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9936912 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 | """Comprehensive unit tests for ControlAI deterministic tools, JSON Schema validation, and verifiers."""
from __future__ import annotations
import unittest
import numpy as np
from controlai_agent.registry import registry
import controlai_agent.tools # Register all tools
class TestControlAITools(unittest.TestCase):
def test_exact_zoh(self) -> None:
result = registry.execute("exact_zoh", {
"A": [[0, 1], [-2, -3]],
"B": [[0], [1]],
"Ts": 0.05,
})
self.assertEqual(result["status"], "success")
self.assertTrue(result["verification"]["verification_passed"])
Ad = np.array(result["Ad"])
self.assertEqual(Ad.shape, (2, 2))
self.assertAlmostEqual(Ad[0, 0], 0.997621, places=4)
def test_continuous_lqr(self) -> None:
result = registry.execute("continuous_lqr", {
"A": [[0, 1], [-2, -3]],
"B": [[0], [1]],
"Q": [[10, 0], [0, 1]],
"R": [[1]],
})
self.assertEqual(result["status"], "success")
self.assertTrue(result["is_stable"])
self.assertTrue(result["verification"]["verification_passed"])
self.assertLess(result["verification"]["riccati_residual_max"], 1e-10)
def test_cbf_safety_filter(self) -> None:
result = registry.execute("cbf_safety_filter", {
"x": -0.3,
"u_nom": -2.0,
"alpha": 1.2,
"x_min": -0.5,
})
self.assertEqual(result["status"], "success")
self.assertAlmostEqual(result["u_safe"], -0.24, places=6)
self.assertTrue(result["is_constraint_active"])
self.assertTrue(result["verification"]["verification_passed"])
def test_kharitonov_stability(self) -> None:
result = registry.execute("kharitonov_stability_test", {
"lower_bounds": [1.0, 2.0, 3.0, 1.0],
"upper_bounds": [1.3, 2.4, 3.5, 1.2],
})
self.assertEqual(result["status"], "success")
self.assertTrue(result["is_robustly_hurwitz"])
self.assertEqual(len(result["kharitonov_polynomials_ascending"]), 4)
def test_minimum_norm_allocation(self) -> None:
result = registry.execute("minimum_norm_control_allocation", {
"B": [1.0, 2.0, 3.0],
"desired_tau": 14.0,
})
self.assertEqual(result["status"], "success")
self.assertEqual(result["u"], [1.0, 2.0, 3.0])
self.assertTrue(result["verification"]["verification_passed"])
def test_mpc_solve_qp(self) -> None:
result = registry.execute("mpc_solve_qp", {
"A": [[1.0, 0.1], [0.0, 1.0]],
"B": [[0.0], [0.1]],
"Q": [[1.0, 0.0], [0.0, 0.1]],
"R": [[0.01]],
"x0": [2.0, 0.0],
"horizon": 10,
"u_limit": 5.0,
})
self.assertEqual(result["status"], "success")
self.assertEqual(len(result["first_control_move"]), 1)
self.assertEqual(len(result["predicted_state_trajectory"]), 2)
def test_pid_tune_fopdt(self) -> None:
result = registry.execute("pid_tune_fopdt", {
"K_plant": 2.0,
"T_tau": 5.0,
"L_delay": 1.0,
"tuning_objective": "setpoint_tracking_0_overshoot",
})
self.assertEqual(result["status"], "success")
self.assertGreater(result["Kp"], 0)
self.assertGreater(result["Ki"], 0)
self.assertGreater(result["Kd"], 0)
def test_kalman_measurement_update(self) -> None:
result = registry.execute("kalman_measurement_update", {
"x_minus": [1.0, 0.5],
"P_minus": [[1.0, 0.0], [0.0, 1.0]],
"H": [[1.0, 0.0]],
"R": [[0.1]],
"z": [1.2],
})
self.assertEqual(result["status"], "success")
self.assertEqual(len(result["x_plus_updated"]), 2)
self.assertEqual(len(result["kalman_gain_K"]), 2)
def test_step_response_simulation(self) -> None:
result = registry.execute("simulate_step_response", {
"numerator": [1.0],
"denominator": [1.0, 2.0, 1.0],
"sim_time": 5.0,
"plot_filename": "test_step.png",
})
self.assertEqual(result["status"], "success")
self.assertAlmostEqual(result["final_value"], 1.0, places=1)
self.assertIn("plot_artifact_path", result)
def test_json_schema_validation_failure(self) -> None:
# Pass string instead of number to exact_zoh
result = registry.execute("exact_zoh", {
"A": [[0, 1], [-2, -3]],
"B": [[0], [1]],
"Ts": "not_a_number",
})
self.assertEqual(result["status"], "error")
self.assertEqual(result["error_type"], "SchemaValidationError")
def test_missing_required_parameter(self) -> None:
result = registry.execute("continuous_lqr", {
"A": [[0, 1], [-2, -3]],
"B": [[0], [1]],
# Missing Q and R
})
self.assertEqual(result["status"], "error")
self.assertEqual(result["error_type"], "SchemaValidationError")
if __name__ == "__main__":
unittest.main()
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