feat(pose_3d): router skeleton + GET /state

tests/test_pose_3d_routes.py

@@ -0,0 +1,43 @@
+"""Integration test del router /api/pose_3d/*."""
+from __future__ import annotations
+
+from unittest.mock import patch, MagicMock
+
+from fastapi.testclient import TestClient
+
+from presa_mano.main import app
+
+client = TestClient(app)
+
+
+def _fake_wrist_pair():
+    return {
+        "left_wrist":  {"position": [0.10, 0.20, 0.30], "quaternion": [0, 0, 0, 1]},
+        "right_wrist": {"position": [0.30, -0.20, 0.30], "quaternion": [0, 0, 0, 1]},
+    }
+
+
+def test_state_returns_both_wrists():
+    with patch("presa_mano.api.pose_3d_routes._deps.g1") as g1_factory:
+        g1 = MagicMock()
+        g1.wrist.return_value = _fake_wrist_pair()
+        g1_factory.return_value = g1
+        r = client.get("/api/pose_3d/state")
+        assert r.status_code == 200
+        body = r.json()
+        assert "wrist" in body
+        assert body["wrist"]["left"]["position"] == [0.10, 0.20, 0.30]
+        assert body["wrist"]["right"]["position"] == [0.30, -0.20, 0.30]
+        assert "poses" in body
+        assert "live_max_step_m" in body
+        assert body["robot_active"] in ("g1", "h1")
+
+
+def test_state_502_when_g1_unavailable():
+    from presa_mano.clients import G1Unavailable
+    with patch("presa_mano.api.pose_3d_routes._deps.g1") as g1_factory:
+        g1 = MagicMock()
+        g1.wrist.side_effect = G1Unavailable("connection refused")
+        g1_factory.return_value = g1
+        r = client.get("/api/pose_3d/state")
+        assert r.status_code == 502