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>
88 lines
2.5 KiB
Python
88 lines
2.5 KiB
Python
"""Tests for ``arautopilot.core.vessel_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 ActuatorConfig, ActuatorType
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from arautopilot.core.pid_config import PidConfig, PidGains
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from arautopilot.core.vessel_config import VesselConfig, VesselType
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def _pid() -> PidConfig:
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return PidConfig(
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inner_loop_base=PidGains(kp=2.0),
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outer_loop_base=PidGains(kp=1.0),
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)
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def test_vessel_composes_actuator_and_pid() -> None:
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v = VesselConfig(
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name="Test 30",
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type=VesselType.YACHT_MOTOR_PLANEO,
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length_m=30.0,
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max_speed_kn=28.0,
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actuator=ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE),
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pid=_pid(),
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)
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assert v.actuator.type is ActuatorType.HYDRAULIC_REVERSIBLE
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assert v.pid.inner_loop_base.kp == pytest.approx(2.0)
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assert isinstance(v.vessel_id, str) and len(v.vessel_id) > 0
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def test_vessel_id_is_unique_across_instances() -> None:
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v1 = VesselConfig(
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name="A",
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type=VesselType.YACHT_MOTOR_PLANEO,
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length_m=30.0,
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max_speed_kn=20.0,
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actuator=ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE),
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pid=_pid(),
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)
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v2 = VesselConfig(
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name="B",
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type=VesselType.YACHT_MOTOR_PLANEO,
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length_m=30.0,
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max_speed_kn=20.0,
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actuator=ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE),
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pid=_pid(),
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)
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assert v1.vessel_id != v2.vessel_id
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def test_rejects_zero_length() -> None:
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with pytest.raises(ValidationError):
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VesselConfig(
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name="X",
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type=VesselType.YACHT_MOTOR_PLANEO,
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length_m=0.0,
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max_speed_kn=20.0,
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actuator=ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE),
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pid=_pid(),
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)
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def test_rejects_blank_name() -> None:
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with pytest.raises(ValidationError):
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VesselConfig(
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name="",
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type=VesselType.YACHT_MOTOR_PLANEO,
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length_m=30.0,
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max_speed_kn=20.0,
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actuator=ActuatorConfig(type=ActuatorType.HYDRAULIC_REVERSIBLE),
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pid=_pid(),
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)
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def test_vessel_type_covers_brief_categories() -> None:
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expected = {
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"yacht_motor_planeo",
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"yacht_motor_desplazamiento",
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"sailboat_motor",
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"fishing_boat",
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"small_ferry",
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"patrol_boat",
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}
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assert {t.value for t in VesselType} == expected
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