feat: pause RI
Pause functionality in RI implemented. The audio_sender and video_sender stop sending when paused. ref: N25B-350
This commit is contained in:
Storm
@@ -33,7 +33,6 @@ def test_no_microphone(zmq_context, mocker):
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sender.start()
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assert sender.thread is None
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mock_info_logger.assert_called()
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sender.wait_until_done() # Should return early because we didn't start a thread
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@@ -73,7 +72,7 @@ def test_sending_audio(mocker):
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mock_choose_mic.return_value = {"name": u"Some mic", "index": 0L}
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mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
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mock_state.exit_event.is_set.side_effect = [False, True]
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mock_state.exit_event.is_set.side_effect = [False, False, True]
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mock_zmq_context = mock.Mock()
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send_socket = mock.Mock()
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@@ -92,6 +91,217 @@ def test_sending_audio(mocker):
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send_socket.assert_called()
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# SENDING PAUSE RESUME?
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def test_stream_initial_wait_exit(mocker):
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mock_choose_mic = mocker.patch("robot_interface.endpoints.audio_sender.choose_mic")
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mock_choose_mic.return_value = {"name": u"Some mic", "index": 0L}
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mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
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mock_pyaudio_instance = mock_pyaudio_cls.return_value
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mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
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mock_state.exit_event.is_set.return_value = True
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mock_state.active_event.is_set.return_value = False
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mock_zmq_context = mock.Mock()
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sender = AudioSender(mock_zmq_context)
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sender._stream()
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mock_pyaudio_instance.open.assert_not_called()
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def test_stream_pause_and_resume(mocker):
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mock_stream = mock.Mock()
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mock_stream.read.return_value = b"data"
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mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
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mock_pyaudio_instance = mock_pyaudio_cls.return_value
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mock_pyaudio_instance.open.return_value = mock_stream
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mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
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mock_state.active_event.is_set.return_value = False
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mock_state.exit_event.is_set.side_effect = [False, False, False, True]
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mock_zmq_context = mock.Mock()
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sender = AudioSender(mock_zmq_context)
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sender.socket = mock.Mock()
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sender._stream()
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assert mock_pyaudio_instance.open.call_count == 2
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assert mock_stream.close.call_count == 2
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assert mock_stream.stop_stream.call_count == 2
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assert mock_state.active_event.wait.called
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def test_stream_exit_during_pause(mocker):
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mock_stream = mock.Mock()
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mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
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mock_pyaudio_instance = mock_pyaudio_cls.return_value
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mock_pyaudio_instance.open.return_value = mock_stream
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mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
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mock_state.active_event.is_set.return_value = False
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mock_state.exit_event.is_set.side_effect = [False, False, True]
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mock_zmq_context = mock.Mock()
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sender = AudioSender(mock_zmq_context)
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sender._stream()
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assert mock_pyaudio_instance.open.call_count == 1
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assert mock_stream.close.call_count == 1
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def test_stream_read_error_recovery(mocker):
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stream_fail = mock.Mock()
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stream_fail.read.side_effect = IOError("Overflow")
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stream_ok = mock.Mock()
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stream_ok.read.return_value = b"data"
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mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
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mock_pyaudio_instance = mock_pyaudio_cls.return_value
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mock_pyaudio_instance.open.side_effect = [stream_fail, stream_ok]
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mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
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mock_state.active_event.is_set.return_value = True
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mock_state.exit_event.is_set.side_effect = [False, False, False, True]
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mock_zmq_context = mock.Mock()
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sender = AudioSender(mock_zmq_context)
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sender.socket = mock.Mock()
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sender._stream()
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stream_fail.close.assert_called()
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assert mock_pyaudio_instance.open.call_count == 2
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sender.socket.send.assert_called_with(b"data")
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def test_stream_fatal_error(mocker):
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mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
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mock_pyaudio_instance = mock_pyaudio_cls.return_value
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mock_pyaudio_instance.open.side_effect = IOError("Fatal error")
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mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
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mock_state.active_event.is_set.return_value = True
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mock_state.exit_event.is_set.return_value = False
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mock_zmq_context = mock.Mock()
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sender = AudioSender(mock_zmq_context)
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sender._stream()
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def test_wait_until_done(mocker):
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mock_zmq_context = mock.Mock()
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sender = AudioSender(mock_zmq_context)
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sender.wait_until_done()
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mock_thread = mocker.Mock()
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sender.thread = mock_thread
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sender.wait_until_done()
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mock_thread.join.assert_called_once()
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assert sender.thread is None
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def test_stream_pause_close_error(mocker):
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"""
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Tests that an IOError during stream closure (when pausing) is ignored,
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covering the 'pass' statement in the pause logic.
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"""
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mock_stream = mock.Mock()
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mock_stream.read.return_value = b"data"
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# Raise IOError when stopping the stream during pause
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mock_stream.stop_stream.side_effect = IOError("Failed to stop")
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mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
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mock_pyaudio_instance = mock_pyaudio_cls.return_value
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mock_pyaudio_instance.open.return_value = mock_stream
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mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
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# 1. First False triggers the pause block
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# 2. Second True resumes the loop
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mock_state.active_event.is_set.side_effect = [False, True]
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mock_state.exit_event.is_set.side_effect = [False, False, False, True]
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mock_zmq_context = mock.Mock()
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sender = AudioSender(mock_zmq_context)
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sender.socket = mock.Mock()
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sender._stream()
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# Verification: The error should be swallowed, and the stream should re-open
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assert mock_stream.stop_stream.called
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assert mock_pyaudio_instance.open.call_count == 2
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def test_stream_finally_close_error(mocker):
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"""
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Tests that an IOError during stream closure in the finally block is ignored,
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covering the 'pass' statement in the finally logic.
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"""
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mock_stream = mock.Mock()
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mock_stream.read.return_value = b"data"
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# Raise IOError when stopping the stream at exit
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mock_stream.stop_stream.side_effect = IOError("Cleanup failed")
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mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
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mock_pyaudio_instance = mock_pyaudio_cls.return_value
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mock_pyaudio_instance.open.return_value = mock_stream
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mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
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mock_state.active_event.is_set.return_value = True
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mock_state.exit_event.is_set.side_effect = [False, False, True]
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mock_zmq_context = mock.Mock()
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sender = AudioSender(mock_zmq_context)
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sender.socket = mock.Mock()
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# Run
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sender._stream()
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# Assert: Should finish without raising exception despite the IOError in finally
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assert mock_stream.stop_stream.called
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def test_stream_recovery_failure(mocker):
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"""
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Tests the case where recovering from a read error (re-opening stream) also fails.
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This ensures the outer try-except catches exceptions from the inner except block.
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"""
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mock_stream_initial = mock.Mock()
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# Trigger the read error logic
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mock_stream_initial.read.side_effect = IOError("Read failed")
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mock_pyaudio_cls = mocker.patch("robot_interface.endpoints.audio_sender.pyaudio.PyAudio")
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mock_pyaudio_instance = mock_pyaudio_cls.return_value
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# First open works, Second open (recovery) fails fatally
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mock_pyaudio_instance.open.side_effect = [
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mock_stream_initial,
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IOError("Recovery failed")
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]
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mock_state = mocker.patch("robot_interface.endpoints.audio_sender.state")
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mock_state.active_event.is_set.return_value = True
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mock_state.exit_event.is_set.return_value = False
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mock_logger = mocker.patch("robot_interface.endpoints.audio_sender.logger")
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mock_zmq_context = mock.Mock()
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sender = AudioSender(mock_zmq_context)
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sender.socket = mock.Mock()
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sender._stream()
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# Assert we hit the outer error log
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mock_logger.error.assert_called()
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def _fake_read_error(num_frames):
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"""
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@@ -1,99 +1,167 @@
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# coding=utf-8
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import mock
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import pytest
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import zmq
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from robot_interface.endpoints.video_sender import VideoSender
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from robot_interface.state import state
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from robot_interface.core.config import settings
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@pytest.fixture
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def zmq_context():
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"""Provide a ZMQ context."""
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yield zmq.Context()
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"""
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Yields a real ZMQ context for socket creation.
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"""
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context = zmq.Context()
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yield context
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context.term()
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def test_init_defaults(zmq_context, mocker):
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"""
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Test initialization of the VideoSender.
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"""
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# We patch settings to ensure valid port access inside the class logic,
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# although the default arg is evaluated at import time.
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mocker.patch("robot_interface.endpoints.video_sender.settings")
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mock_zmq = mock.Mock()
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sender = VideoSender(mock_zmq)
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# Verify socket type is PUB
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assert sender.identifier == "video"
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def _patch_basics(mocker):
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"""Common patches: prevent real threads, port binds, and state errors."""
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mocker.patch("robot_interface.endpoints.socket_base.zmq.Socket.bind")
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mocker.patch("robot_interface.endpoints.video_sender.threading.Thread")
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mocker.patch.object(state, "is_initialized", True)
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def test_start_no_qi_session(mocker):
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"""
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Test that the loop does not start if no Qi session is available.
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"""
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# Mock state to return None for qi_session
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mock_state = mocker.patch("robot_interface.endpoints.video_sender.state")
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mock_state.qi_session = None
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mock_threading = mocker.patch("robot_interface.endpoints.video_sender.threading")
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def _patch_exit_event(mocker):
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"""Make exit_event stop the loop after one iteration."""
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fake_event = mock.Mock()
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fake_event.is_set.side_effect = [False, True]
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mocker.patch.object(state, "exit_event", fake_event)
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def test_no_qi_session(zmq_context, mocker):
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"""Video loop should not start without a qi_session."""
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_patch_basics(mocker)
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mocker.patch.object(state, "qi_session", None)
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sender = VideoSender(zmq_context)
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mock_zmq = mock.Mock()
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sender = VideoSender(mock_zmq)
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sender.start_video_rcv()
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assert not hasattr(sender, "thread")
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def test_video_streaming(zmq_context, mocker):
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"""VideoSender should send retrieved image data."""
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_patch_basics(mocker)
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_patch_exit_event(mocker)
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# Pepper's image buffer lives at index 6
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mocker.patch.object(settings.video_config, "image_buffer", 6)
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# Assertions
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mock_threading.Thread.assert_not_called()
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def test_start_success(mocker):
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"""
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Test successful startup of the video receiver thread.
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"""
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# Mock the Qi Session and Service
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mock_state = mocker.patch("robot_interface.endpoints.video_sender.state")
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mock_session = mock.Mock()
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mock_state.qi_session = mock_session
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mock_video_service = mock.Mock()
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mock_video_service.getImageRemote.return_value = [None]*6 + ["fake_img"]
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mock_session.service.return_value = mock_video_service
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mock_video_service.subscribeCamera.return_value = "test_subscriber_id"
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fake_session = mock.Mock()
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fake_session.service.return_value = mock_video_service
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mocker.patch.object(state, "qi_session", fake_session)
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# Mock Settings
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mock_settings = mocker.patch("robot_interface.endpoints.video_sender.settings")
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mock_settings.video_config.camera_index = 0
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mock_settings.video_config.resolution = 2
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mock_settings.video_config.color_space = 11
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mock_settings.video_config.fps = 30
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mock_settings.video_config.stream_name = "test_stream"
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mocker.patch.object(
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fake_session.service("ALVideoDevice"),
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"subscribeCamera",
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return_value="stream_name"
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)
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sender = VideoSender(zmq_context)
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send_socket = mock.Mock()
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sender.socket.send = send_socket
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mock_threading = mocker.patch("robot_interface.endpoints.video_sender.threading")
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# Run
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mock_zmq = mock.Mock()
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sender = VideoSender(mock_zmq)
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sender.start_video_rcv()
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sender.video_rcv_loop(mock_video_service, "stream_name")
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send_socket.assert_called_with("fake_img")
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# Assertions
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mock_session.service.assert_called_with("ALVideoDevice")
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mock_video_service.subscribeCamera.assert_called_with("test_stream", 0, 2, 11, 30)
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mock_threading.Thread.assert_called_once()
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# Verify arguments passed to the thread target
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call_args = mock_threading.Thread.call_args[1]
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assert call_args["target"] == sender.video_rcv_loop
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assert call_args["args"] == (mock_video_service, "test_subscriber_id")
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# Ensure thread was started
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mock_threading.Thread.return_value.start.assert_called_once()
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def test_video_loop_happy_path(mocker):
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"""
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Test the main loop: Wait -> Get Image -> Send -> Repeat/Exit.
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"""
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# Mock settings for image buffer index
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mock_settings = mocker.patch("robot_interface.endpoints.video_sender.settings")
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mock_settings.video_config.image_buffer = 6
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def test_video_receive_error(zmq_context, mocker):
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"""Errors retrieving images should not call send()."""
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_patch_basics(mocker)
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_patch_exit_event(mocker)
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# Mock Video Service to return a fake image structure
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# Standard NaoQi image is a list, binary data is usually at index 6
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fake_image_data = b"binary_jpeg_data"
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fake_image_list = [0] * 7
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fake_image_list[6] = fake_image_data
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mock_service = mock.Mock()
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mock_service.getImageRemote.return_value = fake_image_list
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mock_video_service = mock.Mock()
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mock_video_service.getImageRemote.side_effect = Exception("boom")
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# Mock Events:
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# exit_event: False (start), False (loop once), True (break)
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mock_state = mocker.patch("robot_interface.endpoints.video_sender.state")
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mock_state.exit_event.is_set.side_effect = [False, False, True]
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fake_session = mock.Mock()
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fake_session.service.return_value = mock_video_service
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mocker.patch.object(state, "qi_session", fake_session)
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# Run
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mock_zmq = mock.Mock()
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sender = VideoSender(mock_zmq)
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sender.socket = mock.Mock() # Mock the socket to verify send
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sender.video_rcv_loop(mock_service, "sub_id")
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mocker.patch.object(
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fake_session.service("ALVideoDevice"),
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"subscribeCamera",
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return_value="stream_name"
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)
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# Assertions
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mock_state.active_event.wait.assert_called()
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mock_service.getImageRemote.assert_called_with("sub_id")
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sender.socket.send.assert_called_with(fake_image_data)
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sender = VideoSender(zmq_context)
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send_socket = mock.Mock()
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sender.socket.send = send_socket
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def test_video_loop_exit_during_wait(zmq_context, mocker):
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"""
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Test that the loop breaks immediately if exit_event is set while waiting.
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"""
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mock_service = mock.Mock()
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mock_state = mocker.patch("robot_interface.endpoints.video_sender.state")
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# 1. Loop check: False (enter loop)
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# 2. Wait happens (mock returns instantly)
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# 3. Post-wait check: True (break)
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mock_state.exit_event.is_set.side_effect = [False, True]
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sender.start_video_rcv()
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sender.video_rcv_loop(mock_video_service, "stream_name")
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mock_zqm = mock.Mock()
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sender = VideoSender(mock_zqm)
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sender.video_rcv_loop(mock_service, "sub_id")
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send_socket.assert_not_called()
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# Assert we never tried to get an image
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mock_service.getImageRemote.assert_not_called()
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||||
def test_video_loop_exception_handling(zmq_context, mocker):
|
||||
"""
|
||||
Test that exceptions during image retrieval are caught and logged,
|
||||
and do not crash the thread.
|
||||
"""
|
||||
mock_settings = mocker.patch("robot_interface.endpoints.video_sender.settings")
|
||||
mock_logger = mocker.patch("robot_interface.endpoints.video_sender.logging")
|
||||
|
||||
mock_service = mock.Mock()
|
||||
# First call raises Exception, Second call works (if we allowed it, but we exit)
|
||||
mock_service.getImageRemote.side_effect = Exception("Camera disconnected")
|
||||
|
||||
mock_state = mocker.patch("robot_interface.endpoints.video_sender.state")
|
||||
# Loop runs once then exits
|
||||
mock_state.exit_event.is_set.side_effect = [False, False, True]
|
||||
|
||||
mock_zmq = mock.Mock()
|
||||
sender = VideoSender(mock_zmq)
|
||||
sender.socket = mock.Mock()
|
||||
|
||||
sender.video_rcv_loop(mock_service, "sub_id")
|
||||
|
||||
# Assertions
|
||||
mock_logger.warn.assert_called_with("Failed to retrieve video image from robot.")
|
||||
# Ensure loop didn't crash; it should have completed the iteration and checked exit_event
|
||||
assert mock_state.exit_event.is_set.call_count >= 2
|
||||
Reference in New Issue
Block a user