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
@@ -1,99 +1,167 @@
|
||||
# coding=utf-8
|
||||
|
||||
import mock
|
||||
import pytest
|
||||
import zmq
|
||||
|
||||
from robot_interface.endpoints.video_sender import VideoSender
|
||||
from robot_interface.state import state
|
||||
from robot_interface.core.config import settings
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def zmq_context():
|
||||
"""Provide a ZMQ context."""
|
||||
yield zmq.Context()
|
||||
"""
|
||||
Yields a real ZMQ context for socket creation.
|
||||
"""
|
||||
context = zmq.Context()
|
||||
yield context
|
||||
context.term()
|
||||
|
||||
def test_init_defaults(zmq_context, mocker):
|
||||
"""
|
||||
Test initialization of the VideoSender.
|
||||
"""
|
||||
# We patch settings to ensure valid port access inside the class logic,
|
||||
# although the default arg is evaluated at import time.
|
||||
mocker.patch("robot_interface.endpoints.video_sender.settings")
|
||||
|
||||
mock_zmq = mock.Mock()
|
||||
sender = VideoSender(mock_zmq)
|
||||
|
||||
# Verify socket type is PUB
|
||||
assert sender.identifier == "video"
|
||||
|
||||
def _patch_basics(mocker):
|
||||
"""Common patches: prevent real threads, port binds, and state errors."""
|
||||
mocker.patch("robot_interface.endpoints.socket_base.zmq.Socket.bind")
|
||||
mocker.patch("robot_interface.endpoints.video_sender.threading.Thread")
|
||||
mocker.patch.object(state, "is_initialized", True)
|
||||
def test_start_no_qi_session(mocker):
|
||||
"""
|
||||
Test that the loop does not start if no Qi session is available.
|
||||
"""
|
||||
# Mock state to return None for qi_session
|
||||
mock_state = mocker.patch("robot_interface.endpoints.video_sender.state")
|
||||
mock_state.qi_session = None
|
||||
|
||||
mock_threading = mocker.patch("robot_interface.endpoints.video_sender.threading")
|
||||
|
||||
|
||||
def _patch_exit_event(mocker):
|
||||
"""Make exit_event stop the loop after one iteration."""
|
||||
fake_event = mock.Mock()
|
||||
fake_event.is_set.side_effect = [False, True]
|
||||
mocker.patch.object(state, "exit_event", fake_event)
|
||||
|
||||
|
||||
def test_no_qi_session(zmq_context, mocker):
|
||||
"""Video loop should not start without a qi_session."""
|
||||
_patch_basics(mocker)
|
||||
mocker.patch.object(state, "qi_session", None)
|
||||
|
||||
sender = VideoSender(zmq_context)
|
||||
mock_zmq = mock.Mock()
|
||||
sender = VideoSender(mock_zmq)
|
||||
sender.start_video_rcv()
|
||||
|
||||
assert not hasattr(sender, "thread")
|
||||
|
||||
|
||||
def test_video_streaming(zmq_context, mocker):
|
||||
"""VideoSender should send retrieved image data."""
|
||||
_patch_basics(mocker)
|
||||
_patch_exit_event(mocker)
|
||||
|
||||
# Pepper's image buffer lives at index 6
|
||||
mocker.patch.object(settings.video_config, "image_buffer", 6)
|
||||
# Assertions
|
||||
mock_threading.Thread.assert_not_called()
|
||||
|
||||
def test_start_success(mocker):
|
||||
"""
|
||||
Test successful startup of the video receiver thread.
|
||||
"""
|
||||
# Mock the Qi Session and Service
|
||||
mock_state = mocker.patch("robot_interface.endpoints.video_sender.state")
|
||||
mock_session = mock.Mock()
|
||||
mock_state.qi_session = mock_session
|
||||
|
||||
mock_video_service = mock.Mock()
|
||||
mock_video_service.getImageRemote.return_value = [None]*6 + ["fake_img"]
|
||||
mock_session.service.return_value = mock_video_service
|
||||
mock_video_service.subscribeCamera.return_value = "test_subscriber_id"
|
||||
|
||||
fake_session = mock.Mock()
|
||||
fake_session.service.return_value = mock_video_service
|
||||
mocker.patch.object(state, "qi_session", fake_session)
|
||||
# Mock Settings
|
||||
mock_settings = mocker.patch("robot_interface.endpoints.video_sender.settings")
|
||||
mock_settings.video_config.camera_index = 0
|
||||
mock_settings.video_config.resolution = 2
|
||||
mock_settings.video_config.color_space = 11
|
||||
mock_settings.video_config.fps = 30
|
||||
mock_settings.video_config.stream_name = "test_stream"
|
||||
|
||||
mocker.patch.object(
|
||||
fake_session.service("ALVideoDevice"),
|
||||
"subscribeCamera",
|
||||
return_value="stream_name"
|
||||
)
|
||||
|
||||
sender = VideoSender(zmq_context)
|
||||
send_socket = mock.Mock()
|
||||
sender.socket.send = send_socket
|
||||
mock_threading = mocker.patch("robot_interface.endpoints.video_sender.threading")
|
||||
|
||||
# Run
|
||||
mock_zmq = mock.Mock()
|
||||
sender = VideoSender(mock_zmq)
|
||||
sender.start_video_rcv()
|
||||
sender.video_rcv_loop(mock_video_service, "stream_name")
|
||||
|
||||
send_socket.assert_called_with("fake_img")
|
||||
# Assertions
|
||||
mock_session.service.assert_called_with("ALVideoDevice")
|
||||
mock_video_service.subscribeCamera.assert_called_with("test_stream", 0, 2, 11, 30)
|
||||
|
||||
mock_threading.Thread.assert_called_once()
|
||||
# Verify arguments passed to the thread target
|
||||
call_args = mock_threading.Thread.call_args[1]
|
||||
assert call_args["target"] == sender.video_rcv_loop
|
||||
assert call_args["args"] == (mock_video_service, "test_subscriber_id")
|
||||
|
||||
# Ensure thread was started
|
||||
mock_threading.Thread.return_value.start.assert_called_once()
|
||||
|
||||
def test_video_loop_happy_path(mocker):
|
||||
"""
|
||||
Test the main loop: Wait -> Get Image -> Send -> Repeat/Exit.
|
||||
"""
|
||||
# Mock settings for image buffer index
|
||||
mock_settings = mocker.patch("robot_interface.endpoints.video_sender.settings")
|
||||
mock_settings.video_config.image_buffer = 6
|
||||
|
||||
def test_video_receive_error(zmq_context, mocker):
|
||||
"""Errors retrieving images should not call send()."""
|
||||
_patch_basics(mocker)
|
||||
_patch_exit_event(mocker)
|
||||
# Mock Video Service to return a fake image structure
|
||||
# Standard NaoQi image is a list, binary data is usually at index 6
|
||||
fake_image_data = b"binary_jpeg_data"
|
||||
fake_image_list = [0] * 7
|
||||
fake_image_list[6] = fake_image_data
|
||||
|
||||
mock_service = mock.Mock()
|
||||
mock_service.getImageRemote.return_value = fake_image_list
|
||||
|
||||
mock_video_service = mock.Mock()
|
||||
mock_video_service.getImageRemote.side_effect = Exception("boom")
|
||||
# Mock Events:
|
||||
# exit_event: False (start), False (loop once), True (break)
|
||||
mock_state = mocker.patch("robot_interface.endpoints.video_sender.state")
|
||||
mock_state.exit_event.is_set.side_effect = [False, False, True]
|
||||
|
||||
fake_session = mock.Mock()
|
||||
fake_session.service.return_value = mock_video_service
|
||||
mocker.patch.object(state, "qi_session", fake_session)
|
||||
# Run
|
||||
mock_zmq = mock.Mock()
|
||||
sender = VideoSender(mock_zmq)
|
||||
sender.socket = mock.Mock() # Mock the socket to verify send
|
||||
|
||||
sender.video_rcv_loop(mock_service, "sub_id")
|
||||
|
||||
mocker.patch.object(
|
||||
fake_session.service("ALVideoDevice"),
|
||||
"subscribeCamera",
|
||||
return_value="stream_name"
|
||||
)
|
||||
# Assertions
|
||||
mock_state.active_event.wait.assert_called()
|
||||
mock_service.getImageRemote.assert_called_with("sub_id")
|
||||
sender.socket.send.assert_called_with(fake_image_data)
|
||||
|
||||
sender = VideoSender(zmq_context)
|
||||
send_socket = mock.Mock()
|
||||
sender.socket.send = send_socket
|
||||
def test_video_loop_exit_during_wait(zmq_context, mocker):
|
||||
"""
|
||||
Test that the loop breaks immediately if exit_event is set while waiting.
|
||||
"""
|
||||
mock_service = mock.Mock()
|
||||
mock_state = mocker.patch("robot_interface.endpoints.video_sender.state")
|
||||
|
||||
# 1. Loop check: False (enter loop)
|
||||
# 2. Wait happens (mock returns instantly)
|
||||
# 3. Post-wait check: True (break)
|
||||
mock_state.exit_event.is_set.side_effect = [False, True]
|
||||
|
||||
sender.start_video_rcv()
|
||||
sender.video_rcv_loop(mock_video_service, "stream_name")
|
||||
mock_zqm = mock.Mock()
|
||||
sender = VideoSender(mock_zqm)
|
||||
sender.video_rcv_loop(mock_service, "sub_id")
|
||||
|
||||
send_socket.assert_not_called()
|
||||
# Assert we never tried to get an image
|
||||
mock_service.getImageRemote.assert_not_called()
|
||||
|
||||
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