导出test_mql活塞运动学

PythonModels/systems/test_mql_mechanical.py

@@ -210,10 +210,20 @@ class TestMqlMechanicalNodeKinematics:
     displacements_m: dict[int, float]
 
 
+@dataclass(frozen=True)
+class TestMqlPistonKinematics:
+    alias: str
+    port_2_velocity_m_s: float
+    port_2_displacement_m: float
+    port_3_velocity_m_s: float
+    port_3_displacement_m: float
+
+
 @dataclass(frozen=True)
 class TestMqlMechanicalMassSnapshot:
     states: tuple[TestMqlMechanicalMassState, ...]
     node_kinematics_by_alias: dict[str, TestMqlMechanicalNodeKinematics]
+    piston_kinematics_by_alias: dict[str, TestMqlPistonKinematics]
 
     @property
     def state_count(self) -> int:
@@ -244,9 +254,14 @@ class TestMqlMechanicalMassClosure:
             )
             for index, alias in enumerate(self.mass_aliases)
         )
+        node_kinematics = self._node_kinematics_by_alias(states)
         return TestMqlMechanicalMassSnapshot(
             states=states,
-            node_kinematics_by_alias=self._node_kinematics_by_alias(states),
+            node_kinematics_by_alias=node_kinematics,
+            piston_kinematics_by_alias=self._piston_kinematics_by_alias(
+                states,
+                node_kinematics,
+            ),
         )
 
     def _node_kinematics_by_alias(
@@ -269,6 +284,34 @@ class TestMqlMechanicalMassClosure:
             ),
         }
 
+    def _piston_kinematics_by_alias(
+        self,
+        states: tuple[TestMqlMechanicalMassState, ...],
+        node_kinematics_by_alias: dict[str, TestMqlMechanicalNodeKinematics],
+    ) -> dict[str, TestMqlPistonKinematics]:
+        state_by_alias = {state.alias: state for state in states}
+        rear_node = node_kinematics_by_alias["dynamic_mechanical_node_alternative_3"]
+        piston_bindings = (
+            ("pn_brp2_8", "mass_friction_endstops_10", 8),
+            ("pn_brp2_9", "mass_friction_endstops_11", 7),
+            ("pn_brp2_10", "mass_friction_endstops_12", 6),
+            ("pn_brp2_11", "mass_friction_endstops_13", 5),
+            ("pn_brp2_12", "mass_friction_endstops_14", 4),
+            ("pn_brp2_13", "mass_friction_endstops_15", 3),
+            ("pn_brp2_14", "mass_friction_endstops_16", 2),
+            ("pn_brp2_15", "mass_friction_endstops_17", 1),
+        )
+        return {
+            piston_alias: TestMqlPistonKinematics(
+                alias=piston_alias,
+                port_2_velocity_m_s=state_by_alias[mass_alias].velocity_m_s,
+                port_2_displacement_m=state_by_alias[mass_alias].displacement_m,
+                port_3_velocity_m_s=rear_node.velocities_m_s[rear_node_port],
+                port_3_displacement_m=rear_node.displacements_m[rear_node_port],
+            )
+            for piston_alias, mass_alias, rear_node_port in piston_bindings
+        }
+
     def rhs(
         self,
         state_vector: list[float],