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
"""End-to-end roundtrip test — Sprint 0 acceptance criterion.
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This is the test the brief calls out by name (section 12, "Criterio de
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aceptación"): build a project programmatically, persist it, reload it,
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and verify the reloaded object matches the original exactly.
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"""
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from __future__ import annotations
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from pathlib import Path
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from arautopilot.core import (
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ActuatorConfig,
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ActuatorType,
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ProjectConfig,
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VesselConfig,
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VesselType,
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)
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from arautopilot.library.loader import (
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load_actuator_profile,
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load_default_tuning,
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)
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def test_full_roundtrip_using_seed_library(tmp_path: Path) -> None:
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# 1. Assemble a project using the seed library
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actuator: ActuatorConfig = load_actuator_profile("hydraulic_reversible")
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pid = load_default_tuning("yacht_motor_planeo_30m")
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vessel = VesselConfig(
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name="M/Y Sprint-0",
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type=VesselType.YACHT_MOTOR_PLANEO,
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length_m=30.0,
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displacement_t=125.0,
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max_speed_kn=28.0,
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actuator=actuator,
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pid=pid,
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)
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project = ProjectConfig(
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client_name="Acceptance Test Client",
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project_name="Sprint 0 Roundtrip",
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notes="Demonstrates the brief's acceptance criterion.",
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vessel=vessel,
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)
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# 2. Save to YAML and JSON
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yaml_path = tmp_path / "project.yaml"
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json_path = tmp_path / "project.json"
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project.save_yaml(yaml_path)
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project.save_json(json_path)
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assert yaml_path.exists() and yaml_path.stat().st_size > 0
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assert json_path.exists() and json_path.stat().st_size > 0
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# 3. Reload both and verify exact equality
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from_yaml = ProjectConfig.load(yaml_path)
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from_json = ProjectConfig.load(json_path)
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assert from_yaml == project
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assert from_json == project
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# Critical structural invariants survive serialisation
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assert from_yaml.vessel.actuator.type is ActuatorType.HYDRAULIC_REVERSIBLE
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assert from_yaml.vessel.pid.inner_loop_freq_hz > from_yaml.vessel.pid.outer_loop_freq_hz
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assert len(from_yaml.vessel.pid.gain_schedule) == 3
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def test_roundtrip_preserves_ids(tmp_path: Path, basic_project: ProjectConfig) -> None:
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p = tmp_path / "p.yaml"
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basic_project.save_yaml(p)
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rebuilt = ProjectConfig.load(p)
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assert rebuilt.project_id == basic_project.project_id
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assert rebuilt.vessel.vessel_id == basic_project.vessel.vessel_id
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def test_roundtrip_preserves_timestamps(tmp_path: Path, basic_project: ProjectConfig) -> None:
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p = tmp_path / "p.json"
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basic_project.save_json(p)
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rebuilt = ProjectConfig.load(p)
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assert rebuilt.created_at == basic_project.created_at
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assert rebuilt.modified_at == basic_project.modified_at
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