Mock OpenCVCamera

tests/utils.py

@@ -16,9 +16,12 @@
 import platform
 from functools import wraps
 
+import cv2
+import numpy as np
 import pytest
 import torch
 
+from lerobot import available_robots
 from lerobot.common.utils.import_utils import is_package_available
 
 DEVICE = "cuda" if torch.cuda.is_available() else "cpu"
@@ -28,6 +31,8 @@ DEFAULT_CONFIG_PATH = "lerobot/configs/default.yaml"
 
 ROBOT_CONFIG_PATH_TEMPLATE = "lerobot/configs/robot/{robot}.yaml"
 
+TEST_ROBOT_TYPES = available_robots + [f"mocked_{robot_type}" for robot_type in available_robots]
+
 
 def require_x86_64_kernel(func):
     """
@@ -175,11 +180,58 @@ def require_robot(func):
         robot_type = kwargs.get("robot_type")
 
         if request is None:
-            raise ValueError("The 'request' fixture must be passed to the test function as a parameter.")
+            raise ValueError("The 'request' fixture must be an argument of the test function.")
+
+        # Run test with a monkeypatched version of the robot devices.
+        if robot_type.startswith("mocked_"):
+            kwargs["robot_type"] = robot_type.replace("mocked_", "")
+
+            monkeypatch = request.getfixturevalue("monkeypatch")
+            monkeypatch.setattr(cv2, "VideoCapture", MockVideoCapture)
+
+        # Run test with a real robot. Skip test if robot connection fails.
+        else:
+            # `is_robot_available` is defined in `tests/conftest.py`
+            if not request.getfixturevalue("is_robot_available"):
+                pytest.skip(f"A {robot_type} robot is not available.")
 
-        # The function `is_robot_available` is defined in `tests/conftest.py`
-        if not request.getfixturevalue("is_robot_available"):
-            pytest.skip(f"A {robot_type} robot is not available.")
         return func(*args, **kwargs)
 
     return wrapper
+
+
+class MockVideoCapture(cv2.VideoCapture):
+    image = {
+        "480x640": np.random.randint(0, 256, size=(480, 640, 3), dtype=np.uint8),
+        "720x1280": np.random.randint(0, 256, size=(720, 1280, 3), dtype=np.uint8),
+    }
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+        self._mock_dict = {
+            cv2.CAP_PROP_FPS: 30,
+            cv2.CAP_PROP_FRAME_WIDTH: 640,
+            cv2.CAP_PROP_FRAME_HEIGHT: 480,
+        }
+
+    def isOpened(self):  # noqa: N802
+        return True
+
+    def set(self, propId: int, value: float) -> bool:  # noqa: N803
+        self._mock_dict[propId] = value
+        return True
+
+    def get(self, propId: int) -> float:  # noqa: N803
+        value = self._mock_dict[propId]
+        if value == 0:
+            if propId == cv2.CAP_PROP_FRAME_HEIGHT:
+                value = 480
+            elif propId == cv2.CAP_PROP_FRAME_WIDTH:
+                value = 640
+        return value
+
+    def read(self):
+        h = self.get(cv2.CAP_PROP_FRAME_HEIGHT)
+        w = self.get(cv2.CAP_PROP_FRAME_WIDTH)
+        ret = True
+        return ret, self.image[f"{h}x{w}"]