alro65
700756c16f
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>
71 lines
2.0 KiB
Python
71 lines
2.0 KiB
Python
"""Shared pytest fixtures for the AR-Autopilot Sprint 0 test suite."""
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from __future__ import annotations
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import pytest
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from arautopilot.core import (
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ActuatorConfig,
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ActuatorType,
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GainSchedulePoint,
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PidConfig,
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PidGains,
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ProjectConfig,
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VesselConfig,
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VesselType,
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)
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@pytest.fixture
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def hydraulic_actuator() -> ActuatorConfig:
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"""A realistic hydraulic reversible actuator config for fixture composition."""
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return ActuatorConfig(
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type=ActuatorType.HYDRAULIC_REVERSIBLE,
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name="Test Hynautic-class pump",
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deadband_pct=7.0,
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min_useful_pwm_pct=12.0,
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asymmetry_stbd_over_port=1.0,
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max_rudder_angle_deg=35.0,
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max_rate_dps=4.0,
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max_current_a=20.0,
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feedback_required=True,
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)
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@pytest.fixture
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def basic_pid() -> PidConfig:
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"""A minimal valid cascaded PID with a 3-point gain schedule."""
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return PidConfig(
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inner_loop_base=PidGains(kp=2.5, ki=0.15, kd=0.30),
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outer_loop_base=PidGains(kp=0.90, ki=0.02, kd=1.20),
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gain_schedule=[
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GainSchedulePoint(speed_knots=5.0, gains=PidGains(kp=1.20, ki=0.03, kd=0.80)),
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GainSchedulePoint(speed_knots=15.0, gains=PidGains(kp=0.90, ki=0.02, kd=1.20)),
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GainSchedulePoint(speed_knots=28.0, gains=PidGains(kp=0.55, ki=0.01, kd=1.80)),
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],
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rot_feedforward_gain=1.5,
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)
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@pytest.fixture
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def basic_vessel(hydraulic_actuator: ActuatorConfig, basic_pid: PidConfig) -> VesselConfig:
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return VesselConfig(
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name="M/Y Test 30",
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type=VesselType.YACHT_MOTOR_PLANEO,
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length_m=30.0,
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displacement_t=120.0,
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max_speed_kn=28.0,
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actuator=hydraulic_actuator,
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pid=basic_pid,
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)
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@pytest.fixture
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def basic_project(basic_vessel: VesselConfig) -> ProjectConfig:
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return ProjectConfig(
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client_name="Test Client S.L.",
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project_name="Sprint 0 demo project",
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notes="Generated by conftest fixture.",
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vessel=basic_vessel,
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)
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