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>
89 lines
2.6 KiB
Python
89 lines
2.6 KiB
Python
"""Tests for ``arautopilot.core.alarms``."""
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from __future__ import annotations
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import pytest
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from arautopilot.core.alarms import (
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Alarm,
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AlarmSeverity,
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AlarmType,
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default_message,
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default_severity,
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triggers_auto_disengage,
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)
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def test_catalogue_covers_every_alarm_type() -> None:
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"""The internal catalogue must define metadata for every enum member."""
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for at in AlarmType:
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# Calling any of the helpers must succeed for every type.
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sev = default_severity(at)
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msg = default_message(at)
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flag = triggers_auto_disengage(at)
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assert isinstance(sev, AlarmSeverity)
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assert isinstance(msg, str) and msg
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assert isinstance(flag, bool)
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@pytest.mark.parametrize(
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"alarm_type",
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[
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AlarmType.OFF_COURSE_SEVERE,
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AlarmType.RUDDER_NOT_RESPONDING,
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AlarmType.HEADING_SENSOR_LOST,
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AlarmType.WATCHDOG_TRIPPED,
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AlarmType.VMS_CRITICAL,
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AlarmType.ACTUATOR_OVERCURRENT,
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AlarmType.VOLTAGE_LOW,
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],
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)
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def test_safety_critical_alarms_trigger_auto_disengage(alarm_type: AlarmType) -> None:
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"""All EMERGENCY alarms (and HIGH overcurrent/voltage) must auto-disengage."""
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assert triggers_auto_disengage(alarm_type) is True
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@pytest.mark.parametrize(
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"alarm_type",
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[AlarmType.OFF_COURSE, AlarmType.LIMIT_SWITCH_REACHED],
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)
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def test_warning_alarms_do_not_disengage(alarm_type: AlarmType) -> None:
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assert triggers_auto_disengage(alarm_type) is False
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def test_alarm_from_type_uses_catalogue_defaults() -> None:
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a = Alarm.from_type(AlarmType.OFF_COURSE_SEVERE)
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assert a.type is AlarmType.OFF_COURSE_SEVERE
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assert a.severity is AlarmSeverity.EMERGENCY
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assert a.auto_disengage_triggered is True
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assert a.message # non-empty
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assert a.source == "firmware"
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assert a.acknowledged is False
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def test_alarm_is_frozen() -> None:
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a = Alarm.from_type(AlarmType.OFF_COURSE)
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with pytest.raises((TypeError, ValueError)):
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a.acknowledged = True # type: ignore[misc]
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def test_alarm_rejects_unknown_field() -> None:
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with pytest.raises(ValueError):
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Alarm(
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type=AlarmType.OFF_COURSE,
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severity=AlarmSeverity.LOW,
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message="hi",
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foo="bar", # type: ignore[call-arg]
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)
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def test_alarm_message_length_limits() -> None:
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with pytest.raises(ValueError):
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Alarm(type=AlarmType.OFF_COURSE, severity=AlarmSeverity.LOW, message="")
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with pytest.raises(ValueError):
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Alarm(
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type=AlarmType.OFF_COURSE,
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severity=AlarmSeverity.LOW,
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message="x" * 241,
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)
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