133 lines
4.0 KiB
Python
133 lines
4.0 KiB
Python
# -*- coding: utf-8 -*-
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"""
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This program has been developed by students from the bachelor Computer Science at Utrecht
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University within the Software Project course.
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© Copyright Utrecht University (Department of Information and Computing Sciences)
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"""
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import struct
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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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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 _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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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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test_width = 320
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test_height = 240
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mock_video_service = mock.Mock()
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mock_video_service.getImageRemote.return_value = [test_width, test_height, None, None, None, None, b"fake_img"]
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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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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_multipart = send_socket
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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([
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struct.pack('<I', 320),
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struct.pack('<I', 240),
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b"fake_img"
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])
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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 = mock.Mock()
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mock_video_service.getImageRemote.side_effect = Exception("boom")
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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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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_multipart = send_socket
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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_not_called()
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def test_video_loop_keyboard_interrupt(zmq_context, mocker):
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"""Video loop should handle KeyboardInterrupt gracefully and unsubscribe."""
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_patch_basics(mocker)
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_patch_exit_event(mocker)
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# We mock the video service to raise KeyboardInterrupt when accessed
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mock_video_service = mock.Mock()
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mock_video_service.getImageRemote.side_effect = KeyboardInterrupt
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# Mock logging to verify the specific interrupt message is logged
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mock_logger = mocker.patch("robot_interface.endpoints.video_sender.logging")
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sender = VideoSender(zmq_context)
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# Execute the loop
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sender.video_rcv_loop(mock_video_service, "stream_name")
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# Verify the 'finally' block executed (unsubscribe)
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mock_video_service.unsubscribe.assert_called_with("stream_name")
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mock_logger.info.assert_any_call("Unsubscribed from video stream.")
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