fix: restore simulated pressure model and fast prescan

ReinLoop/core/identification.py

@@ -108,6 +108,34 @@ class IdentificationManager:
         This is an independent pre-scan. It does not replace or modify the
         subsequent PRBS collection performed by ``collect_data_with_prbs``.
         """
+        if getattr(conn_mgr, "simulation", False):
+            stable_pressure_records = [
+                {"distance": 1000, "pressure": 400},
+                {"distance": 900, "pressure": 361},
+                {"distance": 800, "pressure": 322},
+                {"distance": 700, "pressure": 283},
+                {"distance": 600, "pressure": 244},
+                {"distance": 500, "pressure": 205},
+                {"distance": 400, "pressure": 166},
+                {"distance": 300, "pressure": 127},
+                {"distance": 200, "pressure": 88},
+                {"distance": 100, "pressure": 49},
+                {"distance": 0, "pressure": 10},
+            ]
+            timestamp = datetime.datetime.now().strftime('%Y%m%d_%H%M%S')
+            filename = f"travel_stability_pressures_{timestamp}.json"
+            payload = {"stable_pressures": stable_pressure_records}
+            uploaded = self._upload_to_server(
+                json.dumps(payload, ensure_ascii=False, indent=2),
+                filename,
+                f"{the_folder}/ind_data",
+            )
+            if uploaded:
+                self.log("行程稳态压力 JSON 上传成功，继续执行 PRBS 辨识")
+            else:
+                self.log("行程稳态压力 JSON 上传失败，继续执行 PRBS 辨识")
+            return payload
+
         distances = list(range(1000, -1, -100))
         settings = {
             "min_wait_time": 5.0,

ReinLoop/core/simulated_device.py

@@ -39,10 +39,10 @@ class SimulatedDevice:
         if not self.connected or dt == 0:
             return
 
-        # MT2AM8 的行程控制在当前程序中是反向阀位：较小行程表示更大
-        # 进气。模型因此让压力向由行程决定的目标值缓慢靠近。
-        opening = max(0.0, min(1.0, 1.0 - self.position / 1000.0))
-        target_pressure = self.pressure_range * opening
+        # 行程与阀门开度反向：行程越大，阀门开度越小。阀门开度减小
+        # 时系统压力升高；默认量程下行程 0/1000 分别对应 10/400 kPa。
+        travel_ratio = max(0.0, min(1.0, self.position / 1000.0))
+        target_pressure = 10.0 + (self.pressure_range - 10.0) * travel_ratio
         response = min(1.0, dt / 8.0)
         self.pressure += (target_pressure - self.pressure) * response
 

ReinLoop/tests/test_simulated_device.py

@@ -1,7 +1,7 @@
 import importlib.util
-import time
 import unittest
 from pathlib import Path
+from unittest.mock import patch
 
 
 MODULE_PATH = Path(__file__).resolve().parents[1] / "core" / "simulated_device.py"
@@ -22,18 +22,40 @@ class SimulatedDeviceTests(unittest.TestCase):
         self.assertFalse(device.connected)
 
     def test_pressure_model_responds_to_valve_position(self):
-        device = SIMULATED.SimulatedDevice()
-        device.connect()
-        device.set_motor_position(0)
-        time.sleep(0.02)
-        open_pressure = device.get_pressure()
-        device.set_motor_position(1000)
-        time.sleep(0.02)
-        closed_pressure = device.get_pressure()
-        self.assertGreaterEqual(open_pressure, 0.0)
-        self.assertGreaterEqual(closed_pressure, 0.0)
-        self.assertEqual(device.read_current_position(), 1000.0)
-        device.disconnect()
+        class FakeClock:
+            def __init__(self):
+                self.now = 0.0
+
+            def monotonic(self):
+                return self.now
+
+            def advance(self, duration):
+                self.now += duration
+
+        clock = FakeClock()
+        with patch.object(SIMULATED.time, "monotonic", clock.monotonic):
+            device = SIMULATED.SimulatedDevice()
+            device.connect()
+
+            def settled_pressure(position):
+                device.set_motor_position(position)
+                pressure = None
+                for _ in range(1200):
+                    clock.advance(0.1)
+                    pressure = device.get_pressure()
+                return pressure
+
+            open_pressure = settled_pressure(0)
+            half_open_pressure = settled_pressure(500)
+            closed_pressure = settled_pressure(1000)
+
+            self.assertAlmostEqual(open_pressure, 10.0, delta=0.1)
+            self.assertAlmostEqual(half_open_pressure, 205.0, delta=0.1)
+            self.assertAlmostEqual(closed_pressure, 400.0, delta=0.1)
+            self.assertGreater(closed_pressure, half_open_pressure)
+            self.assertGreater(half_open_pressure, open_pressure)
+            self.assertEqual(device.read_current_position(), 1000.0)
+            device.disconnect()
 
 
 if __name__ == "__main__":