feat(right_arm): /detect/front con proxy fallback per YOLO

tests/test_right_arm_routes.py

@@ -93,3 +93,75 @@ def test_snapshot_front_502_on_failure():
         factory.return_value = cam
         r = client.get("/api/right_arm/snapshot/front")
         assert r.status_code == 502
+
+
+def _fake_yolo_top(class_name="pestello", conf=0.87):
+    return {"detections": [
+        {"class": class_name, "confidence": conf,
+         "bbox": {"x1": 100.0, "y1": 80.0, "x2": 220.0, "y2": 180.0}},
+        {"class": "altra", "confidence": 0.5,
+         "bbox": {"x1": 10.0, "y1": 10.0, "x2": 50.0, "y2": 50.0}},
+    ]}
+
+
+def test_detect_front_filters_class_and_returns_top():
+    with patch("presa_mano.api.right_arm_routes._deps.yolo") as ying, \
+         patch("presa_mano.api.right_arm_routes._deps.front_camera") as cam_f:
+        yolo = MagicMock()
+        yolo.detect_url.return_value = _fake_yolo_top()
+        ying.return_value = yolo
+        cam = MagicMock()
+        cam.rgb_url.return_value = "http://192.168.123.99:8878/api/rgb"
+        cam.intrinsics.return_value = {"width": 640, "height": 480}
+        cam_f.return_value = cam
+
+        r = client.post("/api/right_arm/detect/front",
+                        json={"class_name": "pestello", "conf": 0.4})
+        assert r.status_code == 200
+        body = r.json()
+        assert body["detections"][0]["class"] == "pestello"
+        assert body["image_size"] == [640, 480]
+
+
+def test_detect_front_404_when_no_match():
+    with patch("presa_mano.api.right_arm_routes._deps.yolo") as ying, \
+         patch("presa_mano.api.right_arm_routes._deps.front_camera") as cam_f:
+        yolo = MagicMock()
+        yolo.detect_url.return_value = {"detections": []}
+        ying.return_value = yolo
+        cam = MagicMock()
+        cam.rgb_url.return_value = "http://x/api/rgb"
+        cam.intrinsics.return_value = {"width": 640, "height": 480}
+        cam_f.return_value = cam
+        r = client.post("/api/right_arm/detect/front",
+                        json={"class_name": "pestello"})
+        assert r.status_code == 404
+
+
+def test_detect_front_falls_back_to_proxy_url_on_yolo_failure():
+    """Se YOLO non riesce sull'URL diretto, ripeti con `proxy_base_url`."""
+    attempts = []
+
+    def _detect_url(image_url, conf=None):
+        attempts.append(image_url)
+        if "192.168" in image_url:
+            raise RuntimeError("dns timeout")
+        return _fake_yolo_top()
+
+    with patch("presa_mano.api.right_arm_routes._deps.yolo") as ying, \
+         patch("presa_mano.api.right_arm_routes._deps.front_camera") as cam_f:
+        yolo = MagicMock()
+        yolo.detect_url.side_effect = _detect_url
+        ying.return_value = yolo
+        cam = MagicMock()
+        cam.rgb_url.return_value = "http://192.168.123.99:8878/api/rgb"
+        cam.intrinsics.return_value = {"width": 640, "height": 480}
+        cam_f.return_value = cam
+
+        r = client.post("/api/right_arm/detect/front",
+                        json={"class_name": "pestello",
+                              "proxy_base_url": "http://localhost:8890"})
+        assert r.status_code == 200
+        assert len(attempts) == 2
+        assert "192.168" in attempts[0]
+        assert attempts[1].endswith("/api/right_arm/snapshot/front")