297 lines
15 KiB
Python
297 lines
15 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 源场景全部清除；16 源触发数量上界停止；
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- 近圆域边界源不漏搜、可清除；
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- 持续复扫 [用户决策 2026-09-11]：找全后只复扫未清除频道直到虚拟上限；
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- 每步计时（实机 + 比赛虚拟耗时分项）逐步留档可汇总；
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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（找全前）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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SMALL_CAP 把虚拟限时压到 60k 秒：持续复扫在数轮内触及安全余量，
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避免测试扫满 360k 秒上限（等价行为，仅缩短复扫轮数）。
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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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SMALL_CAP = replace(CONFIG,
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field=replace(CONFIG.field, max_virtual_duration_s=60_000.0))
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def _run_scene(sources, fault_script=None, clock=None, config=SMALL_CAP):
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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"], "virtual_time_cap")
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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.assertIsNotNone(summary["accounted_virtual_time_s"],
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"找全证明时刻必须留档")
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self.assertLessEqual(summary["accounted_virtual_time_s"],
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summary["virtual_time_s"])
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self.assertGreater(summary["measures"], 49 * 20,
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"找全后应继续复扫未清除频道（扫到限时为止）")
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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"], "virtual_time_cap")
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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.assertGreaterEqual(summary["measures"], 49 * 20,
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"缺席证明要求全网格逐频道检测")
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self.assertIsNotNone(summary["accounted_virtual_time_s"])
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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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"""现实预算在找全前耗尽：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 StepTimingTests(unittest.TestCase):
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"""每步计时 [用户决策 2026-09-11]：实机耗时 + 比赛虚拟耗时分项。"""
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def test_steps_recorded_with_virtual_breakdown(self):
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sources = random_omni_scene(seed=5, count=2)
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summary, report, _ = _run_scene(sources)
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steps = summary["steps"]
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self.assertEqual(steps[0]["action"], "enter")
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self.assertEqual(steps[-1]["action"], "exit")
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self.assertTrue(all(step["real_elapsed_ms"] >= 0 for step in steps))
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first_measure = next(step for step in steps if step["action"] == "measure")
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self.assertEqual(first_measure["step_virtual_s"],
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first_measure["move_s"] + first_measure["switch_s"]
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+ first_measure["action_s"])
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totals = summary["step_totals"]
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self.assertEqual(totals["count"], len(steps))
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# 虚拟分项之和 = 虚拟总时长（比赛口径：移动+切频道+检测+清除）
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self.assertAlmostEqual(
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totals["virtual_move_s"] + totals["virtual_switch_s"]
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+ totals["virtual_measure_action_s"] + totals["virtual_clear_action_s"],
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totals["virtual_total_s"], delta=0.5)
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self.assertAlmostEqual(totals["virtual_total_s"],
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summary["virtual_time_s"], delta=0.5)
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self.assertGreaterEqual(totals["real_elapsed_total_s"], 0.0)
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# 清除成功一步 5s、未发现 3s：步级记录可复核
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clear_step = next(step for step in steps if step["action"] == "clear")
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self.assertIn(clear_step["action_s"], (3.0, 5.0))
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self.assertEqual(clear_step["switch_s"], 0.0, "/clear 不切频道")
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def test_avg_locate_clear_time_metric(self):
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"""题面口径：平均定位清除时间 = 虚拟总时长 / 被清除个数。"""
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sources = random_omni_scene(seed=5, count=2)
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summary, _, _ = _run_scene(sources)
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cleared = len(summary["cleared_channels"])
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self.assertEqual(summary["avg_locate_clear_time_s"],
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round(summary["virtual_time_s"] / cleared, 3))
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class PersistentSearchTests(unittest.TestCase):
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def test_persistence_disabled_stops_when_resolved(self):
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"""persistent_search=False：回到"证明找全即退出"的基线行为。"""
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config = replace(CONFIG, search=replace(
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CONFIG.search, persistent_search=False, bearing_rounding_margin_deg=0.005))
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summary, _, _ = _run_scene(random_omni_scene(seed=5, count=2),
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config=config)
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self.assertTrue(summary["completed"])
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self.assertEqual(summary["stop_reason"], "all_resolved")
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self.assertLessEqual(summary["measures"], 49 * 20 + 60)
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def test_persistence_resweeps_only_uncleared_channels(self):
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"""复扫只测未清除频道：已清除频道不再消耗检测。"""
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sources = random_omni_scene(seed=5, count=2)
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summary, _, _ = _run_scene(sources)
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cleared = set(summary["cleared_channels"])
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resweep_channels = {step["channel"] for step in summary["steps"]
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if step["index"] > 0
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and step["virtual_time_s"]
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> summary["accounted_virtual_time_s"]
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and step["action"] == "measure"}
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self.assertTrue(resweep_channels)
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self.assertFalse(resweep_channels & cleared,
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"已清除频道不得在找全后被复扫")
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def test_virtual_budget_stops_before_simulator_cap(self):
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"""计划层在虚拟安全余量处停下，不触发模拟器 accepted=false 兜底。"""
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sources = random_omni_scene(seed=5, count=2)
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summary, report, _ = _run_scene(sources)
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self.assertEqual(summary["stop_reason"], "virtual_time_cap")
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field = SMALL_CAP.field
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self.assertLessEqual(summary["virtual_time_s"],
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field.max_virtual_duration_s)
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self.assertGreaterEqual(summary["virtual_time_s"],
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field.max_virtual_duration_s
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- SMALL_CAP.search.virtual_reserve_s - 5_000)
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self.assertEqual(summary["anomalies"], [])
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self.assertEqual(report["mismatches"], [])
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class SimulatorVirtualCapTests(unittest.TestCase):
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def test_simulator_rejects_actions_beyond_virtual_cap(self):
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"""附件2 §4.5 兜底：虚拟时长达限后本地模拟器不再执行检测。"""
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simulator = LocalSimulator([], robot_id="T001", config=CONFIG)
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simulator.entered = True
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simulator.virtual_time_s = CONFIG.field.max_virtual_duration_s
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from mcm26b.sim import SimulatorClosed
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with self.assertRaises(SimulatorClosed):
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simulator.handle(
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"/measure", {"arena_id": "default", "robot_id": "T001",
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"request_id": "x1",
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"position": {"x": 0.0, "y": 0.0}, "channel": 1})
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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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class SceneGenerationTests(unittest.TestCase):
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"""场景生成 [题面]：默认 10~16 源、Ω 内均匀、频道互异、r_eff∈[1000,1500]。"""
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def test_default_count_within_problem_range(self):
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for seed in range(20):
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sources = random_omni_scene(seed=seed)
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self.assertTrue(10 <= len(sources) <= 16, f"seed={seed}")
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def test_scene_respects_problem_constraints(self):
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for seed in range(10):
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sources = random_omni_scene(seed=seed)
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channels = [s.channel for s in sources]
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self.assertEqual(len(channels), len(set(channels)))
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self.assertTrue(all(1 <= c <= 20 for c in channels))
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for s in sources:
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self.assertLessEqual((s.x ** 2 + s.y ** 2) ** 0.5, 1800.0)
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self.assertGreaterEqual(s.r_eff_m, 1000.0)
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self.assertLessEqual(s.r_eff_m, 1500.0)
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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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