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Skip mocking tests with minimal pytest

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This commit is contained in:
Remi Cadene
2024-09-25 12:11:27 +02:00
parent f0452c222a
commit bcf27b8c01
1 changed files with 41 additions and 19 deletions
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60
tests/utils.py
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@@ -203,7 +203,14 @@ def require_robot(func):
# Run test with a monkeypatched version of the robot devices. # Run test with a monkeypatched version of the robot devices.
if mock: if mock:
mock_cameras(request) # TODO(rcadene): redesign mocking to not have this hardcoded logic
if robot_type == "koch":
camera_type = "opencv"
elif robot_type == "aloha":
camera_type = "intelrealsense"
else:
camera_type = "all"
mock_cameras(request, camera_type)
mock_motors(request) mock_motors(request)
def mock_input(text): def mock_input(text):
@@ -246,7 +253,7 @@ def require_camera(func):
# Run test with a monkeypatched version of the robot devices. # Run test with a monkeypatched version of the robot devices.
if mock: if mock:
mock_cameras(request) mock_cameras(request, camera_type)
# Run test with a real robot. Skip test if robot connection fails. # Run test with a real robot. Skip test if robot connection fails.
else: else:
@@ -294,33 +301,47 @@ def require_motor(func):
return wrapper return wrapper
def mock_cameras(request): def mock_cameras(request, camera_type="all"):
# TODO(rcadene): Redesign the mocking tests
monkeypatch = request.getfixturevalue("monkeypatch") monkeypatch = request.getfixturevalue("monkeypatch")
try: if camera_type in ["opencv", "all"]:
import cv2 try:
import cv2
from tests.mock_opencv import MockVideoCapture from tests.mock_opencv import MockVideoCapture
monkeypatch.setattr(cv2, "VideoCapture", MockVideoCapture) monkeypatch.setattr(cv2, "VideoCapture", MockVideoCapture)
except ImportError: except ImportError:
traceback.print_exc() traceback.print_exc()
pytest.skip("To avoid skipping tests mocking opencv cameras, run `pip install opencv-python`.")
try: if camera_type in ["intelrealsense", "all"]:
import pyrealsense2 as rs try:
import pyrealsense2 as rs
from tests.mock_intelrealsense import MockConfig, MockContext, MockFormat, MockPipeline, MockStream from tests.mock_intelrealsense import (
MockConfig,
MockContext,
MockFormat,
MockPipeline,
MockStream,
)
monkeypatch.setattr(rs, "config", MockConfig) monkeypatch.setattr(rs, "config", MockConfig)
monkeypatch.setattr(rs, "pipeline", MockPipeline) monkeypatch.setattr(rs, "pipeline", MockPipeline)
monkeypatch.setattr(rs, "stream", MockStream) monkeypatch.setattr(rs, "stream", MockStream)
monkeypatch.setattr(rs, "format", MockFormat) monkeypatch.setattr(rs, "format", MockFormat)
monkeypatch.setattr(rs, "context", MockContext) monkeypatch.setattr(rs, "context", MockContext)
except ImportError: except ImportError:
traceback.print_exc() traceback.print_exc()
pytest.skip(
"To avoid skipping tests mocking intelrealsense cameras, run `pip install pyrealsense2`."
)
def mock_motors(request): def mock_motors(request):
# TODO(rcadene): Redesign the mocking tests
monkeypatch = request.getfixturevalue("monkeypatch") monkeypatch = request.getfixturevalue("monkeypatch")
try: try:
@@ -347,3 +368,4 @@ def mock_motors(request):
monkeypatch.setattr(dynamixel, "convert_to_bytes", mock_convert_to_bytes) monkeypatch.setattr(dynamixel, "convert_to_bytes", mock_convert_to_bytes)
except ImportError: except ImportError:
traceback.print_exc() traceback.print_exc()
pytest.skip("To avoid skipping tests mocking dynamixel motors, run `pip install dynamixel-sdk`.")