Adriano Dal PastroandClaude Opus 4.7
6c2452fe20
Rimosso il modulo agent (LLM chat) e la relativa config OpenRouter. La tab Pose 3D ora: espone i giunti reali via G1 /diagnostics per specchiare l'URDF senza IK; acquisisce point cloud Nuwa+D435i (/api/pose_3d/clouds); mostra il modello 3D della camera sul polso; degrada gracefully a 200 (wrist=null) quando il robot è offline. Il vecchio renderer canvas-2D (app.js view3d + diagnostic3d.js) è stato consolidato nel viewport Three.js di pose_3d.js. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
211 lines
7.2 KiB
Python
211 lines
7.2 KiB
Python
"""Integration test del router /api/pose_3d/*."""
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from __future__ import annotations
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from unittest.mock import patch, MagicMock
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from fastapi.testclient import TestClient
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from presa_mano.main import app
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client = TestClient(app)
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def _fake_wrist_pair():
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return {
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"left_wrist": {"position": [0.10, 0.20, 0.30], "quaternion": [0, 0, 0, 1]},
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"right_wrist": {"position": [0.30, -0.20, 0.30], "quaternion": [0, 0, 0, 1]},
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}
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def test_state_returns_both_wrists():
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with patch("presa_mano.api.pose_3d_routes._deps.g1") as g1_factory:
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g1 = MagicMock()
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g1.wrist.return_value = _fake_wrist_pair()
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g1_factory.return_value = g1
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r = client.get("/api/pose_3d/state")
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assert r.status_code == 200
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body = r.json()
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assert "wrist" in body
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assert body["wrist"]["left"]["position"] == [0.10, 0.20, 0.30]
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assert body["wrist"]["right"]["position"] == [0.30, -0.20, 0.30]
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assert "poses" in body
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assert "live_max_step_m" in body
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assert "right_wrist_camera" in body
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assert body["robot_active"] in ("g1", "h1")
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def test_state_returns_200_with_wrist_null_when_g1_unavailable():
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# La tab deve restare utilizzabile per editare config / pose salvate
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# e visualizzare il modello anche senza robot vivo.
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from presa_mano.clients import G1Unavailable
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with patch("presa_mano.api.pose_3d_routes._deps.g1") as g1_factory:
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g1 = MagicMock()
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g1.wrist.side_effect = G1Unavailable("connection refused")
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g1_factory.return_value = g1
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r = client.get("/api/pose_3d/state")
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assert r.status_code == 200
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body = r.json()
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assert body["wrist"] is None
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assert "G1 unavailable" in (body.get("robot_error") or "")
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# config esposta comunque
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assert "right_wrist_camera" in body
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assert "poses" in body
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def test_apply_dry_run_calls_g1_with_dry_run_true():
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captured = {}
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def _abs(**kw):
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captured.update(kw)
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return {"ok": True, "reached_target": True}
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with patch("presa_mano.api.pose_3d_routes._deps.g1") as g1_factory:
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g1 = MagicMock()
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g1.wrist_absolute.side_effect = _abs
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g1_factory.return_value = g1
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r = client.post("/api/pose_3d/apply", json={
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"side": "right",
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"position": [0.30, -0.20, 0.30],
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"quaternion": [0, 0, 0, 1],
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"dry_run": True,
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})
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assert r.status_code == 200
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body = r.json()
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assert body["applied"] is False
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# Verifica che il client G1 sia stato creato con dry_run=True
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# (passato a _deps.g1(dry_run=...))
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assert g1_factory.call_args.kwargs.get("dry_run") is True
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assert captured["side"] == "right"
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assert captured["position"] == [0.30, -0.20, 0.30]
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def test_apply_real_call():
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with patch("presa_mano.api.pose_3d_routes._deps.g1") as g1_factory:
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g1 = MagicMock()
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g1.wrist_absolute.return_value = {"ok": True, "reached_target": True}
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g1_factory.return_value = g1
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r = client.post("/api/pose_3d/apply", json={
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"side": "left", "position": [0.1, 0.2, 0.3],
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"quaternion": [0, 0, 0, 1], "dry_run": False,
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})
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assert r.status_code == 200
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body = r.json()
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assert body["applied"] is True
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assert g1_factory.call_args.kwargs.get("dry_run") is False
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def test_apply_422_bad_side():
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r = client.post("/api/pose_3d/apply", json={
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"side": "middle", "position": [0,0,0], "quaternion": [0,0,0,1],
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})
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assert r.status_code == 422
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def test_apply_422_degenerate_quaternion():
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with patch("presa_mano.api.pose_3d_routes._deps.g1") as g1_factory:
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g1_factory.return_value = MagicMock()
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r = client.post("/api/pose_3d/apply", json={
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"side": "right", "position": [0,0,0], "quaternion": [0,0,0,0],
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})
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assert r.status_code == 422
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assert "degenerate" in r.json()["detail"]
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def test_apply_normalizes_quaternion_before_forwarding():
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captured = {}
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def _abs(**kw):
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captured.update(kw)
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return {"ok": True}
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with patch("presa_mano.api.pose_3d_routes._deps.g1") as g1_factory:
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g1 = MagicMock(); g1.wrist_absolute.side_effect = _abs
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g1_factory.return_value = g1
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# quat con scala 2.0
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r = client.post("/api/pose_3d/apply", json={
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"side": "right", "position": [0,0,0], "quaternion": [0, 0, 0, 2.0],
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})
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assert r.status_code == 200
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# Il g1 deve ricevere il quat normalizzato (norma 1)
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q = captured["quaternion"]
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norm = sum(x*x for x in q) ** 0.5
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assert abs(norm - 1.0) < 1e-6
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def test_put_pose_persists_in_config():
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payload = {
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"side": "right",
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"position": [0.30, -0.20, 0.30],
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"quaternion": [0, 0, 0, 1],
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"note": "test pose",
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}
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r = client.put("/api/pose_3d/poses/test1", json=payload)
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assert r.status_code == 200
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body = r.json()
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assert body["pose"]["side"] == "right"
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assert body["pose"]["note"] == "test pose"
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# Verifica che sia anche in GET /poses
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r2 = client.get("/api/pose_3d/poses")
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assert "test1" in r2.json()
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def test_put_pose_422_bad_name():
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r = client.put("/api/pose_3d/poses/with spaces!", json={
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"side": "right", "position": [0,0,0], "quaternion": [0,0,0,1],
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})
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assert r.status_code == 422
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assert "name" in r.json()["detail"].lower()
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def test_delete_pose_removes_it():
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# prima salva
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client.put("/api/pose_3d/poses/todelete", json={
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"side": "left", "position": [0,0,0], "quaternion": [0,0,0,1],
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})
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# poi cancella
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r = client.delete("/api/pose_3d/poses/todelete")
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assert r.status_code == 200
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# verifica non presente
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r2 = client.get("/api/pose_3d/poses")
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assert "todelete" not in r2.json()
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def test_delete_pose_404_when_missing():
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r = client.delete("/api/pose_3d/poses/nonexistent")
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assert r.status_code == 404
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def test_go_pose_404_when_missing():
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r = client.post("/api/pose_3d/poses/missing/go", json={"dry_run": True})
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assert r.status_code == 404
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def test_go_pose_executes_via_g1_with_stored_values():
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captured = {}
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def _abs(**kw):
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captured.update(kw)
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return {"ok": True}
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# salva una posa
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client.put("/api/pose_3d/poses/test_go", json={
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"side": "left",
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"position": [0.11, 0.22, 0.33],
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"quaternion": [0, 0, 0, 1],
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})
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with patch("presa_mano.api.pose_3d_routes._deps.g1") as g1_factory:
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g1 = MagicMock(); g1.wrist_absolute.side_effect = _abs
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g1_factory.return_value = g1
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r = client.post("/api/pose_3d/poses/test_go/go",
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json={"dry_run": False, "precise": True})
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assert r.status_code == 200
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assert captured["side"] == "left"
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assert captured["position"] == [0.11, 0.22, 0.33]
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assert captured["precise"] is True
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def test_unlock_proxies_to_bridge():
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def _post(url, *args, **kw):
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assert url.endswith("/unlock")
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resp = MagicMock()
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resp.json.return_value = {"ok": True, "message": "unlocked"}
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return resp
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with patch("presa_mano.api.pose_3d_routes.httpx.post", side_effect=_post):
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r = client.post("/api/pose_3d/unlock")
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assert r.status_code == 200
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assert r.json()["ok"] is True
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