优化求解器重试并校正AMESim机械端口

app/main.py

@@ -1217,6 +1217,12 @@ def compile_reactflow_network(
             media_by_component_id[node.id],
             parameter_values,
         )
+        apply_layout_transform = getattr(component, "apply_layout_transform", None)
+        if apply_layout_transform is not None:
+            apply_layout_transform(
+                rotation=node.data.rotation,
+                mirrored=node.data.mirrored,
+            )
         validate_component_port_interface(node, component.port_definitions)
         network.add_component(component)
 

app/simulation/components/amesim/mechanical/pistons.py

@@ -93,8 +93,8 @@ class AmesimPnrp17(AlgebraicComponent):
         ports=(
             PortDisplaySpec("port_1", "left", order=10),
             PortDisplaySpec("port_3", "left", order=20),
-            PortDisplaySpec("port_4", "left", order=30),
+            PortDisplaySpec("port_2", "left", order=30),
-            PortDisplaySpec("port_2", "right", order=40),
+            PortDisplaySpec("port_4", "right", order=40),
             PortDisplaySpec("port_5", "right", order=50),
         ),
         order=60,

app/simulation/components/amesim/mechanical/translational.py

@@ -87,6 +87,7 @@ class AmesimForc(AlgebraicComponent):
         self.set_parameter_values({})
         self.res = self.register_declared_port("res")
         self.port_2 = self.register_declared_port("port_2")
+        self._orientation_sign = 1.0
 
     @classmethod
     def create(
@@ -98,6 +99,15 @@ class AmesimForc(AlgebraicComponent):
     ) -> "AmesimForc":
         return cls(name=name)
 
+    def apply_layout_transform(self, *, rotation: int, mirrored: bool) -> None:
+        """Apply the AMESim icon direction to the signed force output."""
+
+        normalized_rotation = int(rotation) % 360
+        if normalized_rotation not in {0, 90, 180, 270}:
+            raise ValueError("FORC rotation must be a multiple of 90 degrees.")
+        direction = -1.0 if normalized_rotation in {180, 270} else 1.0
+        self._orientation_sign = -direction if mirrored else direction
+
     @property
     def output_force(self) -> float:
         return float(self.res.signal)
@@ -111,7 +121,7 @@ class AmesimForc(AlgebraicComponent):
                 relation="constitutive",
                 variables=(f"{self.name}.port_2.f", f"{self.name}.res.signal"),
                 role="flow",
-                value=self.port_2.f + self.output_force,
+                value=self.port_2.f + self._orientation_sign * self.output_force,
             ),
         )
 
@@ -170,8 +180,8 @@ class AmesimMecmas21(DynamicComponent):
         category_id="mechanical",
         symbol="amesim_mecmas21",
         ports=(
-            PortDisplaySpec("port_1", "left", order=10),
+            PortDisplaySpec("port_2", "left", order=10),
-            PortDisplaySpec("port_2", "right", order=20),
+            PortDisplaySpec("port_1", "right", order=20),
         ),
         order=30,
     )
@@ -426,11 +436,11 @@ class AmesimLstp00a(AlgebraicComponent):
             assert self._causal_port_2_x is not None
             penetration = (
                 self._causal_penetration
-                + (self.port_2.x - self._causal_port_2_x)
+                + (self.port_1.x - self._causal_port_1_x)
-                - (self.port_1.x - self._causal_port_1_x)
+                - (self.port_2.x - self._causal_port_2_x)
             )
             return -penetration
-        return self.gap0 - (self.port_2.x - self.port_1.x)
+        return self.gap0 + (self.port_2.x - self.port_1.x)
 
     @property
     def penetration(self) -> float:
@@ -438,7 +448,7 @@ class AmesimLstp00a(AlgebraicComponent):
 
     @property
     def penetration_velocity(self) -> float:
-        return self.port_2.v - self.port_1.v
+        return self.port_1.v - self.port_2.v
 
     @property
     def contact_force(self) -> float:
@@ -516,7 +526,7 @@ class AmesimLstp00a(AlgebraicComponent):
                     f"{self.name}.port_2.v",
                 ),
                 role="flow",
-                value=self.port_1.f + force,
+                value=self.port_1.f - force,
             ),
             EquationResidual(
                 id=f"{self.name}:port_2_contact_force",
@@ -531,7 +541,7 @@ class AmesimLstp00a(AlgebraicComponent):
                     f"{self.name}.port_2.v",
                 ),
                 role="flow",
-                value=self.port_2.f - force,
+                value=self.port_2.f + force,
             ),
         )
 

app/simulation/core/errors.py

@@ -0,0 +1,5 @@
+from __future__ import annotations
+
+
+class RecoverableTrialStateError(ValueError):
+    """A physical-domain failure caused by an integrator trial state."""

app/simulation/core/peng_robinson.py

@@ -1,5 +1,7 @@
 from __future__ import annotations
 
+from app.simulation.core.errors import RecoverableTrialStateError
+
 from dataclasses import dataclass
 from math import acos, cos, isfinite, log, pi, sqrt
 
@@ -69,7 +71,7 @@ class PengRobinsonFluid:
     def pressure_from_molar_volume(self, temperature: float, molar_volume: float) -> float:
         self._validate_temperature(temperature)
         if molar_volume <= self.b_parameter:
-            raise ValueError("Molar volume must be larger than Peng-Robinson b parameter.")
+            raise RecoverableTrialStateError("Molar volume must be larger than Peng-Robinson b parameter.")
         a_alpha = self.attractive_parameter(temperature)
         b = self.b_parameter
         repulsive = UNIVERSAL_GAS_CONSTANT * temperature / (molar_volume - b)

app/simulation/solvers/algebraic.py

@@ -1,5 +1,7 @@
 from __future__ import annotations
 
+from collections.abc import Callable
+
 from dataclasses import dataclass
 from math import expm1, isfinite, log, sqrt
 
@@ -32,11 +34,22 @@ class AlgebraicUnknown:
         setattr(self.state, self.variable, float(value))
 
 
+@dataclass(frozen=True)
+class ExplicitFlowAssignment:
+    equation_id: str
+    unknown: AlgebraicUnknown
+    evaluate: Callable[[], float]
+
+@dataclass(frozen=True)
+class EffortAnchor:
+    unknown: AlgebraicUnknown
+    evaluate: Callable[[], float]
+
 @dataclass(frozen=True)
 class EffortEqualityGroup:
     variable: str
     members: tuple[AlgebraicUnknown, ...]
-    anchors: tuple[tuple[AlgebraicUnknown, float], ...]
+    anchors: tuple[EffortAnchor, ...]
 
 
 @dataclass(frozen=True)
@@ -85,6 +98,11 @@ class PressureFlowSolver:
         self.max_evaluations = max_evaluations
         self.unknowns = self._build_unknowns()
         self._unknowns_by_id = {unknown.id: unknown for unknown in self.unknowns}
+        self._effort_groups = {
+            variable: self._build_effort_equality_groups(variable)
+            for variable in ("p", "x", "v")
+        }
+        self._explicit_flow_plan = self._build_explicit_flow_plan()
         self.last_diagnostics: AlgebraicSolveDiagnostics | None = None
 
     def _build_unknowns(self) -> tuple[AlgebraicUnknown, ...]:
@@ -132,7 +150,7 @@ class PressureFlowSolver:
         for variable in ("p", "x", "v"):
             self._seed_equal_effort(variable)
 
-    def _effort_equality_groups(
+    def _build_effort_equality_groups(
         self,
         variable: str,
     ) -> tuple[EffortEqualityGroup, ...]:
@@ -195,10 +213,7 @@ class PressureFlowSolver:
                 effort_unknowns[endpoint]
             )
 
-        anchors_by_root: dict[
+        anchors_by_root: dict[tuple[str, str], list[EffortAnchor]] = {}
-            tuple[str, str],
-            list[tuple[AlgebraicUnknown, float]],
-        ] = {}
         for equations in component_equations.values():
             for equation in equations:
                 if equation.relation != "state" or equation.role != "effort":
@@ -215,11 +230,11 @@ class PressureFlowSolver:
                     continue
                 endpoint = endpoints[0]
                 unknown = effort_unknowns[endpoint]
-                target_value = unknown.read() - float(equation.value)
-                if not isfinite(target_value):
-                    continue
                 anchors_by_root.setdefault(find(endpoint), []).append(
-                    (unknown, target_value)
+                    EffortAnchor(
+                        unknown=unknown,
+                        evaluate=self._equation_value_reader(equation),
+                    )
                 )
 
         return tuple(
@@ -232,9 +247,17 @@ class PressureFlowSolver:
         )
 
     def _seed_equal_effort(self, variable: str) -> None:
-        for group in self._effort_equality_groups(variable):
+        for group in self._effort_groups[variable]:
             members = group.members
-            anchors = group.anchors
+            anchors = tuple(
+                (anchor.unknown, anchor.unknown.read() - anchor.evaluate())
+                for anchor in group.anchors
+            )
+            anchors = tuple(
+                (unknown, value)
+                for unknown, value in anchors
+                if isfinite(value)
+            )
             if anchors:
                 # Keep each state-owned port current even when an invalid model
                 # has conflicting anchors in one equality group.
@@ -490,9 +513,9 @@ class PressureFlowSolver:
 
         gap0 = float(getattr(component, "gap0", 0.0))
         if binding.algebraic_port == 1:
-            target = component.port_2.x - gap0 - penetration
+            target = component.port_2.x + gap0 + penetration
         else:
-            target = component.port_1.x + gap0 + penetration
+            target = component.port_1.x - gap0 - penetration
         for unknown in binding.algebraic_group.members:
             unknown.write(target)
         component.set_causal_contact(
@@ -515,7 +538,7 @@ class PressureFlowSolver:
 
         position_groups = {
             unknown.id: group
-            for group in self._effort_equality_groups("x")
+            for group in self._effort_groups["x"]
             for unknown in group.members
         }
         bindings: list[UnilateralContactBinding] = []
@@ -547,7 +570,7 @@ class PressureFlowSolver:
                     algebraic_group=first_group,
                     neighbor_force=first_neighbor,
                     algebraic_port=1,
-                    force_sign=1.0,
+                    force_sign=-1.0,
                 )
             elif not second_group.anchors and second_neighbor is not None:
                 binding = UnilateralContactBinding(
@@ -555,7 +578,7 @@ class PressureFlowSolver:
                     algebraic_group=second_group,
                     neighbor_force=second_neighbor,
                     algebraic_port=2,
-                    force_sign=-1.0,
+                    force_sign=1.0,
                 )
             else:
                 # With both coordinates state-owned, penetration is a dynamic
@@ -574,137 +597,135 @@ class PressureFlowSolver:
 
         return tuple(bindings)
 
-    def _solve_explicit_flow_unknowns(self) -> set[str]:
+    def _flow_unknowns_for_equation(self, equation) -> tuple[AlgebraicUnknown, ...]:
-        """Directly evaluate explicit flow variables before nonlinear closure.
+        return tuple(
+            self._unknowns_by_id[variable]
+            for variable in equation.variables
+            if variable in self._unknowns_by_id
+            and self._unknowns_by_id[variable].role == "flow"
+        )
 
-        Component constitutive equations use the normalized residual form
+    def _equation_value_reader(self, equation) -> Callable[[], float]:
-        ``flow_unknown + remainder = 0`` whenever exactly one physical flow
+        if equation.owner == "connection":
-        variable is present.  Solve those relations by substitution first,
+            if len(equation.variables) != 2:
-        then propagate the known values through component balances and physical
+                raise ValueError(
-        connectors.  This covers pneumatic ``m_flow`` variables as well as
+                    f"Connection equation {equation.id} must contain two variables."
-        mechanical forces ``f`` such as ``FORC`` without asking the nonlinear
+                )
-        optimizer to discover values many orders of magnitude away from zero.
+            first = self._unknowns_by_id[equation.variables[0]]
+            second = self._unknowns_by_id[equation.variables[1]]
+            if equation.relation == "sumToZero":
+                return lambda: first.read() + second.read()
+            if equation.relation == "equal":
+                return lambda: first.read() - second.read()
+            raise ValueError(
+                f"Unsupported connection equation relation: {equation.relation}."
+            )
 
-        The remaining coupled equations still go through ``least_squares``;
+        component = self.network.components[equation.owner_id]
-        these assignments provide both a consistent initial guess and the
+        equation_id = equation.id
-        nominal magnitudes used to scale that smaller nonlinear problem.
-        """
 
+        def read_component_equation() -> float:
+            for current in component.pressure_flow_equation_residuals():
+                if current.id == equation_id:
+                    return float(current.value)
+            raise RuntimeError(
+                f"Compiled algebraic equation disappeared at runtime: {equation_id}."
+            )
+
+        return read_component_equation
+
+    def _build_explicit_flow_plan(self) -> tuple[ExplicitFlowAssignment, ...]:
+        """Compile the legacy deterministic flow assignment order once."""
+
+        assignments: list[ExplicitFlowAssignment] = []
         seeded_ids: set[str] = set()
 
-        # Mechanical reaction balances can contain null-space forces.  Reusing
+        def append_assignment(equation, unknown: AlgebraicUnknown) -> None:
-        # an arbitrary least-squares distribution from the preceding RHS call
+            assignments.append(
-        # makes contact activation history-dependent, so choose deterministic
+                ExplicitFlowAssignment(
-        # zero tear values and rebuild the force chain from current signals,
+                    equation_id=equation.id,
-        # states, and pressure loads on every closure.
+                    unknown=unknown,
-        for unknown in self.unknowns:
+                    evaluate=self._equation_value_reader(equation),
-            if unknown.variable == "f":
+                )
-                unknown.write(0.0)
+            )
+            seeded_ids.add(unknown.id)
 
-        # First evaluate constitutive relations that expose one flow unknown
-        # with unit coefficient.  Other variables in the equation (pressure,
-        # displacement, velocity, or a signal) have already been refreshed for
-        # the current state and time by the staged system closure.
         for component in self.network.components.values():
             for equation in component.pressure_flow_equation_residuals():
                 if equation.relation != "constitutive" or equation.role != "flow":
                     continue
-                flow_unknowns = [
+                flow_unknowns = self._flow_unknowns_for_equation(equation)
-                    self._unknowns_by_id[variable]
-                    for variable in equation.variables
-                    if variable in self._unknowns_by_id
-                    and self._unknowns_by_id[variable].role == "flow"
-                ]
                 if len(flow_unknowns) != 1:
                     continue
                 unknown = flow_unknowns[0]
-                if unknown.id in seeded_ids:
+                if unknown.id not in seeded_ids:
-                    continue
+                    append_assignment(equation, unknown)
-                target_value = unknown.read() - float(equation.value)
-                if not isfinite(target_value):
-                    continue
-                unknown.write(target_value)
-                seeded_ids.add(unknown.id)
 
-        # V1/correctness-first implementation: repeatedly solve any balance that
+        equations = self.network.pressure_flow_equation_residuals()
-        # now has exactly one unknown flow variable left.  Rebuilding and
-        # rescanning the complete residual tuple after every assignment keeps
-        # propagation deterministic, but costs O(flow unknowns * equations) and
-        # can dominate long, stiff simulations.  A production follow-up should
-        # compile the assignment/tear order from the static topology once and
-        # evaluate only each owning component or connection residual here.
         while True:
             propagated = False
-            for equation in self.network.pressure_flow_equation_residuals():
+            for equation in equations:
                 if equation.role != "flow" or equation.relation not in {
                     "constitutive",
                     "sumToZero",
                 }:
                     continue
-                flow_unknowns = [
+                flow_unknowns = self._flow_unknowns_for_equation(equation)
-                    self._unknowns_by_id[variable]
-                    for variable in equation.variables
-                    if variable in self._unknowns_by_id
-                    and self._unknowns_by_id[variable].role == "flow"
-                ]
                 if not flow_unknowns:
                     continue
-                variable_names = {unknown.variable for unknown in flow_unknowns}
+                if len({unknown.variable for unknown in flow_unknowns}) != 1:
-                if len(variable_names) != 1:
                     continue
-                unseeded = [
+                unseeded = tuple(
-                    unknown for unknown in flow_unknowns if unknown.id not in seeded_ids
+                    unknown
-                ]
+                    for unknown in flow_unknowns
+                    if unknown.id not in seeded_ids
+                )
                 if len(unseeded) != 1:
                     continue
-                unknown = unseeded[0]
+                append_assignment(equation, unseeded[0])
-                target_value = unknown.read() - float(equation.value)
+                propagated = True
-                if not isfinite(target_value):
+                break
+            if propagated:
+                continue
+
+            for equation in equations:
+                if equation.role != "flow" or equation.relation not in {
+                    "constitutive",
+                    "sumToZero",
+                }:
                     continue
-                unknown.write(target_value)
+                flow_unknowns = self._flow_unknowns_for_equation(equation)
-                seeded_ids.add(unknown.id)
+                unseeded = tuple(
+                    unknown
+                    for unknown in flow_unknowns
+                    if unknown.id not in seeded_ids
+                )
+                if len(unseeded) <= 1:
+                    continue
+                if len({unknown.variable for unknown in flow_unknowns}) != 1:
+                    continue
+                append_assignment(equation, unseeded[-1])
                 propagated = True
                 break
-            if not propagated:
-                # Causalize one remaining free flow in an otherwise normalized
-                # linear balance.  This is the algebraic equivalent of choosing
-                # a tear variable: the other free flows retain their current
-                # guesses and one dependent flow closes the equation exactly.
-                # It also gives rank-deficient rigid-body reaction balances a
-                # deterministic starting point before state reduction supplies
-                # their common acceleration.
-                for equation in self.network.pressure_flow_equation_residuals():
-                    if equation.role != "flow" or equation.relation not in {
-                        "constitutive",
-                        "sumToZero",
-                    }:
-                        continue
-                    flow_unknowns = [
-                        self._unknowns_by_id[variable]
-                        for variable in equation.variables
-                        if variable in self._unknowns_by_id
-                        and self._unknowns_by_id[variable].role == "flow"
-                    ]
-                    unseeded = [
-                        unknown
-                        for unknown in flow_unknowns
-                        if unknown.id not in seeded_ids
-                    ]
-                    if len(unseeded) <= 1:
-                        continue
-                    if len({unknown.variable for unknown in flow_unknowns}) != 1:
-                        continue
-                    unknown = unseeded[-1]
-                    target_value = unknown.read() - float(equation.value)
-                    if not isfinite(target_value):
-                        continue
-                    unknown.write(target_value)
-                    seeded_ids.add(unknown.id)
-                    propagated = True
-                    break
             if not propagated:
                 break
 
+        return tuple(assignments)
+
+    def _solve_explicit_flow_unknowns(self) -> set[str]:
+        """Execute the precompiled explicit flow/force causalization plan."""
+
+        for unknown in self.unknowns:
+            if unknown.variable == "f":
+                unknown.write(0.0)
+
+        seeded_ids: set[str] = set()
+        for assignment in self._explicit_flow_plan:
+            target_value = assignment.unknown.read() - assignment.evaluate()
+            if not isfinite(target_value):
+                continue
+            assignment.unknown.write(target_value)
+            seeded_ids.add(assignment.unknown.id)
         return seeded_ids
 
     def _scales(self) -> dict[str, float]:

app/simulation/solvers/solver.py

@@ -1,5 +1,7 @@
 from __future__ import annotations
 
+from app.simulation.core.errors import RecoverableTrialStateError
+
 import math
 from dataclasses import dataclass
 from typing import Callable, Literal, Sequence
@@ -535,11 +537,10 @@ def _integrate_scipy_stepwise(
 ) -> ODESolution:
     """Initial stepwise integration path for breakpoints and state resets.
 
-    Known V1 limitation: an adaptive solver can evaluate a trial state outside
+    Recoverable physical-domain failures from rejected integrator trial states
-    the algebraic or thermodynamic model domain.  Such an RHS exception still
+    restore the last accepted state and rebuild the same solver with a smaller
-    aborts the run here; recoverable trial failures are not yet restored to the
+    maximum/first step. Structural, algebraic, and ordinary model errors still
-    last accepted state and retried with a smaller step.  This is not specific
+    fail immediately.
-    to BDF, although implicit Newton/Jacobian probes make it especially visible.
     """
     import numpy as np
     from scipy.integrate import BDF, DOP853, LSODA, RK23, RK45, Radau
@@ -609,6 +610,9 @@ def _integrate_scipy_stepwise(
             math.nextafter(segment_end, -math.inf) if is_breakpoint else segment_end
         )
         has_integration_interval = integration_end > last_accepted_time
+        segment_max_step = float(config.max_step)
+        recoverable_retry_count = 0
+        last_recoverable_error: RecoverableTrialStateError | None = None
 
         while has_integration_interval and last_accepted_time < integration_end:
             if cancel_check():
@@ -619,11 +623,16 @@ def _integrate_scipy_stepwise(
             solver_options = {
                 "rtol": config.rtol,
                 "atol": config.atol,
-                "max_step": config.max_step,
+                "max_step": segment_max_step,
             }
-            if config.first_step is not None:
+            requested_first_step = (
+                0.1 * segment_max_step
+                if last_recoverable_error is not None
+                else config.first_step
+            )
+            if requested_first_step is not None:
                 solver_options["first_step"] = min(
-                    config.first_step,
+                    requested_first_step,
                     integration_end - last_accepted_time,
                 )
 
@@ -639,6 +648,18 @@ def _integrate_scipy_stepwise(
                 status = "cancelled"
                 message = cancellation_message()
                 break
+            except RecoverableTrialStateError as exc:
+                recoverable_retry_count += 1
+                last_recoverable_error = exc
+                next_step = 0.5 * segment_max_step
+                minimum_step = 64.0 * math.ulp(max(abs(last_accepted_time), 1.0))
+                if recoverable_retry_count > 16 or next_step <= minimum_step:
+                    status = "failed"
+                    message = str(exc)
+                    error = exc
+                    break
+                segment_max_step = next_step
+                continue
             except Exception as exc:
                 status = "failed"
                 message = str(exc)
@@ -646,6 +667,7 @@ def _integrate_scipy_stepwise(
                 break
 
             restart_at_transition = False
+            restart_after_recoverable = False
             while solver.status == "running":
                 if cancel_check():
                     status = "cancelled"
@@ -664,6 +686,22 @@ def _integrate_scipy_stepwise(
                         "Simulation was stopped before reaching the requested end time."
                     )
                     break
+                except RecoverableTrialStateError as exc:
+                    recoverable_retry_count += 1
+                    last_recoverable_error = exc
+                    attempted_step = segment_max_step
+                    next_step = 0.5 * attempted_step
+                    minimum_step = 64.0 * math.ulp(
+                        max(abs(last_accepted_time), 1.0)
+                    )
+                    if recoverable_retry_count > 16 or next_step <= minimum_step:
+                        status = "failed"
+                        message = str(exc)
+                        error = exc
+                        break
+                    segment_max_step = next_step
+                    restart_after_recoverable = True
+                    break
                 except Exception as exc:
                     status = "failed"
                     message = str(exc)
@@ -672,6 +710,19 @@ def _integrate_scipy_stepwise(
 
                 integration_progressed = True
                 if solver.status == "failed":
+                    if last_recoverable_error is not None:
+                        recoverable_retry_count += 1
+                        next_step = 0.5 * segment_max_step
+                        minimum_step = 64.0 * math.ulp(
+                            max(abs(last_accepted_time), 1.0)
+                        )
+                        if (
+                            recoverable_retry_count <= 16
+                            and next_step > minimum_step
+                        ):
+                            segment_max_step = next_step
+                            restart_after_recoverable = True
+                            break
                     status = "failed"
                     message = str(step_message or "Integration step failed.")
                     break
@@ -775,6 +826,7 @@ def _integrate_scipy_stepwise(
 
                 last_accepted_time = step_end_time
                 last_accepted_state = step_end_state
+                recoverable_retry_count = 0
                 reported_time = (
                     float(segment_end)
                     if is_breakpoint and solver.status == "finished"
@@ -806,7 +858,11 @@ def _integrate_scipy_stepwise(
                     )
                 report_step(reported_time)
 
-            if status != "completed" or not restart_at_transition:
+            if status != "completed":
+                break
+            if restart_after_recoverable:
+                continue
+            if not restart_at_transition:
                 break
 
         if status != "completed":

frontend/src/App.tsx

@@ -5967,7 +5967,7 @@ function normalizeLoadedPorts(
     return definition?.ports.map((port) => ({ ...port })) ?? [];
   }
 
-  return rawPorts.flatMap((rawPort, index) => {
+  const loadedPorts = rawPorts.flatMap((rawPort, index) => {
     const record =
       rawPort !== null && typeof rawPort === "object"
         ? (rawPort as Record<string, unknown>)
@@ -6004,6 +6004,21 @@ function normalizeLoadedPorts(
       },
     ];
   });
+  if (!definition) {
+    return loadedPorts;
+  }
+
+  const loadedByName = new Map(loadedPorts.map((port) => [port.name, port]));
+  const registeredNames = new Set(definition.ports.map((port) => port.name));
+  return [
+    ...definition.ports.map((registered) => ({
+      ...(loadedByName.get(registered.name) ?? registered),
+      // Port placement is versioned catalog metadata, just like the symbol.
+      // Prefer it so projects saved with an incorrect display order are upgraded.
+      side: registered.side,
+    })),
+    ...loadedPorts.filter((port) => !registeredNames.has(port.name)),
+  ];
 }
 
 function isPortNominalRole(value: unknown): value is PortNominalRole {

tests/test_amesim_mechanical_public_components.py

@@ -17,6 +17,12 @@ class AmesimMechanicalPublicComponentTests(unittest.TestCase):
     def setUp(self) -> None:
         self.medium = IdealGasMedium()
 
+    def test_mecmas21_catalog_ports_follow_amesim_icon_sides(self) -> None:
+        self.assertEqual(
+            tuple((port.name, port.side) for port in AmesimMecmas21.DISPLAY.ports),
+            (("port_2", "left"), ("port_1", "right")),
+        )
+
     def test_f000_constrains_mechanical_port_force_to_zero(self) -> None:
         source = AmesimF000("zero_1")
         source.port_1.f = 12.5
@@ -38,6 +44,14 @@ class AmesimMechanicalPublicComponentTests(unittest.TestCase):
         self.assertAlmostEqual(residuals[0].value, 0.0)
         self.assertEqual(converter.component_result_values(), {"force": 20.0})
 
+        converter.apply_layout_transform(rotation=180, mirrored=False)
+        converter.port_2.f = 20.0
+        self.assertAlmostEqual(
+            converter.pressure_flow_equation_residuals()[0].value,
+            0.0,
+        )
+        self.assertEqual(converter.component_result_values(), {"force": 20.0})
+
     def test_mecmas21_acceleration_uses_connected_port_forces(self) -> None:
         mass = AmesimMecmas21(
             "mass_1",
@@ -96,12 +110,12 @@ class AmesimMechanicalPublicComponentTests(unittest.TestCase):
             kcont=1000.0,
             rcont=10.0,
         )
-        contact.port_1.x = 0.0
+        contact.port_1.x = 0.002
-        contact.port_2.x = 0.002
+        contact.port_2.x = 0.0
-        contact.port_1.v = 0.0
+        contact.port_1.v = 0.1
-        contact.port_2.v = 0.1
+        contact.port_2.v = 0.0
-        contact.port_1.f = -3.0
+        contact.port_1.f = 3.0
-        contact.port_2.f = 3.0
+        contact.port_2.f = -3.0
 
         self.assertAlmostEqual(contact.gap, -0.002)
         self.assertAlmostEqual(contact.penetration, 0.002)
@@ -116,8 +130,8 @@ class AmesimMechanicalPublicComponentTests(unittest.TestCase):
 
     def test_lstp00a_returns_zero_before_contact(self) -> None:
         contact = AmesimLstp00a("contact_1", self.medium, gap0=0.001, kcont=1000.0)
-        contact.port_1.x = 0.0
+        contact.port_1.x = 0.0005
-        contact.port_2.x = 0.0005
+        contact.port_2.x = 0.0
 
         self.assertAlmostEqual(contact.gap, 0.0005)
         self.assertAlmostEqual(contact.contact_force, 0.0)

tests/test_amesim_mechanical_xml.py

@@ -146,9 +146,9 @@ def signal_force_mass_project() -> ReactFlowProjectPayload:
 
 def elastic_contact_project() -> ReactFlowProjectPayload:
     left_parameters = dict(MECMAS21_DEFAULTS)
-    left_parameters["x0"] = 0.0
+    left_parameters["x0"] = 0.001
     right_parameters = dict(MECMAS21_DEFAULTS)
-    right_parameters["x0"] = 0.001
+    right_parameters["x0"] = 0.0
     return ReactFlowProjectPayload(
         name="amesim-mechanical-elastic-contact-smoke",
         nodes=[
@@ -260,10 +260,10 @@ class AmesimMechanicalXmlTests(unittest.TestCase):
         self.assertTrue(result["success"], result["message"])
         self.assertEqual(result["series"]["time"], [0.0, 0.01, 0.02])
         self.assertAlmostEqual(result["series"]["contact_1.force"][0], 1.0)
-        self.assertAlmostEqual(result["series"]["mass_left.a"][0], 0.5)
+        self.assertAlmostEqual(result["series"]["mass_left.a"][0], -0.5)
-        self.assertAlmostEqual(result["series"]["mass_right.a"][0], -0.5)
+        self.assertAlmostEqual(result["series"]["mass_right.a"][0], 0.5)
-        self.assertGreater(result["series"]["mass_left.x"][-1], 0.0)
+        self.assertLess(result["series"]["mass_left.x"][-1], 0.001)
-        self.assertLess(result["series"]["mass_right.x"][-1], 0.001)
+        self.assertGreater(result["series"]["mass_right.x"][-1], 0.0)
 
     def test_zero_force_mechanical_project_compiles_and_simulates(self) -> None:
         xml = build_reactflow_system_xml(zero_force_mass_project())

tests/test_amesim_pnrp17_xml.py

@@ -79,9 +79,9 @@ def pnrp17_coupled_project() -> ReactFlowProjectPayload:
                 "amesim_pnrp17",
                 [
                     _pneumatic_port("port_1", "left"),
-                    mechanical_port("port_2", "right"),
                     mechanical_port("port_3", "left"),
-                    mechanical_port("port_4", "left"),
+                    mechanical_port("port_2", "left"),
+                    mechanical_port("port_4", "right"),
                     mechanical_port("port_5", "right"),
                 ],
                 {"gi": 0.0, "dp": 0.1, "dr": 0.02, "x0": 0.0},
@@ -131,6 +131,18 @@ def pnrp17_coupled_project() -> ReactFlowProjectPayload:
 
 
 class AmesimPnrp17Tests(unittest.TestCase):
+    def test_catalog_ports_follow_amesim_pnrp17_icon_sides(self) -> None:
+        self.assertEqual(
+            tuple((port.name, port.side) for port in AmesimPnrp17.DISPLAY.ports),
+            (
+                ("port_1", "left"),
+                ("port_3", "left"),
+                ("port_2", "left"),
+                ("port_4", "right"),
+                ("port_5", "right"),
+            ),
+        )
+
     def test_component_equations_match_pnrp17_geometry_and_signs(self) -> None:
         medium = IdealGasMedium()
         piston = AmesimPnrp17(

tests/test_component_catalog.py

@@ -163,7 +163,7 @@ class ComponentCatalogTests(unittest.TestCase):
             for parameter in components["amesim_mecmas21"]["parameters"]
         }
         self.assertEqual(components["amesim_mecmas21"]["category"]["id"], "mechanical")
-        self.assertEqual([port["name"] for port in components["amesim_mecmas21"]["ports"]], ["port_1", "port_2"])
+        self.assertEqual([port["name"] for port in components["amesim_mecmas21"]["ports"]], ["port_2", "port_1"])
         self.assertEqual(mecmas_parameters["mass"]["unit"], "kg")
         self.assertEqual(mecmas_parameters["Kbmin"]["unit"], "N/m")
         lstp_parameters = {
@@ -185,7 +185,7 @@ class ComponentCatalogTests(unittest.TestCase):
             for parameter in components["amesim_pnrp17"]["parameters"]
         }
         self.assertEqual(components["amesim_pnrp17"]["category"]["id"], "mechanical")
-        self.assertEqual([port["name"] for port in components["amesim_pnrp17"]["ports"]], ["port_1", "port_3", "port_4", "port_2", "port_5"])
+        self.assertEqual([port["name"] for port in components["amesim_pnrp17"]["ports"]], ["port_1", "port_3", "port_2", "port_4", "port_5"])
         self.assertEqual(pnrp_parameters["dp"]["unit"], "m")
         self.assertEqual(lmechn_parameters["v1"]["maximum"], 8.0)
         self.assertEqual(components["amesim_pnvo001"]["category"]["id"], "flow")

tests/test_contact_solver_causalization.py

@@ -58,7 +58,7 @@ class _PressureCoupledMechanicalLoad(AlgebraicComponent):
                     f"{self.name}.pneumatic.p",
                 ),
                 role="flow",
-                value=self.mechanical.f - self.pneumatic.p,
+                value=self.mechanical.f + self.pneumatic.p,
             ),
             EquationResidual(
                 id=f"{self.name}:pressure_closure",
@@ -163,7 +163,7 @@ class ContactSolverCausalizationTests(unittest.TestCase):
         self.assertTrue(diagnostics.success, diagnostics.message)
         self.assertGreater(diagnostics.evaluations, 0)
         self.assertAlmostEqual(load.pneumatic.p, 41.0, delta=1.0e-3)
-        self.assertAlmostEqual(load.mechanical.f, 41.0, delta=1.0e-3)
+        self.assertAlmostEqual(load.mechanical.f, -41.0, delta=1.0e-3)
         self.assertAlmostEqual(contact.contact_force, 41.0, delta=1.0e-3)
         self.assertAlmostEqual(contact.penetration, 4.1e-10, delta=1.0e-14)
 
@@ -172,7 +172,7 @@ class ContactSolverCausalizationTests(unittest.TestCase):
         expected_force = 10.0 - 20.0 * (1.0 - exp(-1.0))
         load = _PrescribedMechanicalLoad(
             "load",
-            force=expected_force,
+            force=-expected_force,
             displacement=0.0,
             velocity=0.0,
         )
@@ -191,8 +191,8 @@ class ContactSolverCausalizationTests(unittest.TestCase):
             mass=1.0,
             useFriction=0.0,
             stoptype=4.0,
-            x0=0.08,
+            x0=-0.08,
-            v0=-2.0,
+            v0=2.0,
         )
         zero = AmesimF000("zero")
 

tests/test_core_solver.py

@@ -4,6 +4,7 @@ import types
 import unittest
 from unittest.mock import patch
 
+from app.simulation.core.errors import RecoverableTrialStateError
 from app.simulation.solvers.solver import (
     SolveIVPConfig,
     StateTransition,
@@ -71,6 +72,81 @@ class IntegrateOdeTests(unittest.TestCase):
         self.assertEqual(calls[0]["max_step"], 1.0e-3)
         self.assertNotIn("first_step", calls[0])
 
+    def test_stepwise_solver_rebuilds_after_recoverable_trial_failure(self) -> None:
+        import numpy as np
+        import scipy.integrate
+
+        attempted_max_steps: list[float] = []
+
+        class RetryBdf:
+            def __init__(self, fun, t0, y0, t_bound, **kwargs):
+                self.fun = fun
+                self.t = float(t0)
+                self.y = np.asarray(y0, dtype=float)
+                self.t_bound = float(t_bound)
+                self.h_abs = float(kwargs["max_step"])
+                self.status = "running"
+                attempted_max_steps.append(self.h_abs)
+
+            def step(self):
+                if self.h_abs > 0.25:
+                    raise RecoverableTrialStateError("trial state outside domain")
+                self.t = self.t_bound
+                self.status = "finished"
+                return None
+
+            def dense_output(self):
+                state = self.y.copy()
+                return lambda _time: state.copy()
+
+        with patch.object(scipy.integrate, "BDF", RetryBdf):
+            result = integrate_ode(
+                rhs=lambda _time, _state: [0.0],
+                initial_state=[1.0],
+                config=SolveIVPConfig(
+                    t_start=0.0,
+                    t_stop=1.0,
+                    method="BDF",
+                    max_step=1.0,
+                ),
+                t_eval=[0.0, 1.0],
+                cancel_check=lambda: False,
+            )
+
+        self.assertTrue(result.success, result.message)
+        self.assertEqual(attempted_max_steps, [1.0, 0.5, 0.25])
+        self.assertEqual(result.t, [0.0, 1.0])
+        self.assertEqual(result.y, [[1.0, 1.0]])
+
+    def test_stepwise_solver_does_not_retry_ordinary_model_errors(self) -> None:
+        import numpy as np
+        import scipy.integrate
+
+        attempts = 0
+
+        class FailingBdf:
+            def __init__(self, fun, t0, y0, t_bound, **kwargs):
+                nonlocal attempts
+                attempts += 1
+                self.t = float(t0)
+                self.y = np.asarray(y0, dtype=float)
+                self.status = "running"
+
+            def step(self):
+                raise ValueError("structural model error")
+
+        with patch.object(scipy.integrate, "BDF", FailingBdf):
+            result = integrate_ode(
+                rhs=lambda _time, _state: [0.0],
+                initial_state=[1.0],
+                config=SolveIVPConfig(t_start=0.0, t_stop=1.0, method="BDF"),
+                cancel_check=lambda: False,
+            )
+
+        self.assertFalse(result.success)
+        self.assertEqual(result.message, "structural model error")
+        self.assertEqual(attempts, 1)
+
     def test_scipy_stepwise_solver_can_cancel_before_start(self) -> None:
         result = integrate_ode(
             rhs=lambda _time, state: state,

tests/test_mechanical_solver_causalization.py

@@ -144,10 +144,10 @@ class MechanicalSolverCausalizationTests(unittest.TestCase):
             Pdis=0.1,
             discContactOption=1.0,
         )
-        contact.port_1.x = 0.0
+        contact.port_1.x = 0.1
-        contact.port_2.x = 0.1
+        contact.port_2.x = 0.0
-        contact.port_1.v = 0.0
+        contact.port_1.v = -2.0
-        contact.port_2.v = -2.0
+        contact.port_2.v = 0.0
 
         expected = 10.0 - 20.0 * (1.0 - exp(-1.0))
         self.assertAlmostEqual(contact.contact_force, expected, places=12)
@@ -175,7 +175,7 @@ class MechanicalSolverCausalizationTests(unittest.TestCase):
     def test_causal_contact_survives_unrelated_nonlinear_fallback(self) -> None:
         medium = IdealGasMedium()
         source = AmesimForc("contact_force")
-        source.res.signal = -40.0
+        source.res.signal = 40.0
         contact = AmesimLstp00a(
             "contact",
             medium,