feat(right_arm): router skeleton con /state e /activate

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

tests/test_right_arm_routes.py

@@ -0,0 +1,62 @@
+"""Integration test del router /api/right_arm/*."""
+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_response():
+    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_wrist_pose_and_config():
+    with patch("presa_mano.api.right_arm_routes._deps.g1") as g1_factory:
+        g1 = MagicMock()
+        g1.wrist.return_value = _fake_wrist_response()
+        g1_factory.return_value = g1
+
+        r = client.get("/api/right_arm/state")
+        assert r.status_code == 200
+        body = r.json()
+        assert body["wrist"]["position"] == [0.30, -0.20, 0.30]
+        assert "rpy_deg" in body["wrist"]
+        assert body["side"] == "right" or body["side"] in ("left", "right")
+        assert "home_pose" in body
+        assert "custom_pose" in body
+        assert "offset_camera_mm" in body
+        assert "axis_signs" in body
+        assert "max_step_m" in body
+        assert "z_floor_m" in body
+        assert "robot_active" in body
+        assert "timings_ms" in body
+
+
+def test_state_502_when_g1_unavailable():
+    from presa_mano.clients import G1Unavailable
+    with patch("presa_mano.api.right_arm_routes._deps.g1") as g1_factory:
+        g1 = MagicMock()
+        g1.wrist.side_effect = G1Unavailable("connection refused")
+        g1_factory.return_value = g1
+        r = client.get("/api/right_arm/state")
+        assert r.status_code == 502
+
+
+def test_activate_sets_robot_active_g1_and_side_right():
+    # /activate è idempotente: chiama PUT /api/config e ritorna /state
+    with patch("presa_mano.api.right_arm_routes._deps.g1") as g1_factory:
+        g1 = MagicMock()
+        g1.wrist.return_value = _fake_wrist_response()
+        g1_factory.return_value = g1
+        r = client.post("/api/right_arm/activate")
+        assert r.status_code == 200
+        body = r.json()
+        assert body["robot_active"] == "g1"
+        assert body["side"] == "right"