"""Verifica che config.yaml contenga le chiavi attese per la tab Braccio DX."""
from __future__ import annotations

import yaml
from pathlib import Path


CFG = Path(__file__).resolve().parents[1] / "config.yaml"


def _cfg() -> dict:
    return yaml.safe_load(CFG.read_text())


def test_front_camera_service_present():
    c = _cfg()
    fc = c["services"]["front_camera"]
    assert fc["base_url"].startswith("http")
    assert isinstance(fc.get("timeout_s"), (int, float))


def test_tab_right_arm_block_present():
    c = _cfg()
    t = c["tab_right_arm"]
    assert t["yolo_class"] == "pestello"
    assert 0 < t["yolo_conf_front"] <= 1
    assert 0 < t["yolo_conf_wrist"] <= 1
    off = t["move_offset_camera_mm"]
    assert set(off.keys()) == {"x", "y", "z"}
    sgn = t["axis_sign_cam_to_wrist"]
    assert all(sgn[k] in (-1, 1) for k in ("x", "y", "z"))
    assert isinstance(t["max_step_m"], (int, float))
    assert "z_floor_m" in t
    for k in ("home_pose", "custom_pose"):
        p = t[k]
        assert len(p["position"]) == 3
        assert len(p["rpy_deg"]) == 3