38 lines
1.1 KiB
Python
38 lines
1.1 KiB
Python
"""Verifica che config.yaml contenga le chiavi attese per la tab Braccio DX."""
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from __future__ import annotations
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import yaml
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from pathlib import Path
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CFG = Path(__file__).resolve().parents[1] / "config.yaml"
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def _cfg() -> dict:
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return yaml.safe_load(CFG.read_text())
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def test_front_camera_service_present():
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c = _cfg()
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fc = c["services"]["front_camera"]
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assert fc["base_url"].startswith("http")
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assert isinstance(fc.get("timeout_s"), (int, float))
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def test_tab_right_arm_block_present():
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c = _cfg()
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t = c["tab_right_arm"]
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assert t["yolo_class"] == "pestello"
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assert 0 < t["yolo_conf_front"] <= 1
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assert 0 < t["yolo_conf_wrist"] <= 1
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off = t["move_offset_camera_mm"]
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assert set(off.keys()) == {"x", "y", "z"}
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sgn = t["axis_sign_cam_to_wrist"]
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assert all(sgn[k] in (-1, 1) for k in ("x", "y", "z"))
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assert isinstance(t["max_step_m"], (int, float))
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assert "z_floor_m" in t
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for k in ("home_pose", "custom_pose"):
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p = t[k]
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assert len(p["position"]) == 3
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assert len(p["rpy_deg"]) == 3
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