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>
63 lines
2.2 KiB
Python
63 lines
2.2 KiB
Python
"""Tests for ``arautopilot.library.loader`` and the seed assets shipped in Sprint 0."""
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from __future__ import annotations
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from arautopilot.core.actuator_config import ActuatorType
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from arautopilot.library.loader import (
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list_actuator_profiles,
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list_default_tunings,
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load_actuator_profile,
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load_default_tuning,
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)
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def test_seed_actuators_present() -> None:
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profiles = list_actuator_profiles()
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assert "hydraulic_reversible" in profiles
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assert "electric_dc_reversible" in profiles
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assert len(profiles) >= 2
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def test_seed_tunings_present() -> None:
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tunings = list_default_tunings()
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assert "yacht_motor_planeo_30m" in tunings
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assert "yacht_motor_planeo_40m" in tunings
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assert len(tunings) >= 2
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def test_load_hydraulic_actuator_profile() -> None:
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cfg = load_actuator_profile("hydraulic_reversible")
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assert cfg.type is ActuatorType.HYDRAULIC_REVERSIBLE
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assert cfg.feedback_required is True
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assert 0 < cfg.deadband_pct < 30
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def test_load_electric_dc_actuator_profile() -> None:
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cfg = load_actuator_profile("electric_dc_reversible")
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assert cfg.type is ActuatorType.ELECTRIC_DC_REVERSIBLE
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assert cfg.feedback_required is True
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def test_load_30m_tuning_has_three_point_schedule() -> None:
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pid = load_default_tuning("yacht_motor_planeo_30m")
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assert len(pid.gain_schedule) == 3
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# Brief: outer kp should drop as speed goes up.
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speeds = [p.speed_knots for p in pid.gain_schedule]
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kps = [p.gains.kp for p in pid.gain_schedule]
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assert speeds == sorted(speeds)
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assert kps[0] > kps[-1]
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# Inner loop faster than outer.
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assert pid.inner_loop_freq_hz > pid.outer_loop_freq_hz
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# Adaptive disabled at ship time.
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assert pid.adaptive_enabled is False
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def test_load_40m_tuning_is_more_damped_than_30m() -> None:
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"""Larger vessel should have higher kd at cruise speed (more anticipation)."""
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pid30 = load_default_tuning("yacht_motor_planeo_30m")
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pid40 = load_default_tuning("yacht_motor_planeo_40m")
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# Cruise-speed point (~15 kn) is the second entry in both schedules.
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assert pid40.gain_schedule[1].gains.kd > pid30.gain_schedule[1].gains.kd
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# And kp at cruise should not be higher than 30 m.
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assert pid40.gain_schedule[1].gains.kp <= pid30.gain_schedule[1].gains.kp
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