sprint-0: foundations -- data model, seed library, tests, demo

Initial commit. Delivers what the brief calls 'Sprint 0 - Foundations'
(see docs/AR_Autopilot_brief.md section 12):

- Complete repository structure (arautopilot package + firmware, display,
  installer, tools placeholders + docs).
- Core data model (Pydantic v2): modes, alarms, actuator config, PID
  config + gain scheduling, vessel config, knob state machine, project
  config with YAML/JSON serialisation.
- Seed library: 2 actuator profiles (hydraulic & electric DC reversible)
  and 2 default tunings (yacht motor planeo 30 m and 40 m). Conservative
  literature values, NOT the integrator's production tuning IP.
- Firmware skeleton: only src/hal/pinout.h with the 21 I/O contract for
  the AR-NMEA-IO v1.0 board. No drivers, no main loop.
- Studio stubs (real PySide6 app starts in Sprint 4).
- pytest suite (80 tests, all green): modes, alarms, actuator, PID
  (incl. gain interpolation and the +/-50% adaptive bound from brief
  section 6), vessel, knob state, project config, library loader,
  end-to-end roundtrip.
- examples/sprint0_demo.py - the acceptance demo from the brief.

Acceptance criteria met:
- pytest green (80/80)
- demo creates, saves (YAML + JSON), reloads, and verifies a full
  ProjectConfig using the seed library
- repository ready for tag `sprint-0-approved`

See CHANGELOG.md for the detailed scope.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

arautopilot/tests/test_vessel_config.py

@@ -0,0 +1,87 @@
+"""Tests for ``arautopilot.core.vessel_config``."""
+
+from __future__ import annotations
+
+import pytest
+from pydantic import ValidationError
+
+from arautopilot.core.actuator_config import ActuatorConfig, ActuatorType
+from arautopilot.core.pid_config import PidConfig, PidGains
+from arautopilot.core.vessel_config import VesselConfig, VesselType
+
+
+def _pid() -> PidConfig:
+    return PidConfig(
+        inner_loop_base=PidGains(kp=2.0),
+        outer_loop_base=PidGains(kp=1.0),
+    )
+
+
+def test_vessel_composes_actuator_and_pid() -> None:
+    v = VesselConfig(
+        name="Test 30",
+        type=VesselType.YACHT_MOTOR_PLANEO,
+        length_m=30.0,
+        max_speed_kn=28.0,
+        actuator=ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE),
+        pid=_pid(),
+    )
+    assert v.actuator.type is ActuatorType.HYDRAULIC_REVERSIBLE
+    assert v.pid.inner_loop_base.kp == pytest.approx(2.0)
+    assert isinstance(v.vessel_id, str) and len(v.vessel_id) > 0
+
+
+def test_vessel_id_is_unique_across_instances() -> None:
+    v1 = VesselConfig(
+        name="A",
+        type=VesselType.YACHT_MOTOR_PLANEO,
+        length_m=30.0,
+        max_speed_kn=20.0,
+        actuator=ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE),
+        pid=_pid(),
+    )
+    v2 = VesselConfig(
+        name="B",
+        type=VesselType.YACHT_MOTOR_PLANEO,
+        length_m=30.0,
+        max_speed_kn=20.0,
+        actuator=ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE),
+        pid=_pid(),
+    )
+    assert v1.vessel_id != v2.vessel_id
+
+
+def test_rejects_zero_length() -> None:
+    with pytest.raises(ValidationError):
+        VesselConfig(
+            name="X",
+            type=VesselType.YACHT_MOTOR_PLANEO,
+            length_m=0.0,
+            max_speed_kn=20.0,
+            actuator=ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE),
+            pid=_pid(),
+        )
+
+
+def test_rejects_blank_name() -> None:
+    with pytest.raises(ValidationError):
+        VesselConfig(
+            name="",
+            type=VesselType.YACHT_MOTOR_PLANEO,
+            length_m=30.0,
+            max_speed_kn=20.0,
+            actuator=ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE),
+            pid=_pid(),
+        )
+
+
+def test_vessel_type_covers_brief_categories() -> None:
+    expected = {
+        "yacht_motor_planeo",
+        "yacht_motor_desplazamiento",
+        "sailboat_motor",
+        "fishing_boat",
+        "small_ferry",
+        "patrol_boat",
+    }
+    assert {t.value for t in VesselType} == expected