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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"""Independent analytic and Amesim-reference checks for opt-in event variants."""
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import json
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import math
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import time
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import subprocess
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import sys
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from pathlib import Path
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import unittest
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from unittest.mock import patch
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import numpy as np
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from app.simulation.config import SolveIVPConfig
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from app.simulation.native_codegen import build as builder, result_storage
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from app.simulation.native_codegen.compiler import compile_native_program
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from app.simulation.native_codegen.extended import compile_extended_program
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from app.simulation.native_codegen.runner import execute_native
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from tests.manual.mechanical_event_variant import event_program, prepare_runtime
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from tests.test_native_catalog import Circuit
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ROOT = Path(__file__).resolve().parents[1]
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OUT = ROOT/'test/mechanical-events-20260917/isolated'
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CONTROL = ROOT/'test/mechanical-events-20260917/source-control/native'
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if not CONTROL.exists():
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CONTROL = ROOT/'native'
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def free_ports(b, mass, connected=()):
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for port in ('port_1','port_2'):
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if port not in connected:
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free=b.add('amesim_f000',mass.name+'_'+port+'_free')
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b.connect(mass,port,free,'port_1')
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def elastic_mass(damping=1, signed=1, pdis=0):
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b=Circuit()
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mass=b.add('amesim_mecmas21','mass',mass=1,useFriction=1,stoptype=2,x0=.5,v0=1,
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xmin=0,xmax=1,Kbmin=100,Kbmax=100,Dbmin=damping,Dbmax=damping,
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Pdmin=pdis,Pdmax=pdis,discContactOption=signed)
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free_ports(b,mass)
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return b
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def contact_pair(damping=0,signed=1,pdis=0,x2=.2,v1=1,v2=0):
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b=Circuit()
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a=b.add('amesim_mecmas21','left',mass=1,useFriction=1,stoptype=4,x0=0,v0=v1,
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fcoul=0,fstick=0,rvisc=0,wind=0,theta=0)
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z=b.add('amesim_mecmas21','right',mass=1,useFriction=1,stoptype=4,x0=x2,v0=v2,
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fcoul=0,fstick=0,rvisc=0,wind=0,theta=0)
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c=b.add('amesim_lstp00a','contact',gap0=0,stiffmode=1,kcont=100,rcont=damping,
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Pdis=pdis,discContactOption=signed)
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b.connect(a,'port_2',c,'port_1');b.connect(z,'port_1',c,'port_2')
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free_ports(b,a,('port_2',));free_ports(b,z,('port_1',))
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return b
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class MechanicalEventExperimentTests(unittest.TestCase):
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@classmethod
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def setUpClass(cls):
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OUT.mkdir(parents=True,exist_ok=True)
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cls.runtime=OUT/'experimental-native'
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prepare_runtime(CONTROL,cls.runtime)
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cls.run_tag=str(time.time_ns())
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def run_case(self,b,mode,method,*,stop=1,max_step=.05,label='',compiler=compile_native_program,sample_step=.002):
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original=compiler(b.net)
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program,metadata=event_program(original,b.net,mode)
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self.assertEqual(program.state_keys,original.state_keys)
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self.assertEqual(program.jacobian_structure,original.jacobian_structure)
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self.assertEqual(program.evaluation_schedule,original.evaluation_schedule)
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self.assertTrue(program.source.startswith(original.source))
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directory=OUT/self._testMethodName/(mode+'-'+method+label)/self.run_tag
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directory.mkdir(parents=True,exist_ok=True)
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(directory/'event-descriptors.json').write_text(json.dumps(metadata,indent=2)+'\n',encoding='utf-8')
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with patch.object(builder,'NATIVE',CONTROL if mode=='off' else self.runtime), \
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patch.object(builder,'CACHE',OUT/'build-cache'),patch.object(result_storage,'RESULT_ROOT',OUT/'results'):
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build=builder.build_native(program)
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try:
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result=execute_native(build,SolveIVPConfig(t_stop=stop,method=method,max_step=max_step,rtol=1e-9),
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sample_step,run_dir=directory,timeout=60)
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finally:
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build.close()
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self.assertTrue(result['success'],result['message'])
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self.assertEqual(result['simulatedUntil'],stop)
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times=result['series']['time']
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self.assertTrue(all(a<c for a,c in zip(times,times[1:])))
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events=[]
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for line in (directory/'worker.log').read_text(encoding='utf-8').splitlines():
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try: e=json.loads(line)
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except ValueError: continue
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if e.get('phase')=='mechanical-event':events.append(e)
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return result,events
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def test_mass_elastic_upper_and_lower_contacts_analytic(self):
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duration=math.pi/math.sqrt(100-.25)
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restitution=math.exp(-.5*duration)
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expected=[.5,.5+duration,.5+duration+1/restitution,.5+2*duration+1/restitution]
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for method in ('BDF','RK45'):
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for h in (.08,.02):
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r,events=self.run_case(elastic_mass(),'mass',method,stop=2.5,max_step=h,label=str(h))
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hits=[e for e in events if e['kind']=='mass-contact']
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self.assertEqual([e['direction'] for e in hits],[1,-1,1,-1])
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np.testing.assert_allclose([e['time'] for e in hits],expected,rtol=0,atol=2e-6)
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# Elastic contact must not apply a hard-stop velocity reset.
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np.testing.assert_allclose([abs(e['relativeVelocity']) for e in hits],
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[1,restitution,restitution,restitution**2],rtol=0,atol=2e-6)
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def test_mass_ideal_release_both_sides_analytic(self):
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for upper in (False,True):
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b=Circuit();sign=-1 if upper else 1
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drive=b.add('amesim_ud00','drive',nstages=1,iscyclic=0,start1=-sign,end1=sign,t1=2)
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force=b.add('amesim_forc','force',direction=1)
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mass=b.add('amesim_mecmas21','mass',mass=1,useFriction=1,stoptype=1,
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xmin=0,xmax=1,x0=float(upper),v0=0)
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b.connect(drive,'out',force,'res');b.connect(force,'port_2',mass,'port_1');free_ports(b,mass,('port_1',))
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for method in ('BDF','RK45'):
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r,events=self.run_case(b,'mass',method,stop=1.5,max_step=.4,label=str(upper))
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releases=[e for e in events if e['kind']=='mass-release']
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self.assertEqual(len(releases),1)
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self.assertAlmostEqual(releases[0]['time'],1,delta=1e-8)
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self.assertAlmostEqual(r['final']['mass.v'],sign*.125,delta=2e-6)
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self.assertAlmostEqual(r['final']['mass.x'],float(upper)+sign/48,delta=2e-6)
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def test_mass_existing_restitution_impact_is_preserved(self):
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b=Circuit()
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mass=b.add('amesim_mecmas21','mass',mass=1,useFriction=1,stoptype=3,
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xmin=0,xmax=1,x0=.9,v0=1,restcoeff=.5,restdvel=.001)
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free_ports(b,mass)
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for method in ('BDF','RK45'):
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baseline,_=self.run_case(b,'off',method,stop=.4,max_step=.02)
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r,events=self.run_case(b,'mass',method,stop=.4,max_step=.02)
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self.assertEqual(r['series'],baseline['series'])
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self.assertEqual(r['finalState'],baseline['finalState'])
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self.assertEqual(r['solverStarts'],baseline['solverStarts'])
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self.assertEqual(events,[])
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np.testing.assert_allclose(r['finalState'],[-.5,.85],rtol=0,atol=2e-6)
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def test_lstp_elastic_collision_conserves_momentum_and_energy(self):
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expected=[.2,.2+math.pi/math.sqrt(200)]
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for method in ('BDF','RK45'):
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for h in (.06,.015):
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r,events=self.run_case(contact_pair(),'lstp',method,stop=.7,max_step=h,label=str(h))
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hits=[e for e in events if e['kind']=='lstp-contact']
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self.assertEqual([e['direction'] for e in hits],[1,-1])
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np.testing.assert_allclose([e['time'] for e in hits],expected,rtol=0,atol=2e-6)
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v1=np.array(r['series']['left.v']);v2=np.array(r['series']['right.v'])
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penetration=np.maximum(-np.array(r['series']['contact.gap']),0)
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np.testing.assert_allclose(v1+v2,1,rtol=0,atol=1e-9)
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np.testing.assert_allclose(.5*(v1*v1+v2*v2)+50*penetration**2,.5,rtol=0,atol=2e-6)
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self.assertAlmostEqual(r['final']['left.v'],0,delta=2e-6)
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self.assertAlmostEqual(r['final']['right.v'],1,delta=2e-6)
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def test_nonnegative_force_clip_is_local_event_mass_and_lstp(self):
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for label,b,mode in (('mass',elastic_mass(10,2),'mass'),('lstp',contact_pair(10,2),'lstp')):
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for method in ('BDF','RK45'):
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r,events=self.run_case(b,mode,method,stop=1.05,label=label)
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clips=[e for e in events if e['kind']=='force-clip']
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self.assertTrue(clips)
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self.assertTrue(all(e['penetration']>0 for e in clips))
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key='mass.Fmax' if label=='mass' else 'contact.force'
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self.assertGreaterEqual(min(r['series'][key]),0)
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if label=='mass':
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expected=.5+(math.pi-math.atan(math.sqrt(3)))/math.sqrt(75)
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self.assertAlmostEqual(clips[0]['time'],expected,delta=3e-6)
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def test_no_contact_initial_touch_and_continuous_contact_do_not_restart(self):
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cases=[('apart',contact_pair(v1=.1,v2=.1),.3),('touch',contact_pair(x2=0,v1=0,v2=0),.3),
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('inside',contact_pair(x2=-.1,v1=0,v2=0),.01)]
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for label,b,stop in cases:
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a,_=self.run_case(b,'off','BDF',stop=stop,label=label)
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z,events=self.run_case(b,'lstp','BDF',stop=stop,label=label)
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self.assertEqual(events,[])
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self.assertEqual(a['finalState'],z['finalState'])
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self.assertEqual(a['series'],z['series'])
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self.assertEqual(a['solverStarts'],z['solverStarts'])
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def test_exponential_damping_modes_and_extended_lowering(self):
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for signed in (1,2):
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for mode,b in (('mass',elastic_mass(2,signed,.01)),('lstp',contact_pair(2,signed,.01))):
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for method in ('BDF','RK45'):
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r,events=self.run_case(b,mode,method,stop=1.1,label=str(signed),compiler=compile_extended_program)
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self.assertGreaterEqual(len(events),2)
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self.assertLess(len(events),15)
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self.assertEqual(r['experimentalEvents']['releaseRhsCalls'],0)
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def test_existing_amesim_mechanical_reference_circuits(self):
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cases=json.loads((ROOT/'tests/fixtures/amesim-component-semantics-2404.json').read_text(encoding='utf-8'))['cases']
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for case in cases:
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if case['name'] not in ('friction_ideal','friction_elastic','joint_mechanical'):continue
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b=Circuit()
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for c in case['components']:b.add(c['type'],c['name'],**c['parameters'])
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for left,right in case['connections']:b.net.connect(*left,*right)
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modes=('mass',) if case['name']!='joint_mechanical' else ('lstp','all')
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for mode in modes:
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r,_=self.run_case(b,mode,'BDF',stop=3,max_step=.002,label=case['name'],sample_step=.001)
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for key,expected in case['series'].items():
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actual=np.interp(case['time'],r['series']['time'],r['series'][key])
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field=key.split('.')[-1]
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atol=.002 if field in ('a','Ffric','Fmin','Fmax','force') else 3e-6
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np.testing.assert_allclose(actual,expected,rtol=0,atol=atol,err_msg=case['name']+'/'+mode+'/'+key)
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def test_same_sign_gap_excursion_and_tangent_with_analytic_dense_output(self):
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directory=OUT/self._testMethodName/self.run_tag;directory.mkdir(parents=True)
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header='''#include "kernels.h"
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#define NSTATES 2
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#define NOUTPUTS 1
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#define NSTOPS 0
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#define NEXPERIMENT_CONTACTS 1
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#define NEXPERIMENT_RELEASES 0
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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[1];
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'''
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(directory/'model.h').write_text(header,encoding='ascii')
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harness=r'''
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#include "runtime.h"
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#include <math.h>
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#include <string.h>
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#include "experimental_events.c"
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const ExperimentContact experiment_contacts[1]={{2,0,-1,0,100,1,0,1}};
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static int polynomial(void *context,double t,double *y) {
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y[0]=1-2*t;y[1]=(*(int*)context?0:.01)-(t-.5)*(t-.5);return 1;
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}
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int main(void) {
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for(int tangent=0;tangent<2;tangent++) {
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NativeRun r={0};double a[2],b[2],when[8],t=0;int indices[8],kinds[8],count=0;
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polynomial(&tangent,t,a);polynomial(&tangent,1,b);
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if(!experiment_candidates(&r,t,1,a,b,polynomial,&tangent,when,indices,kinds,&count))return 1;
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if(tangent) {if(count)return 2;continue;}
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if(count!=1 || fabs(when[0]-.4)>1e-12)return 3;
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t=when[0];polynomial(&tangent,t,a);experiment_commit(&r,t,a,when,indices,kinds,count);
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count=0;
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if(!experiment_candidates(&r,t,1,a,b,polynomial,&tangent,when,indices,kinds,&count))return 4;
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if(count!=1 || fabs(when[0]-.6)>1e-12)return 5;
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}
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return 0;
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}
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'''
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(directory/'check.c').write_text(harness,encoding='ascii')
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cc,_,_=builder.toolchain();exe=directory/('check.exe' if sys.platform=='win32' else 'check')
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builder._command([cc,*builder.COMPILER_FLAGS,'-I',str(directory),'-I',str(self.runtime/'include'),
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'-I',str(self.runtime/'runtime'),str(directory/'check.c'),'-lm','-o',str(exe)],log=[])
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r=subprocess.run([str(exe)],capture_output=True,text=True,timeout=15)
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self.assertEqual(r.returncode,0,r.stderr)
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if __name__=='__main__':unittest.main()
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