test_core.py•1.62 kB
from __future__ import annotations
import math
from ctrltest_mcp.core import evaluate_control
from ctrltest_mcp.models import (
AdaptiveCPGConfig,
ControlAnalysisInput,
ControlPlant,
ControlSimulation,
GustDetectorConfig,
MoERouterConfig,
PIDGains,
)
def test_evaluate_control_returns_metrics() -> None:
request = ControlAnalysisInput(
plant=ControlPlant(
natural_frequency_hz=5.0,
damping_ratio=0.6,
settling_tolerance_rad=0.02,
trim_setpoint=0.0,
),
gains=PIDGains(kp=0.8, ki=0.05, kd=0.02),
simulation=ControlSimulation(duration_s=2.0, sample_points=200),
setpoint=0.3,
gust_detector=GustDetectorConfig(),
adaptive_cpg=AdaptiveCPGConfig(),
moe_router=MoERouterConfig(),
)
output = evaluate_control(request)
assert math.isfinite(output.overshoot)
assert output.settling_time <= request.simulation.duration_s
assert output.extra_metrics is None
assert output.multi_modal_score is None
def test_evaluate_control_with_extra_metrics() -> None:
request = ControlAnalysisInput(
plant=ControlPlant(
natural_frequency_hz=4.0,
damping_ratio=0.5,
settling_tolerance_rad=0.02,
trim_setpoint=0.0,
),
gains=PIDGains(kp=1.0, ki=0.2, kd=0.1),
diffsph_metrics={"force_gradient_norm": 2.0},
foam_metrics={"lift_drag_ratio": 0.5},
)
output = evaluate_control(request)
assert output.extra_metrics is not None
assert output.multi_modal_score is not None