0.0, 3.0), ("/measure ch2", 0.0, 0.0, 5.0), ("/exit", 0.0, 0.0, 0.0), ] def fig_timing_attachment(font: dict[str, Any]) -> Any: fig, ax = new_axes(160, 46) y = np.arange(len(EXAMPLE_STEPS))[::-1] move = np.array([s[1] for s in EXAMPLE_STEPS]) switch = np.array([s[2] for s in EXAMPLE_STEPS]) action = np.array([s[3] for s in EXAMPLE_STEPS]) ax.barh(y, move, color=C["primary"], height=0.6, label="移动 L/5") ax.barh(y, switch, left=move, color=C["warn"], height=0.6, label="换频 1 s") ax.barh(y, action, left=move + switch, color=C["success"], height=0.6, label="检测/清除动作") cumulative = np.cumsum(move + switch + action) for i, (yy, total, acc) in enumerate(zip(y, move + switch + action, cumulative)): if total > 0: ax.text(move[i] + switch[i] + action[i] + 2, yy, f"{total:.0f} s", va="center", fontproperties=font["times"], fontsize=7.6, color=C["ink"]) ax.text(-4, yy, f"{acc:.0f}", va="center", ha="right", fontproperties=font["times_bold"], fontsize=7.8, color=C["accent"]) ax.set_yticks(y) ax.set_yticklabels([s[0] for s in EXAMPLE_STEPS], fontproperties=font["times"], fontsize=7.8) ax.set_xlabel("虚拟耗时 / s", fontproperties=font["song"]) ax.set_xlim(-14, 132) ax.text(-4, len(EXAMPLE_STEPS) - 0.35, "累计", ha="right", va="center", fontproperties=font["song"], fontsize=7.6, color=C["accent"]) ax.legend(prop=font["song"], frameon=False, loc="lower right", ncols=3) for side in ("top", "right"): ax.spines[side].set_visible(False) ax.grid(True, axis="x", color=C["grid"], lw=0.6) ax.set_axisbelow(True) return fig # =========================================================================== # 4. 执行时间：实测日志分解 # =========================================================================== def fig_timing_measured(run: dict[str, Any], font: dict[str, Any]) -> Any: tl = decompose(run) rows = tl["rows"] seq = np.array([r["seq"] for r in rows]) move = np.cumsum([r["move_s"] for r in rows]) switch = np.cumsum([r["switch_s"] for r in rows]) action = np.cumsum([r["action_s"] for r in rows]) total = move + switch + action parts = [tl["move_s"], tl["action_s"], tl["switch_s"]] labels = ["移动", "检测/清除", "换频"] colors = [C["primary"], C["success"], C["warn"]] fig, (ax, ax2) = new_axes(170, 54, ncols=2, width_ratios=[1.45, 1.0]) ax.stackplot(seq, move, switch, action, colors=colors, labels=["移动 L/5", "检测/清除动作", "换频 1 s"], lw=0) ax.set_xlim(seq[0], seq[-1]) ax.set_ylim(0, total[-1] * 1.08) ax.set_xlabel("动作序号", fontproperties=font["song"]) ax.set_ylabel("累计虚拟时间 / s", fontproperties=font["song"]) ax.legend(prop=font["song"], frameon=False, loc="upper left") for side in ("top", "right"): ax.spines[side].set_visible(False) ax.grid(True, axis="y", color=C["grid"], lw=0.6) ax.set_axisbelow(True) # 右：构成条形 + 汇总（同一坐标下三段，末段极窄故编号标注） ax2.set_xlim(0, 1) ax2.set_ylim(0, 1) ax2.axis("off") bar_y, bar_h = 0.62, 0.14 left = 0.0 for i, (value, color) in enumerate(zip(parts, colors)): frac = value / total[-1] ax2.add_patch(FancyBboxPatch((left, bar_y), frac, bar_h, boxstyle="round,pad=0,rounding_size=0.005", facecolor=color, edgecolor="none")) if frac > 0.06: ax2.text(left + frac / 2, bar_y + bar_h / 2, f"{value:,.0f} s", ha="center", va="center", fontproperties=font["song"], fontsize=7.4, color="white") left += frac ax2.text(0.0, 0.84, f"虚拟 {total[-1]:,.1f} s", fontproperties=font["song"], fontsize=7.8, color=C["ink"]) ax2.text(0.5, 0.84, f"现实 {tl['real_s']:.2f} s", fontproperties=font["song"], fontsize=7.8, color=C["ink"]) ax2.text(1.0, 0.84, f"加速 {total[-1] / max(tl['real_s'], 1e-9):,.0f} 倍", ha="right", fontproperties=font["song"], fontsize=7.8, color=C["accent"]) for i, (value, label, color) in enumerate(zip(parts, labels, colors)): ax2.add_patch(FancyBboxPatch((0.0 + i * 0.36, 0.40), 0.03, 0.05, boxstyle="round,pad=0.002,rounding_size=0.01", facecolor=color, edgecolor="none")) ax2.text(0.05 + i * 0.36, 0.425, f"{i + 1} {label} {value:,.0f} s", fontproperties=font["song"], fontsize=7.4, va="center") ax2.text(0.0, 0.24, f"检测 {sum(1 for r in rows if r['path'] == '/measure')} 次 · " f"清除 {sum(1 for r in rows if r['path'] == '/clear')} 次 · " f"里程 {tl['move_m'] / 1000:.1f} km", fontproperties=font["song"], fontsize=7.4, color=C["muted"]) return fig # =========================================================================== # 5. 问题一：交会定位区域 # =========================================================================== def _q1_data() -> dict[str, Any]: case = q1_practice_case() if case: return dict(subtitle=f"官方演练 {case['case_code']}", stations=[(m["x"], m["y"], m["bearing_deg"], m["half_angle_deg"]) for m in case["measurements"]], verts=np.array(case["result"]["vertices"]), dc=case["result"]["diameter_circle"], mec=case["result"]["minimum_enclosing_circle"], src=case["_path"]) doc = json.loads((ROOT / "examples" / "q1" / "triangle.json").read_text(encoding="utf-8")) sol = q1_solve([(m["x"], m["y"], m["bearing_deg"], m.get("half_angle_deg", 1.0)) for m in doc["measurements"]]) return dict(subtitle="反例算例 triangle.json", stations=[(m["x"], m["y"], m["bearing_deg"], m.get("half_angle_deg", 1.0)) for m in doc["measurements"]], verts=sol["vertices"], dc=sol["dc"], mec=sol["mec"], src=ROOT / "examples" / "q1" / "triangle.json") def fig_q1_meetup(font: dict[str, Any]) -> Any: data = _q1_data() stations = data["stations"] xs = [s[0] for s in stations] ys = [s[1] for s in stations] cx, cy = (min(xs) + max(xs)) / 2, (min(ys) + max(ys)) / 2 half = max(max(xs) - min(xs), max(ys) - min(ys)) / 2 * 1.35 + 60 reach = 2.4 * half mec_c = data["mec"]["center"] mec_r = data["mec"]["radius_m"] dc_c, dc_r = data["dc"]["center"], data["dc"]["radius_m"] # 放大窗口取定位区域外接框的 1.8 倍，使多边形、直径圆、MEC 同框且尺寸可比 verts = data["verts"] zoom_c = (float(verts[:, 0].mean()), float(verts[:, 1].mean())) span = float(np.abs(verts - np.array(zoom_c)).max()) zoom = max(1.8 * span, 0.8 * mec_r + span, 12.0) fig, axes = axes_for_panels(62.0, [1.0, 1.0], width_ratios=[1.0, 1.0]) ax, axz = axes polar_axes(ax, half, grid=half / 2) for sx, sy, bearing, hd in stations: ax.add_patch(Polygon(wedge_polygon((sx, sy), bearing, hd, reach), closed=True, facecolor=C["primary"], alpha=0.16, edgecolor="none")) ax.plot([sx], [sy], marker="o", ms=4, color=C["primary"]) ax.annotate(f"({sx:.0f}, {sy:.0f})", (sx, sy), textcoords="offset points", xytext=(6, 4), fontproperties=font["times"], fontsize=7.2, color=C["primary"]) ax.add_patch(Polygon(data["verts"], closed=True, facecolor=C["accent"], edgecolor=C["accent"], lw=1.0)) ax.annotate("定位区域 P →", (float(data["verts"][:, 0].mean()), float(data["verts"][:, 1].mean())), textcoords="offset points", xytext=(14, -18), fontproperties=font["song"], fontsize=7.6, color=C["accent"], arrowprops=dict(arrowstyle="-", color=C["accent"], lw=0.9)) ax.set_xlabel("x / m", fontproperties=font["song"]) ax.set_ylabel("y / m", fontproperties=font["song"]) polar_axes(axz, zoom, grid=zoom / 2, center=zoom_c) axz.set_xticks([]) axz.set_yticks([]) axz.set_ylabel("") # 放大面板：角域按面板的坐标范围裁剪，范围与 xlim/ylim 一致 xlim, ylim = axz.get_xlim(), axz.get_ylim() box = (float(xlim[0]), float(ylim[0]), float(xlim[1]), float(ylim[1])) for sx, sy, bearing, hd in stations: poly = wedge_clip((sx, sy), bearing, hd, box) if len(poly): axz.add_patch(Polygon(poly, closed=True, facecolor=C["primary"], alpha=0.28, edgecolor="none")) region = np.array([[box[0], box[1]], [box[2], box[1]], [box[2], box[3]], [box[0], box[3]]], dtype=float) for sx, sy, bearing, hd in stations: region = clip_wedge(region, (sx, sy), bearing, hd) if len(region) >= 3: axz.add_patch(Polygon(region, closed=True, facecolor=C["accent_fill"], edgecolor=C["accent"], lw=1.6)) axz.add_patch(Polygon(data["verts"], closed=True, facecolor=C["accent_fill"], edgecolor=C["accent"], lw=1.0)) axz.add_patch(Circle(dc_c, dc_r, facecolor="none", edgecolor=C["violet"], lw=1.2, ls=(0, (5, 3)))) axz.add_patch(Circle(mec_c, mec_r, facecolor="none", edgecolor=C["success"], lw=1.4)) axz.plot([dc_c[0]], [dc_c[1]], marker="o", ms=3.4, color=C["violet"]) axz.plot([mec_c[0]], [mec_c[1]], marker="o", ms=3.4, color=C["success"]) outside = max(data["verts"], key=lambda v: math.dist(v, dc_c)) axz.annotate("", xy=outside, xytext=dc_c, arrowprops=dict(arrowstyle="-|>", color=C["accent"], lw=1.0)) axz.annotate("E > 0", (outside[0], outside[1]), textcoords="offset points", xytext=(10, 6), fontproperties=font["times"], fontsize=7.4, color=C["accent"]) axz.set_xlabel(f"x / m（放大 ±{zoom:.0f} m）", fontproperties=font["song"]) chips(ax, [("前向角域 W(s, θ ± 1°)", C["primary"]), ("定位区域 P", C["accent"])]) chips(axz, [("直径圆（不覆盖）", C["violet"]), ("最小包围圆 MEC", C["success"])]) return fig # =========================================================================== # 6. 问题一：直径圆反例 # =========================================================================== def fig_q1_counterexample(font: dict[str, Any]) -> Any: doc = json.loads((ROOT / "examples" / "q1" / "triangle.json").read_text(encoding="utf-8")) stations = [(m["x"], m["y"], m["bearing_deg"], m.get("half_angle_deg", 1.0)) for m in doc["measurements"]] sol = q1_solve(stations) verts = sol["vertices"] dc, mec = sol["dc"], sol["mec"] mec_r = mec["radius_m"] mec_c, dc_c = mec["center"], dc["center"] # 反例的定位区域是边长 40 m 的等边三角形：取 1.8 倍直径做放大窗口 zoom = max(1.8 * float(np.abs(verts - np.array(mec_c)).max()) * 2.0, 40.0) fig, axes = axes_for_panels(60.0, [1.0, 1.0]) ax, axz = axes half = 1200.0 polar_axes(ax, half, grid=400.0) for sx, sy, bearing, hd in stations: ax.add_patch(Polygon(wedge_polygon((sx, sy), bearing, hd, 3 * half), closed=True, facecolor=C["primary"], alpha=0.14, edgecolor="none")) ax.plot([sx], [sy], marker="o", ms=4, color=C["primary"]) ax.annotate(f"({sx:.0f}, {sy:.0f})", (sx, sy), textcoords="offset points", xytext=(6, 4), fontproperties=font["times"], fontsize=7.2, color=C["primary"]) ax.add_patch(Polygon(verts, closed=True, facecolor=C["accent"], edgecolor=C["accent"])) ax.set_xlabel("x / m", fontproperties=font["song"]) ax.set_ylabel("y / m", fontproperties=font["song"]) polar_axes(axz, zoom, grid=zoom / 2, center=mec_c) axz.set_xticks([]) axz.set_yticks([]) axz.set_ylabel("") box = (mec_c[0] - zoom, mec_c[1] - zoom, mec_c[0] + zoom, mec_c[1] + zoom) for sx, sy, bearing, hd in stations: poly = wedge_clip((sx, sy), bearing, hd, box) if len(poly): axz.add_patch(Polygon(poly, closed=True, facecolor=C["primary"], alpha=0.24, edgecolor="none")) region = np.array([[box[0], box[1]], [box[2], box[1]], [box[2], box[3]], [box[0], box[3]]], dtype=float) for sx, sy, bearing, hd in stations: region = clip_wedge(region, (sx, sy), bearing, hd) if len(region) >= 3: axz.add_patch(Polygon(region, closed=True, facecolor=C["accent_fill"], edgecolor=C["accent"], lw=1.6)) axz.add_patch(Circle(dc_c, dc["radius_m"], facecolor="none", edgecolor=C["violet"], lw=1.4, ls=(0, (5, 3)))) axz.add_patch(Circle(mec_c, mec_r, facecolor="none", edgecolor=C["success"], lw=1.4)) outside = max(verts, key=lambda v: math.dist(v, dc_c)) axz.annotate("最大超出顶点", xy=outside, xytext=(outside[0] + 6, outside[1] - 10), fontproperties=font["song"], fontsize=7.6, color=C["accent"], arrowprops=dict(arrowstyle="-|>", color=C["accent"], lw=1.0)) axz.set_xlabel(f"x / m（放大 ±{zoom:.0f} m）", fontproperties=font["song"]) chips(axz, [("直径圆（不覆盖）", C["violet"]), ("最小包围圆 MEC", C["success"])]) return fig # =========================================================================== # 7. 问题二：保证接收盘 # =========================================================================== def fig_q2_safe_disk(font: dict[str, Any]) -> Any: delta = math.radians(1.0) a = 1500.0 / (2 * math.cos(delta)) safe = R_EFF - a bearing = 30.0 c = (a * math.cos(math.radians(bearing)), a * math.sin(math.radians(bearing))) fig, axes = axes_for_panels(64.0, [1.0, 1.0], width_ratios=[1.0, 1.0]) ax, axz = axes half = 1900.0 polar_axes(ax, half, grid=500.0) ax.add_patch(Circle((0, 0), OMEGA_R, facecolor="none", edgecolor=C["primary"], lw=1.2)) ax.add_patch(Polygon(wedge_polygon((0, 0), bearing, 1.0, 1500.0), closed=True, facecolor=C["accent"], alpha=0.5, edgecolor=C["accent"], lw=1.0)) ax.plot([0], [0], marker="o", ms=4, color=C["accent"]) ax.annotate("s1", (0, 0), textcoords="offset points", xytext=(6, -10), fontproperties=font["times"], fontsize=7.6, color=C["accent"]) ax.add_patch(Circle(c, a, facecolor="none", edgecolor=C["violet"], lw=1.0, ls=(0, (5, 3)))) ax.add_patch(Circle(c, safe, facecolor=C["success"], alpha=0.35, edgecolor=C["success"], lw=1.2)) ax.annotate("", xy=c, xytext=(0, 0), arrowprops=dict(arrowstyle="-|>", color=C["violet"], lw=1.0)) ax.annotate(f"a = {a:.1f} m", ((c[0] + 0) / 2, (c[1] + 0) / 2), textcoords="offset points", xytext=(-6, 26), ha="right", fontproperties=font["song"], fontsize=7.6, color=C["violet"], arrowprops=dict(arrowstyle="-", color=C["violet"], lw=0.8)) ax.annotate(f"安全盘半径 {safe:.1f} m", (c[0], c[1] - safe * 0.7), textcoords="offset points", xytext=(14, -20), ha="left", fontproperties=font["song"], fontsize=7.6, color=C["success"], arrowprops=dict(arrowstyle="-", color=C["success"], lw=0.8)) ax.text(0, OMEGA_R * 0.98, "Ω：R = 1800 m", fontproperties=font["song"], fontsize=7.6, color=C["primary"], ha="center", va="top") ax.set_xlabel("x / m", fontproperties=font["song"]) ax.set_ylabel("y / m", fontproperties=font["song"]) # 右：安全性依据（两半径相加 = 1000 m） axz.set_aspect("auto") axz.axis("off") axz.set_xlim(-1.15, 1.25) axz.set_ylim(-0.35, 1.05) r_safe, r_a = safe / 1000.0, a / 1000.0 axz.add_patch(Circle((0, 0.45), r_a, facecolor=C["violet"], alpha=0.16, edgecolor=C["violet"], lw=1.0, ls=(0, (4, 3)))) axz.add_patch(Circle((0, 0.45), r_safe, facecolor=C["success"], alpha=0.35, edgecolor=C["success"], lw=1.2)) axz.plot([0], [0.45], marker="o", ms=3.4, color=C["ink"]) ang = math.radians(20) axz.annotate("", xy=(r_a * math.cos(ang), 0.45 + r_a * math.sin(ang)), xytext=(0, 0.45), arrowprops=dict(arrowstyle="-", color=C["violet"], lw=1.0)) axz.annotate("", xy=(-r_safe * math.cos(ang), 0.45 - r_safe * math.sin(ang)), xytext=(0, 0.45), arrowprops=dict(arrowstyle="-", color=C["success"], lw=1.0)) axz.text(0.30, 0.72, f"a = {a:.1f} m", fontproperties=font["song"], fontsize=7.6, color=C["violet"]) axz.text(-0.62, 0.18, f"1000 − a = {safe:.1f} m", fontproperties=font["song"], fontsize=7.6, color=C["success"]) chips(ax, [("前向角域 W(s1)", C["accent"]), ("截断角域外接圆 B(c, a)", C["violet"]), ("安全候选盘 B(c, 1000 − a)", C["success"])]) return fig # =========================================================================== # 8. 问题三：七点覆盖 # =========================================================================== def fig_q3_seven_coverage(font: dict[str, Any]) -> Any: a = RING_RADIUS_M stations = [(0.0, 0.0)] + [(a * math.cos(k * math.pi / 3), a * math.sin(k * math.pi / 3)) for k in range(6)] bound = seven_bound(a) fig, axes = axes_for_panels(66.0, [1.0, 0.95], width_ratios=[1.0, 0.95]) ax, axr = axes half = 2050.0 polar_axes(ax, half, grid=600.0) ax.add_patch(Circle((0, 0), OMEGA_R, facecolor="#f7fafc", edgecolor=C["primary"], lw=1.4)) for px, py in stations: ax.add_patch(Circle((px, py), R_EFF, facecolor=C["success"], alpha=0.28, edgecolor=C["success"], lw=0.8)) ax.add_patch(Circle((0, 0), OMEGA_R, facecolor="none", edgecolor=C["primary"], lw=1.4)) for px, py in stations: ax.plot([px], [py], marker="o", ms=4.2, color=C["accent"]) ax.plot([0, a], [0, 0], color=C["accent"], lw=0.9) ax.text(a / 2, 60, f"a = {a:.1f} m", ha="center", fontproperties=font["times"], fontsize=7.6, color=C["accent"]) ax.plot([0], [-SEVEN_R], marker="o", ms=4.6, mfc="none", mec=C["accent"], mew=1.2) ax.annotate(f"最坏点 {bound:.2f} m", (0, -SEVEN_R), textcoords="offset points", xytext=(-4, 14), ha="center", fontproperties=font["song"], fontsize=7.6, color=C["accent"], arrowprops=dict(arrowstyle="-", color=C["accent"], lw=0.8)) ax.text(0, OMEGA_R, "Ω", ha="center", va="bottom", fontproperties=font["song"], fontsize=8, color=C["primary"]) ax.set_xlabel("x / m", fontproperties=font["song"]) ax.set_ylabel("y / m", fontproperties=font["song"]) chips(ax, [("覆盖站点（原点 + 六等分环）", C["accent"]), ("1000 m 接收盘", C["success"])]) axr.axis("off") axr.set_xlim(0, 1) axr.set_ylim(0, 1) rows = [("七点解析（默认）", "7", f"{bound:.2f} m", C["success_fill"], C["success"]), ("49 点网格基线", "49", "989.95 m", "#f7f9fb", C["muted"]), ("31 点最小命中集（题 4）", "31", "990.05 m", "#f7f9fb", C["muted"])] header = ["方案", "点数", "覆盖半径上界"] xs = [0.02, 0.62, 0.78] for x, head in zip(xs, header): axr.text(x, 0.9, head, fontproperties=font["hei_bold"], fontsize=7.8, color=C["primary"]) for i, (name, count, dist, face, edge) in enumerate(rows): y = 0.76 - i * 0.13 axr.add_patch(FancyBboxPatch((0.0, y - 0.045), 1.0, 0.11, boxstyle="round,pad=0.004,rounding_size=0.02", facecolor=face, edgecolor=edge, lw=0.8)) axr.text(xs[0], y, name, fontproperties=font["song"], fontsize=7.6) axr.text(xs[1], y, count, fontproperties=font["times"], fontsize=7.6) axr.text(xs[2], y, dist, fontproperties=font["times"], fontsize=7.6) return fig # =========================================================================== # 9. 问题四：31 点最小命中集 # =========================================================================== def fig_q4_mincover(font: dict[str, Any]) -> Any: plan = load_plan("q4_mincover_v2") pts = np.array(plan["points"], dtype=float) cert = plan["certificate"] fig, axes = axes_for_panels(64.0, [1.0, 1.0], width_ratios=[1.0, 1.0]) ax, axr = axes half = 2150.0 polar_axes(ax, half, grid=600.0) ax.add_patch(Circle((0, 0), OMEGA_R, facecolor="#f7fafc", edgecolor=C["primary"], lw=1.4)) ax.plot(pts[:, 0], pts[:, 1], ls="none", marker="o", ms=4.2, color=C["accent"], label=f"{len(pts)} 个覆盖点") ax.legend(prop=font["song"], frameon=False, loc="lower left") ax.text(0, OMEGA_R, "Ω", ha="center", va="bottom", fontproperties=font["song"], fontsize=8, color=C["primary"]) ax.set_xlabel("x / m", fontproperties=font["song"]) ax.set_ylabel("y / m", fontproperties=font["song"]) ax.set_xlabel("x / m", fontproperties=font["song"]) # 右：forward_half_disk 语义与证书 axr.axis("off") axr.set_xlim(0, 1) axr.set_ylim(0, 1) axr.add_patch(Circle((0.36, 0.66), 0.24, facecolor="#f7f9fb", edgecolor=C["muted"], lw=0.9)) half_disk = [[0.36, 0.66]] + [[0.36 + 0.24 * math.cos(math.radians(-90 + 180 * i / 24)), 0.66 + 0.24 * math.sin(math.radians(-90 + 180 * i / 24))] for i in range(25)] axr.add_patch(Polygon(half_disk, closed=True, facecolor=C["accent"], alpha=0.32, edgecolor="none")) axr.annotate("", xy=(0.57, 0.66), xytext=(0.36, 0.66), arrowprops=dict(arrowstyle="-|>", color=C["accent"], lw=1.2)) axr.plot([0.36, 0.36], [0.42, 0.90], color=C["accent"], lw=0.9, ls=(0, (4, 3))) axr.annotate("", xy=(0.60, 0.95), xytext=(0.12, 0.95), arrowprops=dict(arrowstyle="<->", color=C["muted"], lw=0.8)) axr.text(0.36, 0.90, "覆盖半径 1000 m", ha="center", fontproperties=font["song"], fontsize=7.4, color=C["muted"]) axr.text(0.62, 0.60, "朝向未知\n±90° 前向半盘", ha="left", va="top", fontproperties=font["song"], fontsize=7.4, color=C["accent"], linespacing=1.6) return fig # =========================================================================== # 10/11. WebUI 回放复现 # =========================================================================== def fig_replay(run: dict[str, Any], font: dict[str, Any], *, directional: bool) -> Any: tl = decompose(run) rows = tl["rows"] truth = run["truth"] solved = set(solved_channels(run)) fig = plt.figure(figsize=(170 / 25.4, 108 / 25.4)) ax = fig.add_axes([0.04, 0.30, 0.60, 0.66]) polar_axes(ax, 2100.0, grid=1000.0) ax.add_patch(Circle((0, 0), OMEGA_R, facecolor="#f7fafc", edgecolor=C["primary"], lw=1.4)) for src in truth: ch = int(src["channel"]) color = C["accent"] if ch in solved else C["warn"] ax.plot([src["x"]], [src["y"]], marker="o", ms=5, color=color, zorder=5) ax.annotate(f"ch{ch}", (src["x"], src["y"]), textcoords="offset points", xytext=(5, 2), fontproperties=font["times"], fontsize=6.8, color=color) if directional and src.get("directional"): hd = math.radians(float(src.get("heading_deg") or 0.0)) ax.annotate("", xy=(src["x"] + 200 * math.cos(hd), src["y"] + 200 * math.sin(hd)), xytext=(src["x"], src["y"]), arrowprops=dict(arrowstyle="-|>", color=C["accent"], lw=1.0)) path = [(0.0, 0.0)] for row in rows: if row["x"] is None: continue if (row["x"], row["y"]) != path[-1]: path.append((row["x"], row["y"])) if len(path) > 1: px, py = zip(*path) ax.plot(px, py, color=C["primary"], lw=1.1, alpha=0.85, zorder=3) for act, row in zip(run["actions"], rows): if row["x"] is None: continue if act["path"] == "/measure" and row["hit"]: bearing = math.radians(float(act["response"].get("svd_deg") or 0.0)) ax.annotate("", xy=(row["x"] + 220 * math.cos(bearing), row["y"] + 220 * math.sin(bearing)), xytext=(row["x"], row["y"]), arrowprops=dict(arrowstyle="-|>", color=C["success"], lw=0.7, alpha=0.55)) ax.plot([row["x"]], [row["y"]], marker="o", ms=2.6, color=C["success"]) elif act["path"] == "/clear": ax.plot([row["x"]], [row["y"]], marker="o", ms=7, mfc="none", mec=C["success"] if row["cleared"] else C["muted"], mew=1.2) if row["cleared"]: ax.plot([row["x"]], [row["y"]], marker="x", ms=5, color=C["success"], mew=1.6) ax.set_xlabel("x / m", fontproperties=font["song"]) ax.set_ylabel("y / m", fontproperties=font["song"]) ax.legend(handles=[ Line2D([], [], marker="o", ls="none", color=C["success"], label="已清除频道"), Line2D([], [], marker="o", ls="none", color=C["warn"], label="未清除频道"), Line2D([], [], color=C["accent"], lw=1.2, label="定向源朝向"), Line2D([], [], color=C["success"], lw=0.8, label="检测示向度"), ], prop=font["song"], frameon=False, loc="upper center", bbox_to_anchor=(0.5, -0.13), ncols=4) # 右侧：事件流水（前 10 条） axt = fig.add_axes([0.70, 0.30, 0.285, 0.62]) axt.axis("off") axt.set_xlim(0, 1) axt.set_ylim(0, 1) axt.text(0.0, 1.0, run["case_code"], fontproperties=font["times_bold"], fontsize=7.8, color=C["primary"], va="top") axt.text(0.0, 0.93, f"{run['module']} · 源 {len(truth)} · " f"全清 {len(solved)}/{len(truth)}", fontproperties=font["song"], fontsize=7.4, color=C["muted"], va="top") axt.text(0.0, 0.86, "动作 参数 虚拟 t/s", fontproperties=font["hei_bold"], fontsize=7.4, color=C["primary"], va="top") for i, (act, row) in enumerate(list(zip(run["actions"], rows))[:10]): if act["path"] == "/measure": detail = f"ch{row['channel']} ({row['x']:.0f},{row['y']:.0f})" elif act["path"] == "/clear": detail = f"ch{row['channel']} {'成功' if row['cleared'] else '未发现'}" elif act["path"] == "/enter": detail = "启动" else: detail = "退出" axt.text(0.0, 0.78 - i * 0.075, act["path"], fontproperties=font["times"], fontsize=7.2, va="top") axt.text(0.45, 0.78 - i * 0.075, detail, fontproperties=font["song"], fontsize=7.2, va="top") axt.text(1.0, 0.78 - i * 0.075, f"{row['virtual_s']:.0f}", fontproperties=font["times"], fontsize=7.2, va="top", ha="right") # 底部：虚拟时间轴（检测命中 / 清除刻度） axb = fig.add_axes([0.04, 0.13, 0.945, 0.09]) axb.set_xlim(0, max(tl["virtual_s"], 1e-9)) axb.set_ylim(0, 1) axb.axis("off") axb.add_patch(FancyBboxPatch((0, 0.35), tl["virtual_s"], 0.3, boxstyle="round,pad=0,rounding_size=0", facecolor=C["primary_fill"], edgecolor="none")) for act, row in zip(run["actions"], rows): if act["path"] == "/measure" and row["hit"]: axb.plot([row["virtual_s"], row["virtual_s"]], [0.2, 0.8], color=C["accent"], lw=0.9) elif act["path"] == "/clear" and row["cleared"]: axb.plot([row["virtual_s"], row["virtual_s"]], [0.05, 0.95], color=C["success"], lw=1.4) axb.text(0, 1.15, "0 s", fontproperties=font["times"], fontsize=7.2, color=C["muted"]) axb.text(tl["virtual_s"], 1.15, f"{tl['virtual_s']:,.0f} s", ha="right", fontproperties=font["times"], fontsize=7.2, color=C["muted"]) axb.text(tl["virtual_s"] / 2, 1.15, "竖线：检测到信号（红）/ 成功清除（绿）", ha="center", fontproperties=font["song"], fontsize=7.2, color=C["muted"]) return fig # =========================================================================== # 入口 # =========================================================================== def build_figures(only: Sequence[str] | None, scale: float) -> list[dict[str, Any]]: font = setup_style() want = set(only) if only else None runs = discover_runs() q3 = pick_run(runs, "q3", 10) if runs else None q4 = pick_run(runs, "q4", 12) if runs else None if not runs: print("[fig] 未找到 JSONL，跳过与日志相关的 3 张图") jobs: list[tuple[str, Callable[[], Any], list[dict[str, Any]]]] = [ ("flow-overall-architecture", lambda: fig_flow_overall(font), [source("src/mcm26b/config.py"), source("docs/B题建模分析与实施计划.md")]), ("steps-state-machine", lambda: fig_steps_state_machine(font), [source("docs/协议规则表与状态机.md"), source("src/mcm26b/protocol/client.py")]), ("timing-attachment-example-105-111-194-199", lambda: fig_timing_attachment(font), [source("docs/协议规则表与状态机.md")]), ("geo-q1-convex-intersection-zoom", lambda: fig_q1_meetup(font), []), ("geo-q1-diameter-circle-counterexample", lambda: fig_q1_counterexample(font), [source("examples/q1/triangle.json")]), ("geo-q2-guaranteed-reception-disk", lambda: fig_q2_safe_disk(font), [source("src/mcm26b/config.py"), source("docs/algo-2.md")]), ("geo-q3-seven-point-coverage", lambda: fig_q3_seven_coverage(font), [source("src/mcm26b/planner/seven.py"), source("docs/algo-3.md")]), ("geo-q4-minimum-cover-31-points", lambda: fig_q4_mincover(font), [source("src/mcm26b/guarantee/plans/q4_mincover_v2.json"), source("docs/algo-4.md")]), ] if q3: jobs.append(("timing-measured-q3-10-sources", lambda: fig_timing_measured(q3, font), [source(q3["source"], case_code=q3["case_code"], module=q3["module"])])) jobs.append(("replay-webui-q3-omnidirectional", lambda: fig_replay(q3, font, directional=False), [source(q3["source"], case_code=q3["case_code"])])) if q4: jobs.append(("replay-webui-q4-directional", lambda: fig_replay(q4, font, directional=True), [source(q4["source"], case_code=q4["case_code"])])) entries: list[dict[str, Any]] = [] for stem, maker, sources in jobs: if want and stem not in want: continue fig = maker() if stem == "geo-q1-convex-intersection-zoom": sources = [source(_q1_data()["src"])] entry = save(fig, stem, sources, scale) entries.append(entry) print(f"[fig] {stem:<44} → {entry['png']}") return entries def main() -> int: names = ["flow-overall-architecture", "steps-state-machine", "timing-attachment-example-105-111-194-199", "timing-measured-q3-10-sources", "geo-q1-convex-intersection-zoom", "geo-q1-diameter-circle-counterexample", "geo-q2-guaranteed-reception-disk", "geo-q3-seven-point-coverage", "geo-q4-minimum-cover-31-points", "replay-webui-q3-omnidirectional", "replay-webui-q4-directional"] parser = argparse.ArgumentParser(description=__doc__.splitlines()[0]) parser.add_argument("--only", default="", help="逗号分隔的图名子集") parser.add_argument("--scale", type=float, default=1.0, help="尺寸倍率") parser.add_argument("--list", action="store_true") args = parser.parse_args() if args.list: print("\n".join(names)) return 0 only = [s.strip() for s in args.only.split(",") if s.strip()] unknown = [s for s in only if s not in names] if unknown: parser.error(f"未知图名 {unknown}") entries = build_figures(only or None, args.scale) manifest = {"generator": "scripts/make_figures.py", "command": "uv run python scripts/make_figures.py" + (f" --only {args.only}" if args.only else ""), "palette": C, "fonts": {"dir": "docs/paper/fonts", "map": FONTS}, "figures": entries} path = OUT_DIR / "manifest.json" path.write_text(json.dumps(manifest, ensure_ascii=False, indent=2) + "\n", encoding="utf-8") print(f"[fig] manifest → {path.relative_to(ROOT)}（{len(entries)} 张）") return 0 if __name__ == "__main__": raise SystemExit(main())