missing_sensor_no_fallback: the one refusal a person present cannot lift

# Scenario 030: missing_sensor_no_fallback: the one refusal a person present cannot lift
# Deep frying has a single rung, an oil thermometer. A robot that lists the operation but lacks the sensor is refused with a person present, with or without estimates; a robot that does not list the operation hands the frying to the person.
# Run a hub first: python hub/cookwala_hub.py --recipes examples
import json, os
from cookwala.client import CookwalaClient, CookwalaProblem

def load(path):
    with open(path, encoding="utf-8") as f:
        return json.load(f)

def pick(obj, path):
    for part in path.replace("]", "").replace("[", ".").split("."):
        obj = obj[int(part)] if part.isdigit() else (len(obj) if part == "length" else obj.get(part))
    return obj

c = CookwalaClient(os.environ.get("COOKWALA_HUB", "http://localhost:7878"))


# Step 1: The basic hob robot lists deep_fry but has no oil thermometer: thirteen steps are planned, then refused at n14.
basic = c.dry_run(recipe_id="koshari", device_id="demo-hob-robot-basic", human_present=True)
assert pick(basic, "state") == "refused", pick(basic, "state")
print("ok", "state", "=", "refused")
assert pick(basic, "refusal.reason") == "missing_sensor_no_fallback", pick(basic, "refusal.reason")
print("ok", "refusal.reason", "=", "missing_sensor_no_fallback")
assert pick(basic, "refusal.node") == "n14", pick(basic, "refusal.node")
print("ok", "refusal.node", "=", "n14")
assert pick(basic, "refusal.detail") == "no way to verify cw.op.deep_fry on this device", pick(basic, "refusal.detail")
print("ok", "refusal.detail", "=", "no way to verify cw.op.deep_fry on this device")
assert pick(basic, "plan.length") == 13, pick(basic, "plan.length")
print("ok", "plan.length", "=", 13)

# Step 2: Forbidding estimates changes nothing here: a model was never a rung for deep frying.
basicNoModel = c.dry_run(recipe_id="koshari", device_id="demo-hob-robot-basic", human_present=True, allow_model=False)
assert pick(basicNoModel, "state") == "refused", pick(basicNoModel, "state")
print("ok", "state", "=", "refused")
assert pick(basicNoModel, "refusal.reason") == "missing_sensor_no_fallback", pick(basicNoModel, "refusal.reason")
print("ok", "refusal.reason", "=", "missing_sensor_no_fallback")
assert pick(basicNoModel, "refusal.node") == "n14", pick(basicNoModel, "refusal.node")
print("ok", "refusal.node", "=", "n14")

# Step 3: The hob robot with thermometers does not list deep_fry at all, so the person fries the onions and the rest is the robot's.
thermometers = c.dry_run(recipe_id="koshari", device_id="demo-hob-robot", human_present=True)
assert pick(thermometers, "state") == "accepted", pick(thermometers, "state")
print("ok", "state", "=", "accepted")
assert pick(thermometers, "plan.length") == 20, pick(thermometers, "plan.length")
print("ok", "plan.length", "=", 20)
assert pick(thermometers, "plan[13].op") == "cw.op.deep_fry", pick(thermometers, "plan[13].op")
print("ok", "plan[13].op", "=", "cw.op.deep_fry")
assert pick(thermometers, "plan[13].by") == "human", pick(thermometers, "plan[13].by")
print("ok", "plan[13].by", "=", "human")

# Step 4: The fryer robot has the sensor: the device fries, verified by the oil thermometer.
fryer = c.dry_run(recipe_id="koshari", device_id="demo-fryer-robot", human_present=True)
assert pick(fryer, "state") == "accepted", pick(fryer, "state")
print("ok", "state", "=", "accepted")
assert pick(fryer, "plan[13].by") == "device", pick(fryer, "plan[13].by")
print("ok", "plan[13].by", "=", "device")
assert pick(fryer, "plan[13].rung") == "cw.sense.oil_temp", pick(fryer, "plan[13].rung")
print("ok", "plan[13].rung", "=", "cw.sense.oil_temp")

print("scenario complete")