Vehicle Simulator: standalone Avalonia app for hardware simulation#253
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Xyntexx wants to merge 35 commits intoAgOpenGPS-Official:developfrom
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Vehicle Simulator: standalone Avalonia app for hardware simulation#253Xyntexx wants to merge 35 commits intoAgOpenGPS-Official:developfrom
Xyntexx wants to merge 35 commits intoAgOpenGPS-Official:developfrom
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New wizard steps for AutoSteer setup: - WAS Calibration: offset, counts per degree, max steer angle - Steering Gains: proportional gain (Kp), integral gain - PWM Calibration: max/min PWM with validation - Algorithm Selection: Pure Pursuit vs Stanley with parameters - Speed Limits: min/max steer speed - Optional Sensors: turn/pressure/current sensor toggles Wizard now has 18 steps total (Welcome + 5 vehicle + 5 hardware + 6 new tuning/calibration + Finish). WizardCommand in AutoSteerConfigPanel closes the config dialog and launches the wizard via MainViewModel.ShowSteerWizard. Closes AgOpenGPS-Official#37 Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
WAS Calibration step: - Live steer angle display from PGN 253 ActualSteerAngle - "Zero WAS" button captures current sensor reading as zero offset - HasLiveData indicator for hardware connection status PWM Calibration step: - Free-drive mode toggle for direct motor testing - Left/Right/Center buttons for steering motor test - Live steer angle feedback showing motor response - Auto-disables free drive when leaving step Steering Gains step: - Live actual steer angle from hardware - Live steer error (commanded vs actual) for tuning feedback All steps use IAutoSteerService for hardware access (optional, gracefully degrades when no hardware connected). Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Tests cover: - Full 18-step navigation with completion and config save - Cancel preserves original config (SaveProfile not called) - Navigation state flags at first/middle/last steps - Skip advances on skippable steps, blocked on non-skippable - Back navigation preserves values via config roundtrip - Validation blocks Next on invalid values, allows on valid - Progress tracking increases correctly, StepDisplay format - GoToStep direct navigation + out-of-range safety - Completed/Cancelled/CloseRequested events fire correctly - Config persistence: modified values saved on completion Total wizard tests: 144 (127 unit + 17 e2e) Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Add WasCalibration, SteeringGains, PwmCalibration, AlgorithmSelection, SpeedLimits, Sensors steps to WizardHost view switch (was showing "Unknown step" error) - Use NumericStepView as generic view for new steps - Replace hardcoded #1E2A35 backgrounds with DynamicResource theme brushes in WizardDialogPanel and WizardHost for light/dark mode Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Replace hardcoded dark-mode colors across 12 wizard AXAML views: - #1E2A35 backgrounds -> SystemControlBackgroundBaseLowBrush - #1ABC9C/#16A085 accents -> SystemControlHighlightAccentBrush - #3D566E option backgrounds -> SystemControlBackgroundBaseLowBrush - Keep intentional colors: red (errors), orange (Danfoss), etc. Affected views: WizardHost, WelcomeStep, WheelbaseStep, TrackWidthStep, AntennaPivotStep, AntennaHeightStep, AntennaOffsetStep, SteerEnableStep, MotorDriverStep, ADConverterStep, FinishStep, NumericStepView Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
New VehicleType step (step 2, after Welcome): - 3 options: Tractor, Harvester, Articulated 4WD - Icon buttons with AntennaTractor/Harvester/Articulated images - Matching MotorDriver option-button style, DynamicResource colors - Affects wheelbase/antenna diagrams in later steps Screenshot tests (21 tests): - Captures headless Avalonia render of each wizard step - Saves to screenshots/wizard-steps/ directory - Verifies all 19 steps navigable with non-empty title/description Updated E2E tests for 19-step wizard (was 18). Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
UIScreenshotCatalog now captures all 19 wizard steps in both dark and light mode. Uses the real WizardHost with full view resolution, producing accurate renders of each step's UI. Also fixed headless screenshot test to use step view creation directly (headless Avalonia doesn't trigger OnLoaded lifecycle). Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Vehicle type step now uses vehiclePageTractor/Harvester/Articulated icons which show the vehicle silhouette. Antenna icons are for the antenna dimension steps. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Consolidated 19 small steps into 12 focused steps matching the settings page layout: 1. Welcome 2. Vehicle Type (vehiclePage icons) 3. Hardware Installed (GPS Only / AutoSteer / Full) 4. Vehicle Dimensions (wheelbase + track width with WheelBase icon) 5. Antenna Position (pivot + height + offset with Antenna icon) 6. Hardware Config (enable + motor + ADC + inversions + Danfoss) 7. Roll Calibration (IMU invert + zero with live roll display) 8. WAS Calibration (live angle + zero button + CPD) 9. Motor PWM Test (free-drive + live feedback) 10. Steering Gains + Algorithm (PP/Stanley + Kp/Ki + live error) 11. Speed & Sensors (min/max speed + sensor toggles) 12. Finish Custom AXAML views for all steps using DynamicResource colors, vehicle-type-dependent icons via StringToImageConverter, and layouts matching the settings page tabs. Deleted 13 old ViewModels + 10 old Views (20 files). Net -753 lines. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
installed + roll calibration steps - Wizard now fills entire screen (removed centered modal box) - InvertWas moved from Hardware Config to WAS Calibration step (more logical: invert is part of sensor calibration) - Added Hardware Installed step (GPS Only / AutoSteer / Full) with GPSQuality, AutoSteerOn, SectionMasterOn icons - Added Roll Calibration step with live roll display, zero button, and invert toggle - 12 total steps Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Vehicle Type + Hardware Installed: horizontal UniformGrid with 120x120 icon borders, centered text below - Vehicle Dimensions + Antenna Position: larger diagrams (320x200) - All NumericUpDown replaced with TextBox (matching settings style) - Antenna offset: L/C/R buttons with AntennaLeftOffset/NoOffset/ RightOffset icons, offset input moved below - InvertMotor moved from Hardware Config to Motor PWM Test step - Roll Calibration: analog gauge with colored arc segments, needle, degree markings, ConS_SourcesRoll icon, better description text - Navigation buttons larger (Height 56, MinWidth 130, FontSize 18) Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Copy 9 legacy icons from AgOpen snapshot for inversions, zero, steer direction, roll calibration - Vehicle Dimensions: full-page diagram with overlaid input fields - Antenna Position: full-page diagram with overlaid fields - Hardware Config: Cytron + Single AD as defaults and first in list, steer enable mode descriptions, ConSt_InvertRelay icon - WAS Calibration: horizontal bar indicator (Left/Right with angle marker), instruction "must be POSITIVE when turning RIGHT", SteerZero icon on zero button, ConSt_InvertWAS icon on toggle - Motor PWM Test: SteerLeft/Right/Zero icons on free-drive buttons, ConSt_InvertDirection icon on motor invert toggle - Roll Calibration: ConD_RollHelper diagram, ConDa_RollSetZero on zero button, ConDa_InvertRoll on invert toggle, instruction to tilt right and check positive reading Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Use user-provided WheelBase/Harvester/Articulated cropped images instead of auto-cropped RadiusWheelBase - Vehicle Dimensions: image left, fields right (no scrollbar) - Antenna Position: image left, fields right (no scrollbar) - Remove overlaid/scrolling field layout Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Left column: top-crop antenna image + pivot distance + height - Right column: offset-crop antenna image + L/C/R buttons + offset - No scrollbar - everything fits on one screen - Added cropped antenna images (top 250px, bottom-left 250x250) for each vehicle type Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Left column: wheelbase image (side view crop) + input field - Right column: track width image (top-down view) + input field - Renamed user-provided images to TrackWidth*.png - Cropped wheelbase images from RadiusWheelBase side views Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Shows front-to-rear axle view with orange arrows indicating the wheelbase measurement points. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Updated step indices, loop counts, and assertions in SteerWizardStepTests and SteerWizardE2ETests for the 12-step wizard (added HardwareInstalled + RollCalibration steps, moved InvertWas/InvertMotor to WAS/PWM steps). Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Virtual ShouldSkip property (default false) on WizardStepViewModel. GoNextAsync and GoBack skip steps where ShouldSkip returns true. 4 tests for skip behavior + regression. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
GPS Only (HardwareLevel=0) skips HardwareConfig, RollCalibration, WasCalibration, PwmCalibration, and SteeringGains steps. AutoSteer/Full paths show all steps. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Persistent bar between step dots and navigation buttons. Updates live from IAutoSteerService.StateUpdated. Shows 'No GPS' when no data. Gracefully degrades without hardware. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
New wizard step (after PWM Calibration, before Steering Gains) that sends a 0.5s motor pulse left or right so the user can verify wheel direction. Includes Invert Motor toggle, live WAS angle display, and pulse status feedback. Skipped when hardware level is GPS-only. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Interactive calibration step that measures turning circle diameter via GPS tracking, then auto-calculates Counts Per Degree using the legacy AgOpenGPS algorithm (with 0.9 conservative factor). Includes manual CPD slider (1-255) for direct entry. Skipped in GPS Only mode. Position: after Motor Direction Test, before Steering Gains. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Left-circle test that measures turning diameter and calculates Ackermann correction (0-200, 100=neutral) using the ratio of geometric angle to captured WAS start angle. Positioned after CPD Circle Test, before Steering Gains. Wizard now has 15 steps. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
…buttons Task 7: Increase description text to 16px, fix selected button contrast in light mode with explicit white foreground Task 8: WAS step units, CPD slider, step-by-step guide text Task 9: Roll step reorder (invert above zero), guide text Task 10: PWM step 0.5s pulse buttons replacing hold-to-steer Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Task 11: Ackermann slider (0-200) added to WAS step Task 12: SideHill compensation (0-1.0) added to Steering Gains Task 13: Safety settings (steer-in-reverse, deadzone, manual turns) added to Speed & Sensors step Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
All 135 wizard tests passing. Integration test screenshots captured for all 15 steps in both dark and light mode. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
… descriptions Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Remove explicit Foreground from description TextBlocks in Vehicle Type and Hardware Installed views, use style-based approach so selected state can override to white - AutoSteerConfig defaults: MotorDriver=1 (Cytron), AdConverter=1 (Single) instead of IBT2/Differential Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Change Zero Roll and Zero WAS buttons from accent blue to neutral background color while keeping their icons - Rename "Invert Relays" to "Invert Steer Enable Relay" with descriptive subtitle text - Remove CPD, Ackermann, and Max Steer Angle from WAS calibration step (now handled by their own dedicated wizard steps) - Simplify WAS step description to focus on zeroing and inversion - Update tests to match reduced WAS step scope Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Global accent color: lighter blue (#2B88D8) in light mode for better contrast on colored buttons, standard (#0078D7) in dark - Zero buttons neutral gray (not accent blue) with icons - "Invert Relays" -> "Invert Steer Enable Relay" with description - Removed CPD/Ackermann/MaxSteerAngle from WAS step (now in interactive circle test steps) - Fixed selected button description contrast in Vehicle Type and Hardware Installed views (style-based Foreground override) Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Combine the separate MotorDirectionTestStep and PwmCalibrationStep into a single AutoMotorCalibrationStepViewModel with two automated phases: Phase A: Auto-ramp PWM to detect motor direction and minimum PWM Phase B: Drive full lock both ways to measure max steering angles The new step uses a state machine (WaitingToStart -> RampingPWM -> RampResult -> WaitingForMaxAngle -> MeasuringMaxAngle -> Complete) with Redo buttons after each phase result. Key design decisions: - MaxSteerAngle stored as raw WAS value (CPD not calibrated yet) - Injectable DelayFunc and ReadWasAngle for testability - ShouldSkip when GPS Only (HardwareLevel == 0) - OnLeaving only saves config when CalibrationCompleted is true - Wizard reduced from 15 to 14 steps Tests: 17 new unit tests covering both phases, redo, config save/load, and motor direction detection. All E2E tests updated for 14-step count. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Single AutoMotorCalibrationStep replaces MotorDirectionTest + PwmCalibration with automated phases: Phase A: Ramp PWM from 0 until WAS moves 10 deg - Auto-detects motor direction (inverted if negative) - Sets MinPWM = threshold * 1.1 - Safety explanation before starting Phase B: Drive to full lock both directions (MinPWM + 20%) - Brief hold (1.5s) to read WAS, no extended lock - MaxSteerAngle = min(abs(L), abs(R)) * 0.9 (raw WAS value) - User can drive slowly if power steering resists Both phases have Redo buttons. Wizard now 14 steps. 17 new tests, all passing. Deleted old step files. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Standalone Avalonia UI app that simulates GPS receiver, steer module, and machine module via UDP. Dashboard with sliders for speed, heading, WAS angle, roll, GPS fix quality. Connects to AgValoniaGPS on standard UDP ports (9999/8888). Reuses VirtualModules from integration tests. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Steering now changes heading based on speed and steer angle using the bicycle model (omega = speed * tan(steerAngle) / wheelbase). Position updates use the physics model instead of the GPS module's simple straight-line step. Add AutoSteer Active toggle: when enabled, WAS follows the commanded steer angle from the main app with response lag, enabling closed-loop autosteer testing. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Replace hardcoded 192.168.5.255 broadcast endpoint with dynamic discovery across all network interfaces. Broadcasts hello on every interface until a module responds, then locks to that subnet. Falls back to discovery after 5 second timeout. Localhost is always included for simulator support. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Summary
Standalone Avalonia desktop application that simulates GPS receiver, autosteer module, and machine module via UDP. Connects to AgValoniaGPS like real hardware for testing wizard calibration, autosteer, and section control.
Features
Run
Architecture
Simulators/solution folderAgValoniaGPS.Modelsfor PGN constantsPlanned additions
Test plan