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>
77 lines
2.1 KiB
Python
77 lines
2.1 KiB
Python
"""Autopilot operating modes.
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The brief (section 3) defines five Phase 1 modes plus three Phase 2 sail
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modes that appear greyed-out in the UI but are reserved here for forward
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compatibility.
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"""
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from __future__ import annotations
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from enum import Enum
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class AutopilotMode(str, Enum):
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"""The complete set of autopilot operating modes, across both phases.
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Use :func:`is_available_in_phase` to query phase gating instead of
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hard-coding lists in the UI.
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"""
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# --- Phase 1 (Sprint 1+) ---
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STANDBY = "standby"
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"""Pilot disengaged, helm is manual."""
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HEADING_HOLD = "heading_hold"
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"""Holds a fixed magnetic/true compass heading."""
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TRUE_COURSE = "true_course"
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"""Holds COG, compensating drift due to current and wind."""
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TRACK_KEEPING = "track_keeping"
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"""Follows an ECDIS waypoint route with smooth XTE correction."""
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DODGE = "dodge"
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"""Temporary deviation without losing the route; auto-returns when released."""
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# --- Phase 2 (Sprint 10+, greyed in Phase 1 UI) ---
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APPARENT_WIND = "apparent_wind"
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"""Holds constant apparent wind angle (vane mode). Sailboats only."""
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TRUE_WIND = "true_wind"
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"""Holds constant true wind angle. Sailboats only."""
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AUTO_TACK = "auto_tack"
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"""Automatically tacks at a target relative wind angle. Sailboats only."""
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_PHASE_1: frozenset[AutopilotMode] = frozenset(
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{
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AutopilotMode.STANDBY,
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AutopilotMode.HEADING_HOLD,
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AutopilotMode.TRUE_COURSE,
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AutopilotMode.TRACK_KEEPING,
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AutopilotMode.DODGE,
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}
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)
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_PHASE_2: frozenset[AutopilotMode] = frozenset(
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{
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AutopilotMode.APPARENT_WIND,
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AutopilotMode.TRUE_WIND,
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AutopilotMode.AUTO_TACK,
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}
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)
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def is_available_in_phase(mode: AutopilotMode, phase: int) -> bool:
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"""Return ``True`` if ``mode`` is available in the given product phase.
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Phase 1 is the launch product. Phase 2 adds the sailboat wind modes.
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Asking for any other phase number returns ``False``.
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"""
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if phase == 1:
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return mode in _PHASE_1
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if phase == 2:
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return mode in _PHASE_1 or mode in _PHASE_2
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return False
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