File size: 4,881 Bytes
f4a62da |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 |
#!/usr/bin/env python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import time
from unittest.mock import MagicMock, patch
import numpy as np
import pytest
from lerobot.cameras.reachy2_camera import Reachy2Camera, Reachy2CameraConfig
from lerobot.utils.errors import DeviceNotConnectedError
PARAMS = [
("teleop", "left"),
("teleop", "right"),
("depth", "rgb"),
# ("depth", "depth"), # Depth camera is not available yet
]
def _make_cam_manager_mock():
c = MagicMock(name="CameraManagerMock")
teleop = MagicMock(name="TeleopCam")
teleop.width = 640
teleop.height = 480
teleop.get_frame = MagicMock(
side_effect=lambda *_, **__: (
np.zeros((480, 640, 3), dtype=np.uint8),
time.time(),
)
)
depth = MagicMock(name="DepthCam")
depth.width = 640
depth.height = 480
depth.get_frame = MagicMock(
side_effect=lambda *_, **__: (
np.zeros((480, 640, 3), dtype=np.uint8),
time.time(),
)
)
c.is_connected.return_value = True
c.teleop = teleop
c.depth = depth
def _connect():
c.teleop = teleop
c.depth = depth
c.is_connected.return_value = True
def _disconnect():
c.teleop = None
c.depth = None
c.is_connected.return_value = False
c.connect = MagicMock(side_effect=_connect)
c.disconnect = MagicMock(side_effect=_disconnect)
# Mock methods
c.initialize_cameras = MagicMock()
return c
@pytest.fixture(
params=PARAMS,
# ids=["teleop-left", "teleop-right", "torso-rgb", "torso-depth"],
ids=["teleop-left", "teleop-right", "torso-rgb"],
)
def camera(request):
name, image_type = request.param
with (
patch(
"lerobot.cameras.reachy2_camera.reachy2_camera.CameraManager",
side_effect=lambda *a, **k: _make_cam_manager_mock(),
),
):
config = Reachy2CameraConfig(name=name, image_type=image_type)
cam = Reachy2Camera(config)
yield cam
if cam.is_connected:
cam.disconnect()
def test_connect(camera):
camera.connect()
assert camera.is_connected
camera.cam_manager.initialize_cameras.assert_called_once()
def test_read(camera):
camera.connect()
img = camera.read()
if camera.config.name == "teleop":
camera.cam_manager.teleop.get_frame.assert_called_once()
elif camera.config.name == "depth":
camera.cam_manager.depth.get_frame.assert_called_once()
assert isinstance(img, np.ndarray)
assert img.shape == (480, 640, 3)
def test_disconnect(camera):
camera.connect()
camera.disconnect()
assert not camera.is_connected
def test_async_read(camera):
camera.connect()
try:
img = camera.async_read()
assert camera.thread is not None
assert camera.thread.is_alive()
assert isinstance(img, np.ndarray)
finally:
if camera.is_connected:
camera.disconnect()
def test_async_read_timeout(camera):
camera.connect()
try:
with pytest.raises(TimeoutError):
camera.async_read(timeout_ms=0)
finally:
if camera.is_connected:
camera.disconnect()
def test_read_before_connect(camera):
with pytest.raises(DeviceNotConnectedError):
_ = camera.read()
def test_disconnect_before_connect(camera):
with pytest.raises(DeviceNotConnectedError):
camera.disconnect()
def test_async_read_before_connect(camera):
with pytest.raises(DeviceNotConnectedError):
_ = camera.async_read()
def test_wrong_camera_name():
with pytest.raises(ValueError):
_ = Reachy2CameraConfig(name="wrong-name", image_type="left")
def test_wrong_image_type():
with pytest.raises(ValueError):
_ = Reachy2CameraConfig(name="teleop", image_type="rgb")
with pytest.raises(ValueError):
_ = Reachy2CameraConfig(name="depth", image_type="left")
def test_wrong_color_mode():
with pytest.raises(ValueError):
_ = Reachy2CameraConfig(name="teleop", image_type="left", color_mode="wrong-color")
|