CtrlTest MCP Server

"""Optional bridge to the PteraControls toolbox.""" from __future__ import annotations from typing import Any, Optional from .models import ControlAnalysisInput, ControlAnalysisOutput try: # pragma: no cover - optional dependency import pteracontrols as pc # type: ignore except Exception: # pragma: no cover pc = None # type: ignore def is_available() -> bool: return pc is not None # type: ignore[return-value] def run_high_fidelity(inputs: ControlAnalysisInput) -> Optional[ControlAnalysisOutput]: if pc is None: # pragma: no cover - guarded import return None try: payload = { "plant": inputs.plant.model_dump(), "gains": inputs.gains.model_dump(), "simulation": inputs.simulation.model_dump(), "setpoint": inputs.setpoint, "gust_detector": inputs.gust_detector.model_dump(), "adaptive_cpg": inputs.adaptive_cpg.model_dump(), "moe_router": inputs.moe_router.model_dump(), "diffsph_metrics": inputs.diffsph_metrics or {}, "foam_metrics": inputs.foam_metrics or {}, } result: Any = None if hasattr(pc, "evaluate_controller"): result = pc.evaluate_controller(payload) # type: ignore[attr-defined] elif hasattr(pc, "api") and hasattr(pc.api, "evaluate_controller"): result = pc.api.evaluate_controller(payload) # type: ignore[attr-defined] if not isinstance(result, dict): return None metadata = { "solver": "pteracontrols", "source": result.get("source", "unknown"), } return ControlAnalysisOutput( overshoot=float(result.get("overshoot", 0.0)), ise=float(result.get("ise", 0.0)), settling_time=float(result.get("settling_time", inputs.simulation.duration_s)), gust_detection_latency_ms=float(result.get("gust_detection_latency_ms", inputs.gust_detector.latency_ms)), gust_detection_bandwidth_hz=float(result.get("gust_detection_bandwidth_hz", inputs.gust_detector.bandwidth_hz)), gust_rejection_pct=float(result.get("gust_rejection_pct", inputs.adaptive_cpg.target_rejection_pct)), cpg_energy_baseline_j=float(result.get("cpg_energy_baseline_j", inputs.adaptive_cpg.energy_baseline_j)), cpg_energy_consumed_j=float(result.get("cpg_energy_consumed_j", inputs.adaptive_cpg.energy_baseline_j)), cpg_energy_reduction_pct=float(result.get("cpg_energy_reduction_pct", inputs.adaptive_cpg.energy_reduction_pct)), lyapunov_margin=float(result.get("lyapunov_margin", inputs.adaptive_cpg.lyapunov_margin)), moe_switch_penalty=float(result.get("moe_switch_penalty", 0.0)), moe_latency_ms=float(result.get("moe_latency_ms", inputs.moe_router.latency_budget_ms)), moe_energy_j=float(result.get("moe_energy_j", inputs.moe_router.energy_budget_j)), multi_modal_score=result.get("multi_modal_score"), extra_metrics=result.get("extra_metrics"), metadata=metadata, ) except Exception as exc: # pragma: no cover - safety raise RuntimeError(f"PteraControls evaluation failed: {exc}") from exc __all__ = ["is_available", "run_high_fidelity"]