alro65
e4812e9b44
Cherry-pick of ab28cb7 onto main (was missing from main branch history). Python: - arautopilot/core/sensor_config.py: RudderSensorConfig + DualRudderSensorConfig (AS5048A SPI / potentiometer, dual with cross-validation thresholds) - arautopilot/core/vessel_config.py: add sensors: DualRudderSensorConfig field - arautopilot/studio/compiler/appack.py: .appack compiler (ZIP with manifest.json + project.yaml + firmware_config.h + install_notes.txt) - arautopilot/studio/editors/project_editor.py: full project config editor (vessel / actuator / sensors / PID, RBAC-gated fields, save/load .yaml/.json) - arautopilot/studio/main_window.py: wire ProjectEditorWidget into Project tab - tests: test_sensor_config.py (11 tests) + test_appack_compiler.py (10 tests) Firmware: - hal/rudder_actuator_iface.h: IRudderActuator abstract interface - hal/rudder_actuator_hydraulic.h: reversible hydraulic pump (LEDC PWM) - hal/rudder_actuator_electric.h: reversible DC motor + deadband compensation - hal/rudder_actuator_factory.h: build-time type selection via AR_ACTUATOR_TYPE Tests: 483 passed (was 462, +21 Sprint 4) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
74 lines
2.3 KiB
Python
74 lines
2.3 KiB
Python
"""Per-vessel configuration: identification + actuator + PID.
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Composes the lower-level configs into one object that lives at the heart
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of every ``ProjectConfig``.
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"""
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from __future__ import annotations
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from enum import StrEnum
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from pydantic import BaseModel, ConfigDict, Field
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from arautopilot.core.actuator_config import ActuatorConfig
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from arautopilot.core.ids import VesselId, new_vessel_id
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from arautopilot.core.pid_config import PidConfig
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from arautopilot.core.sensor_config import DualRudderSensorConfig, RudderSensorConfig, RudderSensorType
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class VesselType(StrEnum):
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"""Vessel classes targeted by Phase 1 of the product (brief section 3)."""
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YACHT_MOTOR_PLANEO = "yacht_motor_planeo"
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"""Planing motor yacht, 30-40 m."""
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YACHT_MOTOR_DESPLAZAMIENTO = "yacht_motor_desplazamiento"
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"""Displacement motor yacht, 30-40 m."""
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SAILBOAT_MOTOR = "sailboat_motor"
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"""Sailing yacht under motor (no sail trim). Phase 1 only."""
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FISHING_BOAT = "fishing_boat"
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"""Fishing vessel, 30 m class."""
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SMALL_FERRY = "small_ferry"
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"""Small ferry, 30 m class."""
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PATROL_BOAT = "patrol_boat"
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"""Coastal patrol boat, 30 m class."""
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class VesselConfig(BaseModel):
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"""Identification, geometry, and control configuration of one vessel."""
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model_config = ConfigDict(extra="forbid", validate_assignment=True)
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vessel_id: VesselId = Field(default_factory=new_vessel_id)
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name: str = Field(min_length=1, max_length=120)
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type: VesselType
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length_m: float = Field(gt=0.0, le=200.0, description="Length overall, metres.")
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displacement_t: float = Field(
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default=0.0,
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ge=0.0,
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le=10_000.0,
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description="Loaded displacement, tonnes. 0 means unknown.",
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)
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max_speed_kn: float = Field(
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gt=0.0,
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le=80.0,
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description="Maximum design speed over ground, knots.",
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)
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actuator: ActuatorConfig
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pid: PidConfig
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sensors: DualRudderSensorConfig = Field(
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default_factory=lambda: DualRudderSensorConfig(
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primary=RudderSensorConfig(
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type=RudderSensorType.AS5048A_SPI,
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label="Primary – rudder stock",
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spi_cs_gpio=10,
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)
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),
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description="Rudder angle sensor(s). Dual config enables cross-validation and failover.",
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)
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