79 lines
3.2 KiB
Python
79 lines
3.2 KiB
Python
"""统一命令行入口：mcm26b <子命令>。
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- q1 问题一角域交会求解（P2 已完工）
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- sim-check 用自建模拟器复现附件计时示例（P0 自检）
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- run 全向闭环（P4 骨架，未实现）
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"""
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from __future__ import annotations
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import argparse
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import json
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import sys
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from .config import ProblemConfig
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from .geometry.__main__ import main as q1_main
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from .protocol.client import SimulatorClient
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from .protocol.rules import EXIT_USER
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from .sim import LocalSimTransport, LocalSimulator, Source
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def _sim_check(args) -> int:
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"""附件1表2/附件2第10节计时示例：期望 105/111/194/199 秒。"""
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simulator = LocalSimulator([], robot_id=args.robot_id)
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client = SimulatorClient(args.robot_id, transport=LocalSimTransport(simulator))
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client.enter()
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steps = []
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steps.append(client.measure((300, 400), 1).virtual_time_s) # 移动500m+检测5s
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steps.append(client.measure((300, 400), 2).virtual_time_s) # 换频道1s+检测5s
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steps.append(client.clear((300, 0), 3).virtual_time_s) # 移动400m+未发现3s
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steps.append(client.measure((300, 0), 2).virtual_time_s) # 原地检测频道2
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info = client.exit()
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expected = [105, 111, 194, 199]
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ok = [round(value, 6) for value in steps] == expected \
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and round(info.virtual_time_s, 6) == 199 and info.reason == EXIT_USER
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print(json.dumps({"expected": expected, "got": steps,
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"final_virtual_time_s": info.virtual_time_s,
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"exit_reason": info.reason, "pass": ok},
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ensure_ascii=False))
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return 0 if ok else 1
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def _run(args) -> int:
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raise NotImplementedError(
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"P4 全向闭环尚未实现；当前可用子命令：q1（问题一求解）、sim-check（协议自检）")
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def main(argv=None) -> int:
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parser = argparse.ArgumentParser(prog="mcm26b", description=__doc__)
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parser.add_argument("--config", default="",
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help="预留：覆盖 ProblemConfig 的 JSON 文件（参数化入口）")
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subparsers = parser.add_subparsers(dest="command", required=True)
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q1 = subparsers.add_parser("q1", help="问题一角域交会求解")
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q1.add_argument("input", type=str)
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q1.add_argument("-o", "--output", type=str, default=None)
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q1.add_argument("--rounding-margin-deg", type=float, default=0)
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q1.set_defaults(func=lambda a: q1_main([a.input] + (["-o", a.output] if a.output else [])
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+ (["--rounding-margin-deg", str(a.rounding_margin_deg)]
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if a.rounding_margin_deg else [])) or 0)
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check = subparsers.add_parser("sim-check", help="自建模拟器复现附件计时示例")
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check.add_argument("--robot-id", default="2026001")
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check.set_defaults(func=_sim_check)
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run = subparsers.add_parser("run", help="P4 全向闭环（骨架）")
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run.add_argument("--robot-id", required=True)
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run.set_defaults(func=_run)
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args = parser.parse_args(argv)
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try:
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return args.func(args)
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except NotImplementedError as exc:
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print(f"未实现: {exc}", file=sys.stderr)
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return 2
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if __name__ == "__main__":
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sys.exit(main())
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