Openjij/faults_hits.py

import time
import numpy as np
import networkx as nx
import matplotlib.pyplot as plt
import seaborn as sns
from itertools import permutations
import openjij as oj
import os

# ============ 輸出文件夾設置 ============
OUTPUT_DIR = "./plots_output"
if not os.path.exists(OUTPUT_DIR):
    os.makedirs(OUTPUT_DIR)
    print(f"✓ 已建立輸出文件夾: {OUTPUT_DIR}")
# =======================================

# ==================== 可調整參數區 ====================
# 問題規模設定
CITIES = 50         # 初始核心問題規模 (測試建議先用 12-15)
CITIES_BOUND = 10     # 問題規模的上下範圍 (單一數字控制：以 CITIES 為中心，例如 15±5，即 10~20)
RANDOM = False  
RANDOM_SEED = 42   
COORD_RANGE = (0.0, 10.0)  

# 【核心創新】：環境變異數控制與複雜度壓力測試參數
N_LIST = list(range(CITIES - CITIES_BOUND, CITIES + CITIES_BOUND + 1, 4))  # 自動產生測試的問題規模範圍
COORD_STD = 15.0  # 空間分佈變異數 (越大代表城市分佈越不均勻、越崎嶇)
RISK_STD = 10.0    # 擾動風險變異數 (越大代表某些路段特別危險，H-infinity 衝突極大)

# 演算法執行設定
NUM_RUNS = 20      # 正式比較的執行次數
BETA = 1       # 🌟 稍微調高 (原為 10.0)，讓低溫結冰得更紮實
SWEEPS_MAIN_TEST = 500      # 主要比較測試的退火步數
SWEEPS_COMPLEXITY_TEST = 200 # 複雜度擴展測試的退火步數
SWEEPS_HEATMAP_TEST = 200    # 熱力圖測試的退火步數
PAUSE_SWEEPS_DEFAULT = 150   # 主測試中 Pause SQA 的預設暫停步數
HEATMAP_RUNS = 5             # 熱力圖測試每種情況的平均次數

# QUBO 參數
PENALTY = 100.0       # 🌟 從 3000 大幅降回 500 (解開高爾夫球場效應)
BIG_PENALTY = 2000.0  # 🌟 起點約束

# TSP 求解參數
EXACT_LIMIT = 8    

# 魯棒優化參數 (H-infinity Robust QUBO)
USE_ROBUST = True  # 強制開啟，這是本論文的核心
GAMMA = 0.5        
SIGMA = 1.0        
ALPHA = 10.0       

# 故障訊號參數 (Fault Signal)
ENABLE_FAULT_SIGNAL = True   # 是否加入故障訊號測試
FAULT_LAMBDA = 50000.0          # 故障懲罰權重 (lambda)，設高一點演算法才會怕
FAULT_PROBABILITY = 0.1      # 兩城市間發生故障/禁飛的機率 (0.1 代表 10% 的路徑斷線)

# 執行區塊控制
RUN_MAIN_TEST = True            # 是否執行主要演算法(SA vs SQA)比較測試
INCLUDE_PAUSE_SQA = False        # 主測試中是否包含 Pause SQA 進行比較
COMPARE_H_INFINITY = False        # 是否比較有無 H-infinity 避障算法的效果 (將輸出 2x3 或 3x2 圖表)
RUN_COMPLEXITY_TEST = False     # 是否執行複雜度擴展(N_LIST)測試
SHOW_TERRAIN_PLOTS = False       # 是否顯示能量地形圖與驗證報告
RUN_HEATMAP_TEST = False         # 是否繪製 s 參數與 Pause Duration 成本熱力圖
ENABLE_QUANTUM_MINEFIELD = True  # 是否產生極端能量障礙與欺騙陷阱 (若為 False，則產生一般隨機地圖)
# =====================================================

def generate_quantum_minefield(N, random_seed=42):
    """
    生成具有「極大能量障礙」與「欺騙陷阱」的極端測試矩陣。
    目標：讓 SA 卡死在陷阱裡，而 SQA 能夠穿隧找到黃金路線。
    """
    np.random.seed(random_seed)
    
    # 1. 築起能量高牆 (The Wall)
    # 預設所有的路徑都是極度危險且遙遠的 (形成巨大的能量障礙)
    D = np.random.uniform(30.0, 40.0, (N, N))
    F = np.random.uniform(20.0, 30.0, (N, N))
    np.fill_diagonal(D, 0)
    np.fill_diagonal(F, 0)
    
    # 2. 鑿出「黃金隧道 (Global Minimum)」
    # 隱藏一條完美的最佳路徑 (0 -> 1 -> 2 -> ... -> N-1 -> 0)
    # 這條路徑成本合理且無風險，但被周圍的高牆死死包圍
    golden_path = list(range(N))
    for i in range(N):
        u = golden_path[i]
        v = golden_path[(i + 1) % N]
        D[u, v] = 2.0   # 距離適中
        F[u, v] = 0.0   # 風險為 0 (完美的避險路線)
        
    # 3. 佈置「致命陷阱 (Deceptive Traps)」
    # 創造極度誘人的第一步，引誘演算法走錯路。
    # SA 通常是貪婪的，會優先選眼前成本最低的路徑。
    for i in range(N):
        # 設定一個陷阱節點，遠離正確的下一步
        trap_node = (i + int(N/2)) % N  
        
        # 避免陷阱剛好蓋掉黃金路線
        if trap_node != golden_path[(i + 1) % N] and trap_node != i:
            # 致命誘惑：眼前的距離和風險趨近於 0
            D[i, trap_node] = 0.1  
            F[i, trap_node] = 0.1  
            # 物理意義：SA 會毫不猶豫地跳進這個 0.1 的陷阱，
            # 但一旦跳進去，trap_node 接下來通往其他城市的路線全是 30.0 以上的絕望高牆！
            # 只有具備量子穿隧效應的 SQA，才能看破眼前的 0.1，選擇走 2.0 的黃金隧道。

    print(f"⚠️ [極限測試] 已成功生成 N={N} 的量子雷區地貌！")
    return D, F

def verify_minefield_stats(D, F):
    """
    數值驗證：計算「黃金捷徑」與「一般隨機路徑」的成本差異，
    證明地圖中確實存在極端的高牆與深谷。
    """
    N = len(D)
    
    # 1. 計算黃金捷徑 (0 -> 1 -> 2 -> ... -> N-1 -> 0) 的總成本
    golden_path = list(range(N))
    golden_cost = 0
    for i in range(N):
        u = golden_path[i]
        v = golden_path[(i + 1) % N]
        golden_cost += (D[u, v] + F[u, v])
        
    # 2. 計算一條「不小心踩到高牆」的隨機路徑成本
    np.random.seed(99)
    random_path = np.random.permutation(N).tolist()
    random_cost = 0
    for i in range(N):
        u = random_path[i]
        v = random_path[(i + 1) % N]
        random_cost += (D[u, v] + F[u, v])

    print("\n🔍 [雷區地貌驗證報告]")
    print(f"✅ 黃金隧道總成本: {golden_cost:.2f} (演算法的終極目標)")
    print(f"❌ 隨機踩雷總成本: {random_cost:.2f} (一般 SA 容易落入的下場)")
    print(f"⚖️ 難度倍率: 隨機路徑的成本是黃金捷徑的 {random_cost/golden_cost:.1f} 倍！\n")

def plot_energy_landscape_heatmap(D, F):
    """
    視覺化驗證：繪製 D+F 總成本矩陣的熱力圖。
    """
    Total_Cost_Matrix = D + F
    
    plt.figure(figsize=(8, 6))
    # 使用 'hot' 顏色地圖，顏色越亮(黃/白)代表成本越高(高牆)，越暗(黑/紅)代表成本越低(深谷)
    plt.imshow(Total_Cost_Matrix, cmap='hot', interpolation='nearest')
    plt.colorbar(label='Total Energy Cost (D + F)')
    plt.title('Quantum Minefield Energy Landscape')
    plt.xlabel('To City')
    plt.ylabel('From City')
    
    # 標示出黃金路線 (次對角線)
    plt.tight_layout()
    plt.savefig(os.path.join(OUTPUT_DIR, "energy_landscape_heatmap.png"), dpi=300)
    print(f"🎨 能量地形圖已儲存: {os.path.join(OUTPUT_DIR, 'energy_landscape_heatmap.png')}")
    # plt.show() 將在最後統一呼叫

def plot_energy_landscape_3d(D, F):
    """
    視覺化驗證二：繪製 D+F 總成本矩陣的 3D 能量地形圖。
    """
    Total_Cost_Matrix = D + F
    N = len(D)
    
    X, Y = np.meshgrid(range(N), range(N))
    
    fig = plt.figure(figsize=(10, 8))
    ax = fig.add_subplot(111, projection='3d')
    
    # 繪製 3D 表面
    surf = ax.plot_surface(X, Y, Total_Cost_Matrix, cmap='hot', edgecolor='none', alpha=0.9)
    fig.colorbar(surf, label='Total Energy Cost (D + F)', shrink=0.5, aspect=5)
    
    ax.set_title('3D Quantum Minefield Energy Landscape')
    ax.set_xlabel('To City')
    ax.set_ylabel('From City')
    ax.set_zlabel('Cost')
    
    plt.tight_layout()
    plt.savefig(os.path.join(OUTPUT_DIR, "energy_landscape_3d.png"), dpi=300)
    print(f"🎨 3D 能量地形圖已儲存: {os.path.join(OUTPUT_DIR, 'energy_landscape_3d.png')}")
    # plt.show() 將在最後統一呼叫

# ----------------- 基礎輔助函數 -----------------
def generate_distance_matrix(num_cities, random=True, seed=None, coord_range=None):
    if seed is None: seed = RANDOM_SEED
    if coord_range is None: coord_range = COORD_RANGE
    if not random: np.random.seed(seed)
    else: np.random.seed(None)
    low, high = coord_range
    coords = np.random.uniform(low, high, size=(num_cities, 2))
    D = np.zeros((num_cities, num_cities), dtype=float)
    for i in range(num_cities):
        for j in range(i + 1, num_cities):
            dist = np.linalg.norm(coords[i] - coords[j])
            D[i, j] = dist
            D[j, i] = dist
    return np.round(D, 2), coords

def generate_disturbance_matrix(num_cities, seed=None):
    if seed is None: seed = RANDOM_SEED
    np.random.seed(seed)
    F = np.random.rand(num_cities, num_cities)
    F = (F + F.T) / 2
    np.fill_diagonal(F, 0.0)
    return F

def generate_fault_matrix(num_cities, prob=0.1, seed=None):
    """產生 0 或 1 的故障矩陣 I_fault(i,j)"""
    if seed is not None: 
        np.random.seed(seed)
    # 產生 0 或 1 的矩陣
    Fault_Mat = np.random.choice([0, 1], size=(num_cities, num_cities), p=[1-prob, prob])
    # 確保矩陣對稱 (i 到 j 故障，j 到 i 也故障)
    Fault_Mat = np.maximum(Fault_Mat, Fault_Mat.T)
    np.fill_diagonal(Fault_Mat, 0.0)
    return Fault_Mat

def idx_mtsp(k, i, p, N):
    return k * (N * N) + i * N + p

def build_robust_qubo(D, F, Fault_Mat=None, gamma=GAMMA, sigma=SIGMA, alpha=ALPHA, penalty=PENALTY, big_penalty=BIG_PENALTY, lambda_val=FAULT_LAMBDA):
    N = D.shape[0]
    Q = {}
    def addQ(u, v, w):
        if w == 0: return
        if u > v: u, v = v, u
        Q[(u, v)] = Q.get((u, v), 0.0) + w

    for k in range(2):
        for p in range(N):
            q = (p + 1) % N
            for i in range(N):
                for j in range(N):
                    dij, fij = D[i, j], F[i, j]
                    if dij == 0: continue
                    # 這裡就是 H-infinity 的核心風險項
                    risk_term = (sigma / (gamma**2)) * (fij**2)
                    total_weight = dij + (alpha * risk_term)
                    
                    # 🌟 新增：加入故障訊號懲罰
                    if ENABLE_FAULT_SIGNAL and Fault_Mat is not None:
                        total_weight += lambda_val * Fault_Mat[i, j]
                        
                    u, v = idx_mtsp(k, i, p, N), idx_mtsp(k, j, q, N)
                    addQ(u, v, total_weight)

    for k in range(2):
        for p in range(N):
            vars_pos = [idx_mtsp(k, i, p, N) for i in range(N)]
            for u in vars_pos: addQ(u, u, -penalty)
            for a in range(N):
                for b in range(a+1, N): addQ(vars_pos[a], vars_pos[b], 2*penalty)

    for i in range(1, N):
        vars_city = [idx_mtsp(k, i, p, N) for k in range(2) for p in range(N)]
        for u in vars_city: addQ(u, u, -penalty)
        L = len(vars_city)
        for a in range(L):
            for b in range(a+1, L): addQ(vars_city[a], vars_city[b], 2*penalty)

    for k in range(2):
        for i in range(1, N): addQ(idx_mtsp(k, i, 0, N), idx_mtsp(k, i, 0, N), big_penalty)
        addQ(idx_mtsp(k, 0, 0, N), idx_mtsp(k, 0, 0, N), -big_penalty)

    return Q, N

# ---------------------------------------------------------
# 🌟 [新增] 產生平滑的 SQA 與 Pause SQA Schedule
# ---------------------------------------------------------
def get_smooth_sqa_schedule(beta, total_sweeps, num_steps=100):
    """產生標準 SQA 的平滑退火排程 (s 從 0.0 遞增到 1.0)"""
    schedule = []
    sweeps_per_step = max(1, int(total_sweeps / num_steps))
    for s in np.linspace(0.0, 1.0, num_steps):
        schedule.append([float(s), float(beta), int(sweeps_per_step)])
    return schedule

def get_pause_sqa_schedule(s_star, beta, total_anneal_sweeps, pause_sweeps, num_steps=100):
    """產生帶有 Pause 策略的平滑退火排程"""
    schedule = []
    
    # 階段 1：從 s=0.0 平滑退火到 s_star
    steps_p1 = max(1, int(num_steps * s_star))
    sweeps_p1 = max(1, int((total_anneal_sweeps / 2) / steps_p1))
    for s in np.linspace(0.0, s_star, steps_p1, endpoint=False):
        schedule.append([float(s), float(beta), int(sweeps_p1)])
        
    # 階段 2：在相變點 s_star 暫停 (Pause)，讓量子系統充分熱化
    schedule.append([float(s_star), float(beta), int(pause_sweeps)])
    
    # 階段 3：從 s_star 平滑退火到 s=1.0
    steps_p3 = max(1, num_steps - steps_p1)
    sweeps_p3 = max(1, int((total_anneal_sweeps / 2) / steps_p3))
    for s in np.linspace(s_star, 1.0, steps_p3):
        schedule.append([float(s), float(beta), int(sweeps_p3)])
        
    return schedule

def decode_slots(sample, N):
    slots = []
    for k in range(2):
        row = []
        for p in range(N):
            chosen = 0
            for i in range(N):
                if sample.get(idx_mtsp(k, i, p, N), 0) == 1:
                    chosen = i
                    break
            row.append(chosen)
        slots.append(row)
    return slots[0], slots[1]

def repair_routes_from_slots(u1_slots, u2_slots, N):
    count1, count2 = [0]*N, [0]*N
    for c in u1_slots: 
        if 0 <= c < N: count1[c] += 1
    for c in u2_slots: 
        if 0 <= c < N: count2[c] += 1
    assign1, assign2 = [], []
    for city in range(1, N):
        if count1[city] > count2[city]: assign1.append(city)
        elif count2[city] > count1[city]: assign2.append(city)
        else:
            if len(assign1) <= len(assign2): assign1.append(city)
            else: assign2.append(city)
    return sorted(assign1), sorted(assign2)

def uav_cost(path, D):
    if not path or len(path) == 0: return 0.0
    cost = D[0, path[0]]
    for i in range(len(path)-1): cost += D[path[i], path[i+1]]
    cost += D[path[-1], 0]
    return float(cost)

def uav_disturbance_energy(path, F, gamma=GAMMA, sigma=SIGMA):
    if not path or len(path) == 0: return 0.0
    risk = (sigma / (gamma**2)) * (F[0, path[0]]**2)
    for i in range(len(path)-1): risk += (sigma / (gamma**2)) * (F[path[i], path[i+1]]**2)
    risk += (sigma / (gamma**2)) * (F[path[-1], 0]**2)
    return float(risk)

def best_order_for_cities(cities, D, exact_limit=EXACT_LIMIT):
    cities = list(cities)
    if len(cities) <= 1: return cities, uav_cost(cities, D)
    if len(cities) <= exact_limit:
        best_perm, best_cost = None, float('inf')
        for perm in permutations(cities):
            c = uav_cost(list(perm), D)
            if c < best_cost: best_cost, best_perm = c, list(perm)
        return best_perm, best_cost
    else: # 簡單的 nearest neighbor heuristic 當作 fallback
        rem = set(cities)
        curr = list(rem)[0]
        rem.remove(curr)
        route = [curr]
        while rem:
            nxt = min(rem, key=lambda x: D[curr, x])
            route.append(nxt)
            rem.remove(nxt)
            curr = nxt
        return route, uav_cost(route, D)

def get_makespan_and_risk(sample, N, D, F):
    u1, u2 = decode_slots(sample, N)
    a1, a2 = repair_routes_from_slots(u1, u2, N)
    p1, c1 = best_order_for_cities(a1, D)
    p2, c2 = best_order_for_cities(a2, D)
    makespan = max(c1, c2)
    dist_energy = uav_disturbance_energy(p1, F) + uav_disturbance_energy(p2, F)
    # 確保回傳路徑，以便印出
    return makespan, dist_energy, p1, p2

# ============================
# 核心創新功能區 (Pause Strategy)
# ============================
def pilot_search_phase_transition(Q, N, D, F):
    print("\n🔍 [階段一] 前導偵查 (Pilot Search): 尋找最佳暫停點 s*")
    test_s_list = np.arange(0.2, 1.0, 0.1)
    variances = []
    makespans = []
    
    sampler = oj.SQASampler()
    
    for s in test_s_list:
        sched_var = [[s, BETA, 30]] 
        res_var = sampler.sample_qubo(Q, schedule=sched_var, num_reads=10)
        energies = [d.energy for d in res_var.data()]
        variances.append(np.var(energies))
            
        sched_pause = [[s, BETA, 20], [s, BETA, 40], [1.0, BETA, 20]]
        res_pause = sampler.sample_qubo(Q, schedule=sched_pause, num_reads=5)
        mk, _, p1, p2 = get_makespan_and_risk(res_pause.first.sample, N, D, F)
        makespans.append(mk)
        print(f"   測試 s={s:.1f} | 變異數: {variances[-1]:.0f} | Makespan: {mk:.2f}")

    best_s = test_s_list[np.argmin(makespans)]
    print(f"⭐ 鎖定最佳暫停點 s* = {best_s:.1f}")
    return test_s_list, variances, makespans, best_s

def test_pause_durations(Q, N, D, F, s_star):
    print(f"\n⏳ [階段二] 暫停時間測試 (在 s*={s_star:.1f} 進行熱化)")
    durations = [0, 20, 50, 100, 150]
    duration_makespans = []
    
    sampler = oj.SQASampler()
    for d in durations:
        if d == 0:
            sched = get_smooth_sqa_schedule(BETA, total_sweeps=SWEEPS_MAIN_TEST)
        else:
            sched = get_pause_sqa_schedule(s_star, BETA, total_anneal_sweeps=SWEEPS_MAIN_TEST, pause_sweeps=d)
            
        res = sampler.sample_qubo(Q, schedule=sched, num_reads=10)
        mk, _, p1, p2 = get_makespan_and_risk(res.first.sample, N, D, F)
        duration_makespans.append(mk)
        print(f"   暫停 {d} 步 -> Makespan: {mk:.2f}")
        
    return durations, duration_makespans

def run_comparative_evaluations(Q, N, D, F, s_star):
    print(f"\n⚔️ [階段三] 正式對決 (SA vs SQA vs Pause-SQA, {NUM_RUNS} runs)")
    
    results = {
        'sa': {'mk': [], 'risk': [], 'energy': [], 'faults': [], 'best_mk': float('inf'), 'best_p1': None, 'best_p2': None},
        'sqa': {'mk': [], 'risk': [], 'energy': [], 'faults': [], 'best_mk': float('inf'), 'best_p1': None, 'best_p2': None},
        'pause': {'mk': [], 'risk': [], 'energy': [], 'faults': [], 'best_mk': float('inf'), 'best_p1': None, 'best_p2': None}
    }
    
    sqa_sampler = oj.SQASampler()
    sa_sampler = oj.SASampler()
    
    # 🌟 核心修改：建立 Sweeps 的退火排程
    TOTAL_SWEEPS = SWEEPS_MAIN_TEST
    PAUSE_SWEEPS = PAUSE_SWEEPS_DEFAULT  # 讓 Pause-SQA 在相變點停留熱化
    
    smooth_sched = get_smooth_sqa_schedule(beta=BETA, total_sweeps=TOTAL_SWEEPS, num_steps=100)
    pause_sched = get_pause_sqa_schedule(s_star=s_star, beta=BETA, total_anneal_sweeps=TOTAL_SWEEPS, pause_sweeps=PAUSE_SWEEPS, num_steps=100)

    # (選配) 在 pilot_search 和 test_pause 中也等比例放大 sweeps 
    # 例如 pilot_search 改成 [[s, BETA, 300]]
    
    for r in range(NUM_RUNS):
        # SA
        res_sa = sa_sampler.sample_qubo(Q, num_reads=10)
        mk, risk, p1, p2 = get_makespan_and_risk(res_sa.first.sample, N, D, F)
        fault_count = count_faults_hit(p1, Fault_Mat) + count_faults_hit(p2, Fault_Mat) if ENABLE_FAULT_SIGNAL else 0
        results['sa']['mk'].append(mk)
        results['sa']['risk'].append(risk)
        results['sa']['energy'].append(res_sa.first.energy)
        results['sa']['faults'].append(fault_count)
        if mk < results['sa']['best_mk']:
            results['sa']['best_mk'] = mk
            results['sa']['best_p1'] = p1
            results['sa']['best_p2'] = p2
        print(f"      [SA 執行 {r+1}/{NUM_RUNS}] 路徑 1: [0, {', '.join(map(str, p1))}, 0], 路徑 2: [0, {', '.join(map(str, p2))}, 0] | 成本: {mk:.2f} | 故障數: {fault_count}")
        
        # Standard SQA
        t0 = time.time()
        res_std = sqa_sampler.sample_qubo(Q, schedule=smooth_sched, num_reads=10)
        mk, risk, p1, p2 = get_makespan_and_risk(res_std.first.sample, N, D, F)
        fault_count = count_faults_hit(p1, Fault_Mat) + count_faults_hit(p2, Fault_Mat) if ENABLE_FAULT_SIGNAL else 0
        results['sqa']['mk'].append(mk)
        results['sqa']['risk'].append(risk)
        results['sqa']['energy'].append(res_std.first.energy)
        results['sqa']['faults'].append(fault_count)
        if mk < results['sqa']['best_mk']:
            results['sqa']['best_mk'] = mk
            results['sqa']['best_p1'] = p1
            results['sqa']['best_p2'] = p2
        print(f"      [Std-SQA 執行 {r+1}/{NUM_RUNS}] 耗時: {time.time()-t0:.2f}s | 路徑 1: [0, {', '.join(map(str, p1))}, 0], 路徑 2: [0, {', '.join(map(str, p2))}, 0] | 成本: {mk:.2f} | 故障數: {fault_count}")
        
        # Pause SQA
        if INCLUDE_PAUSE_SQA:
            t0 = time.time()
            res_pause = sqa_sampler.sample_qubo(Q, schedule=pause_sched, num_reads=10)
            mk, risk, p1, p2 = get_makespan_and_risk(res_pause.first.sample, N, D, F)
            fault_count = count_faults_hit(p1, Fault_Mat) + count_faults_hit(p2, Fault_Mat) if ENABLE_FAULT_SIGNAL else 0
            results['pause']['mk'].append(mk)
            results['pause']['risk'].append(risk)
            results['pause']['energy'].append(res_pause.first.energy)
            results['pause']['faults'].append(fault_count)
            if mk < results['pause']['best_mk']:
                results['pause']['best_mk'] = mk
                results['pause']['best_p1'] = p1
                results['pause']['best_p2'] = p2
            print(f"      [Pause-SQA 執行 {r+1}/{NUM_RUNS}] 耗時: {time.time()-t0:.2f}s | 路徑 1: [0, {', '.join(map(str, p1))}, 0], 路徑 2: [0, {', '.join(map(str, p2))}, 0] | 成本: {mk:.2f} | 故障數: {fault_count}")

    return results

def create_basic_distribution_charts(results):
    if COMPARE_H_INFINITY:
        fig, axes = plt.subplots(2, 4, figsize=(20, 10))
        fig.suptitle(r"Performance Distribution: Without vs With $H_\infty$ Obstacle Avoidance", fontsize=16, fontweight='bold', y=1.05)
        
        row_labels = ['Without Obstacle Avoidance', r'With $H_\infty$ Obstacle Avoidance']
        res_keys = ['baseline', 'robust']
        
        for row, r_key in enumerate(res_keys):
            res = results[r_key]
            
            if INCLUDE_PAUSE_SQA:
                labels = ['SA', 'Standard-SQA', 'Pause-SQA']
                colors = ['gray', 'steelblue', 'firebrick']
                mk_data = [res['sa']['mk'], res['sqa']['mk'], res['pause']['mk']]
                risk_data = [res['sa']['risk'], res['sqa']['risk'], res['pause']['risk']]
                energy_data = [res['sa']['energy'], res['sqa']['energy'], res['pause']['energy']]
                fault_data = [res['sa']['faults'], res['sqa']['faults'], res['pause']['faults']]
            else:
                labels = ['SA', 'Standard-SQA']
                colors = ['gray', 'steelblue']
                mk_data = [res['sa']['mk'], res['sqa']['mk']]
                risk_data = [res['sa']['risk'], res['sqa']['risk']]
                energy_data = [res['sa']['energy'], res['sqa']['energy']]
                fault_data = [res['sa']['faults'], res['sqa']['faults']]
            
            parts1 = axes[row, 0].violinplot(mk_data, showmeans=True)
            axes[row, 0].set_title(f"[{row_labels[row]}] Makespan Distribution")
            axes[row, 0].set_ylabel("Distance Cost")

            parts2 = axes[row, 1].violinplot(risk_data, showmeans=True)
            axes[row, 1].set_title(f"[{row_labels[row]}] Risk Distribution")
            axes[row, 1].set_ylabel("Risk Penalty")
            
            parts3 = axes[row, 2].violinplot(energy_data, showmeans=True)
            axes[row, 2].set_title(f"[{row_labels[row]}] Raw Energy")
            axes[row, 2].set_ylabel("System Energy")

            parts4 = axes[row, 3].violinplot(fault_data, showmeans=True)
            axes[row, 3].set_title(f"[{row_labels[row]}] Faults Hit Distribution")
            axes[row, 3].set_ylabel("Number of Faults")

            for col, parts in enumerate([parts1, parts2, parts3, parts4]):
                ax = axes[row, col]
                ax.set_xticks(np.arange(1, len(labels) + 1))
                ax.set_xticklabels(labels, fontsize=11)
                ax.grid(alpha=0.3, axis='y')
                for pc, color in zip(parts['bodies'], colors):
                    pc.set_facecolor(color)
                    pc.set_alpha(0.7)

    else:
        fig, axes = plt.subplots(1, 4, figsize=(20, 5))
        fig.suptitle("Performance Distribution Comparison", fontsize=16, fontweight='bold', y=1.05)
        
        if INCLUDE_PAUSE_SQA:
            labels = ['SA', 'Standard-SQA', 'Pause-SQA']
            colors = ['gray', 'steelblue', 'firebrick']
            mk_data = [results['sa']['mk'], results['sqa']['mk'], results['pause']['mk']]
            risk_data = [results['sa']['risk'], results['sqa']['risk'], results['pause']['risk']]
            energy_data = [results['sa']['energy'], results['sqa']['energy'], results['pause']['energy']]
            fault_data = [results['sa']['faults'], results['sqa']['faults'], results['pause']['faults']]
        else:
            labels = ['SA', 'Standard-SQA']
            colors = ['gray', 'steelblue']
            mk_data = [results['sa']['mk'], results['sqa']['mk']]
            risk_data = [results['sa']['risk'], results['sqa']['risk']]
            energy_data = [results['sa']['energy'], results['sqa']['energy']]
            fault_data = [results['sa']['faults'], results['sqa']['faults']]
        
        # 1. Makespan 分布
        parts1 = axes[0].violinplot(mk_data, showmeans=True)
        axes[0].set_title("Makespan (Distance Cost) Distribution")
        axes[0].set_ylabel("Distance Cost")
        
        # 2. Risk 分布
        parts2 = axes[1].violinplot(risk_data, showmeans=True)
        axes[1].set_title(r"$H_\infty$ Disturbance Risk Distribution")
        axes[1].set_ylabel("Risk Penalty")
        
        # 3. Energy 分布
        parts3 = axes[2].violinplot(energy_data, showmeans=True)
        axes[2].set_title("QUBO System Raw Energy")
        axes[2].set_ylabel("System Energy")
        
        # 4. Faults 分布
        parts4 = axes[3].violinplot(fault_data, showmeans=True)
        axes[3].set_title("Faults Hit Distribution")
        axes[3].set_ylabel("Number of Faults")
        
        # 設定提琴圖外觀
        for i, ax in enumerate(axes):
            ax.set_xticks(np.arange(1, len(labels) + 1))
            ax.set_xticklabels(labels, fontsize=11)
            ax.grid(alpha=0.3, axis='y')
            parts = [parts1, parts2, parts3, parts4][i]
            for pc, color in zip(parts['bodies'], colors):
                pc.set_facecolor(color)
                pc.set_alpha(0.7)

    plt.tight_layout(rect=[0, 0.03, 1, 0.95])
    plt.savefig(os.path.join(OUTPUT_DIR, "distribution_comparison.png"), dpi=300)
    print(f"\n🎨 圖表已繪製: {os.path.join(OUTPUT_DIR, 'distribution_comparison.png')}")
    # plt.show() (Moved to the end)

def plot_real_route_comparison(N, coords, p1_sa, p2_sa, p1_sqa, p2_sqa):
    """
    視覺化 SA 與 Pause-SQA 的實體飛行路線對比 (使用真實座標)
    """
    fig, axes = plt.subplots(1, 2, figsize=(14, 7))
    fig.suptitle("UAV Actual Physical Trajectory", fontsize=16, fontweight='bold')
    
    G = nx.Graph()
    G.add_nodes_from(range(N))
    
    # 🌟 關鍵修改：使用真實的 (x, y) 座標作為節點位置 🌟
    pos = {i: (coords[i][0], coords[i][1]) for i in range(N)}
    
    titles = ["Classical SA", "Pause-SQA" if INCLUDE_PAUSE_SQA else "Standard-SQA"]
    routes_list = [(p1_sa, p2_sa), (p1_sqa, p2_sqa)]
    
    for ax, title, (p1, p2) in zip(axes, titles, routes_list):
        ax.set_title(title, fontsize=14)
        
        # 畫節點 (依照真實地理位置散佈)
        nx.draw_networkx_nodes(G, pos, nodelist=[0], node_color='red', node_shape='s', node_size=300, ax=ax, label='Depot')
        nx.draw_networkx_nodes(G, pos, nodelist=range(1, N), node_color='skyblue', node_size=150, ax=ax)
        nx.draw_networkx_labels(G, pos, font_size=8, ax=ax)
        
        # 畫路線
        def add_edges(path, color, style):
            if not path: return
            edges = [(0, path[0])] + [(path[i], path[i+1]) for i in range(len(path)-1)] + [(path[-1], 0)]
            nx.draw_networkx_edges(G, pos, edgelist=edges, edge_color=color, style=style, width=2.0, arrows=True, ax=ax)

        add_edges(p1, 'blue', 'solid')
        add_edges(p2, 'darkorange', 'dashed')
        
    plt.tight_layout()
    plt.savefig(os.path.join(OUTPUT_DIR, "route_trajectory_comparison.png"), dpi=300)
    print(f"🎨 飛行軌跡對比圖已繪製: {os.path.join(OUTPUT_DIR, 'route_trajectory_comparison.png')}")

def create_academic_charts(s_list, variances, makespans, best_s, durations, dur_makespans, results):
    """原有的圖表二：Pause Strategy 深度分析圖"""
    if not INCLUDE_PAUSE_SQA:
        print("⚠️ INCLUDE_PAUSE_SQA 為 False，跳過 Pause SQA 深度分析圖表的繪製。")
        return
        
    fig = plt.figure(figsize=(16, 10))
    fig.suptitle(f"Quantum Pause Strategy in H-infinity Robust mTSP (N={CITIES})", fontsize=16, fontweight='bold')
    
    # Chart 1: Phase Transition & U-Valley
    ax1 = plt.subplot(2, 2, 1)
    color1, color2 = 'tab:blue', 'tab:red'
    ax1.set_title("Chart 1: Phase Transition & U-Valley", fontsize=12)
    ax1.set_xlabel("Annealing Parameter $s$")
    ax1.set_ylabel("Trotter Energy Variance", color=color1)
    ax1.plot(s_list, variances, marker='o', color=color1, linewidth=2)
    ax1.tick_params(axis='y', labelcolor=color1)
    
    ax1_twin = ax1.twinx()
    ax1_twin.set_ylabel("Makespan", color=color2)
    ax1_twin.plot(s_list, makespans, marker='s', color=color2, linestyle='--', linewidth=2)
    ax1_twin.tick_params(axis='y', labelcolor=color2)
    ax1.axvline(x=best_s, color='green', linestyle=':', linewidth=2)
    ax1.grid(alpha=0.3)
    
    # Subplot 2 (was Chart 4): Effect of Thermalization Time
    ax2 = plt.subplot(2, 2, 2)
    ax2.set_title(f"Chart 2: Effect of Thermalization Time at $s^*={best_s:.1f}$", fontsize=12)
    ax2.plot(durations, dur_makespans, marker='D', color='darkorange', linewidth=2.5, markersize=8)
    ax2.set_xlabel("Pause Duration (Sweeps)")
    ax2.set_ylabel("Optimized Makespan")
    ax2.grid(alpha=0.3, linestyle='--')

    # Subplot 3 (was Chart 2): Pareto Front
    ax3 = plt.subplot(2, 2, 3)
    ax3.set_title("Chart 3: Robustness Pareto Front", fontsize=12)
    ax3.scatter(results['sqa']['mk'], results['sqa']['risk'], c='steelblue', alpha=0.7, s=80, label='Standard-SQA')
    if INCLUDE_PAUSE_SQA:
        ax3.scatter(results['pause']['mk'], results['pause']['risk'], c='firebrick', alpha=0.9, s=120, marker='*', label='Pause-SQA')
    ax3.set_xlabel("Makespan")
    ax3.set_ylabel("Disturbance Risk")
    ax3.legend()
    ax3.grid(alpha=0.3, linestyle='--')

    # Subplot 4 (was Chart 3): Reliability Violin Plot
    ax4 = plt.subplot(2, 2, 4)
    ax4.set_title("Chart 4: Final Makespan Comparison", fontsize=12)
    
    if INCLUDE_PAUSE_SQA:
        parts = ax4.violinplot([results['sqa']['mk'], results['pause']['mk']], showmeans=True)
        parts['bodies'][0].set_facecolor('steelblue')
        parts['bodies'][1].set_facecolor('firebrick')
        for body in parts['bodies']: body.set_alpha(0.7)
        ax4.set_xticks([1, 2])
        ax4.set_xticklabels(['Standard-SQA', 'Pause-SQA'])
    else:
        parts = ax4.violinplot([results['sqa']['mk']], showmeans=True)
        parts['bodies'][0].set_facecolor('steelblue')
        for body in parts['bodies']: body.set_alpha(0.7)
        ax4.set_xticks([1])
        ax4.set_xticklabels(['Standard-SQA'])
    
    if results['sa']['mk']:
        sa_mean = np.mean(results['sa']['mk'])
        ax4.axhline(y=sa_mean, color='gray', linestyle=':', linewidth=2, label=f'SA Mean: {sa_mean:.1f}')
        ax4.legend()
    ax4.grid(alpha=0.3, axis='y')

    plt.tight_layout(rect=[0, 0.03, 1, 0.95])
    plt.savefig(os.path.join(OUTPUT_DIR, "academic_pause_strategy.png"), dpi=300)
    print(f"🎨 原有圖表已繪製: {os.path.join(OUTPUT_DIR, 'academic_pause_strategy.png')}")
    # plt.show() (Moved to the end)

# ============================
# 複雜度與環境控制功能 (新增)
# ============================
def inject_hidden_shortcut(D, F):
    """
    注入隱藏的黃金捷徑 (Hidden Shortcut)：
    創造一條極度狹窄且成本極低的路線 (例如 4 -> 5 -> 6 -> 7)。
    如果沒照順序走，成本會極高；一旦走對，總成本會大幅下降。
    """
    N = D.shape[0]
    if N < 8:
        return D, F  # 城市太少無法做長捷徑

    # 定義黃金路線的節點 (假設是 4, 5, 6, 7)
    golden_nodes = [4, 5, 6, 7]

    # 1. 築起高牆：先把這幾個城市之間的所有連線，都變成極高成本 (阻止 SA 亂湊)
    for i in golden_nodes:
        for j in golden_nodes:
            if i != j:
                D[i, j] = 8.0
                F[i, j] = 0.8  # 高風險

    # 2. 挖出深谷：只開通 4->5, 5->6, 6->7 這條唯一且完美的捷徑
    for i in range(len(golden_nodes) - 1):
        n1 = golden_nodes[i]
        n2 = golden_nodes[i + 1]
        
        # 距離極短，風險為 0
        D[n1, n2] = 0.05
        D[n2, n1] = 0.05
        F[n1, n2] = 0.0
        F[n2, n1] = 0.0

    print("\n✨ [隱藏捷徑已佈署] 演算法將挑戰尋找極狹窄的黃金路線 (4->5->6->7)！")
    return D, F

def inject_deceptive_trap(D, F, alpha=10.0, gamma=0.5, sigma=1.0):
    """
    注入欺騙性陷阱 (Deceptive Trap)：
    改造矩陣，創造一條「看似完美的捷徑」，測試演算法是否會陷入局部陷阱。
    """
    N = D.shape[0]
    if N < 4:
        return D, F  # 城市太少無法做陷阱

    # 定義陷阱節點
    trap_start = 1
    trap_end = 2
    safe_detour = 3

    # ==========================================
    # 陷阱 1：致命捷徑 (距離極度誘人，但風險爆表)
    # ==========================================
    D[trap_start, trap_end] = 0.1
    D[trap_end, trap_start] = 0.1
    F[trap_start, trap_end] = 0.99
    F[trap_end, trap_start] = 0.99

    # ==========================================
    # 陷阱 2：安全繞路 (距離較遠，但完全無風險)
    # ==========================================
    # 路線: trap_start -> safe_detour -> trap_end
    D[trap_start, safe_detour] = 4.0
    D[safe_detour, trap_start] = 4.0
    D[safe_detour, trap_end] = 4.0
    D[trap_end, safe_detour] = 4.0

    F[trap_start, safe_detour] = 0.01
    F[safe_detour, trap_start] = 0.01
    F[safe_detour, trap_end] = 0.01
    F[trap_end, safe_detour] = 0.01

    
    # 計算並印出真實成本，讓您確認陷阱是否成立
    # 真實成本 = 距離 + alpha * (sigma / gamma^2) * F^2
    risk_multiplier = alpha * (sigma / (gamma**2))
    
    shortcut_cost = 0.1 + risk_multiplier * (0.99**2)
    detour_cost = (4.0 + risk_multiplier * (0.01**2)) + (4.0 + risk_multiplier * (0.01**2))
    
    print(f"   ➤ 致命捷徑 (1->2) 表觀距離: 0.1 | 隱藏真實成本: {shortcut_cost:.2f}")
    print(f"   ➤ 安全繞路 (1->3->2) 表觀距離: 8.0 | 隱藏真實成本: {detour_cost:.2f}")
    
    return D, F

def generate_controlled_matrices(num_cities, coord_std, risk_std, seed=42):
    """根據指定的標準差(變異數)生成 D 與 F 矩陣，精準控制問題複雜度"""
    np.random.seed(seed)
    
    # 1. 生成距離矩陣 D (使用常態分佈控制空間聚集度)
    coords = np.random.normal(loc=0.0, scale=coord_std, size=(num_cities, 2))
    D = np.zeros((num_cities, num_cities), dtype=float)
    for i in range(num_cities):
        for j in range(i + 1, num_cities):
            dist = np.linalg.norm(coords[i] - coords[j])
            D[i, j] = D[j, i] = dist
            
    # 2. 生成擾動矩陣 F (使用常態分佈控制風險極端值)
    F = np.abs(np.random.normal(loc=1.0, scale=risk_std, size=(num_cities, num_cities)))
    F = (F + F.T) / 2  # 確保對稱
    np.fill_diagonal(F, 0.0)
    
    return np.round(D, 2), np.round(F, 2)

def decode_and_eval(sample, N, D):
    # 快速解碼與貪婪/暴力求成本
    u1, u2 = [], []
    for p in range(N):
        for i in range(N):
            if sample.get(idx_mtsp(0, i, p, N), 0) == 1: u1.append(i)
            if sample.get(idx_mtsp(1, i, p, N), 0) == 1: u2.append(i)
    
    # 簡單修復 (去除重複，補齊缺失)
    c1, c2 = set(u1), set(u2)
    a1, a2 = [], []
    for city in range(1, N):
        if city in c1 and city not in c2: a1.append(city)
        elif city in c2 and city not in c1: a2.append(city)
        else:
            if len(a1) <= len(a2): a1.append(city)
            else: a2.append(city)
            
    # 評估成本
    def eval_cost(cities):
        if not cities: return 0
        if len(cities) <= EXACT_LIMIT:
            bc = float('inf')
            for p in permutations(cities):
                c = D[0, p[0]] + sum(D[p[i], p[i+1]] for i in range(len(p)-1)) + D[p[-1], 0]
                bc = min(bc, c)
            return bc
        # 貪婪
        rem, path, curr = set(cities), [], 0
        while rem:
            nxt = min(rem, key=lambda x: D[curr, x])
            path.append(nxt)
            rem.remove(nxt)
            curr = nxt
        return D[0, path[0]] + sum(D[path[i], path[i+1]] for i in range(len(path)-1)) + D[path[-1], 0]

    return max(eval_cost(a1), eval_cost(a2))

def run_complexity_scaling():
    print(f"\n🚀 開始複雜度壓力測試...")
    print(f"⚙️ 空間變異數(COORD_STD)={COORD_STD}, 風險變異數(RISK_STD)={RISK_STD}")
    
    std_means, pause_means = [], []
    std_errs, pause_errs = [], []
    
    sampler = oj.SQASampler()
    
    for N in N_LIST:
        print(f"\n📊 測試規模 N={N} ...")
        D, F = generate_controlled_matrices(N, COORD_STD, RISK_STD)
        
        # 🌟 新增：生成故障矩陣
        Fault_Mat = generate_fault_matrix(N, prob=FAULT_PROBABILITY) if ENABLE_FAULT_SIGNAL else None
        
        # 動態計算懲罰值
        max_d = np.max(D)
        max_f = np.max(F) if F is not None else 0
        max_possible_cost = max_d + max_f
        dyn_penalty = max_possible_cost * 12.0
        dyn_big_penalty = dyn_penalty * 5.0
        
        Q, _ = build_robust_qubo(D, F, Fault_Mat=Fault_Mat, penalty=dyn_penalty, big_penalty=dyn_big_penalty)
        
        std_results, pause_results = [], []
        
        # 為了節省時間，在壓力測試中我們使用固定的經驗暫停點 s=0.7
        # 總步數統一為 SWEEPS_COMPLEXITY_TEST 步
        std_sched = get_smooth_sqa_schedule(BETA, total_sweeps=SWEEPS_COMPLEXITY_TEST, num_steps=20)
        pause_sched = get_pause_sqa_schedule(0.7, BETA, total_anneal_sweeps=SWEEPS_COMPLEXITY_TEST, pause_sweeps=100, num_steps=30)
        
        # 這裡設定每次 N 跑的次數，與原本 NUM_RUNS 獨立，建議 10 次
        runs_for_scale = 10 
        for r in range(runs_for_scale):
            # Standard SQA
            res_std = sampler.sample_qubo(Q, schedule=std_sched, num_reads=5)
            std_results.append(decode_and_eval(res_std.first.sample, N, D))
            
            # Pause SQA
            res_pause = sampler.sample_qubo(Q, schedule=pause_sched, num_reads=5)
            pause_results.append(decode_and_eval(res_pause.first.sample, N, D))
            
        mean_std, err_std = np.mean(std_results), np.std(std_results)
        mean_pause, err_pause = np.mean(pause_results), np.std(pause_results)
        
        std_means.append(mean_std)
        std_errs.append(err_std)
        pause_means.append(mean_pause)
        pause_errs.append(err_pause)
        
        print(f"   Standard-SQA 平均: {mean_std:.2f} ± {err_std:.2f}")
        print(f"   Pause-SQA 平均: {mean_pause:.2f} ± {err_pause:.2f}")
        
    return std_means, std_errs, pause_means, pause_errs

def plot_crossover(std_means, std_errs, pause_means, pause_errs):
    plt.figure(figsize=(10, 6))
    plt.title(f"Complexity Scaling: Algorithm Performance vs Problem Size (N)\n(Coord Std={COORD_STD}, Risk Std={RISK_STD})", fontsize=14, fontweight='bold')
    
    # 畫線與誤差棒
    plt.errorbar(N_LIST, std_means, yerr=std_errs, fmt='-o', color='steelblue', 
                 linewidth=2.5, capsize=5, markersize=8, label='Standard-SQA')
    plt.errorbar(N_LIST, pause_means, yerr=pause_errs, fmt='-s', color='firebrick', 
                 linewidth=2.5, capsize=5, markersize=8, label='Pause-SQA')
    
    plt.xlabel("Problem Scale (Number of Cities $N$)", fontsize=12)
    plt.ylabel("Optimized Makespan (Distance Cost)", fontsize=12)
    plt.xticks(N_LIST)
    plt.grid(alpha=0.4, linestyle='--')
    plt.legend(fontsize=11)
    
    plt.tight_layout()
    plt.savefig(os.path.join(OUTPUT_DIR, "complexity_crossover.png"), dpi=300)
    print(f"🎨 交叉點分析圖已儲存為: {os.path.join(OUTPUT_DIR, 'complexity_crossover.png')}")
    # plt.show() (Moved to the end)

def generate_pause_heatmap(Q, N, D, num_reads=10):
    """
    掃描 s 參數與 Pause Duration，並繪製成本熱力圖
    """
    print("\n🚀 開始繪製量子暫停策略熱力圖...")
    
    # 1. 定義掃描範圍
    # s 值從 0.1 到 0.9，間隔 0.1 (共 9 個點)
    s_values = np.round(np.linspace(0.1, 0.9, 9), 2)
    
    # 暫停步數從 20 到 200，間隔 20 (共 10 個點)
    pause_durations = np.arange(20, 220, 20)
    
    # 建立一個空矩陣來儲存結果
    # row 對應 Pause Duration, col 對應 s
    heatmap_data = np.zeros((len(pause_durations), len(s_values)))
    
    # 2. 執行網格掃描 (Grid Search)
    total_iters = len(s_values) * len(pause_durations)
    current_iter = 0
    
    sampler = oj.SQASampler()
    
    for i, duration in enumerate(pause_durations):
        for j, s_star in enumerate(s_values):
            current_iter += 1
            print(f"進度: {current_iter}/{total_iters} | 測試 s*={s_star}, 暫停={duration}步")
            
            pause_sched = get_pause_sqa_schedule(s_star, BETA, total_anneal_sweeps=SWEEPS_HEATMAP_TEST, pause_sweeps=duration, num_steps=30)
            
            costs = []
            for _ in range(HEATMAP_RUNS):
                res = sampler.sample_qubo(Q, schedule=pause_sched, num_reads=num_reads)
                costs.append(decode_and_eval(res.first.sample, N, D))
            
            heatmap_data[i, j] = np.mean(costs)

    # 3. 繪製熱力圖
    plt.figure(figsize=(12, 8))
    
    ax = sns.heatmap(
        heatmap_data, 
        xticklabels=s_values, 
        yticklabels=pause_durations, 
        cmap="YlGnBu",      # 黃-綠-藍 配色，數值大偏藍，數值小偏黃(或反過來)
        annot=True,         # 在格子上顯示數值
        fmt=".0f",          # 數值不留小數點
        cbar_kws={'label': 'Optimized Makespan (Cost)'}
    )
    
    # 反轉 Y 軸，讓 20 步在最下面，200 步在最上面 (符合物理直覺)
    ax.invert_yaxis()
    
    plt.title("Quantum Pause Strategy: Performance Heatmap\n(Finding the Optimal Phase Transition Phase)", fontsize=16, pad=15)
    plt.xlabel("Annealing Parameter $s^*$ (Pause Location)", fontsize=14)
    plt.ylabel("Pause Duration (Sweeps)", fontsize=14)
    
    plt.tight_layout()
    plt.savefig(os.path.join(OUTPUT_DIR, "quantum_pause_heatmap.png"), dpi=300)
    print(f"🎨 量子暫停策略熱力圖已儲存為: {os.path.join(OUTPUT_DIR, 'quantum_pause_heatmap.png')}")

def count_faults_hit(path, Fault_Mat):
    """計算路徑中踩到多少個故障點 (故障路段數)"""
    if Fault_Mat is None or path is None:
        return 0
    fault_count = 0
    for i in range(len(path) - 1):
        city_from = path[i]
        city_to = path[i + 1]
        if Fault_Mat[city_from, city_to] > 0.5:  # 故障點
            fault_count += 1
    return fault_count

def plot_disturbance_and_fault_matrices(F, Fault_Mat):
    """將擾動矩陣 (F) 與 故障矩陣 (Fault_Mat) 並排繪製熱力圖"""
    if Fault_Mat is None:
        return
    fig, axes = plt.subplots(1, 2, figsize=(14, 6))
    fig.suptitle("Environment Disturbance vs. Fault Map", fontsize=16, fontweight='bold')
    
    # 畫擾動矩陣 F (連續值)
    sns.heatmap(F, ax=axes[0], cmap="YlOrRd", annot=False)
    axes[0].set_title("Disturbance Matrix (F)", fontsize=14)
    axes[0].set_xlabel("City index"); axes[0].set_ylabel("City index")
    
    # 畫故障矩陣 Fault_Mat (0或1)
    sns.heatmap(Fault_Mat, ax=axes[1], cmap="Reds", cbar=False, linewidths=0.5, linecolor='lightgray')
    axes[1].set_title("Fault Matrix (0: Normal, 1: Fault)", fontsize=14)
    axes[1].set_xlabel("City index"); axes[1].set_ylabel("City index")
    
    plt.tight_layout()
    plt.savefig(os.path.join(OUTPUT_DIR, "disturbance_fault_matrices.png"), dpi=300)
    print(f"🎨 擾動和故障矩陣圖已儲存: {os.path.join(OUTPUT_DIR, 'disturbance_fault_matrices.png')}")
    # plt.show() (Moved to the end)

def plot_comprehensive_best_comparison(sa_mks, sqa_mks, sa_p1, sa_p2, sqa_p1, sqa_p2, D, F, Fault_Mat):
    """繪製 2x2 Subplot: 綜合比較最佳解的 Makespan、故障數、純距離、純擾動"""
    if Fault_Mat is None:
        return
        
    # 輔助函數：計算純物理量 (不含 lambda 等懲罰權重)
    def calc_raw_metrics(p1, p2):
        dist_total = 0
        disturb_total = 0
        fault_hits = 0
        for path in [p1, p2]:
            if not path: continue  # 避免讀到空路徑
            full = [0] + path + [0]
            for i in range(len(full)-1):
                u, v = full[i], full[i+1]
                dist_total += D[u, v]
                disturb_total += F[u, v]
                fault_hits += Fault_Mat[u, v]
        return dist_total, disturb_total, fault_hits
        
    sa_dist, sa_disturb, sa_faults = calc_raw_metrics(sa_p1, sa_p2)
    sqa_dist, sqa_disturb, sqa_faults = calc_raw_metrics(sqa_p1, sqa_p2)

    # 繪製 2x2 圖表
    fig, axes = plt.subplots(2, 2, figsize=(14, 10))
    fig.suptitle("Comprehensive Performance: SA vs SQA (Best Run)", fontsize=18, fontweight='bold')
    
    labels = ['Classical SA', 'SQA / Pause-SQA']
    colors = ['#4C72B0', '#DD8452']  # SA 藍色, SQA 橘色
    
    def plot_bar(ax, vals, title, ylabel, is_int=False):
        bars = ax.bar(labels, vals, color=colors, edgecolor='black', linewidth=1.2)
        ax.set_title(title, fontsize=14, fontweight='bold')
        ax.set_ylabel(ylabel, fontsize=12)
        if is_int:
            ax.yaxis.set_major_locator(plt.MaxNLocator(integer=True))
        # 標示數值
        for bar, v in zip(bars, vals):
            yval = bar.get_height()
            text_str = f'{int(v)}' if is_int else f'{v:.1f}'
            ax.text(bar.get_x() + bar.get_width()/2.0, yval, text_str, 
                    ha='center', va='bottom', fontweight='bold', fontsize=12)

    # 圖 1: 總評估分數 (Makespan)
    plot_bar(axes[0, 0], [sa_mks, sqa_mks], "1. Best Makespan (Total Objective Cost)", "Cost Score")
    
    # 圖 2: 安全性 (Faults Hit)
    plot_bar(axes[0, 1], [sa_faults, sqa_faults], "2. Faults Hit (Safety Penalty)", "Number of Hits", is_int=True)
    axes[0, 1].set_title("2. Faults Hit (Safety Penalty)", color='darkred', fontweight='bold')
    
    # 圖 3: 飛行距離 (Raw Distance)
    plot_bar(axes[1, 0], [sa_dist, sqa_dist], "3. Total Raw Distance (D)", "Distance Units")
    
    # 圖 4: 環境風險暴露 (Raw Disturbance)
    plot_bar(axes[1, 1], [sa_disturb, sqa_disturb], "4. Total Environmental Disturbance (F)", "Disturbance Level")

    plt.tight_layout(rect=[0, 0.03, 1, 0.95])
    plt.savefig(os.path.join(OUTPUT_DIR, "comprehensive_best_comparison.png"), dpi=300)
    print(f"🎨 綜合最佳對比圖已儲存: {os.path.join(OUTPUT_DIR, 'comprehensive_best_comparison.png')}")
    # plt.show() (Moved to the end)


# ============================
# 主程式執行入口
# ============================
if __name__ == "__main__":
    print("==================================================")
    if ENABLE_QUANTUM_MINEFIELD:
        print("🚀 生成極限量子雷區測試...")
        D, F = generate_quantum_minefield(CITIES, random_seed=RANDOM_SEED)
        
        # 為極限雷區建立環狀顯示用實體座標 (符合原有 layout 的精神)
        city_coords = []
        for i in range(CITIES):
            angle = 2 * np.pi * i / CITIES
            city_coords.append((50 + 40 * np.cos(angle), 50 + 40 * np.sin(angle)))
        
        # 進行數值驗證與畫圖
        if SHOW_TERRAIN_PLOTS:
            verify_minefield_stats(D, F)
            plot_energy_landscape_heatmap(D, F)
            plot_energy_landscape_3d(D, F)
    else:
        print("🚀 生成一般隨機任務環境...")
        D, city_coords = generate_distance_matrix(CITIES, random=RANDOM)
        F = generate_disturbance_matrix(CITIES)
        # 您可選擇是否在此呼叫原有的干擾產生器
        # D, F = inject_deceptive_trap(D, F, alpha=ALPHA, gamma=GAMMA, sigma=SIGMA)
        # D, F = inject_hidden_shortcut(D, F)
    
    # 🌟 新增：生成故障矩陣
    if ENABLE_FAULT_SIGNAL:
        print("🚨 故障訊號 (Fault Signal) 已啟用！正在生成隨機禁飛路段...")
        Fault_Mat = generate_fault_matrix(CITIES, prob=FAULT_PROBABILITY, seed=RANDOM_SEED)
    else:
        Fault_Mat = None
        
    # 原本的其他環境干擾暫時維持 (也可以選擇註解掉，因為 generate_quantum_minefield 已經很極端)
    # 為了保持之前的介面一致，這裡先保留動態懲罰值計算
    
    # ======== 🌟 新增：動態自適應懲罰值 ========
    # 找出矩陣中最遙遠的距離與最大的擾動
    max_d = np.max(D)
    max_f = np.max(F) if F is not None else 0
    max_possible_cost = max_d + max_f
    
    # 根據最大可能成本，動態設定懲罰值 (通常設為 10 倍 ~ 15 倍最穩定)
    PENALTY = max_possible_cost * 12.0
    BIG_PENALTY = PENALTY * 5.0

    Q = None
    
    if RUN_MAIN_TEST or RUN_HEATMAP_TEST:
        Q, _ = build_robust_qubo(D, F, Fault_Mat=Fault_Mat, penalty=PENALTY, big_penalty=BIG_PENALTY)
        
    if RUN_MAIN_TEST:
        print(f"🔧 [自動調校] 偵測到單趟最大成本: {max_possible_cost:.2f}")
        print(f"🔧 [自動調校] 動態 PENALTY 設為: {PENALTY:.2f}, BIG_PENALTY 設為: {BIG_PENALTY:.2f}")
        
        if COMPARE_H_INFINITY:
            print("==================================================")
            print("🚀 [開始 H-infinity 避障算法對比測試]")
            print("==================================================")
            
            # --- 基準測試 (無避障策略，不考慮障礙物風險) ---
            print("\n--- 基準測試 (無避障策略 - Algorithm Ignores Obstacles) ---")
            Q_baseline, _ = build_robust_qubo(D, F, Fault_Mat=Fault_Mat, alpha=0.0, penalty=PENALTY, big_penalty=BIG_PENALTY)
            
            s_list_base, var_base, pilot_mks_base, best_s_base = [], [], [], 0.5
            if INCLUDE_PAUSE_SQA:
                s_list_base, var_base, pilot_mks_base, best_s_base = pilot_search_phase_transition(Q_baseline, CITIES, D, F)
            
            results_base = run_comparative_evaluations(Q_baseline, CITIES, D, F, best_s_base)

            # --- 穩健測試 (有避障策略，考慮障礙物風險) ---
            print("\n--- 穩健測試 (有避障策略 - Algorithm Avoids Obstacles) ---")
            Q_robust, _ = build_robust_qubo(D, F, Fault_Mat=Fault_Mat, alpha=ALPHA, penalty=PENALTY, big_penalty=BIG_PENALTY)
            
            s_list_rob, var_rob, pilot_mks_rob, best_s_rob = [], [], [], 0.5
            durations_rob, dur_mks_rob = [], []
            if INCLUDE_PAUSE_SQA:
                s_list_rob, var_rob, pilot_mks_rob, best_s_rob = pilot_search_phase_transition(Q_robust, CITIES, D, F)
                durations_rob, dur_mks_rob = test_pause_durations(Q_robust, CITIES, D, F, best_s_rob)
            
            results_rob = run_comparative_evaluations(Q_robust, CITIES, D, F, best_s_rob)
            
            # Pack results for plotting
            results = {
                'baseline': results_base,
                'robust': results_rob
            }
            
            # Note: For academic charts, we will pass robust's data since it's the focus
            s_list, variances, pilot_mks, best_s = s_list_rob, var_rob, pilot_mks_rob, best_s_rob
            durations, dur_mks = durations_rob, dur_mks_rob
            results_for_academic = results_rob

        else:
            print("==================================================")
            print(f"🚀 Quantum Pause Strategy Optimization (mTSP N={CITIES})")
            print("==================================================")
            
            print("\n[初始化] 距離矩陣 D:")
            print(D)
            print("\n[初始化] 擾動矩陣 F:")
            print(F)
            
            Q, _ = build_robust_qubo(D, F, Fault_Mat=Fault_Mat, penalty=PENALTY, big_penalty=BIG_PENALTY)
            
            s_list, variances, pilot_mks, best_s = [], [], [], 0.5
            durations, dur_mks = [], []
            
            if INCLUDE_PAUSE_SQA:
                # 階段 1：找相變點
                s_list, variances, pilot_mks, best_s = pilot_search_phase_transition(Q, CITIES, D, F)
                
                # 階段 2：測試暫停時間
                durations, dur_mks = test_pause_durations(Q, CITIES, D, F, best_s)
            
            # 階段 3：正式評估 (一次抓齊所有數據)
            results = run_comparative_evaluations(Q, CITIES, D, F, best_s)
            results_for_academic = results
        
    s_m, s_e, p_m, p_e = None, None, None, None
    if RUN_COMPLEXITY_TEST:
        # 階段 4：複雜度壓力測試與交叉點分析
        s_m, s_e, p_m, p_e = run_complexity_scaling()
        
    print("\n🏁 所有運算完成！開始繪製圖表...")
    
    if RUN_MAIN_TEST:
        # 繪製圖表一：三大基礎分布對比
        create_basic_distribution_charts(results)
        
        # 繪製圖表二：Pause SQA 深度分析
        create_academic_charts(s_list, variances, pilot_mks, best_s, durations, dur_mks, results_for_academic)
        
        # 繪製圖表：路徑對比圖
        if COMPARE_H_INFINITY:
            target_res = results['robust']
        else:
            target_res = results

        # 🌟 新增：1. 畫出擾動與故障矩陣對比熱力圖
        if ENABLE_FAULT_SIGNAL:
            plot_disturbance_and_fault_matrices(F, Fault_Mat)

        best_sa_1 = target_res['sa']['best_p1']
        best_sa_2 = target_res['sa']['best_p2']
        if INCLUDE_PAUSE_SQA:
            best_qa_1 = target_res['pause']['best_p1']
            best_qa_2 = target_res['pause']['best_p2']
            qa_makespan = target_res['pause']['best_mk']
        else:
            best_qa_1 = target_res['sqa']['best_p1']
            best_qa_2 = target_res['sqa']['best_p2']
            qa_makespan = target_res['sqa']['best_mk']
        
        sa_makespan = target_res['sa']['best_mk']
        
        # 🌟 修改：畫出 SA 與 SQA 的「四大綜合指標」對比圖
        if ENABLE_FAULT_SIGNAL:
            plot_comprehensive_best_comparison(
                sa_mks=sa_makespan,
                sqa_mks=qa_makespan,
                sa_p1=best_sa_1,
                sa_p2=best_sa_2,
                sqa_p1=best_qa_1,
                sqa_p2=best_qa_2,
                D=D,
                F=F,
                Fault_Mat=Fault_Mat
            )
            
        plot_real_route_comparison(CITIES, city_coords, best_sa_1, best_sa_2, best_qa_1, best_qa_2)
        
    if RUN_COMPLEXITY_TEST and s_m is not None:
        # 繪製圖表三：複雜度壓力測試與交叉點分析
        plot_crossover(s_m, s_e, p_m, p_e)

    if RUN_HEATMAP_TEST:
        # 繪製圖表四：s 與 Pause Duration 熱力圖
        generate_pause_heatmap(Q, CITIES, D, num_reads=5) # 為節省時間使用 5 reads
    
    print("\n" + "="*60)
    print("🏁 所有實驗與圖表繪製完成！")
    print("="*60)
    print(f"\n📁 所有圖表已儲存在: {os.path.abspath(OUTPUT_DIR)}")
    print("\n📊 已生成的圖表文件:")
    if os.path.exists(OUTPUT_DIR):
        files = sorted(os.listdir(OUTPUT_DIR))
        for i, fname in enumerate(files, 1):
            print(f"   {i}. {fname}")
    print("\n💡 提示: 所有圖表窗口將同時顯示，請在各窗口完成檢視後關閉。")
    print("="*60 + "\n")
    
    # 同時顯示所有圖表窗口
    plt.show()