170 lines
8.1 KiB
Python
170 lines
8.1 KiB
Python
"""P4 全向闭环端到端验收：10/16/0 源、边界源、预算耗尽与故障注入。
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对应 docs/B题建模分析与实施计划.md P4 行验收门槛（自建部分）：
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- 10/16 源场景正确退出，全清或数量上界证明；
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- 近圆域边界源不漏搜、可清除；
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- 虚拟时刻逐步复算与服务器响应一致；
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- 现实预算耗尽退出记为未完成，不与成功混记；
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- 网络故障重试（幂等回放）不污染闭环结果。
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"""
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import unittest
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from dataclasses import replace
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from itertools import count
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from mcm26b.config import ProblemConfig
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from mcm26b.coverage import coverage_points
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from mcm26b.evaluation import recompute_virtual_time
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from mcm26b.planner import OmnidirectionalLoop
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from mcm26b.protocol.client import SimulatorClient
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from mcm26b.sim import (LocalSimTransport, LocalSimulator,
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ScriptedFaultTransport, Source)
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from mcm26b.sim.scenes import random_omni_scene
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CONFIG = replace(ProblemConfig(),
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search=replace(ProblemConfig().search,
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bearing_rounding_margin_deg=0.005))
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def _run_scene(sources, fault_script=None, clock=None):
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simulator = LocalSimulator(sources, robot_id="T001", config=CONFIG)
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transport = LocalSimTransport(simulator)
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if fault_script is not None:
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transport = ScriptedFaultTransport(transport, fault_script)
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kwargs = {"clock": clock} if clock is not None else {}
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client = SimulatorClient("T001", config=CONFIG, transport=transport, **kwargs)
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loop = OmnidirectionalLoop(client, CONFIG)
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summary = loop.run()
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report = recompute_virtual_time(client.log.action_events())
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return summary, report, simulator
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class LoopAcceptanceTests(unittest.TestCase):
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def test_ten_sources_all_cleared(self):
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sources = random_omni_scene(seed=5, count=10)
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summary, report, simulator = _run_scene(sources)
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truth = sorted(s.channel for s in sources)
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self.assertTrue(summary["completed"])
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self.assertEqual(summary["stop_reason"], "all_resolved")
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self.assertEqual(sorted(summary["cleared_channels"]), truth)
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self.assertEqual(len(summary["absent_channels"]), 10)
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self.assertEqual(summary["unresolved_channels"], [])
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self.assertEqual(summary["anomalies"], [], "守恒性或证书不应被打破")
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self.assertEqual(report["mismatches"], [])
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self.assertEqual(summary["virtual_recompute_mismatches"], 0)
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self.assertEqual(sorted(simulator.cleared), truth)
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self.assertEqual(summary["exit_reason"], "user_exit")
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self.assertLess(summary["virtual_time_s"],
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CONFIG.field.max_virtual_duration_s)
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def test_sixteen_sources_stop_by_count_bound(self):
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sources = random_omni_scene(seed=6, count=16)
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summary, report, simulator = _run_scene(sources)
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truth = sorted(s.channel for s in sources)
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self.assertTrue(summary["completed"])
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self.assertEqual(summary["stop_reason"], "sixteen_cleared")
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self.assertEqual(sorted(summary["cleared_channels"]), truth)
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self.assertEqual(report["mismatches"], [])
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self.assertEqual(sorted(simulator.cleared), truth)
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def test_empty_field_proves_absence_everywhere(self):
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summary, report, _ = _run_scene([])
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self.assertTrue(summary["completed"])
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self.assertEqual(summary["stop_reason"], "all_resolved")
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self.assertEqual(summary["cleared_channels"], [])
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self.assertEqual(summary["absent_channels"], list(range(1, 21)))
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self.assertEqual(summary["measures"], 49 * 20, "缺席证明要求全网格逐频道检测")
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self.assertEqual(report["mismatches"], [])
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def test_boundary_source_close_to_domain_edge(self):
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"""半径 1790m、接收半径 1000m 的源：覆盖保证的最近网格点必须发现它。"""
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source = Source(channel=13, x=1790.0, y=0.0, r_eff_m=1000.0)
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summary, _, simulator = _run_scene([source])
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self.assertTrue(summary["completed"])
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self.assertEqual(sorted(summary["cleared_channels"]), [13])
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self.assertEqual(sorted(simulator.cleared), [13])
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def test_source_on_grid_vertex(self):
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source = Source(channel=20, x=-1400.0, y=700.0, r_eff_m=1500.0)
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summary, _, _ = _run_scene([source])
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self.assertTrue(summary["completed"])
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self.assertEqual(sorted(summary["cleared_channels"]), [20])
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def test_real_budget_exhaustion_exits_cleanly(self):
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"""现实预算耗尽：立即退出并记为未证明完成。"""
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ticks = count(0.0, 200.0) # 每次查询时钟前进 200s，迅速耗尽 1200s 预算
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sources = random_omni_scene(seed=8, count=4)
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summary, _, _ = _run_scene(sources, clock=lambda: next(ticks))
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self.assertFalse(summary["completed"])
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self.assertEqual(summary["stop_reason"], "real_budget_exhausted")
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self.assertEqual(summary["exit_reason"], "user_exit")
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def test_fault_injection_during_coverage(self):
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"""覆盖中途注入读超时与断连：幂等回放保证闭环结果不变。"""
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sources = random_omni_scene(seed=9, count=3)
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script = [None, None, None, "timeout_after", None,
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"drop_before", None, ("status", 500), None, None]
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summary, report, simulator = _run_scene(sources, fault_script=script)
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truth = sorted(s.channel for s in sources)
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self.assertTrue(summary["completed"])
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self.assertEqual(sorted(summary["cleared_channels"]), truth)
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self.assertEqual(report["mismatches"], [])
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self.assertEqual(sorted(simulator.cleared), truth)
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class AbortFinalizationTests(unittest.TestCase):
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"""断连超过重试上限：仍须 /exit、产出未完成 summary，不得静默崩溃。"""
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def test_transport_failure_aborts_with_summary_and_exit(self):
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"""首个检测动作三次断连：run() 正常返回，/exit 成功，stop_reason 留档。"""
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summary, _, _ = _run_scene(
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random_omni_scene(seed=5, count=2),
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fault_script=[None, "drop_before", "drop_before", "drop_before"])
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self.assertFalse(summary["completed"])
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self.assertEqual(summary["stop_reason"], "transport_failure")
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self.assertEqual(summary["exit_reason"], "user_exit",
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"接口仍可用时必须尝试退出")
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self.assertEqual(summary["abort_detail"]["type"], "TransportError")
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self.assertLessEqual(summary["measures"] + summary["clears"],
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summary["total_requests"])
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self.assertEqual(len(summary["channel_status"]), 20,
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"未完成状态须有逐频道快照")
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def test_exit_failure_still_produces_summary(self):
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"""检测与 /exit 均三次断连：产出 exit_unreachable 的未完成 summary。"""
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summary, _, _ = _run_scene(
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random_omni_scene(seed=7, count=2),
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fault_script=[None,
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"drop_before", "drop_before", "drop_before",
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"drop_before", "drop_before", "drop_before"])
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self.assertFalse(summary["completed"])
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self.assertEqual(summary["stop_reason"], "transport_failure")
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self.assertEqual(summary["exit_reason"], "exit_unreachable")
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self.assertEqual(summary["exit_error"]["type"], "TransportError")
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self.assertIn("channel_status", summary)
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class CoverageLedgerIntegrationTests(unittest.TestCase):
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def test_grid_matches_plan_derivation(self):
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points = coverage_points(CONFIG)
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self.assertEqual(len(points), 49)
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self.assertEqual(min(p[0] for p in points), -2100.0)
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self.assertEqual(max(p[1] for p in points), 2100.0)
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# 单元内任意点到最近网格点 <= 700*sqrt(2) <= 1000 的覆盖保证
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worst = 0.0
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for gx in range(-20, 21):
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for gy in range(-20, 21):
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g = (gx * 90.0, gy * 90.0)
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if (g[0] ** 2 + g[1] ** 2) ** 0.5 <= 1800.0:
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nearest = min(math_dist(g, p) for p in points)
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worst = max(worst, nearest)
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self.assertLessEqual(worst, 700.0 * 2 ** 0.5 + 1e-9)
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def math_dist(a, b):
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return ((a[0] - b[0]) ** 2 + (a[1] - b[1]) ** 2) ** 0.5
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if __name__ == "__main__":
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unittest.main()
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