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8c424b3 | 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 | """Tests for utility helpers."""
import argparse
from unittest.mock import MagicMock, patch
import pytest
from reachy_mini_conversation_app.utils import (
CameraVisionInitializationError,
initialize_camera_and_vision,
)
def test_initialize_camera_and_vision_propagates_local_vision_init_failures() -> None:
"""Explicit local vision requests should preserve unexpected initialization errors."""
args = argparse.Namespace(
no_camera=False,
head_tracker=None,
local_vision=True,
)
with (
patch("reachy_mini_conversation_app.utils.CameraWorker") as mock_camera_worker,
patch("reachy_mini_conversation_app.utils.subprocess.run", return_value=MagicMock(returncode=0)),
patch(
"reachy_mini_conversation_app.vision.local_vision.initialize_vision_processor",
side_effect=RuntimeError("Vision processor initialization failed"),
),
):
with pytest.raises(RuntimeError, match="Vision processor initialization failed"):
initialize_camera_and_vision(args, MagicMock())
mock_camera_worker.assert_called_once()
def test_initialize_camera_and_vision_raises_when_local_vision_import_crashes() -> None:
"""Explicit local vision requests should fail cleanly on native import crashes."""
args = argparse.Namespace(
no_camera=False,
head_tracker=None,
local_vision=True,
)
with (
patch("reachy_mini_conversation_app.utils.CameraWorker") as mock_camera_worker,
patch("reachy_mini_conversation_app.utils.subprocess.run", return_value=MagicMock(returncode=-4)),
):
with pytest.raises(CameraVisionInitializationError, match="Local vision import crashed"):
initialize_camera_and_vision(args, MagicMock())
mock_camera_worker.assert_called_once()
def test_initialize_camera_and_vision_raises_when_head_tracker_init_fails() -> None:
"""Head-tracker startup failures should be reported through the clean init error path."""
args = argparse.Namespace(
no_camera=False,
head_tracker="yolo",
local_vision=False,
)
with (
patch("reachy_mini_conversation_app.utils.CameraWorker") as mock_camera_worker,
patch(
"reachy_mini_conversation_app.vision.head_tracking.yolo_process.YoloHeadTrackerProcess",
side_effect=RuntimeError("tracker init failed"),
),
):
with pytest.raises(
CameraVisionInitializationError,
match="Failed to initialize yolo head tracker: tracker init failed",
):
initialize_camera_and_vision(args, MagicMock())
mock_camera_worker.assert_not_called()
def test_initialize_camera_and_vision_uses_mediapipe_head_tracker_in_process() -> None:
"""MediaPipe head tracking should use the in-process toolbox tracker."""
args = argparse.Namespace(
no_camera=False,
head_tracker="mediapipe",
local_vision=False,
)
current_robot = MagicMock()
mediapipe_head_tracker = MagicMock()
with (
patch("reachy_mini_conversation_app.utils.CameraWorker") as mock_camera_worker,
patch(
"reachy_mini_conversation_app.vision.head_tracking.mediapipe.MediapipeHeadTracker",
return_value=mediapipe_head_tracker,
),
):
initialize_camera_and_vision(args, current_robot)
mock_camera_worker.assert_called_once_with(current_robot, mediapipe_head_tracker)
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