The fryer robot plans koshari with every heat step verified by a sensor

# Scenario 034: The fryer robot plans koshari with every heat step verified by a sensor
# With estimates forbidden, a robot that has a pan thermometer, a liquid thermometer and an oil thermometer still plans all twenty steps of koshari, none by estimate and none by a person. Then check the recipe's own frying target against the envelope.
# 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: Estimates forbidden: boiling by liquid thermometer, heating by pan thermometer, deep frying by oil thermometer.
plan = c.dry_run(recipe_id="koshari", device_id="demo-fryer-robot", human_present=True, allow_model=False)
assert pick(plan, "state") == "accepted", pick(plan, "state")
print("ok", "state", "=", "accepted")
assert pick(plan, "plan.length") == 20, pick(plan, "plan.length")
print("ok", "plan.length", "=", 20)
assert pick(plan, "plan[0].rung") == "cw.sense.liquid_temp", pick(plan, "plan[0].rung")
print("ok", "plan[0].rung", "=", "cw.sense.liquid_temp")
assert pick(plan, "plan[6].rung") == "cw.sense.pan_surface_temp", pick(plan, "plan[6].rung")
print("ok", "plan[6].rung", "=", "cw.sense.pan_surface_temp")
assert pick(plan, "plan[13].rung") == "cw.sense.oil_temp", pick(plan, "plan[13].rung")
print("ok", "plan[13].rung", "=", "cw.sense.oil_temp")
assert pick(plan, "plan[10].rung") == "cw.sense.vision", pick(plan, "plan[10].rung")
print("ok", "plan[10].rung", "=", "cw.sense.vision")

# Step 2: The recipe asks for oil at 175 plus or minus 10 degC and limits each batch to 130 g.
koshari = c.get_recipe("koshari")
assert pick(koshari, "process.nodes[13].op") == "cw.op.deep_fry", pick(koshari, "process.nodes[13].op")
print("ok", "process.nodes[13].op", "=", "cw.op.deep_fry")
assert pick(koshari, "process.nodes[13].params.target.value") == 175, pick(koshari, "process.nodes[13].params.target.value")
print("ok", "process.nodes[13].params.target.value", "=", 175)
assert pick(koshari, "process.nodes[13].params.target.tolerance") == 10, pick(koshari, "process.nodes[13].params.target.tolerance")
print("ok", "process.nodes[13].params.target.tolerance", "=", 10)
assert pick(koshari, "process.nodes[13].params.batchMaxG") == 130, pick(koshari, "process.nodes[13].params.batchMaxG")
print("ok", "process.nodes[13].params.batchMaxG", "=", 130)

# Step 3: A trace that holds the recipe target passes the envelope and the target.
trace = c.check_envelope("cw.op.deep_fry", [{"t": 0, "tempC": 160}, {"t": 60, "tempC": 172}, {"t": 120, "tempC": 176}, {"t": 180, "tempC": 174}], {"value": 175, "tolerance": 10})
assert pick(trace, "envelopeOk") == True, pick(trace, "envelopeOk")
print("ok", "envelopeOk", "=", True)
assert pick(trace, "targetOk") == True, pick(trace, "targetOk")
print("ok", "targetOk", "=", True)
assert pick(trace, "reason") == "ok", pick(trace, "reason")
print("ok", "reason", "=", "ok")

# Step 4: Twenty steps, the deep fry by the device.
assert pick(plan, "plan[13].by") == "device", pick(plan, "plan[13].by")
print("ok", "plan[13].by", "=", "device")
assert pick(plan, "plan[13].verifiedBy") == "sensor", pick(plan, "plan[13].verifiedBy")
print("ok", "plan[13].verifiedBy", "=", "sensor")

print("scenario complete")