615 lines
24 KiB
Python
615 lines
24 KiB
Python
#!/usr/bin/env python
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# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# Note: The current test approach uses mock/patch per management decision.
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# Future maintainers may consider Dependency Injection for improved testability.
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# As it currently stands, it is brittle, requires complex mocks and discourages refactoring.
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# Everytime that we change the implementation code, we might need to change the tests.
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import unittest
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from pathlib import Path
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from unittest.mock import MagicMock, call, patch
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import numpy as np
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from lerobot.common.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
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# We might need to mock these
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from lerobot.common.errors import (
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DeviceAlreadyConnectedError,
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DeviceNotConnectedError,
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)
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MODULE_PATH = "lerobot.common.cameras.opencv.camera_opencv"
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# Define constants that might be used by mocks
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MOCK_CV2_CAP_PROP_FPS = 30
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MOCK_CV2_CAP_PROP_FRAME_WIDTH = 1280
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MOCK_CV2_CAP_PROP_FRAME_HEIGHT = 720
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MOCK_CV2_ROTATE_90_CLOCKWISE = 90
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MOCK_CV2_ROTATE_180 = 180
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MOCK_CV2_ROTATE_90_COUNTERCLOCKWISE = -90
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MOCK_CV2_COLOR_BGR2RGB = 99
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MOCK_CV2_CAP_V4L2 = 91
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MOCK_CV2_CAP_DSHOW = 92
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MOCK_CV2_CAP_AVFOUNDATION = 93
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MOCK_CV2_CAP_ANY = 90
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# Helper function to create a realistic-looking dummy image
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def create_dummy_image(height, width, channels=3):
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return np.random.randint(0, 256, size=(height, width, channels), dtype=np.uint8)
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# --- Test Class ---
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class TestOpenCVCamera(unittest.TestCase):
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def setUp(self):
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# Default config used in many tests
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self.default_config = OpenCVCameraConfig(
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camera_index=0,
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width=MOCK_CV2_CAP_PROP_FRAME_WIDTH,
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height=MOCK_CV2_CAP_PROP_FRAME_HEIGHT,
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fps=MOCK_CV2_CAP_PROP_FPS,
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color_mode="rgb",
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rotation=None,
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)
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# Create a default dummy image based on config
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self.dummy_bgr_image = create_dummy_image(self.default_config.height, self.default_config.width)
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self.dummy_rgb_image = self.dummy_bgr_image[..., ::-1] # Simple BGR -> RGB simulation
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self.patch_dependencies()
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# --- Mock Setup ---
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def patch_dependencies(self):
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# Mock the cv2 module itself
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patcher_cv2 = patch(f"{MODULE_PATH}.cv2", autospec=True)
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self.mock_cv2 = patcher_cv2.start()
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self.addCleanup(patcher_cv2.stop)
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# Mock the VideoCapture class returned by cv2.VideoCapture
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self.mock_capture_instance = MagicMock()
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self.mock_cv2.VideoCapture.return_value = self.mock_capture_instance
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# Assign mock constants (important for comparisons and calls)
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self.mock_cv2.CAP_PROP_FPS = MOCK_CV2_CAP_PROP_FPS
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self.mock_cv2.CAP_PROP_FRAME_WIDTH = MOCK_CV2_CAP_PROP_FRAME_WIDTH
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self.mock_cv2.CAP_PROP_FRAME_HEIGHT = MOCK_CV2_CAP_PROP_FRAME_HEIGHT
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self.mock_cv2.ROTATE_90_CLOCKWISE = MOCK_CV2_ROTATE_90_CLOCKWISE
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self.mock_cv2.ROTATE_180 = MOCK_CV2_ROTATE_180
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self.mock_cv2.ROTATE_90_COUNTERCLOCKWISE = MOCK_CV2_ROTATE_90_COUNTERCLOCKWISE
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self.mock_cv2.COLOR_BGR2RGB = MOCK_CV2_COLOR_BGR2RGB
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self.mock_cv2.CAP_V4L2 = MOCK_CV2_CAP_V4L2
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self.mock_cv2.CAP_DSHOW = MOCK_CV2_CAP_DSHOW
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self.mock_cv2.CAP_AVFOUNDATION = MOCK_CV2_CAP_AVFOUNDATION
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self.mock_cv2.CAP_ANY = MOCK_CV2_CAP_ANY
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patcher_platform = patch(f"{MODULE_PATH}.platform.system")
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self.mock_platform_system = patcher_platform.start()
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self.addCleanup(patcher_platform.stop)
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self.mock_platform_system.return_value = "Darwin" # Default to macOS
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mock_is_valid_unix_path = patch(f"{MODULE_PATH}.is_valid_unix_path")
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self.mock_is_valid_unix_path = mock_is_valid_unix_path.start()
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self.addCleanup(mock_is_valid_unix_path.stop)
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self.mock_is_valid_unix_path.return_value = True
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patcher_time_sleep = patch(f"{MODULE_PATH}.time.sleep", return_value=None)
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self.mock_sleep = patcher_time_sleep.start()
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self.addCleanup(patcher_time_sleep.stop)
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# Mock threading
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patcher_thread = patch(f"{MODULE_PATH}.threading.Thread", autospec=True)
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self.mock_thread_class = patcher_thread.start()
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self.addCleanup(patcher_thread.stop)
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self.mock_thread_instance = MagicMock()
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self.mock_thread_class.return_value = self.mock_thread_instance
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patcher_event = patch(f"{MODULE_PATH}.threading.Event", autospec=True)
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self.mock_event_class = patcher_event.start()
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self.addCleanup(patcher_event.stop)
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self.mock_event_instance = MagicMock()
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self.mock_event_class.return_value = self.mock_event_instance
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self.mock_event_instance.is_set.return_value = False # Default to not set
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# Mock internal utility functions if they interact with system/cv2
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patcher_find_cameras = patch(f"{MODULE_PATH}.find_cameras")
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self.mock_find_cameras = patcher_find_cameras.start()
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self.addCleanup(patcher_find_cameras.stop)
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patcher_get_index = patch(f"{MODULE_PATH}.get_camera_index_from_unix_port")
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self.mock_get_camera_index_from_unix_port = patcher_get_index.start()
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self.addCleanup(patcher_get_index.stop)
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# --- Test __init__ ---
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def test_init_defaults(self):
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cam = OpenCVCamera(self.default_config)
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self.assertEqual(cam.camera_index, 0)
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self.assertEqual(cam.capture_width, MOCK_CV2_CAP_PROP_FRAME_WIDTH)
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self.assertEqual(cam.capture_height, MOCK_CV2_CAP_PROP_FRAME_HEIGHT)
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self.assertEqual(cam.width, MOCK_CV2_CAP_PROP_FRAME_WIDTH) # No rotation
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self.assertEqual(cam.height, MOCK_CV2_CAP_PROP_FRAME_HEIGHT) # No rotation
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self.assertEqual(cam.fps, MOCK_CV2_CAP_PROP_FPS)
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self.assertEqual(cam.color_mode, "rgb")
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self.assertIsNone(cam.rotation) # Rotation 0
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self.assertIsNone(cam.port)
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self.assertFalse(cam.is_connected)
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def test_init_with_rotation_90(self):
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config = self.default_config
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config.rotation = 90
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cam = OpenCVCamera(config)
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self.assertEqual(cam.width, MOCK_CV2_CAP_PROP_FRAME_HEIGHT) # Swapped
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self.assertEqual(cam.height, MOCK_CV2_CAP_PROP_FRAME_WIDTH) # Swapped
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self.assertEqual(cam.rotation, MOCK_CV2_ROTATE_90_CLOCKWISE)
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def test_init_with_rotation_minus_90(self):
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config = self.default_config
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config.rotation = -90
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cam = OpenCVCamera(config)
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self.assertEqual(cam.width, MOCK_CV2_CAP_PROP_FRAME_HEIGHT) # Swapped
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self.assertEqual(cam.height, MOCK_CV2_CAP_PROP_FRAME_WIDTH) # Swapped
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self.assertEqual(cam.rotation, MOCK_CV2_ROTATE_90_COUNTERCLOCKWISE)
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def test_init_with_rotation_180(self):
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config = self.default_config
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config.rotation = 180
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cam = OpenCVCamera(config)
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self.assertEqual(cam.width, MOCK_CV2_CAP_PROP_FRAME_WIDTH) # Not swapped
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self.assertEqual(cam.height, MOCK_CV2_CAP_PROP_FRAME_HEIGHT) # Not swapped
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self.assertEqual(cam.rotation, MOCK_CV2_ROTATE_180)
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def test_init_linux_with_index(self):
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self.mock_platform_system.return_value = "Linux"
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cam = OpenCVCamera(self.default_config)
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self.assertEqual(cam.camera_index, 0)
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self.assertIsInstance(cam.port, Path)
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self.assertEqual(str(cam.port), "/dev/video0")
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def test_init_linux_with_valid_path(self):
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self.mock_platform_system.return_value = "Linux"
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self.mock_is_valid_unix_path.return_value = True
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self.mock_get_camera_index_from_unix_port.return_value = 2
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config = self.default_config
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config.camera_index = "/dev/video2"
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cam = OpenCVCamera(config)
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self.assertIsInstance(cam.port, Path)
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self.assertEqual(str(cam.port), "/dev/video2")
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self.assertEqual(cam.camera_index, 2)
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self.mock_is_valid_unix_path.assert_called_once_with("/dev/video2")
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def test_init_linux_with_invalid_path(self):
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self.mock_platform_system.return_value = "Linux"
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self.mock_is_valid_unix_path.return_value = False
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config = self.default_config
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config.camera_index = "[*?:[/invalid/path"
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with self.assertRaisesRegex(ValueError, "Please check the provided camera_index"):
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OpenCVCamera(config)
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# --- Test connect ---
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def test_connect_success(self):
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cam = OpenCVCamera(self.default_config)
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# Mock the temporary camera check
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mock_tmp_capture = MagicMock()
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mock_tmp_capture.isOpened.return_value = True
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# First call to VideoCapture is the temporary one
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# Second call is the real one
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self.mock_cv2.VideoCapture.side_effect = [mock_tmp_capture, self.mock_capture_instance]
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# Mock the actual camera setup
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self.mock_capture_instance.get.side_effect = [
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self.default_config.fps,
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self.default_config.width,
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self.default_config.height,
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]
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cam.connect()
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# Check temporary camera interactions
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self.assertEqual(self.mock_cv2.VideoCapture.call_count, 2)
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self.mock_cv2.VideoCapture.assert_any_call(
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self.default_config.camera_index, MOCK_CV2_CAP_AVFOUNDATION
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)
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mock_tmp_capture.isOpened.assert_called_once()
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mock_tmp_capture.release.assert_called_once()
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# Check actual camera interactions
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self.mock_capture_instance.set.assert_has_calls(
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[
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call(MOCK_CV2_CAP_PROP_FPS, self.default_config.fps),
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call(MOCK_CV2_CAP_PROP_FRAME_WIDTH, self.default_config.width),
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call(MOCK_CV2_CAP_PROP_FRAME_HEIGHT, self.default_config.height),
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]
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)
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self.mock_capture_instance.get.assert_has_calls(
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[
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call(MOCK_CV2_CAP_PROP_FPS),
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call(MOCK_CV2_CAP_PROP_FRAME_WIDTH),
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call(MOCK_CV2_CAP_PROP_FRAME_HEIGHT),
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]
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)
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self.assertTrue(cam.is_connected)
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self.assertIsNotNone(cam.camera)
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self.mock_cv2.setNumThreads.assert_called_once_with(1)
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# Check stored actual values (after rounding)
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self.assertEqual(cam.fps, self.default_config.fps)
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self.assertEqual(cam.capture_width, self.default_config.width)
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self.assertEqual(cam.capture_height, self.default_config.height)
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def test_connect_success_linux(self):
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self.mock_platform_system.return_value = "Linux"
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cam = OpenCVCamera(self.default_config)
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mock_tmp_capture = MagicMock()
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mock_tmp_capture.isOpened.return_value = True
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self.mock_cv2.VideoCapture.side_effect = [mock_tmp_capture, self.mock_capture_instance]
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self.mock_capture_instance.get.side_effect = [
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MOCK_CV2_CAP_PROP_FPS,
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MOCK_CV2_CAP_PROP_FRAME_WIDTH,
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MOCK_CV2_CAP_PROP_FRAME_HEIGHT,
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] # Floats are ok
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cam.connect()
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self.assertTrue(cam.is_connected)
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self.assertIsNotNone(cam.camera)
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self.assertEqual(self.mock_cv2.VideoCapture.call_count, 2)
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# Check it uses the port path and correct backend
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self.mock_cv2.VideoCapture.assert_any_call("/dev/video0", MOCK_CV2_CAP_V4L2)
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def test_connect_already_connected(self):
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cam = OpenCVCamera(self.default_config)
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# Simulate already connected state
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cam.is_connected = True
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with self.assertRaisesRegex(DeviceAlreadyConnectedError, "already connected"):
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cam.connect()
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cam.is_connected = False # To avoid warning when running the destructor
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def test_connect_camera_not_opened_invalid_index(self):
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config = self.default_config
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config.camera_index = 99
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cam = OpenCVCamera(config)
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# Mock temporary check failing
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mock_tmp_capture = MagicMock()
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mock_tmp_capture.isOpened.return_value = False
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self.mock_cv2.VideoCapture.return_value = mock_tmp_capture # Only tmp is created
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# Mock find_cameras returning *other* indices
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self.mock_find_cameras.return_value = [
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{"index": 0, "port": None},
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{"index": 1, "port": None},
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{"index": 2, "port": None},
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]
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with self.assertRaisesRegex(
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ValueError, "expected to be one of these available cameras \\[0, 1, 2\\], but 99 is provided"
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):
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cam.connect()
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self.assertFalse(cam.is_connected)
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self.mock_find_cameras.assert_called_once()
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mock_tmp_capture.release.assert_called_once() # Should still release tmp capture
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def test_connect_fps_mismatch(self):
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config = self.default_config
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config.fps = 999
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cam = OpenCVCamera(config)
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mock_tmp_capture = MagicMock()
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mock_tmp_capture.isOpened.return_value = True
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self.mock_cv2.VideoCapture.side_effect = [mock_tmp_capture, self.mock_capture_instance]
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# Mock get to return a different FPS
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self.mock_capture_instance.get.side_effect = [
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MOCK_CV2_CAP_PROP_FPS, # Different FPS
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self.default_config.width,
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self.default_config.height,
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]
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with self.assertRaisesRegex(
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OSError, f"Can't set self.fps=999 .* Actual value is {MOCK_CV2_CAP_PROP_FPS}"
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):
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cam.connect()
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self.assertFalse(cam.is_connected)
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def test_connect_width_mismatch(self):
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config = self.default_config
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config.width = 9999
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cam = OpenCVCamera(config)
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mock_tmp_capture = MagicMock()
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mock_tmp_capture.isOpened.return_value = True
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self.mock_cv2.VideoCapture.side_effect = [mock_tmp_capture, self.mock_capture_instance]
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self.mock_capture_instance.get.side_effect = [
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self.default_config.fps,
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MOCK_CV2_CAP_PROP_FRAME_WIDTH, # Different width
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self.default_config.height,
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]
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with self.assertRaisesRegex(
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OSError, f"Can't set self.capture_width=9999 .* Actual value is {MOCK_CV2_CAP_PROP_FRAME_WIDTH}"
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):
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cam.connect()
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self.assertFalse(cam.is_connected)
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def test_connect_height_mismatch(self):
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config = self.default_config
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config.height = 9999
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cam = OpenCVCamera(config)
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mock_tmp_capture = MagicMock()
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mock_tmp_capture.isOpened.return_value = True
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self.mock_cv2.VideoCapture.side_effect = [mock_tmp_capture, self.mock_capture_instance]
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self.mock_capture_instance.get.side_effect = [
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self.default_config.fps,
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self.default_config.width,
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MOCK_CV2_CAP_PROP_FRAME_HEIGHT, # Different height
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]
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with self.assertRaisesRegex(
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OSError, f"Can't set self.capture_height=9999 .* Actual value is {MOCK_CV2_CAP_PROP_FRAME_HEIGHT}"
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):
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cam.connect()
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self.assertFalse(cam.is_connected)
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# --- Test read ---
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def test_read_not_connected(self):
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cam = OpenCVCamera(self.default_config)
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with self.assertRaisesRegex(DeviceNotConnectedError, "not connected"):
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cam.read()
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def test_read_success_rgb(self):
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cam = OpenCVCamera(self.default_config)
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cam.camera = self.mock_capture_instance # Simulate connection
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cam.is_connected = True
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cam.capture_width = MOCK_CV2_CAP_PROP_FRAME_WIDTH # Set dimensions as if connect succeeded
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cam.capture_height = MOCK_CV2_CAP_PROP_FRAME_HEIGHT
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self.mock_capture_instance.read.return_value = (True, self.dummy_bgr_image)
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self.mock_cv2.cvtColor.return_value = self.dummy_rgb_image # Mock conversion
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img = cam.read()
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self.mock_capture_instance.read.assert_called_once()
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self.mock_cv2.cvtColor.assert_called_once_with(self.dummy_bgr_image, MOCK_CV2_COLOR_BGR2RGB)
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self.mock_cv2.rotate.assert_not_called()
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np.testing.assert_array_equal(img, self.dummy_rgb_image)
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def test_read_success_bgr(self):
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config = self.default_config
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config.color_mode = "bgr" # Request BGR
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cam = OpenCVCamera(config)
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cam.camera = self.mock_capture_instance
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cam.is_connected = True
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cam.capture_width = MOCK_CV2_CAP_PROP_FRAME_WIDTH
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cam.capture_height = MOCK_CV2_CAP_PROP_FRAME_HEIGHT
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self.mock_capture_instance.read.return_value = (True, self.dummy_bgr_image)
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img = cam.read()
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self.mock_capture_instance.read.assert_called_once()
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self.mock_cv2.cvtColor.assert_not_called() # Should not convert
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np.testing.assert_array_equal(img, self.dummy_bgr_image) # Expect BGR
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def test_read_success_with_rotation(self):
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config = self.default_config
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config.rotation = 90
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cam = OpenCVCamera(config)
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cam.camera = self.mock_capture_instance
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cam.is_connected = True
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cam.capture_width = MOCK_CV2_CAP_PROP_FRAME_WIDTH # Original capture dimensions
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cam.capture_height = MOCK_CV2_CAP_PROP_FRAME_HEIGHT
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self.mock_capture_instance.read.return_value = (True, self.dummy_bgr_image)
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self.mock_cv2.cvtColor.return_value = self.dummy_rgb_image
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rotated_image = np.rot90(self.dummy_rgb_image) # Simulate rotation
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self.mock_cv2.rotate.return_value = rotated_image # Mock rotation result
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img = cam.read()
|
|
|
|
self.mock_capture_instance.read.assert_called_once()
|
|
self.mock_cv2.cvtColor.assert_called_once_with(self.dummy_bgr_image, MOCK_CV2_COLOR_BGR2RGB)
|
|
self.mock_cv2.rotate.assert_called_once_with(self.dummy_rgb_image, MOCK_CV2_ROTATE_90_CLOCKWISE)
|
|
np.testing.assert_array_equal(img, rotated_image)
|
|
|
|
def test_read_capture_fails(self):
|
|
cam = OpenCVCamera(self.default_config)
|
|
cam.camera = self.mock_capture_instance
|
|
cam.is_connected = True
|
|
|
|
self.mock_capture_instance.read.return_value = (False, None) # Simulate read failure
|
|
|
|
with self.assertRaisesRegex(OSError, f"Can't capture color image from camera {cam.camera_index}"):
|
|
cam.read()
|
|
|
|
def test_read_invalid_temporary_color_mode(self):
|
|
cam = OpenCVCamera(self.default_config)
|
|
cam.camera = self.mock_capture_instance
|
|
cam.is_connected = True
|
|
cam.capture_width = MOCK_CV2_CAP_PROP_FRAME_WIDTH
|
|
cam.capture_height = MOCK_CV2_CAP_PROP_FRAME_HEIGHT
|
|
self.mock_capture_instance.read.return_value = (
|
|
True,
|
|
self.dummy_bgr_image,
|
|
) # Need read to succeed initially
|
|
|
|
with self.assertRaisesRegex(
|
|
ValueError, "Expected color values are 'rgb' or 'bgr', but xyz is provided"
|
|
):
|
|
cam.read(temporary_color_mode="xyz")
|
|
|
|
def test_read_dimension_mismatch(self):
|
|
wrong_dim_image = create_dummy_image(240, 320) # Different dimensions
|
|
cam = OpenCVCamera(self.default_config)
|
|
|
|
cam.camera = self.mock_capture_instance
|
|
cam.is_connected = True
|
|
cam.capture_width = MOCK_CV2_CAP_PROP_FRAME_WIDTH # Expected dims
|
|
cam.capture_height = MOCK_CV2_CAP_PROP_FRAME_HEIGHT
|
|
|
|
self.mock_capture_instance.read.return_value = (True, wrong_dim_image)
|
|
self.mock_cv2.cvtColor.return_value = wrong_dim_image
|
|
|
|
with self.assertRaisesRegex(
|
|
OSError,
|
|
f"Can't capture color image with expected height and width \\({MOCK_CV2_CAP_PROP_FRAME_HEIGHT} x {MOCK_CV2_CAP_PROP_FRAME_WIDTH}\\). \\(240 x 320\\) returned instead.",
|
|
):
|
|
cam.read()
|
|
|
|
# --- Test async_read ---
|
|
def test_async_read_not_connected(self):
|
|
cam = OpenCVCamera(self.default_config)
|
|
with self.assertRaisesRegex(DeviceNotConnectedError, "not connected"):
|
|
cam.async_read()
|
|
|
|
# TODO(Steven): Not sure about this one
|
|
@patch.object(OpenCVCamera, "read", autospec=True) # Mock the instance's read method
|
|
def test_async_read_starts_thread_and_returns_image(self, mock_instance_read):
|
|
cam = OpenCVCamera(self.default_config)
|
|
cam.is_connected = True # Simulate connection
|
|
|
|
# TODO(Steven): This is dirty
|
|
def mock_read_effect(self_cam_instance):
|
|
self_cam_instance.color_image = self.dummy_rgb_image
|
|
return self.dummy_rgb_image
|
|
|
|
mock_instance_read.side_effect = mock_read_effect
|
|
|
|
def mock_start():
|
|
cam.read_loop()
|
|
|
|
self.mock_thread_instance.start.side_effect = mock_start
|
|
|
|
# Make Event.is_set return False initially, then True after disconnect/stop
|
|
self.mock_event_instance.is_set.side_effect = [False, True]
|
|
|
|
img = cam.async_read()
|
|
|
|
# Assert thread was created and started
|
|
self.mock_event_class.assert_called_once()
|
|
self.mock_thread_class.assert_called_once_with(target=cam.read_loop, args=())
|
|
self.mock_thread_instance.start.assert_called_once()
|
|
self.assertTrue(self.mock_thread_instance.daemon)
|
|
self.assertIsNotNone(cam.thread)
|
|
self.assertIsNotNone(cam.stop_event)
|
|
mock_instance_read.assert_called_once_with(cam)
|
|
|
|
cam.is_connected = False # To avoid warning when running the destructor
|
|
|
|
# Assert the image returned by async_read is the one set by the mocked read
|
|
np.testing.assert_array_equal(img, self.dummy_rgb_image)
|
|
|
|
@patch.object(OpenCVCamera, "read", autospec=True)
|
|
def test_async_read_timeout(self, mock_instance_read):
|
|
config = self.default_config
|
|
cam = OpenCVCamera(config)
|
|
cam.is_connected = True
|
|
|
|
# Mock 'read' so it *never* sets color_image
|
|
def mock_read_effect(self_cam_instance):
|
|
self_cam_instance.color_image = None
|
|
return None
|
|
|
|
mock_instance_read.side_effect = mock_read_effect
|
|
|
|
with self.assertRaisesRegex(TimeoutError, "Timed out waiting for async_read"):
|
|
cam.async_read()
|
|
|
|
# Assert thread was created and started
|
|
self.mock_event_class.assert_called_once()
|
|
self.mock_thread_class.assert_called_once_with(target=cam.read_loop, args=())
|
|
self.mock_thread_instance.start.assert_called_once()
|
|
self.assertTrue(self.mock_thread_instance.daemon)
|
|
self.assertIsNotNone(cam.thread)
|
|
self.assertIsNotNone(cam.stop_event)
|
|
|
|
cam.is_connected = False # To avoid warning when running the destructor
|
|
|
|
# --- Test disconnect ---
|
|
def test_disconnect_not_connected(self):
|
|
cam = OpenCVCamera(self.default_config)
|
|
with self.assertRaisesRegex(DeviceNotConnectedError, "not connected"):
|
|
cam.disconnect()
|
|
|
|
def test_disconnect_no_thread(self):
|
|
cam = OpenCVCamera(self.default_config)
|
|
cam.camera = self.mock_capture_instance
|
|
cam.is_connected = True
|
|
|
|
cam.disconnect()
|
|
|
|
self.assertIsNone(cam.camera)
|
|
self.assertFalse(cam.is_connected)
|
|
self.assertIsNone(cam.thread)
|
|
self.assertIsNone(cam.stop_event)
|
|
|
|
self.mock_capture_instance.release.assert_called_once()
|
|
self.mock_event_instance.set.assert_not_called()
|
|
self.mock_thread_instance.join.assert_not_called()
|
|
|
|
@patch.object(OpenCVCamera, "read", autospec=True)
|
|
def test_disconnect_with_thread(self, mock_instance_read):
|
|
cam = OpenCVCamera(self.default_config)
|
|
cam.camera = self.mock_capture_instance
|
|
cam.is_connected = True
|
|
|
|
# TODO(Steven): This is dirty
|
|
def mock_read_effect(self_cam_instance):
|
|
self_cam_instance.color_image = self.dummy_rgb_image
|
|
return self.dummy_rgb_image
|
|
|
|
mock_instance_read.side_effect = mock_read_effect
|
|
|
|
def mock_start():
|
|
cam.read_loop()
|
|
|
|
self.mock_thread_instance.start.side_effect = mock_start
|
|
|
|
# Make Event.is_set return False initially, then True after disconnect/stop
|
|
self.mock_event_instance.is_set.side_effect = [False, True]
|
|
|
|
# Start the thread
|
|
_img = cam.async_read()
|
|
|
|
self.assertIsNotNone(cam.thread)
|
|
self.assertIsNotNone(cam.stop_event)
|
|
|
|
cam.disconnect()
|
|
|
|
# Check thread management
|
|
self.mock_event_instance.set.assert_called_once()
|
|
self.mock_thread_instance.join.assert_called_once()
|
|
|
|
# Check camera release
|
|
self.mock_capture_instance.release.assert_called_once()
|
|
|
|
# Check state reset
|
|
self.assertIsNone(cam.camera)
|
|
self.assertFalse(cam.is_connected)
|
|
self.assertIsNone(cam.thread)
|
|
self.assertIsNone(cam.stop_event)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
unittest.main(argv=["first-arg-is-ignored"], exit=False)
|