diff --git a/ARCHITECTURE_3_directory_selection.md b/ARCHITECTURE_3_directory_selection.md
index b8de2f87d..7dc7cb585 100644
--- a/ARCHITECTURE_3_directory_selection.md
+++ b/ARCHITECTURE_3_directory_selection.md
@@ -2,10 +2,9 @@
## Overview
-The Vehicle Configuration Directory Selection sub-application allows users to either create a new vehicle
-configuration project or open an existing one. It manages the selection and creation of vehicle directories,
-handles template selection, and downloads parameter documentation metadata corresponding to the flight
-controller firmware version to the project directory.
+The Vehicle Configuration Directory Selection sub-application allows users to create a new vehicle
+configuration project, import one from a configured flight controller or `.bin` log, or open an existing
+project. It manages directory selection and downloads parameter documentation for the project firmware.
The architecture follows a clean layered design with dependency injection, where the frontend components
depend on the VehicleProjectManager factory/container class, which provides a unified interface to all
@@ -116,7 +115,7 @@ This architecture ensures:
- **File**: `frontend_tkinter_project_opener.py`
-- **Purpose**: Main interface for opening existing vehicle projects and launching new project creation
+- **Purpose**: Main interface for opening existing projects and launching new project creation
- **Responsibilities**:
- Present three main options: Create New, Open Existing, Re-open Last Used
- Handle user interactions and directory selection through callback patterns
@@ -130,9 +129,10 @@ This architecture ensures:
- **File**: `frontend_tkinter_project_creator.py`
-- **Purpose**: Dedicated interface for creating new vehicle projects from templates
+- **Purpose**: Dedicated interface for creating new vehicle projects from templates or a configured flight controller
- **Responsibilities**:
- - Present template selection and project configuration options
+ - Present template selection and project configuration options for template-based creation
+ - Present destination controls for configured-flight-controller creation
- Handle new project settings and customization dynamically based on flight controller connection state
- Coordinate template selection through TemplateOverviewWindow
- Delegate project creation to VehicleProjectManager
@@ -179,18 +179,17 @@ This architecture ensures:
#### Project Creation Services
- **File**: `data_model_vehicle_project_creator.py`
-- **Purpose**: Handle creation of new vehicle projects from templates
+- **Purpose**: Handle creation of new vehicle projects from templates and imported FC data
- **Responsibilities**:
- - Template copying and customization (with optional transformations in a single pass)
+ - Template copying and customization
- Project directory initialization
- - Optional one-time import of FC parameter values when `use_fc_params=True`
+ - Optional substitution of FC parameter values and import of values not represented by the template
- Configuration file setup
- Project metadata creation
- **Access**: Through VehicleProjectManager factory methods
-When `use_fc_params=True` and FC parameters are available, `LocalFilesystem.copy_template_files_to_new_vehicle_dir()`
-applies both `blank_change_reason` and FC value substitution in a single `ParDict`-based parse-modify-write
-pass per `.param` file, before `re_init` loads the directory.
+When FC values are supplied, template parameter files are transformed during copying; the manager then persists
+firmware metadata and writes any remaining values to a numbered import file before opening the project.
#### Project Opening Services
@@ -237,50 +236,27 @@ The data flow follows the layered architecture pattern with clear separation of
2. **Project Selection Flow**
- User interacts with VehicleProjectOpenerWindow main interface
- - Three options presented: Create New, Open Existing, Re-open Last Used
- - For new projects: VehicleProjectOpenerWindow launches VehicleProjectCreatorWindow
+ - New-project choices include template, configured-flight-controller, and `.bin` log creation
+ - VehicleProjectOpenerWindow launches VehicleProjectCreatorWindow for template or configured-FC creation
- For existing projects: callback functions handle directory selection through VehicleDirectorySelectionWidgets
3. **New Project Creation Flow**
- VehicleProjectCreatorWindow instantiated with project_manager reference
- - User optionally enables `use_fc_params`
- - VehicleProjectCreator creates the directory from template
- - During the copy step, FC source values and/or blank-change-reason are applied in a single
- `ParDict`-based pass so that `re_init` reads fully-initialized files with no further writes
- - Frontend presents template selection and project configuration options
- - User selects template through TemplateOverviewWindow integration
- - Frontend delegates to `project_manager.create_new_vehicle_from_template()`
- - VehicleProjectManager coordinates with project creator services
- - Project creation delegated to specialized creator services
- - Success/failure feedback provided through manager interface
+ - Template creation presents a selectable template and optional settings
+ - Configured-FC creation resolves the matching empty firmware template automatically and uses live FC values
+ - VehicleProjectManager delegates copying to VehicleProjectCreator, persists project metadata, imports any
+ remaining FC values, opens the project, and updates recent-directory history
+ - Success and failure feedback is provided through the manager interface
4. **.bin Log Import Flow**
- User clicks *Create a vehicle project from a .bin log file* in VehicleProjectOpenerWindow (option-1 panel, via `BinLogSelectionWidgets`)
- Frontend opens a file-picker; user selects a `.bin` ArduPilot log file
- Frontend delegates to `project_manager.create_new_vehicle_from_bin_log(bin_file)`
- - `VehicleProjectManager` orchestrates the following steps via `VehicleProjectCreator`:
- 1. `extract_firmware_version_from_bin_log()` — reads the `VER` (or `MSG`) record from the
- log to determine vehicle type (e.g. `ArduCopter`) and firmware version (e.g. `4.6.3`);
- `pymavlink` is imported lazily at call time so it does not slow application startup
- 2. `template_dir_for_bin_import()` — resolves and validates the matching template directory
- (e.g. `ArduCopter/empty_4.6.x`); raises a user-friendly error if none is installed
- 3. `create_new_vehicle_from_template()` — copies the template with `fc_connected=False`
- so no live FC values are injected
- 4. `extract_param_files_from_bin_log()` — extracts default and current parameter values
- from the log's `PARM` messages; also imported lazily
- 5. `LocalFilesystem.fw_version` is set to `"major.minor.patch"` before `re_init()` is
- called, preventing the template's placeholder version from being used
- 6. `re_init()` — points the filesystem at the new vehicle directory
- 7. `set_fc_fw_version_and_type_in_components_json()` — persists the detected firmware
- version and type into `vehicle_components.json`
- 8. `write_param_default_values_to_file()` — overwrites `00_default.param` with the
- log-extracted defaults
- 9. Parameters present in the log but absent/different in the template files are exported
- to `xx_imported_bin_log_parameters.param`; `re_init()` is called again to pick up
- the new file
- 10. Manager state (`_settings`, `configuration_template`, recent-dir history) is updated
- only after `open_vehicle_directory()` succeeds, ensuring manager metadata
- is committed only on success
+ - `VehicleProjectManager` asks `VehicleProjectCreator` to extract firmware/default/current parameters,
+ resolve the matching empty template, and copy it without live-FC injection
+ - The shared import finalization persists firmware metadata, replaces `00_default.param` with extracted
+ defaults, and exports remaining values to a numbered import file
+ - The project is opened and manager history/state are updated only after file preparation succeeds
- Success/failure feedback provided through manager interface; on failure the new directory
is not registered in session history and manager in-memory state is not updated,
though filesystem changes to the new project directory are not rolled back
@@ -294,14 +270,7 @@ The data flow follows the layered architecture pattern with clear separation of
- Project state is reconstructed and validated
- Error handling managed through consistent interface
-6. **Architecture Benefits**
- - Frontend never directly accesses backend services
- - All business logic centralized in VehicleProjectManager
- - Easy to test with mock VehicleProjectManager
- - Changes to backend services don't affect frontend code
- - Clean separation between project opening and project creation concerns
-
-7. **Recent Directories History Flow**
+6. **Recent Directories History Flow**
- On application startup, `ProgramSettings.get_recent_vehicle_dirs()` loads history from settings.json; the history is passed through the manager
- History is passed to VehicleProjectOpenerWindow to populate the combobox widget
- User selects a directory from the combobox dropdown
@@ -571,34 +540,3 @@ The architecture implements dependency injection where:
- **Better Testing**: Each layer can be tested in isolation with appropriate mocks
- **Code Reuse**: VehicleProjectManager can be used by multiple frontend components
- **Consistent Interface**: All vehicle project operations go through unified interface
-
-## Template System Features
-
-### Template Categories
-
-- **Vehicle Type Based**: Organized by ArduPilot vehicle type
-- **Size Categories**: Small, medium, large vehicle templates
-- **Application Specific**: Racing, photography, mapping, etc.
-- **Hardware Specific**: Specific flight controller or component combinations
-
-### Template Validation
-
-- Schema validation for all template configuration files
-- Parameter file syntax checking
-- Dependency verification between configuration steps
-- Compatibility checking with different firmware versions
-
-### Template Customization
-
-- User can modify templates after copying
-- Support for local template libraries
-- Template versioning and update mechanisms
-- Template sharing and import/export functionality
-
-## Performance Optimization
-
-- Lazy loading of template metadata
-- Efficient directory scanning algorithms
-- Parallel file operations where safe
-- Caching of frequently accessed templates
-- Progress reporting for long operations
diff --git a/TUNING_GUIDE_ArduCopter.md b/TUNING_GUIDE_ArduCopter.md
index d3ff05629..05e455137 100644
--- a/TUNING_GUIDE_ArduCopter.md
+++ b/TUNING_GUIDE_ArduCopter.md
@@ -133,8 +133,8 @@ So, [start the ArduPilot Methodic Configurator and select a vehicle that resembl
1. Connect the flight controller to the PC via a USB cable and wait 7 seconds.
1. Open *ArduPilot Methodic Configurator*, and [connect it to the vehicle](USERMANUAL.md#step-1-flight-controller-connection).
-1. Press the *Create a vehicle configuration directory from template* button.
- 
+1. Press the *Create a vehicle project from a template* button.
+ 
1. Now using [New vehicle](USERMANUAL.md#create-a-new-vehicle-configuration-directory) subsection
1. From the existing templates, select the one most similar to your vehicle:
@@ -152,7 +152,7 @@ So, [start the ArduPilot Methodic Configurator and select a vehicle that resembl
creating a new vehicle configuration directory from a template.
Only makes sense if your FC has already been correctly configured. This option is only available when a flight controller is connected.
- *Blank parameter change reason* - Do not use the parameters change reason from the template.
-1. Select the destination directory, give it a name, and press the *Create a vehicle configuration directory from template* button.
+1. Select the destination directory, give it a name, and press the *Create a vehicle project from a template* button.
1. On the component editor window, **add all the details of the components of your system** as we did in [Section 1.2](#12-our-example-vehicle):
@@ -516,6 +516,11 @@ The `Change Reason` field is extremely important because:
In our setup, we used an advanced RC receiver that cannot be fully configured using Mission Planner's `SETUP >> Mandatory Hardware >> Radio Calibration` menu.
+On some flight controllers, it might be necessary to add and change the `BRD_ALT_CONFIG`
+parameter, in order to be able to connect the RC receiver or ESC telemetry to a pin that can decode it.
+This is necessary if not enough serial ports are available when `BRD_ALT_CONFIG==0` or
+when DMA-capable servo-outputs conflict with serial ports.
+
Repeat the steps from [Section 6.1.1](#611-use-ardupilot-methodic-configurator-to-edit-the-parameter-file-and-upload-it-to-the-flight-controller) to edit and upload the `06_remote_controller_receiver.param` file
### 6.2.2 Configure the RC controller
@@ -547,6 +552,11 @@ Once this is operating we no longer need the USB connection to the vehicle. We c
In our setup, we used a [Bi-directional Dshot ESC](https://ardupilot.org/copter/docs/common-dshot-escs.html) that cannot be fully configured using Mission Planner's `SETUP >> Mandatory Hardware >> Servo Output` menu.
+On some flight controllers, it might be necessary to add and change the `BRD_ALT_CONFIG`
+parameter, in order to be able to connect the RC receiver or ESC telemetry to a pin that can decode it.
+This is necessary if not enough serial ports are available when `BRD_ALT_CONFIG==0` or
+when DMA-capable servo-outputs conflict with serial ports.
+
Repeat the steps from [Section 6.1.1](#611-use-ardupilot-methodic-configurator-to-edit-the-parameter-file-and-upload-it-to-the-flight-controller) to edit and upload the `09_esc_telemetry.param` file
The step above configured ESC communication passthrough.
diff --git a/TUNING_GUIDE_ArduPlane.md b/TUNING_GUIDE_ArduPlane.md
index fb24f5073..bcc5c025d 100644
--- a/TUNING_GUIDE_ArduPlane.md
+++ b/TUNING_GUIDE_ArduPlane.md
@@ -133,8 +133,8 @@ So, [start the ArduPilot Methodic Configurator and select a vehicle that resembl
1. Connect the flight controller to the PC via a USB cable and wait 7 seconds.
1. Open *ArduPilot Methodic Configurator*, and [connect it to the vehicle](USERMANUAL.md#step-1-flight-controller-connection).
-1. Press the *Create a vehicle configuration directory from template* button.
- 
+1. Press the *Create a vehicle project from a template* button.
+ 
1. Now using [New](USERMANUAL.md#new) subsection
1. From the existing templates, select the one most similar to your vehicle:
@@ -152,7 +152,7 @@ So, [start the ArduPilot Methodic Configurator and select a vehicle that resembl
creating a new vehicle configuration directory from a template.
Only makes sense if your FC has already been correctly configured. This option is only available when a flight controller is connected.
- *Blank parameter change reason* - Do not use the parameters change reason from the template.
-1. Select the destination directory, give it a name, and press the *Create a vehicle configuration directory from template* button.
+1. Select the destination directory, give it a name, and press the *Create a vehicle project from a template* button.
1. On the component editor window, **add all the details of the components of your system** as we did in [Section 1.2](#12-our-example-vehicle):
diff --git a/TUNING_GUIDE_Heli.md b/TUNING_GUIDE_Heli.md
index 09c700fce..b2e68c851 100644
--- a/TUNING_GUIDE_Heli.md
+++ b/TUNING_GUIDE_Heli.md
@@ -132,8 +132,8 @@ So, [start the ArduPilot Methodic Configurator and select a vehicle that resembl
1. Connect the flight controller to the PC via a USB cable and wait 7 seconds.
1. Open *ArduPilot Methodic Configurator*, and [connect it to the vehicle](USERMANUAL.md#step-1-flight-controller-connection).
-1. Press the *Create a vehicle configuration directory from template* button.
- 
+1. Press the *Create a vehicle project from a template* button.
+ 
1. Now using [New](USERMANUAL.md#new) subsection
1. From the existing templates, select the one most similar to your vehicle:
@@ -151,7 +151,7 @@ So, [start the ArduPilot Methodic Configurator and select a vehicle that resembl
creating a new vehicle configuration directory from a template.
Only makes sense if your FC has already been correctly configured. This option is only available when a flight controller is connected.
- *Blank parameter change reason* - Do not use the parameters change reason from the template.
-1. Select the destination directory, give it a name, and press the *Create a vehicle configuration directory from template* button.
+1. Select the destination directory, give it a name, and press the *Create a vehicle project from a template* button.
1. On the component editor window, **add all the details of the components of your system** as we did in [Section 1.2](#12-our-example-vehicle):
diff --git a/TUNING_GUIDE_Rover.md b/TUNING_GUIDE_Rover.md
index 2aa64e532..4177f2d0d 100644
--- a/TUNING_GUIDE_Rover.md
+++ b/TUNING_GUIDE_Rover.md
@@ -133,8 +133,8 @@ So, [start the ArduPilot Methodic Configurator and select a vehicle that resembl
1. Connect the flight controller to the PC via a USB cable and wait 7 seconds.
1. Open *ArduPilot Methodic Configurator*, and [connect it to the vehicle](USERMANUAL.md#step-1-flight-controller-connection).
-1. Press the *Create a vehicle configuration directory from template* button.
- 
+1. Press the *Create a vehicle project from a template* button.
+ 
1. Now using [New](USERMANUAL.md#new) subsection
1. From the existing templates, select the one most similar to your vehicle:
@@ -152,7 +152,7 @@ So, [start the ArduPilot Methodic Configurator and select a vehicle that resembl
creating a new vehicle configuration directory from a template.
Only makes sense if your FC has already been correctly configured. This option is only available when a flight controller is connected.
- *Blank parameter change reason* - Do not use the parameters change reason from the template.
-1. Select the destination directory, give it a name, and press the *Create a vehicle configuration directory from template* button.
+1. Select the destination directory, give it a name, and press the *Create a vehicle project from a template* button.
1. On the component editor window, **add all the details of the components of your system** as we did in [Section 1.2](#12-our-example-vehicle):
diff --git a/USECASES.md b/USECASES.md
index 148573bda..15c154068 100644
--- a/USECASES.md
+++ b/USECASES.md
@@ -34,8 +34,8 @@ as this would require reconfiguring everything from scratch.
1. Open the *ArduPilot Methodic Configurator* software.
1. The software should now automatically detect and connect to your flight controller.
-1. Press the *Create a vehicle configuration directory from template* button.
- 
+1. Press the *Create a vehicle project from a template* button.
+ 
1. Select source template directory to use.
1. Select the vehicle template that better resembles your vehicle, it does not need to fully match your vehicle.
@@ -55,7 +55,7 @@ as this would require reconfiguring everything from scratch.
- *Blank parameter change reason* - Do not use the parameters change reason from the template.
1. Give a name to your vehicle.
-1. Press *Create a vehicle configuration directory from template*.
+1. Press *Create a vehicle project from a template*.
1. Edit all the components of your vehicle to match your own in the *Vehicle Component Editor* window.
Please scroll down and make sure you do not miss a property.
@@ -137,26 +137,15 @@ If something is not clear, read the [ArduPilot Methodic Configurator user manual
1. Open the *ArduPilot Methodic Configurator* software.
1. The software should now automatically detect and connect to your flight controller.
-1. Press the *Create a vehicle configuration directory from template* button.
- 
-1. Select the vehicle template that better resembles your vehicle.
- 
- 
-1. **select the `Infer component specifications and FC connections from FC Parameters, not from template files`
- and the `Use parameter values from connected FC, not from template files` checkboxes**
- - *Infer component specifications and FC connections from FC parameters, not from template files* - When creating a new vehicle configuration,
- extract component specifications and connection information directly from the connected flight controller instead of using the specifications
- defined in the template files.
- This helps ensure the configuration accurately matches your actual hardware.
- Note: you will not see the information from the correctly configured vehicle template. This option is only available when a flight controller is connected.
- - *Use parameter values from connected FC, not from template files* - Use the parameter values from the connected flight controller instead of
- the template files when creating a new vehicle configuration directory from a template.
- Only makes sense if your FC has already been correctly configured. This option is only available when a flight controller is connected.
- 
-1. Give a name to your vehicle.
- 
-1. Press *Create a vehicle configuration directory from template*.
- 
+1. In the **New** panel, click **Create a vehicle project from an already configured flight controller**.
+ 
+1. Select the **Destination base directory** and enter the **Destination new vehicle name**.
+ 
+1. Click **Create a vehicle project from an already configured flight controller**.
+ The software automatically selects the empty template matching the flight controller's vehicle type and
+ firmware version, and imports the component information and parameter values from the connected vehicle.
+ The FC's default values are written to `00_default.param`; values that differ from the template/default
+ baseline are written to `xx_imported_flight_controller_parameters.param` for review.
1. Edit all the components of your vehicle to match your own in the *Vehicle Component Editor* window.
1. Press *Save data and start configuration*.
@@ -165,7 +154,7 @@ If something is not clear, read the [ArduPilot Methodic Configurator user manual
Correct those entries and press the `Save data and start configuration` button again.
1. You should now see the *Parameter file editor and uploader* window.
-1. Follow the procedure to [configure the vehicle parameters](USERMANUAL.md#step-4-parameter-file-editor-and-uploader-interface)
+1. Follow the procedure to [configure the vehicle parameters](USERMANUAL.md#step-4-parameter-file-editor-and-uploader-interface).
If something is not clear, read the [ArduPilot Methodic Configurator user manual](USERMANUAL.md)
diff --git a/USERMANUAL.md b/USERMANUAL.md
index ed89f0106..60f27a53a 100644
--- a/USERMANUAL.md
+++ b/USERMANUAL.md
@@ -43,33 +43,36 @@ flowchart TD
subgraph "Step 2: Select Project"
C --> E{Existing Project?}
E -->|Yes| F[Open Vehicle Directory]
- E -->|No| G[Select Template]
- G --> H[Create New Project]
- F --> I[Component Editor]
- H --> I
+ E -->|No| G{Configured FC?}
+ G -->|Yes| H[Create from Configured FC]
+ G -->|No| I[Select Template]
+ I --> J[Create New Project]
+ F --> K[Component Editor]
+ H --> K
+ J --> K
end
subgraph "Step 3: Edit FC Components"
- I --> J[Validate Components]
- J --> K{Valid?}
- K -->|No| I
- K -->|Yes| L[Parameter Editor]
+ K --> L[Validate Components]
+ L --> M{Valid?}
+ M -->|No| K
+ M -->|Yes| N[Parameter Editor]
end
subgraph "Step 4: Edit FC Parameters"
- L --> M[Configure Parameters]
- M --> N[Upload to FC]
- N --> O{Experiment Required?}
- O -->|Yes| P[Close AMC]
- P --> Q[Perform Experiment/Flight]
- Q --> R[Start AMC]
- R --> S[Read Results from FC]
- S --> T[Write Results to File]
- T --> U{More Files?}
- O -->|No| U
- U -->|Yes| L
- U -->|No| V[Generate Summary]
- V --> W[Configuration Complete]
+ N --> O[Configure Parameters]
+ O --> P[Upload to FC]
+ P --> Q{Experiment Required?}
+ Q -->|Yes| R[Close AMC]
+ R --> S[Perform Experiment/Flight]
+ S --> T[Start AMC]
+ T --> U[Read Results from FC]
+ U --> V[Write Results to File]
+ V --> W{More Files?}
+ Q -->|No| W
+ W -->|Yes| N
+ W -->|No| X[Generate Summary]
+ X --> Y[Configuration Complete]
end
```
@@ -168,7 +171,23 @@ It provides three main options for selecting a vehicle directory:
#### New
-Create a new vehicle configuration directory, either from a template or from a `.bin` log file.
+Create a new vehicle configuration directory from a template, an already configured flight controller, or a `.bin` log file.
+
+When a correctly configured flight controller is connected, you can create a project directly from it:
+
+- Click **Create a vehicle project from an already configured flight controller** in the **New** panel.
+- In the creator window, select the **Destination base directory** and enter the **Destination new vehicle name**.
+- The software automatically selects the empty template matching the flight controller's vehicle type and major/minor firmware version.
+- Component information and parameter values are taken from the connected flight controller.
+- The FC's default parameter values are written to `00_default.param`.
+- If live FC values differ from the selected template/default baseline, they are written to an
+ `xx_imported_flight_controller_parameters.param` file for review.
+
+
+
+
+ Create vehicle from an already configured flight controller
+
#### Open
@@ -200,7 +219,26 @@ It's useful for setting up a new vehicle configuration quickly.
will use the parameter values from the flight controller instead.
- Use the "Destination base directory" `...` button to select the existing directory where the new vehicle directory will be created.
- Enter the name for the new vehicle directory in the "Destination new vehicle name" field.
-- Click the "Create vehicle directory from template" button to create the new vehicle directory on the base directory and copy the template files to it.
+- Click the "Create a vehicle project from a template" button to create the new vehicle directory on the base directory and copy the template files to it.
+
+### Create a New Vehicle Configuration Directory from an Already Configured Flight Controller
+
+This workflow is intended for a vehicle whose flight controller is already configured.
+It creates a new project using the live flight controller values and hardware information, while selecting the matching empty firmware template automatically.
+
+
+
+
+ Create vehicle project from an already configured flight controller
+
+
+1. In the **New** panel, click **Create a vehicle project from an already configured flight controller**.
+1. Select the destination base directory.
+1. Enter a name for the new vehicle directory.
+1. Click the create button. AMC copies the matching empty template, substitutes the downloaded
+ FC parameter values, and derives component specifications and connections from those values.
+1. AMC writes the FC's default values to `00_default.param`. Values that differ from the template
+ baseline are written to `xx_imported_flight_controller_parameters.param`.
### Create a New Vehicle Configuration Directory from a .bin Log File
diff --git a/ardupilot_methodic_configurator/configuration_steps_ArduCopter.json b/ardupilot_methodic_configurator/configuration_steps_ArduCopter.json
index a8580bf20..1de6cf8b7 100644
--- a/ardupilot_methodic_configurator/configuration_steps_ArduCopter.json
+++ b/ardupilot_methodic_configurator/configuration_steps_ArduCopter.json
@@ -11,7 +11,7 @@
"external_tool_url": "",
"mandatory_text": "80% mandatory (20% optional)",
"auto_changed_by": "",
- "autoimport_nondefault_regexp": ["BRD_HEAT_.*", "INS_TCAL_OPTIONS", "TCAL_ENABLED"],
+ "autoimport_nondefault_regexp": ["BRD_HEAT_.*", "INS_RAW_LOG_OPT", "INS_TCAL[1-3]_(ENABLE|TMAX|TMIN)", "INS_TCAL_OPTIONS", "TCAL_ENABLED"],
"forced_parameters": {
"INS_TCAL1_ENABLE": { "New Value": 2, "Change Reason": "Activates the temperature calibration for IMU 1 at the next start" },
"LOG_BITMASK": { "New Value": 524416, "Change Reason": "Only for IMU and Raw-IMU" },
@@ -138,6 +138,7 @@
"04_imu_temperature_calibration_finish.param": {
"why": "After calibrating the IMU temperature bias, disable disarmed logging (no longer needed) and set board target temperature.",
"why_now": "Can only be done after IMU temperature compensation results are available. Future steps will use a drift-compensated, constant temperature and only log when armed.",
+ "autoimport_nondefault_regexp": ["BRD_HEAT_LOWMGN"],
"blog_text": "Finish IMU (Inertial Measurement Unit) temperature calibration",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#42-calculate-imu-temperature-calibration",
"wiki_text": "IMU Temperature Calibration",
@@ -191,7 +192,7 @@
"mandatory_text": "100% mandatory (0% optional)",
"component": "RC Receiver",
"auto_changed_by": "",
- "autoimport_nondefault_regexp": ["FS_THR_VALUE", "RC_.*"],
+ "autoimport_nondefault_regexp": ["BRD_ALT_CONFIG", "FS_THR_VALUE", "RC_.*", "RSSI_TYPE"],
"derived_parameters": {
"RC_PROTOCOLS": { "New Value": "vehicle_components['RC Receiver']['FC Connection']['Protocol']", "Change Reason": "Selected in the component editor" },
"FLTMODE_CH": { "if": "vehicle_components['RC Receiver']['FC Connection']['Protocol'] == 'ExpressLRS'", "New Value": "6", "Change Reason": "ExpressLRS requires FLTMODE_CH != 5" }
@@ -202,6 +203,7 @@
"07_remote_controller_controller.param": {
"why": "Configuring RC controller options ensures correct arming behavior and channel function assignments for the specific RC system in use",
"why_now": "After the RC receiver protocol is configured, the controller-specific options such as arming method and channel function can be set",
+ "autoimport_nondefault_regexp": ["ARMING_RUDDER", "PILOT_THR_BHV", "RC[0-9]+_.+"],
"blog_text": "Configure RC controller options including the arming method and RC channel option assignments",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#622-configure-the-rc-controller",
"wiki_text": "Radio Control Systems",
@@ -288,6 +290,7 @@
"mandatory_text": "100% mandatory (0% optional)",
"component": "Battery Monitor",
"auto_changed_by": "",
+ "autoimport_nondefault_regexp": ["BATT_AMP_OFFSET", "BATT_AMP_PERVLT", "BATT_CURR_PIN", "BATT_MONITOR", "BATT_VLT_OFFSET", "BATT_VOLT_MULT", "BATT_VOLT_PIN", "BATT[2-9]_AMP_OFFSET", "BATT[2-9]_AMP_PERVLT", "BATT[2-9]_CURR_PIN", "BATT[2-9]_MONITOR", "BATT[2-9]_VLT_OFFSET", "BATT[2-9]_VOLT_MULT", "BATT[2-9]_VOLT_PIN"],
"derived_parameters": {
"BATT_MONITOR": { "New Value": "vehicle_components['Battery Monitor']['FC Connection']['Protocol']", "Change Reason": "Selected in component editor window" },
"BATT_I2C_BUS": { "if": "vehicle_components['Battery Monitor']['FC Connection']['Type'] in ['I2C1', 'I2C2', 'I2C3', 'I2C4']", "New Value": "1 if vehicle_components['Battery Monitor']['FC Connection']['Type'] == 'I2C2' else 2 if vehicle_components['Battery Monitor']['FC Connection']['Type'] == 'I2C3' else 3 if vehicle_components['Battery Monitor']['FC Connection']['Type'] == 'I2C4' else 0", "Change Reason": "Selected in component editor window" }
@@ -321,7 +324,7 @@
"mandatory_text": "100% mandatory (0% optional)",
"component": "Battery",
"auto_changed_by": "",
- "autoimport_nondefault_regexp": ["BATT.*"],
+ "autoimport_nondefault_regexp": ["BATT.*", "MOT_BAT_VOLT_(MAX|MIN)"],
"forced_parameters": {
"BATT_FS_CRT_ACT": { "New Value": 1, "Change Reason": "Land ASAP" },
"BATT_FS_LOW_ACT": { "New Value": 2, "Change Reason": "Return and land at home or rally point" }
@@ -339,7 +342,14 @@
"BATT_AMP_PERVLT": {},
"BATT_I2C_BUS": {},
"BATT_MONITOR": {},
- "BATT_VOLT_MULT": {}
+ "BATT_VOLT_MULT": {},
+ "BATT_VLT_OFFSET": {},
+ "BATT2_AMP_OFFSET": {},
+ "BATT2_AMP_PERVLT": {},
+ "BATT2_I2C_BUS": {},
+ "BATT2_MONITOR": {},
+ "BATT2_VOLT_MULT": {},
+ "BATT2_VLT_OFFSET": {}
},
"rename_connection": "vehicle_components['Battery Monitor']['FC Connection']['Type']",
"old_filenames": ["08_batt1.param"]
@@ -356,7 +366,7 @@
"mandatory_text": "100% mandatory (0% optional)",
"component": "GNSS Receiver",
"auto_changed_by": "",
- "autoimport_nondefault_regexp": ["BRD_BOOT_DELAY", "GPS.*", "GNSS.*"],
+ "autoimport_nondefault_regexp": ["BRD_BOOT_DELAY", "BRD_SAFETY_DEFLT", "CAN_.*", "GPS.*", "GNSS.*", "NTF_LED_TYPES", "SERIAL[34]_PROTOCOL", "(WPNAV_RADIUS|WP_RADIUS_M)$"],
"derived_parameters": {
"GPS_TYPE": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) < Version('4.6')", "New Value": "vehicle_components['GNSS Receiver']['FC Connection']['Protocol']", "Change Reason": "Defined in component editor" },
"GPS1_TYPE": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) >= Version('4.6')","New Value": "vehicle_components['GNSS Receiver']['FC Connection']['Protocol']", "Change Reason": "Defined in component editor" }
@@ -379,8 +389,13 @@
}
},
"13_initial_atc.param": {
+ "instructions_popup": {
+ "type": "warning",
+ "msg": "Only do this step once. It sets initial values that later steps will improve."
+ },
"why": "Propeller size has a big influence on the vehicle dynamics, this adapts the attitude controller response to it",
"why_now": "Done before sensor calibration in Mission Planner to minimize the changes the user has to do in mission planner",
+ "autoimport_nondefault_regexp": ["ATC_ACC(EL)?_[PRY]_MAX$", "ATC_ANG_(RLL|PIT|YAW)_P$", "ATC_RAT_(PIT|RLL|YAW)_FLT[DET]$", "INS_ACCEL_FILTER$", "MOT_THST_(EXPO|HOVER)$"],
"blog_text": "Initial attitude controller configuration depends on the vehicle's propeller size defined in the component editor window",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#67-initial-attitude-pid-gains-vehicle-size-dependent",
"wiki_text": "Initial parameters calculator",
@@ -450,6 +465,7 @@
"15_general_configuration.param": {
"why": "The parameter defaults of some parameters are not suitable for the flight tests that will follow",
"why_now": "Most parameters have been configured in previous steps. These are parameters that did not fit in any of the categories of the previous steps.",
+ "autoimport_nondefault_regexp": ["(ATC_)?ANGLE_MAX$", "AUTO_OPTIONS$", "BRD_RTC_TZ_MIN$", "EK3_.*", "INITIAL_MODE$", "INS_ACCEL_FILTER$", "INS_POS[12]_X$", "RTL_.*", "SCHED_LOOP_RATE$", "SERIAL[5-9]_.*"],
"blog_text": "General configuration parameters for the vehicle, including flight modes and safety settings",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#69-general-configuration",
"wiki_text": "",
@@ -466,6 +482,7 @@
"16_safety_setup.param": {
"why": "Safety parameters protect the vehicle and its surroundings by enabling arming checks, geofencing and failsafe actions. ESC slew rate limits protect the ESCs from desync events.",
"why_now": "Before the first flight so that arming checks are enforced and the vehicle responds safely to abnormal conditions",
+ "autoimport_nondefault_regexp": ["ARMING_.*", "ATC_RATE_[PRY]_MAX", "ATC_RAT_(PIT|RLL|YAW)_(PDMX|SMAX)", "ATC_(SLEW_YAW|RATE_WPY_MAX)$", "BRD_SAFETYOPTION$", "FENCE_.*", "FS_.*", "RTL_ALT(_M)?$"],
"blog_text": "Configure safety parameters including arming checks, geofence, failsafe actions and ESC slew rate limits",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#691-safety-setup",
"wiki_text": "Arming Checks",
@@ -483,6 +500,7 @@
"17_remote_id.param": {
"why": "Some countries require a remote ID for drones to be flown legally.",
"why_now": "Remote ID requires GNSS and air pressure to be configured before, and it must be set up before the first flight",
+ "autoimport_nondefault_regexp": ["ADSB_.*", "DID_.*"],
"blog_text": "Set the remote ID for the vehicle, to comply with local laws if applicable",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#692-remote-id-aka-drone-id-optional",
"wiki_text": "Remote ID (aka Drone ID)",
@@ -537,7 +555,7 @@
"external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/ThrustExpo/",
"mandatory_text": "100% mandatory (0% optional)",
"auto_changed_by": "",
- "autoimport_nondefault_regexp": ["BRD_IO_DSHOT", "BRD_IO_ENABLE", "SERVO_.*"],
+ "autoimport_nondefault_regexp": ["BRD_IO_DSHOT", "BRD_IO_ENABLE", "MOT_(PWM_(MAX|MIN)|SPIN_(ARM|MAX|MIN)|THST_EXPO)", "NTF_.*", "SERVO[0-9]+_.+", "SERVO_.*"],
"derived_parameters": {
"MOT_PWM_MAX": { "if": "vehicle_components['ESC']['FC->ESC Connection']['Protocol'] not in ['Normal', 'Brushed', 'PWMAngle', 'PWMRange']", "New Value": "2000", "Change Reason": "Digital ESC protocol maximum is per definition 2000" },
"MOT_PWM_MIN": { "if": "vehicle_components['ESC']['FC->ESC Connection']['Protocol'] not in ['Normal', 'Brushed', 'PWMAngle', 'PWMRange']", "New Value": "1000", "Change Reason": "Digital ESC protocol minimum is per definition 1000" }
@@ -579,7 +597,7 @@
"external_tool_url": "https://discuss.ardupilot.org/t/new-fft-filter-setup-and-review-web-tool/102572",
"mandatory_text": "100% mandatory (0% optional)",
"auto_changed_by": "",
- "autoimport_nondefault_regexp": ["FFT_.*", "INS_HNTCH[0-9]*_.*"],
+ "autoimport_nondefault_regexp": ["FFT_.*", "INS_HNTC[H2-4]_.*"],
"forced_parameters": {
"INS_HNTCH_ENABLE": { "New Value": 1, "Change Reason": "Use the first notch filter to filter the noise created by the motors/propellers" }
},
@@ -624,10 +642,11 @@
"23_optional_pid_adjustment.param": {
"instructions_popup": {
"type": "info",
- "msg": "This step is optional, only perform it if your vehicle is tiny, huge, or its motor outputs oscillate"
+ "msg": "This step is optional, only perform it if your vehicle is tiny, huge, or its motor outputs oscillate.\nIt must be repeated multiple times until outputs no longer oscillate."
},
"why": "With very large or very small vehicles the default PID values are not suitable for the first flight",
"why_now": "Most other parameters are done and these need to be corrected (depending on the vehicle size) before the first flight",
+ "autoimport_nondefault_regexp": ["ATC_INPUT_TC", "ATC_RAT_(PIT|RLL|YAW)_[DIP]$"],
"blog_text": "Adjust the Proportional-Integral-Derivative (PID) controllers based on the vehicle size before the first flight",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#615-optional-pid-adjustment",
"wiki_text": "Manual tuning of Roll and Pitch",
@@ -641,6 +660,7 @@
"24_throttle_controller.param": {
"why": "The throttle controller is crucial for maintaining altitude and controlling the vehicle's vertical movement.",
"why_now": "After the first flight because it depends on the MOT_THST_HOVER parameter, before the second flight so that it can safely use the altitude controller",
+ "autoimport_nondefault_regexp": ["ATC_THR_MIX_MAN$", "MOT_BAT_VOLT_(MAX|MIN)$", "MOT_SPOOL_TIME$", "PSC_ACCZ_([IP]|SMAX)$", "PSC_D_ACC_([IP]|SMAX)$", "TKOFF_RPM_MIN$", "TKOFF_SLEW_TIME$"],
"blog_text": "Use MOT_THST_HOVER value calculated during the first flight to set throttle controller PIDs",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#82-configure-the-throttle-controller",
"wiki_text": "Test AltHold",
@@ -648,7 +668,7 @@
"external_tool_text": "",
"external_tool_url": "",
"mandatory_text": "100% mandatory (0% optional)",
- "auto_changed_by": "",
+ "auto_changed_by": "First flight in ALT_HOLD mode for at least 30 seconds. If you have not done it yet, close this application and go fly",
"derived_parameters": {
"ATC_THR_MIX_MAN": { "New Value": "0.5", "Change Reason": "Because ALTHOLD flight mode was used for more than 30 seconds to correctly learn the MOT_THST_HOVER value" },
"PSC_ACCZ_I": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) < Version('4.7')", "New Value": "2*fc_parameters['MOT_THST_HOVER']", "Change Reason": "Use 2 * MOT_THST_HOVER assuming MOT_THST_HOVER has been correctly learned" },
@@ -662,6 +682,10 @@
"old_filenames": ["19_throttle_controller.param", "20_throttle_controller.param"]
},
"25_motor_notch_filter_results.param": {
+ "instructions_popup": {
+ "type": "info",
+ "msg": "After the flight, analyze the .bin in the filter review tool, change the values here and upload to the FC.\nRepeat the procedure until all post-filter noise peaks are below -50dB."
+ },
"why": "The notch filter(s) configuration depends on real-flight data.",
"why_now": "real-flight data is only available after the first flight",
"blog_text": "Configure the notch filter(s) based on the data collected from the first flight",
@@ -672,12 +696,13 @@
"external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/FilterReview/",
"mandatory_text": "100% mandatory (0% optional)",
"auto_changed_by": "",
- "autoimport_nondefault_regexp": ["FFT_.*", "INS_GYRO_FILTER"],
+ "autoimport_nondefault_regexp": ["FFT_.*", "INS_GYRO_FILTER", "INS_HNTC[H2-4]_.*"],
"old_filenames": ["18_notch_filter_results.param", "19_notch_filter_results.param"]
},
"26_ekf_config.param": {
"why": "Sometimes the weights of the barometer vs. GNSS altitude need to be adjusted.",
"why_now": "Before the second flight so that the EKF can be used to estimate the vehicle's position",
+ "autoimport_nondefault_regexp": ["EK3_ACC_P_NSE", "EK3_ALT_M_NSE"],
"blog_text": "Configure Extended Kalman Filter (EKF) noise weights",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#83-configure-the-ekf-altitude-source-weights",
"wiki_text": "Extended Kalman filter tuning",
@@ -698,7 +723,7 @@
"external_tool_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#612-motorpropeller-order-and-direction-test",
"mandatory_text": "100% mandatory (0% optional)",
"auto_changed_by": "",
- "autoimport_nondefault_regexp": ["INS_LOG_BAT_.+", "LOG_FILE_.+"],
+ "autoimport_nondefault_regexp": ["INS_LOG_BAT_.+", "LOG_BITMASK", "LOG_FILE_.+"],
"forced_parameters": {
"INS_LOG_BAT_OPT": { "New Value": "4", "Change Reason": "PID notch filters require batch pre- and post- filters logging" },
"INS_RAW_LOG_OPT": { "New Value": "0", "Change Reason": "PID notch filters require batch logging, not raw logging" },
@@ -720,7 +745,7 @@
"external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/FilterReview/",
"mandatory_text": "100% mandatory (0% optional)",
"auto_changed_by": "",
- "autoimport_nondefault_regexp": ["FILT.+", "ATC_RAT_.+_N[ET]F", "PSC_ACCZ_N[ET]F"],
+ "autoimport_nondefault_regexp": ["FILT.+", "ATC_RAT_.+_N[ET]F", "PSC_(ACCZ|D_ACC)_N[ET]F"],
"add_parameters": {
"ATC_RAT_RLL_NEF": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) >= Version('4.5')", "New Value": "0", "Change Reason": "" },
"ATC_RAT_RLL_NTF": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) >= Version('4.5')", "New Value": "0", "Change Reason": "" },
@@ -746,7 +771,7 @@
"external_tool_url": "https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/applets/VTOL-quicktune.md",
"mandatory_text": "80% mandatory (20% optional)",
"auto_changed_by": "",
- "autoimport_nondefault_regexp": ["QUIK_.*"],
+ "autoimport_nondefault_regexp": ["QUIK_.*", "SCR_ENABLE"],
"forced_parameters": {
"SCR_ENABLE": { "New Value": 1, "Change Reason": "Use lua scripting for VTOL-Quicktune" },
"QUIK_ENABLE": { "New Value": 1, "Change Reason": "Use VTOL-Quicktune lua script to estimate a good PID starting values" }
@@ -758,6 +783,7 @@
"30_quick_tune_results.param": {
"why": "The VTOL-quicktune lua script can safely estimate good PID starting values for the vehicle.",
"why_now": "Before the second flight so that the vehicle can be safely tuned.",
+ "autoimport_nondefault_regexp": ["ATC_RAT_(PIT|RLL|YAW)_.*"],
"blog_text": "Results of the in-flight VTOL-quicktune lua script PIDs before the MAGFit flight.",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#85-second-flight-pid-vtol-quiktune-lua-script-or-manual-pid-tune",
"wiki_text": "If lua scripting is not possible, do a manual tune instead",
@@ -800,7 +826,7 @@
"external_tool_url": "https://firmware.ardupilot.org/Tools/WebTools/MAGFit/",
"mandatory_text": "80% mandatory (20% optional)",
"auto_changed_by": "",
- "autoimport_nondefault_regexp": ["MAGH_.*"],
+ "autoimport_nondefault_regexp": ["MAGH_.*", "SCR_ENABLE"],
"forced_parameters": {
"MAGH_LOG_ENABLE": { "New Value": 1, "Change Reason": "Activates the logging of the MAGH.Active message" },
"QUIK_ENABLE": { "New Value": 0, "Change Reason": "Quiktune is now completed. Disable it so that we can use the same RC switch to operate the wp-advance script" },
@@ -900,6 +926,7 @@
"33_evaluate_the_aircraft_tune_ff_disable.param": {
"why": "Evaluating the aircraft's PID tuning and flight characteristics is best done with feed-forward disabled",
"why_now": "Before the autotune process to estimate if autotune can safely operate the vehicle",
+ "autoimport_nondefault_regexp": ["ATC_RATE_FF_ENAB", "INS_LOG_BAT_.+", "LOG_BITMASK"],
"blog_text": "Evaluate the aircraft's tuning with feed-forward control disabled",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#93-fifth-flight-evaluate-the-aircraft-tune---part-1",
"wiki_text": "Evaluating the aircraft tune",
@@ -922,6 +949,7 @@
"34_evaluate_the_aircraft_tune_ff_enable.param": {
"why": "Evaluate the aircraft's PID tuning and flight characteristics with feed-forward enable to test faster dynamics",
"why_now": "Before the autotune process to estimate if autotune can safely operate the vehicle",
+ "autoimport_nondefault_regexp": ["ATC_RATE_FF_ENAB"],
"blog_text": "Evaluate the aircraft's tuning with feed-forward control enabled",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#94-sixth-flight-evaluate-the-aircraft-tune---part-2",
"wiki_text": "Evaluating the aircraft tune",
@@ -938,6 +966,7 @@
"35_autotune_roll_setup.param": {
"why": "To optimize roll step response.",
"why_now": "Because roll is usually the axis that has the highest dynamic, and we start with the highest dynamic axis",
+ "autoimport_nondefault_regexp": ["AUTOTUNE_AGGR", "AUTOTUNE_AXES"],
"blog_text": "Set up parameters for the roll axis autotuning process",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#951-roll-axis-autotune",
"wiki_text": "AutoTune",
@@ -954,6 +983,7 @@
"36_autotune_roll_results.param": {
"why": "To record autotune results after roll step response optimization",
"why_now": "Because roll is usually the axis that has the highest dynamic, and we start with the highest dynamic axis",
+ "autoimport_nondefault_regexp": ["ATC_ACC(EL)?_R_MAX", "ATC_RAT_RLL_.*"],
"blog_text": "Record the results of the roll axis autotuning, providing data for analysis and adjustment.",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#951-roll-axis-autotune",
"wiki_text": "AutoTune",
@@ -967,6 +997,7 @@
"37_autotune_pitch_setup.param": {
"why": "To optimize pitch step response.",
"why_now": "Because pitch is usually the axis that has the second highest dynamic, and we continue with the second highest dynamic axis",
+ "autoimport_nondefault_regexp": ["AUTOTUNE_AGGR", "AUTOTUNE_AXES"],
"blog_text": "Set up parameters for the pitch axis autotuning process",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#952-pitch-axis-autotune",
"wiki_text": "AutoTune",
@@ -983,6 +1014,7 @@
"38_autotune_pitch_results.param": {
"why": "To record autotune results after pitch step response optimization",
"why_now": "Because pitch is usually the axis that has the second highest dynamic, and we continue with the second highest dynamic axis",
+ "autoimport_nondefault_regexp": ["ATC_ACC(EL)?_P_MAX", "ATC_RAT_PIT_.*"],
"blog_text": "Record the results of the pitch axis autotuning",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#952-pitch-axis-autotune",
"wiki_text": "AutoTune",
@@ -996,6 +1028,7 @@
"39_autotune_yaw_setup.param": {
"why": "To optimize yaw step response.",
"why_now": "Because yaw is usually the axis that has the third highest dynamic, and we continue with the third highest dynamic axis",
+ "autoimport_nondefault_regexp": ["ATC_RAT_YAW_FLTD", "AUTOTUNE_AGGR", "AUTOTUNE_AXES"],
"blog_text": "Set up parameters for the yaw axis autotuning process",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#953-yaw-axis-autotune",
"wiki_text": "AutoTune",
@@ -1015,6 +1048,7 @@
"40_autotune_yaw_results.param": {
"why": "To record autotune results after yaw step response optimization",
"why_now": "Because yaw is usually the axis that has the third highest dynamic, and we continue with the third highest dynamic axis",
+ "autoimport_nondefault_regexp": ["ATC_ACC(EL)?_Y_MAX", "ATC_RAT_YAW_.*"],
"blog_text": "Record the results of the yaw axis autotuning, providing data for analysis and adjustment.",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#953-yaw-axis-autotune",
"wiki_text": "AutoTune",
@@ -1028,6 +1062,7 @@
"41_autotune_yawd_setup.param": {
"why": "To optimize yaw D step response.",
"why_now": "Because yaw D can only be done after yaw",
+ "autoimport_nondefault_regexp": ["AUTOTUNE_AGGR", "AUTOTUNE_AXES", "AUTOTUNE_MIN_D"],
"blog_text": "Set up parameters for the yaw rate autotuning process",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#954-yaw-d-axis-autotune-optional",
"wiki_text": "AutoTune",
@@ -1294,6 +1329,7 @@
"60_position_controller.param": {
"why": "Position controller parameters are crucial for waypoint navigation and precision flying",
"why_now": "Because the position controller PIDs depend on the attitude and attitude-rate PIDs tuned in previous steps",
+ "autoimport_nondefault_regexp": ["(ATC_)?ANGLE_MAX", "FHLD_.*", "LOG_BITMASK", "LOIT_.*", "PHLD_.*", "PILOT_.*", "WP_YAW_BEHAVIOR", "(WPNAV_|WP_).*"],
"blog_text": "Configure the position controller(s)",
"blog_url": "https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter#121-position-controller",
"wiki_text": "",
diff --git a/ardupilot_methodic_configurator/data_model_ardupilot_parameter.py b/ardupilot_methodic_configurator/data_model_ardupilot_parameter.py
index 6b1540a61..e9de3034f 100644
--- a/ardupilot_methodic_configurator/data_model_ardupilot_parameter.py
+++ b/ardupilot_methodic_configurator/data_model_ardupilot_parameter.py
@@ -34,6 +34,10 @@ class ParameterOutOfRangeError(Exception):
"""
+class ParameterForcedOrDerivedError(ValueError):
+ """Raised when attempting to change a forced or derived parameter without a manual override."""
+
+
class ArduPilotParameter: # pylint: disable=too-many-instance-attributes, too-many-public-methods
"""Domain model representing an ArduPilot parameter with all its attributes."""
@@ -397,6 +401,8 @@ def set_new_value(self, value: str, ignore_out_of_range: bool = False) -> float:
Raises:
TypeError: if the provided value is not a string.
+ ParameterForcedOrDerivedError: if the parameter is forced or derived and
+ has no manual override.
ValueError: if the value is invalid for this parameter (not in choices,
invalid bitmask bits, invalid numeric format, etc.).
ParameterOutOfRangeError: if the value is outside min/max limits and
@@ -406,7 +412,7 @@ def set_new_value(self, value: str, ignore_out_of_range: bool = False) -> float:
"""
if (self._is_forced or self._is_derived) and not self._is_manual_override:
- raise ValueError(_("This parameter is forced or derived and cannot be changed."))
+ raise ParameterForcedOrDerivedError(_("This parameter is forced or derived and cannot be changed."))
if not isinstance(value, str):
raise TypeError(_("Parameter value must be provided as a string."))
diff --git a/ardupilot_methodic_configurator/data_model_configuration_step.py b/ardupilot_methodic_configurator/data_model_configuration_step.py
index 004f6bc34..21c25981d 100644
--- a/ardupilot_methodic_configurator/data_model_configuration_step.py
+++ b/ardupilot_methodic_configurator/data_model_configuration_step.py
@@ -67,6 +67,7 @@ def process_configuration_step( # pylint: disable=too-many-locals
set[str],
list[tuple[str, str]],
ParDict,
+ set[str],
]:
"""
Process a configuration step including parameter computation and domain model creation.
@@ -83,6 +84,7 @@ def process_configuration_step( # pylint: disable=too-many-locals
- Set of parameter names to remove (duplicates from rename operations)
- List of (old_name, new_name) pairs to rename
- ParDict of derived parameters to apply to domain model
+ - Set of parameter names auto-imported from the flight controller
"""
ui_errors: list[tuple[str, str]] = []
@@ -146,8 +148,11 @@ def process_configuration_step( # pylint: disable=too-many-locals
# Create domain model parameters
current_step_parameters = self._create_domain_model_parameters(selected_file, fc_parameters)
- # Apply auto-imports for the current step
- self._apply_auto_imports(selected_file, fc_parameters, current_step_parameters, parameters_to_delete)
+ # Apply auto-imports for the current step. The editor uses these names to
+ # track parameters that were added to the in-memory model and must be saved.
+ autoimported_parameters = self._apply_auto_imports(
+ selected_file, fc_parameters, current_step_parameters, parameters_to_delete
+ )
# Check for ExpressLRS and add FLTMODE_CH warning
if current_step_parameters.get("RC_OPTIONS") is not None or current_step_parameters.get("FLTMODE_CH") is not None:
@@ -166,7 +171,15 @@ def process_configuration_step( # pylint: disable=too-many-locals
)
)
- return current_step_parameters, ui_errors, ui_infos, duplicates_to_remove, renames_to_apply, derived_params_to_apply
+ return (
+ current_step_parameters,
+ ui_errors,
+ ui_infos,
+ duplicates_to_remove,
+ renames_to_apply,
+ derived_params_to_apply,
+ autoimported_parameters,
+ )
def _apply_auto_imports(
self,
@@ -174,17 +187,18 @@ def _apply_auto_imports(
fc_parameters: dict[str, float],
current_step_parameters: dict[str, ArduPilotParameter],
parameters_to_delete: set[str] | None = None,
- ) -> None:
- """Automatically import non-default FC parameters matching regex rules into the domain model."""
+ ) -> set[str]:
+ """Automatically import non-default FC parameters and return their names."""
step_dict = self.local_filesystem.configuration_steps.get(selected_file, {})
if "autoimport_nondefault_regexp" not in step_dict or not fc_parameters:
- return
+ return set()
# Parameters that will be deleted take priority; skip auto-importing them
if parameters_to_delete is None:
parameters_to_delete = set()
regex_rules = step_dict["autoimport_nondefault_regexp"]
+ imported_parameters: set[str] = set()
for live_key, live_value in fc_parameters.items():
if live_key in current_step_parameters:
continue
@@ -202,6 +216,9 @@ def _apply_auto_imports(
current_step_parameters[live_key] = self.create_ardupilot_parameter(
live_key, param, selected_file, fc_parameters
)
+ imported_parameters.add(live_key)
+
+ return imported_parameters
def _handle_connection_renaming(
self, selected_file: str, variables: dict
diff --git a/ardupilot_methodic_configurator/data_model_parameter_editor.py b/ardupilot_methodic_configurator/data_model_parameter_editor.py
index 2fae426e7..bbdb616f1 100644
--- a/ardupilot_methodic_configurator/data_model_parameter_editor.py
+++ b/ardupilot_methodic_configurator/data_model_parameter_editor.py
@@ -36,6 +36,7 @@
from ardupilot_methodic_configurator.backend_internet import download_file_from_url, webbrowser_open_url
from ardupilot_methodic_configurator.data_model_ardupilot_parameter import (
ArduPilotParameter,
+ ParameterForcedOrDerivedError,
ParameterOutOfRangeError,
ParameterUnchangedError,
)
@@ -345,10 +346,23 @@ def _update_parameters_from_fc_values(self, relevant_fc_params: dict[str, float]
continue # Expected, not an error
except ParameterOutOfRangeError:
# Log warning but accept FC value anyway since it came from FC
- logging_warning(_("Parameter %s value %s is out of range but accepted from FC"), param_name, value)
+ logging_warning(
+ _("Parameter {parameter} value {value} is out of range but accepted from FC").format(
+ parameter=param_name, value=value
+ )
+ )
params_copied += 1
+ except ParameterForcedOrDerivedError as exc:
+ logging_warning(
+ _("Parameter {parameter} could not be updated because it is forced or derived: {error}").format(
+ parameter=param_name, error=exc
+ )
+ )
+ continue
except (ValueError, TypeError):
- logging_exception(_("Failed to update in-memory value for %s after FC copy"), param_name)
+ logging_exception(
+ _("Failed to update in-memory value for {parameter} after FC copy").format(parameter=param_name)
+ )
continue
return bool(params_copied)
@@ -391,6 +405,11 @@ def handle_copy_fc_values_workflow(
_("Parameters copied"),
_("FC values have been copied to {selected_file}").format(selected_file=selected_file),
)
+ else:
+ show_info(
+ _("No parameters copied"),
+ _("No FC values could be copied to {selected_file}.").format(selected_file=selected_file),
+ )
return user_choice
return False
@@ -1881,9 +1900,16 @@ def _repopulate_configuration_step_parameters( # pylint: disable=too-many-local
self._connection_renames.clear()
# Process configuration step and get operations to apply
- self.current_step_parameters, ui_errors, ui_infos, duplicates_to_remove, renames_to_apply, derived_params = (
- self._config_step_processor.process_configuration_step(self.current_file, self.fc_parameters)
- )
+ (
+ self.current_step_parameters,
+ ui_errors,
+ ui_infos,
+ duplicates_to_remove,
+ renames_to_apply,
+ derived_params,
+ autoimported_parameters,
+ ) = self._config_step_processor.process_configuration_step(self.current_file, self.fc_parameters)
+ self._added_parameters.update(autoimported_parameters)
# Apply derived parameters to domain model using specialized setters
for param_name, derived_par in derived_params.items():
diff --git a/ardupilot_methodic_configurator/data_model_vehicle_project.py b/ardupilot_methodic_configurator/data_model_vehicle_project.py
index 844221b18..cdccb407e 100644
--- a/ardupilot_methodic_configurator/data_model_vehicle_project.py
+++ b/ardupilot_methodic_configurator/data_model_vehicle_project.py
@@ -18,8 +18,12 @@
from ardupilot_methodic_configurator import _
from ardupilot_methodic_configurator.backend_filesystem import LocalFilesystem
-from ardupilot_methodic_configurator.data_model_par_dict import is_within_tolerance
-from ardupilot_methodic_configurator.data_model_vehicle_project_creator import NewVehicleProjectSettings, VehicleProjectCreator
+from ardupilot_methodic_configurator.data_model_par_dict import ParamFileError, ParDict, is_within_tolerance
+from ardupilot_methodic_configurator.data_model_vehicle_project_creator import (
+ NewVehicleProjectSettings,
+ VehicleProjectCreationError,
+ VehicleProjectCreator,
+)
from ardupilot_methodic_configurator.data_model_vehicle_project_opener import VehicleProjectOpener
if TYPE_CHECKING:
@@ -176,19 +180,178 @@ def create_new_vehicle_from_template(
"""
fc_connected = self.is_flight_controller_connected()
+ # The filesystem holds the defaults downloaded from the connected FC.
+ # Preserve them before opening the newly copied template, whose
+ # re_init() would otherwise replace them with template defaults.
+ fc_default_params = self._local_filesystem.param_default_dict.deep_copy() if settings.use_fc_params is True else None
new_path = self._creator.create_new_vehicle_from_template(
template_dir, new_base_dir, new_vehicle_name, settings, fc_connected, self.fc_parameters()
)
if new_path:
- self._settings = settings
- self.configuration_template = self.get_directory_name_from_path(template_dir)
- # History updates belong in the manager/facade layer so they are
- # performed consistently for both project creation and opening.
- self.store_recently_used_template_dirs(template_dir, new_base_dir)
- self.open_vehicle_directory(new_path)
+ try:
+ if fc_default_params:
+ self._local_filesystem.re_init(new_path, self._local_filesystem.vehicle_type)
+ self._local_filesystem.write_param_default_values_to_file(fc_default_params)
+ self._settings = settings
+ self.configuration_template = self.get_directory_name_from_path(template_dir)
+ # History updates belong in the manager/facade layer so they are
+ # performed consistently for both project creation and opening.
+ self.store_recently_used_template_dirs(template_dir, new_base_dir)
+ self.open_vehicle_directory(new_path)
+ except (OSError, ParamFileError, ValueError, TypeError, SystemExit) as exc:
+ raise VehicleProjectCreationError(
+ _("Vehicle project creation"),
+ _("Could not finish creating the vehicle project: {error}").format(error=exc),
+ ) from exc
return new_path
- def create_new_vehicle_from_bin_log( # pylint: disable=too-many-locals
+ def create_new_vehicle_from_flight_controller(self, new_base_dir: str, new_vehicle_name: str) -> str:
+ """Create a vehicle project from the connected flight controller's configuration."""
+ if not self.is_flight_controller_connected():
+ raise VehicleProjectCreationError(
+ _("Flight controller"),
+ _("Cannot create a vehicle project: no flight controller is connected."),
+ )
+
+ fc_parameters = self.fc_parameters()
+ if fc_parameters is None or not NewVehicleProjectSettings.has_fc_parameters(fc_parameters):
+ raise VehicleProjectCreationError(
+ _("Flight controller"),
+ _("Cannot create a vehicle project: no flight controller parameters are available."),
+ )
+
+ template_dir = self._get_fc_template_dir_for_project_creation()
+
+ settings = NewVehicleProjectSettings(
+ infer_comp_specs_and_conn_from_fc_params=True,
+ use_fc_params=True,
+ )
+ new_path = self._creator.create_new_vehicle_from_template(
+ template_dir,
+ new_base_dir,
+ new_vehicle_name,
+ settings,
+ fc_connected=True,
+ fc_parameters=fc_parameters,
+ )
+
+ flight_controller = self._flight_controller
+ if flight_controller is None: # pragma: no cover - guarded by the connection check above
+ raise VehicleProjectCreationError(
+ _("Flight controller"),
+ _("Cannot create a vehicle project: no flight controller is connected."),
+ )
+ fc_info = flight_controller.info
+ vehicle_type = fc_info.vehicle_type
+ fw_version = fc_info.flight_sw_version
+ try:
+ self._complete_imported_vehicle_project_creation(
+ template_dir,
+ new_base_dir,
+ settings,
+ new_path,
+ vehicle_type,
+ fw_version,
+ ParDict.from_fc_parameters(fc_parameters),
+ import_source="flight_controller",
+ )
+ except (OSError, ParamFileError, ValueError, TypeError, SystemExit) as exc:
+ raise VehicleProjectCreationError(
+ _("Vehicle project creation"),
+ _("Could not finish creating the vehicle project: {error}").format(error=exc),
+ ) from exc
+ return new_path
+
+ def _get_fc_template_dir_for_project_creation(self) -> str:
+ """Resolve the exact empty template matching the connected FC firmware."""
+ if self._flight_controller is None: # pragma: no cover - guarded by the public method
+ raise VehicleProjectCreationError(
+ _("Flight controller"),
+ _("Cannot create a vehicle project: no flight controller is connected."),
+ )
+
+ fc_info = getattr(self._flight_controller, "info", None)
+ vehicle_type = getattr(fc_info, "vehicle_type", "")
+ firmware_version = getattr(fc_info, "flight_sw_version", "")
+ version_parts = firmware_version.split(".") if isinstance(firmware_version, str) else []
+ if not isinstance(vehicle_type, str) or not vehicle_type or len(version_parts) < 2:
+ raise VehicleProjectCreationError(
+ _("Vehicle template directory"),
+ _(
+ "Could not determine the connected flight controller's vehicle type and firmware version "
+ "needed to select an empty template."
+ ),
+ )
+
+ try:
+ major, minor = int(version_parts[0]), int(version_parts[1])
+ except ValueError as exc:
+ raise VehicleProjectCreationError(
+ _("Vehicle template directory"),
+ _(
+ "Could not determine the connected flight controller's vehicle type and firmware version "
+ "needed to select an empty template."
+ ),
+ ) from exc
+
+ try:
+ return self._creator.template_dir_for_bin_import(vehicle_type, major, minor)
+ except VehicleProjectCreationError as exc:
+ raise VehicleProjectCreationError(
+ _("Vehicle template directory"),
+ _(
+ "Could not find an empty vehicle template matching the connected flight controller's "
+ "vehicle type and firmware version.\n"
+ )
+ + exc.message,
+ ) from exc
+
+ def _complete_imported_vehicle_project_creation( # pylint: disable=too-many-arguments,too-many-positional-arguments
+ self,
+ template_dir: str,
+ new_base_dir: str,
+ settings: NewVehicleProjectSettings,
+ new_path: str,
+ vehicle_type: str,
+ fw_version: str,
+ current_params: ParDict,
+ default_params: ParDict | None = None,
+ import_source: str = "bin_log",
+ ) -> str:
+ """Persist imported project metadata, any remaining parameters, and manager state."""
+ # Capture the source defaults before re_init() points the filesystem at the
+ # destination. The destination currently contains the template's defaults,
+ # which would otherwise become the baseline for FC project creation.
+ if default_params is None:
+ default_params = self._local_filesystem.param_default_dict.deep_copy()
+
+ # Point the filesystem at the new vehicle before reading or writing files. Set the
+ # firmware first so re_init() does not replace it with the template's placeholder.
+ self._local_filesystem.fw_version = fw_version
+ self._local_filesystem.re_init(new_path, vehicle_type)
+ self._local_filesystem.set_fc_fw_version_and_type_in_components_json(fw_version, vehicle_type, new_path)
+
+ if default_params is not None:
+ self._local_filesystem.write_param_default_values_to_file(default_params)
+
+ compounded_step_params, _first_config_step = self._local_filesystem.compound_params(skip_default=True)
+ baseline_params = default_params.deep_copy()
+ baseline_params.update(compounded_step_params)
+ if imported_params := current_params.get_missing_or_different(baseline_params, is_within_tolerance):
+ self._local_filesystem.export_to_param(
+ imported_params,
+ self._creator.next_import_filename(new_path, source=import_source),
+ annotate_doc=False,
+ )
+ self._local_filesystem.re_init(new_path, vehicle_type)
+
+ self.open_vehicle_directory(new_path)
+ self._settings = settings
+ self.configuration_template = self.get_directory_name_from_path(template_dir)
+ self.store_recently_used_template_dirs(template_dir, new_base_dir)
+ return new_path
+
+ def create_new_vehicle_from_bin_log(
self,
bin_file: str,
progress_callback: Callable[[int, int], None] | None = None,
@@ -238,47 +401,25 @@ def create_new_vehicle_from_bin_log( # pylint: disable=too-many-locals
fc_parameters=fc_parameters,
)
- # Point the filesystem at the new vehicle directory before any reads or writes.
- # write_param_default_values_to_file() and compound_params() rely on vehicle_dir,
- # so re_init() must be called here to avoid accidentally operating on the previously-open project.
- # Set fw_version first so re_init() does not override it with the template's placeholder version.
- self._local_filesystem.fw_version = fw_version
- self._local_filesystem.re_init(new_path, vehicle_type)
- # Persist the correct firmware version and type into vehicle_components.json so subsequent
- # re_init calls (and the user when they inspect the project) see the actual recorded firmware.
- self._local_filesystem.set_fc_fw_version_and_type_in_components_json(fw_version, vehicle_type, new_path)
-
- self._local_filesystem.write_param_default_values_to_file(default_params)
-
- # Build the baseline from log-extracted defaults plus compounded AMC step files.
- # This avoids exporting params that merely match 00_default.param but are absent
- # from the numbered step files.
- compounded_step_params, _first_config_step = self._local_filesystem.compound_params(skip_default=True)
- baseline_params = default_params.deep_copy()
- baseline_params.update(compounded_step_params)
-
- if imported_params := current_params.get_missing_or_different(baseline_params, is_within_tolerance):
- self._local_filesystem.export_to_param(
- imported_params,
- self._creator.next_import_filename(new_path),
- annotate_doc=False,
+ try:
+ self._complete_imported_vehicle_project_creation(
+ template_dir,
+ new_base_dir,
+ settings,
+ new_path,
+ vehicle_type,
+ fw_version,
+ current_params,
+ default_params,
)
- self._local_filesystem.re_init(new_path, vehicle_type)
-
- # Open the vehicle directory only after all file modifications are complete and filesystem state is synced.
- # This ensures the UI/session operates on the authoritative filesystem state, not stale in-memory cache.
- # Also note: infer_comp_specs_and_conn_from_fc_params and use_fc_params are reused for log-derived params
- # because the semantics align: we're supplying external parameter values for template substitution.
- self.open_vehicle_directory(new_path)
+ except (OSError, ParamFileError, ValueError, TypeError, SystemExit) as exc:
+ raise VehicleProjectCreationError(
+ _("Vehicle project creation"),
+ _("Could not finish creating the vehicle project: {error}").format(error=exc),
+ ) from exc
if self._flight_controller is not None:
self._flight_controller.fc_parameters = fc_parameters
-
- # Store manager settings only after the whole import succeeds, so failed imports do not
- # pollute the recently-used template history with an incomplete project.
- self._settings = settings
- self.configuration_template = self.get_directory_name_from_path(template_dir)
- self.store_recently_used_template_dirs(template_dir, new_base_dir)
return new_path
# Vehicle project opening operations
diff --git a/ardupilot_methodic_configurator/data_model_vehicle_project_creator.py b/ardupilot_methodic_configurator/data_model_vehicle_project_creator.py
index f8e043c44..2b2837e12 100644
--- a/ardupilot_methodic_configurator/data_model_vehicle_project_creator.py
+++ b/ardupilot_methodic_configurator/data_model_vehicle_project_creator.py
@@ -425,8 +425,8 @@ def vehicle_name_from_bin_log(bin_file: str) -> str:
return Path(bin_file).stem
@staticmethod
- def next_import_filename(vehicle_dir: str) -> str:
- """Return the next available numbered parameter filename for imported log parameters."""
+ def next_import_filename(vehicle_dir: str, source: str = "bin_log") -> str:
+ """Return the next available numbered parameter filename for imported parameters."""
highest_prefix = 0
try:
for file_path in Path(vehicle_dir).iterdir():
@@ -444,7 +444,7 @@ def next_import_filename(vehicle_dir: str) -> str:
if next_prefix > 99:
msg = _("Could not create an import parameter file because no numbered slot is available in {vehicle_dir}")
raise VehicleProjectCreationError(_("Parameter import"), msg.format(vehicle_dir=vehicle_dir))
- return f"{next_prefix:02d}_imported_bin_log_parameters.param"
+ return f"{next_prefix:02d}_imported_{source}_parameters.param"
@staticmethod
def extract_bin_log_data(
diff --git a/ardupilot_methodic_configurator/frontend_tkinter_project_creator.py b/ardupilot_methodic_configurator/frontend_tkinter_project_creator.py
index b95c92bf2..3fe699de8 100755
--- a/ardupilot_methodic_configurator/frontend_tkinter_project_creator.py
+++ b/ardupilot_methodic_configurator/frontend_tkinter_project_creator.py
@@ -29,6 +29,7 @@
NewVehicleProjectSettings,
VehicleProjectCreationError,
)
+from ardupilot_methodic_configurator.data_model_vehicle_project_opener import VehicleProjectOpenError
from ardupilot_methodic_configurator.frontend_tkinter_base_window import BaseWindow
from ardupilot_methodic_configurator.frontend_tkinter_directory_selection import (
DirectorySelectionWidgets,
@@ -46,7 +47,7 @@ class VehicleProjectCreatorWindow(BaseWindow):
destination directory, and project options. Integrates with VehicleProjectManager for project creation.
"""
- def __init__(self, project_manager: VehicleProjectManager) -> None:
+ def __init__(self, project_manager: VehicleProjectManager, from_flight_controller: bool = False) -> None:
super().__init__()
self.project_manager = project_manager
self.root.title(
@@ -61,9 +62,16 @@ def __init__(self, project_manager: VehicleProjectManager) -> None:
# Initialize settings variables dynamically from data model
self.new_project_settings_vars: dict[str, tk.BooleanVar] = {}
self.new_project_settings_widgets: dict[str, ttk.Checkbutton] = {}
+ # Created only for the regular template workflow; initialize the attribute here so
+ # static analysis also recognizes it when the flight-controller workflow is used.
+ self.template_dir: DirectorySelectionWidgets
recent_template_dir, new_base_dir, vehicle_dir = self.project_manager.get_recently_used_dirs()
- template_dir = self.project_manager.get_fc_default_template_dir() if fc_connected else recent_template_dir
+ template_dir = (
+ self.project_manager.get_fc_default_template_dir()
+ if fc_connected and not from_flight_controller
+ else recent_template_dir
+ )
logging_debug("template_dir: %s", template_dir) # this string is intentionally left untranslated
logging_debug("new_base_dir: %s", new_base_dir) # this string is intentionally left untranslated
logging_debug("vehicle_dir: %s", vehicle_dir) # this string is intentionally left untranslated
@@ -74,6 +82,7 @@ def __init__(self, project_manager: VehicleProjectManager) -> None:
fc_connected,
fc_parameters,
project_manager.get_vehicle_type(),
+ from_flight_controller=from_flight_controller,
)
# Bind the close_connection_and_quit function to the window close event
@@ -82,7 +91,7 @@ def __init__(self, project_manager: VehicleProjectManager) -> None:
def close_and_quit(self) -> None:
sys_exit(0)
- def create_option1_widgets( # pylint: disable=too-many-locals,too-many-arguments,too-many-positional-arguments
+ def create_option1_widgets( # pylint: disable=too-many-arguments,too-many-positional-arguments
self,
initial_template_dir: str,
initial_base_dir: str,
@@ -90,11 +99,76 @@ def create_option1_widgets( # pylint: disable=too-many-locals,too-many-argument
fc_connected: bool,
fc_parameters: dict[str, float] | None,
connected_fc_vehicle_type: str,
+ from_flight_controller: bool = False,
) -> None:
- # Option 1 - Create a new vehicle configuration directory based on an existing template
- option1_label = ttk.Label(self.main_frame, text=_("New vehicle"), style="Bold.TLabel")
+ option1_label = ttk.Label(
+ self.main_frame,
+ text=_("New vehicle"),
+ style="Bold.TLabel",
+ )
option1_label_frame = ttk.LabelFrame(self.main_frame, labelwidget=option1_label)
option1_label_frame.pack(expand=True, fill=tk.X, padx=6, pady=6)
+
+ if from_flight_controller:
+ window_height = 200
+ else:
+ self._create_template_selection_widgets(option1_label_frame, initial_template_dir, connected_fc_vehicle_type)
+ window_height = self._create_settings_widgets(option1_label_frame, fc_connected, fc_parameters)
+ self.root.geometry(self.calculate_scaled_geometry(800, window_height)) # Set the window size
+
+ self.center_window_on_screen(self.root)
+ new_base_dir_edit_tooltip = _("Existing directory where the new vehicle configuration directory will be created")
+ new_base_dir_btn_tooltip = _("Select the directory where the new vehicle configuration directory will be created")
+ self.new_base_dir = DirectorySelectionWidgets(
+ parent=self,
+ parent_frame=option1_label_frame,
+ initialdir=initial_base_dir,
+ label_text=_("Destination base directory:"),
+ autoresize_width=False,
+ dir_tooltip=new_base_dir_edit_tooltip,
+ button_tooltip=new_base_dir_btn_tooltip,
+ on_directory_selected_callback=None, # Use default file dialog behavior
+ )
+ self.new_base_dir.container_frame.pack(expand=False, fill=tk.X, padx=3, pady=5, anchor=tk.NW)
+ new_dir_edit_tooltip = _(
+ "A new vehicle configuration directory with this name will be created at the (destination) base directory"
+ )
+ self.new_dir = PathEntryWidget(
+ option1_label_frame, initial_new_dir, _("Destination new vehicle name:"), new_dir_edit_tooltip
+ )
+ self.new_dir.container_frame.pack(expand=False, fill=tk.X, padx=3, pady=5, anchor=tk.NW)
+ create_vehicle_button = ttk.Button(
+ option1_label_frame,
+ text=(
+ _("Create a vehicle project from an already configured flight controller")
+ if from_flight_controller
+ else _("Create a vehicle project from a template")
+ ),
+ command=(
+ self.create_new_vehicle_from_flight_controller
+ if from_flight_controller
+ else self.create_new_vehicle_from_template
+ ),
+ )
+ create_vehicle_button.pack(expand=False, fill=tk.X, padx=20, pady=5, anchor=tk.CENTER)
+ show_tooltip(
+ create_vehicle_button,
+ _(
+ "Create a new vehicle configuration directory using the connected flight controller's\n"
+ "parameters and component information."
+ )
+ if from_flight_controller
+ else _(
+ "Create a new vehicle configuration directory on the (destination) base directory,\n"
+ "copy the template files from the (source) template directory to it and\n"
+ "load the newly created files into the application"
+ ),
+ )
+
+ def _create_template_selection_widgets(
+ self, parent_frame: ttk.LabelFrame, initial_template_dir: str, connected_fc_vehicle_type: str
+ ) -> None:
+ """Create the template directory selector and its template overview callback."""
template_dir_edit_tooltip = _(
"Existing vehicle template directory containing the intermediate\n"
"parameter files to be copied to the new vehicle configuration directory"
@@ -123,7 +197,7 @@ def template_selection_callback(_widget: "DirectorySelectionWidgets") -> str:
self.template_dir = DirectorySelectionWidgets(
parent=self,
- parent_frame=option1_label_frame,
+ parent_frame=parent_frame,
initialdir=initial_template_dir,
label_text=_("Source Template directory:"),
autoresize_width=False,
@@ -133,21 +207,19 @@ def template_selection_callback(_widget: "DirectorySelectionWidgets") -> str:
)
self.template_dir.container_frame.pack(expand=False, fill=tk.X, padx=3, pady=5, anchor=tk.NW)
- # Create checkboxes dynamically from settings metadata
+ def _create_settings_widgets(
+ self, parent_frame: ttk.LabelFrame, fc_connected: bool, fc_parameters: dict[str, float] | None
+ ) -> int:
+ """Create the dynamic project-setting checkboxes and return the required window height."""
settings_metadata = NewVehicleProjectSettings.get_all_settings_metadata(fc_connected, fc_parameters)
new_project_settings_default_values = NewVehicleProjectSettings.get_default_values()
for setting_name in settings_metadata:
default_value = new_project_settings_default_values.get(setting_name, False)
self.new_project_settings_vars[setting_name] = tk.BooleanVar(value=default_value)
- # Set dynamic window size based on number of settings
- window_height = 250 + (len(settings_metadata) * 23)
- self.root.geometry(self.calculate_scaled_geometry(800, window_height)) # Set the window size
- self.center_window_on_screen(self.root)
-
for setting_name, metadata in settings_metadata.items():
checkbox = ttk.Checkbutton(
- option1_label_frame,
+ parent_frame,
variable=self.new_project_settings_vars[setting_name],
text=metadata.label,
state=tk.NORMAL if metadata.enabled else tk.DISABLED,
@@ -156,40 +228,7 @@ def template_selection_callback(_widget: "DirectorySelectionWidgets") -> str:
show_tooltip(checkbox, metadata.tooltip)
self.new_project_settings_widgets[setting_name] = checkbox
- new_base_dir_edit_tooltip = _("Existing directory where the new vehicle configuration directory will be created")
- new_base_dir_btn_tooltip = _("Select the directory where the new vehicle configuration directory will be created")
- self.new_base_dir = DirectorySelectionWidgets(
- parent=self,
- parent_frame=option1_label_frame,
- initialdir=initial_base_dir,
- label_text=_("Destination base directory:"),
- autoresize_width=False,
- dir_tooltip=new_base_dir_edit_tooltip,
- button_tooltip=new_base_dir_btn_tooltip,
- on_directory_selected_callback=None, # Use default file dialog behavior
- )
- self.new_base_dir.container_frame.pack(expand=False, fill=tk.X, padx=3, pady=5, anchor=tk.NW)
- new_dir_edit_tooltip = _(
- "A new vehicle configuration directory with this name will be created at the (destination) base directory"
- )
- self.new_dir = PathEntryWidget(
- option1_label_frame, initial_new_dir, _("Destination new vehicle name:"), new_dir_edit_tooltip
- )
- self.new_dir.container_frame.pack(expand=False, fill=tk.X, padx=3, pady=5, anchor=tk.NW)
- create_vehicle_directory_from_template_button = ttk.Button(
- option1_label_frame,
- text=_("Create a vehicle configuration directory from template"),
- command=self.create_new_vehicle_from_template,
- )
- create_vehicle_directory_from_template_button.pack(expand=False, fill=tk.X, padx=20, pady=5, anchor=tk.CENTER)
- show_tooltip(
- create_vehicle_directory_from_template_button,
- _(
- "Create a new vehicle configuration directory on the (destination) base directory,\n"
- "copy the template files from the (source) template directory to it and\n"
- "load the newly created files into the application"
- ),
- )
+ return 250 + (len(settings_metadata) * 23)
def create_new_vehicle_from_template(self) -> None:
# Get the selected template directory and new vehicle configuration directory name
@@ -207,7 +246,17 @@ def create_new_vehicle_from_template(self) -> None:
try:
self.project_manager.create_new_vehicle_from_template(template_dir, new_base_dir, new_vehicle_name, settings)
self.root.destroy()
- except VehicleProjectCreationError as e:
+ except (VehicleProjectCreationError, VehicleProjectOpenError) as e:
+ messagebox.showerror(e.title, e.message)
+
+ def create_new_vehicle_from_flight_controller(self) -> None:
+ """Create a vehicle project using the connected flight controller's configuration."""
+ new_base_dir = self.new_base_dir.get_selected_directory()
+ new_vehicle_name = self.new_dir.get_selected_directory()
+ try:
+ self.project_manager.create_new_vehicle_from_flight_controller(new_base_dir, new_vehicle_name)
+ self.root.destroy()
+ except (VehicleProjectCreationError, VehicleProjectOpenError) as e:
messagebox.showerror(e.title, e.message)
diff --git a/ardupilot_methodic_configurator/frontend_tkinter_project_opener.py b/ardupilot_methodic_configurator/frontend_tkinter_project_opener.py
index 4c15fade9..8ccebfd79 100755
--- a/ardupilot_methodic_configurator/frontend_tkinter_project_opener.py
+++ b/ardupilot_methodic_configurator/frontend_tkinter_project_opener.py
@@ -57,7 +57,7 @@ def __init__(self, project_manager: VehicleProjectManager) -> None:
+ _(" - Select vehicle configuration directory")
)
- self.root.geometry(self.calculate_scaled_geometry(600, 450)) # Set the window size
+ self.root.geometry(self.calculate_scaled_geometry(600, 470)) # Set the window size
self.center_window_on_screen(self.root)
# Explain why we are here
@@ -89,7 +89,7 @@ def create_option1_widgets(self) -> None:
create_vehicle_directory_from_template_button = ttk.Button(
option1_label_frame,
- text=_("Create a vehicle configuration directory from template"),
+ text=_("Create a vehicle project from a template"),
command=self.create_new_vehicle_from_template,
)
create_vehicle_directory_from_template_button.pack(expand=False, fill=tk.X, padx=20, pady=5, anchor=tk.CENTER)
@@ -98,6 +98,25 @@ def create_option1_widgets(self) -> None:
_("Create a new vehicle configuration directory, choose this option when using the software for the first time"),
)
+ create_vehicle_from_fc_button = ttk.Button(
+ option1_label_frame,
+ text=_("Create a vehicle project from an already configured flight controller"),
+ command=self.create_new_vehicle_from_flight_controller,
+ state=(
+ tk.NORMAL
+ if self.project_manager.is_flight_controller_connected() and self.project_manager.fc_parameters()
+ else tk.DISABLED
+ ),
+ )
+ create_vehicle_from_fc_button.pack(expand=False, fill=tk.X, padx=20, pady=5, anchor=tk.CENTER)
+ show_tooltip(
+ create_vehicle_from_fc_button,
+ _(
+ "Create a new vehicle configuration directory using the connected flight controller's "
+ "parameters and component information."
+ ),
+ )
+
def on_bin_log_selected(bin_file: str) -> None:
progress_window = ProgressWindow(
self.root,
@@ -246,6 +265,11 @@ def create_new_vehicle_from_template(self) -> None:
self.root.destroy()
VehicleProjectCreatorWindow(self.project_manager)
+ def create_new_vehicle_from_flight_controller(self) -> None:
+ """Open the minimal project creator for a connected, already configured FC."""
+ self.root.destroy()
+ VehicleProjectCreatorWindow(self.project_manager, from_flight_controller=True)
+
def open_last_vehicle_directory(self, last_vehicle_dir: str) -> None:
# Attempt to open the last opened vehicle configuration directory
try:
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/06_remote_controller_receiver.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/06_remote_controller_receiver.param
index 58b06e769..496c80f0e 100644
--- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/06_remote_controller_receiver.param
+++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.5.x/06_remote_controller_receiver.param
@@ -1,4 +1,3 @@
-BRD_ALT_CONFIG,0
RC_OPTIONS,32
RC_PROTOCOLS,1 # Selected in the component editor
RSSI_TYPE,0
diff --git a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/06_remote_controller_receiver.param b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/06_remote_controller_receiver.param
index 58b06e769..496c80f0e 100644
--- a/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/06_remote_controller_receiver.param
+++ b/ardupilot_methodic_configurator/vehicle_templates/ArduCopter/empty_4.6.x/06_remote_controller_receiver.param
@@ -1,4 +1,3 @@
-BRD_ALT_CONFIG,0
RC_OPTIONS,32
RC_PROTOCOLS,1 # Selected in the component editor
RSSI_TYPE,0
diff --git a/images/App_screenshot_Parameter_file_editor_and_uploader4_4.png b/images/App_screenshot_Parameter_file_editor_and_uploader4_4.png
index 893ee5e2e..b0593e516 100644
Binary files a/images/App_screenshot_Parameter_file_editor_and_uploader4_4.png and b/images/App_screenshot_Parameter_file_editor_and_uploader4_4.png differ
diff --git a/images/App_screenshot_Parameter_file_editor_and_uploader4_4_simple.png b/images/App_screenshot_Parameter_file_editor_and_uploader4_4_simple.png
index b74a8d26a..4befa8c46 100644
Binary files a/images/App_screenshot_Parameter_file_editor_and_uploader4_4_simple.png and b/images/App_screenshot_Parameter_file_editor_and_uploader4_4_simple.png differ
diff --git a/images/App_screenshot_Vehicle_directory.png b/images/App_screenshot_Vehicle_directory.png
index 26718a671..4cf39e20e 100644
Binary files a/images/App_screenshot_Vehicle_directory.png and b/images/App_screenshot_Vehicle_directory.png differ
diff --git a/images/App_screenshot_Vehicle_directory10.png b/images/App_screenshot_Vehicle_directory10.png
index 26718a671..4cf39e20e 100644
Binary files a/images/App_screenshot_Vehicle_directory10.png and b/images/App_screenshot_Vehicle_directory10.png differ
diff --git a/images/App_screenshot_Vehicle_directory4.png b/images/App_screenshot_Vehicle_directory4.png
index 023d9e8c9..07e2e0eab 100644
Binary files a/images/App_screenshot_Vehicle_directory4.png and b/images/App_screenshot_Vehicle_directory4.png differ
diff --git a/images/App_screenshot_Vehicle_directory_create_from_bin.png b/images/App_screenshot_Vehicle_directory_create_from_bin.png
index ad19f47d1..e9432490e 100644
Binary files a/images/App_screenshot_Vehicle_directory_create_from_bin.png and b/images/App_screenshot_Vehicle_directory_create_from_bin.png differ
diff --git a/images/App_screenshot_Vehicle_directory_create_from_configured_create.png b/images/App_screenshot_Vehicle_directory_create_from_configured_create.png
deleted file mode 100644
index 7debf4117..000000000
Binary files a/images/App_screenshot_Vehicle_directory_create_from_configured_create.png and /dev/null differ
diff --git a/images/App_screenshot_Vehicle_directory_create_from_configured_name.png b/images/App_screenshot_Vehicle_directory_create_from_configured_name.png
deleted file mode 100644
index 93e43af7f..000000000
Binary files a/images/App_screenshot_Vehicle_directory_create_from_configured_name.png and /dev/null differ
diff --git a/images/App_screenshot_Vehicle_directory_create_from_configured_options.png b/images/App_screenshot_Vehicle_directory_create_from_configured_options.png
deleted file mode 100644
index 5a6467e3f..000000000
Binary files a/images/App_screenshot_Vehicle_directory_create_from_configured_options.png and /dev/null differ
diff --git a/images/App_screenshot_Vehicle_directory_create_from_flight_controller.png b/images/App_screenshot_Vehicle_directory_create_from_flight_controller.png
new file mode 100644
index 000000000..3ff9929c7
Binary files /dev/null and b/images/App_screenshot_Vehicle_directory_create_from_flight_controller.png differ
diff --git a/images/App_screenshot_Vehicle_directory_create_from_flight_controller_creator.png b/images/App_screenshot_Vehicle_directory_create_from_flight_controller_creator.png
new file mode 100644
index 000000000..722561023
Binary files /dev/null and b/images/App_screenshot_Vehicle_directory_create_from_flight_controller_creator.png differ
diff --git a/images/App_screenshot_Vehicle_directory_create_from_template.png b/images/App_screenshot_Vehicle_directory_create_from_template.png
index 03486c9ab..f92c76ed5 100644
Binary files a/images/App_screenshot_Vehicle_directory_create_from_template.png and b/images/App_screenshot_Vehicle_directory_create_from_template.png differ
diff --git a/images/App_screenshot_motor_test.png b/images/App_screenshot_motor_test.png
index acdca8990..397fc86b8 100644
Binary files a/images/App_screenshot_motor_test.png and b/images/App_screenshot_motor_test.png differ
diff --git a/scripts/regenerate_app_screenshots_fully_automated.py b/scripts/regenerate_app_screenshots_fully_automated.py
index 82e267ba4..56d3c448a 100755
--- a/scripts/regenerate_app_screenshots_fully_automated.py
+++ b/scripts/regenerate_app_screenshots_fully_automated.py
@@ -34,13 +34,16 @@
import pyautogui
from PIL import Image, ImageDraw
+from ardupilot_methodic_configurator import _ as translate
from ardupilot_methodic_configurator import __version__
+from ardupilot_methodic_configurator.__main__ import register_plugins
from ardupilot_methodic_configurator.backend_filesystem import LocalFilesystem
from ardupilot_methodic_configurator.backend_filesystem_program_settings import ProgramSettings
from ardupilot_methodic_configurator.backend_flightcontroller import FlightController
from ardupilot_methodic_configurator.data_model_par_dict import ParDict
from ardupilot_methodic_configurator.data_model_parameter_editor import ParameterEditor
from ardupilot_methodic_configurator.frontend_tkinter_about_popup_window import AboutWindow
+from ardupilot_methodic_configurator.frontend_tkinter_base_window import BaseWindow
from ardupilot_methodic_configurator.frontend_tkinter_connection_selection import ConnectionSelectionWindow
from ardupilot_methodic_configurator.frontend_tkinter_flightcontroller_info import FlightControllerInfoWindow
from ardupilot_methodic_configurator.frontend_tkinter_parameter_editor import ParameterEditorWindow
@@ -48,8 +51,8 @@
from ardupilot_methodic_configurator.frontend_tkinter_project_opener import VehicleProjectOpenerWindow
from ardupilot_methodic_configurator.frontend_tkinter_template_overview import TemplateOverviewWindow
from ardupilot_methodic_configurator.frontend_tkinter_usage_popup_windows import display_parameter_editor_usage_popup
-from ardupilot_methodic_configurator.plugins.data_model_motor_test import MotorTestDataModel
-from ardupilot_methodic_configurator.plugins.frontend_tkinter_motor_test import MotorTestView, MotorTestWindow
+from ardupilot_methodic_configurator.plugins.plugin_constants import PLUGIN_MOTOR_TEST
+from ardupilot_methodic_configurator.plugins.plugin_factory import PluginModelContext, plugin_factory
if TYPE_CHECKING:
from collections.abc import Callable, Iterator
@@ -85,28 +88,38 @@ class CaptureTarget:
"param_04_simple",
scale=0.666,
gui_complexity="simple",
- current_file="04_board_orientation.param",
+ current_file="05_board_orientation.param",
),
CaptureTarget(
"App_screenshot_Parameter_file_editor_and_uploader4_4.png",
"param_04_normal",
scale=0.666,
gui_complexity="normal",
- current_file="04_board_orientation.param",
+ current_file="05_board_orientation.param",
),
CaptureTarget(
"App_screenshot_Parameter_file_editor_and_uploader4.png",
"param_20_normal",
scale=0.666,
gui_complexity="normal",
- current_file="20_throttle_controller.param",
+ current_file="24_throttle_controller.param",
),
CaptureTarget("App_screenshot_Vehicle_directory.png", "vehicle_opener"),
CaptureTarget("App_screenshot_Vehicle_directory10.png", "vehicle_opener"),
CaptureTarget("App_screenshot_Vehicle_directory_create_from_template.png", "vehicle_opener_from_template", scale=0.8),
+ CaptureTarget(
+ "App_screenshot_Vehicle_directory_create_from_flight_controller.png",
+ "vehicle_opener_from_flight_controller",
+ scale=0.8,
+ ),
CaptureTarget("App_screenshot_Vehicle_directory_create_from_bin.png", "vehicle_opener_from_bin", scale=0.8),
CaptureTarget("App_screenshot_Vehicle_directory4.png", "vehicle_opener_legacy4", scale=0.8),
CaptureTarget("App_screenshot_Vehicle_directory11.png", "vehicle_creator"),
+ CaptureTarget(
+ "App_screenshot_Vehicle_directory_create_from_flight_controller_creator.png",
+ "vehicle_creator_from_flight_controller",
+ scale=0.8,
+ ),
CaptureTarget(
"App_screenshot_Vehicle_directory_create_from_template_source.png",
"create_from_template_source",
@@ -131,31 +144,13 @@ class CaptureTarget:
scale=0.8,
variant="from_configured_source",
),
- CaptureTarget(
- "App_screenshot_Vehicle_directory_create_from_configured_options.png",
- "vehicle_creator_options",
- scale=0.8,
- variant="from_configured_options",
- ),
- CaptureTarget(
- "App_screenshot_Vehicle_directory_create_from_configured_name.png",
- "vehicle_creator_name",
- scale=0.8,
- variant="from_configured_name",
- ),
- CaptureTarget(
- "App_screenshot_Vehicle_directory_create_from_configured_create.png",
- "vehicle_creator_create",
- scale=0.8,
- variant="from_configured_create",
- ),
CaptureTarget("App_screenshot_Vehicle_overview.png", "template_overview"),
CaptureTarget(
"App_screenshot1.png",
"param_20_normal",
scale=0.666,
gui_complexity="normal",
- current_file="20_throttle_controller.param",
+ current_file="24_throttle_controller.param",
),
)
@@ -261,6 +256,9 @@ def get_introduction_message(self) -> str:
def get_recently_used_dirs(self) -> tuple[str, str, str]:
return self._template_dir, self._base_dir, self._vehicle_dir
+ def get_fc_default_template_dir(self) -> str:
+ return self._template_dir
+
def get_recent_vehicle_dirs(self) -> list[str]:
return [self._vehicle_dir]
@@ -375,6 +373,20 @@ def _find_descendant(widget: tk.Misc, predicate: Callable[[tk.Misc], bool]) -> t
return None
+def _press_no_on_fc_copy_prompt(root: tk.Tk) -> None:
+ """Dismiss the file-24 FC-copy prompt by choosing its No button."""
+ prompt_title = translate("Update file with values from FC?")
+ for child in root.winfo_children():
+ if not isinstance(child, tk.Toplevel) or not child.winfo_exists():
+ continue
+ if child.title() != prompt_title:
+ continue
+ no_button = _find_descendant(child, lambda widget: _widget_text(widget) == translate("No"))
+ if no_button is not None:
+ no_button.invoke()
+ return
+
+
def _widget_screen_box(widget: tk.Misc, margin: int = 2) -> tuple[int, int, int, int]:
"""Return widget bounds in screen coordinates as (left, top, right, bottom)."""
left = max(widget.winfo_rootx() - margin, 0)
@@ -589,13 +601,23 @@ def _vehicle_opener_highlight_box(window: VehicleProjectOpenerWindow, action: st
if action == "vehicle_opener_from_template":
template_button = _find_descendant(
window.main_frame,
- lambda w: _widget_text(w).startswith("Create a vehicle configuration directory from template"),
+ lambda w: _widget_text(w).startswith("Create a vehicle project from a template"),
)
if template_button is None:
msg = "Could not find create from template button"
raise RuntimeError(msg)
return _widget_screen_box(template_button, margin=2)
+ if action == "vehicle_opener_from_flight_controller":
+ fc_button = _find_descendant(
+ window.main_frame,
+ lambda w: _widget_text(w).startswith("Create a vehicle project from an already configured flight controller"),
+ )
+ if fc_button is None:
+ msg = "Could not find create from flight controller button"
+ raise RuntimeError(msg)
+ return _widget_screen_box(fc_button, margin=2)
+
if action == "vehicle_opener_from_bin":
bin_button = _find_descendant(
window.main_frame,
@@ -617,8 +639,16 @@ def _capture_vehicle_opener_with_highlight( # pylint: disable=too-many-argument
vehicle_dir: Path,
action: str = "vehicle_opener_legacy4",
scale: float = 1.0,
+ fc_connected: bool = False,
) -> None:
- manager = FakeProjectManager(vehicle_dir, vehicle_dir.parent, vehicle_dir)
+ fc_params = _load_fc_params_from_file(vehicle_dir) if fc_connected else None
+ manager = FakeProjectManager(
+ vehicle_dir,
+ vehicle_dir.parent,
+ vehicle_dir,
+ fc_connected=fc_connected,
+ fc_parameters=fc_params,
+ )
window = VehicleProjectOpenerWindow(manager) # type: ignore[arg-type]
try:
settle_tk(window.root, cycles=6, delay=0.05)
@@ -639,7 +669,9 @@ def _capture_vehicle_creator(output_path: Path, delay: float, padding: int, vehi
window.root.destroy()
-def _create_vehicle_creator_window(vehicle_dir: Path, fc_connected: bool = False) -> VehicleProjectCreatorWindow:
+def _create_vehicle_creator_window(
+ vehicle_dir: Path, fc_connected: bool = False, from_flight_controller: bool = False
+) -> VehicleProjectCreatorWindow:
fc_params = _load_fc_params_from_file(vehicle_dir) if fc_connected else {}
manager = FakeProjectManager(
vehicle_dir,
@@ -648,11 +680,21 @@ def _create_vehicle_creator_window(vehicle_dir: Path, fc_connected: bool = False
fc_connected=fc_connected,
fc_parameters=fc_params if fc_connected else None,
)
- window = VehicleProjectCreatorWindow(manager) # type: ignore[arg-type]
+ window = VehicleProjectCreatorWindow(manager, from_flight_controller=from_flight_controller) # type: ignore[arg-type]
settle_tk(window.root, cycles=6, delay=0.05)
return window
+def _capture_vehicle_creator_from_flight_controller(output_path: Path, delay: float, padding: int, vehicle_dir: Path) -> None:
+ """Capture the minimal creator dialog for an already configured flight controller."""
+ window = _create_vehicle_creator_window(vehicle_dir, fc_connected=True, from_flight_controller=True)
+ try:
+ capture_widget(window.root, output_path, delay, padding)
+ finally:
+ if window.root.winfo_exists():
+ window.root.destroy()
+
+
def _find_template_browse_button(window: VehicleProjectCreatorWindow) -> tuple[int, int, int, int]:
"""Find and return bounding box for template browse button."""
browse_button = _find_descendant(
@@ -683,7 +725,7 @@ def _find_create_button(window: VehicleProjectCreatorWindow) -> tuple[int, int,
"""Find and return bounding box for create vehicle directory button."""
create_button = _find_descendant(
window.main_frame,
- lambda w: _widget_text(w).startswith("Create a vehicle configuration directory"),
+ lambda w: _widget_text(w).startswith("Create a vehicle project from a template"),
)
if create_button is None:
msg = "Could not find create vehicle directory button"
@@ -786,6 +828,26 @@ def _load_fc_params_from_file(vehicle_dir: Path) -> dict[str, float]:
return {name: param.value for name, param in pardict.items()}
+def _configure_fake_flight_controller(flight_controller: FlightController, fc_params: dict[str, float]) -> None:
+ """Configure a connected, non-blocking FC double for screenshot-only GUI workflows."""
+ flight_controller.set_master_for_testing(MagicMock())
+ flight_controller.fc_parameters = fc_params
+ flight_controller.request_scaled_imu_messages = MagicMock(return_value=(True, ""))
+ flight_controller.poll_scaled_imu = MagicMock(return_value=None)
+ flight_controller.request_periodic_battery_status = MagicMock(return_value=(True, ""))
+ flight_controller.get_battery_status = MagicMock(return_value=(None, ""))
+
+
+def _cleanup_plugin_view(plugin_view: object) -> None:
+ """Call optional plugin cleanup hooks on a dynamically-created view."""
+ on_deactivate = getattr(plugin_view, "on_deactivate", None)
+ if callable(on_deactivate):
+ on_deactivate()
+ destroy = getattr(plugin_view, "destroy", None)
+ if callable(destroy):
+ destroy()
+
+
def _build_parameter_editor(
current_file: str,
vehicle_dir: Path,
@@ -810,19 +872,28 @@ def _build_parameter_editor(
flight_controller = FlightController()
# Fake an FC connection so the table renders FC values instead of "N/A".
- flight_controller.set_master_for_testing(MagicMock()) # make master non-None
- flight_controller.fc_parameters = fc_params # pre-populate parameter cache
+ # Stub telemetry requests as well, because plugin activation runs during Tk event settling.
+ _configure_fake_flight_controller(flight_controller, fc_params)
# Patch download_params so the window startup download returns our fake data
# without attempting any real MAVLink communication.
try:
- with patch.object(
- FlightController,
- "download_params",
- return_value=(fc_params, ParDict()),
+ with (
+ patch.object(
+ FlightController,
+ "download_params",
+ return_value=(fc_params, ParDict()),
+ ),
+ patch.object(ParameterEditor, "open_documentation_in_browser"),
):
editor = ParameterEditor(current_file, flight_controller, filesystem)
window = ParameterEditorWindow(editor)
+ if current_file == "24_throttle_controller.param":
+ # This step asks whether the FC values should be copied into the
+ # file. Choose No before the startup workflow can block on it.
+ # Leave enough time for the dialog to finish its own setup
+ # (including focus_set()) before destroying it.
+ window.root.after(500, lambda: _press_no_on_fc_copy_prompt(window.root))
settle_tk(window.root, cycles=8, delay=0.05)
finally:
# Restore prior settings to avoid persistent side effects on the user's config.
@@ -852,16 +923,13 @@ def _capture_parameter_editor( # pylint: disable=too-many-arguments, too-many-p
try:
capture_widget(window.root, output_path, delay, padding, scale)
finally:
+ if window.current_plugin_view is not None:
+ _cleanup_plugin_view(window.current_plugin_view)
if window.root.winfo_exists():
window.root.destroy()
flight_controller.disconnect()
-def _suppress_motor_view_periodic_updates(_view: MotorTestView) -> None:
- """Disable periodic updates to keep capture deterministic and non-blocking."""
- return
-
-
def _capture_motor_test(output_path: Path, delay: float, padding: int, vehicle_dir: Path) -> None:
fc_params = _load_fc_params_from_file(vehicle_dir)
fc_params["FRAME_CLASS"] = 1.0
@@ -881,17 +949,36 @@ def _capture_motor_test(output_path: Path, delay: float, padding: int, vehicle_d
save_component_to_system_templates=False,
)
flight_controller = FlightController()
- flight_controller.set_master_for_testing(MagicMock())
- flight_controller.fc_parameters = fc_params
+ _configure_fake_flight_controller(flight_controller, fc_params)
flight_controller.stop_all_motors = MagicMock(return_value=(True, ""))
- model = MotorTestDataModel(flight_controller, filesystem)
- with patch.object(MotorTestView, "_update_view", _suppress_motor_view_periodic_updates):
- window = MotorTestWindow(model)
+ model = plugin_factory.create_model(
+ PLUGIN_MOTOR_TEST,
+ PluginModelContext(
+ flight_controller=flight_controller,
+ local_filesystem=filesystem,
+ parameter_editor=cast("ParameterEditor", MagicMock()),
+ ),
+ )
+ if model is None:
+ msg = f"Could not create {PLUGIN_MOTOR_TEST} plugin model"
+ raise RuntimeError(msg)
+
+ window = BaseWindow()
+ window.root.title(translate("ArduPilot Motor Test"))
+ window.root.geometry(window.calculate_scaled_geometry(400, 610))
+ plugin_view = plugin_factory.create(PLUGIN_MOTOR_TEST, window.main_frame, model, window)
+ if plugin_view is None:
+ window.root.destroy()
+ msg = f"Could not create {PLUGIN_MOTOR_TEST} plugin view"
+ raise RuntimeError(msg)
+ plugin_view.pack(fill="both", expand=True)
try:
capture_widget(window.root, output_path, delay, padding)
finally:
- window.on_close()
+ _cleanup_plugin_view(plugin_view)
+ window.root.destroy()
+ flight_controller.disconnect()
def capture_target(target: CaptureTarget, output_path: Path, args: argparse.Namespace) -> None: # pylint: disable=too-many-branches
@@ -925,12 +1012,25 @@ def capture_target(target: CaptureTarget, output_path: Path, args: argparse.Name
)
elif action == "vehicle_opener":
_capture_vehicle_opener(output_path, args.delay, args.padding, args.vehicle_dir)
- elif action in ("vehicle_opener_from_template", "vehicle_opener_legacy4", "vehicle_opener_from_bin"):
+ elif action in (
+ "vehicle_opener_from_template",
+ "vehicle_opener_from_flight_controller",
+ "vehicle_opener_legacy4",
+ "vehicle_opener_from_bin",
+ ):
_capture_vehicle_opener_with_highlight(
- output_path, args.delay, args.padding, args.vehicle_dir, action=action, scale=target.scale
+ output_path,
+ args.delay,
+ args.padding,
+ args.vehicle_dir,
+ action=action,
+ scale=target.scale,
+ fc_connected=action == "vehicle_opener_from_flight_controller",
)
elif action == "vehicle_creator":
_capture_vehicle_creator(output_path, args.delay, args.padding, args.vehicle_dir)
+ elif action == "vehicle_creator_from_flight_controller":
+ _capture_vehicle_creator_from_flight_controller(output_path, args.delay, args.padding, args.vehicle_dir)
elif action.startswith("vehicle_creator_"):
if target.variant is None:
msg = f"variant required for {action}"
@@ -970,6 +1070,9 @@ def main() -> int:
"""Program entrypoint."""
args = parse_args()
configure_logging(args.log_level)
+ # Screenshot windows are created directly rather than through application
+ # startup, so explicitly initialize the same plugin registry first.
+ register_plugins()
pyautogui.FAILSAFE = True
diff --git a/tests/test_data_model_ardupilot_parameter.py b/tests/test_data_model_ardupilot_parameter.py
index 538a47dfe..be5d51a9a 100755
--- a/tests/test_data_model_ardupilot_parameter.py
+++ b/tests/test_data_model_ardupilot_parameter.py
@@ -18,6 +18,7 @@
from ardupilot_methodic_configurator.data_model_ardupilot_parameter import (
ArduPilotParameter,
BitmaskHelper,
+ ParameterForcedOrDerivedError,
ParameterOutOfRangeError,
ParameterUnchangedError,
)
@@ -284,7 +285,7 @@ def test_set_new_value(param_fixture) -> None:
original_value = param_fixture["forced_param"]._new_value
# Act & Assert: User attempts to change forced parameter
- with pytest.raises(ValueError, match="forced or derived"):
+ with pytest.raises(ParameterForcedOrDerivedError, match="forced or derived"):
param_fixture["forced_param"].set_new_value(new_value)
# Assert: Forced parameter value unchanged
@@ -294,7 +295,7 @@ def test_set_new_value(param_fixture) -> None:
original_value = param_fixture["derived_param"]._new_value
# Act & Assert: User attempts to change derived parameter
- with pytest.raises(ValueError, match="forced or derived"):
+ with pytest.raises(ParameterForcedOrDerivedError, match="forced or derived"):
param_fixture["derived_param"].set_new_value(new_value)
# Assert: Derived parameter value unchanged
diff --git a/tests/test_data_model_configuration_step.py b/tests/test_data_model_configuration_step.py
index 2c0fcf2e8..6008c91ea 100755
--- a/tests/test_data_model_configuration_step.py
+++ b/tests/test_data_model_configuration_step.py
@@ -128,7 +128,7 @@ def test_user_can_process_basic_configuration_step_without_special_operations(se
selected_file = "test_file.param"
# Act: Process the configuration step
- parameters, ui_errors, ui_infos, _, _, _ = processor.process_configuration_step(selected_file, fc_parameters)
+ parameters, ui_errors, ui_infos, _, _, _, _ = processor.process_configuration_step(selected_file, fc_parameters)
# Assert: Basic processing completed successfully
assert isinstance(parameters, dict)
@@ -154,7 +154,7 @@ def test_user_can_process_configuration_step_with_derived_parameters(
processor.local_filesystem.merge_forced_or_derived_parameters.return_value = True
# Act: Process configuration step with derived parameters
- parameters, ui_errors, ui_infos, _, _, _ = processor.process_configuration_step(
+ parameters, ui_errors, ui_infos, _, _, _, _ = processor.process_configuration_step(
selected_file, fc_parameters
) # Assert: Derived parameters were processed
# compute_parameters is now called twice: once for "forced", once for "derived"
@@ -185,7 +185,7 @@ def test_user_receives_error_feedback_when_derived_parameter_computation_fails(
)
# Act: Process configuration step with failing computation
- parameters, ui_errors, ui_infos, _, _, _ = processor.process_configuration_step(
+ parameters, ui_errors, ui_infos, _, _, _, _ = processor.process_configuration_step(
selected_file, fc_parameters
) # Assert: Error feedback provided to UI layer
# Both forced and derived computation report errors since compute_parameters always returns error
@@ -227,7 +227,9 @@ def test_user_can_auto_import_nondefault_parameters_matching_regex(self, process
}
# Act: Process configuration step
- parameters, ui_errors, _, _, _, _ = processor.process_configuration_step(selected_file, test_fc_parameters)
+ parameters, ui_errors, _, _, _, _, imported_parameters = processor.process_configuration_step(
+ selected_file, test_fc_parameters
+ )
# Assert: No errors
assert ui_errors == []
@@ -236,6 +238,7 @@ def test_user_can_auto_import_nondefault_parameters_matching_regex(self, process
assert "BATT_OPTIONS" in parameters
assert parameters["BATT_OPTIONS"].get_new_value() == 5.0
assert parameters["BATT_OPTIONS"].change_reason == ""
+ assert imported_parameters == {"BATT_OPTIONS"}
# BATT_MONITOR should remain untouched (protecting the user comment)
assert "BATT_MONITOR" in parameters
@@ -265,7 +268,7 @@ def test_user_can_rename_connection_parameters_successfully(self, processor, fc_
processor.local_filesystem.configuration_steps = {selected_file: {"rename_connection": "selected_can"}}
# Act: Process configuration step with connection renaming
- parameters, ui_errors, ui_infos, _, _, _ = processor.process_configuration_step(
+ parameters, ui_errors, ui_infos, _, _, _, _ = processor.process_configuration_step(
selected_file, fc_parameters
) # Assert: Connection renaming completed successfully
assert len(ui_infos) > 0 # Should have info messages about renaming
@@ -286,7 +289,7 @@ def test_optional_connection_lookup_missing_does_not_crash(self, processor, fc_p
selected_file: {"rename_connection": "vehicle_components['GNSS Receiver']['FC Connection']['Type']"}
}
- parameters, ui_errors, ui_infos, duplicates_to_remove, renames_to_apply, _ = processor.process_configuration_step(
+ parameters, ui_errors, ui_infos, duplicates_to_remove, renames_to_apply, _, _ = processor.process_configuration_step(
selected_file, fc_parameters
)
@@ -313,7 +316,7 @@ def test_user_receives_feedback_about_duplicate_parameter_removal(self, processo
# Act: Process configuration step with potential duplicates
with patch.object(processor, "calculate_connection_rename_operations") as mock_apply:
mock_apply.return_value = ({"CAN_P2_DRIVER"}, [("CAN_P1_DRIVER", "CAN_P2_DRIVER")])
- _parameters, ui_errors, ui_infos, _, _, _ = processor.process_configuration_step(
+ _parameters, ui_errors, ui_infos, _, _, _, _ = processor.process_configuration_step(
selected_file, fc_parameters
) # Assert: User informed about duplicate removal
assert len(ui_infos) > 0 # Should have info about parameter removal
@@ -340,7 +343,7 @@ def test_user_can_process_configuration_step_without_connection_renaming(self, p
processor.local_filesystem.merge_forced_or_derived_parameters.return_value = True
# Act: Process configuration step without connection renaming
- parameters, ui_errors, ui_infos, _, _, _ = processor.process_configuration_step(
+ parameters, ui_errors, ui_infos, _, _, _, _ = processor.process_configuration_step(
selected_file, fc_parameters
) # Assert: Only derived parameters processed, no connection renaming
# compute_parameters is now called twice: once for "forced", once for "derived"
@@ -376,6 +379,7 @@ def test_connection_renaming_state_does_not_leak_between_steps(self, processor,
_duplicates_first,
renames_first,
_derived_first,
+ _autoimported_first,
) = processor.process_configuration_step(rename_step, fc_parameters)
assert renames_first # Sanity check that renaming took place
@@ -387,6 +391,7 @@ def test_connection_renaming_state_does_not_leak_between_steps(self, processor,
_duplicates_second,
renames_second,
_derived_second,
+ _autoimported_second,
) = processor.process_configuration_step(later_step, fc_parameters)
assert renames_second == []
assert ui_infos_second == []
@@ -874,7 +879,7 @@ def test_processor_handles_missing_configuration_steps_gracefully(self, processo
processor.local_filesystem.file_parameters[selected_file] = {} # Add empty file entry
# Act: Process configuration step
- parameters, ui_errors, ui_infos, _, _, _ = processor.process_configuration_step(selected_file, fc_parameters)
+ parameters, ui_errors, ui_infos, _, _, _, _ = processor.process_configuration_step(selected_file, fc_parameters)
# Assert: Processing completed without errors
assert isinstance(parameters, dict)
@@ -896,7 +901,7 @@ def test_processor_handles_empty_parameter_files_gracefully(self, processor, fc_
processor.local_filesystem.file_parameters[selected_file] = {}
# Act: Process configuration step
- parameters, ui_errors, ui_infos, _, _, _ = processor.process_configuration_step(selected_file, fc_parameters)
+ parameters, ui_errors, ui_infos, _, _, _, _ = processor.process_configuration_step(selected_file, fc_parameters)
# Assert: Empty file handled gracefully
assert isinstance(parameters, dict)
@@ -952,7 +957,7 @@ def test_processor_handles_complex_connection_renaming_edge_cases(self, processo
processor.local_filesystem.configuration_steps = {selected_file: {"rename_connection": "selected_can"}}
# Act: Process complex connection renaming
- parameters, ui_errors, ui_infos, _, _, _ = processor.process_configuration_step(
+ parameters, ui_errors, ui_infos, _, _, _, _ = processor.process_configuration_step(
selected_file, fc_parameters
) # Assert: Complex scenarios handled correctly
assert isinstance(parameters, dict)
@@ -974,7 +979,7 @@ def test_processor_handles_empty_variables_dictionary(self, processor, fc_parame
selected_file = "test_file.param"
# Act: Process with empty variables
- parameters, ui_errors, ui_infos, _, _, _ = processor.process_configuration_step(
+ parameters, ui_errors, ui_infos, _, _, _, _ = processor.process_configuration_step(
selected_file, fc_parameters
) # Assert: Processing completed successfully
assert isinstance(parameters, dict)
@@ -1003,7 +1008,7 @@ def test_user_receives_expresslrs_warning_when_fltmode_ch_is_5_and_expresslrs_de
test_fc_params["FLTMODE_CH"] = 5
# Act: Process configuration step
- _, ui_errors, ui_infos, _, _, _ = processor.process_configuration_step(selected_file, test_fc_params)
+ _, ui_errors, ui_infos, _, _, _, _ = processor.process_configuration_step(selected_file, test_fc_params)
# Assert: ExpressLRS warning is present
assert len(ui_infos) == 1
@@ -1034,7 +1039,7 @@ def test_user_does_not_receive_expresslrs_warning_when_fltmode_ch_is_not_5_and_e
test_fc_params["FLTMODE_CH"] = 6
# Act: Process configuration step
- _, ui_errors, ui_infos, _, _, _ = processor.process_configuration_step(selected_file, test_fc_params)
+ _, ui_errors, ui_infos, _, _, _, _ = processor.process_configuration_step(selected_file, test_fc_params)
# Assert: No ExpressLRS warning
assert ui_infos == []
@@ -1060,7 +1065,7 @@ def test_user_does_not_receive_expresslrs_warning_when_expresslrs_not_detected(s
test_fc_params["FLTMODE_CH"] = 5
# Act: Process configuration step
- _, ui_errors, ui_infos, _, _, _ = processor.process_configuration_step(selected_file, test_fc_params)
+ _, ui_errors, ui_infos, _, _, _, _ = processor.process_configuration_step(selected_file, test_fc_params)
# Assert: No ExpressLRS warning
assert ui_infos == []
@@ -1086,7 +1091,7 @@ def test_user_receives_expresslrs_warning_with_both_bits_set_and_fltmode_ch_5(se
test_fc_params["FLTMODE_CH"] = 5
# Act: Process configuration step
- _, ui_errors, ui_infos, _, _, _ = processor.process_configuration_step(selected_file, test_fc_params)
+ _, ui_errors, ui_infos, _, _, _, _ = processor.process_configuration_step(selected_file, test_fc_params)
# Assert: ExpressLRS warning is present
assert len(ui_infos) == 1
@@ -1125,9 +1130,15 @@ def test_derived_parameters_filtered_by_fc_keys_when_fc_provided(self, processor
# FC only has SERIAL1_PROTOCOL (not CAN_P1_DRIVER)
limited_fc_params = {"SERIAL1_PROTOCOL": 4.0}
- _params, ui_errors, _ui_infos, _duplicates, _renames, derived_to_apply = processor.process_configuration_step(
- selected_file, limited_fc_params
- )
+ (
+ _params,
+ ui_errors,
+ _ui_infos,
+ _duplicates,
+ _renames,
+ derived_to_apply,
+ _autoimported,
+ ) = processor.process_configuration_step(selected_file, limited_fc_params)
assert ui_errors == []
# SERIAL1_PROTOCOL is in both file and FC, so it should be in derived_to_apply
@@ -1165,9 +1176,15 @@ def test_derived_parameters_not_in_file_are_included_for_adding_to_gui(self, pro
fc_params = {"SERIAL1_PROTOCOL": 4.0, "NEW_PARAM": 99.0}
- _params, ui_errors, _ui_infos, _duplicates, _renames, derived_to_apply = processor.process_configuration_step(
- selected_file, fc_params
- )
+ (
+ _params,
+ ui_errors,
+ _ui_infos,
+ _duplicates,
+ _renames,
+ derived_to_apply,
+ _autoimported,
+ ) = processor.process_configuration_step(selected_file, fc_params)
assert ui_errors == []
# Parameters in file should be included
@@ -1202,9 +1219,15 @@ def test_derived_parameters_all_included_when_no_fc_parameters(self, processor,
}
# No FC parameters (empty dict simulates offline mode)
- _params, ui_errors, _ui_infos, _duplicates, _renames, derived_to_apply = processor.process_configuration_step(
- selected_file, {}
- )
+ (
+ _params,
+ ui_errors,
+ _ui_infos,
+ _duplicates,
+ _renames,
+ derived_to_apply,
+ _autoimported,
+ ) = processor.process_configuration_step(selected_file, {})
assert ui_errors == []
# Both should be included since fc_param_keys is empty (no FC filter)
@@ -1298,7 +1321,15 @@ def test_deleted_parameter_is_not_auto_imported_from_fc(self, processor) -> None
# Act (When): process the step with a non-default FC value for the to-be-deleted param
fc_params = {"BATT_OPTIONS": 5.0}
- parameters, ui_errors, _ui_infos, _dup, _ren, _derived = processor.process_configuration_step(selected_file, fc_params)
+ (
+ parameters,
+ ui_errors,
+ _ui_infos,
+ _dup,
+ _ren,
+ _derived,
+ _autoimported,
+ ) = processor.process_configuration_step(selected_file, fc_params)
# Assert (Then): BATT_OPTIONS absent because it is in the delete set
assert "BATT_OPTIONS" not in parameters
@@ -1337,12 +1368,15 @@ def test_apply_auto_imports_skips_parameters_in_delete_set(self, processor) -> N
current_step_parameters: dict = {}
# Act (When): run auto-import with the delete set
- processor._apply_auto_imports(selected_file, fc_params, current_step_parameters, parameters_to_delete)
+ imported_parameters = processor._apply_auto_imports(
+ selected_file, fc_params, current_step_parameters, parameters_to_delete
+ )
# Assert (Then): imported param present with correct value; deleted param absent
assert "BATT_OPTIONS" in current_step_parameters
assert current_step_parameters["BATT_OPTIONS"].get_new_value() == 5.0
assert "BATT_MONITOR" not in current_step_parameters
+ assert imported_parameters == {"BATT_OPTIONS"}
def test_apply_auto_imports_with_none_delete_set_behaves_as_empty_set(self, processor) -> None:
"""
diff --git a/tests/test_data_model_parameter_editor.py b/tests/test_data_model_parameter_editor.py
index aa3b3d949..076376e2e 100755
--- a/tests/test_data_model_parameter_editor.py
+++ b/tests/test_data_model_parameter_editor.py
@@ -17,6 +17,7 @@
from ardupilot_methodic_configurator.data_model_ardupilot_parameter import (
ArduPilotParameter,
+ ParameterForcedOrDerivedError,
ParameterOutOfRangeError,
ParameterUnchangedError,
)
@@ -3519,6 +3520,7 @@ def test_user_can_apply_valid_derived_parameters(self, parameter_editor) -> None
[], # duplicates_to_remove
[], # renames_to_apply
derived_params, # derived_params
+ set(), # autoimported_parameters
),
):
parameter_editor._repopulate_configuration_step_parameters()
@@ -3564,6 +3566,7 @@ def test_user_receives_error_when_derived_param_is_readonly(self, parameter_edit
[], # duplicates_to_remove
[], # renames_to_apply
derived_params, # derived_params
+ set(), # autoimported_parameters
),
),
patch("ardupilot_methodic_configurator.data_model_parameter_editor.logging_error") as mock_log_error,
@@ -3612,6 +3615,7 @@ def test_user_receives_error_when_derived_param_not_marked_as_forced_or_derived(
[],
[],
derived_params,
+ set(),
),
),
patch("ardupilot_methodic_configurator.data_model_parameter_editor.logging_error") as mock_log_error,
@@ -3651,6 +3655,7 @@ def test_user_can_see_derived_param_added_when_not_in_file(self, parameter_edito
[],
[],
derived_params,
+ set(),
),
):
parameter_editor._repopulate_configuration_step_parameters()
@@ -3680,7 +3685,7 @@ def test_user_can_see_forced_param_added_when_not_in_file(self, parameter_editor
patch.object(
parameter_editor._config_step_processor,
"process_configuration_step",
- return_value=({}, [], [], set(), [], ParDict()),
+ return_value=({}, [], [], set(), [], ParDict(), set()),
),
patch.object(
parameter_editor._config_step_processor,
@@ -3694,6 +3699,31 @@ def test_user_can_see_forced_param_added_when_not_in_file(self, parameter_editor
assert parameter_editor.current_step_parameters["NEW_FORCED"] is mock_ap_param
assert "NEW_FORCED" in parameter_editor._added_parameters
+ def test_autoimported_parameter_is_tracked_for_saving(self, parameter_editor) -> None:
+ """Auto-imported parameters trigger the normal save workflow."""
+ parameter_editor.current_file = "test_file.param"
+ parameter_editor._last_time_asked_to_save = 0.0
+ autoimported = ArduPilotParameter("AUTO_IMPORTED", Par(2.0), fc_value=2.0)
+ with patch.object(
+ parameter_editor._config_step_processor,
+ "process_configuration_step",
+ return_value=({"AUTO_IMPORTED": autoimported}, [], [], set(), [], ParDict(), {"AUTO_IMPORTED"}),
+ ):
+ parameter_editor._repopulate_configuration_step_parameters()
+
+ assert parameter_editor._has_unsaved_changes()
+
+ with patch.object(parameter_editor, "_export_current_file") as mock_export:
+ assert (
+ parameter_editor.handle_write_changes_workflow(
+ annotate_params_into_files=False,
+ ask_user_confirmation=MagicMock(return_value=True),
+ )
+ is True
+ )
+
+ mock_export.assert_called_once_with(annotate_doc=False)
+
def test_connected_editor_delegates_plugin_model_creation_to_registry(self, parameter_editor) -> None:
"""The editor supplies shared dependencies without importing concrete plugin models."""
parameter_editor._flight_controller.master = MagicMock()
@@ -4501,7 +4531,7 @@ def test_system_tracks_renamed_parameters_during_repopulation(self, parameter_ed
patch.object(
parameter_editor._config_step_processor,
"process_configuration_step",
- return_value=({"OLD": MagicMock()}, [], [], [], [("OLD", "NEW")], ParDict()),
+ return_value=({"OLD": MagicMock()}, [], [], [], [("OLD", "NEW")], ParDict(), set()),
),
patch.object(parameter_editor._config_step_processor, "create_ardupilot_parameter", return_value=mock_new_param),
):
@@ -4529,7 +4559,7 @@ def test_system_applies_derived_parameter_reason_during_repopulation(self, param
with patch.object(
parameter_editor._config_step_processor,
"process_configuration_step",
- return_value=({"DER": mock_der}, [], [], [], [], ParDict({"DER": Par(2.0, "because math")})),
+ return_value=({"DER": mock_der}, [], [], [], [], ParDict({"DER": Par(2.0, "because math")}), set()),
):
parameter_editor._repopulate_configuration_step_parameters()
@@ -6149,8 +6179,35 @@ def test_system_skips_a_flight_controller_value_that_cannot_be_converted(self, p
good = ArduPilotParameter("GOOD", Par(1.0))
parameter_editor.current_step_parameters = {"BAD": bad, "GOOD": good}
- assert parameter_editor._update_parameters_from_fc_values({"BAD": 1.0, "GOOD": 2.0}) is True
+ with patch("ardupilot_methodic_configurator.data_model_parameter_editor.logging_exception") as mock_exception:
+ assert parameter_editor._update_parameters_from_fc_values({"BAD": 1.0, "GOOD": 2.0}) is True
+
assert good.get_new_value() == 2.0
+ mock_exception.assert_called_once_with("Failed to update in-memory value for BAD after FC copy")
+
+ def test_system_warns_without_a_traceback_when_a_parameter_is_forced_or_derived(
+ self, parameter_editor: ParameterEditor
+ ) -> None:
+ """
+ A forced or derived parameter cannot be replaced by a value from the flight controller.
+
+ GIVEN: A parameter that rejects an FC value because it is forced or derived
+ WHEN: The FC value is copied into the current file
+ THEN: Its error message is logged as a warning without an exception traceback
+ """
+ param = MagicMock()
+ error_message = "This parameter is forced or derived and cannot be changed."
+ error = ParameterForcedOrDerivedError(error_message)
+ param.set_new_value.side_effect = error
+ parameter_editor.current_step_parameters = {"FORCED": param}
+
+ with patch("ardupilot_methodic_configurator.data_model_parameter_editor.logging_warning") as mock_warning:
+ assert parameter_editor._update_parameters_from_fc_values({"FORCED": 1.0}) is False
+
+ mock_warning.assert_called_once_with(
+ "Parameter FORCED could not be updated because it is forced or derived: "
+ "This parameter is forced or derived and cannot be changed."
+ )
def test_system_skips_a_flight_controller_value_absent_from_the_current_step(
self, parameter_editor: ParameterEditor
@@ -6299,7 +6356,7 @@ def test_step_declared_parameters_are_added_to_the_current_step(self, parameter_
with patch.object(
parameter_editor._config_step_processor,
"process_configuration_step",
- return_value=({}, [], [], [], [], {}),
+ return_value=({}, [], [], [], [], {}, set()),
):
parameter_editor._repopulate_configuration_step_parameters()
@@ -6324,7 +6381,7 @@ def test_step_declared_deletions_remove_parameters_from_the_current_step(self, p
with patch.object(
parameter_editor._config_step_processor,
"process_configuration_step",
- return_value=({"OLD_PARAM": MagicMock()}, [], [], [], [], {}),
+ return_value=({"OLD_PARAM": MagicMock()}, [], [], [], [], {}, set()),
):
parameter_editor._repopulate_configuration_step_parameters()
@@ -6746,7 +6803,7 @@ def test_a_duplicate_present_in_the_file_is_tracked_as_deleted(self, parameter_e
with patch.object(
parameter_editor._config_step_processor,
"process_configuration_step",
- return_value=({"DUP_PARAM": MagicMock()}, [], [], {"DUP_PARAM"}, [], {}),
+ return_value=({"DUP_PARAM": MagicMock()}, [], [], {"DUP_PARAM"}, [], {}, set()),
):
parameter_editor._repopulate_configuration_step_parameters()
@@ -6772,7 +6829,7 @@ def test_a_duplicate_absent_from_the_file_is_removed_without_a_deletion_record(
with patch.object(
parameter_editor._config_step_processor,
"process_configuration_step",
- return_value=({"DUP_PARAM": MagicMock()}, [], [], {"DUP_PARAM"}, [], {}),
+ return_value=({"DUP_PARAM": MagicMock()}, [], [], {"DUP_PARAM"}, [], {}, set()),
):
parameter_editor._repopulate_configuration_step_parameters()
diff --git a/tests/test_data_model_vehicle_project.py b/tests/test_data_model_vehicle_project.py
index 3a0c80795..484e00c15 100755
--- a/tests/test_data_model_vehicle_project.py
+++ b/tests/test_data_model_vehicle_project.py
@@ -1,1584 +1,1868 @@
-#!/usr/bin/env python3
-
-"""
-Tests for data_model_vehicle_project.py module.
-
-This module tests the VehicleProjectManager class which provides a unified interface
-for all vehicle project operations, acting as a facade that coordinates between
-different data models.
-
-This file is part of ArduPilot Methodic Configurator. https://github.com/ArduPilot/MethodicConfigurator
-
-SPDX-FileCopyrightText: 2024-2026 Amilcar do Carmo Lucas
-
-SPDX-License-Identifier: GPL-3.0-or-later
-"""
-
-from unittest.mock import MagicMock, patch
-
-import pytest
-
-from ardupilot_methodic_configurator.backend_filesystem import LocalFilesystem
-from ardupilot_methodic_configurator.data_model_par_dict import ParDict
-from ardupilot_methodic_configurator.data_model_vehicle_project import VehicleProjectManager
-from ardupilot_methodic_configurator.data_model_vehicle_project_creator import (
- NewVehicleProjectSettings,
- VehicleProjectCreationError,
-)
-from ardupilot_methodic_configurator.data_model_vehicle_project_opener import VehicleProjectOpenError
-
-# pylint: disable=protected-access, too-many-lines
-
-
-class TestVehicleProjectManagerInitialization:
- """Test VehicleProjectManager initialization and basic properties."""
-
- def test_user_can_initialize_project_manager_without_flight_controller(self) -> None:
- """
- User can create project manager without flight controller.
-
- GIVEN: A user wants to manage vehicle projects without a flight controller
- WHEN: User initializes VehicleProjectManager with only local filesystem
- THEN: Manager should be created with all internal components initialized
- """
- # Arrange: Create filesystem instance
- mock_filesystem = MagicMock(spec=LocalFilesystem)
-
- # Act: Initialize project manager without flight controller
- manager = VehicleProjectManager(mock_filesystem)
-
- # Assert: Manager is properly initialized
- assert manager._local_filesystem is mock_filesystem
- assert manager._flight_controller is None
- assert manager._creator is not None
- assert manager._opener is not None
- assert manager._settings is None
- assert manager.configuration_template == ""
-
- def test_user_can_initialize_project_manager_with_flight_controller(self) -> None:
- """
- User can create project manager with flight controller.
-
- GIVEN: A user wants to manage vehicle projects with a connected flight controller
- WHEN: User initializes VehicleProjectManager with filesystem and flight controller
- THEN: Manager should be created with flight controller reference stored
- """
- # Arrange: Create filesystem and flight controller instances
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- mock_flight_controller = MagicMock()
-
- # Act: Initialize project manager with flight controller
- manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
-
- # Assert: Manager is properly initialized with flight controller
- assert manager._local_filesystem is mock_filesystem
- assert manager._flight_controller is mock_flight_controller
- assert manager._creator is not None
- assert manager._opener is not None
-
- def test_user_can_get_fc_parameters_when_fc_connected(self) -> None:
- """
- User can retrieve FC parameters when flight controller is connected.
-
- GIVEN: A project manager with a connected flight controller that has parameters
- WHEN: User requests FC parameters
- THEN: Should return the flight controller's parameters dictionary
- """
- # Arrange: Create manager with FC that has parameters
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- mock_flight_controller = MagicMock()
- mock_flight_controller.fc_parameters = {"PARAM1": 1.0, "PARAM2": 2.0}
- manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
-
- # Act: Get FC parameters
- fc_params = manager.fc_parameters()
-
- # Assert: FC parameters are returned
- assert fc_params == {"PARAM1": 1.0, "PARAM2": 2.0}
-
- def test_user_gets_none_when_fc_not_connected(self) -> None:
- """
- User receives None when no flight controller is connected.
-
- GIVEN: A project manager without a flight controller
- WHEN: User requests FC parameters
- THEN: Should return None
- """
- # Arrange: Create manager without FC
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- # Act: Get FC parameters
- fc_params = manager.fc_parameters()
-
- # Assert: None is returned
- assert fc_params is None
-
- def test_user_gets_fc_parameters_even_if_empty(self) -> None:
- """
- User receives empty dict when FC is connected but has no parameters yet.
-
- GIVEN: A project manager with FC that hasn't loaded parameters yet
- WHEN: User requests FC parameters
- THEN: Should return empty dictionary
- """
- # Arrange: Create manager with FC that has empty parameters
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- mock_flight_controller = MagicMock()
- mock_flight_controller.fc_parameters = {}
- manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
-
- # Act: Get FC parameters
- fc_params = manager.fc_parameters()
-
- # Assert: Empty dict is returned
- assert fc_params == {}
-
-
-class TestDirectoryAndPathOperations:
- """Test directory and path related operations."""
-
- def test_user_can_get_recently_used_directories(self) -> None:
- """
- User can retrieve recently used directories.
-
- GIVEN: A project manager with stored directory preferences
- WHEN: User requests recently used directories
- THEN: Should return tuple of template, base, and vehicle directories
- """
- # Arrange: Mock filesystem and recently used directories
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- with patch.object(LocalFilesystem, "get_recently_used_dirs") as mock_get_dirs:
- mock_get_dirs.return_value = ("/templates", "/base", "/vehicle")
-
- # Act: Get recently used directories
- template_dir, new_base_dir, vehicle_dir = manager.get_recently_used_dirs()
-
- # Assert: Correct directories returned
- assert template_dir == "/templates"
- assert new_base_dir == "/base"
- assert vehicle_dir == "/vehicle"
- mock_get_dirs.assert_called_once()
-
- def test_creation_stores_template_and_base_dirs_in_history(self) -> None:
- """
- Manager stores the template and base directories in history after creation.
-
- GIVEN: A user creates a new vehicle from a template
- WHEN: Creation succeeds
- THEN: The template directory and base directory are stored in recently-used history
- """
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- with (
- patch.object(manager._creator, "create_new_vehicle_from_template") as mock_create,
- patch.object(manager._opener, "open_vehicle_directory") as mock_open,
- patch.object(LocalFilesystem, "store_recently_used_template_dirs") as mock_store_template,
- patch.object(LocalFilesystem, "store_recently_used_vehicle_dir"),
- ):
- mock_create.return_value = "/new/vehicle/path"
- mock_open.return_value = "/new/vehicle/path"
- settings = MagicMock(spec=NewVehicleProjectSettings)
-
- # Act
- manager.create_new_vehicle_from_template("/templates/ArduCopter", "/vehicles", "Name", settings)
-
- # Assert: only the template/base history is the concern of this test
- mock_store_template.assert_called_once_with("/templates/ArduCopter", "/vehicles")
-
- def test_creation_opens_new_directory_and_updates_vehicle_history(self) -> None:
- """
- Manager opens the newly created directory and records it in vehicle history.
-
- GIVEN: A user creates a new vehicle from a template
- WHEN: Creation succeeds
- THEN: open_vehicle_directory is called with the new path
- AND: The new path is stored exactly once in recent-vehicle history
- """
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- with (
- patch.object(manager._creator, "create_new_vehicle_from_template") as mock_create,
- patch.object(manager._opener, "open_vehicle_directory") as mock_open,
- patch.object(LocalFilesystem, "store_recently_used_template_dirs"),
- patch.object(LocalFilesystem, "store_recently_used_vehicle_dir") as mock_store_vehicle,
- ):
- mock_create.return_value = "/new/vehicle/path"
- mock_open.return_value = "/new/vehicle/path"
- settings = MagicMock(spec=NewVehicleProjectSettings)
-
- # Act
- manager.create_new_vehicle_from_template("/templates/ArduCopter", "/vehicles", "Name", settings)
-
- # Assert: the new directory is opened and the vehicle dir stored exactly once
- mock_open.assert_called_once_with("/new/vehicle/path")
- mock_store_vehicle.assert_called_once_with("/new/vehicle/path")
-
- def test_user_can_get_current_working_directory(self) -> None:
- """
- User can get current working directory.
-
- GIVEN: A project manager in any state
- WHEN: User requests current working directory
- THEN: Should return the current working directory path
- """
- # Arrange: Mock filesystem
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- with patch.object(LocalFilesystem, "getcwd") as mock_getcwd:
- mock_getcwd.return_value = "/current/working/dir"
-
- # Act: Get current working directory
- result = manager.get_current_working_directory()
-
- # Assert: Correct directory returned
- assert result == "/current/working/dir"
- mock_getcwd.assert_called_once()
-
- def test_user_can_extract_directory_name_from_path(self) -> None:
- """
- User can extract directory name from full path.
-
- GIVEN: A project manager and a full path
- WHEN: User requests directory name extraction
- THEN: Should return just the directory name
- """
- # Arrange: Mock filesystem
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- with patch.object(LocalFilesystem, "get_directory_name_from_full_path") as mock_get_name:
- mock_get_name.return_value = "vehicle_name"
-
- # Act: Extract directory name
- result = manager.get_directory_name_from_path("/path/to/vehicle_name")
-
- # Assert: Correct name returned
- assert result == "vehicle_name"
- mock_get_name.assert_called_once_with("/path/to/vehicle_name")
-
- def test_user_can_check_if_directory_exists(self) -> None:
- """
- User can check if a directory exists.
-
- GIVEN: A project manager and a directory path
- WHEN: User checks if directory exists
- THEN: Should return boolean indicating existence
- """
- # Arrange: Mock filesystem
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- with patch.object(LocalFilesystem, "directory_exists") as mock_exists:
- mock_exists.return_value = True
-
- # Act: Check directory existence
- result = manager.directory_exists("/test/path")
-
- # Assert: Correct existence status returned
- assert result is True
- mock_exists.assert_called_once_with("/test/path")
-
- def test_user_can_validate_directory_name(self) -> None:
- """
- User can validate directory name.
-
- GIVEN: A project manager and a directory name
- WHEN: User validates directory name
- THEN: Should return boolean indicating validity
- """
- # Arrange: Mock filesystem
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- with patch.object(LocalFilesystem, "valid_directory_name") as mock_valid:
- mock_valid.return_value = True
-
- # Act: Validate directory name
- result = manager.valid_directory_name("valid_name")
-
- # Assert: Correct validation result returned
- assert result is True
- mock_valid.assert_called_once_with("valid_name")
-
-
-class TestVehicleProjectCreation:
- """Test vehicle project creation operations."""
-
- def test_user_can_create_new_vehicle_from_template_successfully(self) -> None:
- """
- User can create new vehicle from template successfully.
-
- GIVEN: A project manager with valid template and settings
- WHEN: User creates new vehicle from template
- THEN: Should create vehicle directory and update manager state
- """
- # Arrange: Mock filesystem and components
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- mock_flight_controller = MagicMock()
- mock_flight_controller.master = MagicMock() # FC is connected
- manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
-
- # Mock the creator and opener
- with (
- patch.object(manager._creator, "create_new_vehicle_from_template") as mock_create,
- patch.object(manager._opener, "open_vehicle_directory") as mock_open,
- patch.object(LocalFilesystem, "store_recently_used_template_dirs"),
- patch.object(LocalFilesystem, "store_recently_used_vehicle_dir"),
- ):
- mock_create.return_value = "/new/vehicle/path"
- mock_open.return_value = "/new/vehicle/path"
-
- mock_settings = MagicMock(spec=NewVehicleProjectSettings)
-
- # Act: Create new vehicle from template
- result = manager.create_new_vehicle_from_template("/template/path", "/base/path", "NewVehicle", mock_settings)
-
- # Assert: correct path returned and manager state updated
- assert result == "/new/vehicle/path"
- assert manager._settings is mock_settings
- assert manager.configuration_template == "path" # last component of template path
-
- # Assert: creator called with fc_connected=True (FC master is set) and opener called afterwards
- fc_connected = True # FC master is set in the fixture above
- mock_create.assert_called_once_with(
- "/template/path", "/base/path", "NewVehicle", mock_settings, fc_connected, mock_flight_controller.fc_parameters
- )
- mock_open.assert_called_once_with("/new/vehicle/path")
-
- def test_user_sees_error_when_vehicle_creation_fails(self) -> None:
- """
- User sees error when vehicle creation fails.
-
- GIVEN: A project manager with invalid settings
- WHEN: User attempts to create vehicle from template
- THEN: Should raise VehicleProjectCreationError
- """
- # Arrange: Mock filesystem
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- # Mock the creator to raise an exception
- with patch.object(manager._creator, "create_new_vehicle_from_template") as mock_create:
- mock_create.side_effect = VehicleProjectCreationError("Creation Error", "Creation failed")
-
- mock_settings = MagicMock(spec=NewVehicleProjectSettings)
-
- # Act & Assert: Creation should raise error
- with pytest.raises(VehicleProjectCreationError, match="Creation failed"):
- manager.create_new_vehicle_from_template("/template/path", "/base/path", "NewVehicle", mock_settings)
-
- def test_opener_not_called_when_creation_fails(self) -> None:
- """
- Opener must not be invoked when the creator raises an error.
-
- GIVEN: A project manager whose creator raises a VehicleProjectCreationError
- WHEN: User attempts to create a vehicle from a template
- THEN: The opener is never called
- AND: The VehicleProjectCreationError propagates to the caller
- """
- # Arrange: Mock filesystem
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- with (
- patch.object(manager._creator, "create_new_vehicle_from_template") as mock_create,
- patch.object(manager._opener, "open_vehicle_directory") as mock_open,
- ):
- mock_create.side_effect = VehicleProjectCreationError("Creation Error", "Creation failed")
- mock_settings = MagicMock(spec=NewVehicleProjectSettings)
-
- # Act & Assert: error propagates and opener is never touched
- with pytest.raises(VehicleProjectCreationError):
- manager.create_new_vehicle_from_template("/template/path", "/base/path", "NewVehicle", mock_settings)
-
- mock_open.assert_not_called()
-
-
-class TestVehicleProjectOpening:
- """Test vehicle project opening operations."""
-
- def test_user_can_open_vehicle_directory_successfully(self) -> None:
- """
- User can open existing vehicle directory successfully.
-
- GIVEN: A project manager with valid vehicle directory
- WHEN: User opens vehicle directory
- THEN: Should open directory, update history and return path
- """
- # Arrange: Mock filesystem
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- # Mock the opener and history store
- with (
- patch.object(manager._opener, "open_vehicle_directory") as mock_open,
- patch.object(manager, "store_recently_used_vehicle_dir") as mock_store,
- ):
- mock_open.return_value = "/opened/vehicle/path"
-
- # Act: Open vehicle directory
- result = manager.open_vehicle_directory("/vehicle/path")
-
- # Assert: Directory opened successfully and history recorded
- assert result == "/opened/vehicle/path"
- mock_open.assert_called_once_with("/vehicle/path")
- mock_store.assert_called_once_with("/opened/vehicle/path")
-
- def test_user_sees_error_when_vehicle_directory_opening_fails(self) -> None:
- """
- User sees error when vehicle directory opening fails.
-
- GIVEN: A project manager with invalid vehicle directory
- WHEN: User attempts to open vehicle directory
- THEN: Should raise VehicleProjectOpenError and not update history
- """
- # Arrange: Mock filesystem
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- # Mock the opener to raise an exception
- with (
- patch.object(manager._opener, "open_vehicle_directory") as mock_open,
- patch.object(manager, "store_recently_used_vehicle_dir") as mock_store,
- ):
- mock_open.side_effect = VehicleProjectOpenError("Open Error", "Opening failed")
-
- # Act & Assert: Opening should raise error
- with pytest.raises(VehicleProjectOpenError, match="Opening failed"):
- manager.open_vehicle_directory("/invalid/path")
-
- mock_store.assert_not_called()
-
- def test_user_can_open_last_vehicle_directory_successfully(self) -> None:
- """
- User can open last used vehicle directory successfully.
-
- GIVEN: A project manager with last used vehicle directory
- WHEN: User opens last vehicle directory
- THEN: Should open directory, update history and return path
- """
- # Arrange: Mock filesystem
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- # Mock the opener and history storage
- with (
- patch.object(manager._opener, "open_last_vehicle_directory") as mock_open,
- patch.object(manager, "store_recently_used_vehicle_dir") as mock_store,
- ):
- mock_open.return_value = "/last/vehicle/path"
-
- # Act: Open last vehicle directory
- result = manager.open_last_vehicle_directory("/last/path")
-
- # Assert: Directory opened successfully and history recorded
- assert result == "/last/vehicle/path"
- mock_open.assert_called_once_with("/last/path")
- mock_store.assert_called_once_with("/last/vehicle/path")
-
- def test_user_sees_error_when_opening_last_vehicle_directory_fails(self) -> None:
- """
- User sees error when opening last vehicle directory fails.
-
- GIVEN: A project manager with invalid last vehicle directory
- WHEN: User attempts to open last vehicle directory
- THEN: Should raise VehicleProjectOpenError and not update history
- """
- # Arrange: Mock filesystem
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- # Mock the opener to raise an exception
- with (
- patch.object(manager._opener, "open_last_vehicle_directory") as mock_open,
- patch.object(manager, "store_recently_used_vehicle_dir") as mock_store,
- ):
- mock_open.side_effect = VehicleProjectOpenError("Last Open Error", "Last directory opening failed")
-
- # Act & Assert: Opening should raise error
- with pytest.raises(VehicleProjectOpenError, match="Last directory opening failed"):
- manager.open_last_vehicle_directory("/invalid/last/path")
-
- mock_store.assert_not_called()
-
-
-class TestFilesystemStateManagement:
- """Test filesystem state management operations."""
-
- def test_user_can_get_current_vehicle_directory(self) -> None:
- """
- User can get current vehicle directory from filesystem.
-
- GIVEN: A project manager with filesystem containing vehicle directory
- WHEN: User requests current vehicle directory
- THEN: Should return filesystem's vehicle directory
- """
- # Arrange: Mock filesystem with vehicle directory
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- mock_filesystem.vehicle_dir = "/current/vehicle"
- manager = VehicleProjectManager(mock_filesystem)
-
- # Act: Get vehicle directory
- result = manager.get_vehicle_directory()
-
- # Assert: Correct vehicle directory returned
- assert result == "/current/vehicle"
-
- def test_user_can_store_recently_used_template_directories(self) -> None:
- """
- User can store recently used template and base directories.
-
- GIVEN: A project manager and template/base directories
- WHEN: User stores recently used template directories
- THEN: Should delegate to LocalFilesystem for storage
- """
- # Arrange: Mock filesystem
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- with patch.object(LocalFilesystem, "store_recently_used_template_dirs") as mock_store:
- # Act: Store template directories
- manager.store_recently_used_template_dirs("/template", "/base")
-
- # Assert: Storage delegated correctly
- mock_store.assert_called_once_with("/template", "/base")
-
- def test_user_can_store_recently_used_vehicle_directory(self) -> None:
- """
- User can store recently used vehicle directory.
-
- GIVEN: A project manager and vehicle directory
- WHEN: User stores recently used vehicle directory
- THEN: Should delegate to LocalFilesystem for storage
- """
- # Arrange: Mock filesystem
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- with patch.object(LocalFilesystem, "store_recently_used_vehicle_dir") as mock_store:
- # Act: Store vehicle directory
- manager.store_recently_used_vehicle_dir("/vehicle")
-
- # Assert: Storage delegated correctly
- mock_store.assert_called_once_with("/vehicle")
-
-
-class TestProjectSettingsProperties:
- """Test project settings property access."""
-
- def test_user_can_access_reset_fc_parameters_property_when_settings_exist(self) -> None:
- """
- User can access reset FC parameters property when settings exist.
-
- GIVEN: A project manager with settings configured
- WHEN: User accesses reset_fc_parameters_to_their_defaults property
- THEN: Should return the setting value from project settings
- """
- # Arrange: Mock filesystem and settings
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- mock_settings = MagicMock(spec=NewVehicleProjectSettings)
- mock_settings.reset_fc_parameters_to_their_defaults = True
- manager._settings = mock_settings
-
- # Act: Access property
- result = manager.reset_fc_parameters_to_their_defaults
-
- # Assert: Correct value returned
- assert result is True
-
- def test_user_gets_false_for_reset_fc_parameters_when_no_settings(self) -> None:
- """
- User gets False for reset FC parameters when no settings exist.
-
- GIVEN: A project manager without settings configured
- WHEN: User accesses reset_fc_parameters_to_their_defaults property
- THEN: Should return False
- """
- # Arrange: Mock filesystem without settings
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- # Act: Access property
- result = manager.reset_fc_parameters_to_their_defaults
-
- # Assert: False returned for missing settings
- assert result is False
-
- def test_user_can_access_blank_component_data_property_when_settings_exist(self) -> None:
- """
- User can access blank component data property when settings exist.
-
- GIVEN: A project manager with settings configured
- WHEN: User accesses blank_component_data property
- THEN: Should return the setting value from project settings
- """
- # Arrange: Mock filesystem and settings
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- mock_settings = MagicMock(spec=NewVehicleProjectSettings)
- mock_settings.blank_component_data = True
- manager._settings = mock_settings
-
- # Act: Access property
- result = manager.blank_component_data
-
- # Assert: Correct value returned
- assert result is True
-
- def test_user_gets_false_for_blank_component_data_when_no_settings(self) -> None:
- """
- User gets False for blank component data when no settings exist.
-
- GIVEN: A project manager without settings configured
- WHEN: User accesses blank_component_data property
- THEN: Should return False
- """
- # Arrange: Mock filesystem without settings
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- # Act: Access property
- result = manager.blank_component_data
-
- # Assert: False returned for missing settings
- assert result is False
-
- def test_user_can_access_infer_comp_specs_property_when_settings_exist(self) -> None:
- """
- User can access infer component specs property when settings exist.
-
- GIVEN: A project manager with settings configured
- WHEN: User accesses infer_comp_specs_and_conn_from_fc_params property
- THEN: Should return the setting value from project settings
- """
- # Arrange: Mock filesystem and settings
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- mock_settings = MagicMock(spec=NewVehicleProjectSettings)
- mock_settings.infer_comp_specs_and_conn_from_fc_params = True
- manager._settings = mock_settings
-
- # Act: Access property
- result = manager.infer_comp_specs_and_conn_from_fc_params
-
- # Assert: Correct value returned
- assert result is True
-
- def test_user_gets_false_for_infer_comp_specs_when_no_settings(self) -> None:
- """
- User gets False for infer component specs when no settings exist.
-
- GIVEN: A project manager without settings configured
- WHEN: User accesses infer_comp_specs_and_conn_from_fc_params property
- THEN: Should return False
- """
- # Arrange: Mock filesystem without settings
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- # Act: Access property
- result = manager.infer_comp_specs_and_conn_from_fc_params
-
- # Assert: False returned for missing settings
- assert result is False
-
- def test_user_can_access_use_fc_params_property_when_settings_exist(self) -> None:
- """
- User can access use FC params property when settings exist.
-
- GIVEN: A project manager with settings configured
- WHEN: User accesses use_fc_params property
- THEN: Should return the setting value from project settings
- """
- # Arrange: Mock filesystem and settings
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- mock_settings = MagicMock(spec=NewVehicleProjectSettings)
- mock_settings.use_fc_params = True
- manager._settings = mock_settings
-
- # Act: Access property
- result = manager.use_fc_params
-
- # Assert: Correct value returned
- assert result is True
-
- def test_user_gets_false_for_use_fc_params_when_no_settings(self) -> None:
- """
- User gets False for use FC params when no settings exist.
-
- GIVEN: A project manager without settings configured
- WHEN: User accesses use_fc_params property
- THEN: Should return False
- """
- # Arrange: Mock filesystem without settings
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- # Act: Access property
- result = manager.use_fc_params
-
- # Assert: False returned for missing settings
- assert result is False
-
-
-class TestFlightControllerOperations:
- """Test flight controller related operations."""
-
- def test_user_can_check_flight_controller_connection_when_connected(self) -> None:
- """
- User can check flight controller connection when connected.
-
- GIVEN: A project manager with connected flight controller
- WHEN: User checks flight controller connection
- THEN: Should return True
- """
- # Arrange: Mock filesystem and connected flight controller
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- mock_flight_controller = MagicMock()
- mock_flight_controller.master = MagicMock() # Connected
- manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
-
- # Act: Check connection
- result = manager.is_flight_controller_connected()
-
- # Assert: Connection detected
- assert result is True
-
- def test_user_can_check_flight_controller_connection_when_disconnected(self) -> None:
- """
- User can check flight controller connection when disconnected.
-
- GIVEN: A project manager with disconnected flight controller
- WHEN: User checks flight controller connection
- THEN: Should return False
- """
- # Arrange: Mock filesystem and disconnected flight controller
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- mock_flight_controller = MagicMock()
- mock_flight_controller.master = None # Disconnected
- manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
-
- # Act: Check connection
- result = manager.is_flight_controller_connected()
-
- # Assert: No connection detected
- assert result is False
-
- def test_user_can_check_flight_controller_connection_when_no_controller(self) -> None:
- """
- User can check flight controller connection when no controller exists.
-
- GIVEN: A project manager without flight controller
- WHEN: User checks flight controller connection
- THEN: Should return False
- """
- # Arrange: Mock filesystem without flight controller
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- # Act: Check connection
- result = manager.is_flight_controller_connected()
-
- # Assert: No connection detected
- assert result is False
-
- def test_user_can_check_if_last_vehicle_directory_can_be_opened_when_exists(self) -> None:
- """
- User can check if last vehicle directory can be opened when it exists.
-
- GIVEN: A project manager with existing last vehicle directory
- WHEN: User checks if last vehicle directory can be opened
- THEN: Should return True
- """
- # Arrange: Mock filesystem
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- with patch.object(manager, "directory_exists") as mock_exists:
- mock_exists.return_value = True
-
- # Act: Check if can open last directory
- result = manager.can_open_last_vehicle_directory("/existing/path")
-
- # Assert: Can open existing directory
- assert result is True
- mock_exists.assert_called_once_with("/existing/path")
-
- def test_user_can_check_if_last_vehicle_directory_can_be_opened_when_not_exists(self) -> None:
- """
- User can check if last vehicle directory can be opened when it doesn't exist.
-
- GIVEN: A project manager with non-existing last vehicle directory
- WHEN: User checks if last vehicle directory can be opened
- THEN: Should return False
- """
- # Arrange: Mock filesystem
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- with patch.object(manager, "directory_exists") as mock_exists:
- mock_exists.return_value = False
-
- # Act: Check if can open last directory
- result = manager.can_open_last_vehicle_directory("/nonexistent/path")
-
- # Assert: Cannot open non-existent directory
- assert result is False
- mock_exists.assert_called_once_with("/nonexistent/path")
-
- def test_user_can_check_if_last_vehicle_directory_can_be_opened_when_empty_path(self) -> None:
- """
- User can check if last vehicle directory can be opened when path is empty.
-
- GIVEN: A project manager with empty last vehicle directory path
- WHEN: User checks if last vehicle directory can be opened
- THEN: Should return False
- """
- # Arrange: Mock filesystem
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- # Act: Check if can open empty path
- result = manager.can_open_last_vehicle_directory("")
-
- # Assert: Cannot open empty path
- assert result is False
-
-
-class TestIntroductionMessageAndFileOperations:
- """Test introduction message generation and file operations."""
-
- def test_user_gets_working_directory_message_when_in_current_directory(self) -> None:
- """
- User gets working directory message when in current directory.
-
- GIVEN: A project manager where vehicle directory equals working directory
- WHEN: User requests introduction message
- THEN: Should return current working directory message
- """
- # Arrange: Mock filesystem with equal directories
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- mock_filesystem.vehicle_dir = "/working/dir"
- manager = VehicleProjectManager(mock_filesystem)
-
- with patch.object(manager, "get_current_working_directory") as mock_getcwd:
- mock_getcwd.return_value = "/working/dir"
-
- # Act: Get introduction message
- result = manager.get_introduction_message()
-
- # Assert: Current working directory message returned
- assert "current working directory" in result
-
- def test_user_gets_vehicle_dir_message_when_in_different_directory(self) -> None:
- """
- User gets vehicle dir message when in different directory.
-
- GIVEN: A project manager where vehicle directory differs from working directory
- WHEN: User requests introduction message
- THEN: Should return vehicle directory specified message
- """
- # Arrange: Mock filesystem with different directories
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- mock_filesystem.vehicle_dir = "/vehicle/dir"
- manager = VehicleProjectManager(mock_filesystem)
-
- with patch.object(manager, "get_current_working_directory") as mock_getcwd:
- mock_getcwd.return_value = "/working/dir"
-
- # Act: Get introduction message
- result = manager.get_introduction_message()
-
- # Assert: Vehicle directory specified message returned
- assert "--vehicle-dir specified directory" in result
-
- def test_user_can_get_file_parameters_list(self) -> None:
- """
- User can get list of intermediate parameter files.
-
- GIVEN: A project manager with filesystem containing parameter files
- WHEN: User requests file parameters list
- THEN: Should return list of parameter file names
- """
- # Arrange: Mock filesystem with parameter files
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- mock_filesystem.file_parameters = {
- "01_first.param": {},
- "02_second.param": {},
- "03_third.param": {},
- }
- manager = VehicleProjectManager(mock_filesystem)
-
- # Act: Get file parameters list
- result = manager.get_file_parameters_list()
-
- # Assert: Correct list of parameter files returned
- assert len(result) == 3
- assert "01_first.param" in result
- assert "02_second.param" in result
- assert "03_third.param" in result
-
- def test_user_can_get_default_vehicle_name(self) -> None:
- """
- User can get default name for new vehicle directory.
-
- GIVEN: A project manager in any state
- WHEN: User requests default vehicle name
- THEN: Should return localized default vehicle name
- """
- # Arrange: Mock filesystem
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- # Act: Get default vehicle name
- result = manager.get_default_vehicle_name()
-
- # Assert: Default name returned (should be translatable)
- assert result == "MyVehicleName" # This should be localized in actual use
-
-
-class TestIntegrationScenarios:
- """Test complete integration scenarios."""
-
- def test_user_can_complete_new_vehicle_creation_workflow(self) -> None:
- """
- User can complete full new vehicle creation workflow.
-
- GIVEN: A project manager with all components configured
- WHEN: User completes vehicle creation from template to storage
- THEN: Should create vehicle, update state, and store preferences
- """
- # Arrange: Mock all components
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- mock_flight_controller = MagicMock()
- mock_flight_controller.master = MagicMock()
- manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
-
- with (
- patch.object(manager._creator, "create_new_vehicle_from_template") as mock_create,
- patch.object(manager._opener, "open_vehicle_directory") as mock_open,
- patch.object(LocalFilesystem, "store_recently_used_template_dirs") as mock_store_template,
- patch.object(LocalFilesystem, "store_recently_used_vehicle_dir") as mock_store_vehicle,
- ):
- mock_create.return_value = "/new/vehicle/MyVehicle"
- mock_open.return_value = "/new/vehicle/MyVehicle"
- mock_settings = MagicMock(spec=NewVehicleProjectSettings)
-
- # Act: Complete workflow - manager orchestrates creation, opening, and history
- vehicle_path = manager.create_new_vehicle_from_template(
- "/templates/ArduCopter", "/vehicles", "MyVehicle", mock_settings
- )
-
- # Assert: all layers of the workflow were triggered in the correct order
- assert vehicle_path == "/new/vehicle/MyVehicle"
- assert manager._settings is mock_settings
- assert manager.configuration_template == "ArduCopter"
- # step 1: creator receives all necessary arguments
- fc_connected = True # FC master is set in the fixture above
- mock_create.assert_called_once_with(
- "/templates/ArduCopter",
- "/vehicles",
- "MyVehicle",
- mock_settings,
- fc_connected,
- mock_flight_controller.fc_parameters,
- )
- # step 2: opener receives the path returned by the creator
- mock_open.assert_called_once_with("/new/vehicle/MyVehicle")
- # step 3: both history records are written
- mock_store_template.assert_called_once_with("/templates/ArduCopter", "/vehicles")
- mock_store_vehicle.assert_called_once_with("/new/vehicle/MyVehicle")
-
- def test_user_can_complete_vehicle_opening_workflow(self) -> None:
- """
- User can complete full vehicle opening workflow.
-
- GIVEN: A project manager with existing vehicle directory
- WHEN: User completes vehicle opening and preference storage
- THEN: Should open vehicle and store preferences
- """
- # Arrange: Mock all components
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- with (
- patch.object(manager._opener, "open_vehicle_directory") as mock_open,
- patch.object(LocalFilesystem, "store_recently_used_vehicle_dir") as mock_store,
- ):
- mock_open.return_value = "/opened/vehicle/path"
-
- # Act: Complete workflow - the manager method is responsible for
- # updating the history, so we don't call store_recently_used_vehicle_dir
- # explicitly here.
- vehicle_path = manager.open_vehicle_directory("/vehicle/path")
-
- # Assert: Complete workflow executed
- assert vehicle_path == "/opened/vehicle/path"
- mock_open.assert_called_once_with("/vehicle/path")
- mock_store.assert_called_once_with("/opened/vehicle/path")
-
-
-class TestCreateNewVehicleFromBinLog:
- """Test the create_new_vehicle_from_bin_log orchestration method."""
-
- def _make_manager(self, with_fc: bool = False) -> "VehicleProjectManager":
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- mock_flight_controller = MagicMock() if with_fc else None
- return VehicleProjectManager(mock_filesystem, mock_flight_controller)
-
- def test_user_can_create_project_from_bin_log_successfully(self) -> None:
- """
- User can create a new vehicle project from a valid .bin log file.
-
- GIVEN: A project manager and a valid .bin log file
- WHEN: create_new_vehicle_from_bin_log is called
- THEN: The vehicle directory is created, defaults replaced, and the path returned
- """
- # Arrange
- manager = self._make_manager()
-
- fake_defaults = ParDict.from_float_dict({"PARAM_A": 1.0})
- fake_current = ParDict.from_float_dict({"PARAM_A": 1.0, "PARAM_B": 2.0})
- empty_compound = ParDict.from_float_dict({})
-
- with (
- patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl/ArduCopter/empty_4.6.x"),
- patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="my_flight"),
- patch.object(
- manager._creator,
- "extract_bin_log_data",
- return_value=(("ArduCopter", 4, 6, 3), fake_defaults, fake_current),
- ),
- patch.object(
- manager._creator, "create_new_vehicle_from_template", return_value="/vehicles/my_flight"
- ) as mock_create,
- patch.object(manager._creator, "next_import_filename", return_value="02_imported_bin_log_parameters.param"),
- patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
- patch.object(manager, "store_recently_used_template_dirs"),
- patch.object(manager, "open_vehicle_directory") as mock_open,
- patch.object(manager._local_filesystem, "write_param_default_values_to_file") as mock_write,
- patch.object(manager._local_filesystem, "compound_params", return_value=(empty_compound, "00_default.param")),
- patch.object(manager._local_filesystem, "export_to_param"),
- patch.object(manager._local_filesystem, "re_init"),
- ):
- # Act
- result = manager.create_new_vehicle_from_bin_log("/logs/my_flight.bin")
-
- # Assert: correct path returned
- assert result == "/vehicles/my_flight"
- # Assert: template creation called with fc_connected=False (key difference from normal flow)
- _args, kwargs = mock_create.call_args
- assert kwargs.get("fc_connected") is False
- # Assert: vehicle directory opened immediately after creation
- mock_open.assert_called_once_with("/vehicles/my_flight")
- # Assert: extracted defaults written (target path/filename come from LocalFilesystem state after re_init)
- mock_write.assert_called_once_with(fake_defaults)
-
- def test_bin_log_defaults_are_written_to_vehicle_directory(self) -> None:
- """
- The defaults extracted from the .bin log replace the template's 00_default.param.
-
- GIVEN: A valid .bin log file with a known defaults snapshot
- WHEN: create_new_vehicle_from_bin_log is called
- THEN: write_param_default_values_to_file is called with the extracted defaults ParDict
- """
- # Arrange
- manager = self._make_manager()
-
- fake_defaults = ParDict.from_float_dict({"BARO_ALT_OFFSET": 0.0})
- fake_current = ParDict.from_float_dict({"BARO_ALT_OFFSET": 0.5})
- empty_compound = ParDict.from_float_dict({})
-
- with (
- patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl"),
- patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="flight"),
- patch.object(
- manager._creator,
- "extract_bin_log_data",
- return_value=(("ArduCopter", 4, 6, 3), fake_defaults, fake_current),
- ),
- patch.object(manager._creator, "create_new_vehicle_from_template", return_value="/vehicles/flight"),
- patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
- patch.object(manager, "store_recently_used_template_dirs"),
- patch.object(manager, "open_vehicle_directory"),
- patch.object(manager._local_filesystem, "compound_params", return_value=(empty_compound, "00_default.param")),
- patch.object(manager._creator, "next_import_filename", return_value="02_imported_bin_log_parameters.param"),
- patch.object(manager._local_filesystem, "export_to_param"),
- patch.object(manager._local_filesystem, "re_init"),
- patch.object(manager._local_filesystem, "write_param_default_values_to_file") as mock_write,
- ):
- manager.create_new_vehicle_from_bin_log("/logs/flight.bin")
-
- # Assert: the extracted defaults — not the template's — are written
- mock_write.assert_called_once_with(fake_defaults)
-
- def test_missing_params_exported_to_import_file(self) -> None:
- """
- Parameters present in the .bin log but absent from the AMC files are exported.
-
- GIVEN: A .bin log where current params include entries not covered by AMC files
- WHEN: create_new_vehicle_from_bin_log is called
- THEN: export_to_param is called for the difference, and the filesystem is re-initialised
- """
- # Arrange
- manager = self._make_manager()
-
- fake_defaults = ParDict.from_float_dict({"PARAM_A": 1.0})
- fake_current = ParDict.from_float_dict({"PARAM_A": 1.0, "EXTRA_PARAM": 99.0})
- # compound_params covers only PARAM_A — EXTRA_PARAM is missing
- compound = ParDict.from_float_dict({"PARAM_A": 1.0})
-
- with (
- patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl"),
- patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="flight"),
- patch.object(
- manager._creator,
- "extract_bin_log_data",
- return_value=(("ArduCopter", 4, 6, 3), fake_defaults, fake_current),
- ),
- patch.object(manager._creator, "create_new_vehicle_from_template", return_value="/vehicles/flight"),
- patch.object(manager._creator, "next_import_filename", return_value="02_imported_bin_log_parameters.param"),
- patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
- patch.object(manager, "store_recently_used_template_dirs"),
- patch.object(manager, "open_vehicle_directory"),
- patch.object(manager._local_filesystem, "write_param_default_values_to_file"),
- patch.object(manager._local_filesystem, "compound_params", return_value=(compound, "00_default.param")),
- patch.object(manager._local_filesystem, "export_to_param") as mock_export,
- patch.object(manager._local_filesystem, "re_init") as mock_reinit,
- ):
- manager.create_new_vehicle_from_bin_log("/logs/flight.bin")
-
- # Assert: the import file is created and the filesystem is re-initialised
- mock_export.assert_called_once()
- exported_params, export_filename = mock_export.call_args.args[:2]
- assert export_filename == "02_imported_bin_log_parameters.param"
- assert "EXTRA_PARAM" in exported_params
- assert "PARAM_A" not in exported_params
- assert mock_export.call_args.kwargs.get("annotate_doc") is False
- # re_init is called once unconditionally (to point filesystem at new_path) and
- # once more after exporting imported params (to reload the new file).
- assert mock_reinit.call_count == 2
-
- def test_no_import_file_when_all_params_covered_by_amc_files(self) -> None:
- """
- No extra import file is created when all current params are already in AMC files.
-
- GIVEN: A .bin log where all current params match the AMC param files
- WHEN: create_new_vehicle_from_bin_log is called
- THEN: export_to_param and re_init are NOT called
- """
- # Arrange
- manager = self._make_manager()
-
- params = ParDict.from_float_dict({"PARAM_A": 1.0, "PARAM_B": 2.0})
- compound = ParDict.from_float_dict({"PARAM_A": 1.0, "PARAM_B": 2.0})
-
- with (
- patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl"),
- patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="flight"),
- patch.object(manager._creator, "extract_bin_log_data", return_value=(("ArduCopter", 4, 6, 3), params, params)),
- patch.object(manager._creator, "create_new_vehicle_from_template", return_value="/vehicles/flight"),
- patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
- patch.object(manager, "store_recently_used_template_dirs"),
- patch.object(manager, "open_vehicle_directory"),
- patch.object(manager._local_filesystem, "write_param_default_values_to_file"),
- patch.object(manager._local_filesystem, "compound_params", return_value=(compound, "00_default.param")),
- patch.object(manager._local_filesystem, "export_to_param") as mock_export,
- patch.object(manager._local_filesystem, "re_init") as mock_reinit,
- ):
- manager.create_new_vehicle_from_bin_log("/logs/flight.bin")
-
- # Assert: no extra import file written; re_init called exactly once (the unconditional
- # initial call to point the filesystem at the new vehicle directory).
- mock_export.assert_not_called()
- mock_reinit.assert_called_once_with("/vehicles/flight", "ArduCopter")
- # Assert: fw_version is set to the full "major.minor.patch" string from the log,
- # not just "major.minor" or whatever the template's vehicle_components.json contained.
- assert manager._local_filesystem.fw_version == "4.6.3"
- # Assert: the correct firmware version and type are written into vehicle_components.json.
- manager._local_filesystem.set_fc_fw_version_and_type_in_components_json.assert_called_once_with(
- "4.6.3", "ArduCopter", "/vehicles/flight"
- )
-
- def test_no_import_file_for_params_matching_defaults_but_missing_from_step_files(self) -> None:
- """
- Params equal to extracted defaults are not exported just because step files omit them.
-
- GIVEN: Current log params include a value that equals the extracted default
- and no numbered step file defines that parameter
- WHEN: create_new_vehicle_from_bin_log is called
- THEN: No import file is written for that parameter
- """
- # Arrange
- manager = self._make_manager()
-
- default_params = ParDict.from_float_dict({"PARAM_A": 10.0})
- current_params = ParDict.from_float_dict({"PARAM_A": 10.0})
- empty_step_compound = ParDict.from_float_dict({})
-
- with (
- patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl"),
- patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="flight"),
- patch.object(
- manager._creator,
- "extract_bin_log_data",
- return_value=(("ArduCopter", 4, 6, 3), default_params, current_params),
- ),
- patch.object(manager._creator, "create_new_vehicle_from_template", return_value="/vehicles/flight"),
- patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
- patch.object(manager, "store_recently_used_template_dirs"),
- patch.object(manager, "open_vehicle_directory"),
- patch.object(manager._local_filesystem, "write_param_default_values_to_file"),
- patch.object(manager._local_filesystem, "compound_params", return_value=(empty_step_compound, "00_default.param")),
- patch.object(manager._local_filesystem, "export_to_param") as mock_export,
- patch.object(manager._local_filesystem, "re_init") as mock_reinit,
- ):
- manager.create_new_vehicle_from_bin_log("/logs/flight.bin")
-
- # Assert: nothing to export because current value equals default baseline
- mock_export.assert_not_called()
- mock_reinit.assert_called_once_with("/vehicles/flight", "ArduCopter")
-
- def test_fc_parameters_synced_when_flight_controller_connected(self) -> None:
- """
- When a flight controller is connected, its fc_parameters are updated.
-
- GIVEN: A project manager with an active flight controller
- WHEN: create_new_vehicle_from_bin_log completes successfully
- THEN: The flight controller's fc_parameters are set to the current log params
- """
- # Arrange
- manager = self._make_manager(with_fc=True)
-
- fake_defaults = ParDict.from_float_dict({"PARAM_A": 1.0})
- fake_current = ParDict.from_float_dict({"PARAM_A": 1.0})
- compound = ParDict.from_float_dict({"PARAM_A": 1.0})
-
- with (
- patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl"),
- patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="flight"),
- patch.object(
- manager._creator,
- "extract_bin_log_data",
- return_value=(("ArduCopter", 4, 6, 3), fake_defaults, fake_current),
- ),
- patch.object(manager._creator, "create_new_vehicle_from_template", return_value="/vehicles/flight"),
- patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
- patch.object(manager, "store_recently_used_template_dirs"),
- patch.object(manager, "open_vehicle_directory"),
- patch.object(manager._local_filesystem, "write_param_default_values_to_file"),
- patch.object(manager._local_filesystem, "compound_params", return_value=(compound, "00_default.param")),
- patch.object(manager._local_filesystem, "export_to_param"),
- patch.object(manager._local_filesystem, "re_init"),
- ):
- manager.create_new_vehicle_from_bin_log("/logs/flight.bin")
-
- # Assert: FC parameters updated to the values extracted from the log
- assert manager._flight_controller.fc_parameters == {"PARAM_A": 1.0}
-
- def test_creation_error_propagates_to_caller(self) -> None:
- """
- VehicleProjectCreationError from param extraction propagates unchanged.
-
- GIVEN: A .bin log file that cannot have its params extracted
- WHEN: create_new_vehicle_from_bin_log is called
- THEN: VehicleProjectCreationError is raised with the original title/message
- """
- # Arrange
- manager = self._make_manager()
-
- with (
- patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl"),
- patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="bad"),
- patch.object(
- manager._creator,
- "extract_bin_log_data",
- side_effect=VehicleProjectCreationError(".bin log import", "Corrupt log"),
- ),
- patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
- pytest.raises(VehicleProjectCreationError) as exc_info,
- ):
- manager.create_new_vehicle_from_bin_log("/logs/bad.bin")
-
- assert exc_info.value.title == ".bin log import"
- assert exc_info.value.message == "Corrupt log"
-
- def test_firmware_version_error_propagates_to_caller(self) -> None:
- """
- VehicleProjectCreationError from firmware extraction propagates unchanged.
-
- GIVEN: A .bin log file with no firmware version information
- WHEN: create_new_vehicle_from_bin_log is called
- THEN: VehicleProjectCreationError is raised immediately
- """
- # Arrange
- manager = self._make_manager()
-
- with (
- patch.object(
- manager._creator,
- "extract_bin_log_data",
- side_effect=VehicleProjectCreationError(".bin log import", "No VER or MSG found"),
- ),
- patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
- pytest.raises(VehicleProjectCreationError) as exc_info,
- ):
- manager.create_new_vehicle_from_bin_log("/logs/no_ver.bin")
-
- assert exc_info.value.title == ".bin log import"
- assert "No VER or MSG found" in exc_info.value.message
-
- def test_template_creation_always_called_with_fc_connected_false(self) -> None:
- """
- create_new_vehicle_from_template is always called with fc_connected=False.
-
- This is the key difference from the normal template-creation flow: the vehicle
- is scaffolded without a live FC connection, using log-extracted params instead.
-
- GIVEN: A project manager that even has a flight controller connected
- WHEN: create_new_vehicle_from_bin_log is called
- THEN: create_new_vehicle_from_template receives fc_connected=False
- """
- # Arrange: manager WITH a connected flight controller
- manager = self._make_manager(with_fc=True)
-
- params = ParDict.from_float_dict({"PARAM_A": 1.0})
- compound = ParDict.from_float_dict({"PARAM_A": 1.0})
-
- with (
- patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl"),
- patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="flight"),
- patch.object(manager._creator, "extract_bin_log_data", return_value=(("ArduCopter", 4, 6, 3), params, params)),
- patch.object(manager._creator, "create_new_vehicle_from_template", return_value="/vehicles/flight") as mock_create,
- patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
- patch.object(manager, "store_recently_used_template_dirs"),
- patch.object(manager, "open_vehicle_directory"),
- patch.object(manager._local_filesystem, "write_param_default_values_to_file"),
- patch.object(manager._local_filesystem, "compound_params", return_value=(compound, "00_default.param")),
- patch.object(manager._local_filesystem, "export_to_param"),
- patch.object(manager._local_filesystem, "re_init"),
- ):
- manager.create_new_vehicle_from_bin_log("/logs/flight.bin")
-
- # Assert: regardless of FC connection, fc_connected must be False
- _args, kwargs = mock_create.call_args
- assert kwargs.get("fc_connected") is False
-
- def test_manager_state_updated_after_bin_log_import(self) -> None:
- """
- Manager internal state is updated correctly after a successful .bin log import.
-
- GIVEN: A project manager in its initial state
- WHEN: create_new_vehicle_from_bin_log completes successfully
- THEN: _settings carries the bin-log import options and configuration_template
- is set to the template directory name
- """
- # Arrange
- manager = self._make_manager()
-
- params = ParDict.from_float_dict({"PARAM_A": 1.0})
- compound = ParDict.from_float_dict({"PARAM_A": 1.0})
-
- with (
- patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl/ArduCopter/empty_4.6.x"),
- patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="flight"),
- patch.object(manager._creator, "extract_bin_log_data", return_value=(("ArduCopter", 4, 6, 3), params, params)),
- patch.object(manager._creator, "create_new_vehicle_from_template", return_value="/vehicles/flight"),
- patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
- patch.object(manager, "store_recently_used_template_dirs"),
- patch.object(manager, "open_vehicle_directory"),
- patch.object(manager._local_filesystem, "write_param_default_values_to_file"),
- patch.object(manager._local_filesystem, "compound_params", return_value=(compound, "00_default.param")),
- patch.object(manager._local_filesystem, "export_to_param"),
- patch.object(manager._local_filesystem, "re_init"),
- ):
- manager.create_new_vehicle_from_bin_log("/logs/flight.bin")
-
- # Assert: settings reflect the bin-log import defaults
- assert manager._settings is not None
- assert manager._settings.blank_change_reason is True
- assert manager._settings.infer_comp_specs_and_conn_from_fc_params is True
- assert manager._settings.use_fc_params is True
- # Assert: configuration_template is the leaf directory name of the template path
- assert manager.configuration_template == "empty_4.6.x"
-
-
-class TestGetFcDefaultTemplateDir:
- """Test VehicleProjectManager.get_fc_default_template_dir."""
-
- def _make_connected_manager(self, vehicle_type: str = "ArduCopter", fw_version: str = "4.6.0") -> "VehicleProjectManager":
- """Return a manager whose FC is connected with the given vehicle type and firmware version."""
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- mock_fc = MagicMock()
- mock_fc.master = MagicMock() # marks as connected
- mock_fc.info.vehicle_type = vehicle_type
- mock_fc.info.flight_sw_version = fw_version
- return VehicleProjectManager(mock_filesystem, mock_fc)
-
- def test_user_gets_fc_derived_template_when_directory_exists(self) -> None:
- """
- User gets a template directory derived from the FC's vehicle type and firmware version.
-
- GIVEN: An FC is connected reporting ArduCopter 4.6.0
- AND: The directory ArduCopter/empty_4.6.x exists in the templates base
- WHEN: get_fc_default_template_dir is called
- THEN: The path to that directory is returned
- """
- manager = self._make_connected_manager("ArduCopter", "4.6.0")
-
- with (
- patch.object(LocalFilesystem, "get_templates_base_dir", return_value="/templates"),
- patch("ardupilot_methodic_configurator.data_model_vehicle_project.Path.is_dir", return_value=True),
- ):
- result = manager.get_fc_default_template_dir()
-
- assert result.replace("\\", "/").endswith("ArduCopter/empty_4.6.x")
-
- def test_user_gets_fallback_when_fc_derived_directory_does_not_exist(self) -> None:
- """
- User gets the recently-used fallback when the FC-derived template directory is missing.
-
- GIVEN: An FC is connected reporting Rover 4.5.7
- AND: The directory Rover/empty_4.5.x does NOT exist
- WHEN: get_fc_default_template_dir is called
- THEN: The recently-used template directory is returned instead
- """
- manager = self._make_connected_manager("Rover", "4.5.7")
-
- with (
- patch.object(LocalFilesystem, "get_templates_base_dir", return_value="/templates"),
- patch("ardupilot_methodic_configurator.data_model_vehicle_project.Path.is_dir", return_value=False),
- patch.object(LocalFilesystem, "get_recently_used_dirs", return_value=("/fallback/template", "/base", "/vehicle")),
- ):
- result = manager.get_fc_default_template_dir()
-
- assert result == "/fallback/template"
-
- def test_user_gets_fallback_when_fc_vehicle_type_is_empty(self) -> None:
- """
- User gets the recently-used fallback when the FC has no vehicle type information.
-
- GIVEN: An FC is connected but vehicle_type is an empty string
- WHEN: get_fc_default_template_dir is called
- THEN: The recently-used template directory is returned
- """
- manager = self._make_connected_manager(vehicle_type="", fw_version="4.6.0")
-
- with patch.object(LocalFilesystem, "get_recently_used_dirs", return_value=("/fallback/template", "/base", "/vehicle")):
- result = manager.get_fc_default_template_dir()
-
- assert result == "/fallback/template"
-
- def test_user_gets_fallback_when_fc_firmware_version_is_empty(self) -> None:
- """
- User gets the recently-used fallback when the FC has no firmware version information.
-
- GIVEN: An FC is connected but flight_sw_version is an empty string
- WHEN: get_fc_default_template_dir is called
- THEN: The recently-used template directory is returned
- """
- manager = self._make_connected_manager(vehicle_type="ArduCopter", fw_version="")
-
- with patch.object(LocalFilesystem, "get_recently_used_dirs", return_value=("/fallback/template", "/base", "/vehicle")):
- result = manager.get_fc_default_template_dir()
-
- assert result == "/fallback/template"
-
- def test_user_gets_fallback_when_firmware_version_has_no_dot(self) -> None:
- """
- User gets the recently-used fallback when the firmware version string is unparsable.
-
- GIVEN: An FC is connected but flight_sw_version contains no '.' separator
- WHEN: get_fc_default_template_dir is called
- THEN: The recently-used template directory is returned
- """
- manager = self._make_connected_manager(vehicle_type="ArduCopter", fw_version="46")
-
- with patch.object(LocalFilesystem, "get_recently_used_dirs", return_value=("/fallback/template", "/base", "/vehicle")):
- result = manager.get_fc_default_template_dir()
-
- assert result == "/fallback/template"
-
- def test_user_gets_fallback_when_firmware_version_is_non_numeric(self) -> None:
- """
- User gets the recently-used fallback when firmware version parts are non-numeric.
-
- GIVEN: An FC is connected but flight_sw_version contains non-integer parts
- WHEN: get_fc_default_template_dir is called
- THEN: The recently-used template directory is returned
- """
- manager = self._make_connected_manager(vehicle_type="ArduCopter", fw_version="X.Y.Z")
-
- with patch.object(LocalFilesystem, "get_recently_used_dirs", return_value=("/fallback/template", "/base", "/vehicle")):
- result = manager.get_fc_default_template_dir()
-
- assert result == "/fallback/template"
-
- def test_user_gets_fallback_when_fc_is_disconnected(self) -> None:
- """
- User gets the recently-used fallback when the FC is present but not connected.
-
- GIVEN: A project manager with a flight controller whose master is None
- WHEN: get_fc_default_template_dir is called
- THEN: The recently-used template directory is returned
- """
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- mock_fc = MagicMock()
- mock_fc.master = None # disconnected
- manager = VehicleProjectManager(mock_filesystem, mock_fc)
-
- with patch.object(LocalFilesystem, "get_recently_used_dirs", return_value=("/fallback/template", "/base", "/vehicle")):
- result = manager.get_fc_default_template_dir()
-
- assert result == "/fallback/template"
-
- def test_user_gets_fallback_when_no_fc_is_present(self) -> None:
- """
- User gets the recently-used fallback when no flight controller is attached.
-
- GIVEN: A project manager initialised without any flight controller
- WHEN: get_fc_default_template_dir is called
- THEN: The recently-used template directory is returned
- """
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = VehicleProjectManager(mock_filesystem)
-
- with patch.object(LocalFilesystem, "get_recently_used_dirs", return_value=("/fallback/template", "/base", "/vehicle")):
- result = manager.get_fc_default_template_dir()
-
- assert result == "/fallback/template"
-
- def test_fallback_uses_manager_wrapper_not_direct_localfilesystem_call(self) -> None:
- """
- get_fc_default_template_dir falls back via self.get_recently_used_dirs().
-
- GIVEN: A subclass of VehicleProjectManager that overrides get_recently_used_dirs
- AND: No FC is connected (so the FC-derived path is not attempted)
- WHEN: get_fc_default_template_dir is called
- THEN: The subclass override is used for the fallback, not the base LocalFilesystem method
- """
-
- class _ManagerWithOverride(VehicleProjectManager):
- def get_recently_used_dirs(self) -> tuple[str, str, str]:
- return ("/overridden/template", "/base", "/vehicle")
-
- mock_filesystem = MagicMock(spec=LocalFilesystem)
- manager = _ManagerWithOverride(mock_filesystem)
-
- # Ensure the base LocalFilesystem is NOT patched — if the code still calls
- # LocalFilesystem.get_recently_used_dirs() directly the override would be bypassed.
- result = manager.get_fc_default_template_dir()
-
- assert result == "/overridden/template"
+#!/usr/bin/env python3
+
+"""
+Tests for data_model_vehicle_project.py module.
+
+This module tests the VehicleProjectManager class which provides a unified interface
+for all vehicle project operations, acting as a facade that coordinates between
+different data models.
+
+This file is part of ArduPilot Methodic Configurator. https://github.com/ArduPilot/MethodicConfigurator
+
+SPDX-FileCopyrightText: 2024-2026 Amilcar do Carmo Lucas
+
+SPDX-License-Identifier: GPL-3.0-or-later
+"""
+
+from pathlib import Path
+from unittest.mock import MagicMock, patch
+
+import pytest
+
+from ardupilot_methodic_configurator.backend_filesystem import LocalFilesystem
+from ardupilot_methodic_configurator.data_model_par_dict import Par, ParDict
+from ardupilot_methodic_configurator.data_model_vehicle_project import VehicleProjectManager
+from ardupilot_methodic_configurator.data_model_vehicle_project_creator import (
+ NewVehicleProjectSettings,
+ VehicleProjectCreationError,
+)
+from ardupilot_methodic_configurator.data_model_vehicle_project_opener import VehicleProjectOpenError
+
+# pylint: disable=protected-access, too-many-lines
+
+
+class TestVehicleProjectManagerInitialization:
+ """Test VehicleProjectManager initialization and basic properties."""
+
+ def test_user_can_initialize_project_manager_without_flight_controller(self) -> None:
+ """
+ User can create project manager without flight controller.
+
+ GIVEN: A user wants to manage vehicle projects without a flight controller
+ WHEN: User initializes VehicleProjectManager with only local filesystem
+ THEN: Manager should be created with all internal components initialized
+ """
+ # Arrange: Create filesystem instance
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+
+ # Act: Initialize project manager without flight controller
+ manager = VehicleProjectManager(mock_filesystem)
+
+ # Assert: Manager is properly initialized
+ assert manager._local_filesystem is mock_filesystem
+ assert manager._flight_controller is None
+ assert manager._creator is not None
+ assert manager._opener is not None
+ assert manager._settings is None
+ assert manager.configuration_template == ""
+
+ def test_user_can_initialize_project_manager_with_flight_controller(self) -> None:
+ """
+ User can create project manager with flight controller.
+
+ GIVEN: A user wants to manage vehicle projects with a connected flight controller
+ WHEN: User initializes VehicleProjectManager with filesystem and flight controller
+ THEN: Manager should be created with flight controller reference stored
+ """
+ # Arrange: Create filesystem and flight controller instances
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_flight_controller = MagicMock()
+
+ # Act: Initialize project manager with flight controller
+ manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
+
+ # Assert: Manager is properly initialized with flight controller
+ assert manager._local_filesystem is mock_filesystem
+ assert manager._flight_controller is mock_flight_controller
+ assert manager._creator is not None
+ assert manager._opener is not None
+
+ def test_user_can_get_fc_parameters_when_fc_connected(self) -> None:
+ """
+ User can retrieve FC parameters when flight controller is connected.
+
+ GIVEN: A project manager with a connected flight controller that has parameters
+ WHEN: User requests FC parameters
+ THEN: Should return the flight controller's parameters dictionary
+ """
+ # Arrange: Create manager with FC that has parameters
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_flight_controller = MagicMock()
+ mock_flight_controller.fc_parameters = {"PARAM1": 1.0, "PARAM2": 2.0}
+ manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
+
+ # Act: Get FC parameters
+ fc_params = manager.fc_parameters()
+
+ # Assert: FC parameters are returned
+ assert fc_params == {"PARAM1": 1.0, "PARAM2": 2.0}
+
+ def test_user_gets_none_when_fc_not_connected(self) -> None:
+ """
+ User receives None when no flight controller is connected.
+
+ GIVEN: A project manager without a flight controller
+ WHEN: User requests FC parameters
+ THEN: Should return None
+ """
+ # Arrange: Create manager without FC
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ # Act: Get FC parameters
+ fc_params = manager.fc_parameters()
+
+ # Assert: None is returned
+ assert fc_params is None
+
+ def test_user_gets_fc_parameters_even_if_empty(self) -> None:
+ """
+ User receives empty dict when FC is connected but has no parameters yet.
+
+ GIVEN: A project manager with FC that hasn't loaded parameters yet
+ WHEN: User requests FC parameters
+ THEN: Should return empty dictionary
+ """
+ # Arrange: Create manager with FC that has empty parameters
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_flight_controller = MagicMock()
+ mock_flight_controller.fc_parameters = {}
+ manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
+
+ # Act: Get FC parameters
+ fc_params = manager.fc_parameters()
+
+ # Assert: Empty dict is returned
+ assert fc_params == {}
+
+
+class TestDirectoryAndPathOperations:
+ """Test directory and path related operations."""
+
+ def test_user_can_get_recently_used_directories(self) -> None:
+ """
+ User can retrieve recently used directories.
+
+ GIVEN: A project manager with stored directory preferences
+ WHEN: User requests recently used directories
+ THEN: Should return tuple of template, base, and vehicle directories
+ """
+ # Arrange: Mock filesystem and recently used directories
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ with patch.object(LocalFilesystem, "get_recently_used_dirs") as mock_get_dirs:
+ mock_get_dirs.return_value = ("/templates", "/base", "/vehicle")
+
+ # Act: Get recently used directories
+ template_dir, new_base_dir, vehicle_dir = manager.get_recently_used_dirs()
+
+ # Assert: Correct directories returned
+ assert template_dir == "/templates"
+ assert new_base_dir == "/base"
+ assert vehicle_dir == "/vehicle"
+ mock_get_dirs.assert_called_once()
+
+ def test_creation_stores_template_and_base_dirs_in_history(self) -> None:
+ """
+ Manager stores the template and base directories in history after creation.
+
+ GIVEN: A user creates a new vehicle from a template
+ WHEN: Creation succeeds
+ THEN: The template directory and base directory are stored in recently-used history
+ """
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ with (
+ patch.object(manager._creator, "create_new_vehicle_from_template") as mock_create,
+ patch.object(manager._opener, "open_vehicle_directory") as mock_open,
+ patch.object(LocalFilesystem, "store_recently_used_template_dirs") as mock_store_template,
+ patch.object(LocalFilesystem, "store_recently_used_vehicle_dir"),
+ ):
+ mock_create.return_value = "/new/vehicle/path"
+ mock_open.return_value = "/new/vehicle/path"
+ settings = MagicMock(spec=NewVehicleProjectSettings)
+
+ # Act
+ manager.create_new_vehicle_from_template("/templates/ArduCopter", "/vehicles", "Name", settings)
+
+ # Assert: only the template/base history is the concern of this test
+ mock_store_template.assert_called_once_with("/templates/ArduCopter", "/vehicles")
+
+ def test_creation_opens_new_directory_and_updates_vehicle_history(self) -> None:
+ """
+ Manager opens the newly created directory and records it in vehicle history.
+
+ GIVEN: A user creates a new vehicle from a template
+ WHEN: Creation succeeds
+ THEN: open_vehicle_directory is called with the new path
+ AND: The new path is stored exactly once in recent-vehicle history
+ """
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ with (
+ patch.object(manager._creator, "create_new_vehicle_from_template") as mock_create,
+ patch.object(manager._opener, "open_vehicle_directory") as mock_open,
+ patch.object(LocalFilesystem, "store_recently_used_template_dirs"),
+ patch.object(LocalFilesystem, "store_recently_used_vehicle_dir") as mock_store_vehicle,
+ ):
+ mock_create.return_value = "/new/vehicle/path"
+ mock_open.return_value = "/new/vehicle/path"
+ settings = MagicMock(spec=NewVehicleProjectSettings)
+
+ # Act
+ manager.create_new_vehicle_from_template("/templates/ArduCopter", "/vehicles", "Name", settings)
+
+ # Assert: the new directory is opened and the vehicle dir stored exactly once
+ mock_open.assert_called_once_with("/new/vehicle/path")
+ mock_store_vehicle.assert_called_once_with("/new/vehicle/path")
+
+ def test_user_can_get_current_working_directory(self) -> None:
+ """
+ User can get current working directory.
+
+ GIVEN: A project manager in any state
+ WHEN: User requests current working directory
+ THEN: Should return the current working directory path
+ """
+ # Arrange: Mock filesystem
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ with patch.object(LocalFilesystem, "getcwd") as mock_getcwd:
+ mock_getcwd.return_value = "/current/working/dir"
+
+ # Act: Get current working directory
+ result = manager.get_current_working_directory()
+
+ # Assert: Correct directory returned
+ assert result == "/current/working/dir"
+ mock_getcwd.assert_called_once()
+
+ def test_user_can_extract_directory_name_from_path(self) -> None:
+ """
+ User can extract directory name from full path.
+
+ GIVEN: A project manager and a full path
+ WHEN: User requests directory name extraction
+ THEN: Should return just the directory name
+ """
+ # Arrange: Mock filesystem
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ with patch.object(LocalFilesystem, "get_directory_name_from_full_path") as mock_get_name:
+ mock_get_name.return_value = "vehicle_name"
+
+ # Act: Extract directory name
+ result = manager.get_directory_name_from_path("/path/to/vehicle_name")
+
+ # Assert: Correct name returned
+ assert result == "vehicle_name"
+ mock_get_name.assert_called_once_with("/path/to/vehicle_name")
+
+ def test_user_can_check_if_directory_exists(self) -> None:
+ """
+ User can check if a directory exists.
+
+ GIVEN: A project manager and a directory path
+ WHEN: User checks if directory exists
+ THEN: Should return boolean indicating existence
+ """
+ # Arrange: Mock filesystem
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ with patch.object(LocalFilesystem, "directory_exists") as mock_exists:
+ mock_exists.return_value = True
+
+ # Act: Check directory existence
+ result = manager.directory_exists("/test/path")
+
+ # Assert: Correct existence status returned
+ assert result is True
+ mock_exists.assert_called_once_with("/test/path")
+
+ def test_user_can_validate_directory_name(self) -> None:
+ """
+ User can validate directory name.
+
+ GIVEN: A project manager and a directory name
+ WHEN: User validates directory name
+ THEN: Should return boolean indicating validity
+ """
+ # Arrange: Mock filesystem
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ with patch.object(LocalFilesystem, "valid_directory_name") as mock_valid:
+ mock_valid.return_value = True
+
+ # Act: Validate directory name
+ result = manager.valid_directory_name("valid_name")
+
+ # Assert: Correct validation result returned
+ assert result is True
+ mock_valid.assert_called_once_with("valid_name")
+
+
+class TestVehicleProjectCreation:
+ """Test vehicle project creation operations."""
+
+ def test_user_is_told_when_creating_from_flight_controller_without_connection(self) -> None:
+ """
+ User receives a clear error when no flight controller is connected.
+
+ GIVEN: A project manager without a flight controller
+ WHEN: The user requests a project from a flight controller
+ THEN: VehicleProjectCreationError explains that no controller is connected
+ """
+ manager = VehicleProjectManager(MagicMock(spec=LocalFilesystem))
+
+ with pytest.raises(VehicleProjectCreationError, match="no flight controller is connected"):
+ manager.create_new_vehicle_from_flight_controller("/base", "ConfiguredVehicle")
+
+ def test_user_is_told_when_connected_flight_controller_has_no_parameters(self) -> None:
+ """
+ User receives a clear error when the connected flight controller has no parameters.
+
+ GIVEN: A connected flight controller with an empty parameter set
+ WHEN: The user requests a project from the flight controller
+ THEN: VehicleProjectCreationError explains that parameters are unavailable
+ """
+ mock_flight_controller = MagicMock()
+ mock_flight_controller.master = MagicMock()
+ mock_flight_controller.fc_parameters = {}
+ manager = VehicleProjectManager(MagicMock(spec=LocalFilesystem), mock_flight_controller)
+
+ with pytest.raises(VehicleProjectCreationError, match="no flight controller parameters are available"):
+ manager.create_new_vehicle_from_flight_controller("/base", "ConfiguredVehicle")
+
+ def test_user_can_create_new_vehicle_from_connected_flight_controller(self) -> None:
+ """A configured FC project preserves its exact identity and parameters not in the template."""
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_flight_controller = MagicMock()
+ mock_flight_controller.master = MagicMock()
+ mock_flight_controller.fc_parameters = {"IN_TEMPLATE": 1.0, "FC_ONLY": 2.0}
+ mock_flight_controller.info.vehicle_type = "ArduCopter"
+ mock_flight_controller.info.flight_sw_version = "4.6.0"
+ manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
+ mock_filesystem.param_default_dict = ParDict.from_float_dict({"DEFAULT_ONLY": 0.0})
+ mock_filesystem.compound_params.return_value = (ParDict.from_float_dict({"IN_TEMPLATE": 1.0}), None)
+
+ with (
+ patch.object(
+ manager._creator,
+ "template_dir_for_bin_import",
+ return_value="/templates/ArduCopter/empty_4.6.x",
+ ) as mock_template_lookup,
+ patch.object(
+ manager._creator,
+ "create_new_vehicle_from_template",
+ return_value="/base/ConfiguredVehicle",
+ ) as mock_create,
+ patch.object(
+ manager._creator,
+ "next_import_filename",
+ return_value="67_imported_flight_controller_parameters.param",
+ ) as mock_import_filename,
+ patch.object(manager, "open_vehicle_directory"),
+ patch.object(manager, "store_recently_used_template_dirs"),
+ ):
+ result = manager.create_new_vehicle_from_flight_controller("/base", "ConfiguredVehicle")
+
+ assert result == "/base/ConfiguredVehicle"
+ mock_template_lookup.assert_called_once_with("ArduCopter", 4, 6)
+ template_dir, new_base_dir, vehicle_name, settings = mock_create.call_args.args[:4]
+ assert template_dir == "/templates/ArduCopter/empty_4.6.x"
+ assert new_base_dir == "/base"
+ assert vehicle_name == "ConfiguredVehicle"
+ assert settings.infer_comp_specs_and_conn_from_fc_params is True
+ assert settings.use_fc_params is True
+ assert mock_create.call_args.kwargs == {
+ "fc_connected": True,
+ "fc_parameters": {"IN_TEMPLATE": 1.0, "FC_ONLY": 2.0},
+ }
+ mock_filesystem.re_init.assert_any_call("/base/ConfiguredVehicle", "ArduCopter")
+ mock_filesystem.set_fc_fw_version_and_type_in_components_json.assert_called_once_with(
+ "4.6.0", "ArduCopter", "/base/ConfiguredVehicle"
+ )
+ mock_import_filename.assert_called_once_with("/base/ConfiguredVehicle", source="flight_controller")
+ imported_params = mock_filesystem.export_to_param.call_args.args[0]
+ assert {name: param.value for name, param in imported_params.items()} == {"FC_ONLY": 2.0}
+ assert mock_filesystem.export_to_param.call_args.kwargs == {"annotate_doc": False}
+
+ def test_configured_fc_creation_does_not_create_redundant_import_file(self) -> None:
+ """
+ A configured-FC project does not create an import file for already represented values.
+
+ GIVEN: The live FC parameters are all present in the template baseline
+ WHEN: A project is created from the connected FC
+ THEN: No additional parameter import file is written
+ """
+ # Arrange: configure a connected FC and a baseline containing its only parameter
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_flight_controller = MagicMock()
+ mock_flight_controller.master = MagicMock()
+ mock_flight_controller.fc_parameters = {"PARAM1": 1.0}
+ mock_flight_controller.info.vehicle_type = "ArduCopter"
+ mock_flight_controller.info.flight_sw_version = "4.6.0"
+ manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
+ mock_filesystem.param_default_dict = ParDict.from_float_dict({"PARAM1": 1.0})
+ mock_filesystem.compound_params.return_value = (ParDict.from_float_dict({}), None)
+
+ with (
+ patch.object(manager._creator, "template_dir_for_bin_import", return_value="/templates/empty_4.6.x"),
+ patch.object(manager._creator, "create_new_vehicle_from_template", return_value="/base/ConfiguredVehicle"),
+ patch.object(manager, "open_vehicle_directory"),
+ patch.object(manager, "store_recently_used_template_dirs"),
+ patch.object(manager._local_filesystem, "export_to_param") as mock_export,
+ ):
+ # Act: create the project from the already configured FC
+ manager.create_new_vehicle_from_flight_controller("/base", "ConfiguredVehicle")
+
+ # Assert: the default baseline is sufficient; no redundant import file is needed
+ mock_export.assert_not_called()
+
+ def test_configured_fc_creation_translates_persistence_errors(self) -> None:
+ """Persistence failures are reported as translated creation errors."""
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_flight_controller = MagicMock()
+ mock_flight_controller.master = MagicMock()
+ mock_flight_controller.fc_parameters = {"PARAM1": 1.0}
+ mock_flight_controller.info.vehicle_type = "ArduCopter"
+ mock_flight_controller.info.flight_sw_version = "4.6.0"
+ manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
+
+ with (
+ patch.object(manager._creator, "template_dir_for_bin_import", return_value="/templates/empty_4.6.x"),
+ patch.object(manager._creator, "create_new_vehicle_from_template", return_value="/base/ConfiguredVehicle"),
+ patch.object(
+ manager,
+ "_complete_imported_vehicle_project_creation",
+ side_effect=PermissionError("read-only"),
+ ),
+ pytest.raises(VehicleProjectCreationError, match="Could not finish creating") as exc_info,
+ ):
+ manager.create_new_vehicle_from_flight_controller("/base", "ConfiguredVehicle")
+
+ assert "read-only" in exc_info.value.message
+
+ def test_configured_fc_defaults_survive_destination_reinitialization(self) -> None:
+ """FC defaults remain the import baseline when destination re_init reloads template defaults."""
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_flight_controller = MagicMock()
+ mock_flight_controller.master = MagicMock()
+ mock_flight_controller.fc_parameters = {"FC_DEFAULT": 0.0}
+ mock_flight_controller.info.vehicle_type = "ArduCopter"
+ mock_flight_controller.info.flight_sw_version = "4.6.0"
+ manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
+ fc_defaults = ParDict.from_float_dict({"FC_DEFAULT": 0.0})
+ mock_filesystem.param_default_dict = fc_defaults
+ mock_filesystem.compound_params.return_value = (ParDict.from_float_dict({}), None)
+
+ def reload_template_defaults(_new_path: str, _vehicle_type: str) -> None:
+ mock_filesystem.param_default_dict = ParDict.from_float_dict({"FC_DEFAULT": 1.0})
+
+ mock_filesystem.re_init.side_effect = reload_template_defaults
+
+ with (
+ patch.object(manager._creator, "template_dir_for_bin_import", return_value="/templates/empty_4.6.x"),
+ patch.object(manager._creator, "create_new_vehicle_from_template", return_value="/base/ConfiguredVehicle"),
+ patch.object(manager, "open_vehicle_directory"),
+ patch.object(manager, "store_recently_used_template_dirs"),
+ patch.object(manager._local_filesystem, "write_param_default_values_to_file") as mock_write,
+ patch.object(manager._local_filesystem, "export_to_param") as mock_export,
+ ):
+ manager.create_new_vehicle_from_flight_controller("/base", "ConfiguredVehicle")
+
+ mock_write.assert_called_once_with(fc_defaults)
+ mock_export.assert_not_called()
+
+ def test_real_filesystem_fc_defaults_are_preserved_across_project_creation(self, tmp_path) -> None:
+ """
+ A real destination re_init preserves FC defaults and exports changed values.
+
+ This reproduces the original ordering bug: the template default for
+ ``SERIAL5_BAUD`` is 57, while the connected FC reports 57 as a user
+ setting against its own default of 115. Reloading the destination
+ template must not lose the FC baseline, otherwise that setting would
+ be omitted from every generated parameter file.
+ """
+ template_dir = (
+ Path(__file__).parents[1] / "ardupilot_methodic_configurator" / "vehicle_templates" / "ArduCopter" / "empty_4.6.x"
+ )
+ local_filesystem = LocalFilesystem(
+ str(template_dir),
+ "ArduCopter",
+ "4.6.0",
+ allow_editing_template_files=False,
+ save_component_to_system_templates=False,
+ )
+ fc_defaults = local_filesystem.param_default_dict.deep_copy()
+ fc_defaults["SERIAL5_BAUD"] = Par(115.0)
+ local_filesystem.set_param_default_values_if_different(fc_defaults)
+
+ mock_flight_controller = MagicMock()
+ mock_flight_controller.master = MagicMock()
+ mock_flight_controller.fc_parameters = {"SERIAL5_BAUD": 57.0}
+ mock_flight_controller.info.vehicle_type = "ArduCopter"
+ mock_flight_controller.info.flight_sw_version = "4.6.0"
+ manager = VehicleProjectManager(local_filesystem, mock_flight_controller)
+
+ with (
+ patch.object(manager._creator, "template_dir_for_bin_import", return_value=str(template_dir)),
+ patch.object(manager, "open_vehicle_directory"),
+ patch.object(manager, "store_recently_used_template_dirs"),
+ ):
+ project_dir = Path(manager.create_new_vehicle_from_flight_controller(str(tmp_path), "ConfiguredVehicle"))
+
+ assert ParDict.from_file(str(project_dir / "00_default.param"))["SERIAL5_BAUD"].value == 115.0
+ imported_files = list(project_dir.glob("*_imported_flight_controller_parameters.param"))
+ assert len(imported_files) == 1
+ assert ParDict.from_file(str(imported_files[0]))["SERIAL5_BAUD"].value == 57.0
+
+ def test_template_project_with_fc_params_uses_fc_defaults(self, tmp_path) -> None:
+ """Creating from a template writes FC defaults when FC values are selected."""
+ template_dir = (
+ Path(__file__).parents[1] / "ardupilot_methodic_configurator" / "vehicle_templates" / "ArduCopter" / "empty_4.6.x"
+ )
+ local_filesystem = LocalFilesystem(
+ str(template_dir),
+ "ArduCopter",
+ "4.6.0",
+ allow_editing_template_files=False,
+ save_component_to_system_templates=False,
+ )
+ fc_defaults = local_filesystem.param_default_dict.deep_copy()
+ fc_defaults["SERIAL5_BAUD"] = Par(115.0)
+ local_filesystem.set_param_default_values_if_different(fc_defaults)
+
+ mock_flight_controller = MagicMock()
+ mock_flight_controller.master = MagicMock()
+ mock_flight_controller.fc_parameters = {"SERIAL5_BAUD": 57.0}
+ manager = VehicleProjectManager(local_filesystem, mock_flight_controller)
+
+ with (
+ patch.object(manager, "open_vehicle_directory"),
+ patch.object(manager, "store_recently_used_template_dirs"),
+ ):
+ project_dir = Path(
+ manager.create_new_vehicle_from_template(
+ str(template_dir), str(tmp_path), "TemplateVehicle", NewVehicleProjectSettings(use_fc_params=True)
+ )
+ )
+
+ assert ParDict.from_file(str(project_dir / "00_default.param"))["SERIAL5_BAUD"].value == 115.0
+
+ def test_creation_from_flight_controller_rejects_missing_matching_template(self, tmp_path) -> None:
+ """A configured FC must not fall back to an unrelated recently-used template."""
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_flight_controller = MagicMock()
+ mock_flight_controller.master = MagicMock()
+ mock_flight_controller.fc_parameters = {"PARAM1": 1.0}
+ mock_flight_controller.info.vehicle_type = "ArduCopter"
+ mock_flight_controller.info.flight_sw_version = "4.6.0"
+ manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
+
+ with (
+ patch.object(LocalFilesystem, "get_templates_base_dir", return_value=str(tmp_path)),
+ patch.object(
+ LocalFilesystem,
+ "get_recently_used_dirs",
+ return_value=("/fallback/empty_4.5.x", "/base", "/vehicle"),
+ ),
+ pytest.raises(VehicleProjectCreationError) as exc_info,
+ ):
+ manager.create_new_vehicle_from_flight_controller("/base", "ConfiguredVehicle")
+
+ assert exc_info.value.title == "Vehicle template directory"
+ assert "empty_4.6.x" in exc_info.value.message
+
+ def test_creation_from_flight_controller_rejects_invalid_firmware_version(self) -> None:
+ """A configured FC without a parseable firmware version fails clearly."""
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_flight_controller = MagicMock()
+ mock_flight_controller.master = MagicMock()
+ mock_flight_controller.fc_parameters = {"PARAM1": 1.0}
+ mock_flight_controller.info.vehicle_type = "ArduCopter"
+ mock_flight_controller.info.flight_sw_version = "unknown"
+ manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
+
+ with pytest.raises(VehicleProjectCreationError, match="Could not determine"):
+ manager.create_new_vehicle_from_flight_controller("/base", "ConfiguredVehicle")
+
+ def test_user_can_create_new_vehicle_from_template_successfully(self) -> None:
+ """
+ User can create new vehicle from template successfully.
+
+ GIVEN: A project manager with valid template and settings
+ WHEN: User creates new vehicle from template
+ THEN: Should create vehicle directory and update manager state
+ """
+ # Arrange: Mock filesystem and components
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_flight_controller = MagicMock()
+ mock_flight_controller.master = MagicMock() # FC is connected
+ manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
+
+ # Mock the creator and opener
+ with (
+ patch.object(manager._creator, "create_new_vehicle_from_template") as mock_create,
+ patch.object(manager._opener, "open_vehicle_directory") as mock_open,
+ patch.object(LocalFilesystem, "store_recently_used_template_dirs"),
+ patch.object(LocalFilesystem, "store_recently_used_vehicle_dir"),
+ ):
+ mock_create.return_value = "/new/vehicle/path"
+ mock_open.return_value = "/new/vehicle/path"
+
+ mock_settings = MagicMock(spec=NewVehicleProjectSettings)
+
+ # Act: Create new vehicle from template
+ result = manager.create_new_vehicle_from_template("/template/path", "/base/path", "NewVehicle", mock_settings)
+
+ # Assert: correct path returned and manager state updated
+ assert result == "/new/vehicle/path"
+ assert manager._settings is mock_settings
+ assert manager.configuration_template == "path" # last component of template path
+
+ # Assert: creator called with fc_connected=True (FC master is set) and opener called afterwards
+ fc_connected = True # FC master is set in the fixture above
+ mock_create.assert_called_once_with(
+ "/template/path", "/base/path", "NewVehicle", mock_settings, fc_connected, mock_flight_controller.fc_parameters
+ )
+ mock_open.assert_called_once_with("/new/vehicle/path")
+
+ def test_user_sees_error_when_vehicle_creation_fails(self) -> None:
+ """
+ User sees error when vehicle creation fails.
+
+ GIVEN: A project manager with invalid settings
+ WHEN: User attempts to create vehicle from template
+ THEN: Should raise VehicleProjectCreationError
+ """
+ # Arrange: Mock filesystem
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ # Mock the creator to raise an exception
+ with patch.object(manager._creator, "create_new_vehicle_from_template") as mock_create:
+ mock_create.side_effect = VehicleProjectCreationError("Creation Error", "Creation failed")
+
+ mock_settings = MagicMock(spec=NewVehicleProjectSettings)
+
+ # Act & Assert: Creation should raise error
+ with pytest.raises(VehicleProjectCreationError, match="Creation failed"):
+ manager.create_new_vehicle_from_template("/template/path", "/base/path", "NewVehicle", mock_settings)
+
+ def test_opener_not_called_when_creation_fails(self) -> None:
+ """
+ Opener must not be invoked when the creator raises an error.
+
+ GIVEN: A project manager whose creator raises a VehicleProjectCreationError
+ WHEN: User attempts to create a vehicle from a template
+ THEN: The opener is never called
+ AND: The VehicleProjectCreationError propagates to the caller
+ """
+ # Arrange: Mock filesystem
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ with (
+ patch.object(manager._creator, "create_new_vehicle_from_template") as mock_create,
+ patch.object(manager._opener, "open_vehicle_directory") as mock_open,
+ ):
+ mock_create.side_effect = VehicleProjectCreationError("Creation Error", "Creation failed")
+ mock_settings = MagicMock(spec=NewVehicleProjectSettings)
+
+ # Act & Assert: error propagates and opener is never touched
+ with pytest.raises(VehicleProjectCreationError):
+ manager.create_new_vehicle_from_template("/template/path", "/base/path", "NewVehicle", mock_settings)
+
+ mock_open.assert_not_called()
+
+
+class TestVehicleProjectOpening:
+ """Test vehicle project opening operations."""
+
+ def test_user_can_open_vehicle_directory_successfully(self) -> None:
+ """
+ User can open existing vehicle directory successfully.
+
+ GIVEN: A project manager with valid vehicle directory
+ WHEN: User opens vehicle directory
+ THEN: Should open directory, update history and return path
+ """
+ # Arrange: Mock filesystem
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ # Mock the opener and history store
+ with (
+ patch.object(manager._opener, "open_vehicle_directory") as mock_open,
+ patch.object(manager, "store_recently_used_vehicle_dir") as mock_store,
+ ):
+ mock_open.return_value = "/opened/vehicle/path"
+
+ # Act: Open vehicle directory
+ result = manager.open_vehicle_directory("/vehicle/path")
+
+ # Assert: Directory opened successfully and history recorded
+ assert result == "/opened/vehicle/path"
+ mock_open.assert_called_once_with("/vehicle/path")
+ mock_store.assert_called_once_with("/opened/vehicle/path")
+
+ def test_user_sees_error_when_vehicle_directory_opening_fails(self) -> None:
+ """
+ User sees error when vehicle directory opening fails.
+
+ GIVEN: A project manager with invalid vehicle directory
+ WHEN: User attempts to open vehicle directory
+ THEN: Should raise VehicleProjectOpenError and not update history
+ """
+ # Arrange: Mock filesystem
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ # Mock the opener to raise an exception
+ with (
+ patch.object(manager._opener, "open_vehicle_directory") as mock_open,
+ patch.object(manager, "store_recently_used_vehicle_dir") as mock_store,
+ ):
+ mock_open.side_effect = VehicleProjectOpenError("Open Error", "Opening failed")
+
+ # Act & Assert: Opening should raise error
+ with pytest.raises(VehicleProjectOpenError, match="Opening failed"):
+ manager.open_vehicle_directory("/invalid/path")
+
+ mock_store.assert_not_called()
+
+ def test_user_can_open_last_vehicle_directory_successfully(self) -> None:
+ """
+ User can open last used vehicle directory successfully.
+
+ GIVEN: A project manager with last used vehicle directory
+ WHEN: User opens last vehicle directory
+ THEN: Should open directory, update history and return path
+ """
+ # Arrange: Mock filesystem
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ # Mock the opener and history storage
+ with (
+ patch.object(manager._opener, "open_last_vehicle_directory") as mock_open,
+ patch.object(manager, "store_recently_used_vehicle_dir") as mock_store,
+ ):
+ mock_open.return_value = "/last/vehicle/path"
+
+ # Act: Open last vehicle directory
+ result = manager.open_last_vehicle_directory("/last/path")
+
+ # Assert: Directory opened successfully and history recorded
+ assert result == "/last/vehicle/path"
+ mock_open.assert_called_once_with("/last/path")
+ mock_store.assert_called_once_with("/last/vehicle/path")
+
+ def test_user_sees_error_when_opening_last_vehicle_directory_fails(self) -> None:
+ """
+ User sees error when opening last vehicle directory fails.
+
+ GIVEN: A project manager with invalid last vehicle directory
+ WHEN: User attempts to open last vehicle directory
+ THEN: Should raise VehicleProjectOpenError and not update history
+ """
+ # Arrange: Mock filesystem
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ # Mock the opener to raise an exception
+ with (
+ patch.object(manager._opener, "open_last_vehicle_directory") as mock_open,
+ patch.object(manager, "store_recently_used_vehicle_dir") as mock_store,
+ ):
+ mock_open.side_effect = VehicleProjectOpenError("Last Open Error", "Last directory opening failed")
+
+ # Act & Assert: Opening should raise error
+ with pytest.raises(VehicleProjectOpenError, match="Last directory opening failed"):
+ manager.open_last_vehicle_directory("/invalid/last/path")
+
+ mock_store.assert_not_called()
+
+
+class TestFilesystemStateManagement:
+ """Test filesystem state management operations."""
+
+ def test_user_can_get_current_vehicle_directory(self) -> None:
+ """
+ User can get current vehicle directory from filesystem.
+
+ GIVEN: A project manager with filesystem containing vehicle directory
+ WHEN: User requests current vehicle directory
+ THEN: Should return filesystem's vehicle directory
+ """
+ # Arrange: Mock filesystem with vehicle directory
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_filesystem.vehicle_dir = "/current/vehicle"
+ manager = VehicleProjectManager(mock_filesystem)
+
+ # Act: Get vehicle directory
+ result = manager.get_vehicle_directory()
+
+ # Assert: Correct vehicle directory returned
+ assert result == "/current/vehicle"
+
+ def test_user_can_store_recently_used_template_directories(self) -> None:
+ """
+ User can store recently used template and base directories.
+
+ GIVEN: A project manager and template/base directories
+ WHEN: User stores recently used template directories
+ THEN: Should delegate to LocalFilesystem for storage
+ """
+ # Arrange: Mock filesystem
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ with patch.object(LocalFilesystem, "store_recently_used_template_dirs") as mock_store:
+ # Act: Store template directories
+ manager.store_recently_used_template_dirs("/template", "/base")
+
+ # Assert: Storage delegated correctly
+ mock_store.assert_called_once_with("/template", "/base")
+
+ def test_user_can_store_recently_used_vehicle_directory(self) -> None:
+ """
+ User can store recently used vehicle directory.
+
+ GIVEN: A project manager and vehicle directory
+ WHEN: User stores recently used vehicle directory
+ THEN: Should delegate to LocalFilesystem for storage
+ """
+ # Arrange: Mock filesystem
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ with patch.object(LocalFilesystem, "store_recently_used_vehicle_dir") as mock_store:
+ # Act: Store vehicle directory
+ manager.store_recently_used_vehicle_dir("/vehicle")
+
+ # Assert: Storage delegated correctly
+ mock_store.assert_called_once_with("/vehicle")
+
+
+class TestProjectSettingsProperties:
+ """Test project settings property access."""
+
+ def test_user_can_access_reset_fc_parameters_property_when_settings_exist(self) -> None:
+ """
+ User can access reset FC parameters property when settings exist.
+
+ GIVEN: A project manager with settings configured
+ WHEN: User accesses reset_fc_parameters_to_their_defaults property
+ THEN: Should return the setting value from project settings
+ """
+ # Arrange: Mock filesystem and settings
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ mock_settings = MagicMock(spec=NewVehicleProjectSettings)
+ mock_settings.reset_fc_parameters_to_their_defaults = True
+ manager._settings = mock_settings
+
+ # Act: Access property
+ result = manager.reset_fc_parameters_to_their_defaults
+
+ # Assert: Correct value returned
+ assert result is True
+
+ def test_user_gets_false_for_reset_fc_parameters_when_no_settings(self) -> None:
+ """
+ User gets False for reset FC parameters when no settings exist.
+
+ GIVEN: A project manager without settings configured
+ WHEN: User accesses reset_fc_parameters_to_their_defaults property
+ THEN: Should return False
+ """
+ # Arrange: Mock filesystem without settings
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ # Act: Access property
+ result = manager.reset_fc_parameters_to_their_defaults
+
+ # Assert: False returned for missing settings
+ assert result is False
+
+ def test_user_can_access_blank_component_data_property_when_settings_exist(self) -> None:
+ """
+ User can access blank component data property when settings exist.
+
+ GIVEN: A project manager with settings configured
+ WHEN: User accesses blank_component_data property
+ THEN: Should return the setting value from project settings
+ """
+ # Arrange: Mock filesystem and settings
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ mock_settings = MagicMock(spec=NewVehicleProjectSettings)
+ mock_settings.blank_component_data = True
+ manager._settings = mock_settings
+
+ # Act: Access property
+ result = manager.blank_component_data
+
+ # Assert: Correct value returned
+ assert result is True
+
+ def test_user_gets_false_for_blank_component_data_when_no_settings(self) -> None:
+ """
+ User gets False for blank component data when no settings exist.
+
+ GIVEN: A project manager without settings configured
+ WHEN: User accesses blank_component_data property
+ THEN: Should return False
+ """
+ # Arrange: Mock filesystem without settings
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ # Act: Access property
+ result = manager.blank_component_data
+
+ # Assert: False returned for missing settings
+ assert result is False
+
+ def test_user_can_access_infer_comp_specs_property_when_settings_exist(self) -> None:
+ """
+ User can access infer component specs property when settings exist.
+
+ GIVEN: A project manager with settings configured
+ WHEN: User accesses infer_comp_specs_and_conn_from_fc_params property
+ THEN: Should return the setting value from project settings
+ """
+ # Arrange: Mock filesystem and settings
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ mock_settings = MagicMock(spec=NewVehicleProjectSettings)
+ mock_settings.infer_comp_specs_and_conn_from_fc_params = True
+ manager._settings = mock_settings
+
+ # Act: Access property
+ result = manager.infer_comp_specs_and_conn_from_fc_params
+
+ # Assert: Correct value returned
+ assert result is True
+
+ def test_user_gets_false_for_infer_comp_specs_when_no_settings(self) -> None:
+ """
+ User gets False for infer component specs when no settings exist.
+
+ GIVEN: A project manager without settings configured
+ WHEN: User accesses infer_comp_specs_and_conn_from_fc_params property
+ THEN: Should return False
+ """
+ # Arrange: Mock filesystem without settings
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ # Act: Access property
+ result = manager.infer_comp_specs_and_conn_from_fc_params
+
+ # Assert: False returned for missing settings
+ assert result is False
+
+ def test_user_can_access_use_fc_params_property_when_settings_exist(self) -> None:
+ """
+ User can access use FC params property when settings exist.
+
+ GIVEN: A project manager with settings configured
+ WHEN: User accesses use_fc_params property
+ THEN: Should return the setting value from project settings
+ """
+ # Arrange: Mock filesystem and settings
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ mock_settings = MagicMock(spec=NewVehicleProjectSettings)
+ mock_settings.use_fc_params = True
+ manager._settings = mock_settings
+
+ # Act: Access property
+ result = manager.use_fc_params
+
+ # Assert: Correct value returned
+ assert result is True
+
+ def test_user_gets_false_for_use_fc_params_when_no_settings(self) -> None:
+ """
+ User gets False for use FC params when no settings exist.
+
+ GIVEN: A project manager without settings configured
+ WHEN: User accesses use_fc_params property
+ THEN: Should return False
+ """
+ # Arrange: Mock filesystem without settings
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ # Act: Access property
+ result = manager.use_fc_params
+
+ # Assert: False returned for missing settings
+ assert result is False
+
+
+class TestFlightControllerOperations:
+ """Test flight controller related operations."""
+
+ def test_user_can_check_flight_controller_connection_when_connected(self) -> None:
+ """
+ User can check flight controller connection when connected.
+
+ GIVEN: A project manager with connected flight controller
+ WHEN: User checks flight controller connection
+ THEN: Should return True
+ """
+ # Arrange: Mock filesystem and connected flight controller
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_flight_controller = MagicMock()
+ mock_flight_controller.master = MagicMock() # Connected
+ manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
+
+ # Act: Check connection
+ result = manager.is_flight_controller_connected()
+
+ # Assert: Connection detected
+ assert result is True
+
+ def test_user_can_check_flight_controller_connection_when_disconnected(self) -> None:
+ """
+ User can check flight controller connection when disconnected.
+
+ GIVEN: A project manager with disconnected flight controller
+ WHEN: User checks flight controller connection
+ THEN: Should return False
+ """
+ # Arrange: Mock filesystem and disconnected flight controller
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_flight_controller = MagicMock()
+ mock_flight_controller.master = None # Disconnected
+ manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
+
+ # Act: Check connection
+ result = manager.is_flight_controller_connected()
+
+ # Assert: No connection detected
+ assert result is False
+
+ def test_user_can_check_flight_controller_connection_when_no_controller(self) -> None:
+ """
+ User can check flight controller connection when no controller exists.
+
+ GIVEN: A project manager without flight controller
+ WHEN: User checks flight controller connection
+ THEN: Should return False
+ """
+ # Arrange: Mock filesystem without flight controller
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ # Act: Check connection
+ result = manager.is_flight_controller_connected()
+
+ # Assert: No connection detected
+ assert result is False
+
+ def test_user_can_check_if_last_vehicle_directory_can_be_opened_when_exists(self) -> None:
+ """
+ User can check if last vehicle directory can be opened when it exists.
+
+ GIVEN: A project manager with existing last vehicle directory
+ WHEN: User checks if last vehicle directory can be opened
+ THEN: Should return True
+ """
+ # Arrange: Mock filesystem
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ with patch.object(manager, "directory_exists") as mock_exists:
+ mock_exists.return_value = True
+
+ # Act: Check if can open last directory
+ result = manager.can_open_last_vehicle_directory("/existing/path")
+
+ # Assert: Can open existing directory
+ assert result is True
+ mock_exists.assert_called_once_with("/existing/path")
+
+ def test_user_can_check_if_last_vehicle_directory_can_be_opened_when_not_exists(self) -> None:
+ """
+ User can check if last vehicle directory can be opened when it doesn't exist.
+
+ GIVEN: A project manager with non-existing last vehicle directory
+ WHEN: User checks if last vehicle directory can be opened
+ THEN: Should return False
+ """
+ # Arrange: Mock filesystem
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ with patch.object(manager, "directory_exists") as mock_exists:
+ mock_exists.return_value = False
+
+ # Act: Check if can open last directory
+ result = manager.can_open_last_vehicle_directory("/nonexistent/path")
+
+ # Assert: Cannot open non-existent directory
+ assert result is False
+ mock_exists.assert_called_once_with("/nonexistent/path")
+
+ def test_user_can_check_if_last_vehicle_directory_can_be_opened_when_empty_path(self) -> None:
+ """
+ User can check if last vehicle directory can be opened when path is empty.
+
+ GIVEN: A project manager with empty last vehicle directory path
+ WHEN: User checks if last vehicle directory can be opened
+ THEN: Should return False
+ """
+ # Arrange: Mock filesystem
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ # Act: Check if can open empty path
+ result = manager.can_open_last_vehicle_directory("")
+
+ # Assert: Cannot open empty path
+ assert result is False
+
+
+class TestIntroductionMessageAndFileOperations:
+ """Test introduction message generation and file operations."""
+
+ def test_user_gets_working_directory_message_when_in_current_directory(self) -> None:
+ """
+ User gets working directory message when in current directory.
+
+ GIVEN: A project manager where vehicle directory equals working directory
+ WHEN: User requests introduction message
+ THEN: Should return current working directory message
+ """
+ # Arrange: Mock filesystem with equal directories
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_filesystem.vehicle_dir = "/working/dir"
+ manager = VehicleProjectManager(mock_filesystem)
+
+ with patch.object(manager, "get_current_working_directory") as mock_getcwd:
+ mock_getcwd.return_value = "/working/dir"
+
+ # Act: Get introduction message
+ result = manager.get_introduction_message()
+
+ # Assert: Current working directory message returned
+ assert "current working directory" in result
+
+ def test_user_gets_vehicle_dir_message_when_in_different_directory(self) -> None:
+ """
+ User gets vehicle dir message when in different directory.
+
+ GIVEN: A project manager where vehicle directory differs from working directory
+ WHEN: User requests introduction message
+ THEN: Should return vehicle directory specified message
+ """
+ # Arrange: Mock filesystem with different directories
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_filesystem.vehicle_dir = "/vehicle/dir"
+ manager = VehicleProjectManager(mock_filesystem)
+
+ with patch.object(manager, "get_current_working_directory") as mock_getcwd:
+ mock_getcwd.return_value = "/working/dir"
+
+ # Act: Get introduction message
+ result = manager.get_introduction_message()
+
+ # Assert: Vehicle directory specified message returned
+ assert "--vehicle-dir specified directory" in result
+
+ def test_user_can_get_file_parameters_list(self) -> None:
+ """
+ User can get list of intermediate parameter files.
+
+ GIVEN: A project manager with filesystem containing parameter files
+ WHEN: User requests file parameters list
+ THEN: Should return list of parameter file names
+ """
+ # Arrange: Mock filesystem with parameter files
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_filesystem.file_parameters = {
+ "01_first.param": {},
+ "02_second.param": {},
+ "03_third.param": {},
+ }
+ manager = VehicleProjectManager(mock_filesystem)
+
+ # Act: Get file parameters list
+ result = manager.get_file_parameters_list()
+
+ # Assert: Correct list of parameter files returned
+ assert len(result) == 3
+ assert "01_first.param" in result
+ assert "02_second.param" in result
+ assert "03_third.param" in result
+
+ def test_user_can_get_default_vehicle_name(self) -> None:
+ """
+ User can get default name for new vehicle directory.
+
+ GIVEN: A project manager in any state
+ WHEN: User requests default vehicle name
+ THEN: Should return localized default vehicle name
+ """
+ # Arrange: Mock filesystem
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ # Act: Get default vehicle name
+ result = manager.get_default_vehicle_name()
+
+ # Assert: Default name returned (should be translatable)
+ assert result == "MyVehicleName" # This should be localized in actual use
+
+
+class TestIntegrationScenarios:
+ """Test complete integration scenarios."""
+
+ def test_user_can_complete_new_vehicle_creation_workflow(self) -> None:
+ """
+ User can complete full new vehicle creation workflow.
+
+ GIVEN: A project manager with all components configured
+ WHEN: User completes vehicle creation from template to storage
+ THEN: Should create vehicle, update state, and store preferences
+ """
+ # Arrange: Mock all components
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_flight_controller = MagicMock()
+ mock_flight_controller.master = MagicMock()
+ manager = VehicleProjectManager(mock_filesystem, mock_flight_controller)
+
+ with (
+ patch.object(manager._creator, "create_new_vehicle_from_template") as mock_create,
+ patch.object(manager._opener, "open_vehicle_directory") as mock_open,
+ patch.object(LocalFilesystem, "store_recently_used_template_dirs") as mock_store_template,
+ patch.object(LocalFilesystem, "store_recently_used_vehicle_dir") as mock_store_vehicle,
+ ):
+ mock_create.return_value = "/new/vehicle/MyVehicle"
+ mock_open.return_value = "/new/vehicle/MyVehicle"
+ mock_settings = MagicMock(spec=NewVehicleProjectSettings)
+
+ # Act: Complete workflow - manager orchestrates creation, opening, and history
+ vehicle_path = manager.create_new_vehicle_from_template(
+ "/templates/ArduCopter", "/vehicles", "MyVehicle", mock_settings
+ )
+
+ # Assert: all layers of the workflow were triggered in the correct order
+ assert vehicle_path == "/new/vehicle/MyVehicle"
+ assert manager._settings is mock_settings
+ assert manager.configuration_template == "ArduCopter"
+ # step 1: creator receives all necessary arguments
+ fc_connected = True # FC master is set in the fixture above
+ mock_create.assert_called_once_with(
+ "/templates/ArduCopter",
+ "/vehicles",
+ "MyVehicle",
+ mock_settings,
+ fc_connected,
+ mock_flight_controller.fc_parameters,
+ )
+ # step 2: opener receives the path returned by the creator
+ mock_open.assert_called_once_with("/new/vehicle/MyVehicle")
+ # step 3: both history records are written
+ mock_store_template.assert_called_once_with("/templates/ArduCopter", "/vehicles")
+ mock_store_vehicle.assert_called_once_with("/new/vehicle/MyVehicle")
+
+ def test_user_can_complete_vehicle_opening_workflow(self) -> None:
+ """
+ User can complete full vehicle opening workflow.
+
+ GIVEN: A project manager with existing vehicle directory
+ WHEN: User completes vehicle opening and preference storage
+ THEN: Should open vehicle and store preferences
+ """
+ # Arrange: Mock all components
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ with (
+ patch.object(manager._opener, "open_vehicle_directory") as mock_open,
+ patch.object(LocalFilesystem, "store_recently_used_vehicle_dir") as mock_store,
+ ):
+ mock_open.return_value = "/opened/vehicle/path"
+
+ # Act: Complete workflow - the manager method is responsible for
+ # updating the history, so we don't call store_recently_used_vehicle_dir
+ # explicitly here.
+ vehicle_path = manager.open_vehicle_directory("/vehicle/path")
+
+ # Assert: Complete workflow executed
+ assert vehicle_path == "/opened/vehicle/path"
+ mock_open.assert_called_once_with("/vehicle/path")
+ mock_store.assert_called_once_with("/opened/vehicle/path")
+
+
+class TestCreateNewVehicleFromBinLog:
+ """Test the create_new_vehicle_from_bin_log orchestration method."""
+
+ def _make_manager(self, with_fc: bool = False) -> "VehicleProjectManager":
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_flight_controller = MagicMock() if with_fc else None
+ return VehicleProjectManager(mock_filesystem, mock_flight_controller)
+
+ def test_user_can_create_project_from_bin_log_successfully(self) -> None:
+ """
+ User can create a new vehicle project from a valid .bin log file.
+
+ GIVEN: A project manager and a valid .bin log file
+ WHEN: create_new_vehicle_from_bin_log is called
+ THEN: The vehicle directory is created, defaults replaced, and the path returned
+ """
+ # Arrange
+ manager = self._make_manager()
+
+ fake_defaults = ParDict.from_float_dict({"PARAM_A": 1.0})
+ fake_current = ParDict.from_float_dict({"PARAM_A": 1.0, "PARAM_B": 2.0})
+ empty_compound = ParDict.from_float_dict({})
+
+ with (
+ patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl/ArduCopter/empty_4.6.x"),
+ patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="my_flight"),
+ patch.object(
+ manager._creator,
+ "extract_bin_log_data",
+ return_value=(("ArduCopter", 4, 6, 3), fake_defaults, fake_current),
+ ),
+ patch.object(
+ manager._creator, "create_new_vehicle_from_template", return_value="/vehicles/my_flight"
+ ) as mock_create,
+ patch.object(manager._creator, "next_import_filename", return_value="02_imported_bin_log_parameters.param"),
+ patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
+ patch.object(manager, "store_recently_used_template_dirs"),
+ patch.object(manager, "open_vehicle_directory") as mock_open,
+ patch.object(manager._local_filesystem, "write_param_default_values_to_file") as mock_write,
+ patch.object(manager._local_filesystem, "compound_params", return_value=(empty_compound, "00_default.param")),
+ patch.object(manager._local_filesystem, "export_to_param"),
+ patch.object(manager._local_filesystem, "re_init"),
+ ):
+ # Act
+ result = manager.create_new_vehicle_from_bin_log("/logs/my_flight.bin")
+
+ # Assert: correct path returned
+ assert result == "/vehicles/my_flight"
+ # Assert: template creation called with fc_connected=False (key difference from normal flow)
+ _args, kwargs = mock_create.call_args
+ assert kwargs.get("fc_connected") is False
+ # Assert: vehicle directory opened immediately after creation
+ mock_open.assert_called_once_with("/vehicles/my_flight")
+ # Assert: extracted defaults written (target path/filename come from LocalFilesystem state after re_init)
+ mock_write.assert_called_once_with(fake_defaults)
+
+ def test_bin_log_defaults_are_written_to_vehicle_directory(self) -> None:
+ """
+ The defaults extracted from the .bin log replace the template's 00_default.param.
+
+ GIVEN: A valid .bin log file with a known defaults snapshot
+ WHEN: create_new_vehicle_from_bin_log is called
+ THEN: write_param_default_values_to_file is called with the extracted defaults ParDict
+ """
+ # Arrange
+ manager = self._make_manager()
+
+ fake_defaults = ParDict.from_float_dict({"BARO_ALT_OFFSET": 0.0})
+ fake_current = ParDict.from_float_dict({"BARO_ALT_OFFSET": 0.5})
+ empty_compound = ParDict.from_float_dict({})
+
+ with (
+ patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl"),
+ patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="flight"),
+ patch.object(
+ manager._creator,
+ "extract_bin_log_data",
+ return_value=(("ArduCopter", 4, 6, 3), fake_defaults, fake_current),
+ ),
+ patch.object(manager._creator, "create_new_vehicle_from_template", return_value="/vehicles/flight"),
+ patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
+ patch.object(manager, "store_recently_used_template_dirs"),
+ patch.object(manager, "open_vehicle_directory"),
+ patch.object(manager._local_filesystem, "compound_params", return_value=(empty_compound, "00_default.param")),
+ patch.object(manager._creator, "next_import_filename", return_value="02_imported_bin_log_parameters.param"),
+ patch.object(manager._local_filesystem, "export_to_param"),
+ patch.object(manager._local_filesystem, "re_init"),
+ patch.object(manager._local_filesystem, "write_param_default_values_to_file") as mock_write,
+ ):
+ manager.create_new_vehicle_from_bin_log("/logs/flight.bin")
+
+ # Assert: the extracted defaults — not the template's — are written
+ mock_write.assert_called_once_with(fake_defaults)
+
+ def test_missing_params_exported_to_import_file(self) -> None:
+ """
+ Parameters present in the .bin log but absent from the AMC files are exported.
+
+ GIVEN: A .bin log where current params include entries not covered by AMC files
+ WHEN: create_new_vehicle_from_bin_log is called
+ THEN: export_to_param is called for the difference, and the filesystem is re-initialised
+ """
+ # Arrange
+ manager = self._make_manager()
+
+ fake_defaults = ParDict.from_float_dict({"PARAM_A": 1.0})
+ fake_current = ParDict.from_float_dict({"PARAM_A": 1.0, "EXTRA_PARAM": 99.0})
+ # compound_params covers only PARAM_A — EXTRA_PARAM is missing
+ compound = ParDict.from_float_dict({"PARAM_A": 1.0})
+
+ with (
+ patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl"),
+ patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="flight"),
+ patch.object(
+ manager._creator,
+ "extract_bin_log_data",
+ return_value=(("ArduCopter", 4, 6, 3), fake_defaults, fake_current),
+ ),
+ patch.object(manager._creator, "create_new_vehicle_from_template", return_value="/vehicles/flight"),
+ patch.object(manager._creator, "next_import_filename", return_value="02_imported_bin_log_parameters.param"),
+ patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
+ patch.object(manager, "store_recently_used_template_dirs"),
+ patch.object(manager, "open_vehicle_directory"),
+ patch.object(manager._local_filesystem, "write_param_default_values_to_file"),
+ patch.object(manager._local_filesystem, "compound_params", return_value=(compound, "00_default.param")),
+ patch.object(manager._local_filesystem, "export_to_param") as mock_export,
+ patch.object(manager._local_filesystem, "re_init") as mock_reinit,
+ ):
+ manager.create_new_vehicle_from_bin_log("/logs/flight.bin")
+
+ # Assert: the import file is created and the filesystem is re-initialised
+ mock_export.assert_called_once()
+ exported_params, export_filename = mock_export.call_args.args[:2]
+ assert export_filename == "02_imported_bin_log_parameters.param"
+ assert "EXTRA_PARAM" in exported_params
+ assert "PARAM_A" not in exported_params
+ assert mock_export.call_args.kwargs.get("annotate_doc") is False
+ # re_init is called once unconditionally (to point filesystem at new_path) and
+ # once more after exporting imported params (to reload the new file).
+ assert mock_reinit.call_count == 2
+
+ def test_no_import_file_when_all_params_covered_by_amc_files(self) -> None:
+ """
+ No extra import file is created when all current params are already in AMC files.
+
+ GIVEN: A .bin log where all current params match the AMC param files
+ WHEN: create_new_vehicle_from_bin_log is called
+ THEN: export_to_param and re_init are NOT called
+ """
+ # Arrange
+ manager = self._make_manager()
+
+ params = ParDict.from_float_dict({"PARAM_A": 1.0, "PARAM_B": 2.0})
+ compound = ParDict.from_float_dict({"PARAM_A": 1.0, "PARAM_B": 2.0})
+
+ with (
+ patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl"),
+ patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="flight"),
+ patch.object(manager._creator, "extract_bin_log_data", return_value=(("ArduCopter", 4, 6, 3), params, params)),
+ patch.object(manager._creator, "create_new_vehicle_from_template", return_value="/vehicles/flight"),
+ patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
+ patch.object(manager, "store_recently_used_template_dirs"),
+ patch.object(manager, "open_vehicle_directory"),
+ patch.object(manager._local_filesystem, "write_param_default_values_to_file"),
+ patch.object(manager._local_filesystem, "compound_params", return_value=(compound, "00_default.param")),
+ patch.object(manager._local_filesystem, "export_to_param") as mock_export,
+ patch.object(manager._local_filesystem, "re_init") as mock_reinit,
+ ):
+ manager.create_new_vehicle_from_bin_log("/logs/flight.bin")
+
+ # Assert: no extra import file written; re_init called exactly once (the unconditional
+ # initial call to point the filesystem at the new vehicle directory).
+ mock_export.assert_not_called()
+ mock_reinit.assert_called_once_with("/vehicles/flight", "ArduCopter")
+ # Assert: fw_version is set to the full "major.minor.patch" string from the log,
+ # not just "major.minor" or whatever the template's vehicle_components.json contained.
+ assert manager._local_filesystem.fw_version == "4.6.3"
+ # Assert: the correct firmware version and type are written into vehicle_components.json.
+ manager._local_filesystem.set_fc_fw_version_and_type_in_components_json.assert_called_once_with(
+ "4.6.3", "ArduCopter", "/vehicles/flight"
+ )
+
+ def test_no_import_file_for_params_matching_defaults_but_missing_from_step_files(self) -> None:
+ """
+ Params equal to extracted defaults are not exported just because step files omit them.
+
+ GIVEN: Current log params include a value that equals the extracted default
+ and no numbered step file defines that parameter
+ WHEN: create_new_vehicle_from_bin_log is called
+ THEN: No import file is written for that parameter
+ """
+ # Arrange
+ manager = self._make_manager()
+
+ default_params = ParDict.from_float_dict({"PARAM_A": 10.0})
+ current_params = ParDict.from_float_dict({"PARAM_A": 10.0})
+ empty_step_compound = ParDict.from_float_dict({})
+
+ with (
+ patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl"),
+ patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="flight"),
+ patch.object(
+ manager._creator,
+ "extract_bin_log_data",
+ return_value=(("ArduCopter", 4, 6, 3), default_params, current_params),
+ ),
+ patch.object(manager._creator, "create_new_vehicle_from_template", return_value="/vehicles/flight"),
+ patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
+ patch.object(manager, "store_recently_used_template_dirs"),
+ patch.object(manager, "open_vehicle_directory"),
+ patch.object(manager._local_filesystem, "write_param_default_values_to_file"),
+ patch.object(manager._local_filesystem, "compound_params", return_value=(empty_step_compound, "00_default.param")),
+ patch.object(manager._local_filesystem, "export_to_param") as mock_export,
+ patch.object(manager._local_filesystem, "re_init") as mock_reinit,
+ ):
+ manager.create_new_vehicle_from_bin_log("/logs/flight.bin")
+
+ # Assert: nothing to export because current value equals default baseline
+ mock_export.assert_not_called()
+ mock_reinit.assert_called_once_with("/vehicles/flight", "ArduCopter")
+
+ def test_fc_parameters_synced_when_flight_controller_connected(self) -> None:
+ """
+ When a flight controller is connected, its fc_parameters are updated.
+
+ GIVEN: A project manager with an active flight controller
+ WHEN: create_new_vehicle_from_bin_log completes successfully
+ THEN: The flight controller's fc_parameters are set to the current log params
+ """
+ # Arrange
+ manager = self._make_manager(with_fc=True)
+
+ fake_defaults = ParDict.from_float_dict({"PARAM_A": 1.0})
+ fake_current = ParDict.from_float_dict({"PARAM_A": 1.0})
+ compound = ParDict.from_float_dict({"PARAM_A": 1.0})
+
+ with (
+ patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl"),
+ patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="flight"),
+ patch.object(
+ manager._creator,
+ "extract_bin_log_data",
+ return_value=(("ArduCopter", 4, 6, 3), fake_defaults, fake_current),
+ ),
+ patch.object(manager._creator, "create_new_vehicle_from_template", return_value="/vehicles/flight"),
+ patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
+ patch.object(manager, "store_recently_used_template_dirs"),
+ patch.object(manager, "open_vehicle_directory"),
+ patch.object(manager._local_filesystem, "write_param_default_values_to_file"),
+ patch.object(manager._local_filesystem, "compound_params", return_value=(compound, "00_default.param")),
+ patch.object(manager._local_filesystem, "export_to_param"),
+ patch.object(manager._local_filesystem, "re_init"),
+ ):
+ manager.create_new_vehicle_from_bin_log("/logs/flight.bin")
+
+ # Assert: FC parameters updated to the values extracted from the log
+ assert manager._flight_controller.fc_parameters == {"PARAM_A": 1.0}
+
+ def test_creation_error_propagates_to_caller(self) -> None:
+ """
+ VehicleProjectCreationError from param extraction propagates unchanged.
+
+ GIVEN: A .bin log file that cannot have its params extracted
+ WHEN: create_new_vehicle_from_bin_log is called
+ THEN: VehicleProjectCreationError is raised with the original title/message
+ """
+ # Arrange
+ manager = self._make_manager()
+
+ with (
+ patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl"),
+ patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="bad"),
+ patch.object(
+ manager._creator,
+ "extract_bin_log_data",
+ side_effect=VehicleProjectCreationError(".bin log import", "Corrupt log"),
+ ),
+ patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
+ pytest.raises(VehicleProjectCreationError) as exc_info,
+ ):
+ manager.create_new_vehicle_from_bin_log("/logs/bad.bin")
+
+ assert exc_info.value.title == ".bin log import"
+ assert exc_info.value.message == "Corrupt log"
+
+ def test_firmware_version_error_propagates_to_caller(self) -> None:
+ """
+ VehicleProjectCreationError from firmware extraction propagates unchanged.
+
+ GIVEN: A .bin log file with no firmware version information
+ WHEN: create_new_vehicle_from_bin_log is called
+ THEN: VehicleProjectCreationError is raised immediately
+ """
+ # Arrange
+ manager = self._make_manager()
+
+ with (
+ patch.object(
+ manager._creator,
+ "extract_bin_log_data",
+ side_effect=VehicleProjectCreationError(".bin log import", "No VER or MSG found"),
+ ),
+ patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
+ pytest.raises(VehicleProjectCreationError) as exc_info,
+ ):
+ manager.create_new_vehicle_from_bin_log("/logs/no_ver.bin")
+
+ assert exc_info.value.title == ".bin log import"
+ assert "No VER or MSG found" in exc_info.value.message
+
+ def test_template_creation_always_called_with_fc_connected_false(self) -> None:
+ """
+ create_new_vehicle_from_template is always called with fc_connected=False.
+
+ This is the key difference from the normal template-creation flow: the vehicle
+ is scaffolded without a live FC connection, using log-extracted params instead.
+
+ GIVEN: A project manager that even has a flight controller connected
+ WHEN: create_new_vehicle_from_bin_log is called
+ THEN: create_new_vehicle_from_template receives fc_connected=False
+ """
+ # Arrange: manager WITH a connected flight controller
+ manager = self._make_manager(with_fc=True)
+
+ params = ParDict.from_float_dict({"PARAM_A": 1.0})
+ compound = ParDict.from_float_dict({"PARAM_A": 1.0})
+
+ with (
+ patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl"),
+ patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="flight"),
+ patch.object(manager._creator, "extract_bin_log_data", return_value=(("ArduCopter", 4, 6, 3), params, params)),
+ patch.object(manager._creator, "create_new_vehicle_from_template", return_value="/vehicles/flight") as mock_create,
+ patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
+ patch.object(manager, "store_recently_used_template_dirs"),
+ patch.object(manager, "open_vehicle_directory"),
+ patch.object(manager._local_filesystem, "write_param_default_values_to_file"),
+ patch.object(manager._local_filesystem, "compound_params", return_value=(compound, "00_default.param")),
+ patch.object(manager._local_filesystem, "export_to_param"),
+ patch.object(manager._local_filesystem, "re_init"),
+ ):
+ manager.create_new_vehicle_from_bin_log("/logs/flight.bin")
+
+ # Assert: regardless of FC connection, fc_connected must be False
+ _args, kwargs = mock_create.call_args
+ assert kwargs.get("fc_connected") is False
+
+ def test_manager_state_updated_after_bin_log_import(self) -> None:
+ """
+ Manager internal state is updated correctly after a successful .bin log import.
+
+ GIVEN: A project manager in its initial state
+ WHEN: create_new_vehicle_from_bin_log completes successfully
+ THEN: _settings carries the bin-log import options and configuration_template
+ is set to the template directory name
+ """
+ # Arrange
+ manager = self._make_manager()
+
+ params = ParDict.from_float_dict({"PARAM_A": 1.0})
+ compound = ParDict.from_float_dict({"PARAM_A": 1.0})
+
+ with (
+ patch.object(manager._creator, "template_dir_for_bin_import", return_value="/tpl/ArduCopter/empty_4.6.x"),
+ patch.object(manager._creator, "vehicle_name_from_bin_log", return_value="flight"),
+ patch.object(manager._creator, "extract_bin_log_data", return_value=(("ArduCopter", 4, 6, 3), params, params)),
+ patch.object(manager._creator, "create_new_vehicle_from_template", return_value="/vehicles/flight"),
+ patch.object(LocalFilesystem, "get_vehicles_default_dir", return_value="/vehicles"),
+ patch.object(manager, "store_recently_used_template_dirs"),
+ patch.object(manager, "open_vehicle_directory"),
+ patch.object(manager._local_filesystem, "write_param_default_values_to_file"),
+ patch.object(manager._local_filesystem, "compound_params", return_value=(compound, "00_default.param")),
+ patch.object(manager._local_filesystem, "export_to_param"),
+ patch.object(manager._local_filesystem, "re_init"),
+ ):
+ manager.create_new_vehicle_from_bin_log("/logs/flight.bin")
+
+ # Assert: settings reflect the bin-log import defaults
+ assert manager._settings is not None
+ assert manager._settings.blank_change_reason is True
+ assert manager._settings.infer_comp_specs_and_conn_from_fc_params is True
+ assert manager._settings.use_fc_params is True
+ # Assert: configuration_template is the leaf directory name of the template path
+ assert manager.configuration_template == "empty_4.6.x"
+
+
+class TestGetFcDefaultTemplateDir:
+ """Test VehicleProjectManager.get_fc_default_template_dir."""
+
+ def _make_connected_manager(self, vehicle_type: str = "ArduCopter", fw_version: str = "4.6.0") -> "VehicleProjectManager":
+ """Return a manager whose FC is connected with the given vehicle type and firmware version."""
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_fc = MagicMock()
+ mock_fc.master = MagicMock() # marks as connected
+ mock_fc.info.vehicle_type = vehicle_type
+ mock_fc.info.flight_sw_version = fw_version
+ return VehicleProjectManager(mock_filesystem, mock_fc)
+
+ def test_user_gets_fc_derived_template_when_directory_exists(self) -> None:
+ """
+ User gets a template directory derived from the FC's vehicle type and firmware version.
+
+ GIVEN: An FC is connected reporting ArduCopter 4.6.0
+ AND: The directory ArduCopter/empty_4.6.x exists in the templates base
+ WHEN: get_fc_default_template_dir is called
+ THEN: The path to that directory is returned
+ """
+ manager = self._make_connected_manager("ArduCopter", "4.6.0")
+
+ with (
+ patch.object(LocalFilesystem, "get_templates_base_dir", return_value="/templates"),
+ patch("ardupilot_methodic_configurator.data_model_vehicle_project.Path.is_dir", return_value=True),
+ ):
+ result = manager.get_fc_default_template_dir()
+
+ assert result.replace("\\", "/").endswith("ArduCopter/empty_4.6.x")
+
+ def test_user_gets_fallback_when_fc_derived_directory_does_not_exist(self) -> None:
+ """
+ User gets the recently-used fallback when the FC-derived template directory is missing.
+
+ GIVEN: An FC is connected reporting Rover 4.5.7
+ AND: The directory Rover/empty_4.5.x does NOT exist
+ WHEN: get_fc_default_template_dir is called
+ THEN: The recently-used template directory is returned instead
+ """
+ manager = self._make_connected_manager("Rover", "4.5.7")
+
+ with (
+ patch.object(LocalFilesystem, "get_templates_base_dir", return_value="/templates"),
+ patch("ardupilot_methodic_configurator.data_model_vehicle_project.Path.is_dir", return_value=False),
+ patch.object(LocalFilesystem, "get_recently_used_dirs", return_value=("/fallback/template", "/base", "/vehicle")),
+ ):
+ result = manager.get_fc_default_template_dir()
+
+ assert result == "/fallback/template"
+
+ def test_user_gets_fallback_when_fc_vehicle_type_is_empty(self) -> None:
+ """
+ User gets the recently-used fallback when the FC has no vehicle type information.
+
+ GIVEN: An FC is connected but vehicle_type is an empty string
+ WHEN: get_fc_default_template_dir is called
+ THEN: The recently-used template directory is returned
+ """
+ manager = self._make_connected_manager(vehicle_type="", fw_version="4.6.0")
+
+ with patch.object(LocalFilesystem, "get_recently_used_dirs", return_value=("/fallback/template", "/base", "/vehicle")):
+ result = manager.get_fc_default_template_dir()
+
+ assert result == "/fallback/template"
+
+ def test_user_gets_fallback_when_fc_firmware_version_is_empty(self) -> None:
+ """
+ User gets the recently-used fallback when the FC has no firmware version information.
+
+ GIVEN: An FC is connected but flight_sw_version is an empty string
+ WHEN: get_fc_default_template_dir is called
+ THEN: The recently-used template directory is returned
+ """
+ manager = self._make_connected_manager(vehicle_type="ArduCopter", fw_version="")
+
+ with patch.object(LocalFilesystem, "get_recently_used_dirs", return_value=("/fallback/template", "/base", "/vehicle")):
+ result = manager.get_fc_default_template_dir()
+
+ assert result == "/fallback/template"
+
+ def test_user_gets_fallback_when_firmware_version_has_no_dot(self) -> None:
+ """
+ User gets the recently-used fallback when the firmware version string is unparsable.
+
+ GIVEN: An FC is connected but flight_sw_version contains no '.' separator
+ WHEN: get_fc_default_template_dir is called
+ THEN: The recently-used template directory is returned
+ """
+ manager = self._make_connected_manager(vehicle_type="ArduCopter", fw_version="46")
+
+ with patch.object(LocalFilesystem, "get_recently_used_dirs", return_value=("/fallback/template", "/base", "/vehicle")):
+ result = manager.get_fc_default_template_dir()
+
+ assert result == "/fallback/template"
+
+ def test_user_gets_fallback_when_firmware_version_is_non_numeric(self) -> None:
+ """
+ User gets the recently-used fallback when firmware version parts are non-numeric.
+
+ GIVEN: An FC is connected but flight_sw_version contains non-integer parts
+ WHEN: get_fc_default_template_dir is called
+ THEN: The recently-used template directory is returned
+ """
+ manager = self._make_connected_manager(vehicle_type="ArduCopter", fw_version="X.Y.Z")
+
+ with patch.object(LocalFilesystem, "get_recently_used_dirs", return_value=("/fallback/template", "/base", "/vehicle")):
+ result = manager.get_fc_default_template_dir()
+
+ assert result == "/fallback/template"
+
+ def test_user_gets_fallback_when_fc_is_disconnected(self) -> None:
+ """
+ User gets the recently-used fallback when the FC is present but not connected.
+
+ GIVEN: A project manager with a flight controller whose master is None
+ WHEN: get_fc_default_template_dir is called
+ THEN: The recently-used template directory is returned
+ """
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ mock_fc = MagicMock()
+ mock_fc.master = None # disconnected
+ manager = VehicleProjectManager(mock_filesystem, mock_fc)
+
+ with patch.object(LocalFilesystem, "get_recently_used_dirs", return_value=("/fallback/template", "/base", "/vehicle")):
+ result = manager.get_fc_default_template_dir()
+
+ assert result == "/fallback/template"
+
+ def test_user_gets_fallback_when_no_fc_is_present(self) -> None:
+ """
+ User gets the recently-used fallback when no flight controller is attached.
+
+ GIVEN: A project manager initialised without any flight controller
+ WHEN: get_fc_default_template_dir is called
+ THEN: The recently-used template directory is returned
+ """
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = VehicleProjectManager(mock_filesystem)
+
+ with patch.object(LocalFilesystem, "get_recently_used_dirs", return_value=("/fallback/template", "/base", "/vehicle")):
+ result = manager.get_fc_default_template_dir()
+
+ assert result == "/fallback/template"
+
+ def test_fallback_uses_manager_wrapper_not_direct_localfilesystem_call(self) -> None:
+ """
+ get_fc_default_template_dir falls back via self.get_recently_used_dirs().
+
+ GIVEN: A subclass of VehicleProjectManager that overrides get_recently_used_dirs
+ AND: No FC is connected (so the FC-derived path is not attempted)
+ WHEN: get_fc_default_template_dir is called
+ THEN: The subclass override is used for the fallback, not the base LocalFilesystem method
+ """
+
+ class _ManagerWithOverride(VehicleProjectManager):
+ def get_recently_used_dirs(self) -> tuple[str, str, str]:
+ return ("/overridden/template", "/base", "/vehicle")
+
+ mock_filesystem = MagicMock(spec=LocalFilesystem)
+ manager = _ManagerWithOverride(mock_filesystem)
+
+ # Ensure the base LocalFilesystem is NOT patched — if the code still calls
+ # LocalFilesystem.get_recently_used_dirs() directly the override would be bypassed.
+ result = manager.get_fc_default_template_dir()
+
+ assert result == "/overridden/template"
diff --git a/tests/test_data_model_vehicle_project_creator.py b/tests/test_data_model_vehicle_project_creator.py
index 8220c4e15..e5dd71f91 100755
--- a/tests/test_data_model_vehicle_project_creator.py
+++ b/tests/test_data_model_vehicle_project_creator.py
@@ -1238,6 +1238,23 @@ def test_next_import_filename_ignores_non_param_files(self, tmp_path) -> None:
# Assert: txt file must not have inflated the counter
assert result == "04_imported_bin_log_parameters.param"
+ def test_next_import_filename_labels_the_parameter_source(self, tmp_path) -> None:
+ """
+ next_import_filename labels an import according to its source.
+
+ GIVEN: A newly created vehicle directory
+ WHEN: A flight-controller import filename is requested
+ THEN: The filename identifies the flight-controller source
+ """
+ # Arrange: use an empty vehicle directory
+ vehicle_dir = str(tmp_path)
+
+ # Act: request a filename for live flight-controller parameters
+ result = VehicleProjectCreator.next_import_filename(vehicle_dir, source="flight_controller")
+
+ # Assert: the source is visible in the generated filename
+ assert result == "01_imported_flight_controller_parameters.param"
+
def test_next_import_filename_converts_os_error_to_creation_error(self, tmp_path, monkeypatch) -> None:
"""
next_import_filename converts filesystem errors into VehicleProjectCreationError.
diff --git a/tests/test_frontend_tkinter_project_creator.py b/tests/test_frontend_tkinter_project_creator.py
index 3bb46b0cb..839754c80 100755
--- a/tests/test_frontend_tkinter_project_creator.py
+++ b/tests/test_frontend_tkinter_project_creator.py
@@ -19,6 +19,7 @@
from ardupilot_methodic_configurator.data_model_vehicle_project_creator import (
VehicleProjectCreationError,
)
+from ardupilot_methodic_configurator.data_model_vehicle_project_opener import VehicleProjectOpenError
from ardupilot_methodic_configurator.frontend_tkinter_base_window import BaseWindow
from ardupilot_methodic_configurator.frontend_tkinter_project_creator import VehicleProjectCreatorWindow
@@ -164,6 +165,69 @@ def test_user_can_create_new_vehicle_from_template_successfully(self, configured
window.project_manager.create_new_vehicle_from_template.assert_called_once()
window.root.destroy.assert_called_once()
+ def test_user_can_create_new_vehicle_from_flight_controller_successfully(self, configured_creator_window) -> None:
+ """The minimal creator forwards the base directory and name to the project manager."""
+ window = configured_creator_window
+ window.new_base_dir = MagicMock()
+ window.new_base_dir.get_selected_directory.return_value = "/path/to/base"
+ window.new_dir = MagicMock()
+ window.new_dir.get_selected_directory.return_value = "ConfiguredVehicle"
+
+ window.create_new_vehicle_from_flight_controller()
+
+ window.project_manager.create_new_vehicle_from_flight_controller.assert_called_once_with(
+ "/path/to/base", "ConfiguredVehicle"
+ )
+ window.root.destroy.assert_called_once()
+
+ def test_user_sees_open_error_after_flight_controller_project_creation(
+ self, configured_creator_window, mock_messagebox
+ ) -> None:
+ """An error opening the newly created project is shown by the creator window."""
+ window = configured_creator_window
+ window.new_base_dir = MagicMock()
+ window.new_base_dir.get_selected_directory.return_value = "/path/to/base"
+ window.new_dir = MagicMock()
+ window.new_dir.get_selected_directory.return_value = "ConfiguredVehicle"
+ error = VehicleProjectOpenError("Open failed", "The new project could not be opened.")
+ window.project_manager.create_new_vehicle_from_flight_controller.side_effect = error
+
+ window.create_new_vehicle_from_flight_controller()
+
+ mock_messagebox.showerror.assert_called_once_with(error.title, error.message)
+ window.root.destroy.assert_not_called()
+
+ def test_flight_controller_mode_omits_template_and_settings_widgets(self, configured_creator_window) -> None:
+ """The FC workflow only builds controls for the destination and vehicle name."""
+ window = configured_creator_window
+ window.main_frame = MagicMock()
+ window._create_template_selection_widgets = MagicMock()
+ window._create_settings_widgets = MagicMock()
+ window.calculate_scaled_geometry = MagicMock(return_value="800x200")
+
+ with (
+ patch.object(BaseWindow, "center_window_on_screen"),
+ patch("ardupilot_methodic_configurator.frontend_tkinter_project_creator.ttk.Label"),
+ patch("ardupilot_methodic_configurator.frontend_tkinter_project_creator.ttk.LabelFrame"),
+ patch("ardupilot_methodic_configurator.frontend_tkinter_project_creator.ttk.Button"),
+ patch("ardupilot_methodic_configurator.frontend_tkinter_project_creator.show_tooltip"),
+ patch("ardupilot_methodic_configurator.frontend_tkinter_project_creator.DirectorySelectionWidgets"),
+ patch("ardupilot_methodic_configurator.frontend_tkinter_project_creator.PathEntryWidget"),
+ ):
+ window.create_option1_widgets(
+ "/templates/ArduCopter/empty_4.6.x",
+ "/path/to/projects",
+ "ConfiguredVehicle",
+ fc_connected=True,
+ fc_parameters={"PARAM1": 1.0},
+ connected_fc_vehicle_type="ArduCopter",
+ from_flight_controller=True,
+ )
+
+ window._create_template_selection_widgets.assert_not_called()
+ window._create_settings_widgets.assert_not_called()
+ window.calculate_scaled_geometry.assert_called_once_with(800, 200)
+
def test_user_sees_error_when_project_creation_fails(self, configured_creator_window, mock_messagebox) -> None:
"""
User receives clear error feedback when project creation fails.
diff --git a/tests/test_frontend_tkinter_project_opener.py b/tests/test_frontend_tkinter_project_opener.py
index 7f6700aea..19ab1082f 100755
--- a/tests/test_frontend_tkinter_project_opener.py
+++ b/tests/test_frontend_tkinter_project_opener.py
@@ -107,6 +107,19 @@ def mock_sys_exit() -> Generator[MagicMock, None, None]:
yield mock
+@pytest.fixture
+def mocked_option1_widget_construction() -> Generator[MagicMock, None, None]:
+ """Fixture that captures option-one buttons without requiring real Tk widgets."""
+ with (
+ patch("ardupilot_methodic_configurator.frontend_tkinter_project_opener.ttk.Label"),
+ patch("ardupilot_methodic_configurator.frontend_tkinter_project_opener.ttk.LabelFrame"),
+ patch("ardupilot_methodic_configurator.frontend_tkinter_project_opener.ttk.Button") as mock_button,
+ patch("ardupilot_methodic_configurator.frontend_tkinter_project_opener.BinLogSelectionWidgets"),
+ patch("ardupilot_methodic_configurator.frontend_tkinter_project_opener.show_tooltip"),
+ ):
+ yield mock_button
+
+
# ==================== TEST CLASSES ====================
@@ -127,7 +140,7 @@ def test_user_can_initialize_window_with_three_options(self, configured_opener_w
# Assert: Window properties are set correctly
window.root.title.assert_called_once()
- window.root.geometry.assert_called_once_with("600x450")
+ window.root.geometry.assert_called_once_with("600x470")
window.root.protocol.assert_called_once_with("WM_DELETE_WINDOW", window.close_and_quit)
# Assert: Project manager methods were called for initialization
@@ -195,6 +208,71 @@ def test_user_can_create_new_vehicle_with_flight_controller_connected(
# Assert: New project window is created with project manager
mock_create_new_project_window.assert_called_once_with(window.project_manager)
+ def test_user_can_create_new_vehicle_from_flight_controller(
+ self, configured_opener_window, mock_create_new_project_window
+ ) -> None:
+ """The FC project option opens the minimal creator window."""
+ window = configured_opener_window
+
+ window.create_new_vehicle_from_flight_controller()
+
+ window.root.destroy.assert_called_once()
+ mock_create_new_project_window.assert_called_once_with(window.project_manager, from_flight_controller=True)
+
+ def test_user_sees_vehicle_creation_options_in_requested_order(
+ self, configured_opener_window, mocked_option1_widget_construction
+ ) -> None:
+ """
+ User sees template, configured-flight-controller, and bin-log options in order.
+
+ GIVEN: The vehicle opener window is displayed
+ WHEN: The vehicle creation options are rendered
+ THEN: The configured-flight-controller option appears between template and bin-log controls
+ """
+ window = configured_opener_window
+ window.project_manager.is_flight_controller_connected.return_value = True
+ window.project_manager.fc_parameters.return_value = {"PARAM1": 1.0}
+
+ window.create_option1_widgets()
+
+ button_texts = [call.kwargs["text"] for call in mocked_option1_widget_construction.call_args_list]
+ assert button_texts == [
+ "Create a vehicle project from a template",
+ "Create a vehicle project from an already configured flight controller",
+ ]
+
+ @pytest.mark.parametrize(
+ ("fc_connected", "fc_parameters", "expected_state"),
+ [
+ (False, {"PARAM1": 1.0}, tk.DISABLED),
+ (True, {}, tk.DISABLED),
+ (True, {"PARAM1": 1.0}, tk.NORMAL),
+ ],
+ )
+ def test_user_sees_flight_controller_option_only_when_fc_is_configured( # pylint: disable=too-many-arguments,too-many-positional-arguments
+ self,
+ configured_opener_window,
+ mocked_option1_widget_construction,
+ fc_connected: bool,
+ fc_parameters: dict[str, float],
+ expected_state: str,
+ ) -> None:
+ """
+ User can select the configured-flight-controller option only when FC data is ready.
+
+ GIVEN: The opener reports a flight-controller connection and parameter state
+ WHEN: The vehicle creation options are rendered
+ THEN: The configured-flight-controller button has the expected enabled state
+ """
+ window = configured_opener_window
+ window.project_manager.is_flight_controller_connected.return_value = fc_connected
+ window.project_manager.fc_parameters.return_value = fc_parameters
+
+ window.create_option1_widgets()
+
+ fc_button_call = mocked_option1_widget_construction.call_args_list[1]
+ assert fc_button_call.kwargs["state"] == expected_state
+
def test_user_can_open_last_vehicle_directory_successfully(self, configured_opener_window) -> None:
"""
User can successfully open the last used vehicle configuration directory.
diff --git a/tests/test_regenerate_app_screenshots_fully_automated.py b/tests/test_regenerate_app_screenshots_fully_automated.py
new file mode 100755
index 000000000..dcc2969b8
--- /dev/null
+++ b/tests/test_regenerate_app_screenshots_fully_automated.py
@@ -0,0 +1,131 @@
+#!/usr/bin/env python3
+
+"""
+Tests for the fully automated application screenshot generator.
+
+This file is part of ArduPilot Methodic Configurator. https://github.com/ArduPilot/MethodicConfigurator
+
+SPDX-FileCopyrightText: 2026 Amilcar do Carmo Lucas
+
+SPDX-License-Identifier: GPL-3.0-or-later
+"""
+
+import argparse
+import importlib.util
+import sys
+from pathlib import Path
+from types import ModuleType, SimpleNamespace
+from unittest.mock import ANY, MagicMock, patch
+
+from ardupilot_methodic_configurator.plugins.plugin_constants import PLUGIN_MOTOR_TEST
+
+# pylint: disable=protected-access
+
+
+def _load_screenshot_generator() -> ModuleType:
+ """Load the standalone screenshot script as a test module."""
+ script_path = Path(__file__).parents[1] / "scripts" / "regenerate_app_screenshots_fully_automated.py"
+ spec = importlib.util.spec_from_file_location("screenshot_generator", script_path)
+ if spec is None or spec.loader is None:
+ message = f"Could not load screenshot generator from {script_path}"
+ raise RuntimeError(message)
+ module = importlib.util.module_from_spec(spec)
+ sys.modules[spec.name] = module
+ spec.loader.exec_module(module)
+ return module
+
+
+screenshot_generator = _load_screenshot_generator()
+
+
+def test_cleanup_plugin_view_ignores_non_callable_optional_hook() -> None:
+ """Cleanup must not call an attribute that only happens to use the hook name."""
+ destroy = MagicMock()
+ plugin_view = SimpleNamespace(on_deactivate="not callable", destroy=destroy)
+
+ screenshot_generator._cleanup_plugin_view(plugin_view)
+
+ destroy.assert_called_once_with()
+
+
+def test_screenshot_generator_registers_application_plugins_before_capture(tmp_path) -> None:
+ """Screenshot generation initializes plugins just like normal application startup."""
+ args = argparse.Namespace(
+ images_dir=tmp_path,
+ vehicle_dir=tmp_path,
+ delay=0.0,
+ padding=0,
+ overwrite=False,
+ log_level="WARNING",
+ )
+
+ with (
+ patch.object(screenshot_generator, "parse_args", return_value=args),
+ patch.object(screenshot_generator, "configure_logging"),
+ patch.object(screenshot_generator, "register_plugins") as mock_register_plugins,
+ patch.object(screenshot_generator, "capture_target"),
+ ):
+ assert screenshot_generator.main() == 0
+
+ mock_register_plugins.assert_called_once_with()
+
+
+def test_simple_parameter_editor_capture_suppresses_external_documentation(tmp_path) -> None:
+ """Simple-mode capture does not launch a browser while settling the editor."""
+ screenshot_generator.register_plugins()
+
+ with (
+ patch("ardupilot_methodic_configurator.data_model_parameter_editor.webbrowser_open_url") as open_browser,
+ patch.object(screenshot_generator, "capture_widget"),
+ ):
+ screenshot_generator._capture_parameter_editor(
+ tmp_path / "parameter-editor.png",
+ delay=0.0,
+ padding=0,
+ vehicle_dir=screenshot_generator.DEFAULT_VEHICLE_DIR,
+ current_file="05_board_orientation.param",
+ gui_complexity="simple",
+ scale=0.666,
+ )
+
+ open_browser.assert_not_called()
+
+
+def test_motor_test_capture_uses_registered_plugin_with_fake_connection(tmp_path) -> None:
+ """Motor-test screenshots use the registered plugin and a connected test FC."""
+ fake_flight_controller = MagicMock()
+ fake_window = MagicMock()
+ fake_model = MagicMock()
+ fake_plugin_view = MagicMock()
+ fake_factory = MagicMock()
+ fake_factory.create_model.return_value = fake_model
+ fake_factory.create.return_value = fake_plugin_view
+
+ with (
+ patch.object(screenshot_generator, "FlightController", return_value=fake_flight_controller),
+ patch.object(screenshot_generator, "LocalFilesystem"),
+ patch.object(screenshot_generator, "BaseWindow", return_value=fake_window),
+ patch.object(screenshot_generator, "plugin_factory", fake_factory),
+ patch.object(screenshot_generator, "capture_widget"),
+ ):
+ screenshot_generator._capture_motor_test(
+ tmp_path / "motor-test.png",
+ delay=0.0,
+ padding=0,
+ vehicle_dir=screenshot_generator.DEFAULT_VEHICLE_DIR,
+ )
+
+ fake_flight_controller.set_master_for_testing.assert_called_once_with(ANY)
+ assert fake_flight_controller.fc_parameters["FRAME_CLASS"] == 1.0
+ assert fake_flight_controller.fc_parameters["FRAME_TYPE"] == 1.0
+ assert fake_flight_controller.request_scaled_imu_messages.return_value == (True, "")
+ assert fake_flight_controller.poll_scaled_imu.return_value is None
+ assert fake_flight_controller.request_periodic_battery_status.return_value == (True, "")
+ assert fake_flight_controller.get_battery_status.return_value == (None, "")
+ fake_factory.create_model.assert_called_once()
+ model_context = fake_factory.create_model.call_args.args[1]
+ assert fake_factory.create_model.call_args.args[0] == PLUGIN_MOTOR_TEST
+ assert model_context.flight_controller is fake_flight_controller
+ fake_factory.create.assert_called_once_with(PLUGIN_MOTOR_TEST, fake_window.main_frame, fake_model, fake_window)
+ fake_plugin_view.pack.assert_called_once_with(fill="both", expand=True)
+ fake_flight_controller.disconnect.assert_called_once_with()