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>
81 lines
2.6 KiB
Python
81 lines
2.6 KiB
Python
"""Tests for ``arautopilot.core.actuator_config``."""
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from __future__ import annotations
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import pytest
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from pydantic import ValidationError
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from arautopilot.core.actuator_config import (
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ActuatorConfig,
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ActuatorType,
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is_phase_1,
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)
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def test_defaults_load_without_error() -> None:
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cfg = ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE)
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assert cfg.type is ActuatorType.HYDRAULIC_REVERSIBLE
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assert 0 < cfg.deadband_pct < 30
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assert cfg.max_rudder_angle_deg <= 45
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assert cfg.feedback_required is True
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def test_phase_1_actuators_are_drivable() -> None:
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for t in (
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ActuatorType.HYDRAULIC_REVERSIBLE,
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ActuatorType.ELECTRIC_DC_REVERSIBLE,
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ActuatorType.SERVOMOTOR_FEEDBACK,
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ActuatorType.STERNDRIVE_ANALOG,
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):
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assert is_phase_1(t) is True
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cfg = ActuatorConfig(type=t)
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assert cfg.is_phase_1_supported() is True
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@pytest.mark.parametrize("t", [ActuatorType.VOLVO_IPS, ActuatorType.MERCURY_ZEUS])
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def test_phase_3_actuators_are_modelled_but_not_phase_1(t: ActuatorType) -> None:
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assert is_phase_1(t) is False
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cfg = ActuatorConfig(type=t)
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assert cfg.is_phase_1_supported() is False
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def test_rejects_max_angle_above_45() -> None:
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with pytest.raises(ValidationError):
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ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE, max_rudder_angle_deg=50.0)
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def test_rejects_negative_max_rate() -> None:
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with pytest.raises(ValidationError):
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ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE, max_rate_dps=-1.0)
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def test_min_useful_pwm_must_cover_deadband() -> None:
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"""If the actuator needs >5 % to overcome static friction, the min useful PWM
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cannot be below the deadband — that combination would tell the controller
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'commands above 5 % move the rudder' while also 'commands below 8 % do
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nothing', which is internally inconsistent."""
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with pytest.raises(ValidationError):
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ActuatorConfig(
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type=ActuatorType.HYDRAULIC_REVERSIBLE,
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deadband_pct=8.0,
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min_useful_pwm_pct=5.0,
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)
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def test_rejects_unknown_field() -> None:
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with pytest.raises(ValidationError):
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ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE, unknown=True) # type: ignore[call-arg]
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def test_asymmetry_bounds() -> None:
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with pytest.raises(ValidationError):
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ActuatorConfig(
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type=ActuatorType.HYDRAULIC_REVERSIBLE,
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asymmetry_stbd_over_port=0.1,
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)
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with pytest.raises(ValidationError):
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ActuatorConfig(
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type=ActuatorType.HYDRAULIC_REVERSIBLE,
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asymmetry_stbd_over_port=5.0,
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)
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