wangfq
7fd120fdf3
背景: V4.24 黄灯只在60s进入学习后才亮, 前60s操作员无可视反馈 改动: poll_yellow_led 模式4条件放宽 = g_env_resync || g_env_wait_cnt>=ENV_WARN_WAIT - ENV_WARN_WAIT=500tick(~5s) 放 TaskLoop.h 文件级(poll_yellow_led 可见) - dev>+4dlt 高位连续5s未回摆 → 黄灯预判常亮; 累计60s才真正学习(黄灯保持) - 预判≠学习: 回摆/目标靠近(wait清零) → 黄灯即灭, 不触发学习 tests/test_env_resync.c 扩展: 预判点亮时刻=500tick / 瞬态4000tick预判亮但不学 / 打断回摆后预判灭; 5场景ALL PASS + 语法0 error docs: devlog V2.23 + spec V2.4(ENV_WARN_WAIT行) + 产品手册 V2.8 同步
297 lines
11 KiB
C
297 lines
11 KiB
C
/*
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* test_env_resync.c — 环境重校准(受控基线更新) gcc 隔离单测 (DLD154V4B V4.24)
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*
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* 验证对象: TaskLoop.c vd1_task() 无车段 dev>0 分支 (V4.24 两段式)
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* ─ 现场场景 (2026-09-02 实测): 线圈旁金属板A上电 → Origin 学低(128096)
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* A 拿走 → CAPVD 弹回真空场(128856) dev=+761 → 双向保护(36321a1)永不更新
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* → B 触发需 809cnt (正常 54cnt) 灵敏度假性降低
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* ─ 修复: dev>+4dlt 高位连续 60s(ENV_RESYNC_WAIT) 未回摆 → 判定永久环境变化
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* → 学习基线 B (连续空闲窗均值 + settle 判稳) → 空闲原子替换 Origin
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*
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* 运行: gcc -Wall tests/test_env_resync.c && ./a.out
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* 期望: 4 场景 ALL PASS (瞬态 60s 内短停不学; 永久变化 ~66s 恢复)
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*/
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#include <assert.h>
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#include <stdio.h>
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#include <stdint.h>
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/*========== 与固件一致的参数宏 (TaskLoop.c vd1_task 内) ==========*/
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#define STABLE_ORIGIN_PPT 1 // 判稳带: 窗口均值漂移 ≤ Origin×1/1000 (0.1%)
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#define STABLE_SETTLE_WINDOWS 2 // 连续 2 窗漂移达标
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#define FREEZE_TIMEOUT 1000 // 打印饱和(dev>0 不再超时更新 Origin)
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#define ENV_RESYNC_WAIT 6000 // V4.24: dev>+4dlt 高位连续 60s → 判定永久环境变化
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#define ENV_WARN_WAIT 500 // V4.25: 高位连续 ~5s → 黄灯预判常亮 (TaskLoop.h)
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#define ENV_LEARN_WINDOW 200 // V4.24: 环境学习窗口 2s
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#define ENV_LEARN_MAX_TICKS 3000 // V4.24: 学习预算 30s, 超时放弃
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/*========== 与固件同名的 env 全局镜像 (TaskLoop.c :80-90) ==========*/
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static uint8_t g_env_resync = 0;
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static uint16_t g_env_wait_cnt = 0;
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static uint32_t g_env_sum = 0;
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static uint16_t g_env_cnt = 0;
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static uint32_t g_env_prev = 0;
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static uint8_t g_env_settle = 0;
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static uint16_t g_env_tick = 0;
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/* 场景镜像 (loop1_* 对应量) */
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static uint32_t sim_Origin;
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static uint32_t sim_CAPVD;
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static int32_t sim_dlt; /* 进阈 dlt */
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/* 事件计数 */
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static int ev_learn_start = 0;
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static int ev_applied = 0;
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static int ev_abort = 0;
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static void env_reset(void)
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{
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g_env_resync = 0;
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g_env_wait_cnt = 0;
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g_env_sum = 0;
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g_env_cnt = 0;
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g_env_prev = 0;
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g_env_settle = 0;
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g_env_tick = 0;
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}
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/* V4.25: 黄灯模式4 条件镜像 (TaskLoop.c poll_yellow_led) */
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static int env_warn_active(void)
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{
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return g_env_resync || g_env_wait_cnt >= ENV_WARN_WAIT;
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}
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/* 与 TaskLoop.c env_resync_abort/apply 逐行一致 */
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static void env_resync_abort(void)
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{
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g_env_resync = 0;
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g_env_sum = 0;
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g_env_cnt = 0;
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g_env_prev = 0;
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g_env_settle = 0;
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g_env_tick = 0;
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}
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static void env_resync_apply(uint32_t new_origin)
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{
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(void)new_origin;
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/* 固件此处打印 + 替换 Origin + 清 freeze/ORG/entry + slow snap */
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ev_applied++;
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env_resync_abort();
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}
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/*========== 模拟 vd1_task 无车段基线块 env 逻辑 (逐行复刻 V4.24) ==========*/
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static void sim_tick(void)
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{
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int32_t dev = (int32_t)sim_CAPVD - (int32_t)sim_Origin;
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int32_t freeze_band = sim_dlt * 4;
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if (dev < freeze_band && dev > -freeze_band) {
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/* 对称窗口内 → 正常基线跟踪 (env 相关) */
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g_env_wait_cnt = 0;
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if (g_env_resync) ev_abort++;
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env_resync_abort();
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} else if (dev < 0) {
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/* 车方向 → 冻结 (env 相关) */
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g_env_wait_cnt = 0;
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if (g_env_resync) ev_abort++;
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env_resync_abort();
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} else {
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/* dev>0 高位 — V4.24 两段式 */
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if (!g_env_resync) {
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g_env_wait_cnt++;
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if (g_env_wait_cnt >= ENV_RESYNC_WAIT) {
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g_env_resync = 1;
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g_env_wait_cnt = 0;
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g_env_sum = 0;
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g_env_cnt = 0;
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g_env_prev = 0;
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g_env_settle = 0;
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g_env_tick = 0;
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ev_learn_start++;
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}
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} else {
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g_env_tick++;
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g_env_sum += sim_CAPVD;
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g_env_cnt++;
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if (g_env_cnt >= ENV_LEARN_WINDOW) {
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uint32_t _m = g_env_sum / g_env_cnt;
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uint32_t _drift, _band;
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g_env_sum = 0;
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g_env_cnt = 0;
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if (g_env_prev != 0) {
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_drift = (_m > g_env_prev) ? (_m - g_env_prev) : (g_env_prev - _m);
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_band = _m * STABLE_ORIGIN_PPT / 1000;
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if (_drift <= _band) {
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g_env_settle++;
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} else {
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g_env_settle = 0;
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}
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if (g_env_settle >= STABLE_SETTLE_WINDOWS) {
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sim_Origin = _m; /* env_resync_apply 替换 */
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env_resync_apply(_m);
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return; /* 本 tick 不再走进入判定 */
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}
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}
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g_env_prev = _m;
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}
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if (g_env_tick >= ENV_LEARN_MAX_TICKS) {
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ev_abort++;
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env_resync_abort();
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}
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}
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}
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}
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/*========== 测试工具 ==========*/
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static void t_set(uint32_t origin, uint32_t capvd, int32_t dlt)
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{
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sim_Origin = origin;
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sim_CAPVD = capvd;
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sim_dlt = dlt;
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env_reset();
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ev_learn_start = 0;
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ev_applied = 0;
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ev_abort = 0;
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}
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/*========== 场景 ==========*/
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static void test_permanent_change_recovers(void)
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{
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/* ① 常量高位稳定 (A 拿走): Origin=128095, 空场 CAPVD=128856, dev=+761>192 */
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t_set(128095UL, 128856UL, 48);
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int tick = 0;
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int warn_at = 0;
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for (; tick < 7000 && !ev_applied; tick++) {
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sim_tick();
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if (!warn_at && env_warn_active())
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warn_at = tick + 1; /* 首次黄灯预判条件成立 (wait>=500) */
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}
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printf("常量高位稳定: 黄灯预判=%d 学习启动=%d 替换=%d 替换tick=%d resync=%d\n",
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warn_at, ev_learn_start, ev_applied, tick, g_env_resync);
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assert(warn_at == 500); /* V4.25: 高位 5s 即黄灯常亮预判 */
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assert(ev_learn_start == 1);
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assert(ev_applied == 1);
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assert(tick == 6600); /* 6000 等待 + 3×200 窗 */
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assert(sim_Origin == 128856UL);
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assert(g_env_resync == 0); /* 替换后复位, 黄灯灭 */
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/* 替换后 dev≈0 → 走窗口分支, 不再进 freeze/学习 */
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for (int i = 0; i < 500; i++)
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sim_tick();
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assert(ev_applied == 1); /* 不再重复替换 */
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printf(" 场景1 PASS — 永久环境变化 ~66s 自动恢复, Origin 128095->128856\n\n");
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}
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static void test_transient_never_learns(void)
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{
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/* ② 瞬态高位短停 (铁块模拟): 40s(4000tick) 高位后回摆 → 不学习
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* 但 5s 后黄灯预判已亮 (wait>=500) — 预判亮 ≠ 进入学习 */
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t_set(128095UL, 128856UL, 48);
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for (int i = 0; i < 4000; i++)
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sim_tick();
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assert(ev_learn_start == 0);
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assert(env_warn_active() == 1); /* 黄灯预判已亮 (wait=4000) */
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printf("瞬态高位短停: 4000tick 时黄灯预判亮=%d (未学习)\n", env_warn_active());
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/* 回摆进窗口 (CAPVD 回 Origin 附近), wait 清零 → 黄灯预判灭 */
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sim_CAPVD = 128100UL; /* dev=+5 窗口内 */
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sim_tick();
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assert(g_env_wait_cnt == 0);
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assert(env_warn_active() == 0); /* 回摆解除, 黄灯灭 */
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/* 再次高位 59s(5900tick) — 仍不足 60s 连续 → 不学 */
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sim_CAPVD = 128856UL;
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for (int i = 0; i < 5900; i++)
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sim_tick();
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assert(ev_learn_start == 0);
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assert(ev_applied == 0);
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assert(sim_Origin == 128095UL);
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printf("瞬态高位短停: 不学习不替换, Origin 保持 (等待计数=%d)\n", g_env_wait_cnt);
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printf(" 场景2 PASS — 铁块类瞬态(60s内回摆)不触发重校准\n\n");
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}
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static void test_learn_interrupted_restarts(void)
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{
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/* ③ 学习期打断重算: 60s 后进入学习, 途中目标靠近(回窗) → abort → 重来并最终恢复 */
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t_set(128095UL, 128856UL, 48);
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/* 第一次 60s + 学习 100 tick 后, B 靠近把 CAPVD 压回窗口 */
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for (int i = 0; i < 6000; i++)
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sim_tick(); /* 进入学习 */
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assert(g_env_resync == 1);
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for (int i = 0; i < 100; i++)
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sim_tick(); /* 学习窗1 未完 */
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sim_CAPVD = 128000UL; /* dev=-95 窗口内(B 目标) */
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sim_tick();
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assert(g_env_resync == 0); /* 打断退出 */
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assert(ev_abort == 1);
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assert(env_warn_active() == 0); /* wait 清零, 黄灯预判灭 */
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/* 目标离开, 高位重新 60s → 学习 3 窗 → 替换 */
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sim_CAPVD = 128856UL;
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for (int i = 0; i < 7000 && !ev_applied; i++)
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sim_tick();
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printf("学习期打断: abort=%d 重新学习启动=%d 最终替换tick计数=%d Origin=%lu\n",
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ev_abort, ev_learn_start, 0, (unsigned long)sim_Origin);
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assert(ev_applied == 1);
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assert(ev_learn_start == 2);
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assert(sim_Origin == 128856UL);
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printf(" 场景3 PASS — 学习期任何打断都重算, 完成后恢复\n\n");
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}
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static void test_unstable_learn_gives_up(void)
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{
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/* ④ 学习期每窗均值漂移 >0.1% (CAPVD 高位大幅交替 128856±200..400)
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* → settle 永远到不了 2 → 30s 预算超时放弃, 保留旧 Origin */
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t_set(128095UL, 128856UL, 48);
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for (int i = 0; i < 6000; i++)
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sim_tick(); /* 进入学习 */
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assert(g_env_resync == 1);
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int tick = 0;
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for (; tick < 3500 && !ev_applied && g_env_resync; tick++) {
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/* 交替高值: 窗与窗之间均值漂移 ~200 > band(~129), 且 dev 恒 >192 */
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sim_CAPVD = ((tick / ENV_LEARN_WINDOW) & 1) ? 129256UL : 129056UL;
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sim_tick();
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}
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printf("学习期不稳: 预算放弃 tick=%d applied=%d resync=%d Origin=%lu\n",
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tick, ev_applied, g_env_resync, (unsigned long)sim_Origin);
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assert(ev_applied == 0);
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assert(g_env_resync == 0); /* 超时放弃, 黄灯灭 */
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assert(ev_abort >= 1);
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assert(sim_Origin == 128095UL); /* Origin 不被污染 */
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printf(" 场景4 PASS — 学习不稳定 30s 放弃, 宁可灵敏度低不冒险污染\n\n");
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}
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static void test_no_learning_after_replace(void)
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{
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/* ⑤ 替换后 Origin≈CAPVD → dev≈0 正常窗口跟踪, 不再触发二次学习 */
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t_set(128095UL, 128856UL, 48);
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for (int i = 0; i < 7000 && !ev_applied; i++)
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sim_tick();
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assert(ev_applied == 1);
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int before = ev_learn_start;
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for (int i = 0; i < 6000; i++)
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sim_tick(); /* 新 Origin 下高位条件消失 */
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assert(ev_learn_start == before); /* 无新学习 */
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printf("替换后稳态: 高位条件消失, 无重复学习 (Origin=%lu)\n", (unsigned long)sim_Origin);
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printf(" 场景5 PASS — 恢复后进入正常跟踪, 不震荡\n\n");
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}
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int main(void)
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{
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test_permanent_change_recovers();
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test_transient_never_learns();
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test_learn_interrupted_restarts();
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test_unstable_learn_gives_up();
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test_no_learning_after_replace();
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printf("ALL PASS (5 scenarios)\n");
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return 0;
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}
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