sprint-4: Project Editor + .appack compiler + IRudderActuator HAL + dual sensor config
Cherry-pick of ab28cb7 onto main (was missing from main branch history). Python: - arautopilot/core/sensor_config.py: RudderSensorConfig + DualRudderSensorConfig (AS5048A SPI / potentiometer, dual with cross-validation thresholds) - arautopilot/core/vessel_config.py: add sensors: DualRudderSensorConfig field - arautopilot/studio/compiler/appack.py: .appack compiler (ZIP with manifest.json + project.yaml + firmware_config.h + install_notes.txt) - arautopilot/studio/editors/project_editor.py: full project config editor (vessel / actuator / sensors / PID, RBAC-gated fields, save/load .yaml/.json) - arautopilot/studio/main_window.py: wire ProjectEditorWidget into Project tab - tests: test_sensor_config.py (11 tests) + test_appack_compiler.py (10 tests) Firmware: - hal/rudder_actuator_iface.h: IRudderActuator abstract interface - hal/rudder_actuator_hydraulic.h: reversible hydraulic pump (LEDC PWM) - hal/rudder_actuator_electric.h: reversible DC motor + deadband compensation - hal/rudder_actuator_factory.h: build-time type selection via AR_ACTUATOR_TYPE Tests: 483 passed (was 462, +21 Sprint 4) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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"""AR-Autopilot deployment package compiler — Sprint 4.
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An ``.appack`` is a ZIP archive that contains everything needed to deploy
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a configured autopilot to a vessel:
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<project_id>/
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├── manifest.json — metadata, checksums, schema version
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├── project.yaml — full ProjectConfig (human-readable)
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├── firmware_config.h — generated C header consumed by the firmware build
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└── install_notes.txt — human summary for the field engineer
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The format is intentionally transparent (plain ZIP, readable YAML/JSON/C)
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so that a field engineer can inspect the package contents without special tools.
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Typical workflow
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----------------
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1. Integrator configures a ``ProjectConfig`` in the Studio (Project tab).
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2. Clicks "Compile .appack…" → this compiler runs.
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3. Studio writes the .appack to disk.
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4. Field engineer transfers the .appack to the vessel.
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5. Future Sprint: Studio "Deploy" tab extracts the package, calls PlatformIO
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with the generated header, and flashes the board.
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"""
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from __future__ import annotations
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import hashlib
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import json
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import zipfile
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from datetime import UTC, datetime
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from pathlib import Path
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from textwrap import dedent
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from arautopilot.core.actuator_config import ActuatorType
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from arautopilot.core.project_config import ProjectConfig
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from arautopilot.core.sensor_config import DualRudderSensorConfig, RudderSensorType
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from arautopilot.version import __version__
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_SCHEMA_VERSION = "0.1.0"
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class AppackCompiler:
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"""Compiles a ``ProjectConfig`` into an ``.appack`` deployment archive."""
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def __init__(self, project: ProjectConfig) -> None:
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if not project.client_name.strip():
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raise ValueError("project.client_name must not be empty")
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if not project.project_name.strip():
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raise ValueError("project.project_name must not be empty")
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self._project = project
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def compile(self, output_path: Path | str) -> Path:
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"""Build the ``.appack`` archive and write it to *output_path*.
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Returns the resolved output path.
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"""
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out = Path(output_path)
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out.parent.mkdir(parents=True, exist_ok=True)
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project_yaml = self._project.to_yaml()
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firmware_header = self._generate_firmware_header()
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install_notes = self._generate_install_notes()
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manifest = self._build_manifest(project_yaml, firmware_header)
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prefix = str(self._project.project_id)
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with zipfile.ZipFile(out, "w", compression=zipfile.ZIP_DEFLATED) as zf:
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zf.writestr(f"{prefix}/manifest.json", json.dumps(manifest, indent=2))
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zf.writestr(f"{prefix}/project.yaml", project_yaml)
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zf.writestr(f"{prefix}/firmware_config.h", firmware_header)
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zf.writestr(f"{prefix}/install_notes.txt", install_notes)
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return out
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# ------------------------------------------------------------------
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# Manifest
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# ------------------------------------------------------------------
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def _build_manifest(self, project_yaml: str, firmware_header: str) -> dict:
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return {
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"appack_schema": _SCHEMA_VERSION,
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"arautopilot_version": __version__,
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"compiled_at": datetime.now(UTC).isoformat(),
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"project_id": str(self._project.project_id),
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"client_name": self._project.client_name,
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"project_name": self._project.project_name,
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"vessel_name": self._project.vessel.name,
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"vessel_type": self._project.vessel.type.value,
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"actuator_type": self._project.vessel.actuator.type.value,
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"checksums": {
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"project_yaml_sha256": _sha256(project_yaml),
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"firmware_config_h_sha256": _sha256(firmware_header),
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},
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}
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# ------------------------------------------------------------------
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# Firmware header generator
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# ------------------------------------------------------------------
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def _generate_firmware_header(self) -> str:
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p = self._project
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v = p.vessel
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a = v.actuator
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pid = v.pid
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sensors = v.sensors
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actuator_enum = _actuator_type_to_enum(a.type)
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primary_sensor_enum = _sensor_type_to_enum(sensors.primary.type)
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redundant_enabled = "1" if sensors.has_redundancy else "0"
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redundant_cs = sensors.redundant.spi_cs_gpio if sensors.redundant else 0
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redundant_sensor_enum = (
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_sensor_type_to_enum(sensors.redundant.type)
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if sensors.redundant
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else "RUDDER_SENSOR_NONE"
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)
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diverge_alarm = sensors.primary.divergence_alarm_deg
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diverge_failover = sensors.primary.divergence_failover_deg
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lines = [
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"// AUTO-GENERATED by AR-Autopilot Studio — DO NOT EDIT BY HAND.",
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f"// Project : {p.project_name}",
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f"// Client : {p.client_name}",
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f"// Vessel : {v.name} ({v.type.value})",
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f"// Generated: {datetime.now(UTC).isoformat()}",
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"//",
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"#pragma once",
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"",
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"// --- Project identity -------------------------------------------------",
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f'#define AR_PROJECT_ID "{p.project_id}"',
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f'#define AR_CLIENT_NAME "{p.client_name}"',
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f'#define AR_PROJECT_NAME "{p.project_name}"',
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f'#define AR_VESSEL_NAME "{v.name}"',
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"",
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"// --- Vessel kinematics ------------------------------------------------",
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f"#define AR_VESSEL_LENGTH_M {v.length_m:.1f}f",
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f"#define AR_VESSEL_MAX_SPEED_KN {v.max_speed_kn:.1f}f",
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"",
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"// --- Actuator ---------------------------------------------------------",
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f"#define AR_ACTUATOR_TYPE {actuator_enum}",
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f"#define AR_RUDDER_ANGLE_LIMIT_DEG {a.max_rudder_angle_deg:.1f}f",
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f"#define AR_ACTUATOR_DEADBAND_PCT {a.deadband_pct:.1f}f",
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f"#define AR_ACTUATOR_MAX_RATE_DPS {a.max_rate_dps:.1f}f",
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f"#define AR_ACTUATOR_MAX_CURRENT_A {a.max_current_a:.1f}f",
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f"#define AR_ACTUATOR_ASYM_STBD {a.asymmetry_stbd_over_port:.3f}f",
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"",
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"// --- Rudder sensors ---------------------------------------------------",
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f"#define AR_SENSOR_PRIMARY_TYPE {primary_sensor_enum}",
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f"#define AR_SENSOR_PRIMARY_CS_GPIO {sensors.primary.spi_cs_gpio}",
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f"#define AR_SENSOR_PRIMARY_FSD_DEG {sensors.primary.full_scale_deg:.1f}f",
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f"#define AR_SENSOR_REDUNDANT {redundant_enabled}",
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f"#define AR_SENSOR_REDUNDANT_TYPE {redundant_sensor_enum}",
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f"#define AR_SENSOR_REDUNDANT_CS_GPIO {redundant_cs}",
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f"#define AR_SENSOR_DIVERGE_ALARM_DEG {diverge_alarm:.1f}f",
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f"#define AR_SENSOR_DIVERGE_FAILOVER_DEG {diverge_failover:.1f}f",
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"",
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"// --- PID base gains (integrator IP — not exposed to operator) ---------",
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f"#define AR_PID_INNER_KP {pid.inner_loop_base.kp:.4f}f",
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f"#define AR_PID_INNER_KI {pid.inner_loop_base.ki:.4f}f",
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f"#define AR_PID_INNER_KD {pid.inner_loop_base.kd:.4f}f",
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f"#define AR_PID_OUTER_KP {pid.outer_loop_base.kp:.4f}f",
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f"#define AR_PID_OUTER_KI {pid.outer_loop_base.ki:.4f}f",
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f"#define AR_PID_OUTER_KD {pid.outer_loop_base.kd:.4f}f",
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f"#define AR_PID_ROT_FF {pid.rot_feedforward_gain:.4f}f",
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f"#define AR_PID_DEADBAND_DEG {pid.setpoint_deadband_deg:.2f}f",
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f"#define AR_PID_RATE_LIMIT_DPS {pid.setpoint_rate_limit_dps:.2f}f",
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f"#define AR_PID_ANTI_WINDUP {pid.anti_windup_limit:.2f}f",
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"",
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"// End of generated header.",
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]
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return "\n".join(lines) + "\n"
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# ------------------------------------------------------------------
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# Install notes
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# ------------------------------------------------------------------
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def _generate_install_notes(self) -> str:
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p = self._project
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v = p.vessel
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a = v.actuator
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s = v.sensors
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return dedent(f"""\
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AR-Autopilot — Field Installation Notes
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========================================
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Project : {p.project_name}
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Client : {p.client_name}
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Vessel : {v.name} ({v.type.value.replace("_", " ").title()})
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Generated: {datetime.now(UTC).strftime("%Y-%m-%d %H:%M UTC")}
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ACTUATOR
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--------
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Type : {a.type.value.replace("_", " ").title()}
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Model / label : {a.name or "(not specified)"}
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Rudder limit : ±{a.max_rudder_angle_deg:.1f}° (software limit — verify ≤ mechanical stop)
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Deadband : {a.deadband_pct:.1f} %
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Max slew rate : {a.max_rate_dps:.1f} °/s
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Overcurrent : {a.max_current_a:.1f} A trip
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SENSORS
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-------
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Primary sensor : {s.primary.type.value.upper()} GPIO CS={s.primary.spi_cs_gpio}
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Full-scale : ±{s.primary.full_scale_deg:.1f}°
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Redundant sensor: {"ENABLED" if s.has_redundancy else "DISABLED"}
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{"Redundant type : " + s.redundant.type.value.upper() + " GPIO CS=" + str(s.redundant.spi_cs_gpio) if s.redundant else ""}
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Divergence alarm : {s.primary.divergence_alarm_deg:.1f}°
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Divergence failover : {s.primary.divergence_failover_deg:.1f}°
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COMMISSIONING STEPS (Sprint 7 wizard will automate these)
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-----------------------------------------------------------
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1. Flash firmware with this .appack (Flash Console or pio upload).
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2. Connect primary rudder sensor to SPI CS GPIO {s.primary.spi_cs_gpio}.
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{"3. Connect redundant sensor to SPI CS GPIO " + str(s.redundant.spi_cs_gpio) + "." if s.redundant else "3. (Redundant sensor not configured.)"}
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4. Verify rudder moves to ±{a.max_rudder_angle_deg:.1f}° and stops.
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5. Run Modbus client test: python tools/modbus_client_test.py
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6. Engage HEADING_HOLD and confirm heading capture.
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7. Tune PID gains via Modbus if required.
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SUPPORT
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-------
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Contact: AR Suite — alro65@gmail.com
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""")
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# ------------------------------------------------------------------
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# Helpers
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# ------------------------------------------------------------------
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def _sha256(text: str) -> str:
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return hashlib.sha256(text.encode()).hexdigest()
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def _actuator_type_to_enum(t: ActuatorType) -> str:
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return {
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ActuatorType.HYDRAULIC_REVERSIBLE: "ACTUATOR_HYDRAULIC_REVERSIBLE",
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ActuatorType.ELECTRIC_DC_REVERSIBLE: "ACTUATOR_ELECTRIC_DC",
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ActuatorType.SERVOMOTOR_FEEDBACK: "ACTUATOR_SERVOMOTOR",
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ActuatorType.STERNDRIVE_ANALOG: "ACTUATOR_STERNDRIVE_ANALOG",
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}.get(t, "ACTUATOR_UNKNOWN")
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def _sensor_type_to_enum(t: RudderSensorType) -> str:
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return {
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RudderSensorType.AS5048A_SPI: "RUDDER_SENSOR_AS5048A_SPI",
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RudderSensorType.POTENTIOMETER: "RUDDER_SENSOR_POTENTIOMETER",
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}.get(t, "RUDDER_SENSOR_UNKNOWN")
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