157 lines
8.0 KiB
Python
157 lines
8.0 KiB
Python
"""P4b 贝叶斯闭环端到端验收：全清、PF 缺席证明、预算与故障。
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对齐 test_loop_q3.py 的验收口径（docs/algo-3-bayes.md）：
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- 10/16 源场景全部清除且守恒性零异常（凸证书 + 网格证书均不得失效）；
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- PF 缺席证明（幸存集为空）与覆盖账本口径一致，不误判有源频道；
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- 无源场景全部频道证明缺席后正常退出（persistent 关闭时 all_resolved）；
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- 近圆域边界源（r_eff=1000）不漏搜；
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- 持续复扫（persistent 默认开）：找全后复扫到虚拟安全余量，
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accounted_virtual_time_s 记录首次证明找全时刻；
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- 网络故障幂等重试不污染闭环结果；
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- 虚拟时刻逐步复算一致。
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"""
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import math
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import unittest
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from dataclasses import replace
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from mcm26b.config import ProblemConfig
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from mcm26b.evaluation import recompute_virtual_time
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from mcm26b.planner.bayes_loop import BayesLoop
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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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NO_PERSIST = replace(CONFIG, search=replace(CONFIG.search,
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persistent_search=False))
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def _run_scene(sources, fault_script=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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client = SimulatorClient("T001", config=config, transport=transport)
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loop = BayesLoop(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 BayesLoopAcceptanceTests(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, config=CONFIG)
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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(sorted(summary["cleared_channels"]), truth)
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self.assertEqual(summary["unresolved_channels"], [])
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self.assertIsNotNone(summary["accounted_virtual_time_s"])
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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(sorted(simulator.cleared), truth)
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self.assertEqual(summary["exit_reason"], "user_exit")
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self.assertEqual(summary["strategy"], "bayes")
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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, config=CONFIG)
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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(summary["anomalies"], [])
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def test_empty_arena_all_absent(self):
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"""0 源：每个频道都必须由 PF 排除盘证明缺席后正常退出。"""
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summary, report, simulator = _run_scene([], config=NO_PERSIST)
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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["absent_channels"]),
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list(range(1, 21)))
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self.assertEqual(summary["pf_absent_channels"], list(range(1, 21)))
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self.assertEqual(summary["clears"], 0)
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self.assertEqual(summary["anomalies"], [])
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self.assertEqual(report["mismatches"], [])
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def test_boundary_sources_detected_and_cleared(self):
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"""近圆域边界源（r_eff=1000）：七站覆盖半径 968.9m 保证发现。"""
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sources = [Source(c + 1, 1800.0 * math.cos(math.pi / 6 + 2 * math.pi * c / 4),
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1800.0 * math.sin(math.pi / 6 + 2 * math.pi * c / 4),
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1000.0) for c in range(4)]
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summary, report, simulator = _run_scene(sources, config=NO_PERSIST)
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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(summary["anomalies"], [])
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self.assertEqual(report["mismatches"], [])
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def test_persistent_phase_resweeps_until_cap(self):
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"""复扫保险模式（--persistent）：找全后复扫到虚拟安全余量。"""
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config = replace(SMALL_CAP, search=replace(SMALL_CAP.search,
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persistent_search=True))
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sources = random_omni_scene(seed=5, count=10, config=CONFIG)
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summary, _report, _simulator = _run_scene(sources, config=config)
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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.assertGreater(summary["measures"], 7 * 20,
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"找全后应继续复扫未清除频道")
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def test_transport_fault_retries_keep_session_clean(self):
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sources = random_omni_scene(seed=5, count=10, config=CONFIG)
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script = [("drop_before", 1)] # 首个请求丢弃一次：幂等重试路径
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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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def test_skip_rule_never_skips_detectable_channel(self):
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"""跳测规则只允许跳过"必 no_signal"的 (站,频道) 对。"""
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sources = random_omni_scene(seed=5, count=10, config=CONFIG)
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simulator = LocalSimulator(sources, robot_id="T001", config=CONFIG)
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client = SimulatorClient("T001", config=CONFIG,
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transport=LocalSimTransport(simulator))
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loop = BayesLoop(client, CONFIG)
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loop.run()
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from mcm26b.belief import ChannelStatus
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for index, point in enumerate(loop.ledger.points):
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for channel, belief in loop.belief.channels.items():
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if belief.status is not ChannelStatus.UNKNOWN:
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continue
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skipped = loop._skip_station_channel(channel, index, point)
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if skipped and len(loop.particles[channel]):
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nearest = loop.particles[channel].nearest_alive_distance(
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point, loop.particles[channel].r_eff_max_m
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+ loop.particles[channel].margin_m)
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self.assertIsNone(
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nearest, f"频道 {channel} 站点 {index} 被跳过但可能检出")
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def test_cli_strategy_registry(self):
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"""CLI --strategy 注册表：bayes/seven 用七站，grid 用 49 点网格。"""
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import mcm26b.cli as cli
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from mcm26b.coverage import coverage_points
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from mcm26b.planner.seven import SevenBatch, seven_points
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self.assertIs(cli.Q3_STRATEGIES["bayes"], BayesLoop)
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for name, loop_cls in cli.Q3_STRATEGIES.items():
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simulator = LocalSimulator([], robot_id="T001", config=CONFIG)
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client = SimulatorClient("T001", config=CONFIG,
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transport=LocalSimTransport(simulator))
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loop = loop_cls(client, CONFIG)
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expected = seven_points() if name in ("bayes", "seven") \
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else coverage_points(CONFIG)
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self.assertEqual(loop.ledger.points, expected)
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if __name__ == "__main__":
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unittest.main()
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