feat(right_arm): endpoint /snapshot/{front,wrist}

src/presa_mano/api/right_arm_routes.py

@@ -4,6 +4,7 @@ from __future__ import annotations
 from typing import Any
 
 from fastapi import APIRouter, HTTPException
+from fastapi.responses import Response
 
 from ..clients import G1Unavailable
 from ..config import update_config
@@ -54,3 +55,21 @@ def post_activate() -> dict[str, Any]:
         return _state_payload(sw)
     except G1Unavailable as e:
         raise HTTPException(status_code=502, detail=str(e))
+
+
+@router.get("/snapshot/front")
+def snapshot_front() -> Response:
+    try:
+        jpeg = _deps.front_camera().rgb_jpeg()
+    except Exception as e:
+        raise HTTPException(status_code=502, detail=f"front_camera unreachable: {e}")
+    return Response(content=jpeg, media_type="image/jpeg")
+
+
+@router.get("/snapshot/wrist")
+def snapshot_wrist() -> Response:
+    try:
+        jpeg = _deps.nuwa().rgb_jpeg()
+    except Exception as e:
+        raise HTTPException(status_code=502, detail=f"wrist nuwa unreachable: {e}")
+    return Response(content=jpeg, media_type="image/jpeg")

tests/test_right_arm_routes.py

@@ -60,3 +60,36 @@ def test_activate_sets_robot_active_g1_and_side_right():
         body = r.json()
         assert body["robot_active"] == "g1"
         assert body["side"] == "right"
+
+
+def test_snapshot_front_returns_jpeg():
+    fake_jpeg = b"\xff\xd8\xff" + b"\x00" * 100  # magic JPEG bytes
+    with patch("presa_mano.api.right_arm_routes._deps.front_camera") as factory:
+        cam = MagicMock()
+        cam.rgb_jpeg.return_value = fake_jpeg
+        factory.return_value = cam
+        r = client.get("/api/right_arm/snapshot/front")
+        assert r.status_code == 200
+        assert r.headers["content-type"].startswith("image/jpeg")
+        assert r.content == fake_jpeg
+
+
+def test_snapshot_wrist_returns_jpeg():
+    fake_jpeg = b"\xff\xd8\xff" + b"\x00" * 50
+    with patch("presa_mano.api.right_arm_routes._deps.nuwa") as factory:
+        cam = MagicMock()
+        cam.rgb_jpeg.return_value = fake_jpeg
+        factory.return_value = cam
+        r = client.get("/api/right_arm/snapshot/wrist")
+        assert r.status_code == 200
+        assert r.headers["content-type"].startswith("image/jpeg")
+        assert r.content == fake_jpeg
+
+
+def test_snapshot_front_502_on_failure():
+    with patch("presa_mano.api.right_arm_routes._deps.front_camera") as factory:
+        cam = MagicMock()
+        cam.rgb_jpeg.side_effect = RuntimeError("connection refused")
+        factory.return_value = cam
+        r = client.get("/api/right_arm/snapshot/front")
+        assert r.status_code == 502