600 lines
20 KiB
Rust
600 lines
20 KiB
Rust
//! Residual embedding for One-Shot inverse control.
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//!
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//! This module implements the core innovation of Epic 5: embedding constraints
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//! directly into the residual system for simultaneous solving with cycle equations.
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//!
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//! # Mathematical Foundation
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//!
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//! In One-Shot inverse control, constraints are added to the residual vector:
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//!
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//! $$r_{total} = [r_{cycle}, r_{constraints}]^T$$
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//!
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//! where:
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//! - $r_{cycle}$ are the component residual equations
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//! - $r_{constraints}$ are constraint residuals: $f(x) - y_{target}$
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//!
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//! The solver adjusts both edge states AND control variables simultaneously
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//! to satisfy all equations.
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//!
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//! # Degrees of Freedom (DoF) Validation
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//!
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//! For a well-posed system:
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//!
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//! $$n_{equations} = n_{edge\_eqs} + n_{constraints}$$
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//! $$n_{unknowns} = n_{edge\_unknowns} + n_{controls}$$
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//!
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//! The system is balanced when: $n_{equations} = n_{unknowns}$
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//!
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//! # Example
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//!
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//! ```rust,ignore
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//! use entropyk_solver::inverse::{Constraint, ConstraintId, ComponentOutput};
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//! use entropyk_solver::inverse::{BoundedVariable, BoundedVariableId};
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//!
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//! // Define constraint: superheat = 5K
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//! let constraint = Constraint::new(
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//! ConstraintId::new("superheat_control"),
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//! ComponentOutput::Superheat { component_id: "evaporator".into() },
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//! 5.0,
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//! );
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//!
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//! // Define control variable: valve position
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//! let valve = BoundedVariable::new(
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//! BoundedVariableId::new("expansion_valve"),
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//! 0.5, 0.0, 1.0,
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//! )?;
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//!
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//! // Link constraint to control for One-Shot solving
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//! system.add_constraint(constraint)?;
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//! system.add_bounded_variable(valve)?;
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//! system.link_constraint_to_control(
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//! &ConstraintId::new("superheat_control"),
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//! &BoundedVariableId::new("expansion_valve"),
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//! )?;
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//!
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//! // Validate DoF before solving
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//! system.validate_inverse_control_dof()?;
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//! ```
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use std::collections::HashMap;
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use thiserror::Error;
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use super::{BoundedVariableId, ConstraintId};
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// ─────────────────────────────────────────────────────────────────────────────
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// DoFError - Degrees of Freedom Validation Errors
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// ─────────────────────────────────────────────────────────────────────────────
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/// Errors during degrees of freedom validation for inverse control.
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#[derive(Error, Debug, Clone, PartialEq)]
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pub enum DoFError {
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/// The system has more constraints than control variables.
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#[error(
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"Over-constrained system: {constraint_count} constraints but only {control_count} control variables \
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(equations: {equation_count}, unknowns: {unknown_count})"
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)]
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OverConstrainedSystem {
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constraint_count: usize,
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control_count: usize,
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equation_count: usize,
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unknown_count: usize,
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},
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/// The system has fewer constraints than control variables (may still converge).
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#[error(
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"Under-constrained system: {constraint_count} constraints for {control_count} control variables \
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(equations: {equation_count}, unknowns: {unknown_count})"
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)]
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UnderConstrainedSystem {
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constraint_count: usize,
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control_count: usize,
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equation_count: usize,
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unknown_count: usize,
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},
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/// The referenced constraint does not exist.
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#[error("Constraint '{constraint_id}' not found when linking to control")]
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ConstraintNotFound { constraint_id: ConstraintId },
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/// The referenced bounded variable does not exist.
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#[error("Bounded variable '{bounded_variable_id}' not found when linking to constraint")]
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BoundedVariableNotFound {
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bounded_variable_id: BoundedVariableId,
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},
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/// The constraint is already linked to a control variable.
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#[error("Constraint '{constraint_id}' is already linked to control '{existing}'")]
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AlreadyLinked {
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constraint_id: ConstraintId,
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existing: BoundedVariableId,
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},
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/// The control variable is already linked to another constraint.
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#[error(
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"Control variable '{bounded_variable_id}' is already linked to constraint '{existing}'"
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)]
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ControlAlreadyLinked {
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bounded_variable_id: BoundedVariableId,
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existing: ConstraintId,
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},
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}
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// ─────────────────────────────────────────────────────────────────────────────
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// ControlMapping - Constraint → Control Variable Mapping
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// ─────────────────────────────────────────────────────────────────────────────
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/// A mapping from a constraint to its control variable.
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///
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/// This establishes the relationship needed for One-Shot solving where
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/// the solver adjusts the control variable to satisfy the constraint.
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#[derive(Debug, Clone, PartialEq)]
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pub struct ControlMapping {
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/// The constraint to satisfy.
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pub constraint_id: ConstraintId,
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/// The control variable to adjust.
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pub bounded_variable_id: BoundedVariableId,
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/// Whether this mapping is active.
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pub enabled: bool,
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}
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impl ControlMapping {
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/// Creates a new control mapping.
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pub fn new(constraint_id: ConstraintId, bounded_variable_id: BoundedVariableId) -> Self {
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ControlMapping {
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constraint_id,
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bounded_variable_id,
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enabled: true,
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}
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}
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/// Creates a disabled mapping.
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pub fn disabled(constraint_id: ConstraintId, bounded_variable_id: BoundedVariableId) -> Self {
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ControlMapping {
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constraint_id,
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bounded_variable_id,
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enabled: false,
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}
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}
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/// Enables this mapping.
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pub fn enable(&mut self) {
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self.enabled = true;
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}
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/// Disables this mapping.
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pub fn disable(&mut self) {
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self.enabled = false;
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}
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}
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// ─────────────────────────────────────────────────────────────────────────────
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// InverseControlConfig - Configuration for Inverse Control
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// ─────────────────────────────────────────────────────────────────────────────
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/// Configuration for One-Shot inverse control.
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///
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/// Manages constraint-to-control-variable mappings for embedding constraints
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/// into the residual system.
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#[derive(Debug, Clone)]
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pub struct InverseControlConfig {
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/// Mapping from constraint ID to control variable ID.
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constraint_to_control: HashMap<ConstraintId, BoundedVariableId>,
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/// Mapping from control variable ID to constraint ID (reverse lookup).
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control_to_constraint: HashMap<BoundedVariableId, ConstraintId>,
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/// Whether inverse control is enabled globally.
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enabled: bool,
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/// Finite difference epsilon for numerical Jacobian computation.
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/// Default is 1e-6, which balances numerical precision against floating-point rounding errors.
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finite_diff_epsilon: f64,
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}
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impl Default for InverseControlConfig {
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fn default() -> Self {
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Self::new()
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}
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}
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impl InverseControlConfig {
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/// Default finite difference epsilon for numerical Jacobian computation.
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pub const DEFAULT_FINITE_DIFF_EPSILON: f64 = 1e-6;
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/// Creates a new empty inverse control configuration.
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pub fn new() -> Self {
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InverseControlConfig {
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constraint_to_control: HashMap::new(),
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control_to_constraint: HashMap::new(),
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enabled: true,
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finite_diff_epsilon: Self::DEFAULT_FINITE_DIFF_EPSILON,
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}
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}
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/// Creates a disabled configuration.
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pub fn disabled() -> Self {
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InverseControlConfig {
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constraint_to_control: HashMap::new(),
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control_to_constraint: HashMap::new(),
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enabled: false,
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finite_diff_epsilon: Self::DEFAULT_FINITE_DIFF_EPSILON,
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}
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}
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/// Returns the finite difference epsilon used for numerical Jacobian computation.
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pub fn finite_diff_epsilon(&self) -> f64 {
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self.finite_diff_epsilon
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}
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/// Sets the finite difference epsilon for numerical Jacobian computation.
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///
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/// # Panics
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///
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/// Panics if epsilon is non-positive.
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pub fn set_finite_diff_epsilon(&mut self, epsilon: f64) {
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assert!(epsilon > 0.0, "Finite difference epsilon must be positive");
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self.finite_diff_epsilon = epsilon;
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}
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/// Returns whether inverse control is enabled.
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pub fn is_enabled(&self) -> bool {
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self.enabled
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}
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/// Enables inverse control.
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pub fn enable(&mut self) {
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self.enabled = true;
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}
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/// Disables inverse control.
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pub fn disable(&mut self) {
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self.enabled = false;
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}
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/// Returns the number of constraint-control mappings.
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pub fn mapping_count(&self) -> usize {
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self.constraint_to_control.len()
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}
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/// Links a constraint to a control variable.
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///
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/// # Errors
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///
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/// Returns `DoFError::AlreadyLinked` if the constraint is already linked.
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/// Returns `DoFError::ControlAlreadyLinked` if the control is already linked.
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pub fn link(
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&mut self,
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constraint_id: ConstraintId,
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bounded_variable_id: BoundedVariableId,
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) -> Result<(), DoFError> {
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if let Some(existing) = self.constraint_to_control.get(&constraint_id) {
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return Err(DoFError::AlreadyLinked {
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constraint_id,
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existing: existing.clone(),
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});
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}
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if let Some(existing) = self.control_to_constraint.get(&bounded_variable_id) {
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return Err(DoFError::ControlAlreadyLinked {
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bounded_variable_id,
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existing: existing.clone(),
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});
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}
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self.constraint_to_control
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.insert(constraint_id.clone(), bounded_variable_id.clone());
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self.control_to_constraint
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.insert(bounded_variable_id, constraint_id);
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Ok(())
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}
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/// Unlinks a constraint from its control variable.
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///
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/// Returns the bounded variable ID that was linked, or `None` if not linked.
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pub fn unlink_constraint(&mut self, constraint_id: &ConstraintId) -> Option<BoundedVariableId> {
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if let Some(bounded_var_id) = self.constraint_to_control.remove(constraint_id) {
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self.control_to_constraint.remove(&bounded_var_id);
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Some(bounded_var_id)
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} else {
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None
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}
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}
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/// Unlinks a control variable from its constraint.
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///
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/// Returns the constraint ID that was linked, or `None` if not linked.
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pub fn unlink_control(
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&mut self,
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bounded_variable_id: &BoundedVariableId,
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) -> Option<ConstraintId> {
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if let Some(constraint_id) = self.control_to_constraint.remove(bounded_variable_id) {
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self.constraint_to_control.remove(&constraint_id);
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Some(constraint_id)
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} else {
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None
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}
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}
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/// Returns the control variable linked to a constraint.
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pub fn get_control(&self, constraint_id: &ConstraintId) -> Option<&BoundedVariableId> {
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self.constraint_to_control.get(constraint_id)
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}
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/// Returns the constraint linked to a control variable.
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pub fn get_constraint(&self, bounded_variable_id: &BoundedVariableId) -> Option<&ConstraintId> {
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self.control_to_constraint.get(bounded_variable_id)
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}
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/// Returns an iterator over all constraint-to-control mappings.
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pub fn mappings(&self) -> impl Iterator<Item = (&ConstraintId, &BoundedVariableId)> {
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self.constraint_to_control.iter()
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}
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/// Returns an iterator over linked constraint IDs.
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pub fn linked_constraints(&self) -> impl Iterator<Item = &ConstraintId> {
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self.constraint_to_control.keys()
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}
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/// Returns an iterator over linked control variable IDs.
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pub fn linked_controls(&self) -> impl Iterator<Item = &BoundedVariableId> {
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self.control_to_constraint.keys()
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}
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/// Checks if a constraint is linked.
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pub fn is_constraint_linked(&self, constraint_id: &ConstraintId) -> bool {
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self.constraint_to_control.contains_key(constraint_id)
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}
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/// Checks if a control variable is linked.
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pub fn is_control_linked(&self, bounded_variable_id: &BoundedVariableId) -> bool {
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self.control_to_constraint.contains_key(bounded_variable_id)
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}
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/// Clears all mappings.
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pub fn clear(&mut self) {
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self.constraint_to_control.clear();
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self.control_to_constraint.clear();
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}
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}
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// ─────────────────────────────────────────────────────────────────────────────
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// Tests
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// ─────────────────────────────────────────────────────────────────────────────
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#[cfg(test)]
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mod tests {
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use super::*;
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fn make_constraint_id(s: &str) -> ConstraintId {
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ConstraintId::new(s)
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}
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fn make_bounded_var_id(s: &str) -> BoundedVariableId {
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BoundedVariableId::new(s)
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}
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#[test]
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fn test_dof_error_display() {
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let err = DoFError::OverConstrainedSystem {
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constraint_count: 3,
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control_count: 1,
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equation_count: 10,
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unknown_count: 8,
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};
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let msg = err.to_string();
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assert!(msg.contains("3"));
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assert!(msg.contains("1"));
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assert!(msg.contains("10"));
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assert!(msg.contains("8"));
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assert!(msg.contains("Over-constrained"));
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}
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#[test]
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fn test_dof_error_constraint_not_found() {
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let err = DoFError::ConstraintNotFound {
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constraint_id: make_constraint_id("test"),
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};
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assert!(err.to_string().contains("test"));
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}
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#[test]
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fn test_dof_error_already_linked() {
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let err = DoFError::AlreadyLinked {
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constraint_id: make_constraint_id("c1"),
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existing: make_bounded_var_id("v1"),
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};
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let msg = err.to_string();
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assert!(msg.contains("c1"));
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assert!(msg.contains("v1"));
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}
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#[test]
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fn test_control_mapping_creation() {
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let mapping = ControlMapping::new(
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make_constraint_id("superheat"),
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make_bounded_var_id("valve"),
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);
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assert_eq!(mapping.constraint_id.as_str(), "superheat");
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assert_eq!(mapping.bounded_variable_id.as_str(), "valve");
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assert!(mapping.enabled);
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}
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#[test]
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fn test_control_mapping_disabled() {
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let mapping = ControlMapping::disabled(
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make_constraint_id("superheat"),
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make_bounded_var_id("valve"),
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);
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assert!(!mapping.enabled);
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}
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#[test]
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fn test_control_mapping_enable_disable() {
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let mut mapping = ControlMapping::new(make_constraint_id("c"), make_bounded_var_id("v"));
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mapping.disable();
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assert!(!mapping.enabled);
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mapping.enable();
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assert!(mapping.enabled);
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}
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#[test]
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fn test_inverse_control_config_new() {
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let config = InverseControlConfig::new();
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assert!(config.is_enabled());
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assert_eq!(config.mapping_count(), 0);
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}
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#[test]
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fn test_inverse_control_config_disabled() {
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let config = InverseControlConfig::disabled();
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assert!(!config.is_enabled());
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}
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#[test]
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fn test_inverse_control_config_enable_disable() {
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let mut config = InverseControlConfig::new();
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config.disable();
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assert!(!config.is_enabled());
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config.enable();
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assert!(config.is_enabled());
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}
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#[test]
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fn test_inverse_control_config_link() {
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let mut config = InverseControlConfig::new();
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let result = config.link(make_constraint_id("c1"), make_bounded_var_id("v1"));
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assert!(result.is_ok());
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assert_eq!(config.mapping_count(), 1);
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let control = config.get_control(&make_constraint_id("c1"));
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assert!(control.is_some());
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assert_eq!(control.unwrap().as_str(), "v1");
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let constraint = config.get_constraint(&make_bounded_var_id("v1"));
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assert!(constraint.is_some());
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assert_eq!(constraint.unwrap().as_str(), "c1");
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}
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#[test]
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fn test_inverse_control_config_link_already_linked_constraint() {
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let mut config = InverseControlConfig::new();
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config
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.link(make_constraint_id("c1"), make_bounded_var_id("v1"))
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.unwrap();
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let result = config.link(make_constraint_id("c1"), make_bounded_var_id("v2"));
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assert!(matches!(result, Err(DoFError::AlreadyLinked { .. })));
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if let Err(DoFError::AlreadyLinked {
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constraint_id,
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existing,
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}) = result
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{
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assert_eq!(constraint_id.as_str(), "c1");
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assert_eq!(existing.as_str(), "v1");
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}
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}
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#[test]
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fn test_inverse_control_config_link_already_linked_control() {
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let mut config = InverseControlConfig::new();
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config
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.link(make_constraint_id("c1"), make_bounded_var_id("v1"))
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.unwrap();
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let result = config.link(make_constraint_id("c2"), make_bounded_var_id("v1"));
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assert!(matches!(result, Err(DoFError::ControlAlreadyLinked { .. })));
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if let Err(DoFError::ControlAlreadyLinked {
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bounded_variable_id,
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existing,
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}) = result
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{
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assert_eq!(bounded_variable_id.as_str(), "v1");
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assert_eq!(existing.as_str(), "c1");
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}
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}
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#[test]
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fn test_inverse_control_config_unlink_constraint() {
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let mut config = InverseControlConfig::new();
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config
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.link(make_constraint_id("c1"), make_bounded_var_id("v1"))
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.unwrap();
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let removed = config.unlink_constraint(&make_constraint_id("c1"));
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assert!(removed.is_some());
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assert_eq!(removed.unwrap().as_str(), "v1");
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assert_eq!(config.mapping_count(), 0);
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let removed_again = config.unlink_constraint(&make_constraint_id("c1"));
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assert!(removed_again.is_none());
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}
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#[test]
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fn test_inverse_control_config_unlink_control() {
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let mut config = InverseControlConfig::new();
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|
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config
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.link(make_constraint_id("c1"), make_bounded_var_id("v1"))
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.unwrap();
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let removed = config.unlink_control(&make_bounded_var_id("v1"));
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assert!(removed.is_some());
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assert_eq!(removed.unwrap().as_str(), "c1");
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assert_eq!(config.mapping_count(), 0);
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}
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|
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#[test]
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fn test_inverse_control_config_is_linked() {
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let mut config = InverseControlConfig::new();
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|
|
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assert!(!config.is_constraint_linked(&make_constraint_id("c1")));
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assert!(!config.is_control_linked(&make_bounded_var_id("v1")));
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|
|
|
config
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.link(make_constraint_id("c1"), make_bounded_var_id("v1"))
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.unwrap();
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|
|
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assert!(config.is_constraint_linked(&make_constraint_id("c1")));
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assert!(config.is_control_linked(&make_bounded_var_id("v1")));
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}
|
|
|
|
#[test]
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|
fn test_inverse_control_config_mappings_iterator() {
|
|
let mut config = InverseControlConfig::new();
|
|
|
|
config
|
|
.link(make_constraint_id("c1"), make_bounded_var_id("v1"))
|
|
.unwrap();
|
|
config
|
|
.link(make_constraint_id("c2"), make_bounded_var_id("v2"))
|
|
.unwrap();
|
|
|
|
let mappings: Vec<_> = config.mappings().collect();
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|
assert_eq!(mappings.len(), 2);
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|
}
|
|
|
|
#[test]
|
|
fn test_inverse_control_config_clear() {
|
|
let mut config = InverseControlConfig::new();
|
|
|
|
config
|
|
.link(make_constraint_id("c1"), make_bounded_var_id("v1"))
|
|
.unwrap();
|
|
config
|
|
.link(make_constraint_id("c2"), make_bounded_var_id("v2"))
|
|
.unwrap();
|
|
|
|
config.clear();
|
|
assert_eq!(config.mapping_count(), 0);
|
|
}
|
|
}
|