Name the DROID sideviews by side, and give each one a camera dict

positronic/cfg/hardware/camera.py

@@ -35,11 +35,23 @@ def zed(**kwargs):
 zed_2i = zed.override(serial_number=39567055)
 zed_2i_second = zed.override(serial_number=13785037)
 
+# The station's two sideviews, by side. UNVERIFIED against the rig: correct these two lines and
+# every sided config below follows them.
+sideview_left = zed_2i
+sideview_right = zed_2i_second
+
 _DROID_STREAM = {'view': 'left', 'resolution': 'hd720', 'fps': 30, 'image_enhancement': False}
 
-droid = {keys.WRIST_IMAGE: zed_m.override(**_DROID_STREAM), keys.EXTERIOR_IMAGE: zed_2i.override(**_DROID_STREAM)}
+droid = {
+    keys.WRIST_IMAGE: zed_m.override(**_DROID_STREAM),
+    keys.EXTERIOR_IMAGE: sideview_left.override(**_DROID_STREAM),
+}
+
+droid_3cam = {**droid, keys.EXTERIOR_IMAGE_2: sideview_right.override(**_DROID_STREAM)}
 
-droid_3cam = {**droid, keys.EXTERIOR_IMAGE_2: zed_2i_second.override(**_DROID_STREAM)}
+# One exterior each, by side. Same keys as `droid`, so only the vantage moves.
+droid_left = droid  # the unsided default already binds the left sideview
+droid_right = {**droid, keys.EXTERIOR_IMAGE: sideview_right.override(**_DROID_STREAM)}
 
 # YAM station (brunello): ZED X overhead + two ZED X One wrist cameras on the ZED Link Duo.
 zed_x_top = zed.override(serial_number=48953814)

positronic/cfg/tests/test_camera.py

@@ -0,0 +1,49 @@
+import configuronic as cfn
+
+from positronic import keys
+from positronic.cfg.hardware import camera
+
+
+def _serials(cameras: dict) -> dict[str, int]:
+    return {name: cfg.kwargs['serial_number'] for name, cfg in cameras.items()}
+
+
+def test_each_sided_droid_keeps_the_observation_keys_of_the_unsided_one():
+    assert set(camera.droid_left) == set(camera.droid) == {keys.WRIST_IMAGE, keys.EXTERIOR_IMAGE}
+    assert set(camera.droid_right) == set(camera.droid)
+
+
+def test_the_two_sides_bind_different_sideviews_and_share_the_wrist():
+    left, right = _serials(camera.droid_left), _serials(camera.droid_right)
+
+    assert left[keys.EXTERIOR_IMAGE] != right[keys.EXTERIOR_IMAGE]
+    assert left[keys.WRIST_IMAGE] == right[keys.WRIST_IMAGE]
+
+
+def test_each_side_binds_the_sideview_the_station_declares_for_it():
+    assert _serials(camera.droid_left)[keys.EXTERIOR_IMAGE] == camera.sideview_left.kwargs['serial_number']
+    assert _serials(camera.droid_right)[keys.EXTERIOR_IMAGE] == camera.sideview_right.kwargs['serial_number']
+
+
+def test_an_at_reference_overrides_cameras_and_leaves_a_sibling_override_standing():
+    """An `@` reference resolves to a plain dict, and overriding `cameras` alone leaves a sibling
+    override on the same config standing."""
+
+    @cfn.config()
+    def arm(brake_after_idle_s: float = 0.0):
+        return brake_after_idle_s
+
+    @cfn.config(robot_arm=arm, cameras=camera.droid)
+    def embodiment(robot_arm, cameras):
+        return robot_arm, cameras
+
+    # Written out rather than derived from `camera.__name__`: the dotted path is this module's
+    # public name, so a derived reference would follow a rename instead of failing on one.
+    right_sideview_ref = '@positronic.cfg.hardware.camera.droid_right'
+
+    pinned = embodiment.override(robot_arm=arm.override(brake_after_idle_s=600.0))
+    bound = cfn.Config(lambda e: e, e=pinned).override(**{'e.cameras': right_sideview_ref}).kwargs['e']
+
+    assert _serials(bound.kwargs['cameras']) == _serials(camera.droid_right)
+    assert bound.kwargs['robot_arm'].kwargs == {'brake_after_idle_s': 600.0}
+    assert _serials(camera.droid) != _serials(camera.droid_right)  # the module dict is not mutated