Inheritance diagram for test_robust_ddp_safety_filter.TestSafetyFilter:

Collaboration diagram for test_robust_ddp_safety_filter.TestSafetyFilter:

Public Member Functions
	setUp (self)
	test_tube_violates_constraints_ullage_max (self)
	test_tube_violates_constraints_copv_min (self)
	test_tube_violates_constraints_mr (self)
	test_tube_violates_constraints_safe (self)
	test_generate_action_candidates (self)
	test_compute_action_cost (self)
	test_filter_action_safe (self)
	test_filter_action_unsafe_ullage (self)
	test_filter_action_unsafe_mr (self)
	test_filter_action_clamping (self)
	test_find_best_safe_action (self)

Public Attributes
	cfg
	x_normal
	x_high_ullage = self.x_normal.copy()
	x_low_copv = self.x_normal.copy()
	state
	engine_wrapper = Mock(spec=EngineWrapper)

Detailed Description

Test safety filter.

Definition at line 20 of file test_robust_ddp_safety_filter.py.

Member Function Documentation

◆ setUp()

test_robust_ddp_safety_filter.TestSafetyFilter.setUp ( self )

Set up test fixtures.

Definition at line 23 of file test_robust_ddp_safety_filter.py.

◆ test_compute_action_cost()

test_robust_ddp_safety_filter.TestSafetyFilter.test_compute_action_cost ( self )

Test action cost computation.

Definition at line 142 of file test_robust_ddp_safety_filter.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, test_robust_ddp_reference.TestReferenceGeneration.cfg, cfg, engine.control.robust_ddp.controller.RobustDDPController.engine_wrapper, test_robust_ddp_ddp_solver.TestDDPSolver.engine_wrapper, engine_wrapper, and x_normal.

◆ test_filter_action_clamping()

test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_clamping ( self )

Test filter_action clamps inputs.

Definition at line 281 of file test_robust_ddp_safety_filter.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, test_robust_ddp_reference.TestReferenceGeneration.cfg, cfg, engine.control.robust_ddp.controller.RobustDDPController.engine_wrapper, test_robust_ddp_ddp_solver.TestDDPSolver.engine_wrapper, engine_wrapper, anonymous_namespace{idle_e2e.cpp}::Beat.state, anonymous_namespace{idle_e2e.cpp}::World.state, battery_t.state, daqtest::Burst.state, detail::serializer< BasicJsonType >.state, engine.control.robust_ddp.controller.RobustDDPController.state, feedtwin.session.core.BottleSim.state, feedtwin.session.core.Session.state, feedtwin.session.core.TankSim.state, feedtwin.session.network_trace.NetworkTrace.state, fsw::config::FireConfig.state, gnss_core_t.state, gnss_frame_parser_t.state, SensorHotfire::CoreState.state, sequencer::DynamicState.state, test_robust_ddp_actuation.TestActuation.state, state, Valve.state, world_t.state, and x_normal.

◆ test_filter_action_safe()

test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_safe ( self )

Test filter_action with safe proposed action.

Definition at line 169 of file test_robust_ddp_safety_filter.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, test_robust_ddp_reference.TestReferenceGeneration.cfg, cfg, engine.control.robust_ddp.controller.RobustDDPController.engine_wrapper, test_robust_ddp_ddp_solver.TestDDPSolver.engine_wrapper, engine_wrapper, anonymous_namespace{idle_e2e.cpp}::Beat.state, anonymous_namespace{idle_e2e.cpp}::World.state, battery_t.state, daqtest::Burst.state, detail::serializer< BasicJsonType >.state, engine.control.robust_ddp.controller.RobustDDPController.state, feedtwin.session.core.BottleSim.state, feedtwin.session.core.Session.state, feedtwin.session.core.TankSim.state, feedtwin.session.network_trace.NetworkTrace.state, fsw::config::FireConfig.state, gnss_core_t.state, gnss_frame_parser_t.state, SensorHotfire::CoreState.state, sequencer::DynamicState.state, test_robust_ddp_actuation.TestActuation.state, state, Valve.state, world_t.state, and x_normal.

◆ test_filter_action_unsafe_mr()

test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_unsafe_mr ( self )

Test filter_action with unsafe action that violates MR bounds.

Definition at line 231 of file test_robust_ddp_safety_filter.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, test_robust_ddp_reference.TestReferenceGeneration.cfg, cfg, engine.control.robust_ddp.controller.RobustDDPController.engine_wrapper, test_robust_ddp_ddp_solver.TestDDPSolver.engine_wrapper, engine_wrapper, anonymous_namespace{idle_e2e.cpp}::Beat.state, anonymous_namespace{idle_e2e.cpp}::World.state, battery_t.state, daqtest::Burst.state, detail::serializer< BasicJsonType >.state, engine.control.robust_ddp.controller.RobustDDPController.state, feedtwin.session.core.BottleSim.state, feedtwin.session.core.Session.state, feedtwin.session.core.TankSim.state, feedtwin.session.network_trace.NetworkTrace.state, fsw::config::FireConfig.state, gnss_core_t.state, gnss_frame_parser_t.state, SensorHotfire::CoreState.state, sequencer::DynamicState.state, test_robust_ddp_actuation.TestActuation.state, state, Valve.state, world_t.state, and x_normal.

◆ test_filter_action_unsafe_ullage()

test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_unsafe_ullage ( self )

Test filter_action with unsafe action that violates ullage max.

Definition at line 197 of file test_robust_ddp_safety_filter.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, test_robust_ddp_reference.TestReferenceGeneration.cfg, cfg, engine.control.robust_ddp.controller.RobustDDPController.engine_wrapper, test_robust_ddp_ddp_solver.TestDDPSolver.engine_wrapper, engine_wrapper, anonymous_namespace{idle_e2e.cpp}::Beat.state, anonymous_namespace{idle_e2e.cpp}::World.state, battery_t.state, daqtest::Burst.state, detail::serializer< BasicJsonType >.state, engine.control.robust_ddp.controller.RobustDDPController.state, feedtwin.session.core.BottleSim.state, feedtwin.session.core.Session.state, feedtwin.session.core.TankSim.state, feedtwin.session.network_trace.NetworkTrace.state, fsw::config::FireConfig.state, gnss_core_t.state, gnss_frame_parser_t.state, SensorHotfire::CoreState.state, sequencer::DynamicState.state, test_robust_ddp_actuation.TestActuation.state, state, Valve.state, world_t.state, and x_high_ullage.

◆ test_find_best_safe_action()

test_robust_ddp_safety_filter.TestSafetyFilter.test_find_best_safe_action ( self )

Test finding best safe action from candidates.

Definition at line 309 of file test_robust_ddp_safety_filter.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, test_robust_ddp_reference.TestReferenceGeneration.cfg, cfg, engine.control.robust_ddp.controller.RobustDDPController.engine_wrapper, test_robust_ddp_ddp_solver.TestDDPSolver.engine_wrapper, engine_wrapper, anonymous_namespace{idle_e2e.cpp}::Beat.state, anonymous_namespace{idle_e2e.cpp}::World.state, battery_t.state, daqtest::Burst.state, detail::serializer< BasicJsonType >.state, engine.control.robust_ddp.controller.RobustDDPController.state, feedtwin.session.core.BottleSim.state, feedtwin.session.core.Session.state, feedtwin.session.core.TankSim.state, feedtwin.session.network_trace.NetworkTrace.state, fsw::config::FireConfig.state, gnss_core_t.state, gnss_frame_parser_t.state, SensorHotfire::CoreState.state, sequencer::DynamicState.state, test_robust_ddp_actuation.TestActuation.state, state, Valve.state, world_t.state, and x_normal.

◆ test_generate_action_candidates()

test_robust_ddp_safety_filter.TestSafetyFilter.test_generate_action_candidates ( self )

Test action candidate generation.

Definition at line 125 of file test_robust_ddp_safety_filter.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, test_robust_ddp_reference.TestReferenceGeneration.cfg, and cfg.

◆ test_tube_violates_constraints_copv_min()

test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_copv_min ( self )

Test tube constraint violation for COPV min.

Definition at line 75 of file test_robust_ddp_safety_filter.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, test_robust_ddp_reference.TestReferenceGeneration.cfg, cfg, and x_normal.

◆ test_tube_violates_constraints_mr()

test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_mr ( self )

Test tube constraint violation for MR bounds.

Definition at line 85 of file test_robust_ddp_safety_filter.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, test_robust_ddp_reference.TestReferenceGeneration.cfg, cfg, engine.control.robust_ddp.controller.RobustDDPController.engine_wrapper, test_robust_ddp_ddp_solver.TestDDPSolver.engine_wrapper, engine_wrapper, and x_normal.

◆ test_tube_violates_constraints_safe()

test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_safe ( self )

Test tube that satisfies all constraints.

Definition at line 105 of file test_robust_ddp_safety_filter.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, test_robust_ddp_reference.TestReferenceGeneration.cfg, cfg, engine.control.robust_ddp.controller.RobustDDPController.engine_wrapper, test_robust_ddp_ddp_solver.TestDDPSolver.engine_wrapper, engine_wrapper, and x_normal.

◆ test_tube_violates_constraints_ullage_max()

test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_ullage_max ( self )

Test tube constraint violation for ullage max.

Definition at line 65 of file test_robust_ddp_safety_filter.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, test_robust_ddp_reference.TestReferenceGeneration.cfg, cfg, and x_normal.

Member Data Documentation

◆ cfg

test_robust_ddp_safety_filter.TestSafetyFilter.cfg

Initial value:

=  ControllerConfig(
            N=10,
            dt=0.01,
            P_u_max=10e6,  # 10 MPa max ullage pressure
            P_copv_min=1e6,  # 1 MPa min COPV pressure
            MR_min=1.5,
            MR_max=3.0,
            injector_dp_frac=0.1,
            qF=1.0,
            qMR=10.0,
            qGas=0.1,
        )

Definition at line 25 of file test_robust_ddp_safety_filter.py.

Referenced by test_combustion_stability_audit.TestIntegration.test_acoustic_report_only_by_default(), test_combustion_stability_audit.TestIntegration.test_chug_gate_is_the_gain_margin_band_minimum(), test_compute_action_cost(), test_filter_action_clamping(), test_filter_action_safe(), test_filter_action_unsafe_mr(), test_filter_action_unsafe_ullage(), test_find_best_safe_action(), test_generate_action_candidates(), test_combustion_stability_audit.TestIntegration.test_missing_injector_drop_is_recorded_and_zero_is_zero(), test_combustion_stability_audit.TestIntegration.test_model_error_fails_closed(), test_tube_violates_constraints_copv_min(), test_tube_violates_constraints_mr(), test_tube_violates_constraints_safe(), and test_tube_violates_constraints_ullage_max().

◆ engine_wrapper

test_robust_ddp_safety_filter.TestSafetyFilter.engine_wrapper = Mock(spec=EngineWrapper)

Definition at line 63 of file test_robust_ddp_safety_filter.py.

Referenced by test_compute_action_cost(), test_filter_action_clamping(), test_filter_action_safe(), test_filter_action_unsafe_mr(), test_filter_action_unsafe_ullage(), test_find_best_safe_action(), test_tube_violates_constraints_mr(), and test_tube_violates_constraints_safe().

◆ state

test_robust_ddp_safety_filter.TestSafetyFilter.state

Initial value:

=  ControllerState(
            w_bar_array=np.ones(8) * 0.1e6,  # 0.1 MPa uncertainty per component
        )

Definition at line 58 of file test_robust_ddp_safety_filter.py.

Referenced by test_filter_action_clamping(), test_filter_action_safe(), test_filter_action_unsafe_mr(), test_filter_action_unsafe_ullage(), and test_find_best_safe_action().

◆ x_high_ullage

test_robust_ddp_safety_filter.TestSafetyFilter.x_high_ullage = self.x_normal.copy()

Definition at line 51 of file test_robust_ddp_safety_filter.py.

Referenced by test_filter_action_unsafe_ullage().

◆ x_low_copv

test_robust_ddp_safety_filter.TestSafetyFilter.x_low_copv = self.x_normal.copy()

Definition at line 55 of file test_robust_ddp_safety_filter.py.

◆ x_normal

test_robust_ddp_safety_filter.TestSafetyFilter.x_normal

Initial value:

=  np.array([
            30e6,  # P_copv
            24e6,  # P_reg
            3e6,   # P_u_F
            3.5e6, # P_u_O
            2.5e6, # P_d_F
            3e6,   # P_d_O
            0.01,  # V_u_F
            0.01,  # V_u_O
        ])

Definition at line 39 of file test_robust_ddp_safety_filter.py.

Referenced by test_compute_action_cost(), test_filter_action_clamping(), test_filter_action_safe(), test_filter_action_unsafe_mr(), test_find_best_safe_action(), test_tube_violates_constraints_copv_min(), test_tube_violates_constraints_mr(), test_tube_violates_constraints_safe(), and test_tube_violates_constraints_ullage_max().

The documentation for this class was generated from the following file:

EngineDesign/tests/control/robust_ddp/test_robust_ddp_safety_filter.py

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ setUp()

◆ test_compute_action_cost()

◆ test_filter_action_clamping()

◆ test_filter_action_safe()

◆ test_filter_action_unsafe_mr()

◆ test_filter_action_unsafe_ullage()

◆ test_find_best_safe_action()

◆ test_generate_action_candidates()

◆ test_tube_violates_constraints_copv_min()

◆ test_tube_violates_constraints_mr()

◆ test_tube_violates_constraints_safe()

◆ test_tube_violates_constraints_ullage_max()

Member Data Documentation

◆ cfg

◆ engine_wrapper

◆ state

◆ x_high_ullage

◆ x_low_copv

◆ x_normal