End-to-end implementation of Sprint 1 per docs/sprint-1-plan.md.
Builds: pio run -e esp32-dev SUCCESS, RAM 6.7%, Flash 26.5% (347 KB).
Tests: pytest 110/110 green; pio test -e native deferred (needs host
C++ compiler -- none on this Windows machine).
Firmware (firmware/ar_autopilot_v1/):
- platformio.ini: 4 envs (esp32-dev release, esp32-debug, native unity
tests, check static analysis). NMEA2000-library@4.22, NMEA2000_esp32@
1.0, eModbus@1.7.4 pinned.
- main.cpp: boot in STANDBY, FreeRTOS task spawn, returns to scheduler.
- system/: ar_log.h facade, task_config.h (priorities/stacks/cores
central table), heartbeat (1 Hz LED + uptime).
- modes/: STANDBY-only state machine; non-STANDBY rejected.
- hal/: di_do.cpp (5 DI + 10 DO with debounce + last-state cache),
rudder_sensor.cpp (100 Hz ADC + 5-sample median filter, Core 1),
rudder_actuator.cpp (DO1/DO2/DO3 with three safety interlocks:
power-off, STANDBY mode, limit switch).
- safety/: TWDT @ 2 s panic-on-expire; 50 Hz safety task on Core 1
enforcing DI1 physical disengage button, DI4 external alarm,
both-limit-switch interlock.
- protocols/modbus_slave.cpp: eModbus RTU server on UART2 @ 38400 8N1,
slave ID 1. 17 inputs + 19 discretes + 5 holdings + 4 coils. Reads
pull live telemetry; writes validate range and route to handlers.
- protocols/nmea2000_consumer.cpp: stack open with CAN TX=GPIO3
RX=GPIO1, subscribed to PGN 127250 (Heading) + PGN 127251 (Rate of
Turn). 5 s staleness flag built in for Sprint 6 alarm wiring.
- filters/median.h: templated MedianFilter<T,N> (host testable).
Cross-cutting:
- modbus_registers.yaml: single source of truth for the Modbus register
map. 45 entries.
- tools/gen_modbus_registers.py: YAML -> C++ header + Python module
generator with --check for drift detection.
- arautopilot/shared/modbus_register_map.py: generated Python mirror,
imported by Studio + tools.
- arautopilot/tests/test_modbus_register_map.py: 30 tests covering
schema, address uniqueness, range, spot-checks, and drift detection
(fails if YAML edited without regenerating).
- firmware/ar_autopilot_v1/tools/modbus_client_test.py: manual Modbus
client for poking the slave from a PC with USB-RS485 dongle.
- firmware/ar_autopilot_v1/test/test_median_filter/test_median.cpp:
8 Unity tests of the median filter (host-side, no Arduino dependency).
- docs/firmware.md: full operator + integrator guide (toolchain, build,
flash, expected boot log, troubleshooting, Sprint 1 capability matrix).
Architecture note: opted for Arduino-on-ESP32 only instead of the
proposed dual Arduino-as-ESP-IDF-component setup. Rationale documented
in CHANGELOG and docs/firmware.md -- Arduino-on-ESP32 already provides
the FreeRTOS primitives we need; dual framework adds fragility without
benefit at Sprint 1 scope. Reconsider in Sprint 8 (OTA + secure boot).
NOT in Sprint 1 (intentional per brief sec. 12):
- PID loops (inner/outer)
- True Course / Track Keeping
- Full alarm catalogue beyond DI1/DI4
- Knob driver
- Studio GUI / dedicated display
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Two new documents to drive the Sprint 1 approval cycle when the user
reviews in the morning. NO firmware code touched -- this is planning
material only, per brief rule #1 "Antes de cada sprint, me presentas
plan detallado y esperas mi OK. No improvises features."
docs/sprint-1-plan.md
- Sprint 1 objective (firmware boot + STANDBY + Modbus slave +
NMEA 2000 consume of PGN 127250/127251 + watchdog).
- 4 explicit technical decisions awaiting the user's go/no-go:
2.1 Framework: Arduino-as-ESP-IDF-component (recommended)
2.2 New libraries: NMEA2000-library, NMEA2000_esp32, eModbus
(asked per brief rule #4 "No agregues dependencias sin
preguntarme")
2.3 FreeRTOS core/priority mapping (PID isolated on Core 1)
2.4 Logging: ESP_LOG via UART0
- 7-phase breakdown over 3-4 weeks (mirrors brief's Sprint 1 scope).
- Acceptance criteria, risks, and the inputs needed from the user
before kickoff (hardware availability, schematic, NMEA 2000 bus).
docs/firmware-libraries-research.md
- Detailed rationale for each library choice with comparison tables.
- Pinout / hardware references aligned with the existing
firmware/ar_autopilot_v1/src/hal/pinout.h.
- Draft platformio.ini outline (NOT yet written to the firmware
directory -- needs user OK first).
- All external sources cited for traceability.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Wrap the most common day-to-day commands so we stop typing
.venv/Scripts/python.exe -m ... by hand. Mirrors the same tasks on both
shells; binaries always resolved from the project's .venv so the host
machine's globally-installed Python doesn't leak in.
Tasks (both shells):
install create .venv, install arautopilot[dev] in editable mode
test run pytest (extra args forwarded: e.g. test -k roundtrip)
test-cov pytest with branch coverage + HTML report
lint ruff check (read-only)
fix ruff check --fix + ruff format
format ruff format
typecheck mypy --strict over core/library/shared
check full quality gate: lint + typecheck + test
demo run examples/sprint0_demo.py
clean remove build/cache artefacts + examples/output
Usage:
.\scripts\dev.ps1 check (Windows PowerShell)
bash scripts/dev.sh check (Git Bash / WSL / Linux)
Verification: `bash scripts/dev.sh check` runs lint + typecheck + 80 tests
all green in ~0.5s on this machine.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Run the dev linters over Sprint 0's core/library/shared modules and
address every finding. Behaviour unchanged; tests still 80/80 green.
Changes:
- Replace `class Foo(str, Enum)` with `class Foo(StrEnum)` (PEP 663
/ Python 3.11+) in 7 enum classes: ActuatorType, AlarmSeverity,
AlarmType, KnobMode, KnobFunction, AutopilotMode, AccessLevel,
VesselType. Pydantic v2 serialises StrEnum the same way, so YAML/JSON
round-trips are byte-identical.
- Use `datetime.UTC` alias in place of `datetime.timezone.utc`
(UP017) across alarms.py, knob_state.py, project_config.py, and
test_knob_state.py.
- Remove now-unnecessary forward-reference quotes from method return
type annotations (UP037) — `from __future__ import annotations` is
already in scope everywhere.
- Tighten `_read_json_resource` / `_read_yaml_resource` in the library
loader: validate that the deserialised payload is actually a dict
before returning, instead of leaking `Any` from json.loads /
yaml.safe_load. Fixes the only two `mypy --strict` findings.
- Add `.claude/settings.local.json` to .gitignore (personal
Claude Code overrides are not committed).
Verification:
ruff check arautopilot/ -> All checks passed
mypy arautopilot/core library shared -> Success, 0 issues, 12 files
pytest -> 80 passed in 0.25s
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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>
alro65