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>
63 lines
1.8 KiB
Python
63 lines
1.8 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 Enum
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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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class VesselType(str, Enum):
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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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