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

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

src/presa_mano/api/right_arm_routes.py

@@ -0,0 +1,56 @@
+"""Endpoint per la tab Braccio DX (G1, polso destro, Nuwa eye-in-hand)."""
+from __future__ import annotations
+
+from typing import Any
+
+from fastapi import APIRouter, HTTPException
+
+from ..clients import G1Unavailable
+from ..config import update_config
+from ..geometry import quaternion_xyzw_to_rpy_deg
+from ..timing import Stopwatch
+from . import _deps
+
+router = APIRouter()
+
+
+def _state_payload(sw: Stopwatch) -> dict[str, Any]:
+    cfg = _deps.tab_right_arm_cfg()
+    with sw.step("g1_wrist"):
+        wrist = _deps.g1().wrist()["right_wrist"]
+    pos = wrist["position"]
+    quat = wrist["quaternion"]
+    rpy = quaternion_xyzw_to_rpy_deg(quat)
+    return {
+        "wrist": {"position": pos, "quaternion": quat,
+                  "rpy_deg": [rpy[0], rpy[1], rpy[2]]},
+        "robot_active": _deps.active_robot_key(),
+        "side": _deps.default_side(),
+        "home_pose": cfg.get("home_pose"),
+        "custom_pose": cfg.get("custom_pose"),
+        "offset_camera_mm": cfg.get("move_offset_camera_mm"),
+        "axis_signs": cfg.get("axis_sign_cam_to_wrist"),
+        "max_step_m": cfg.get("max_step_m"),
+        "z_floor_m": cfg.get("z_floor_m"),
+        "timings_ms": sw.as_dict(),
+    }
+
+
+@router.get("/state")
+def get_state() -> dict[str, Any]:
+    sw = Stopwatch()
+    try:
+        return _state_payload(sw)
+    except G1Unavailable as e:
+        raise HTTPException(status_code=502, detail=str(e))
+
+
+@router.post("/activate")
+def post_activate() -> dict[str, Any]:
+    sw = Stopwatch()
+    with sw.step("config_update"):
+        update_config({"robot": {"active": "g1", "wrist_side": "right"}})
+    try:
+        return _state_payload(sw)
+    except G1Unavailable as e:
+        raise HTTPException(status_code=502, detail=str(e))

src/presa_mano/main.py

@@ -18,6 +18,7 @@ from .api import (
     models_routes,
     perception_routes,
     posture_routes,
+    right_arm_routes,
     robot_routes,
     wrist_routes,
     work_plane_routes,
@@ -45,6 +46,7 @@ app.include_router(models_routes.router, prefix="/api/models", tags=["models"])
 app.include_router(wrist_routes.router, prefix="/api/wrist", tags=["wrist"])
 app.include_router(posture_routes.router, prefix="/api/posture", tags=["posture"])
 app.include_router(robot_routes.router, prefix="/api/robot", tags=["robot"])
+app.include_router(right_arm_routes.router, prefix="/api/right_arm", tags=["right_arm"])
 app.include_router(work_plane_routes.router, prefix="/api/work_plane", tags=["work_plane"])
 
 WEB_DIR = Path(__file__).resolve().parents[2] / "web"

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"