Mock OpenCVCamera

lerobot/common/robot_devices/cameras/opencv.py

@@ -337,6 +337,8 @@ class OpenCVCamera:
         return color_image
 
     def read_loop(self):
+        # TODO(rcadene): implement safe exit for the threads,
+        # to avoid Segfault when main process finishes
         while self.stop_event is None or not self.stop_event.is_set():
             self.color_image = self.read()
 

tests/test_cameras.py

@@ -10,10 +10,9 @@ pytest -sx tests/test_cameras.py::test_camera
 import numpy as np
 import pytest
 
-from lerobot import available_robots
 from lerobot.common.robot_devices.cameras.opencv import OpenCVCamera, save_images_from_cameras
 from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError, RobotDeviceNotConnectedError
-from tests.utils import require_robot
+from tests.utils import TEST_ROBOT_TYPES, require_robot
 
 CAMERA_INDEX = 2
 # Maximum absolute difference between two consecutive images recored by a camera.
@@ -25,7 +24,7 @@ def compute_max_pixel_difference(first_image, second_image):
     return np.abs(first_image.astype(float) - second_image.astype(float)).max()
 
 
-@pytest.mark.parametrize("robot_type", available_robots)
+@pytest.mark.parametrize("robot_type", TEST_ROBOT_TYPES)
 @require_robot
 def test_camera(request, robot_type):
     """Test assumes that `camera.read()` returns the same image when called multiple times in a row.
@@ -78,11 +77,11 @@ def test_camera(request, robot_type):
         camera.read()
     color_image = camera.read()
     async_color_image = camera.async_read()
-    print(
+    error_msg = (
         "max_pixel_difference between read() and async_read()",
         compute_max_pixel_difference(color_image, async_color_image),
     )
-    assert np.allclose(color_image, async_color_image, rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE)
+    assert np.allclose(color_image, async_color_image, rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE), error_msg
 
     # Test disconnecting
     camera.disconnect()
@@ -105,12 +104,6 @@ def test_camera(request, robot_type):
     # TODO(rcadene): Add a test for a camera that doesnt support fps=60 and raises an OSError
     # TODO(rcadene): Add a test for a camera that supports fps=60
 
-    # Test fps=10 raises an OSError
-    camera = OpenCVCamera(CAMERA_INDEX, fps=10)
-    with pytest.raises(OSError):
-        camera.connect()
-    del camera
-
     # Test width and height can be set
     camera = OpenCVCamera(CAMERA_INDEX, fps=30, width=1280, height=720)
     camera.connect()
@@ -131,7 +124,7 @@ def test_camera(request, robot_type):
     del camera
 
 
-@pytest.mark.parametrize("robot_type", available_robots)
+@pytest.mark.parametrize("robot_type", TEST_ROBOT_TYPES)
 @require_robot
 def test_save_images_from_cameras(tmpdir, request, robot_type):
     save_images_from_cameras(tmpdir, record_time_s=1)

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}"]