382 lines
16 KiB
Python
382 lines
16 KiB
Python
"""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"
|
|
|
|
|
|
def test_snapshot_front_returns_jpeg():
|
|
fake_jpeg = b"\xff\xd8\xff" + b"\x00" * 100 # magic JPEG bytes
|
|
with patch("presa_mano.api.right_arm_routes._deps.front_camera") as factory:
|
|
cam = MagicMock()
|
|
cam.rgb_jpeg.return_value = fake_jpeg
|
|
factory.return_value = cam
|
|
r = client.get("/api/right_arm/snapshot/front")
|
|
assert r.status_code == 200
|
|
assert r.headers["content-type"].startswith("image/jpeg")
|
|
assert r.content == fake_jpeg
|
|
|
|
|
|
def test_snapshot_wrist_returns_jpeg():
|
|
fake_jpeg = b"\xff\xd8\xff" + b"\x00" * 50
|
|
with patch("presa_mano.api.right_arm_routes._deps.nuwa") as factory:
|
|
cam = MagicMock()
|
|
cam.rgb_jpeg.return_value = fake_jpeg
|
|
factory.return_value = cam
|
|
r = client.get("/api/right_arm/snapshot/wrist")
|
|
assert r.status_code == 200
|
|
assert r.headers["content-type"].startswith("image/jpeg")
|
|
assert r.content == fake_jpeg
|
|
|
|
|
|
def test_snapshot_front_502_on_failure():
|
|
with patch("presa_mano.api.right_arm_routes._deps.front_camera") as factory:
|
|
cam = MagicMock()
|
|
cam.rgb_jpeg.side_effect = RuntimeError("connection refused")
|
|
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")
|
|
|
|
|
|
def test_detect_wrist_returns_centroid_and_distance():
|
|
# YOLO → bbox → SAM21 → centroide
|
|
import numpy as np
|
|
fake_points = np.array([
|
|
[0.01, -0.02, 0.20],
|
|
[0.02, -0.01, 0.21],
|
|
[0.00, -0.03, 0.19],
|
|
] * 5, dtype=np.float64) # 15 punti, > 10 minimo
|
|
|
|
with patch("presa_mano.api.right_arm_routes._deps.nuwa") as nuwa_f, \
|
|
patch("presa_mano.api.right_arm_routes._deps.yolo") as yolo_f, \
|
|
patch("presa_mano.api.right_arm_routes.segment_with_sam21") as seg_f, \
|
|
patch("presa_mano.api.right_arm_routes._deps.sam21") as sam_f:
|
|
nuwa = MagicMock()
|
|
nuwa.rgb_url.return_value = "http://localhost:8877/api/rgb"
|
|
nuwa_f.return_value = nuwa
|
|
yolo = MagicMock()
|
|
yolo.detect_url.return_value = _fake_yolo_top()
|
|
yolo_f.return_value = yolo
|
|
sam_f.return_value = MagicMock()
|
|
seg = MagicMock()
|
|
seg.points_cv_m = fake_points
|
|
seg_f.return_value = seg
|
|
|
|
r = client.post("/api/right_arm/detect/wrist",
|
|
json={"class_name": "pestello"})
|
|
assert r.status_code == 200
|
|
body = r.json()
|
|
assert body["detection"]["class"] == "pestello"
|
|
assert "bbox" in body
|
|
c = body["centroid_camera_m"]
|
|
assert abs(c[2] - 0.20) < 0.05
|
|
assert body["distance_m"] > 0
|
|
assert body["n_sam21_points"] == 15
|
|
|
|
|
|
def test_detect_wrist_422_too_few_points():
|
|
import numpy as np
|
|
with patch("presa_mano.api.right_arm_routes._deps.nuwa") as nuwa_f, \
|
|
patch("presa_mano.api.right_arm_routes._deps.yolo") as yolo_f, \
|
|
patch("presa_mano.api.right_arm_routes.segment_with_sam21") as seg_f, \
|
|
patch("presa_mano.api.right_arm_routes._deps.sam21") as sam_f:
|
|
nuwa = MagicMock(); nuwa.rgb_url.return_value = "http://x"; nuwa_f.return_value = nuwa
|
|
yolo = MagicMock(); yolo.detect_url.return_value = _fake_yolo_top(); yolo_f.return_value = yolo
|
|
sam_f.return_value = MagicMock()
|
|
seg = MagicMock(); seg.points_cv_m = np.zeros((3, 3))
|
|
seg_f.return_value = seg
|
|
r = client.post("/api/right_arm/detect/wrist",
|
|
json={"class_name": "pestello"})
|
|
assert r.status_code == 422
|
|
|
|
|
|
def test_detect_wrist_404_when_yolo_no_match():
|
|
with patch("presa_mano.api.right_arm_routes._deps.nuwa") as nuwa_f, \
|
|
patch("presa_mano.api.right_arm_routes._deps.yolo") as yolo_f:
|
|
nuwa = MagicMock(); nuwa.rgb_url.return_value = "http://x"; nuwa_f.return_value = nuwa
|
|
yolo = MagicMock(); yolo.detect_url.return_value = {"detections": []}; yolo_f.return_value = yolo
|
|
r = client.post("/api/right_arm/detect/wrist", json={"class_name": "pestello"})
|
|
assert r.status_code == 404
|
|
|
|
|
|
def _patch_full_detect_chain(centroid_m=(0.0, 0.0, 0.20), n_points=20):
|
|
"""Helper: prepara un cloud SAM21 sintetico con centroide a `centroid_m`."""
|
|
import numpy as np
|
|
seg_pts = np.tile(np.array(centroid_m, dtype=np.float64), (n_points, 1))
|
|
return seg_pts
|
|
|
|
|
|
def test_move_toward_dry_run_returns_delta_no_call_to_g1():
|
|
import numpy as np
|
|
seg_pts = _patch_full_detect_chain(centroid_m=(0.0, 0.0, 0.20), n_points=20)
|
|
g1_called = []
|
|
|
|
with patch("presa_mano.api.right_arm_routes._deps.nuwa") as nuwa_f, \
|
|
patch("presa_mano.api.right_arm_routes._deps.yolo") as yolo_f, \
|
|
patch("presa_mano.api.right_arm_routes.segment_with_sam21") as seg_f, \
|
|
patch("presa_mano.api.right_arm_routes._deps.sam21"), \
|
|
patch("presa_mano.api.right_arm_routes._deps.g1") as g1_f, \
|
|
patch("presa_mano.api.right_arm_routes._deps.active_robot_key", return_value="g1"), \
|
|
patch("presa_mano.api.right_arm_routes._deps.default_side", return_value="right"):
|
|
nuwa_f.return_value.rgb_url.return_value = "http://x"
|
|
yolo_f.return_value.detect_url.return_value = _fake_yolo_top()
|
|
seg_f.return_value = MagicMock(points_cv_m=seg_pts)
|
|
g1 = MagicMock()
|
|
g1.wrist.return_value = _fake_wrist_response()
|
|
|
|
def _track_relative(**kw):
|
|
g1_called.append(kw)
|
|
return {"ok": True}
|
|
g1.wrist_relative.side_effect = _track_relative
|
|
g1_f.return_value = g1
|
|
|
|
r = client.post("/api/right_arm/move/toward",
|
|
json={"class_name": "pestello", "dry_run": True})
|
|
assert r.status_code == 200
|
|
body = r.json()
|
|
# offset default (0,0,100mm) → centroid - offset = (0, 0, 0.10) →
|
|
# con sign (1,-1,-1) → (0, 0, -0.10) m
|
|
assert abs(body["delta_wrist_m"][2] - (-0.10)) < 1e-6
|
|
assert body["applied"] is False
|
|
# g1.wrist_relative viene comunque invocato (G1Client gestisce dry-run
|
|
# internamente; l'endpoint non lo salta).
|
|
assert len(g1_called) == 1
|
|
assert g1_called[0]["side"] == "right"
|
|
|
|
|
|
def test_move_toward_real_call_returns_wrist_after():
|
|
import numpy as np
|
|
seg_pts = _patch_full_detect_chain(centroid_m=(0.0, 0.0, 0.20), n_points=20)
|
|
with patch("presa_mano.api.right_arm_routes._deps.nuwa") as nuwa_f, \
|
|
patch("presa_mano.api.right_arm_routes._deps.yolo") as yolo_f, \
|
|
patch("presa_mano.api.right_arm_routes.segment_with_sam21") as seg_f, \
|
|
patch("presa_mano.api.right_arm_routes._deps.sam21"), \
|
|
patch("presa_mano.api.right_arm_routes._deps.g1") as g1_f, \
|
|
patch("presa_mano.api.right_arm_routes._deps.active_robot_key", return_value="g1"), \
|
|
patch("presa_mano.api.right_arm_routes._deps.default_side", return_value="right"):
|
|
nuwa_f.return_value.rgb_url.return_value = "http://x"
|
|
yolo_f.return_value.detect_url.return_value = _fake_yolo_top()
|
|
seg_f.return_value = MagicMock(points_cv_m=seg_pts)
|
|
g1 = MagicMock()
|
|
g1.wrist.return_value = _fake_wrist_response()
|
|
g1.wrist_relative.return_value = {"ok": True}
|
|
g1_f.return_value = g1
|
|
r = client.post("/api/right_arm/move/toward",
|
|
json={"class_name": "pestello", "dry_run": False})
|
|
assert r.status_code == 200
|
|
body = r.json()
|
|
assert body["applied"] is True
|
|
assert body["wrist_after"] is not None
|
|
|
|
|
|
def test_move_toward_422_oversize_delta_without_force():
|
|
import numpy as np
|
|
# centroid=(0,0,0.50), default offset=(0,0,0.10) → delta_z=-0.40 → > max_step 0.15
|
|
seg_pts = _patch_full_detect_chain(centroid_m=(0.0, 0.0, 0.50), n_points=20)
|
|
with patch("presa_mano.api.right_arm_routes._deps.nuwa") as nuwa_f, \
|
|
patch("presa_mano.api.right_arm_routes._deps.yolo") as yolo_f, \
|
|
patch("presa_mano.api.right_arm_routes.segment_with_sam21") as seg_f, \
|
|
patch("presa_mano.api.right_arm_routes._deps.sam21"), \
|
|
patch("presa_mano.api.right_arm_routes._deps.g1") as g1_f, \
|
|
patch("presa_mano.api.right_arm_routes._deps.active_robot_key", return_value="g1"), \
|
|
patch("presa_mano.api.right_arm_routes._deps.default_side", return_value="right"):
|
|
nuwa_f.return_value.rgb_url.return_value = "http://x"
|
|
yolo_f.return_value.detect_url.return_value = _fake_yolo_top()
|
|
seg_f.return_value = MagicMock(points_cv_m=seg_pts)
|
|
g1 = MagicMock(); g1.wrist.return_value = _fake_wrist_response(); g1_f.return_value = g1
|
|
r = client.post("/api/right_arm/move/toward",
|
|
json={"class_name": "pestello", "dry_run": True, "force": False})
|
|
assert r.status_code == 422
|
|
assert "delta" in r.json()["detail"].lower()
|
|
|
|
|
|
def test_move_toward_412_when_not_g1_right():
|
|
"""Se config attiva != g1 o side != right, rifiuta con 412."""
|
|
with patch("presa_mano.api.right_arm_routes._deps.active_robot_key", return_value="h1"), \
|
|
patch("presa_mano.api.right_arm_routes._deps.default_side", return_value="left"):
|
|
r = client.post("/api/right_arm/move/toward",
|
|
json={"class_name": "pestello", "dry_run": True})
|
|
assert r.status_code == 412
|
|
|
|
|
|
def test_home_calls_wrist_absolute_with_home_pose():
|
|
calls = []
|
|
def _abs(**kw):
|
|
calls.append(kw)
|
|
return {"ok": True}
|
|
with patch("presa_mano.api.right_arm_routes._deps.g1") as g1_f, \
|
|
patch("presa_mano.api.right_arm_routes._deps.active_robot_key", return_value="g1"), \
|
|
patch("presa_mano.api.right_arm_routes._deps.default_side", return_value="right"):
|
|
g1 = MagicMock(); g1.wrist_absolute.side_effect = _abs; g1_f.return_value = g1
|
|
r = client.post("/api/right_arm/home", json={"dry_run": True})
|
|
assert r.status_code == 200
|
|
assert len(calls) == 1
|
|
assert calls[0]["side"] == "right"
|
|
assert len(calls[0]["position"]) == 3
|
|
assert len(calls[0]["quaternion"]) == 4
|
|
|
|
|
|
def test_custom_pose_executes_pose_with_dry_run_default_false():
|
|
calls = []
|
|
def _abs(**kw):
|
|
calls.append(kw); return {"ok": True}
|
|
with patch("presa_mano.api.right_arm_routes._deps.g1") as g1_f, \
|
|
patch("presa_mano.api.right_arm_routes._deps.active_robot_key", return_value="g1"), \
|
|
patch("presa_mano.api.right_arm_routes._deps.default_side", return_value="right"):
|
|
g1 = MagicMock(); g1.wrist_absolute.side_effect = _abs; g1_f.return_value = g1
|
|
r = client.post("/api/right_arm/custom_pose", json={})
|
|
assert r.status_code == 200
|
|
assert len(calls) == 1
|
|
|
|
|
|
def test_put_custom_pose_updates_config():
|
|
new_pos = [0.40, -0.15, 0.25]
|
|
new_rpy = [10.0, -5.0, 90.0]
|
|
r = client.put("/api/right_arm/custom_pose",
|
|
json={"position": new_pos, "rpy_deg": new_rpy})
|
|
assert r.status_code == 200
|
|
r2 = client.get("/api/config")
|
|
cp = r2.json()["tab_right_arm"]["custom_pose"]
|
|
assert cp["position"] == new_pos
|
|
assert cp["rpy_deg"] == new_rpy
|
|
|
|
|
|
def test_put_offset_updates_config():
|
|
r = client.put("/api/right_arm/offset",
|
|
json={"move_offset_camera_mm": {"x": 5, "y": -3, "z": 75},
|
|
"axis_sign_cam_to_wrist": {"x": -1, "y": 1, "z": -1}})
|
|
assert r.status_code == 200
|
|
r2 = client.get("/api/config")
|
|
body = r2.json()["tab_right_arm"]
|
|
assert body["move_offset_camera_mm"] == {"x": 5, "y": -3, "z": 75}
|
|
assert body["axis_sign_cam_to_wrist"] == {"x": -1, "y": 1, "z": -1}
|