补齐test_mql机械观测覆盖

PythonModels/reporting/test_mql_mechanical_observations.py

@@ -50,6 +50,26 @@ class TestMqlElasticEndstopObservation:
     stiffness_n_m: float
 
 
+@dataclass(frozen=True)
+class TestMqlForceSourceObservation:
+    time: float
+    force_n: float
+
+
+@dataclass(frozen=True)
+class TestMqlForceConnectorObservation:
+    time: float
+    force_n: float
+
+
+@dataclass(frozen=True)
+class TestMqlMechanicalNodeObservation:
+    time: float
+    velocities_m_s: dict[int, float]
+    displacements_m: dict[int, float]
+    total_force_n: float
+
+
 @dataclass(frozen=True)
 class TestMqlPistonObservationBinding:
     alias: str
@@ -125,15 +145,71 @@ class TestMqlElasticEndstopObservationBinding:
         )
 
 
+@dataclass(frozen=True)
+class TestMqlForceSourceObservationBinding:
+    alias: str
+    force_path: str
+
+    def observation_at(self, results: AmesimResults, index: int) -> TestMqlForceSourceObservation:
+        return TestMqlForceSourceObservation(
+            time=results.times[index],
+            force_n=results.series(self.force_path)[index],
+        )
+
+
+@dataclass(frozen=True)
+class TestMqlForceConnectorObservationBinding:
+    alias: str
+    force_path: str
+
+    def observation_at(self, results: AmesimResults, index: int) -> TestMqlForceConnectorObservation:
+        return TestMqlForceConnectorObservation(
+            time=results.times[index],
+            force_n=results.series(self.force_path)[index],
+        )
+
+
+@dataclass(frozen=True)
+class TestMqlMechanicalNodeObservationBinding:
+    alias: str
+    velocity_paths_by_port: dict[int, str]
+    displacement_paths_by_port: dict[int, str]
+    total_force_path: str
+
+    def observation_at(self, results: AmesimResults, index: int) -> TestMqlMechanicalNodeObservation:
+        return TestMqlMechanicalNodeObservation(
+            time=results.times[index],
+            velocities_m_s={
+                port: results.series(path)[index]
+                for port, path in self.velocity_paths_by_port.items()
+            },
+            displacements_m={
+                port: results.series(path)[index]
+                for port, path in self.displacement_paths_by_port.items()
+            },
+            total_force_n=results.series(self.total_force_path)[index],
+        )
+
+
 @dataclass(frozen=True)
 class TestMqlMechanicalObservationCatalog:
     pistons: dict[str, TestMqlPistonObservationBinding]
     masses: dict[str, TestMqlMassEndstopObservationBinding]
     elastic_endstops: dict[str, TestMqlElasticEndstopObservationBinding]
+    zero_force_sources: dict[str, TestMqlForceSourceObservationBinding]
+    force_connectors: dict[str, TestMqlForceConnectorObservationBinding]
+    mechanical_nodes: dict[str, TestMqlMechanicalNodeObservationBinding]
 
     @property
     def binding_count(self) -> int:
-        return len(self.pistons) + len(self.masses) + len(self.elastic_endstops)
+        return (
+            len(self.pistons)
+            + len(self.masses)
+            + len(self.elastic_endstops)
+            + len(self.zero_force_sources)
+            + len(self.force_connectors)
+            + len(self.mechanical_nodes)
+        )
 
 
 def build_test_mql_mechanical_observation_catalog(
@@ -160,6 +236,18 @@ def build_test_mql_mechanical_observation_catalog(
             alias: _build_elastic_endstop_binding(alias, variable_catalog)
             for alias in mechanical_assembly.elastic_endstops
         },
+        zero_force_sources={
+            alias: _build_zero_force_source_binding(alias, variable_catalog)
+            for alias in mechanical_assembly.zero_force_sources
+        },
+        force_connectors={
+            alias: _build_force_connector_binding(alias, variable_catalog)
+            for alias in mechanical_assembly.force_connectors
+        },
+        mechanical_nodes={
+            alias: _build_mechanical_node_binding(alias, variable_catalog)
+            for alias in mechanical_assembly.mechanical_nodes
+        },
     )
 
 
@@ -217,6 +305,54 @@ def _build_elastic_endstop_binding(
     )
 
 
+def _build_zero_force_source_binding(
+    alias: str,
+    variable_catalog: TestMqlVariableCatalog,
+) -> TestMqlForceSourceObservationBinding:
+    variables = _owner_variables(variable_catalog, alias)
+    return TestMqlForceSourceObservationBinding(
+        alias=alias,
+        force_path=_required_path(variables, "fzero", expected_units="N"),
+    )
+
+
+def _build_force_connector_binding(
+    alias: str,
+    variable_catalog: TestMqlVariableCatalog,
+) -> TestMqlForceConnectorObservationBinding:
+    variables = _owner_variables(variable_catalog, alias)
+    return TestMqlForceConnectorObservationBinding(
+        alias=alias,
+        force_path=_required_path(variables, "force", expected_units="N"),
+    )
+
+
+def _build_mechanical_node_binding(
+    alias: str,
+    variable_catalog: TestMqlVariableCatalog,
+) -> TestMqlMechanicalNodeObservationBinding:
+    variables = _owner_variables(variable_catalog, alias)
+    velocity_paths_by_port = {}
+    displacement_paths_by_port = {}
+    for port in range(1, 9):
+        velocity_paths_by_port[port] = _required_path(
+            variables,
+            f"p{port}__vt",
+            expected_units="m/s",
+        )
+        displacement_paths_by_port[port] = _required_path(
+            variables,
+            f"p{port}__xt",
+            expected_units="m",
+        )
+    return TestMqlMechanicalNodeObservationBinding(
+        alias=alias,
+        velocity_paths_by_port=velocity_paths_by_port,
+        displacement_paths_by_port=displacement_paths_by_port,
+        total_force_path=_required_path(variables, "tforce", expected_units="N"),
+    )
+
+
 def _owner_variables(
     variable_catalog: TestMqlVariableCatalog,
     alias: str,