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AR-Autopilot/arautopilot/studio/editors/project_editor.py
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alro65 e4812e9b44 sprint-4: Project Editor + .appack compiler + IRudderActuator HAL + dual sensor config 
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>
2026-05-20 10:29:17 -04:00

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"""Project configurator widget — Sprint 4.
A scrollable form that lets the integrator (Engineer / Super Admin) create
or edit a ``ProjectConfig`` and compile it into an ``.appack`` deployment
package.
Layout
------
┌─────────────────────────────────────────────────────┐
│ PROJECT INFO client / project name / notes │
│ VESSEL name / type / dimensions │
│ ACTUATOR type / angle limit / deadband / … │
│ SENSORS primary + optional redundant │
│ PID GAINS inner + outer base (SA-gated) │
│ ─────────────────────────────────────────────────── │
│ [New] [Open…] [Save] [Compile .appack…] │
└─────────────────────────────────────────────────────┘
RBAC gates
----------
- ``EDIT_COMMISSIONING`` (Engineer+) : actuator + sensor + rudder limit.
- ``EDIT_BASE_GAINS`` (Super Admin) : PID base gains fields.
- ``EDIT_COMMISSIONING`` (Engineer+) : Compile .appack button.
- Any role can load and read a project; only the above roles may edit.
"""
from __future__ import annotations
from pathlib import Path
from PySide6.QtWidgets import (
QCheckBox,
QComboBox,
QDoubleSpinBox,
QFileDialog,
QFormLayout,
QGroupBox,
QHBoxLayout,
QLabel,
QLineEdit,
QMessageBox,
QPushButton,
QScrollArea,
QSizePolicy,
QSpinBox,
QTextEdit,
QVBoxLayout,
QWidget,
)
from arautopilot.core.actuator_config import ActuatorConfig, ActuatorType
from arautopilot.core.pid_config import PidConfig, PidGains
from arautopilot.core.project_config import ProjectConfig
from arautopilot.core.rbac import Capability
from arautopilot.core.sensor_config import (
DualRudderSensorConfig,
RudderSensorConfig,
RudderSensorType,
)
from arautopilot.core.vessel_config import VesselConfig, VesselType
from arautopilot.studio.session import Session
class ProjectEditorWidget(QWidget):
"""Full project config editor — fills the 'Project' tab in the Studio."""
def __init__(self, session: Session, parent: QWidget | None = None) -> None:
super().__init__(parent)
self._session = session
self._project: ProjectConfig | None = None
root = QVBoxLayout(self)
root.setContentsMargins(0, 0, 0, 0)
# Scrollable form area
scroll = QScrollArea()
scroll.setWidgetResizable(True)
content = QWidget()
form_layout = QVBoxLayout(content)
form_layout.setContentsMargins(12, 12, 12, 12)
form_layout.setSpacing(12)
self._build_project_info_group(form_layout)
self._build_vessel_group(form_layout)
self._build_actuator_group(form_layout)
self._build_sensor_group(form_layout)
self._build_pid_group(form_layout)
form_layout.addStretch(1)
scroll.setWidget(content)
root.addWidget(scroll, stretch=1)
root.addWidget(self._build_toolbar())
self._apply_rbac()
self._load_defaults()
# ------------------------------------------------------------------
# Group builders
# ------------------------------------------------------------------
def _build_project_info_group(self, parent: QVBoxLayout) -> None:
box = QGroupBox("Project Info")
fl = QFormLayout(box)
self._client_name = QLineEdit()
self._client_name.setPlaceholderText("e.g. Astilleros del Sur S.A.")
fl.addRow("Client name *", self._client_name)
self._project_name = QLineEdit()
self._project_name.setPlaceholderText("e.g. M/Y Pacifica – Autopilot install")
fl.addRow("Project name *", self._project_name)
self._notes = QTextEdit()
self._notes.setPlaceholderText("Optional notes…")
self._notes.setFixedHeight(72)
fl.addRow("Notes", self._notes)
parent.addWidget(box)
def _build_vessel_group(self, parent: QVBoxLayout) -> None:
box = QGroupBox("Vessel")
fl = QFormLayout(box)
self._vessel_name = QLineEdit()
self._vessel_name.setPlaceholderText("e.g. Pacifica")
fl.addRow("Vessel name *", self._vessel_name)
self._vessel_type = QComboBox()
for vt in VesselType:
self._vessel_type.addItem(vt.value.replace("_", " ").title(), vt)
fl.addRow("Type", self._vessel_type)
self._length_m = QDoubleSpinBox()
self._length_m.setRange(5.0, 200.0)
self._length_m.setSuffix(" m")
self._length_m.setDecimals(1)
self._length_m.setValue(30.0)
fl.addRow("Length overall", self._length_m)
self._displacement_t = QDoubleSpinBox()
self._displacement_t.setRange(0.0, 10_000.0)
self._displacement_t.setSuffix(" t")
self._displacement_t.setDecimals(1)
fl.addRow("Displacement (0 = unknown)", self._displacement_t)
self._max_speed_kn = QDoubleSpinBox()
self._max_speed_kn.setRange(1.0, 80.0)
self._max_speed_kn.setSuffix(" kn")
self._max_speed_kn.setDecimals(1)
self._max_speed_kn.setValue(18.0)
fl.addRow("Max speed", self._max_speed_kn)
parent.addWidget(box)
def _build_actuator_group(self, parent: QVBoxLayout) -> None:
box = QGroupBox("Rudder Actuator")
fl = QFormLayout(box)
self._act_type = QComboBox()
phase1 = [
ActuatorType.HYDRAULIC_REVERSIBLE,
ActuatorType.ELECTRIC_DC_REVERSIBLE,
ActuatorType.SERVOMOTOR_FEEDBACK,
ActuatorType.STERNDRIVE_ANALOG,
]
for at in phase1:
self._act_type.addItem(at.value.replace("_", " ").title(), at)
fl.addRow("Type", self._act_type)
self._act_name = QLineEdit()
self._act_name.setPlaceholderText("e.g. Hynautic K-21 + Capilano cylinder")
fl.addRow("Model / label", self._act_name)
self._max_rudder_deg = QDoubleSpinBox()
self._max_rudder_deg.setRange(15.0, 45.0)
self._max_rudder_deg.setSuffix(" °")
self._max_rudder_deg.setDecimals(1)
self._max_rudder_deg.setValue(35.0)
self._max_rudder_deg.setToolTip(
"Software rudder angle limit. Must not exceed the mechanical stop.\n"
"Requires Engineer or Super Admin to change."
)
fl.addRow("Rudder angle limit ⚠", self._max_rudder_deg)
self._deadband_pct = QDoubleSpinBox()
self._deadband_pct.setRange(0.0, 30.0)
self._deadband_pct.setSuffix(" %")
self._deadband_pct.setDecimals(1)
self._deadband_pct.setValue(5.0)
fl.addRow("Deadband", self._deadband_pct)
self._max_rate_dps = QDoubleSpinBox()
self._max_rate_dps.setRange(0.5, 15.0)
self._max_rate_dps.setSuffix(" °/s")
self._max_rate_dps.setDecimals(1)
self._max_rate_dps.setValue(4.5)
fl.addRow("Max slew rate", self._max_rate_dps)
self._max_current_a = QDoubleSpinBox()
self._max_current_a.setRange(1.0, 200.0)
self._max_current_a.setSuffix(" A")
self._max_current_a.setDecimals(1)
self._max_current_a.setValue(15.0)
fl.addRow("Overcurrent limit", self._max_current_a)
parent.addWidget(box)
self._actuator_box = box
def _build_sensor_group(self, parent: QVBoxLayout) -> None:
box = QGroupBox("Rudder Angle Sensors")
fl = QFormLayout(box)
fl.addRow(QLabel("<b>Primary sensor</b>"))
self._sens_primary_type = QComboBox()
for st in RudderSensorType:
self._sens_primary_type.addItem(st.value.replace("_", " ").upper(), st)
fl.addRow("Type", self._sens_primary_type)
self._sens_primary_cs = QSpinBox()
self._sens_primary_cs.setRange(0, 39)
self._sens_primary_cs.setValue(10)
self._sens_primary_cs.setToolTip("ESP32 GPIO used as SPI CS for AS5048A")
fl.addRow("SPI CS GPIO", self._sens_primary_cs)
self._sens_primary_fsd = QDoubleSpinBox()
self._sens_primary_fsd.setRange(1.0, 45.0)
self._sens_primary_fsd.setSuffix(" °")
self._sens_primary_fsd.setDecimals(1)
self._sens_primary_fsd.setValue(35.0)
fl.addRow("Full-scale angle", self._sens_primary_fsd)
fl.addRow(QLabel(""))
fl.addRow(QLabel("<b>Redundant sensor (optional)</b>"))
self._sens_redundant_enabled = QCheckBox("Enable redundant sensor")
fl.addRow("", self._sens_redundant_enabled)
self._sens_redundant_type = QComboBox()
for st in RudderSensorType:
self._sens_redundant_type.addItem(st.value.replace("_", " ").upper(), st)
fl.addRow("Type", self._sens_redundant_type)
self._sens_redundant_cs = QSpinBox()
self._sens_redundant_cs.setRange(0, 39)
self._sens_redundant_cs.setValue(11)
fl.addRow("SPI CS GPIO", self._sens_redundant_cs)
self._sens_redundant_fsd = QDoubleSpinBox()
self._sens_redundant_fsd.setRange(1.0, 45.0)
self._sens_redundant_fsd.setSuffix(" °")
self._sens_redundant_fsd.setDecimals(1)
self._sens_redundant_fsd.setValue(35.0)
fl.addRow("Full-scale angle", self._sens_redundant_fsd)
self._sens_diverge_alarm = QDoubleSpinBox()
self._sens_diverge_alarm.setRange(0.5, 15.0)
self._sens_diverge_alarm.setSuffix(" °")
self._sens_diverge_alarm.setDecimals(1)
self._sens_diverge_alarm.setValue(3.0)
fl.addRow("Divergence alarm threshold", self._sens_diverge_alarm)
self._sens_diverge_failover = QDoubleSpinBox()
self._sens_diverge_failover.setRange(1.0, 20.0)
self._sens_diverge_failover.setSuffix(" °")
self._sens_diverge_failover.setDecimals(1)
self._sens_diverge_failover.setValue(6.0)
fl.addRow("Divergence failover threshold", self._sens_diverge_failover)
self._sens_redundant_enabled.toggled.connect(self._on_redundant_toggled)
self._on_redundant_toggled(False)
parent.addWidget(box)
self._sensor_box = box
def _build_pid_group(self, parent: QVBoxLayout) -> None:
box = QGroupBox("PID Base Gains [Super Admin only]")
fl = QFormLayout(box)
fl.addRow(QLabel("<b>Inner loop (rudder position, 50 Hz)</b>"))
self._inner_kp = self._gain_spin("Inner Kp", fl)
self._inner_ki = self._gain_spin("Inner Ki", fl)
self._inner_kd = self._gain_spin("Inner Kd", fl)
fl.addRow(QLabel(""))
fl.addRow(QLabel("<b>Outer loop (heading, 10 Hz)</b>"))
self._outer_kp = self._gain_spin("Outer Kp", fl)
self._outer_ki = self._gain_spin("Outer Ki", fl)
self._outer_kd = self._gain_spin("Outer Kd", fl)
fl.addRow(QLabel(""))
self._rot_ff = self._gain_spin("ROT feed-forward", fl)
parent.addWidget(box)
self._pid_box = box
# ------------------------------------------------------------------
# Toolbar
# ------------------------------------------------------------------
def _build_toolbar(self) -> QWidget:
bar = QWidget()
bar.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Fixed)
h = QHBoxLayout(bar)
h.setContentsMargins(8, 4, 8, 4)
btn_new = QPushButton("New")
btn_new.clicked.connect(self._on_new)
h.addWidget(btn_new)
btn_open = QPushButton("Open…")
btn_open.clicked.connect(self._on_open)
h.addWidget(btn_open)
btn_save = QPushButton("Save")
btn_save.clicked.connect(self._on_save)
h.addWidget(btn_save)
h.addStretch(1)
self._btn_compile = QPushButton("Compile .appack…")
self._btn_compile.setToolTip("Generate deployment package (Engineer+)")
self._btn_compile.clicked.connect(self._on_compile)
h.addWidget(self._btn_compile)
return bar
# ------------------------------------------------------------------
# RBAC
# ------------------------------------------------------------------
def _apply_rbac(self) -> None:
can_commission = self._session.has(Capability.EDIT_COMMISSIONING)
can_gains = self._session.has(Capability.EDIT_BASE_GAINS)
can_compile = self._session.has(Capability.EDIT_COMMISSIONING)
for w in [
self._max_rudder_deg,
self._deadband_pct,
self._max_rate_dps,
self._max_current_a,
self._act_type,
self._act_name,
self._sens_primary_type,
self._sens_primary_cs,
self._sens_primary_fsd,
self._sens_redundant_enabled,
self._sens_redundant_type,
self._sens_redundant_cs,
self._sens_redundant_fsd,
self._sens_diverge_alarm,
self._sens_diverge_failover,
]:
w.setEnabled(can_commission)
for w in [
self._inner_kp,
self._inner_ki,
self._inner_kd,
self._outer_kp,
self._outer_ki,
self._outer_kd,
self._rot_ff,
]:
w.setEnabled(can_gains)
self._btn_compile.setEnabled(can_compile)
if not can_gains:
self._pid_box.setTitle("PID Base Gains [Super Admin only — read-only]")
# ------------------------------------------------------------------
# Slots
# ------------------------------------------------------------------
def _on_redundant_toggled(self, enabled: bool) -> None:
for w in [
self._sens_redundant_type,
self._sens_redundant_cs,
self._sens_redundant_fsd,
self._sens_diverge_alarm,
self._sens_diverge_failover,
]:
w.setEnabled(enabled and self._session.has(Capability.EDIT_COMMISSIONING))
def _on_new(self) -> None:
self._project = None
self._load_defaults()
def _on_open(self) -> None:
path, _ = QFileDialog.getOpenFileName(
self,
"Open project",
str(Path.home()),
"AR-Autopilot Project (*.yaml *.yml *.json);;All files (*)",
)
if not path:
return
try:
self._project = ProjectConfig.load(path)
self._populate_from_project(self._project)
except Exception as exc: # noqa: BLE001
QMessageBox.critical(self, "Load error", str(exc))
def _on_save(self) -> None:
try:
project = self._build_project()
except Exception as exc: # noqa: BLE001
QMessageBox.critical(self, "Validation error", str(exc))
return
path, _ = QFileDialog.getSaveFileName(
self,
"Save project",
str(Path.home() / f"{project.project_name}.yaml"),
"AR-Autopilot Project (*.yaml);;JSON (*.json)",
)
if not path:
return
try:
project.save_yaml(path) if path.endswith((".yaml", ".yml")) else project.save_json(path)
self._project = project
QMessageBox.information(self, "Saved", f"Project saved to:\n{path}")
except Exception as exc: # noqa: BLE001
QMessageBox.critical(self, "Save error", str(exc))
def _on_compile(self) -> None:
if not self._session.has(Capability.EDIT_COMMISSIONING):
QMessageBox.warning(self, "Access denied", "Engineer or Super Admin required.")
return
try:
project = self._build_project()
except Exception as exc: # noqa: BLE001
QMessageBox.critical(self, "Validation error", str(exc))
return
path, _ = QFileDialog.getSaveFileName(
self,
"Save .appack",
str(Path.home() / f"{project.project_name}.appack"),
"AR-Autopilot Package (*.appack)",
)
if not path:
return
try:
from arautopilot.studio.compiler.appack import AppackCompiler
compiler = AppackCompiler(project)
out = compiler.compile(Path(path))
self._session.audit.record(
actor=self._session.user.username,
action="compile_appack",
detail=f"project={project.project_id} output={out}",
)
QMessageBox.information(
self, "Compiled", f".appack written to:\n{out}"
)
except Exception as exc: # noqa: BLE001
QMessageBox.critical(self, "Compile error", str(exc))
# ------------------------------------------------------------------
# Build / populate helpers
# ------------------------------------------------------------------
def _build_project(self) -> ProjectConfig:
redundant: RudderSensorConfig | None = None
if self._sens_redundant_enabled.isChecked():
redundant = RudderSensorConfig(
type=self._sens_redundant_type.currentData(),
label="Redundant – actuator arm",
spi_cs_gpio=self._sens_redundant_cs.value(),
full_scale_deg=self._sens_redundant_fsd.value(),
divergence_alarm_deg=self._sens_diverge_alarm.value(),
divergence_failover_deg=self._sens_diverge_failover.value(),
)
vessel = VesselConfig(
name=self._vessel_name.text().strip() or "Unnamed vessel",
type=self._vessel_type.currentData(),
length_m=self._length_m.value(),
displacement_t=self._displacement_t.value(),
max_speed_kn=self._max_speed_kn.value(),
actuator=ActuatorConfig(
type=self._act_type.currentData(),
name=self._act_name.text().strip(),
max_rudder_angle_deg=self._max_rudder_deg.value(),
deadband_pct=self._deadband_pct.value(),
max_rate_dps=self._max_rate_dps.value(),
max_current_a=self._max_current_a.value(),
),
pid=PidConfig(
inner_loop_base=PidGains(
kp=self._inner_kp.value(),
ki=self._inner_ki.value(),
kd=self._inner_kd.value(),
),
outer_loop_base=PidGains(
kp=self._outer_kp.value(),
ki=self._outer_ki.value(),
kd=self._outer_kd.value(),
),
rot_feedforward_gain=self._rot_ff.value(),
),
sensors=DualRudderSensorConfig(
primary=RudderSensorConfig(
type=self._sens_primary_type.currentData(),
label="Primary – rudder stock",
spi_cs_gpio=self._sens_primary_cs.value(),
full_scale_deg=self._sens_primary_fsd.value(),
),
redundant=redundant,
),
)
existing_id = self._project.project_id if self._project else None
project = ProjectConfig(
client_name=self._client_name.text().strip() or "Unknown client",
project_name=self._project_name.text().strip() or "Unnamed project",
notes=self._notes.toPlainText().strip(),
vessel=vessel,
)
if existing_id is not None:
object.__setattr__(project, "project_id", existing_id)
return project
def _populate_from_project(self, p: ProjectConfig) -> None:
self._client_name.setText(p.client_name)
self._project_name.setText(p.project_name)
self._notes.setPlainText(p.notes)
v = p.vessel
self._vessel_name.setText(v.name)
_set_combo(self._vessel_type, v.type)
self._length_m.setValue(v.length_m)
self._displacement_t.setValue(v.displacement_t)
self._max_speed_kn.setValue(v.max_speed_kn)
a = v.actuator
_set_combo(self._act_type, a.type)
self._act_name.setText(a.name)
self._max_rudder_deg.setValue(a.max_rudder_angle_deg)
self._deadband_pct.setValue(a.deadband_pct)
self._max_rate_dps.setValue(a.max_rate_dps)
self._max_current_a.setValue(a.max_current_a)
sp = v.sensors.primary
_set_combo(self._sens_primary_type, sp.type)
self._sens_primary_cs.setValue(sp.spi_cs_gpio)
self._sens_primary_fsd.setValue(sp.full_scale_deg)
sr = v.sensors.redundant
self._sens_redundant_enabled.setChecked(sr is not None)
if sr is not None:
_set_combo(self._sens_redundant_type, sr.type)
self._sens_redundant_cs.setValue(sr.spi_cs_gpio)
self._sens_redundant_fsd.setValue(sr.full_scale_deg)
self._sens_diverge_alarm.setValue(sr.divergence_alarm_deg)
self._sens_diverge_failover.setValue(sr.divergence_failover_deg)
pid = v.pid
self._inner_kp.setValue(pid.inner_loop_base.kp)
self._inner_ki.setValue(pid.inner_loop_base.ki)
self._inner_kd.setValue(pid.inner_loop_base.kd)
self._outer_kp.setValue(pid.outer_loop_base.kp)
self._outer_ki.setValue(pid.outer_loop_base.ki)
self._outer_kd.setValue(pid.outer_loop_base.kd)
self._rot_ff.setValue(pid.rot_feedforward_gain)
def _load_defaults(self) -> None:
self._client_name.clear()
self._project_name.clear()
self._notes.clear()
self._vessel_name.clear()
self._vessel_type.setCurrentIndex(0)
self._length_m.setValue(30.0)
self._displacement_t.setValue(0.0)
self._max_speed_kn.setValue(18.0)
self._act_type.setCurrentIndex(0)
self._act_name.clear()
self._max_rudder_deg.setValue(35.0)
self._deadband_pct.setValue(5.0)
self._max_rate_dps.setValue(4.5)
self._max_current_a.setValue(15.0)
self._sens_primary_type.setCurrentIndex(0)
self._sens_primary_cs.setValue(10)
self._sens_primary_fsd.setValue(35.0)
self._sens_redundant_enabled.setChecked(False)
self._sens_redundant_cs.setValue(11)
self._sens_redundant_fsd.setValue(35.0)
self._sens_diverge_alarm.setValue(3.0)
self._sens_diverge_failover.setValue(6.0)
self._inner_kp.setValue(1.5)
self._inner_ki.setValue(0.1)
self._inner_kd.setValue(0.05)
self._outer_kp.setValue(2.0)
self._outer_ki.setValue(0.05)
self._outer_kd.setValue(0.3)
self._rot_ff.setValue(0.4)
# ------------------------------------------------------------------
# Helpers
# ------------------------------------------------------------------
@staticmethod
def _gain_spin(label: str, fl: QFormLayout) -> QDoubleSpinBox:
spin = QDoubleSpinBox()
spin.setRange(0.0, 100.0)
spin.setDecimals(4)
spin.setSingleStep(0.01)
fl.addRow(label, spin)
return spin
def _set_combo(combo: QComboBox, value: object) -> None:
for i in range(combo.count()):
if combo.itemData(i) == value:
combo.setCurrentIndex(i)
return
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