From 96f328d56cbb64945f831a10243a151669dc4d1f Mon Sep 17 00:00:00 2001
From: JobvAlewijk <j.g.vanalewijk@students.uu.nl>
Date: Mon, 24 Nov 2025 20:41:08 +0000
Subject: [PATCH] test: added full video sender coverage tests

---
 test/unit/test_video_sender.py | 99 ++++++++++++++++++++++++++++++++++
 1 file changed, 99 insertions(+)
 create mode 100644 test/unit/test_video_sender.py

diff --git a/test/unit/test_video_sender.py b/test/unit/test_video_sender.py
new file mode 100644
index 0000000..430f658
--- /dev/null
+++ b/test/unit/test_video_sender.py
@@ -0,0 +1,99 @@
+# 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()
+
+
+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 _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)
+    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)
+
+    mock_video_service = mock.Mock()
+    mock_video_service.getImageRemote.return_value = [None]*6 + ["fake_img"]
+
+    fake_session = mock.Mock()
+    fake_session.service.return_value = mock_video_service
+    mocker.patch.object(state, "qi_session", fake_session)
+
+    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
+
+    sender.start_video_rcv()
+    sender.video_rcv_loop(mock_video_service, "stream_name")
+
+    send_socket.assert_called_with("fake_img")
+
+
+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 = mock.Mock()
+    mock_video_service.getImageRemote.side_effect = Exception("boom")
+
+    fake_session = mock.Mock()
+    fake_session.service.return_value = mock_video_service
+    mocker.patch.object(state, "qi_session", fake_session)
+
+    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
+
+    sender.start_video_rcv()
+    sender.video_rcv_loop(mock_video_service, "stream_name")
+
+    send_socket.assert_not_called()