接入test_mql大质量块约束

PythonModels/systems/test_mql.py

@@ -3921,6 +3921,9 @@ class TestMqlFullStateClosure:
         )
 
     def rhs(self, state_vector: list[float]) -> list[float]:
+        return self.rhs_at(0.0, state_vector)
+
+    def rhs_at(self, time_s: float, state_vector: list[float]) -> list[float]:
         pneumatic_state, mechanical_state = self._split_state(list(state_vector))
         pneumatic_snapshot = self.pneumatic_closure.snapshot(pneumatic_state)
         mechanical_snapshot = self.mechanical_closure.snapshot(mechanical_state)
@@ -3929,14 +3932,20 @@ class TestMqlFullStateClosure:
             *self.mechanical_closure.rhs(
                 mechanical_state,
                 force_by_mass_alias=self._force_by_mass_alias(
+                    time_s,
                     pneumatic_snapshot,
                     mechanical_snapshot,
                 ),
+                constrained_mass_aliases={
+                    "mass_friction_endstops_18",
+                    "mass_friction_endstops_19",
+                },
             ),
         ]
 
     def _force_by_mass_alias(
         self,
+        time_s: float,
         pneumatic_snapshot: object,
         mechanical_snapshot: object,
     ) -> dict[str, float]:
@@ -3948,6 +3957,13 @@ class TestMqlFullStateClosure:
             force_by_mass_alias[mass_alias] = (
                 force_by_mass_alias.get(mass_alias, 0.0) - contact_force
             )
+        force_by_mass_alias.update(
+            self._large_mass_force_by_alias(
+                time_s,
+                pneumatic_snapshot,
+                mechanical_snapshot,
+            )
+        )
         return force_by_mass_alias
 
     def _mechanical_node_total_force_by_alias(
@@ -3964,6 +3980,30 @@ class TestMqlFullStateClosure:
             ),
         }
 
+    def _large_mass_force_by_alias(
+        self,
+        time_s: float,
+        pneumatic_snapshot: object,
+        mechanical_snapshot: object,
+    ) -> dict[str, float]:
+        node_force = self._mechanical_node_total_force_by_alias(
+            pneumatic_snapshot,
+            mechanical_snapshot,
+        )
+        forcecon_1 = self.mechanical_closure.assembly.force_connectors["forcecon_1"]
+        forcecon_2 = self.mechanical_closure.assembly.force_connectors["forcecon_2"]
+        signals = self.mechanical_closure.assembly.piecewise_signals
+        return {
+            "mass_friction_endstops_18": (
+                node_force["dynamic_mechanical_node_alternative_2"]
+                - forcecon_2.force_at(time_s, signals)
+            ),
+            "mass_friction_endstops_19": (
+                forcecon_1.force_at(time_s, signals)
+                - node_force["dynamic_mechanical_node_alternative_3"]
+            ),
+        }
+
     def _piston_force_by_mass_alias(self, pneumatic_snapshot: object) -> dict[str, float]:
         from PythonModels.systems.test_mql_pneumatic import pressure_to_amesim_gauge_pa
 
@@ -4342,7 +4382,7 @@ class TestMqlSystem:
             resistance_boundary_temperature_k=resistance_boundary_temperature_k,
         )
         return integrate_ode(
-            rhs=lambda t, state: closure.rhs(state),
+            rhs=lambda t, state: closure.rhs_at(t, state),
             initial_state=closure.initial_state_vector(),
             config=config or SolveIVPConfig(t_stop=1.0e-4, max_step=1.0e-5),
             t_eval=t_eval,