refactor(cameras): cameras implementations + tests improvements (#1108)

Co-authored-by: Simon Alibert <simon.alibert@huggingface.co>
Co-authored-by: Simon Alibert <75076266+aliberts@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

tests/cameras/test_realsense.py

@@ -0,0 +1,206 @@
+#!/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.
+
+# Example of running a specific test:
+# ```bash
+# pytest tests/cameras/test_opencv.py::test_connect
+# ```
+
+from pathlib import Path
+from unittest.mock import patch
+
+import numpy as np
+import pytest
+
+from lerobot.common.cameras.configs import Cv2Rotation
+from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+
+pytest.importorskip("pyrealsense2")
+
+from lerobot.common.cameras.realsense import RealSenseCamera, RealSenseCameraConfig
+
+TEST_ARTIFACTS_DIR = Path(__file__).parent.parent / "artifacts" / "cameras"
+BAG_FILE_PATH = TEST_ARTIFACTS_DIR / "test_rs.bag"
+
+# NOTE(Steven): For some reason these tests take ~20sec in macOS but only ~2sec in Linux.
+
+
+def mock_rs_config_enable_device_from_file(rs_config_instance, _sn):
+    return rs_config_instance.enable_device_from_file(str(BAG_FILE_PATH), repeat_playback=True)
+
+
+def mock_rs_config_enable_device_bad_file(rs_config_instance, _sn):
+    return rs_config_instance.enable_device_from_file("non_existent_file.bag", repeat_playback=True)
+
+
+@pytest.fixture(name="patch_realsense", autouse=True)
+def fixture_patch_realsense():
+    """Automatically mock pyrealsense2.config.enable_device for all tests."""
+    with patch(
+        "pyrealsense2.config.enable_device", side_effect=mock_rs_config_enable_device_from_file
+    ) as mock:
+        yield mock
+
+
+def test_abc_implementation():
+    """Instantiation should raise an error if the class doesn't implement abstract methods/properties."""
+    config = RealSenseCameraConfig(serial_number_or_name=42)
+    _ = RealSenseCamera(config)
+
+
+def test_connect():
+    config = RealSenseCameraConfig(serial_number_or_name=42)
+    camera = RealSenseCamera(config)
+
+    camera.connect(warmup=False)
+    assert camera.is_connected
+
+
+def test_connect_already_connected():
+    config = RealSenseCameraConfig(serial_number_or_name=42)
+    camera = RealSenseCamera(config)
+    camera.connect(warmup=False)
+
+    with pytest.raises(DeviceAlreadyConnectedError):
+        camera.connect(warmup=False)
+
+
+def test_connect_invalid_camera_path(patch_realsense):
+    patch_realsense.side_effect = mock_rs_config_enable_device_bad_file
+    config = RealSenseCameraConfig(serial_number_or_name=42)
+    camera = RealSenseCamera(config)
+
+    with pytest.raises(ConnectionError):
+        camera.connect(warmup=False)
+
+
+def test_invalid_width_connect():
+    config = RealSenseCameraConfig(serial_number_or_name=42, width=99999, height=480, fps=30)
+    camera = RealSenseCamera(config)
+
+    with pytest.raises(ConnectionError):
+        camera.connect(warmup=False)
+
+
+def test_read():
+    config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30)
+    camera = RealSenseCamera(config)
+    camera.connect(warmup=False)
+
+    img = camera.read()
+    assert isinstance(img, np.ndarray)
+
+
+def test_read_depth():
+    config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30, use_depth=True)
+    camera = RealSenseCamera(config)
+    camera.connect(warmup=False)
+
+    img = camera.read_depth(timeout_ms=1000)  # NOTE(Steven): Reading depth takes longer
+    assert isinstance(img, np.ndarray)
+
+
+def test_read_before_connect():
+    config = RealSenseCameraConfig(serial_number_or_name=42)
+    camera = RealSenseCamera(config)
+
+    with pytest.raises(DeviceNotConnectedError):
+        _ = camera.read()
+
+
+def test_disconnect():
+    config = RealSenseCameraConfig(serial_number_or_name=42)
+    camera = RealSenseCamera(config)
+    camera.connect(warmup=False)
+
+    camera.disconnect()
+
+    assert not camera.is_connected
+
+
+def test_disconnect_before_connect():
+    config = RealSenseCameraConfig(serial_number_or_name=42)
+    camera = RealSenseCamera(config)
+
+    with pytest.raises(DeviceNotConnectedError):
+        camera.disconnect()
+
+
+def test_async_read():
+    config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30)
+    camera = RealSenseCamera(config)
+    camera.connect(warmup=False)
+
+    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()  # To stop/join the thread. Otherwise get warnings when the test ends
+
+
+def test_async_read_timeout():
+    config = RealSenseCameraConfig(serial_number_or_name=42, width=640, height=480, fps=30)
+    camera = RealSenseCamera(config)
+    camera.connect(warmup=False)
+
+    try:
+        with pytest.raises(TimeoutError):
+            camera.async_read(
+                timeout_ms=0
+            )  # NOTE(Steven): This is flaky as sdometimes we actually get a frame
+    finally:
+        if camera.is_connected:
+            camera.disconnect()
+
+
+def test_async_read_before_connect():
+    config = RealSenseCameraConfig(serial_number_or_name=42)
+    camera = RealSenseCamera(config)
+
+    with pytest.raises(DeviceNotConnectedError):
+        _ = camera.async_read()
+
+
+@pytest.mark.parametrize(
+    "rotation",
+    [
+        Cv2Rotation.NO_ROTATION,
+        Cv2Rotation.ROTATE_90,
+        Cv2Rotation.ROTATE_180,
+        Cv2Rotation.ROTATE_270,
+    ],
+    ids=["no_rot", "rot90", "rot180", "rot270"],
+)
+def test_rotation(rotation):
+    config = RealSenseCameraConfig(serial_number_or_name=42, rotation=rotation)
+    camera = RealSenseCamera(config)
+    camera.connect(warmup=False)
+
+    img = camera.read()
+    assert isinstance(img, np.ndarray)
+
+    if rotation in (Cv2Rotation.ROTATE_90, Cv2Rotation.ROTATE_270):
+        assert camera.width == 480
+        assert camera.height == 640
+        assert img.shape[:2] == (640, 480)
+    else:
+        assert camera.width == 640
+        assert camera.height == 480
+        assert img.shape[:2] == (480, 640)