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>
2026-05-20 10:29:17 -04:00
parent a2f3e82f17
commit e4812e9b44
11 changed files with 1661 additions and 5 deletions
@@ -0,0 +1,154 @@
+"""Tests for AppackCompiler — Sprint 4."""
+
+from __future__ import annotations
+
+import json
+import zipfile
+from pathlib import Path
+
+import pytest
+
+from arautopilot.core.actuator_config import ActuatorConfig, ActuatorType
+from arautopilot.core.pid_config import PidConfig, PidGains
+from arautopilot.core.project_config import ProjectConfig
+from arautopilot.core.sensor_config import (
+    DualRudderSensorConfig,
+    RudderSensorConfig,
+    RudderSensorType,
+)
+from arautopilot.core.vessel_config import VesselConfig, VesselType
+from arautopilot.studio.compiler.appack import AppackCompiler
+
+
+def _make_project(*, dual_sensors: bool = False) -> ProjectConfig:
+    redundant = (
+        RudderSensorConfig(
+            type=RudderSensorType.AS5048A_SPI,
+            label="Redundant – actuator arm",
+            spi_cs_gpio=11,
+        )
+        if dual_sensors
+        else None
+    )
+    return ProjectConfig(
+        client_name="Test Client",
+        project_name="Test Project",
+        vessel=VesselConfig(
+            name="Test Vessel",
+            type=VesselType.YACHT_MOTOR_PLANEO,
+            length_m=30.0,
+            max_speed_kn=18.0,
+            actuator=ActuatorConfig(
+                type=ActuatorType.HYDRAULIC_REVERSIBLE,
+                max_rudder_angle_deg=35.0,
+            ),
+            pid=PidConfig(
+                inner_loop_base=PidGains(kp=1.5, ki=0.1, kd=0.05),
+                outer_loop_base=PidGains(kp=2.0, ki=0.05, kd=0.3),
+            ),
+            sensors=DualRudderSensorConfig(
+                primary=RudderSensorConfig(
+                    type=RudderSensorType.AS5048A_SPI,
+                    spi_cs_gpio=10,
+                ),
+                redundant=redundant,
+            ),
+        ),
+    )
+
+
+class TestAppackCompiler:
+    def test_compile_creates_file(self, tmp_path: Path) -> None:
+        out = tmp_path / "test.appack"
+        compiler = AppackCompiler(_make_project())
+        result = compiler.compile(out)
+        assert result == out
+        assert out.exists()
+
+    def test_appack_is_valid_zip(self, tmp_path: Path) -> None:
+        out = tmp_path / "test.appack"
+        AppackCompiler(_make_project()).compile(out)
+        assert zipfile.is_zipfile(out)
+
+    def test_appack_contains_required_files(self, tmp_path: Path) -> None:
+        out = tmp_path / "test.appack"
+        project = _make_project()
+        AppackCompiler(project).compile(out)
+        prefix = str(project.project_id)
+        with zipfile.ZipFile(out) as zf:
+            names = set(zf.namelist())
+        assert f"{prefix}/manifest.json" in names
+        assert f"{prefix}/project.yaml" in names
+        assert f"{prefix}/firmware_config.h" in names
+        assert f"{prefix}/install_notes.txt" in names
+
+    def test_manifest_fields(self, tmp_path: Path) -> None:
+        out = tmp_path / "test.appack"
+        project = _make_project()
+        AppackCompiler(project).compile(out)
+        prefix = str(project.project_id)
+        with zipfile.ZipFile(out) as zf:
+            manifest = json.loads(zf.read(f"{prefix}/manifest.json"))
+        assert manifest["project_id"] == str(project.project_id)
+        assert manifest["client_name"] == "Test Client"
+        assert manifest["vessel_name"] == "Test Vessel"
+        assert "checksums" in manifest
+        assert "project_yaml_sha256" in manifest["checksums"]
+        assert "firmware_config_h_sha256" in manifest["checksums"]
+
+    def test_firmware_header_contains_defines(self, tmp_path: Path) -> None:
+        out = tmp_path / "test.appack"
+        project = _make_project()
+        AppackCompiler(project).compile(out)
+        prefix = str(project.project_id)
+        with zipfile.ZipFile(out) as zf:
+            header = zf.read(f"{prefix}/firmware_config.h").decode()
+        assert "#define AR_RUDDER_ANGLE_LIMIT_DEG" in header
+        assert "#define AR_PID_INNER_KP" in header
+        assert "#define AR_PID_OUTER_KP" in header
+        assert "#define AR_SENSOR_PRIMARY_TYPE" in header
+        assert "ACTUATOR_HYDRAULIC_REVERSIBLE" in header
+        assert "RUDDER_SENSOR_AS5048A_SPI" in header
+        assert "35.0f" in header
+
+    def test_firmware_header_dual_sensor(self, tmp_path: Path) -> None:
+        out = tmp_path / "test.appack"
+        project = _make_project(dual_sensors=True)
+        AppackCompiler(project).compile(out)
+        prefix = str(project.project_id)
+        with zipfile.ZipFile(out) as zf:
+            header = zf.read(f"{prefix}/firmware_config.h").decode()
+            notes = zf.read(f"{prefix}/install_notes.txt").decode()
+        assert "#define AR_SENSOR_REDUNDANT        1" in header
+        assert "GPIO CS=11" in notes
+
+    def test_firmware_header_single_sensor(self, tmp_path: Path) -> None:
+        out = tmp_path / "test.appack"
+        project = _make_project(dual_sensors=False)
+        AppackCompiler(project).compile(out)
+        prefix = str(project.project_id)
+        with zipfile.ZipFile(out) as zf:
+            header = zf.read(f"{prefix}/firmware_config.h").decode()
+        assert "#define AR_SENSOR_REDUNDANT        0" in header
+
+    def test_project_yaml_roundtrips(self, tmp_path: Path) -> None:
+        out = tmp_path / "test.appack"
+        project = _make_project()
+        AppackCompiler(project).compile(out)
+        prefix = str(project.project_id)
+        with zipfile.ZipFile(out) as zf:
+            yaml_text = zf.read(f"{prefix}/project.yaml").decode()
+        restored = ProjectConfig.from_yaml(yaml_text)
+        assert restored.client_name == project.client_name
+        assert restored.vessel.name == project.vessel.name
+
+    def test_empty_client_name_raises(self) -> None:
+        project = _make_project()
+        object.__setattr__(project, "client_name", "   ")
+        with pytest.raises(ValueError, match="client_name"):
+            AppackCompiler(project)
+
+    def test_output_parent_created(self, tmp_path: Path) -> None:
+        out = tmp_path / "deep" / "nested" / "output.appack"
+        AppackCompiler(_make_project()).compile(out)
+        assert out.exists()
@@ -0,0 +1,98 @@
+"""Tests for RudderSensorConfig and DualRudderSensorConfig — Sprint 4."""
+
+from __future__ import annotations
+
+import pytest
+from pydantic import ValidationError
+
+from arautopilot.core.sensor_config import (
+    DualRudderSensorConfig,
+    RudderSensorConfig,
+    RudderSensorType,
+)
+
+
+def _primary(
+    sensor_type: RudderSensorType = RudderSensorType.AS5048A_SPI,
+    cs: int = 10,
+    fsd: float = 35.0,
+) -> RudderSensorConfig:
+    return RudderSensorConfig(type=sensor_type, spi_cs_gpio=cs, full_scale_deg=fsd)
+
+
+def _redundant(cs: int = 11) -> RudderSensorConfig:
+    return RudderSensorConfig(
+        type=RudderSensorType.AS5048A_SPI,
+        label="Redundant – actuator arm",
+        spi_cs_gpio=cs,
+        full_scale_deg=35.0,
+    )
+
+
+class TestRudderSensorConfig:
+    def test_as5048a_defaults(self) -> None:
+        s = _primary()
+        assert s.type == RudderSensorType.AS5048A_SPI
+        assert s.spi_cs_gpio == 10
+        assert s.full_scale_deg == 35.0
+        assert s.zero_offset_deg == 0.0
+        assert s.divergence_alarm_deg == 3.0
+        assert s.divergence_failover_deg == 6.0
+
+    def test_potentiometer_type(self) -> None:
+        s = _primary(sensor_type=RudderSensorType.POTENTIOMETER)
+        assert s.type == RudderSensorType.POTENTIOMETER
+
+    def test_gpio_bounds(self) -> None:
+        with pytest.raises(ValidationError):
+            RudderSensorConfig(type=RudderSensorType.AS5048A_SPI, spi_cs_gpio=40)
+        with pytest.raises(ValidationError):
+            RudderSensorConfig(type=RudderSensorType.AS5048A_SPI, spi_cs_gpio=-1)
+
+    def test_full_scale_bounds(self) -> None:
+        with pytest.raises(ValidationError):
+            _primary(fsd=0.0)
+        with pytest.raises(ValidationError):
+            _primary(fsd=46.0)
+
+    def test_label_optional(self) -> None:
+        s = RudderSensorConfig(type=RudderSensorType.AS5048A_SPI)
+        assert s.label == ""
+
+    def test_extra_fields_forbidden(self) -> None:
+        with pytest.raises(ValidationError):
+            RudderSensorConfig(
+                type=RudderSensorType.AS5048A_SPI,
+                unknown_field="boom",  # type: ignore[call-arg]
+            )
+
+    def test_roundtrip_json(self) -> None:
+        s = _primary()
+        restored = RudderSensorConfig.model_validate_json(s.model_dump_json())
+        assert restored == s
+
+
+class TestDualRudderSensorConfig:
+    def test_single_sensor_mode(self) -> None:
+        d = DualRudderSensorConfig(primary=_primary())
+        assert d.redundant is None
+        assert not d.has_redundancy
+
+    def test_dual_sensor_mode(self) -> None:
+        d = DualRudderSensorConfig(primary=_primary(), redundant=_redundant())
+        assert d.redundant is not None
+        assert d.has_redundancy
+
+    def test_different_cs_pins(self) -> None:
+        d = DualRudderSensorConfig(primary=_primary(cs=10), redundant=_redundant(cs=11))
+        assert d.primary.spi_cs_gpio == 10
+        assert d.redundant is not None
+        assert d.redundant.spi_cs_gpio == 11
+
+    def test_roundtrip_yaml(self) -> None:
+        import yaml
+
+        d = DualRudderSensorConfig(primary=_primary(), redundant=_redundant())
+        data = yaml.safe_dump(d.model_dump(mode="json"))
+        restored = DualRudderSensorConfig.model_validate(yaml.safe_load(data))
+        assert restored == d