接入test_mql外力信号边界

PythonModels/systems/test_mql_mechanical.py

@@ -109,14 +109,62 @@ class TestMqlMechanicalNodeSpec:
     data_paths: tuple[str, ...]
 
 
+@dataclass(frozen=True)
+class TestMqlPiecewiseLinearSignalSpec:
+    alias: str
+    t_start_s: float
+    starts: tuple[float, ...]
+    ends: tuple[float, ...]
+    durations_s: tuple[float, ...]
+    stage_count: int
+    is_cyclic: bool
+    data_paths: tuple[str, ...]
+
+    def output_at(self, time_s: float) -> float:
+        if self.stage_count <= 0:
+            return 0.0
+        elapsed = max(time_s - self.t_start_s, 0.0)
+        active_durations = self.durations_s[: self.stage_count]
+        total_duration = sum(active_durations)
+        if self.is_cyclic and total_duration > 0.0:
+            elapsed = elapsed % total_duration
+
+        stage_start_time = 0.0
+        for index, duration in enumerate(active_durations):
+            stage_end_time = stage_start_time + duration
+            if elapsed < stage_end_time or index == self.stage_count - 1:
+                if duration <= 0.0:
+                    return self.ends[index]
+                fraction = (elapsed - stage_start_time) / duration
+                return self.starts[index] + fraction * (self.ends[index] - self.starts[index])
+            stage_start_time = stage_end_time
+        return self.ends[self.stage_count - 1]
+
+
+@dataclass(frozen=True)
+class TestMqlForceConnectorSpec:
+    alias: str
+    signal_alias: str
+    target_mass_alias: str
+    data_paths: tuple[str, ...]
+
+    def force_at(
+        self,
+        time_s: float,
+        signals: dict[str, TestMqlPiecewiseLinearSignalSpec],
+    ) -> float:
+        return signals[self.signal_alias].output_at(time_s)
+
+
 @dataclass(frozen=True)
 class TestMqlMechanicalAssembly:
     pistons: dict[str, TestMqlPistonSpec]
     masses: dict[str, TestMqlMassEndstopSpec]
     elastic_endstops: dict[str, TestMqlElasticEndstopSpec]
     mechanical_nodes: dict[str, TestMqlMechanicalNodeSpec]
+    piecewise_signals: dict[str, TestMqlPiecewiseLinearSignalSpec]
+    force_connectors: dict[str, TestMqlForceConnectorSpec]
     zero_force_sources: tuple[str, ...]
-    force_connectors: tuple[str, ...]
 
     @property
     def component_count(self) -> int:
@@ -125,8 +173,9 @@ class TestMqlMechanicalAssembly:
             + len(self.masses)
             + len(self.elastic_endstops)
             + len(self.mechanical_nodes)
-            + len(self.zero_force_sources)
+            + len(self.piecewise_signals)
             + len(self.force_connectors)
+            + len(self.zero_force_sources)
         )
 
     @property
@@ -137,8 +186,9 @@ class TestMqlMechanicalAssembly:
                 *self.masses,
                 *self.elastic_endstops,
                 *self.mechanical_nodes,
-                *self.zero_force_sources,
+                *self.piecewise_signals,
                 *self.force_connectors,
+                *self.zero_force_sources,
             ]
         )
 
@@ -264,15 +314,23 @@ def build_test_mql_mechanical_assembly(
         component.alias: _build_mechanical_node(component, variable_catalog)
         for component in config.components_by_submodel("LMECHN1")
     }
+    piecewise_signals = {
+        component.alias: _build_piecewise_signal(component, variable_catalog)
+        for component in config.components_by_submodel("UD00")
+    }
+    force_connectors = {
+        component.alias: _build_force_connector(component, variable_catalog)
+        for component in config.components_by_submodel("FORC")
+    }
     zero_force_sources = tuple(component.alias for component in config.components_by_submodel("F000"))
-    force_connectors = tuple(component.alias for component in config.components_by_submodel("FORC"))
     return TestMqlMechanicalAssembly(
         pistons=pistons,
         masses=masses,
         elastic_endstops=elastic_endstops,
         mechanical_nodes=mechanical_nodes,
-        zero_force_sources=zero_force_sources,
+        piecewise_signals=piecewise_signals,
         force_connectors=force_connectors,
+        zero_force_sources=zero_force_sources,
     )
 
 
@@ -356,6 +414,45 @@ def _build_mechanical_node(
     )
 
 
+def _build_piecewise_signal(
+    component: TestMqlResolvedComponent,
+    variable_catalog: TestMqlVariableCatalog | None,
+) -> TestMqlPiecewiseLinearSignalSpec:
+    starts = tuple(component.parameter_value(f"start{index}") for index in range(1, 9))
+    ends = tuple(component.parameter_value(f"end{index}") for index in range(1, 9))
+    durations = tuple(component.parameter_value(f"t{index}") for index in range(1, 9))
+    return TestMqlPiecewiseLinearSignalSpec(
+        alias=component.alias,
+        t_start_s=component.parameter_value("tstart"),
+        starts=starts,
+        ends=ends,
+        durations_s=durations,
+        stage_count=int(component.parameter_value("nstages")),
+        is_cyclic=bool(int(component.parameter_value("iscyclic"))),
+        data_paths=_data_paths(variable_catalog, component.alias),
+    )
+
+
+def _build_force_connector(
+    component: TestMqlResolvedComponent,
+    variable_catalog: TestMqlVariableCatalog | None,
+) -> TestMqlForceConnectorSpec:
+    signal_alias_by_force_connector = {
+        "forcecon_1": "piecewiselinear",
+        "forcecon_2": "piecewiselinear_1",
+    }
+    target_mass_by_force_connector = {
+        "forcecon_1": "mass_friction_endstops_19",
+        "forcecon_2": "mass_friction_endstops_18",
+    }
+    return TestMqlForceConnectorSpec(
+        alias=component.alias,
+        signal_alias=signal_alias_by_force_connector[component.alias],
+        target_mass_alias=target_mass_by_force_connector[component.alias],
+        data_paths=_data_paths(variable_catalog, component.alias),
+    )
+
+
 def n_per_mm_to_n_per_m(value: float) -> float:
     return value * N_PER_MM_TO_N_PER_M