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from reachy_mini.media.camera_constants import ReachyMiniCamSpecs, ArduCamResolution, MujocoCameraSpecs
from reachy_mini.media.media_manager import MediaManager, MediaBackend
import numpy as np
import pytest
import time
# import tempfile
# import cv2
@pytest.mark.video
def test_get_frame_exists() -> None:
"""Test that a frame can be retrieved from the camera and is not None."""
media = MediaManager(backend=MediaBackend.DEFAULT)
frame = media.get_frame()
assert frame is not None, "No frame was retrieved from the camera."
assert isinstance(frame, np.ndarray), "Frame is not a numpy array."
assert frame.size > 0, "Frame is empty."
assert frame.shape[0] == media.camera.resolution[1] and frame.shape[1] == media.camera.resolution[0], f"Frame has incorrect dimensions: {frame.shape}"
# with tempfile.NamedTemporaryFile(suffix='.png', delete=False) as tmp_file:
# cv2.imwrite(tmp_file.name, frame)
# print(f"Frame saved for inspection: {tmp_file.name}")
@pytest.mark.video
def test_get_frame_exists_all_resolutions() -> None:
"""Test that a frame can be retrieved from the camera for all supported resolutions."""
media = MediaManager(backend=MediaBackend.DEFAULT)
for resolution in media.camera.camera_specs.available_resolutions:
media.camera.set_resolution(resolution)
frame = media.get_frame()
assert frame is not None, f"No frame was retrieved from the camera at resolution {resolution}."
assert isinstance(frame, np.ndarray), f"Frame is not a numpy array at resolution {resolution}."
assert frame.size > 0, f"Frame is empty at resolution {resolution}."
assert frame.shape[0] == resolution.value[1] and frame.shape[1] == resolution.value[0], f"Frame has incorrect dimensions at resolution {resolution}: {frame.shape}"
@pytest.mark.video
def test_change_resolution_errors() -> None:
"""Test that changing resolution raises a runtime error if not allowed."""
media = MediaManager(backend=MediaBackend.DEFAULT)
media.camera.camera_specs = None
with pytest.raises(RuntimeError):
media.camera.set_resolution(ArduCamResolution.R1280x720)
media.camera.camera_specs = MujocoCameraSpecs()
with pytest.raises(RuntimeError):
media.camera.set_resolution(ArduCamResolution.R1280x720)
media.camera.camera_specs = ReachyMiniCamSpecs()
with pytest.raises(ValueError):
media.camera.set_resolution(ArduCamResolution.R1280x720)
@pytest.mark.video_gstreamer
def test_get_frame_exists_gstreamer() -> None:
"""Test that a frame can be retrieved from the camera and is not None."""
media = MediaManager(backend=MediaBackend.GSTREAMER)
time.sleep(2) # Give some time for the camera to initialize
frame = media.get_frame()
assert frame is not None, "No frame was retrieved from the camera."
assert isinstance(frame, np.ndarray), "Frame is not a numpy array."
assert frame.size > 0, "Frame is empty."
assert frame.shape[0] == media.camera.resolution[1] and frame.shape[1] == media.camera.resolution[0], f"Frame has incorrect dimensions: {frame.shape}"
@pytest.mark.video_gstreamer
def test_get_frame_exists_all_resolutions_gstreamer() -> None:
"""Test that a frame can be retrieved from the camera for all supported resolutions."""
media = MediaManager(backend=MediaBackend.GSTREAMER)
time.sleep(2) # Give some time for the camera to initialize
for resolution in media.camera.camera_specs.available_resolutions:
media.camera.close()
media.camera.set_resolution(resolution)
media.camera.open()
time.sleep(2) # Give some time for the camera to adjust to new resolution
frame = media.get_frame()
assert frame is not None, f"No frame was retrieved from the camera at resolution {resolution}."
assert isinstance(frame, np.ndarray), f"Frame is not a numpy array at resolution {resolution}."
assert frame.size > 0, f"Frame is empty at resolution {resolution}."
assert frame.shape[0] == resolution.value[1] and frame.shape[1] == resolution.value[0], f"Frame has incorrect dimensions at resolution {resolution}: {frame.shape}"
@pytest.mark.video_gstreamer
def test_change_resolution_errors_gstreamer() -> None:
"""Test that changing resolution raises a runtime error if not allowed."""
media = MediaManager(backend=MediaBackend.GSTREAMER)
time.sleep(1) # Give some time for the camera to initialize
with pytest.raises(RuntimeError):
media.camera.set_resolution(media.camera.camera_specs.available_resolutions[0])
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