修复循环信号与事件采样并接入 LSTP 接触定位，补充八路验证及复用实验
相较上一版 Jacobian 确定性复用更新，本次补齐事件边界一致性、结果两侧采样及接触事件定位；保留已有物性复用和组件力学公式。 - 统一 UD00 信号求值与下一事件查询的绝对时间边界，修复循环边界浮点舍入导致的阶段错位、重复或漏报，并覆盖零时长、多阶段及长周期场景。 - 引入原生输出语义 v2：保留规则网格真实时间，补充内部时间事件和状态事件的左邻及事件后采样，按保存时间、状态和离散模式重放结果。 - 两条代码生成路径均发出 LSTP 接触描述，默认定位间隙过零及非负力模式的力截断；仅在接受事件时更新防重复记录，增加 contactEvents 诊断计数。 - 补充 MASS/LSTP 独立事件实验、八路全曲线与驱动阶段配对评估，以及 Amesim 不连续点输出对照和力差定位报告；MASS 新增释放机制仍保留为独立实验。 - 保存局部 probe、context 访问与回退、shadow replay、R288 real skip/typed replay 及阀门数值尾部诊断工具和报告；未证明净收益的实验不启用为生产默认优化。 - 更新原生运行说明和元件建模规范，补充信号边界、输出语义、接触事件和实验依赖回归测试。 验证：五组专项回归共 34 项全部通过；37 个待提交 Python 文件语法检查通过；git diff --cached --check 通过。
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"""Isolated mechanical-event builds; never edits production numerics or cache.
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Augment the generated program with local contact descriptors and an optional
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read-only release-drive evaluator. The ordinary RHS, Jacobian, property reuse,
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state layout, output layout, and component formulas stay byte-for-byte intact.
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"""
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from dataclasses import replace
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import hashlib
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import json
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from pathlib import Path
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import re
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import shutil
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from app.simulation.components.amesim.semantics import contact_stiffness
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HERE = Path(__file__).resolve().parent
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MODES = ('off', 'mass', 'lstp', 'all')
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def replace_once(text, old, new):
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if text.count(old) != 1:
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raise ValueError(f'Experiment patch no longer matches the reviewed runtime: {old[:100]}')
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return text.replace(old, new, 1)
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def prepare_runtime(original, destination):
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original, destination = Path(original), Path(destination)
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shutil.copytree(original, destination, dirs_exist_ok=True)
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shutil.copyfile(HERE/'mechanical_events_runtime.c', destination/'runtime/experimental_events.c')
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common = destination/'runtime/common.c'
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source = common.read_text(encoding='utf-8')
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source = replace_once(source, 'int native_accept(', '#include "experimental_events.c"\n\nint native_accept(')
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previous_size=('2*(NSTOPS+NFRICTIONS+NCONTACTS+1)' if '2*(NSTOPS+NFRICTIONS+NCONTACTS+1)' in source
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else '2*(NSTOPS+NFRICTIONS+1)')
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event_size=previous_size[:-2]+'NEXPERIMENT_CONTACTS+NEXPERIMENT_RELEASES+1)'
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source = source.replace(previous_size,event_size)
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for field in ('bounds','restitution','thresholds'):
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declaration=field+'['+event_size+']'
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if declaration+'={0}' not in source:
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source=replace_once(source,declaration,declaration+'={0}')
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source = replace_once(source, ' double stop=next;', ''' if (!experiment_candidates(r,t,next,old,trial,dense,context,when,indices,friction,&count)) return -1;
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double stop=next;''')
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if 'if(friction[i]>=0) continue;' in source:
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source = replace_once(source, 'if(friction[i]>=0) continue;', 'if(friction[i]!=-1) continue;')
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elif 'if(friction[i]!=-1) continue;' not in source:
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raise ValueError('Unknown hard-stop event dispatch')
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source = source.replace('if(friction[i]<0 &&', 'if(friction[i]==-1 &&')
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source = replace_once(source, ' if (!native_append(r,stop,accepted_state)) return -1;', ''' experiment_commit(r,stop,accepted_state,when,indices,friction,count);
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if (!native_append(r,stop,accepted_state)) return -1;''')
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common.write_text(source, encoding='utf-8')
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header = destination/'include/runtime.h'
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source = header.read_text(encoding='utf-8')
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source = replace_once(source, ' NativePropertyWarning property_warnings[6];', ''' double experiment_last[2*NEXPERIMENT_CONTACTS+NEXPERIMENT_RELEASES+1];
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int experiment_direction[2*NEXPERIMENT_CONTACTS+NEXPERIMENT_RELEASES+1];
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int experiment_pending[2*NEXPERIMENT_CONTACTS+NEXPERIMENT_RELEASES+1];
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unsigned long experiment_checks, experiment_dense, experiment_roots, experiment_rhs;
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unsigned long experiment_mass, experiment_lstp, experiment_clipping, experiment_release;
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NativePropertyWarning property_warnings[6];''')
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header.write_text(source, encoding='utf-8')
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main = destination/'runtime/main.c'
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source = main.read_text(encoding='utf-8')
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source = replace_once(source, ' fprintf(f,",\\\"propertyWarnings\\\":"); native_property_warnings_json(r,f);', ''' fprintf(f,",\\\"experimentalEvents\\\":{\\\"checks\\\":%lu,\\\"denseCalls\\\":%lu,\\\"rootIterations\\\":%lu,\\\"releaseRhsCalls\\\":%lu,\\\"massContactTransitions\\\":%lu,\\\"lstpContactTransitions\\\":%lu,\\\"forceClipTransitions\\\":%lu,\\\"massReleaseTransitions\\\":%lu}",
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r->experiment_checks,r->experiment_dense,r->experiment_roots,r->experiment_rhs,
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r->experiment_mass,r->experiment_lstp,r->experiment_clipping,r->experiment_release);
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fprintf(f,",\\\"propertyWarnings\\\":"); native_property_warnings_json(r,f);''')
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main.write_text(source, encoding='utf-8')
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def event_program(program, network, mode):
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if mode not in MODES:
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raise ValueError(mode)
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# Reproduce opt-in experiments after production LSTP integration too:
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# descriptors remain available, but only the selected experimental events
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# run. This also keeps the tests portable when the frozen snapshot is absent.
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program=replace(program,header=re.sub(r'#define NCONTACTS \d+','#define NCONTACTS 0',program.header))
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# The off program uses the unmodified runtime and generated program.
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if mode == 'off':
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return program, dict(mode=mode, contacts=[], releases=[])
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slots = {v.key: i for i, v in enumerate(program.variables)}
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assignments = {}
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for w, y in re.findall(r'w\[(\d+)\]\s*=\s*y\[(\d+)\]\s*;', program.source):
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if int(w) in assignments and assignments[int(w)] != int(y):
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raise ValueError('Ambiguous kinematic state alias')
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assignments[int(w)] = int(y)
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def velocity(key):
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vi = assignments[slots[key+'.v']]
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if assignments[slots[key+'.x']] != vi+1:
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raise ValueError('Experiment requires the reviewed contiguous v/x state layout')
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return vi
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contacts = []
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for c in network.components.values():
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if c.model_type == 'amesim_lstp00a' and mode in ('lstp', 'all'):
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contacts.append(dict(name=c.name, values=(3, velocity(c.name+'.port_1'), velocity(c.name+'.port_2'),
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c.gap0, contact_stiffness(c), c.rcont, c.Pdis, int(c.discContactOption))))
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if c.model_type == 'amesim_mecmas21' and int(c.stoptype) == 2 and mode in ('mass', 'all'):
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for kind, side in ((1, 'min'), (2, 'max')):
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contacts.append(dict(name=c.name+'.'+side, values=(kind, velocity(c.name), -1,
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getattr(c,'x'+side), getattr(c,'Kb'+side), getattr(c,'Db'+side),
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getattr(c,'Pd'+side), int(c.discContactOption))))
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stop_count = int(re.search(r'#define NSTOPS (\d+)', program.header)[1])
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releases = list(range(stop_count)) if mode in ('mass', 'all') else []
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header = f'''
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#define NEXPERIMENT_CONTACTS {len(contacts)}
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#define NEXPERIMENT_RELEASES {len(releases)}
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typedef struct {{ int kind, v1, v2; double boundary, stiffness, damping, pdis; int signed_force; }} ExperimentContact;
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extern const ExperimentContact experiment_contacts[{max(1,len(contacts))}];
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int model_experiment_release_drives(double t,const double *y,double *drives);
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'''
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data = ','.join('{'+','.join(str(v) if isinstance(v,int) else repr(float(v)) for v in c['values'])+'}' for c in contacts)
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additions = f'\nconst ExperimentContact experiment_contacts[{max(1,len(contacts))}] = {{{data or "{0,0,0,0,0,0,0,0}"}}};\n'
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if releases:
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start = program.source.index('static int model_eval_internal(')
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body_start = program.source.index('{', start)
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depth, end = 1, body_start+1
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while depth:
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depth += (program.source[end] == '{') - (program.source[end] == '}')
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end += 1
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function = program.source[start:end]
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function = replace_once(function, 'model_eval_internal(', 'model_experiment_release_internal(')
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pos = function.index(') {')
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function = function[:pos] + ',double *release_drives' + function[pos:]
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found = []
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def capture(match):
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vi = int(re.search(r'&dy\[(\d+)\]', match[0])[1])
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index = len(found)
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found.append(vi)
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return f'release_drives[{index}]=dy[{vi}];'
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function = re.sub(r'native_stop_motion\([^;]+\);', capture, function)
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if len(found) != stop_count:
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raise ValueError('Release evaluator does not match generated stop count')
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extended = 'ModelJacobianWorkspace' in function
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args = '0,NULL,NULL,NULL,drives' if extended else 'NULL,drives'
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additions += function + '\nint model_experiment_release_drives(double t,const double *y,double *drives) {double dy[NSTATES],w[NOUTPUTS];return model_experiment_release_internal(t,y,dy,w,'+args+');}\n'
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else:
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additions += 'int model_experiment_release_drives(double t,const double *y,double *drives) {(void)t;(void)y;(void)drives;return 1;}\n'
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# Add declarations before the include guard closes, preserving all generated
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# RHS and Jacobian source bytes as an exact prefix.
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at = program.header.rfind('#endif')
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modified = replace(program, source=program.source+additions, header=program.header[:at]+header+program.header[at:])
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assert modified.source.startswith(program.source)
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return modified, dict(mode=mode, contacts=contacts, releases=releases,
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originalModelSourceSha256=hashlib.sha256(program.source.encode()).hexdigest(),
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jacobianStructure=program.jacobian_structure)
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