Classes
class	ControllerInitRequest
class	MeasurementRequest
class	NavStateRequest
class	CommandRequest
class	ControllerStepRequest
class	ControllerSimulateRequest
class	Layer2ControllerSimulateRequest
class	Layer2ConfigSimulateRequest

Functions
tuple	_engine_config_roots (UserSession session)
Path	_confined_yaml (str path, *Path roots, Path base=_PROJECT_ROOT)
RobustDDPController	_fresh_controller (UserSession session, cfg, engine_config)
	safe_float (val)
	convert_numpy (obj)
	init_controller (ControllerInitRequest request, UserSession session=Depends(get_session))
	_init_controller (ControllerInitRequest request, UserSession session)
	controller_step (ControllerStepRequest request, UserSession session=Depends(get_session))
	_controller_step (ControllerStepRequest request, UserSession session)
	simulate_controller (ControllerSimulateRequest request, UserSession session=Depends(get_session))
	_simulate_controller (ControllerSimulateRequest request, UserSession session)
	reset_controller (UserSession session=Depends(get_session))
	simulate_layer2_controller (Layer2ControllerSimulateRequest request, UserSession session=Depends(get_session))
	_simulate_layer2_controller (Layer2ControllerSimulateRequest request, UserSession session)
	simulate_layer2_controller_stream (Layer2ControllerSimulateRequest request, UserSession session=Depends(get_session))
	simulate_from_layer2_config (Layer2ConfigSimulateRequest request, UserSession session=Depends(get_session))
	_simulate_from_layer2_config (Layer2ConfigSimulateRequest request, UserSession session)
	simulate_from_layer2_config_stream (Layer2ConfigSimulateRequest request, UserSession session=Depends(get_session))
	upload_config_and_simulate (UploadFile file=File(...), float dt=0.01, UserSession session=Depends(get_session))
	get_controller_status (UserSession session=Depends(get_session))

Variables
	router = APIRouter(prefix="/api/control", tags=["control"])
	_log = logging.getLogger(__name__)
	_PROJECT_ROOT = Path(__file__).resolve().parents[2]
str	_CONFIGS_DIR = _PROJECT_ROOT / "configs"

Detailed Description

Controller endpoints for robust DDP thrust control.

Function Documentation

◆ _confined_yaml()

Path backend.routers.control._confined_yaml	(	str	path,
		*Path	roots,
		Path	base = _PROJECT_ROOT )

protected

``path`` (relative to ``base``) resolved, if it is a .yaml file under one of ``roots``; else 400/404.

Definition at line 48 of file control.py.

Referenced by _init_controller(), _simulate_from_layer2_config(), and simulate_from_layer2_config_stream().

◆ _controller_step()

backend.routers.control._controller_step	(	ControllerStepRequest	request,
		UserSession	session )

protected

Definition at line 321 of file control.py.

◆ _engine_config_roots()

tuple backend.routers.control._engine_config_roots ( UserSession session )

protected

Definition at line 44 of file control.py.

Referenced by _simulate_from_layer2_config(), and simulate_from_layer2_config_stream().

◆ _fresh_controller()

RobustDDPController backend.routers.control._fresh_controller	(	UserSession	session,
			cfg,
			engine_config )

protected

A new controller for this session, reset; called through run_compute (under the lock).

Definition at line 73 of file control.py.

◆ _init_controller()

backend.routers.control._init_controller	(	ControllerInitRequest	request,
		UserSession	session )

protected

Definition at line 279 of file control.py.

References _confined_yaml(), and convert_numpy().

◆ _simulate_controller()

backend.routers.control._simulate_controller	(	ControllerSimulateRequest	request,
		UserSession	session )

protected

Definition at line 433 of file control.py.

References convert_numpy(), and max.

◆ _simulate_from_layer2_config()

backend.routers.control._simulate_from_layer2_config	(	Layer2ConfigSimulateRequest	request,
		UserSession	session )

protected

Definition at line 1172 of file control.py.

References _confined_yaml(), _engine_config_roots(), and _simulate_layer2_controller().

◆ _simulate_layer2_controller()

backend.routers.control._simulate_layer2_controller	(	Layer2ControllerSimulateRequest	request,
		UserSession	session )

protected

Definition at line 706 of file control.py.

References convert_numpy(), and max.

Referenced by _simulate_from_layer2_config().

◆ controller_step()

backend.routers.control.controller_step	(	ControllerStepRequest	request,
		UserSession	session = Depends(get_session) )

Execute one controller step.

Off the event loop, one at a time per session: see "Off the loop" at the top.

Definition at line 313 of file control.py.

◆ convert_numpy()

backend.routers.control.convert_numpy ( obj )

Recursively convert numpy types to Python native types, handling NaN and Inf.

Definition at line 99 of file control.py.

References convert_numpy().

Referenced by _init_controller(), _simulate_controller(), _simulate_layer2_controller(), convert_numpy(), get_controller_status(), simulate_from_layer2_config_stream(), simulate_layer2_controller_stream(), and upload_config_and_simulate().

◆ get_controller_status()

backend.routers.control.get_controller_status ( UserSession session = Depends(get_session) )

Get current controller status.

Definition at line 1790 of file control.py.

References convert_numpy().

◆ init_controller()

backend.routers.control.init_controller	(	ControllerInitRequest	request,
		UserSession	session = Depends(get_session) )

Initialize the robust DDP controller.

Off the event loop, one at a time per session: see "Off the loop" at the top.

Definition at line 271 of file control.py.

◆ reset_controller()

backend.routers.control.reset_controller ( UserSession session = Depends(get_session) )

Reset controller state.

Definition at line 688 of file control.py.

◆ safe_float()

backend.routers.control.safe_float ( val )

Convert value to float, replacing NaN/Inf with None.

Definition at line 86 of file control.py.

Referenced by simulate_from_layer2_config_stream(), simulate_layer2_controller_stream(), and upload_config_and_simulate().

◆ simulate_controller()

backend.routers.control.simulate_controller	(	ControllerSimulateRequest	request,
		UserSession	session = Depends(get_session) )

Simulate controller over a time series.

Off the event loop, one at a time per session: see "Off the loop" at the top.

Definition at line 425 of file control.py.

◆ simulate_from_layer2_config()

backend.routers.control.simulate_from_layer2_config	(	Layer2ConfigSimulateRequest	request,
		UserSession	session = Depends(get_session) )

Run controller simulation from a Layer 2 config file by extracting thrust curve.

Off the event loop, one at a time per session: see "Off the loop" at the top.

Definition at line 1164 of file control.py.

◆ simulate_from_layer2_config_stream()

backend.routers.control.simulate_from_layer2_config_stream	(	Layer2ConfigSimulateRequest	request,
		UserSession	session = Depends(get_session) )

Stream controller simulation from a Layer 2 config file in real-time.

Definition at line 1272 of file control.py.

References _confined_yaml(), _engine_config_roots(), convert_numpy(), max, and safe_float().

◆ simulate_layer2_controller()

backend.routers.control.simulate_layer2_controller	(	Layer2ControllerSimulateRequest	request,
		UserSession	session = Depends(get_session) )

Run controller simulation using Layer 2 optimized thrust curve as reference.

Off the event loop, one at a time per session: see "Off the loop" at the top.

Definition at line 698 of file control.py.

◆ simulate_layer2_controller_stream()

backend.routers.control.simulate_layer2_controller_stream	(	Layer2ControllerSimulateRequest	request,
		UserSession	session = Depends(get_session) )

Stream controller simulation in real-time using Layer 2 optimized thrust curve.

Definition at line 947 of file control.py.

References convert_numpy(), max, and safe_float().

◆ upload_config_and_simulate()

backend.routers.control.upload_config_and_simulate	(	UploadFile	file = File(...),
		float	dt = 0.01,
		UserSession	session = Depends(get_session) )

Upload a Layer 2 config file and immediately run controller simulation.

Definition at line 1552 of file control.py.

References convert_numpy(), max, and safe_float().

Variable Documentation

◆ _CONFIGS_DIR

str backend.routers.control._CONFIGS_DIR = _PROJECT_ROOT / "configs"

protected

Definition at line 41 of file control.py.

◆ _log

backend.routers.control._log = logging.getLogger(__name__)

protected

Definition at line 32 of file control.py.

◆ _PROJECT_ROOT

backend.routers.control._PROJECT_ROOT = Path(__file__).resolve().parents[2]

protected

Definition at line 40 of file control.py.

◆ router

backend.routers.control.router = APIRouter(prefix="/api/control", tags=["control"])

Definition at line 31 of file control.py.

Classes

Functions

Variables

Detailed Description

Function Documentation

◆ _confined_yaml()

◆ _controller_step()

◆ _engine_config_roots()

◆ _fresh_controller()

◆ _init_controller()

◆ _simulate_controller()

◆ _simulate_from_layer2_config()

◆ _simulate_layer2_controller()

◆ controller_step()

◆ convert_numpy()

◆ get_controller_status()

◆ init_controller()

◆ reset_controller()

◆ safe_float()

◆ simulate_controller()

◆ simulate_from_layer2_config()

◆ simulate_from_layer2_config_stream()

◆ simulate_layer2_controller()

◆ simulate_layer2_controller_stream()

◆ upload_config_and_simulate()

Variable Documentation

◆ _CONFIGS_DIR

◆ _log

◆ _PROJECT_ROOT

◆ router