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>
75 lines
2.5 KiB
Python
75 lines
2.5 KiB
Python
"""Filesystem loader for the seed library.
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Resolves paths inside the installed ``arautopilot.library`` package and
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deserialises actuator profiles (JSON) and default PID tunings (YAML).
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"""
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from __future__ import annotations
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import json
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from importlib import resources
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from pathlib import Path
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from typing import Any
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import yaml
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from arautopilot.core.actuator_config import ActuatorConfig
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from arautopilot.core.pid_config import PidConfig
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_ACTUATOR_PACKAGE = "arautopilot.library.actuators"
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_TUNINGS_PACKAGE = "arautopilot.library.default_tunings"
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def list_actuator_profiles() -> list[str]:
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"""Return the IDs (filename stems) of all bundled actuator profiles."""
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return sorted(
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r.name.removesuffix(".json")
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for r in resources.files(_ACTUATOR_PACKAGE).iterdir()
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if r.is_file() and r.name.endswith(".json")
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)
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def list_default_tunings() -> list[str]:
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"""Return the IDs (filename stems) of all bundled default tunings."""
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return sorted(
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r.name.removesuffix(".yaml")
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for r in resources.files(_TUNINGS_PACKAGE).iterdir()
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if r.is_file() and r.name.endswith(".yaml")
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)
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def load_actuator_profile(profile_id: str) -> ActuatorConfig:
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"""Load and validate one bundled actuator profile by ID."""
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data = _read_json_resource(_ACTUATOR_PACKAGE, f"{profile_id}.json")
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return ActuatorConfig.model_validate(data)
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def load_default_tuning(tuning_id: str) -> PidConfig:
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"""Load and validate one bundled default PID tuning by ID."""
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data = _read_yaml_resource(_TUNINGS_PACKAGE, f"{tuning_id}.yaml")
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return PidConfig.model_validate(data)
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def load_actuator_profile_from_path(path: Path | str) -> ActuatorConfig:
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"""Load an actuator profile from an arbitrary filesystem path (for tests / Studio)."""
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p = Path(path)
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with p.open("r", encoding="utf-8") as f:
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return ActuatorConfig.model_validate(json.load(f))
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def load_default_tuning_from_path(path: Path | str) -> PidConfig:
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"""Load a default PID tuning from an arbitrary filesystem path (for tests / Studio)."""
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p = Path(path)
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with p.open("r", encoding="utf-8") as f:
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return PidConfig.model_validate(yaml.safe_load(f))
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def _read_json_resource(package: str, filename: str) -> dict[str, Any]:
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return json.loads(resources.files(package).joinpath(filename).read_text(encoding="utf-8"))
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def _read_yaml_resource(package: str, filename: str) -> dict[str, Any]:
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return yaml.safe_load(
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resources.files(package).joinpath(filename).read_text(encoding="utf-8")
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)
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