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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"""Tests for AppackCompiler — Sprint 4."""
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from __future__ import annotations
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import json
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import zipfile
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from pathlib import Path
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import pytest
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from arautopilot.core.actuator_config import ActuatorConfig, ActuatorType
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from arautopilot.core.pid_config import PidConfig, PidGains
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from arautopilot.core.project_config import ProjectConfig
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from arautopilot.core.sensor_config import (
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DualRudderSensorConfig,
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RudderSensorConfig,
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RudderSensorType,
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)
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from arautopilot.core.vessel_config import VesselConfig, VesselType
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from arautopilot.studio.compiler.appack import AppackCompiler
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def _make_project(*, dual_sensors: bool = False) -> ProjectConfig:
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redundant = (
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RudderSensorConfig(
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type=RudderSensorType.AS5048A_SPI,
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label="Redundant – actuator arm",
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spi_cs_gpio=11,
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)
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if dual_sensors
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else None
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)
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return ProjectConfig(
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client_name="Test Client",
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project_name="Test Project",
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vessel=VesselConfig(
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name="Test Vessel",
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type=VesselType.YACHT_MOTOR_PLANEO,
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length_m=30.0,
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max_speed_kn=18.0,
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actuator=ActuatorConfig(
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type=ActuatorType.HYDRAULIC_REVERSIBLE,
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max_rudder_angle_deg=35.0,
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),
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pid=PidConfig(
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inner_loop_base=PidGains(kp=1.5, ki=0.1, kd=0.05),
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outer_loop_base=PidGains(kp=2.0, ki=0.05, kd=0.3),
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),
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sensors=DualRudderSensorConfig(
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primary=RudderSensorConfig(
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type=RudderSensorType.AS5048A_SPI,
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spi_cs_gpio=10,
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),
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redundant=redundant,
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),
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),
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)
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class TestAppackCompiler:
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def test_compile_creates_file(self, tmp_path: Path) -> None:
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out = tmp_path / "test.appack"
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compiler = AppackCompiler(_make_project())
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result = compiler.compile(out)
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assert result == out
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assert out.exists()
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def test_appack_is_valid_zip(self, tmp_path: Path) -> None:
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out = tmp_path / "test.appack"
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AppackCompiler(_make_project()).compile(out)
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assert zipfile.is_zipfile(out)
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def test_appack_contains_required_files(self, tmp_path: Path) -> None:
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out = tmp_path / "test.appack"
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project = _make_project()
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AppackCompiler(project).compile(out)
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prefix = str(project.project_id)
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with zipfile.ZipFile(out) as zf:
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names = set(zf.namelist())
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assert f"{prefix}/manifest.json" in names
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assert f"{prefix}/project.yaml" in names
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assert f"{prefix}/firmware_config.h" in names
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assert f"{prefix}/install_notes.txt" in names
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def test_manifest_fields(self, tmp_path: Path) -> None:
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out = tmp_path / "test.appack"
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project = _make_project()
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AppackCompiler(project).compile(out)
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prefix = str(project.project_id)
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with zipfile.ZipFile(out) as zf:
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manifest = json.loads(zf.read(f"{prefix}/manifest.json"))
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assert manifest["project_id"] == str(project.project_id)
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assert manifest["client_name"] == "Test Client"
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assert manifest["vessel_name"] == "Test Vessel"
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assert "checksums" in manifest
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assert "project_yaml_sha256" in manifest["checksums"]
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assert "firmware_config_h_sha256" in manifest["checksums"]
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def test_firmware_header_contains_defines(self, tmp_path: Path) -> None:
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out = tmp_path / "test.appack"
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project = _make_project()
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AppackCompiler(project).compile(out)
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prefix = str(project.project_id)
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with zipfile.ZipFile(out) as zf:
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header = zf.read(f"{prefix}/firmware_config.h").decode()
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assert "#define AR_RUDDER_ANGLE_LIMIT_DEG" in header
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assert "#define AR_PID_INNER_KP" in header
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assert "#define AR_PID_OUTER_KP" in header
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assert "#define AR_SENSOR_PRIMARY_TYPE" in header
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assert "ACTUATOR_HYDRAULIC_REVERSIBLE" in header
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assert "RUDDER_SENSOR_AS5048A_SPI" in header
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assert "35.0f" in header
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def test_firmware_header_dual_sensor(self, tmp_path: Path) -> None:
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out = tmp_path / "test.appack"
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project = _make_project(dual_sensors=True)
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AppackCompiler(project).compile(out)
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prefix = str(project.project_id)
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with zipfile.ZipFile(out) as zf:
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header = zf.read(f"{prefix}/firmware_config.h").decode()
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notes = zf.read(f"{prefix}/install_notes.txt").decode()
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assert "#define AR_SENSOR_REDUNDANT 1" in header
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assert "GPIO CS=11" in notes
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def test_firmware_header_single_sensor(self, tmp_path: Path) -> None:
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out = tmp_path / "test.appack"
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project = _make_project(dual_sensors=False)
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AppackCompiler(project).compile(out)
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prefix = str(project.project_id)
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with zipfile.ZipFile(out) as zf:
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header = zf.read(f"{prefix}/firmware_config.h").decode()
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assert "#define AR_SENSOR_REDUNDANT 0" in header
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def test_project_yaml_roundtrips(self, tmp_path: Path) -> None:
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out = tmp_path / "test.appack"
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project = _make_project()
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AppackCompiler(project).compile(out)
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prefix = str(project.project_id)
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with zipfile.ZipFile(out) as zf:
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yaml_text = zf.read(f"{prefix}/project.yaml").decode()
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restored = ProjectConfig.from_yaml(yaml_text)
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assert restored.client_name == project.client_name
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assert restored.vessel.name == project.vessel.name
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def test_empty_client_name_raises(self) -> None:
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project = _make_project()
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object.__setattr__(project, "client_name", " ")
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with pytest.raises(ValueError, match="client_name"):
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AppackCompiler(project)
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def test_output_parent_created(self, tmp_path: Path) -> None:
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out = tmp_path / "deep" / "nested" / "output.appack"
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AppackCompiler(_make_project()).compile(out)
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assert out.exists()
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