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XFEstudio/XFEEDToolBox

Prepare conditional SCO exit estimates and observed curve replay

ea24078

XFE工作室室长 <mail@xfegzs.com>

提交于 2026-10-26 21:49

父提交 0ab851e

代码差异

3 个文件 +461 -2

Modified XFEEDToolBox.Core/Navigation/ScoBrakingPredictor.cs +283 -2

@@ -41,14 +41,191 @@ public sealed record ScoBrakingForecast(bool Known,string Reason)

41 41 }

42 42

43 43 /// <summary>

44 /// Integrates the pinned 1B2D8F0 ordinary overspeed law after removing the

45 /// SCO multiplier, then joins the verified ordinary arrival-window controller.

44 /// Conditional integrals and an explicitly estimated, unconnected exit model.

45 /// Predict requires an independently established effective brake factor: the

46 /// native .25 extra brake is NOT an unconditional ordinary-supercruise force.

46 47 /// Cooling's additional -lambda*v force is deliberately ignored until its

47 48 /// duration is qualified; the current SCO speed is never held for the whole

48 49 /// approach. This is an opt-in mathematical forecast, not live qualification.

49 50 /// </summary>

50 51 public static class ScoBrakingPredictor

51 52 {

53 /// <summary>

54 /// An estimate for a bounded trial, never a live qualification. Cooling gets

55 /// no braking credit. Once Off and fully assisted, native mode 2 supplies

56 /// A(v,U) >= (A_base/V_base)*v ONLY WHILE v>U. The forward servo request has

57 /// the same lower bound above its bias-dependent floor; jerk starts at zero.

58 /// The budget maximises D+window*v across possible ordinary handoff speeds.

59 /// That union is not a physical exponential continued below the ordinary cap.

60 /// </summary>

61 public static ScoExitEstimate EstimateExit(ScoExitEstimateInput input)

62 {

63 if(!input.OriginalParametersVerified)return EstimateUnknown("original-parameters-unverified");

64 if(!input.ForwardServoDomainVerified)return EstimateUnknown("forward-servo-domain-unverified");

65 if(!input.OrdinaryArrivalControllerVerified)return EstimateUnknown("ordinary-arrival-controller-unverified");

66 if(input.OriginalBrakeScalingMode!=2)return EstimateUnknown("mode-2-required");

67 var v=input.CurrentSpeedMetresPerSecond;var maximum=input.OriginalBaseMaximumSpeedMetresPerSecond;

68 var brake=input.OriginalBaseBrakeAcceleration;var jerk=input.OriginalJerkMetresPerSecondCubed;

69 var throttle=input.ForwardThrottle;var bias=input.OriginalForwardTargetBiasMetresPerSecond;

70 var response=input.StopResponseSecondsUpper;var settle=input.EstimatedCoolingAndAssistSettleSeconds;

71 var physicsStep=input.MaximumPhysicsStepSeconds;var window=input.OriginalArrivalWindowSeconds;

72 if(!Positive(v)||!Positive(maximum)||v>=maximum||!Positive(brake)||!Positive(jerk)

73 ||!Nonnegative(throttle)||throttle>.75||!Nonnegative(bias)||!Positive(input.OriginalResponseTimeSeconds)

            ||!Positive(input.CurrentOrdinarySpeedLimitMetresPerSecond)||input.CurrentOrdinarySpeedLimitMetresPerSecond>maximum

75 ||!Nonnegative(response)||response>1||!Nonnegative(settle)||settle>30

76 ||!Positive(physicsStep)||physicsStep>1||!Nonnegative(input.AdditionalResponseMarginSeconds)

77 ||!Nonnegative(input.ActiveAccelerationUpper)||!Positive(window)||window>60

78 ||!Positive(input.MinimumOrdinaryHandoffSpeedMetresPerSecond)

79 ||!Nonnegative(input.DistanceUncertaintyMetres)||!Nonnegative(input.SafeDropDistanceMetres)

80 ||!Nonnegative(input.RelativeDistanceMargin)||input.RelativeDistanceMargin>1

81 ||!Positive(input.RemainingDistanceMetres))return EstimateUnknown("invalid-exit-estimate-input");

83 var initial=v+input.ActiveAccelerationUpper*response;

84 if(!Positive(initial)||initial>=maximum)return EstimateUnknown("below-base-speed-domain-exceeded");

        if(v<=input.CurrentOrdinarySpeedLimitMetresPerSecond)return EstimateUnknown("forward-overspeed-domain-required");

86 var tauUpper=Math.Max(Math.Max(.5,input.OriginalResponseTimeSeconds),physicsStep);

87 var sigma=(1-throttle)/tauUpper;

88 // If the native clamp's rate is too large for the bias servo, half of

89 // sigma is a mathematical lower bound above 2*bias, not a fitted brake.

90 var rate=brake/maximum;

91 if(rate>=sigma)rate=sigma/2;

92 var floor=Math.Max(input.MinimumOrdinaryHandoffSpeedMetresPerSecond,bias*sigma/(sigma-rate));

93 if(!Positive(rate)||!Positive(floor)||floor>=initial

            ||input.CurrentOrdinarySpeedLimitMetresPerSecond<floor)return EstimateUnknown("ordinary-handoff-floor-unavailable");

96 var path=CreatePath(initial,rate,jerk,floor);

97 if(path is null)return EstimateUnknown("exit-budget-overflow");

98 // For any actual earlier handoff the budget is D(t)+W*v(t).

99 // In the exponential domain its derivative is v*(1-W*rate).

100 // In the jerk ramp it is v-W*J*t and has one positive root.

101 var selected=path.At(0);var selectedTime=0d;

102 void Consider(double time)

103 {

104 var point=path.At(time);

105 if(point.Distance+window*point.Speed>selected.Distance+window*selected.Speed)

106 {selected=point;selectedTime=time;}

107 }

108 Consider(path.FloorSeconds);

109 var critical=2*initial/jerk/(Math.Sqrt(window*window+2*initial/jerk)+window);

110 if(critical>0&&critical<Math.Min(path.RampSeconds,path.FloorSeconds))Consider(critical);

111

112 var responseDistance=v*response+.5*input.ActiveAccelerationUpper*response*response;

113 var noBrakeDelay=settle+physicsStep+input.AdditionalResponseMarginSeconds;

114 var transitionDistance=responseDistance+initial*noBrakeDelay;

115 var ordinaryEnvelope=window*selected.Speed;

116 var overspeedBudget=selected.Distance+ordinaryEnvelope;

117

        var uncertainty=input.DistanceUncertaintyMetres+input.SafeDropDistanceMetres+input.RelativeDistanceMargin*overspeedBudget;

118 var total=Math.BitIncrement(transitionDistance+overspeedBudget+uncertainty);

119 if(!Positive(total))return EstimateUnknown("exit-budget-overflow");

120 return new(true,"estimated-no-cooling-credit-jerk-and-native-mode-2-handoff-union")

121 {

122 RemainingDistanceExceedsEstimate=input.RemainingDistanceMetres>total,

123 EstimatedStopDistanceMetres=total,NoBrakeTransitionDistanceMetres=transitionDistance,

124 OverspeedBudgetDistanceMetres=selected.Distance,OrdinaryArrivalEnvelopeMetres=ordinaryEnvelope,

125 MarginDistanceMetres=uncertainty,OffBudgetInitialSpeedMetresPerSecond=initial,

126 DecayRatePerSecond=rate,ServoDomainFloorMetresPerSecond=floor,

127 JerkRampSeconds=path.RampSeconds,DomainFloorSeconds=path.FloorSeconds,

128 BudgetHandoffSeconds=selectedTime,BudgetHandoffSpeedMetresPerSecond=selected.Speed,

129 NoBrakeDelaySeconds=response+noBrakeDelay,AssistSettleDeadlineSeconds=response+settle

130 };

131 }

132

133 /// <summary>

134 /// Guards a future bounded trial using fresh, independently verified native

135 /// observations. It sends no command. A real cap crossing ends this model;

136 /// ordinary cruise may then accelerate and remains the arrival controller's

137 /// job. A missed settle deadline or a slower brake invalidates the estimate.

138 /// </summary>

139

    public static ScoExitEstimateCheck CheckExitEstimate(ScoExitEstimateInput input,ScoExitEstimate estimate,ScoExitEstimateObservation value)

140 {

141 if(!estimate.Known)return new(false,false,"estimate-unavailable");

142 if(!value.FreshBindingAndSourceGatesVerified)return new(false,false,"native-binding-or-source-gates-changed");

143 if(!Nonnegative(value.ElapsedSeconds)||!Nonnegative(value.SpeedMetresPerSecond)

144

            ||!Positive(value.OrdinarySpeedLimitMetresPerSecond)||value.OrdinarySpeedLimitMetresPerSecond>input.OriginalBaseMaximumSpeedMetresPerSecond

145 ||!Positive(value.NativeStepSeconds)

146 ||value.NativeStepSeconds>input.MaximumPhysicsStepSeconds

147 ||!Nonnegative(value.FlightAssistBlend)||value.FlightAssistBlend>1

148 ||!Nonnegative(value.AllowedSpeedResidualFraction)||value.AllowedSpeedResidualFraction>1

149 ||!Nonnegative(value.AllowedSpeedResidualMetresPerSecond))

150 return new(false,false,"invalid-exit-observation");

151 if(value.ElapsedSeconds>input.StopResponseSecondsUpper&&value.ScoState is not 0 and not 3)

152 return new(false,false,"original-stop-not-observed");

153

        if(value.ScoState==0&&value.FlightAssistBlend==1&&value.SpeedMetresPerSecond<=value.OrdinarySpeedLimitMetresPerSecond)

154 return new(true,true,"actual-ordinary-cap-handoff");

155 if(value.ElapsedSeconds>estimate.AssistSettleDeadlineSeconds&&(value.ScoState!=0||value.FlightAssistBlend!=1))

156 return new(false,false,"estimated-cooling-or-assist-settle-overrun");

157 if(value.SpeedMetresPerSecond<estimate.ServoDomainFloorMetresPerSecond

158 ||value.OrdinarySpeedLimitMetresPerSecond<estimate.ServoDomainFloorMetresPerSecond)

159 return new(false,false,"actual-ordinary-handoff-required-at-domain-floor");

160 var path=CreatePath(estimate.OffBudgetInitialSpeedMetresPerSecond,estimate.DecayRatePerSecond,

161 input.OriginalJerkMetresPerSecondCubed,estimate.ServoDomainFloorMetresPerSecond);

162 if(path is null)return new(false,false,"exit-budget-overflow");

163 var elapsed=Math.Max(0,value.ElapsedSeconds-estimate.NoBrakeDelaySeconds);

164 if(elapsed>path.FloorSeconds)return new(false,false,"overspeed-domain-time-exceeded");

165 var upper=path.At(elapsed).Speed;

166 upper+=upper*value.AllowedSpeedResidualFraction+value.AllowedSpeedResidualMetresPerSecond;

167 return value.SpeedMetresPerSecond>upper

168 ?new(false,false,"observed-brake-slower-than-estimate")

169 :new(true,false,"within-estimated-overspeed-domain");

170 }

171

172 /// <summary>

173 /// One scalar original-physics replay step. Caller must supply the actual

174 /// physics dt and current cap; sparse sample dt values cannot be summed to

175 /// reconstruct unobserved frames. No quarter-brake shortcut is used.

176 /// Valid for full FA, or mixed FA while forward speed stays above cap and

177 /// below base maximum (so the unassisted forward/extra-brake terms are zero).

178 /// </summary>

179 public static ScoServoStepResult StepOriginalServo(ScoServoParameters parameters,ScoServoStepInput value)

180 {

181 var speed=value.SpeedMetresPerSecond;var maximum=parameters.BaseMaximumSpeedMetresPerSecond;

182 var cap=value.OrdinaryPhysicsMaximumSpeedMetresPerSecond;var blend=value.FlightAssistBlend;

183 if(!parameters.PinnedSourceDomainVerified)return ServoUnknown("pinned-scalar-source-domain-unverified");

184

        if(!Positive(maximum)||!Positive(parameters.BaseForwardAcceleration)||!Positive(parameters.BaseBrakeAcceleration)

185 ||!Positive(parameters.ResponseTimeSeconds)||!Positive(parameters.JerkMetresPerSecondCubed)

186

            ||!Nonnegative(parameters.ForwardTargetBiasMetresPerSecond)||!Nonnegative(parameters.ForwardThrottle)||parameters.ForwardThrottle>.75

187 ||!Nonnegative(speed)||speed>=maximum||!Positive(cap)||cap>maximum

188 ||!Nonnegative(blend)||blend>1||!Nonnegative(value.PreviousServoAccelerationNorm)

189 ||!Nonnegative(value.CoolingDragPerSecond)||!Positive(value.NativeStepSeconds)||value.NativeStepSeconds>1

190 ||(blend<1&&speed<cap))return ServoUnknown("outside-original-scalar-domain");

191 var scale=cap/maximum;var ratio=speed/maximum;

192 var brake=parameters.BaseBrakeAcceleration*Math.Max(scale,ratio*Math.Max(1,Math.Sqrt(ratio/scale)));

193

        var target=(cap-parameters.ForwardTargetBiasMetresPerSecond)*parameters.ForwardThrottle+parameters.ForwardTargetBiasMetresPerSecond;

194 var tau=Math.Max(.5,parameters.ResponseTimeSeconds*Math.Max(Math.Clamp(ratio,0,1)*4/3-1d/3,0));

195 var requested=(target-speed)/Math.Max(tau,value.NativeStepSeconds);

196 var clamped=Math.Clamp(requested,-brake,parameters.BaseForwardAcceleration*scale);

197

        var norm=Math.Min(Math.Abs(clamped),value.PreviousServoAccelerationNorm+parameters.JerkMetresPerSecondCubed*value.NativeStepSeconds);

198 var acceleration=Math.CopySign(norm,clamped)*blend;

199 // The original lambda force is inside if(B>0), not multiplied by B.

200 if(value.Cooling&&blend>0)acceleration-=value.CoolingDragPerSecond*speed;

201 var next=Math.Max(0,speed+acceleration*value.NativeStepSeconds);

202 return new(true,"original-forward-servo-scalar-step")

203 {NextSpeedMetresPerSecond=next,NextServoAccelerationNorm=norm,AppliedAcceleration=acceleration,

204 NativeBrakeClampAcceleration=brake,TargetSpeedMetresPerSecond=target,EffectiveResponseTimeSeconds=tau,

205 ApproximateDistanceMetres=(speed+next)*.5*value.NativeStepSeconds};

206 }

207

208 private static ScoExitEstimate EstimateUnknown(string reason)=>new(false,reason);

209 private static ScoServoStepResult ServoUnknown(string reason)=>new(false,reason);

210 private sealed record BudgetPoint(double Speed,double Distance);

211

    private sealed record BudgetPath(double Initial,double Rate,double Jerk,double Floor,double RampSeconds,double RampEndSpeed,double FloorSeconds)

212 {

213 public BudgetPoint At(double seconds)

214 {

215

            if(seconds<=RampSeconds)return new(Initial-.5*Jerk*seconds*seconds,Initial*seconds-Jerk*seconds*seconds*seconds/6);

216 var speed=RampEndSpeed*Math.Exp(-Rate*(seconds-RampSeconds));

217 return new(speed,Initial*RampSeconds-Jerk*RampSeconds*RampSeconds*RampSeconds/6+(RampEndSpeed-speed)/Rate);

218 }

219 }

220 private static BudgetPath? CreatePath(double initial,double rate,double jerk,double floor)

221 {

222 // J*t = rate*(v0-.5*J*t²), evaluated without subtracting close roots.

223 var ramp=2*rate*initial/jerk/(1+Math.Sqrt(1+2*rate*rate*initial/jerk));

224 var end=initial-.5*jerk*ramp*ramp;

225 var floorTime=floor>=end?Math.Sqrt(2*(initial-floor)/jerk):ramp+Math.Log(end/floor)/rate;

226 return Positive(ramp)&&Positive(end)&&Nonnegative(floorTime)

227 ?new(initial,rate,jerk,floor,ramp,end,floorTime):null;

228 }

52 229 public static ScoBrakingForecast Predict(ScoBrakingInput value)

53 230 {

54 231 if(!value.OriginalParametersVerified)return Unknown("original-parameters-unverified");

@@ -111,3 +288,107 @@ public static class ScoBrakingPredictor

111 288 private static bool Positive(double value)=>double.IsFinite(value)&&value>0;

112 289 private static bool Nonnegative(double value)=>double.IsFinite(value)&&value>=0;

113 290 }

291

292 /// <summary>

293 /// All units SI. Verified domain means fresh pinned identity/mode 2, straight

294 /// positive local-Z, u<=.75, unit translation scale, disabled external motion

295 /// and target-velocity correction, full negative clamp, and an ordinary arrival

296 /// controller ready to accept actual v<=cap. Future Cooling/assist settlement

297 /// is deliberately an estimate with an online deadline, never a proven bound.

298 /// </summary>

299 public sealed record ScoExitEstimateInput

300 {

301 public bool OriginalParametersVerified{get;init;}

302 public bool ForwardServoDomainVerified{get;init;}

303 public bool OrdinaryArrivalControllerVerified{get;init;}

304 public int OriginalBrakeScalingMode{get;init;}=-1;

305 public double RemainingDistanceMetres{get;init;}=double.NaN;

306 public double CurrentSpeedMetresPerSecond{get;init;}=double.NaN;

307 public double CurrentOrdinarySpeedLimitMetresPerSecond{get;init;}=double.NaN;

308 public double OriginalBaseMaximumSpeedMetresPerSecond{get;init;}=double.NaN;

309 public double OriginalBaseBrakeAcceleration{get;init;}=double.NaN;

310 public double OriginalResponseTimeSeconds{get;init;}=double.NaN;

311 public double OriginalJerkMetresPerSecondCubed{get;init;}=double.NaN;

312 public double OriginalForwardTargetBiasMetresPerSecond{get;init;}=double.NaN;

313 public double ForwardThrottle{get;init;}=double.NaN;

314 public double StopResponseSecondsUpper{get;init;}=double.NaN;

315 public double ActiveAccelerationUpper{get;init;}=double.NaN;

316 public double EstimatedCoolingAndAssistSettleSeconds{get;init;}=double.NaN;

317 public double MaximumPhysicsStepSeconds{get;init;}=double.NaN;

318 public double AdditionalResponseMarginSeconds{get;init;}=double.NaN;

319 public double MinimumOrdinaryHandoffSpeedMetresPerSecond{get;init;}=double.NaN;

320 public double OriginalArrivalWindowSeconds{get;init;}=double.NaN;

321 public double RelativeDistanceMargin{get;init;}=double.NaN;

322 public double DistanceUncertaintyMetres{get;init;}=double.NaN;

323 public double SafeDropDistanceMetres{get;init;}=double.NaN;

324 }

325 public sealed record ScoExitEstimate(bool Known,string Reason)

326 {

327 public bool Estimated=>true;

328 public bool QualifiedForControl=>false;

329 public bool CoolingDragUsed=>false;

330 public bool RequiresActualOrdinaryHandoff=>true;

331 public bool RemainingDistanceExceedsEstimate{get;init;}

332 public double EstimatedStopDistanceMetres{get;init;}=double.NaN;

333 public double NoBrakeTransitionDistanceMetres{get;init;}=double.NaN;

334 public double OverspeedBudgetDistanceMetres{get;init;}=double.NaN;

335 public double OrdinaryArrivalEnvelopeMetres{get;init;}=double.NaN;

336 public double MarginDistanceMetres{get;init;}=double.NaN;

337 public double OffBudgetInitialSpeedMetresPerSecond{get;init;}=double.NaN;

338 public double DecayRatePerSecond{get;init;}=double.NaN;

339 public double ServoDomainFloorMetresPerSecond{get;init;}=double.NaN;

340 public double JerkRampSeconds{get;init;}=double.NaN;

341 public double DomainFloorSeconds{get;init;}=double.NaN;

342 public double BudgetHandoffSeconds{get;init;}=double.NaN;

343 public double BudgetHandoffSpeedMetresPerSecond{get;init;}=double.NaN;

344 public double NoBrakeDelaySeconds{get;init;}=double.NaN;

345 public double AssistSettleDeadlineSeconds{get;init;}=double.NaN;

346 }

347 public sealed record ScoExitEstimateObservation

348 {

349 public bool FreshBindingAndSourceGatesVerified{get;init;}

350 public double ElapsedSeconds{get;init;}=double.NaN;

351 public double SpeedMetresPerSecond{get;init;}=double.NaN;

352 public double OrdinarySpeedLimitMetresPerSecond{get;init;}=double.NaN;

353 public double NativeStepSeconds{get;init;}=double.NaN;

354 public double FlightAssistBlend{get;init;}=double.NaN;

355 public int ScoState{get;init;}=-1;

356 public double AllowedSpeedResidualFraction{get;init;}=double.NaN;

357 public double AllowedSpeedResidualMetresPerSecond{get;init;}=double.NaN;

358 }

359 public sealed record ScoExitEstimateCheck(bool WithinEstimatedDomain,bool OrdinaryHandoffReady,string Reason)

360 {

361 public bool QualifiedForControl=>false;

362 }

363 public sealed record ScoServoParameters

364 {

365 public bool PinnedSourceDomainVerified{get;init;}

366 public double BaseMaximumSpeedMetresPerSecond{get;init;}=double.NaN;

367 public double BaseForwardAcceleration{get;init;}=double.NaN;

368 public double BaseBrakeAcceleration{get;init;}=double.NaN;

369 public double ResponseTimeSeconds{get;init;}=double.NaN;

370 public double JerkMetresPerSecondCubed{get;init;}=double.NaN;

371 public double ForwardTargetBiasMetresPerSecond{get;init;}=double.NaN;

372 public double ForwardThrottle{get;init;}=double.NaN;

373 }

374 public sealed record ScoServoStepInput

375 {

376 public double SpeedMetresPerSecond{get;init;}=double.NaN;

377 public double OrdinaryPhysicsMaximumSpeedMetresPerSecond{get;init;}=double.NaN;

378 public double PreviousServoAccelerationNorm{get;init;}=double.NaN;

379 public double FlightAssistBlend{get;init;}=double.NaN;

380 public bool Cooling{get;init;}

381 public double CoolingDragPerSecond{get;init;}=double.NaN;

382 public double NativeStepSeconds{get;init;}=double.NaN;

383 }

384 public sealed record ScoServoStepResult(bool Known,string Reason)

385 {

386 public bool QualifiedForControl=>false;

387 public double NextSpeedMetresPerSecond{get;init;}=double.NaN;

388 public double NextServoAccelerationNorm{get;init;}=double.NaN;

389 public double AppliedAcceleration{get;init;}=double.NaN;

390 public double NativeBrakeClampAcceleration{get;init;}=double.NaN;

391 public double TargetSpeedMetresPerSecond{get;init;}=double.NaN;

392 public double EffectiveResponseTimeSeconds{get;init;}=double.NaN;

393 public double ApproximateDistanceMetres{get;init;}=double.NaN;

394 }

Added XFEEDToolBox.Test/Fixtures/sco-exit-observed.json +1 -0

@@ -0,0 +1 @@

{"source":"passive-sco-j-61268-2/curve.jsonl","qualifiedForControl":false,"note":"Retrospective 16.24Hz sample; future cap supplied. J/bias from later same-ship pinned read; initial servo norm unobserved.","baseMaximumSpeed":599999971328,"baseBrake":89999998976,"baseForward":44999999488,"baseResponseTime":1,"laterObservedJerk":10000000000.0,"laterObservedBias":30000.0,"throttle":0.75,"columns":["seconds","speed","physicsCap","arrivalCap","blend","state","distance","brake","sparseNativeDt"],"frames":[[0.0,22455635968,4321355264,4323640320,0.4370463490486145,3,288924784780.145,7678374912,0.004827617201954126],[0.064,21880561664,4349941248,4352165888,0.465157687664032,3,287513078247.4162,7361007616,0.004834516905248165],[0.123,21320396800,4376584192,4378291200,0.4990660548210144,3,286219852608.0167,7058567680,0.0041904267854988575],[0.187,20729446400,4403280384,4405022720,0.5475240349769592,3,284897286007.8741,6746595328,0.004668420180678368],[0.247,20140449792,4428179456,4430077440,0.6304564476013184,3,283657071030.9366,6442914816,0.004522322211414576],[0.312,19414511616,4454369792,4456219648,1,3,282363098612.9711,6079779840,0.0040684291161596775],[0.373,18671611904,4477683200,4479257088,1,3,281221983485.43475,5719226880,0.004268725868314505],[0.435,17923782656,4500343808,4501880832,1,3,280101823421.52423,5365533696,0.00513271102681756],[0.498,17199431680,4522507264,4524391424,1,3,278986766046.2631,5031214080,0.004566221032291651],[0.561,16492150784,4544377344,4545649152,1,3,277934064954.30695,4712702464,0.004867115989327431],[0.626,15820173312,4565378560,4566507008,1,3,276900185263.559,4417430528,0.004869616124778986],[0.689,15185793024,4585404928,4586568704,1,3,275906201389.99524,4145325568,0.003793535055592656],[0.75,14611865600,4603699712,4604851200,1,3,275000125601.6411,3904777472,0.0040023308247327805],[0.814,14036283392,4622206464,4623202304,1,3,274090534413.41992,3668975104,0.003512839088216424],[0.875,13513663488,4639163904,4640267264,1,3,273244000766.16565,3459641344,0.0037254360504448414],[0.935,13033279488,4654883840,4656106496,1,3,272459120478.95023,3271277824,0.00401263078674674],[0.967,12787527680,4662964224,4664246784,1,3,272055403088.95544,3176436224,0.004724117927253246],[1.032,12302241792,4679039488,4680382464,1,0,271254828050.98453,2992190976,0.005044112913310528],[1.122,12031330304,4701560832,4702543360,1,0,270155790548.13034,2886959872,0.004875115118920803],[1.157,11929190400,4710140928,4711088128,1,0,269731822054.13666,2847677184,0.004148827865719795],[1.22,11752758272,4725059584,4726054400,1,0,268989013926.30743,2780336384,0.004113729111850262],[1.279,11586598912,4739232768,4740107264,1,0,268291971941.47534,2717510400,0.0034971400164067745],[1.343,11414718464,4754015232,4754937344,1,0,267555464664.03116,2653131776,0.0040813288651406765],[1.407,11244748800,4768771072,4769657344,1,0,266824754309.7738,2590076928,0.0037458359729498625],[1.47,11087448064,4782555648,4783501824,1,0,266137574901.11017,2532262144,0.004223926924169064],[1.529,10938345472,4795715072,4796816384,1,0,265476582677.41168,2477947136,0.003910833038389683],[1.594,10780327936,4809783296,4810728960,1,0,264785848571.48657,2420898048,0.004693218972533941],[1.654,10632247296,4823083008,4823861248,1,0,264133382907.02173,2367917056,0.00366913597099483],[1.72,10481291264,4836752384,4837662720,1,0,263448080168.45663,2314390016,0.004740619100630283],[1.781,10337564672,4849881088,4850731008,1,0,262798768043.75952,2263878400,0.003945432137697935],[1.842,10200025088,4862530048,4863344128,1,0,262172321794.67197,2215960320,0.003635937115177512],[1.905,10064481280,4875106304,4875979776,1,0,261544863047.70163,2169133568,0.003989730961620808],[1.971,9923308544,4888313856,4889103360,1,0,260892391214.29675,2120784256,0.004108828958123922],[2.03,9800919040,4899857408,4900850688,1,0,260308375962.13733,2079216640,0.004492922220379114],[2.095,9664405504,4912823808,4913552896,1,0,259677092657.54126,2033238784,0.0046523199416697025],[2.159,9543952384,4924352000,4925261312,1,0,259095172174.7267,1993008256,0.006000296212732792],[2.217,9423393792,4935975936,4936884224,1,0,258517491379.05832,1953060736,0.004899416118860245],[2.282,9292787712,4948661760,4949367296,1,0,257896644470.64493,1910145280,0.003818433964625001],[2.342,9178874880,4959816704,4960509952,1,0,257342892175.24518,1873020928,0.003416640916839242],[2.408,9058304000,4971710976,4972416512,1,0,256750506243.70624,1834039424,0.003951832186430693],[2.466,8955346944,4981942784,4982827008,1,0,256232937302.99207,1801007488,0.004495623055845499],[2.529,8841152512,4993380352,4994228736,1,0,255665662255.92932,1764644608,0.003872733097523451],[2.596,8726611968,5004924416,5005701632,1,0,255095033976.44464,1728466688,0.005127110984176397],[2.658,8627794944,5014961664,5015774208,1,0,254593542045.28403,1697489792,0.0046966178342700005],[2.723,8515586560,5026432000,5027292672,1,0,254020515635.83875,1662582528,0.005177410785108805],[2.78,8417136128,5036562944,5037435392,1,0,253515923398.86777,1632189824,0.004269925877451897],[2.841,8319663104,5046656512,5047660544,1,0,253006903282.50464,1602315520,0.004858516156673431],[2.905,8215367680,5057550336,5058327040,1,0,252476450322.74463,1570585856,0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Modified XFEEDToolBox.Test/ScoBrakingPredictorTests.cs +177 -0

@@ -1,11 +1,188 @@

1 1 using XFEEDToolBox.Core.Navigation;

2 2 using XFEExtension.NetCore.XUnit.Attributes;

3 using System.Text.Json;

3 4

4 5 namespace XFEEDToolBox.Test;

5 6

6 7 [TestFixture]

7 8 public sealed class ScoBrakingPredictorTests

8 9 {

10 private static ScoExitEstimateInput ExitInput=>new()

11 {

12 OriginalParametersVerified=true,ForwardServoDomainVerified=true,OrdinaryArrivalControllerVerified=true,

13 OriginalBrakeScalingMode=2,RemainingDistanceMetres=10000,CurrentSpeedMetresPerSecond=400,

14 CurrentOrdinarySpeedLimitMetresPerSecond=40,OriginalBaseMaximumSpeedMetresPerSecond=1000,

15 OriginalBaseBrakeAcceleration=150,OriginalResponseTimeSeconds=1,OriginalJerkMetresPerSecondCubed=100,

16 OriginalForwardTargetBiasMetresPerSecond=10,ForwardThrottle=.75,StopResponseSecondsUpper=0,

17 ActiveAccelerationUpper=0,EstimatedCoolingAndAssistSettleSeconds=1.5,MaximumPhysicsStepSeconds=.01,

18 AdditionalResponseMarginSeconds=.1,MinimumOrdinaryHandoffSpeedMetresPerSecond=5,

19 OriginalArrivalWindowSeconds=6,RelativeDistanceMargin=.01,DistanceUncertaintyMetres=2,SafeDropDistanceMetres=1

20 };

21 private static ScoServoParameters Servo=>new()

22 {

23 PinnedSourceDomainVerified=true,BaseMaximumSpeedMetresPerSecond=1000,BaseForwardAcceleration=75,

24 BaseBrakeAcceleration=150,ResponseTimeSeconds=1,JerkMetresPerSecondCubed=10000,

25 ForwardTargetBiasMetresPerSecond=10,ForwardThrottle=.75

26 };

27 private static ScoServoStepInput ServoStep=>new()

28 {

29 SpeedMetresPerSecond=400,OrdinaryPhysicsMaximumSpeedMetresPerSecond=40,PreviousServoAccelerationNorm=1000,

30 FlightAssistBlend=1,Cooling=false,CoolingDragPerSecond=.36,NativeStepSeconds=.01

31 };

32 [Test]public void EstimatedBudgetIsExplicitlyUnqualifiedAndGivesCoolingNoBrakeCredit()

33 {

34 var first=ScoBrakingPredictor.EstimateExit(ExitInput);

35 var longer=ScoBrakingPredictor.EstimateExit(ExitInput with{EstimatedCoolingAndAssistSettleSeconds=2});

        Check.That(first.Known&&first.Estimated&&!first.QualifiedForControl&&!first.CoolingDragUsed&&first.RequiresActualOrdinaryHandoff);

37 Check.That(Math.Abs(longer.EstimatedStopDistanceMetres-first.EstimatedStopDistanceMetres-200)<1e-9);

38 Check.That(first.EstimatedStopDistanceMetres<400*13);

        Check.That(!ScoBrakingPredictor.EstimateExit(ExitInput with{RemainingDistanceMetres=first.EstimatedStopDistanceMetres}).RemainingDistanceExceedsEstimate);

40 }

41 [Test]public void NativeModeTwoLowerLawDoesNotUseAnUnconditionalQuarterBrake()

42 {

43 var result=ScoBrakingPredictor.StepOriginalServo(Servo,ServoStep);

44 var clamp=150*.4*Math.Sqrt(.4/.04);

45 Check.That(result.Known&&!result.QualifiedForControl);

46 Check.That(Math.Abs(result.AppliedAcceleration+clamp)<1e-10);

47 Check.Equal(32.5d,result.TargetSpeedMetresPerSecond);

48 Check.Equal(.5d,result.EffectiveResponseTimeSeconds);

49 Check.That(Math.Abs(result.NextSpeedMetresPerSecond-(400-clamp*.01))<1e-10);

50 }

51 [Test]public void OriginalJerkRampsFromTheActualPriorNormPerPhysicsStep()

52 {

53 var parameters=Servo with{JerkMetresPerSecondCubed=100};

        var first=ScoBrakingPredictor.StepOriginalServo(parameters,ServoStep with{PreviousServoAccelerationNorm=0,NativeStepSeconds=.1});

        var next=ScoBrakingPredictor.StepOriginalServo(parameters,ServoStep with{PreviousServoAccelerationNorm=first.NextServoAccelerationNorm,SpeedMetresPerSecond=first.NextSpeedMetresPerSecond,NativeStepSeconds=.1});

56 Check.Equal(10d,first.NextServoAccelerationNorm);Check.Equal(399d,first.NextSpeedMetresPerSecond);

57 Check.Equal(20d,next.NextServoAccelerationNorm);Check.Equal(397d,next.NextSpeedMetresPerSecond);

58 }

59 [Test]public void CoolingLambdaIsNeitherMultipliedByBlendNorPresentWhenBlendIsZero()

60 {

61 var original=ScoBrakingPredictor.StepOriginalServo(Servo,ServoStep);

62 var mixed=ScoBrakingPredictor.StepOriginalServo(Servo,ServoStep with{FlightAssistBlend=.5,Cooling=true});

63 var zero=ScoBrakingPredictor.StepOriginalServo(Servo,ServoStep with{FlightAssistBlend=0,Cooling=true});

64 Check.That(Math.Abs(mixed.AppliedAcceleration-(original.AppliedAcceleration*.5-.36*400))<1e-10);

65 Check.Equal(0d,zero.AppliedAcceleration);Check.Equal(400d,zero.NextSpeedMetresPerSecond);

66 }

67 [Test]public void BudgetMaximisesOverHandoffsAndStopsTheOverspeedDomainAtItsFloor()

68 {

69 foreach(var window in new[]{2d,6d,10d})

70 {

71 var value=ExitInput with{OriginalArrivalWindowSeconds=window};

72 var result=ScoBrakingPredictor.EstimateExit(value);Check.That(result.Known);

73 // Independent small-step lower-law integration; no predictor roots

74 // or path primitive are reused. Evaluate every possible handoff.

75 var v=value.CurrentSpeedMetresPerSecond;var distance=0d;var t=0d;var maximum=window*v;

76 const double dt=.0001;

77 while(v>result.ServoDomainFloorMetresPerSecond)

78 {

79 var a=Math.Min(result.DecayRatePerSecond*v,value.OriginalJerkMetresPerSecondCubed*t);

80 var next=Math.Max(result.ServoDomainFloorMetresPerSecond,v-a*dt);

81 distance+=(v+next)*.5*dt;t+=dt;v=next;

82 maximum=Math.Max(maximum,distance+window*v);

83 }

84 var analytic=result.OverspeedBudgetDistanceMetres+result.OrdinaryArrivalEnvelopeMetres;

85 Check.That(Math.Abs(analytic-maximum)<.03);

86 Check.That(result.BudgetHandoffSpeedMetresPerSecond>=result.ServoDomainFloorMetresPerSecond-1e-9);

87 Check.That(result.BudgetHandoffSeconds<=result.DomainFloorSeconds);

88 }

89 }

90 [Test]public void BiasFloorAndServoLimitedRateAreDerivedRatherThanFitted()

91 {

92 var original=ScoBrakingPredictor.EstimateExit(ExitInput);Check.That(original.Known);

93 Check.That(Math.Abs(original.DecayRatePerSecond-.15)<1e-12);

94 Check.That(Math.Abs(original.ServoDomainFloorMetresPerSecond-25)<1e-12);

95 var stronger=ScoBrakingPredictor.EstimateExit(ExitInput with{OriginalBaseBrakeAcceleration=500});

        Check.That(stronger.Known);Check.Equal(.125d,stronger.DecayRatePerSecond);Check.Equal(20d,stronger.ServoDomainFloorMetresPerSecond);

97 }

98 [Test]public void MissingExitSourceGatesAndInvalidParametersNeverAuthoriseAnEstimate()

99 {

100

        foreach(var input in new[]{ExitInput with{OriginalParametersVerified=false},ExitInput with{ForwardServoDomainVerified=false},

101 ExitInput with{OrdinaryArrivalControllerVerified=false},ExitInput with{OriginalBrakeScalingMode=1},

102

            ExitInput with{CurrentSpeedMetresPerSecond=1000},ExitInput with{CurrentOrdinarySpeedLimitMetresPerSecond=400},

103 ExitInput with{OriginalJerkMetresPerSecondCubed=double.NaN},

104 ExitInput with{CurrentOrdinarySpeedLimitMetresPerSecond=1},ExitInput with{ForwardThrottle=1},

105 ExitInput with{EstimatedCoolingAndAssistSettleSeconds=double.PositiveInfinity}})

106 {

107 var result=ScoBrakingPredictor.EstimateExit(input);

108 Check.That(!result.Known&&!result.QualifiedForControl&&!result.RemainingDistanceExceedsEstimate);

109 }

110

        Check.That(!ScoBrakingPredictor.StepOriginalServo(Servo with{PinnedSourceDomainVerified=false},ServoStep).Known);

111

        Check.That(!ScoBrakingPredictor.StepOriginalServo(Servo,ServoStep with{SpeedMetresPerSecond=20,FlightAssistBlend=.5}).Known);

112 }

113 private static ScoExitEstimateObservation Observation=>new()

114 {

115

        FreshBindingAndSourceGatesVerified=true,ElapsedSeconds=2,SpeedMetresPerSecond=350,OrdinarySpeedLimitMetresPerSecond=40,

116

        NativeStepSeconds=.005,FlightAssistBlend=1,ScoState=0,AllowedSpeedResidualFraction=0,AllowedSpeedResidualMetresPerSecond=0

117 };

118 [Test]public void ActualOrdinaryHandoffEndsTheModelEvenWhenTheCapHasRisen()

119 {

120 var forecast=ScoBrakingPredictor.EstimateExit(ExitInput);

121

        var check=ScoBrakingPredictor.CheckExitEstimate(ExitInput,forecast,Observation with{SpeedMetresPerSecond=100,OrdinarySpeedLimitMetresPerSecond=110});

122 Check.That(check.WithinEstimatedDomain&&check.OrdinaryHandoffReady&&!check.QualifiedForControl);

123 Check.Equal("actual-ordinary-cap-handoff",check.Reason);

124 }

125 [Test]public void SettleDeadlineIdentityDomainAndBrakeResidualAreOnlineFallbackReasons()

126 {

127 var forecast=ScoBrakingPredictor.EstimateExit(ExitInput);

128 foreach(var observation in new[]{Observation with{FreshBindingAndSourceGatesVerified=false},

129 Observation with{ScoState=3},Observation with{FlightAssistBlend=.9},Observation with{NativeStepSeconds=.02},

130 Observation with{ElapsedSeconds=5,SpeedMetresPerSecond=400},

131

            Observation with{OrdinarySpeedLimitMetresPerSecond=20},Observation with{OrdinarySpeedLimitMetresPerSecond=1001},

132 Observation with{ElapsedSeconds=1000}})

133 {

134 var check=ScoBrakingPredictor.CheckExitEstimate(ExitInput,forecast,observation);

135 Check.That(!check.WithinEstimatedDomain&&!check.OrdinaryHandoffReady);

136 }

137 }

138 [Test]public void RecordedCurveKeepsSparsePhysicsStepsSeparateFromElapsedTime()

139 {

140

        using var doc=ReadExitFixture();var frames=doc.RootElement.GetProperty("frames").EnumerateArray().Select(x=>x.EnumerateArray().Select(v=>v.GetDouble()).ToArray()).ToArray();

141 const double c=299792458;var integral=0d;

142 for(var i=1;i<frames.Length;i++)integral+=(frames[i-1][1]+frames[i][1])*.5*(frames[i][0]-frames[i-1][0]);

143 var actual=frames[0][6]-frames[^1][6];

144 Check.Equal(130,frames.Length);Check.That(Math.Abs((frames[^1][0]-frames[0][0])-7.935)<1e-9);

145 Check.That(frames.Sum(x=>x[8])<1); // NOT 7.935 seconds of simulated history.

146 Check.That(Math.Abs(integral-actual)/actual<.002);

147 Check.That(Math.Abs(actual/c-215.34685571495913)<1e-9);

148 Check.That(!doc.RootElement.GetProperty("qualifiedForControl").GetBoolean());

149 }

150 [Test]public void OriginalScalarOffReplayAgreesWithTheIndependentObservedCurveWithinItsStatedLimits()

151 {

152 using var doc=ReadExitFixture();var root=doc.RootElement;

153

        var frames=root.GetProperty("frames").EnumerateArray().Select(x=>x.EnumerateArray().Select(v=>v.GetDouble()).ToArray()).ToArray();

154 var first=Array.FindIndex(frames,x=>x[5]==0);const double c=299792458;

155 var parameters=new ScoServoParameters

156 {

157

            PinnedSourceDomainVerified=true,BaseMaximumSpeedMetresPerSecond=root.GetProperty("baseMaximumSpeed").GetDouble(),

158

            BaseBrakeAcceleration=root.GetProperty("baseBrake").GetDouble(),BaseForwardAcceleration=root.GetProperty("baseForward").GetDouble(),

159

            ResponseTimeSeconds=root.GetProperty("baseResponseTime").GetDouble(),JerkMetresPerSecondCubed=root.GetProperty("laterObservedJerk").GetDouble(),

160

            ForwardTargetBiasMetresPerSecond=root.GetProperty("laterObservedBias").GetDouble(),ForwardThrottle=root.GetProperty("throttle").GetDouble()

161 };

162 // Supplied FUTURE cap, and an initially saturated servo norm hypothesis.

163 // These are a retrospective source-equation check, not live calibration.

164 var speed=frames[first][1];var norm=frames[first][7];var distance=0d;var error=0d;

165 for(var i=first+1;i<frames.Length;i++)

166 {

167 var left=frames[i-1];var right=frames[i];var t=left[0];

168 while(t<right[0]-1e-12)

169 {

170 var dt=Math.Min(.001,right[0]-t);var fraction=(t+.5*dt-left[0])/(right[0]-left[0]);

171 var result=ScoBrakingPredictor.StepOriginalServo(parameters,new()

172 {

173

                    SpeedMetresPerSecond=speed,PreviousServoAccelerationNorm=norm,NativeStepSeconds=dt,FlightAssistBlend=1,

174

                    OrdinaryPhysicsMaximumSpeedMetresPerSecond=left[2]+(right[2]-left[2])*fraction,Cooling=false,CoolingDragPerSecond=0

175 });

176 Check.That(result.Known);speed=result.NextSpeedMetresPerSecond;norm=result.NextServoAccelerationNorm;

177 distance+=result.ApproximateDistanceMetres;t+=dt;

178 }

179 error=Math.Max(error,Math.Abs(speed-right[1]));

180 }

181 var actual=frames[first][6]-frames[^1][6];

182 Check.That(error/c<.05);Check.That(Math.Abs(distance-actual)/actual<.003);

183 Check.That(Math.Abs(speed-frames[^1][1])/c<.005);

184 }

185

    private static JsonDocument ReadExitFixture()=>JsonDocument.Parse(File.ReadAllText(Path.Combine(AppContext.BaseDirectory,"Fixtures","sco-exit-observed.json")));

9 186 // Isolated mathematical fixture, not a claimed calibration of any live ship.

10 187 private static ScoBrakingInput Input=>new()

11 188 {