lint: ruff-clean testbed (blocking file write to thread, unused vars)

.opencode/session-goal.md

@@ -0,0 +1,21 @@
+# Session Goal
+
+реализуй полностью. автономно
+
+## Plan
+1. Read protocol spec (docs/aicc-core.md) and testbed design (docs/testbed-design.md)
+2. Inspect aicc-py SDK at ~/Desktop/aicc-py
+3. Build testbed bridge skeleton (world, capsule, bridge with tools)
+4. Implement tools: proprioception, vision, move, turn, look_at, interact
+5. Add headless rendering for vision frames
+6. Write agent demo loop
+7. Run conformance suite (9/9 green)
+8. Verify demo end-to-end, write README, commit per milestone
+
+## Progress
+- DONE: world engine (room, capsule physics/collision, beacon, audio) — testbed/room/world.py
+- DONE: headless raycaster renderer (vision 160x120 + aligned depth grid) — testbed/room/render.py
+- DONE: RoomBridge with all world tools + echo/boom/bump — testbed/bridge.py
+- DONE: conformance runner — 9/9 green against testbed bridge (testbed/conformance.py)
+- DONE: commits for skeleton + bridge milestones
+- NEXT: unit tests (world/render/bridge), demo agent loop (ollama LLM + scripted fallback), README, setup.sh, BUILDLOG

testbed/bridge.py

@@ -13,7 +13,7 @@ import asyncio
 import base64
 import io
 import math
-from typing import Any, Literal
+from typing import Any
 
 from aicc.bridge import Bridge
 from aicc.protocol import TickMode, ToolClass

testbed/demo.py

@@ -417,7 +417,7 @@ async def run_scripted_agent(
                 detour_turns += 1
                 t = (await client.call_tool("turn", {"yaw_deg": 45.0})).output
                 summary["tool_calls"] += 1
-                log("tool", f'turn({{"yaw_deg": 45.0}}) [detour]')
+                log("tool", 'turn({"yaw_deg": 45.0}) [detour]')
                 log("bridge", f"ok {json.dumps(t)}")
             else:
                 detour_steps -= 1
@@ -516,8 +516,12 @@ async def run_demo(args: argparse.Namespace) -> dict[str, Any]:
         frame = (await client.call_tool("vision", {})).output
         if args.frame:
             raw = base64.b64decode(frame["png_b64"])
-            with open(args.frame, "wb") as fh:
+
-                fh.write(raw)
+            def _write_frame() -> None:
+                with open(args.frame, "wb") as fh:
+                    fh.write(raw)
+
+            await asyncio.to_thread(_write_frame)
             print(f"\n[final frame saved] {args.frame}")
         print(
             f"\n[demo done] steps={summary['steps']} tool_calls={summary['tool_calls']} "

testbed/room/render.py

@@ -13,7 +13,7 @@ import math
 
 from PIL import Image
 
-from testbed.room.world import ROOM_HEIGHT, ROOM_SIZE, Box, Room
+from testbed.room.world import ROOM_HEIGHT, ROOM_SIZE, Room
 
 # Palette
 FOG = (14, 14, 20)
@@ -83,10 +83,10 @@ class Raycaster:
 
             row_top = self._row_of(ROOM_HEIGHT, t_wall, eye, tan_pitch)
             row_bot = self._row_of(0.0, t_wall, eye, tan_pitch)
-            r_top = max(0, int(math.ceil(min(row_top, row_bot))))
+            r_top = max(0, math.ceil(min(row_top, row_bot)))
-            r_bot = min(h, int(math.floor(max(row_top, row_bot))))
+            r_bot = min(h, math.floor(max(row_top, row_bot)))
 
-            base = c * 3
+            c * 3
             for r in range(h):
                 v = self.tan_fy * (1.0 - 2.0 * (r + 0.5) / h)
                 down = v + tan_pitch
@@ -252,7 +252,7 @@ class Raycaster:
         return _fog(col, dist)
 
     def _shade_floor(self, wx: float, wz: float, t: float) -> tuple[int, int, int]:
-        cell = int(math.floor(wx)) + int(math.floor(wz))
+        cell = math.floor(wx) + math.floor(wz)
         col = FLOOR_A if cell % 2 == 0 else FLOOR_B
         fx = wx - math.floor(wx)
         fz = wz - math.floor(wz)
@@ -285,8 +285,7 @@ class Raycaster:
         vv = (b.height - eye) / along - tan_pitch
         row_c = (1.0 - vv / self.tan_fy) / 2.0 * h
         r_px = b.radius / along / self.tan_fx * w / 2.0
-        if r_px < 1.2:
+        r_px = max(r_px, 1.2)
-            r_px = 1.2
         glow = r_px * 3.4
 
         pulse = 1.0

testbed/room/world.py

@@ -7,7 +7,7 @@ agent except through the sensor tools in ``testbed.bridge``.
 from __future__ import annotations
 
 import math
-from dataclasses import dataclass, field
+from dataclasses import dataclass
 
 ROOM_SIZE = 16.0
 ROOM_HEIGHT = 3.0

testbed/tests/test_bridge.py

@@ -15,7 +15,6 @@ from testbed.bridge import (
     VISION_WIDTH,
     build_bridge,
 )
-from testbed.room.world import Room
 
 
 @pytest.fixture

testbed/tests/test_render.py

@@ -21,7 +21,7 @@ def test_wall_nearby_is_bright_gray():
     room = Room()
     room.capsule.yaw_deg = 180.0  # face north wall 1.5m away
     px = Raycaster().render(room)[0].load()
-    r, g, b = px[80, 60]
+    r, g, _b = px[80, 60]
     assert abs(r - g) < 8 and r > 80  # gray wall, little fog at 1.5m
 
 
@@ -30,11 +30,11 @@ def test_beacon_glow_visible_when_facing_it():
     room.capsule.x, room.capsule.z, room.capsule.yaw_deg = 11.0, 11.0, 45.0
     img, _ = Raycaster().render(room)
     px = img.load()
-    r, g, b = px[80, 60]
+    r, _, b = px[80, 60]
     assert b > r  # inactive beacon glows cyan
     room.beacon.active = True
     px = Raycaster().render(room)[0].load()
-    r, g, b = px[80, 60]
+    r, _, b = px[80, 60]
     assert r > b  # active beacon glows warm yellow
 
 
@@ -42,7 +42,7 @@ def test_beacon_occluded_by_crate():
     room = Room()
     # Beacon behind crate_red from spawn: center pixel must not be cyan.
     px = Raycaster().render(room)[0].load()
-    r, g, b = px[80, 60]
+    _r, _g, b = px[80, 60]
     assert b < 90
 
 

testbed/tests/test_world.py

@@ -4,7 +4,7 @@ import math
 
 import pytest
 
-from testbed.room.world import ROOM_SIZE, Beacon, Box, Room
+from testbed.room.world import ROOM_SIZE, Room
 
 
 def test_spawn_state():
@@ -79,7 +79,7 @@ def test_turn_clamps_pitch():
 
 def test_look_at_beacon():
     room = Room()
-    yaw, pitch = room.look_at_beacon()
+    yaw, _pitch = room.look_at_beacon()
     dx = room.beacon.x - room.capsule.x
     dz = room.beacon.z - room.capsule.z
     assert yaw == pytest.approx(math.degrees(math.atan2(dx, dz)))