feat(solver): Phase 5 assembly integration — plug Kindred solver into Assembly workbench (#289 phase 5)
- Make solver selection preference-driven: reads Solver param from Assembly preferences (default falls through to registry default) - Add resetSolver() to AssemblyObject for preference change support - Add solver backend combo box to Assembly preferences UI - Update solver submodule to include phases 2-5: - Phase 2: full constraint vocabulary (24 BaseJointKind types) - Phase 3: graph decomposition for cluster-by-cluster solving - Phase 4: diagnostics, half-space preference, weight vectors - Phase 5: _build_system extraction, diagnose(), drag protocol - Add TestKindredSolverIntegration: full-stack tests with kindred backend - KindredSolver now implements solve, diagnose, pre_drag/drag_step/post_drag
This commit is contained in:
forbes
Submodule mods/solver updated: 98051ba0c9...adaa0f9a69
@@ -147,7 +147,11 @@ void AssemblyObject::onChanged(const App::Property* prop)
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KCSolve::IKCSolver* AssemblyObject::getOrCreateSolver()
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{
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if (!solver_) {
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solver_ = KCSolve::SolverRegistry::instance().get("ondsel");
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ParameterGrp::handle hGrp = App::GetApplication().GetParameterGroupByPath(
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"User parameter:BaseApp/Preferences/Mod/Assembly");
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std::string solverName = hGrp->GetASCII("Solver", "");
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solver_ = KCSolve::SolverRegistry::instance().get(solverName);
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// get("") returns the registry default (first registered solver)
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}
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return solver_.get();
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}
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@@ -98,6 +98,7 @@ public:
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void postDrag();
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void savePlacementsForUndo();
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void undoSolve();
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void resetSolver() { solver_.reset(); }
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void clearUndo();
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void exportAsASMT(std::string fileName);
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180
src/Mod/Assembly/AssemblyTests/TestKindredSolverIntegration.py
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180
src/Mod/Assembly/AssemblyTests/TestKindredSolverIntegration.py
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@@ -0,0 +1,180 @@
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# SPDX-License-Identifier: LGPL-2.1-or-later
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# /****************************************************************************
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# *
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# Copyright (c) 2025 Kindred Systems <development@kindred-systems.com> *
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# *
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# This file is part of FreeCAD. *
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# *
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# FreeCAD is free software: you can redistribute it and/or modify it *
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# under the terms of the GNU Lesser General Public License as *
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# published by the Free Software Foundation, either version 2.1 of the *
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# License, or (at your option) any later version. *
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# *
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# FreeCAD is distributed in the hope that it will be useful, but *
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# WITHOUT ANY WARRANTY; without even the implied warranty of *
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
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# Lesser General Public License for more details. *
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# *
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# You should have received a copy of the GNU Lesser General Public *
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# License along with FreeCAD. If not, see *
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# <https://www.gnu.org/licenses/>. *
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# *
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# ***************************************************************************/
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"""
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Integration tests for the Kindred solver backend.
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These tests mirror TestSolverIntegration but force the solver preference
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to "kindred" so the full pipeline (AssemblyObject → IKCSolver →
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KindredSolver) is exercised.
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"""
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import unittest
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import FreeCAD as App
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import JointObject
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def _pref():
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return App.ParamGet("User parameter:BaseApp/Preferences/Mod/Assembly")
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class TestKindredSolverIntegration(unittest.TestCase):
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"""Full-stack solver tests using the Kindred (Newton-Raphson) backend."""
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def setUp(self):
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# Force the kindred solver backend
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self._prev_solver = _pref().GetString("Solver", "")
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_pref().SetString("Solver", "kindred")
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doc_name = self.__class__.__name__
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if App.ActiveDocument:
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if App.ActiveDocument.Name != doc_name:
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App.newDocument(doc_name)
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else:
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App.newDocument(doc_name)
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App.setActiveDocument(doc_name)
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self.doc = App.ActiveDocument
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self.assembly = self.doc.addObject("Assembly::AssemblyObject", "Assembly")
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# Reset the solver so it picks up the new preference
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self.assembly.resetSolver()
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self.jointgroup = self.assembly.newObject("Assembly::JointGroup", "Joints")
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def tearDown(self):
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App.closeDocument(self.doc.Name)
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_pref().SetString("Solver", self._prev_solver)
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# ── Helpers ─────────────────────────────────────────────────────
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def _make_box(self, x=0, y=0, z=0, size=10):
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box = self.assembly.newObject("Part::Box", "Box")
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box.Length = size
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box.Width = size
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box.Height = size
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box.Placement = App.Placement(App.Vector(x, y, z), App.Rotation())
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return box
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def _ground(self, obj):
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gnd = self.jointgroup.newObject("App::FeaturePython", "GroundedJoint")
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JointObject.GroundedJoint(gnd, obj)
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return gnd
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def _make_joint(self, joint_type, ref1, ref2):
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joint = self.jointgroup.newObject("App::FeaturePython", "Joint")
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JointObject.Joint(joint, joint_type)
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refs = [
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[ref1[0], ref1[1]],
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[ref2[0], ref2[1]],
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]
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joint.Proxy.setJointConnectors(joint, refs)
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return joint
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# ── Tests ───────────────────────────────────────────────────────
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def test_solve_fixed_joint(self):
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"""Two boxes + grounded + fixed joint -> placements match."""
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box1 = self._make_box(10, 20, 30)
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box2 = self._make_box(40, 50, 60)
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self._ground(box2)
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self._make_joint(
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0,
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[box2, ["Face6", "Vertex7"]],
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[box1, ["Face6", "Vertex7"]],
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)
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self.assertTrue(
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box1.Placement.isSame(box2.Placement, 1e-6),
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"Fixed joint: box1 should match box2 placement",
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)
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def test_solve_revolute_joint(self):
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"""Two boxes + grounded + revolute joint -> solve succeeds."""
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box1 = self._make_box(0, 0, 0)
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box2 = self._make_box(100, 0, 0)
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self._ground(box1)
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self._make_joint(
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1,
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[box1, ["Face6", "Vertex7"]],
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[box2, ["Face6", "Vertex7"]],
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)
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result = self.assembly.solve()
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self.assertEqual(result, 0, "Revolute joint solve should succeed")
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def test_solve_returns_code_for_no_ground(self):
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"""Assembly with no grounded parts -> solve returns -6."""
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box1 = self._make_box(0, 0, 0)
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box2 = self._make_box(50, 0, 0)
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joint = self.jointgroup.newObject("App::FeaturePython", "Joint")
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JointObject.Joint(joint, 0)
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refs = [
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[box1, ["Face6", "Vertex7"]],
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[box2, ["Face6", "Vertex7"]],
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]
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joint.Proxy.setJointConnectors(joint, refs)
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result = self.assembly.solve()
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self.assertEqual(result, -6, "No grounded parts should return -6")
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def test_solve_dof_reporting(self):
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"""Revolute joint -> DOF = 1."""
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box1 = self._make_box(0, 0, 0)
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box2 = self._make_box(100, 0, 0)
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self._ground(box1)
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self._make_joint(
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1,
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[box1, ["Face6", "Vertex7"]],
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[box2, ["Face6", "Vertex7"]],
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)
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self.assembly.solve()
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dof = self.assembly.getLastDoF()
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self.assertEqual(dof, 1, "Revolute joint should leave 1 DOF")
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def test_solve_stability(self):
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"""Solving twice produces identical placements."""
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box1 = self._make_box(10, 20, 30)
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box2 = self._make_box(40, 50, 60)
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self._ground(box2)
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self._make_joint(
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0,
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[box2, ["Face6", "Vertex7"]],
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[box1, ["Face6", "Vertex7"]],
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)
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self.assembly.solve()
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plc_first = App.Placement(box1.Placement)
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self.assembly.solve()
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plc_second = box1.Placement
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self.assertTrue(
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plc_first.isSame(plc_second, 1e-6),
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"Deterministic solver should produce identical results",
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)
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@@ -58,6 +58,7 @@ SET(AssemblyTests_SRCS
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AssemblyTests/TestCore.py
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AssemblyTests/TestCommandInsertLink.py
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AssemblyTests/TestSolverIntegration.py
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AssemblyTests/TestKindredSolverIntegration.py
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AssemblyTests/TestKCSolvePy.py
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AssemblyTests/mocks/__init__.py
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AssemblyTests/mocks/MockGui.py
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@@ -84,6 +84,20 @@ The files are named "runPreDrag.asmt" and "dragging.log" and are located in the
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</spacer>
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</item>
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<item row="3" column="0">
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<widget class="QLabel" name="solverBackendLabel">
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<property name="text">
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<string>Solver backend</string>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QComboBox" name="solverBackend">
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<property name="toolTip">
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<string>Select the constraint solver used for assembly solving</string>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<spacer name="verticalSpacer">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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@@ -40,13 +40,34 @@ class PreferencesPage:
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pref.SetBool("LeaveEditWithEscape", self.form.checkBoxEnableEscape.isChecked())
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pref.SetBool("LogSolverDebug", self.form.checkBoxSolverDebug.isChecked())
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pref.SetInt("GroundFirstPart", self.form.groundFirstPart.currentIndex())
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idx = self.form.solverBackend.currentIndex()
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solver_name = self.form.solverBackend.itemData(idx) or ""
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pref.SetString("Solver", solver_name)
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def loadSettings(self):
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pref = preferences()
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self.form.checkBoxEnableEscape.setChecked(pref.GetBool("LeaveEditWithEscape", True))
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self.form.checkBoxEnableEscape.setChecked(
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pref.GetBool("LeaveEditWithEscape", True)
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)
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self.form.checkBoxSolverDebug.setChecked(pref.GetBool("LogSolverDebug", False))
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self.form.groundFirstPart.clear()
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self.form.groundFirstPart.addItem(translate("Assembly", "Ask"))
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self.form.groundFirstPart.addItem(translate("Assembly", "Always"))
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self.form.groundFirstPart.addItem(translate("Assembly", "Never"))
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self.form.groundFirstPart.setCurrentIndex(pref.GetInt("GroundFirstPart", 0))
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self.form.solverBackend.clear()
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self.form.solverBackend.addItem(translate("Assembly", "Default"), "")
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try:
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import kcsolve
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for name in kcsolve.available():
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solver = kcsolve.load(name)
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self.form.solverBackend.addItem(solver.name(), name)
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except ImportError:
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pass
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current = pref.GetString("Solver", "")
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for i in range(self.form.solverBackend.count()):
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if self.form.solverBackend.itemData(i) == current:
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self.form.solverBackend.setCurrentIndex(i)
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break
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@@ -30,9 +30,11 @@ from AssemblyTests.TestKCSolvePy import (
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TestKCSolveTypes, # noqa: F401
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TestPySolver, # noqa: F401
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)
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from AssemblyTests.TestKindredSolverIntegration import TestKindredSolverIntegration
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from AssemblyTests.TestSolverIntegration import TestSolverIntegration
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# Use the modules so that code checkers don't complain (flake8)
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True if TestCore else False
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True if TestCommandInsertLink else False
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True if TestSolverIntegration else False
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True if TestKindredSolverIntegration else False
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