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ENH: Controller Implementation Refactor - #1065
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MateusStano wants to merge 15 commits into
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- _ControllerPrints read the removed 'interactive_objects' attribute, so controller.info()/all_info() raised AttributeError; renamed to controlled_objects() reading controller.controlled_objects. - Event docstring and event_usage.rst claimed context keys are unpacked into the callback kwargs, but Event.__call__ never does that; access is via kwargs['event'].context. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
… tracking A Controller is now a public Event subclass (periodic, trigger-less, changes_dynamics, priority 3) instead of a private wrapper around one. This removes the mirrored enabled/log/context state and fixes the context-lifecycle bug where the dict mutated by the controller function diverged from the event context reset between flights. - After every execution the controller snapshots the control_state of each controlled object into control_history; recorded_schedule exposes it as Functions of time for prints/plots and open-loop replay. - New ControlledObject protocol (control_state/set_control/_reset), not surface-specific so future TVC actuators can conform. - ControllableGenericSurface gains initial_control_state and _reset(); AirBrakes inherits them. Controller.reset() restores every tracked object, generalizing the airbrakes-only reset previously in Flight. - Positional controller_function signatures are now rejected with a migration error; the add_air_brakes legacy shim is the only remaining compatibility path (DeprecationWarning). - _Controller removed from the public API; new Flight.controllers property; new _ControllerPlots.control_history plot and richer controller prints. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Covers Event integration, callback kwargs injection, positional-signature rejection, automatic control-state history and recorded_schedule interpolation, context/history/object reset semantics, controlled-object rebinding, and to_dict/from_dict round trips. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…llable_surface - SurfaceController(Controller) validates its controlled objects are ControllableGenericSurface instances and exposes .surfaces; tracking and reset stay in the base so future non-surface controllers (TVC) need no changes here. - AirBrakesController(SurfaceController) pins the 'air_brakes' friendly name, exposes .air_brakes and .deployment_level_history (Function of time), and ships deployment-focused prints/plots. - Rocket.add_air_brakes now builds an AirBrakesController; pure **kwargs controller functions are passed through unwrapped, hybrid and legacy positional signatures keep the (deprecation-warned) wrapper. - New Rocket.add_controllable_surface wires surface(s) into aerodynamic_surfaces and registers a SurfaceController, resolving the previously dangling docstring references. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Air brakes now join rocket.aerodynamic_surfaces and are summed in the standard generic-surface loop of all u_dot variants, instead of the dedicated drag-only branch in _aerodynamic_drag_force. - add_air_brakes gains a position parameter. Without it, the force application point is pinned to the center of dry mass (zero moment arm), matching historical results; the pin survives add_motor because __evaluate_single_surface_cp_to_cdm short-circuits on the sentinel. With an explicit position, deployed brakes produce proper moments at angle of attack. - The airbrake cD is now 0 at deployment level 0 unconditionally; override_rocket_drag became a body-drag suppression branch (body drag applies while brakes are retracted, is replaced by the surface-loop airbrake drag while deployed). - Result note: drag is now decomposed along the freestream like every other surface, adding small lateral components at nonzero incidence (previously pure axial). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
- AirBrakes surface: deployment-0 => cD 0 (incl. override mode), curve passthrough, incidence/rate independence, clamp on/off parity with the integration tests, reset protocol, serialization round trip. - Rocket wiring: surface-loop membership, cp pinned to CDM surviving add_motor, explicit-position path, static-margin invariance, legacy signature deprecations, add_controllable_surface wiring (with surface validation moved before add_surfaces for a clear error). - Derivatives without Flight: body-drag suppression semantics and force equivalence of the surface-loop path with the legacy drag formula. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
- New ScheduledController replays a control schedule open-loop via set_control (clamping applies); ScheduledController.from_controller rebuilds a flight's control inputs from a recorded control_history. - Controller.to_dict now records needs and the controlled objects' names (controlled_objects_ref), plus the control_history under include_outputs; from_dict restores them, and falls back to a ScheduledController (with a warning) when the pickled controller function cannot be decoded but a history is available. - Rocket.from_dict rewires controllers to the decoded surfaces by name, replacing the dead _interactive_objects_hash path that raised AttributeError on every load of a rocket with controllers. - Air brakes are serialized once, inside aerodynamic_surfaces (the air_brakes key is dropped from Rocket.to_dict and rebuilt on load, preserving instance identity with the controller); legacy files with only the air_brakes key still load, pinned to the CDM. The pin flag round-trips via AirBrakes.to_dict. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…texts - Per-sample controllers are rebuilt as AirBrakesController with a deep copy of the base context, so nested mutables (observed-variable lists) are no longer shared across Monte Carlo samples. - Sampled air brakes are wired through Rocket._attach_air_brakes so they join the aerodynamic surface loop (a plain list append would leave them with zero drag under the unified force path); add_air_brakes accepts an optional position forwarded to each sample. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
- airbrakes.rst: kwargs controller contract, deprecation of positional signatures and initial_observed_variables, position parameter, automatic deployment tracking and plots, replay section. - event_usage.rst: note that controllers are Event subclasses. - Reference stubs for Controller, SurfaceController, AirBrakesController and ScheduledController. - CHANGELOG entries for the controller refactor (also includes the pre-existing uncommitted entries for the reduced-rates change and the center_of_pressure removal from earlier branch work). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Resolve ScheduledController dynamically in the from_dict fallback so the module graph stays acyclic (scheduled_controller already imports controller at top level). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Introduce Effector/GenericEffector and Rocket.add_effector: a non-aerodynamic control path that injects a body-frame force and/or moment directly into the equations of motion, driven by the existing Controller. - New rocketpy/rocket/effector package (Effector base implementing the ControlledObject protocol + GenericEffector with user force/moment callables). - Rocket gains an effectors registry, effectors_cp_to_cdm moment arms, add_effector(...) (optionally wiring a Controller), and save/load support; effectors are excluded from the aerodynamic-surface / stability-margin math. - flight_derivatives sums effector force+moment in u_dot and u_dot_generalized (force only in 3-DOF); guarded so effector-free flights are unchanged. - Exports plus unit tests and a slow roll-damper integration test. Also fix compute_needs_union so a controller/event that self-enables via enable_on while declaring needs gets its expensive kwargs on the enabling node. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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TBD