接入test_mql外力信号边界
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@@ -109,14 +109,62 @@ class TestMqlMechanicalNodeSpec:
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data_paths: tuple[str, ...]
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@dataclass(frozen=True)
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class TestMqlPiecewiseLinearSignalSpec:
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alias: str
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t_start_s: float
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starts: tuple[float, ...]
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ends: tuple[float, ...]
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durations_s: tuple[float, ...]
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stage_count: int
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is_cyclic: bool
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data_paths: tuple[str, ...]
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def output_at(self, time_s: float) -> float:
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if self.stage_count <= 0:
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return 0.0
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elapsed = max(time_s - self.t_start_s, 0.0)
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active_durations = self.durations_s[: self.stage_count]
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total_duration = sum(active_durations)
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if self.is_cyclic and total_duration > 0.0:
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elapsed = elapsed % total_duration
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stage_start_time = 0.0
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for index, duration in enumerate(active_durations):
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stage_end_time = stage_start_time + duration
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if elapsed < stage_end_time or index == self.stage_count - 1:
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if duration <= 0.0:
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return self.ends[index]
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fraction = (elapsed - stage_start_time) / duration
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return self.starts[index] + fraction * (self.ends[index] - self.starts[index])
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stage_start_time = stage_end_time
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return self.ends[self.stage_count - 1]
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@dataclass(frozen=True)
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class TestMqlForceConnectorSpec:
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alias: str
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signal_alias: str
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target_mass_alias: str
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data_paths: tuple[str, ...]
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def force_at(
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self,
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time_s: float,
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signals: dict[str, TestMqlPiecewiseLinearSignalSpec],
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) -> float:
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return signals[self.signal_alias].output_at(time_s)
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@dataclass(frozen=True)
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class TestMqlMechanicalAssembly:
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pistons: dict[str, TestMqlPistonSpec]
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masses: dict[str, TestMqlMassEndstopSpec]
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elastic_endstops: dict[str, TestMqlElasticEndstopSpec]
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mechanical_nodes: dict[str, TestMqlMechanicalNodeSpec]
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piecewise_signals: dict[str, TestMqlPiecewiseLinearSignalSpec]
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force_connectors: dict[str, TestMqlForceConnectorSpec]
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zero_force_sources: tuple[str, ...]
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force_connectors: tuple[str, ...]
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@property
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def component_count(self) -> int:
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@@ -125,8 +173,9 @@ class TestMqlMechanicalAssembly:
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+ len(self.masses)
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+ len(self.elastic_endstops)
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+ len(self.mechanical_nodes)
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+ len(self.zero_force_sources)
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+ len(self.piecewise_signals)
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+ len(self.force_connectors)
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+ len(self.zero_force_sources)
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)
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@property
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@@ -137,8 +186,9 @@ class TestMqlMechanicalAssembly:
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*self.masses,
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*self.elastic_endstops,
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*self.mechanical_nodes,
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*self.zero_force_sources,
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*self.piecewise_signals,
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*self.force_connectors,
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*self.zero_force_sources,
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]
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)
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@@ -264,15 +314,23 @@ def build_test_mql_mechanical_assembly(
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component.alias: _build_mechanical_node(component, variable_catalog)
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for component in config.components_by_submodel("LMECHN1")
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}
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piecewise_signals = {
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component.alias: _build_piecewise_signal(component, variable_catalog)
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for component in config.components_by_submodel("UD00")
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}
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force_connectors = {
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component.alias: _build_force_connector(component, variable_catalog)
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for component in config.components_by_submodel("FORC")
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}
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zero_force_sources = tuple(component.alias for component in config.components_by_submodel("F000"))
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force_connectors = tuple(component.alias for component in config.components_by_submodel("FORC"))
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return TestMqlMechanicalAssembly(
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pistons=pistons,
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masses=masses,
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elastic_endstops=elastic_endstops,
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mechanical_nodes=mechanical_nodes,
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zero_force_sources=zero_force_sources,
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piecewise_signals=piecewise_signals,
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force_connectors=force_connectors,
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zero_force_sources=zero_force_sources,
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)
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@@ -356,6 +414,45 @@ def _build_mechanical_node(
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)
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def _build_piecewise_signal(
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component: TestMqlResolvedComponent,
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variable_catalog: TestMqlVariableCatalog | None,
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) -> TestMqlPiecewiseLinearSignalSpec:
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starts = tuple(component.parameter_value(f"start{index}") for index in range(1, 9))
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ends = tuple(component.parameter_value(f"end{index}") for index in range(1, 9))
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durations = tuple(component.parameter_value(f"t{index}") for index in range(1, 9))
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return TestMqlPiecewiseLinearSignalSpec(
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alias=component.alias,
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t_start_s=component.parameter_value("tstart"),
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starts=starts,
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ends=ends,
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durations_s=durations,
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stage_count=int(component.parameter_value("nstages")),
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is_cyclic=bool(int(component.parameter_value("iscyclic"))),
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data_paths=_data_paths(variable_catalog, component.alias),
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)
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def _build_force_connector(
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component: TestMqlResolvedComponent,
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variable_catalog: TestMqlVariableCatalog | None,
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) -> TestMqlForceConnectorSpec:
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signal_alias_by_force_connector = {
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"forcecon_1": "piecewiselinear",
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"forcecon_2": "piecewiselinear_1",
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}
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target_mass_by_force_connector = {
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"forcecon_1": "mass_friction_endstops_19",
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"forcecon_2": "mass_friction_endstops_18",
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}
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return TestMqlForceConnectorSpec(
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alias=component.alias,
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signal_alias=signal_alias_by_force_connector[component.alias],
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target_mass_alias=target_mass_by_force_connector[component.alias],
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data_paths=_data_paths(variable_catalog, component.alias),
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)
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def n_per_mm_to_n_per_m(value: float) -> float:
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return value * N_PER_MM_TO_N_PER_M
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@@ -36,9 +36,41 @@ class TestMqlMechanicalAssemblyTests(unittest.TestCase):
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self.assertEqual(len(self.assembly.masses), 10)
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self.assertEqual(len(self.assembly.elastic_endstops), 8)
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self.assertEqual(len(self.assembly.mechanical_nodes), 2)
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self.assertEqual(len(self.assembly.zero_force_sources), 16)
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self.assertEqual(len(self.assembly.piecewise_signals), 2)
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self.assertEqual(len(self.assembly.force_connectors), 2)
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self.assertEqual(self.assembly.component_count, 46)
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self.assertEqual(len(self.assembly.zero_force_sources), 16)
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self.assertEqual(self.assembly.component_count, 48)
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def test_piecewise_force_sources_match_amesim_samples(self) -> None:
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front_signal = self.assembly.piecewise_signals["piecewiselinear_1"]
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rear_signal = self.assembly.piecewise_signals["piecewiselinear"]
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self.assertAlmostEqual(front_signal.output_at(0.0), 1.0e12)
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self.assertAlmostEqual(front_signal.output_at(0.8000000000000009), 0.0)
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self.assertAlmostEqual(rear_signal.output_at(0.0), 1.0e17)
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self.assertAlmostEqual(rear_signal.output_at(0.8000000000000009), 49000.0)
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self.assertEqual(
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self.assembly.force_connectors["forcecon_2"].target_mass_alias,
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"mass_friction_endstops_18",
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)
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self.assertEqual(
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self.assembly.force_connectors["forcecon_1"].target_mass_alias,
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"mass_friction_endstops_19",
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)
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self.assertAlmostEqual(
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self.assembly.force_connectors["forcecon_2"].force_at(
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0.0,
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self.assembly.piecewise_signals,
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),
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self.amesim_results.series("force@forcecon_2")[0],
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)
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self.assertAlmostEqual(
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self.assembly.force_connectors["forcecon_1"].force_at(
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0.8000000000000009,
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self.assembly.piecewise_signals,
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),
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self.amesim_results.series("force@forcecon_1")[80],
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)
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def test_mechanical_mass_closure_exposes_all_mecmas21_states(self) -> None:
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closure = TestMqlMechanicalMassClosure(self.assembly)
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