616 lines
28 KiB
Python
616 lines
28 KiB
Python
# -*- coding: utf-8 -*-
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from __future__ import annotations
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import csv, json, math, re
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from pathlib import Path
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import numpy as np
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import matplotlib
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matplotlib.use("Agg")
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import matplotlib.pyplot as plt
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from matplotlib.patches import Arc, Circle, FancyArrowPatch, Polygon, Rectangle, Wedge
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ROOT = Path(__file__).resolve().parents[1]
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FIG = ROOT / "docs" / "figures"
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FIG.mkdir(parents=True, exist_ok=True)
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INK = "#234C70"
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GRAY = "#676767"
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LIGHT = "#9DB7CA"
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PALE = "#D9E4EC"
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GOLD = "#B58B3A"
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GREEN = "#4E7A55"
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plt.rcParams.update({"font.sans-serif": ["Microsoft YaHei", "SimHei", "DejaVu Sans"], "axes.unicode_minus": False,
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"figure.dpi": 120, "savefig.dpi": 300, "axes.edgecolor": GRAY,
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"axes.labelcolor": "#222222", "text.color": "#222222"})
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def save(fig, name):
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try:
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fig.tight_layout()
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except Exception:
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pass
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fig.savefig(FIG / name, bbox_inches="tight", facecolor="white")
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plt.close(fig)
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def load_formal():
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rows = []
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path = ROOT / "docs" / "paper" / "data" / "formal-results.csv"
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with path.open(encoding="utf-8-sig") as f:
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for row in csv.DictReader(f):
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for key in ("problem_no", "formal_index", "cleared_jammer_count",
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"measure_accepted_count", "channel_switch_count",
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"clear_failure_count"):
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row[key] = int(row[key])
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for key in ("virtual_time_s", "program_run_duration_s",
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"inferred_movement_time_s"):
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row[key] = float(row[key])
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rows.append(row)
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return rows
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def fig_formal_time_bars():
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rows = load_formal()
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labels = ["Q%d-%d" % (r["problem_no"], r["formal_index"]) for r in rows]
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move = np.array([r["inferred_movement_time_s"] for r in rows])
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measure = np.array([5.0 * r["measure_accepted_count"] for r in rows])
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switch = np.array([1.0 * r["channel_switch_count"] for r in rows])
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clear = np.array([5.0 * r["cleared_jammer_count"] + 3.0 * r["clear_failure_count"] for r in rows])
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fig, ax = plt.subplots(figsize=(9.0, 3.8))
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ax.barh(labels, move, color=INK, label="移动")
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ax.barh(labels, measure, left=move, color=LIGHT, label="检测")
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ax.barh(labels, switch, left=move + measure, color=GRAY, label="换频")
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ax.barh(labels, clear, left=move + measure + switch, color=GOLD, label="清除")
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ax.set_xlabel("累计虚拟时间 / s")
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ax.grid(axis="x", color="#E5E5E5", linewidth=0.7)
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ax.set_axisbelow(True)
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ax.legend(loc="lower right", frameon=False, ncol=4)
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save(fig, "formal-time-bars.png")
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def practice_macro(name: str) -> str:
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"""从 ``data/practice-macros.tex`` 读取正文主局案例编码。
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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，
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而是读 ``build_practice_data.py`` 生成的宏，避免两处口径分叉。
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"""
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path = ROOT / "docs" / "paper" / "data" / "practice-macros.tex"
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match = re.search(r"\\newcommand\{\\" + name + r"\}\{([^}]*)\}",
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path.read_text(encoding="utf-8"))
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if match is None:
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raise KeyError(f"宏 {name} 不存在；请先运行 scripts/build_practice_data.py")
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return match.group(1)
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def box(ax, x, y, w, h, text, fc=PALE, ec=INK, size=8):
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"""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。"""
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ax.add_patch(Rectangle((x, y), w, h, facecolor=fc, edgecolor=ec, linewidth=1.0))
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ax.text(x + w/2, y + h/2, text, ha="center", va="center", fontsize=size, wrap=True)
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def arrow(ax, p, q, color=GRAY):
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ax.add_patch(FancyArrowPatch(p, q, arrowstyle="-|>", mutation_scale=10,
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linewidth=1.0, color=color))
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def fig_framework():
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"""闭环决策图：观测—候选集—任务—动作的循环，自下而上闭合。
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箭头只画在框与框之间的空白处：起点取框边、终点取框边，
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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，
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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。
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"""
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fig, ax = plt.subplots(figsize=(7.6, 5.15))
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ax.axis("off")
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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)
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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)
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box(ax, 3.1, 1.4, 2.0, 0.7, "任务选择\n覆盖 / 定位 / 清除", size=8.5)
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box(ax, 0.3, 1.4, 2.0, 0.7, "动作执行\n移动与计时", size=8.5)
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box(ax, 3.1, 0.25, 2.0, 0.6, "退出 / 报告", fc="#EFEFEF", size=8.5)
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# 回路：观测 →（右）候选集更新 →（下）任务选择 →（左）动作执行 →（上）观测
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arrow(ax, (2.3, 3.15), (3.1, 3.15))
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arrow(ax, (4.1, 2.8), (4.1, 2.1))
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arrow(ax, (3.1, 1.75), (2.3, 1.75))
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arrow(ax, (1.3, 2.1), (1.3, 2.8))
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# 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
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arrow(ax, (4.1, 1.4), (4.1, 0.85))
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ax.set_xlim(0.12, 5.28); ax.set_ylim(0.13, 3.62)
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save(fig, "framework-decision-loop.png")
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ax.set_xlim(0, 5.6); ax.set_ylim(0.3, 3.7)
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save(fig, "framework-decision-loop.png")
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def fig_state_machine():
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fig, ax = plt.subplots(figsize=(7.0, 2.2))
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ax.axis("off")
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xs = [(0.1, "未进入"), (1.8, "进入\n5 s 倒计时"), (3.8, "接口开放"),
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(5.8, "关闭\n退出 / 超时")]
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for x, t in xs:
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box(ax, x, 0.6, 1.5, 0.8, t)
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for x in (1.6, 3.6, 5.6):
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arrow(ax, (x, 1.0), (x + 0.2, 1.0))
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ax.set_xlim(0, 7.4); ax.set_ylim(0, 2.0)
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save(fig, "steps-state-machine.png")
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def fig_timing_attachment():
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steps = ["步骤 1", "步骤 2", "步骤 3", "步骤 4"]
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move = np.array([100.0, 0.0, 80.0, 0.0])
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action = np.array([5.0, 5.0, 3.0, 5.0])
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switch = np.array([0.0, 1.0, 0.0, 0.0])
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fig, ax = plt.subplots(figsize=(6.0, 3.2))
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ax.bar(steps, move, color=INK, label="移动")
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ax.bar(steps, action, bottom=move, color=LIGHT, label="检测 / 清除")
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ax.bar(steps, switch, bottom=move + action, color=GRAY, label="换频")
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for i, total in enumerate(move + action + switch):
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ax.text(i, total + 2, "%.0f" % total, ha="center", fontsize=8)
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ax.set_ylabel("虚拟时间 / s")
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ax.legend(frameon=False)
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save(fig, "timing-attachment-example-105-111-194-199.png")
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def clip_halfplane(poly, a, b, c):
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if len(poly) == 0:
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return poly
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out = []
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for i in range(len(poly)):
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p = poly[i]; q = poly[(i + 1) % len(poly)]
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fp = a * p[0] + b * p[1] - c
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fq = a * q[0] + b * q[1] - c
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if fp <= 1e-9:
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out.append(p)
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if (fp < -1e-9 and fq > 1e-9) or (fp > 1e-9 and fq < -1e-9):
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t = fp / (fp - fq)
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out.append(p + t * (q - p))
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return np.array(out, dtype=float)
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def wedge_halfplanes(sx, sy, theta_deg, delta_deg):
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theta = math.radians(theta_deg); delta = math.radians(delta_deg)
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a1 = math.sin(theta - delta); b1 = -math.cos(theta - delta)
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c1 = a1 * sx + b1 * sy
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a2 = -math.sin(theta + delta); b2 = math.cos(theta + delta)
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c2 = a2 * sx + b2 * sy
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a3 = -math.cos(theta); b3 = -math.sin(theta)
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c3 = a3 * sx + b3 * sy
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return [(a1, b1, c1), (a2, b2, c2), (a3, b3, c3)]
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def intersection_polygon(meas, bound=2500.0):
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poly = np.array([[-bound, -bound], [bound, -bound], [bound, bound], [-bound, bound]], dtype=float)
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for m in meas:
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for a, b, c in wedge_halfplanes(m["x"], m["y"], m["bearing_deg"], m["half_angle_deg"]):
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poly = clip_halfplane(poly, a, b, c)
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if len(poly) == 0:
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return poly
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return poly
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def pair_circle(p, q):
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c = (p + q) / 2.0
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r = np.linalg.norm(p - q) / 2.0
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return c, r
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def contains_all(c, r, pts, tol=1e-6):
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return all(np.linalg.norm(p - c) <= r + tol for p in pts)
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def circumcircle(p, q, r):
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ax, ay = p; bx, by = q; cx, cy = r
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d = 2.0 * (ax * (by - cy) + bx * (cy - ay) + cx * (ay - by))
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if abs(d) < 1e-12:
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return None
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ux = ((ax*ax + ay*ay) * (by - cy) + (bx*bx + by*by) * (cy - ay) + (cx*cx + cy*cy) * (ay - by)) / d
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uy = ((ax*ax + ay*ay) * (cx - bx) + (bx*bx + by*by) * (ax - cx) + (cx*cx + cy*cy) * (bx - ax)) / d
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c = np.array([ux, uy])
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return c, np.linalg.norm(c - p)
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def min_enclosing_circle(pts):
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pts = np.asarray(pts, dtype=float)
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best_c = pts[0]; best_r = 0.0
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for i in range(len(pts)):
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for j in range(i + 1, len(pts)):
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c, r = pair_circle(pts[i], pts[j])
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if contains_all(c, r, pts) and r < best_r or (best_r == 0.0 and contains_all(c, r, pts)):
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best_c, best_r = c, r
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for i in range(len(pts)):
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for j in range(i + 1, len(pts)):
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for k in range(j + 1, len(pts)):
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cc = circumcircle(pts[i], pts[j], pts[k])
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if cc is None:
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continue
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c, r = cc
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if contains_all(c, r, pts) and r < best_r:
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best_c, best_r = c, r
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return best_c, best_r
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def load_q1_example():
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"""问题一交会算例（scripts/build_practice_data.py 复算自建模拟器观测）。"""
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path = ROOT / "docs" / "paper" / "data" / "practice-geometry.json"
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return json.loads(path.read_text(encoding="utf-8"))
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def set_equal_view(ax, centre, half_width, box_aspect):
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"""设定等比例视野，并让轴框高宽比等于 ``box_aspect``。
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``set_box_aspect`` 与固定坐标范围同时使用会让 matplotlib 丢弃范围并告警，
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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，
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轴框尺寸完全一致，版面高度自然严格相等。
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"""
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half_height = half_width * box_aspect
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ax.set_xlim(centre[0] - half_width, centre[0] + half_width)
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ax.set_ylim(centre[1] - half_height, centre[1] + half_height)
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ax.set_aspect("equal")
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def fig_q1_geometry():
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"""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。
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三幅必须等高才能并排读，因此用 :func:`set_equal_view` 把三个轴框
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固定为同一高宽比；三幅取相同宽度后，版面高度严格相等。
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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。
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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。
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"""
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example = load_q1_example()
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meas = example["measurements"]
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poly = np.array(example["vertices"], dtype=float)
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box_aspect = 1.15
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fig, (ax, ax2, ax3) = plt.subplots(1, 3, figsize=(9.6, 4.0))
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stations = np.array([[m["x"], m["y"]] for m in meas], dtype=float)
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for m in meas:
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x, y = m["x"], m["y"]
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th = math.radians(m["bearing_deg"])
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d = math.radians(example["half_angle_deg"])
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for sgn in (-1.0, 1.0):
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ang = th + sgn * d
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end = np.array([x, y]) + 900.0 * np.array([math.cos(ang), math.sin(ang)])
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ax.plot([x, end[0]], [y, end[1]], color=LIGHT, linewidth=0.9, zorder=1)
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ax.scatter([x], [y], color=GRAY, s=16, zorder=3)
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ax.annotate("S", (x, y), textcoords="offset points", xytext=(6, 5), fontsize=8)
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ax.add_patch(Polygon(poly, closed=True, facecolor=PALE, edgecolor=INK,
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linewidth=1.4, zorder=2))
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# 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。
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stacked = np.vstack([stations, poly])
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lo, hi = stacked.min(axis=0), stacked.max(axis=0)
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set_equal_view(ax, (lo + hi) / 2.0, max(hi - lo) * 0.54, box_aspect)
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ax.grid(True, color="#EEEEEE")
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ax.set_title("(a) 角域交会", fontsize=9)
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ax.set_xlabel("x / m"); ax.set_ylabel("y / m")
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ax2.add_patch(Polygon(poly, closed=True, facecolor=PALE, edgecolor=INK, linewidth=1.4))
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ax2.add_patch(Circle(example["diameter_circle_centre"], example["diameter_circle_radius_m"],
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fill=False, edgecolor=GOLD, linestyle="--", linewidth=1.2,
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label="直径圆"))
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ax2.add_patch(Circle(example["mec_centre"], example["mec_radius_m"],
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fill=False, edgecolor=GREEN, linewidth=1.4, label="最小包围圆"))
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ax2.scatter(poly[:, 0], poly[:, 1], color=INK, s=16, label="定位区域顶点")
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lo, hi = poly.min(axis=0), poly.max(axis=0)
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set_equal_view(ax2, (lo + hi) / 2.0, max(hi - lo) * 0.62, box_aspect)
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ax2.grid(True, color="#EEEEEE")
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ax2.set_title("(b) 定位区域放大", fontsize=9)
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ax2.set_xlabel("x / m"); ax2.set_ylabel("y / m")
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ax2.legend(frameon=False, fontsize=7, loc="lower left", bbox_to_anchor=(0.0, 0.0))
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tri = np.array([[0.0, 0.0], [40.0, 0.0], [20.0, 20.0 * math.sqrt(3.0)]])
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ax3.add_patch(Polygon(tri, closed=True, fill=False, edgecolor=INK, linewidth=1.4))
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ax3.add_patch(Circle((20.0, 0.0), 20.0, fill=False, edgecolor=GOLD,
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linestyle="--", linewidth=1.2, label="直径圆 ($r=20$ m)"))
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ax3.add_patch(Circle((20.0, 20.0 / math.sqrt(3.0)), 40.0 / math.sqrt(3.0), fill=False,
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edgecolor=GREEN, linewidth=1.4,
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label="最小包围圆 ($\\rho=40/\\sqrt{3}$ m)"))
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ax3.scatter(tri[:, 0], tri[:, 1], color=INK, s=16)
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for (px, py), name, dx, dy in ((tri[0], "A", -11.0, -3.0), (tri[1], "B", 7.0, -3.0),
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(tri[2], "C", -2.0, 9.0)):
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ax3.annotate(name, (px, py), textcoords="offset points", xytext=(dx, dy), fontsize=9)
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set_equal_view(ax3, (20.0, 15.0), 30.0, box_aspect)
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ax3.grid(True, color="#EEEEEE")
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ax3.set_title("(c) 等边三角形反例", fontsize=9)
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ax3.set_xlabel("x / m"); ax3.set_ylabel("y / m")
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ax3.legend(frameon=False, fontsize=6.5, loc="upper right")
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save(fig, "geo-q1-geometry.png")
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def fig_q2_safe_disk():
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delta = math.radians(1.0); rp = 1500.0; a = rp / (2.0 * math.cos(delta)); safe = 1000.0 - a
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fig, axes = plt.subplots(1, 2, figsize=(8.0, 3.6))
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ax = axes[0]
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ax.plot([0, rp * math.cos(delta)], [0, rp * math.sin(delta)], color=GRAY, linewidth=0.8)
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ax.plot([0, rp * math.cos(delta)], [0, -rp * math.sin(delta)], color=GRAY, linewidth=0.8)
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ax.add_patch(Circle((a, 0), a, fill=False, edgecolor=LIGHT, linestyle="--", linewidth=1.2))
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ax.add_patch(Circle((a, 0), safe, facecolor=PALE, edgecolor=INK, linewidth=1.2, alpha=0.8))
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ax.scatter([0], [0], color=GRAY, s=12); ax.scatter([a], [0], color=INK, s=12)
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ax.text(a + 20, 20, "c", fontsize=9); ax.text(10, 15, "s", fontsize=9)
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ax.set_aspect("equal"); ax.grid(True, color="#EEEEEE")
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ax.set_xlim(-80, rp + 80); ax.set_ylim(-320, 320)
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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/(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_q4_plan():
|
||
"""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)
|
||
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_time_bars()
|
||
fig_practice_total()
|
||
fig_framework()
|
||
fig_state_machine()
|
||
fig_timing_attachment()
|
||
fig_q1_geometry()
|
||
fig_q2_safe_disk()
|
||
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()
|
||
|