Hardware API redesign (#777)

Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Steven Palma <steven.palma@huggingface.co>
Co-authored-by: Adil Zouitine <adilzouitinegm@gmail.com>
Co-authored-by: Pepijn <pepijn@huggingface.co>

tests/cameras/test_opencv.py

@@ -0,0 +1,188 @@
+#!/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
+
+import numpy as np
+import pytest
+
+from lerobot.common.cameras.configs import Cv2Rotation
+from lerobot.common.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
+from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+
+# NOTE(Steven): more tests + assertions?
+TEST_ARTIFACTS_DIR = Path(__file__).parent.parent / "artifacts" / "cameras"
+DEFAULT_PNG_FILE_PATH = TEST_ARTIFACTS_DIR / "image_160x120.png"
+TEST_IMAGE_SIZES = ["128x128", "160x120", "320x180", "480x270"]
+TEST_IMAGE_PATHS = [TEST_ARTIFACTS_DIR / f"image_{size}.png" for size in TEST_IMAGE_SIZES]
+
+
+def test_abc_implementation():
+    """Instantiation should raise an error if the class doesn't implement abstract methods/properties."""
+    config = OpenCVCameraConfig(index_or_path=0)
+
+    _ = OpenCVCamera(config)
+
+
+def test_connect():
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
+    camera = OpenCVCamera(config)
+
+    camera.connect(warmup=False)
+
+    assert camera.is_connected
+
+
+def test_connect_already_connected():
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
+    camera = OpenCVCamera(config)
+    camera.connect(warmup=False)
+
+    with pytest.raises(DeviceAlreadyConnectedError):
+        camera.connect(warmup=False)
+
+
+def test_connect_invalid_camera_path():
+    config = OpenCVCameraConfig(index_or_path="nonexistent/camera.png")
+    camera = OpenCVCamera(config)
+
+    with pytest.raises(ConnectionError):
+        camera.connect(warmup=False)
+
+
+def test_invalid_width_connect():
+    config = OpenCVCameraConfig(
+        index_or_path=DEFAULT_PNG_FILE_PATH,
+        width=99999,  # Invalid width to trigger error
+        height=480,
+    )
+    camera = OpenCVCamera(config)
+
+    with pytest.raises(RuntimeError):
+        camera.connect(warmup=False)
+
+
+@pytest.mark.parametrize("index_or_path", TEST_IMAGE_PATHS, ids=TEST_IMAGE_SIZES)
+def test_read(index_or_path):
+    config = OpenCVCameraConfig(index_or_path=index_or_path)
+    camera = OpenCVCamera(config)
+    camera.connect(warmup=False)
+
+    img = camera.read()
+
+    assert isinstance(img, np.ndarray)
+
+
+def test_read_before_connect():
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
+    camera = OpenCVCamera(config)
+
+    with pytest.raises(DeviceNotConnectedError):
+        _ = camera.read()
+
+
+def test_disconnect():
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
+    camera = OpenCVCamera(config)
+    camera.connect(warmup=False)
+
+    camera.disconnect()
+
+    assert not camera.is_connected
+
+
+def test_disconnect_before_connect():
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
+    camera = OpenCVCamera(config)
+
+    with pytest.raises(DeviceNotConnectedError):
+        _ = camera.disconnect()
+
+
+@pytest.mark.parametrize("index_or_path", TEST_IMAGE_PATHS, ids=TEST_IMAGE_SIZES)
+def test_async_read(index_or_path):
+    config = OpenCVCameraConfig(index_or_path=index_or_path)
+    camera = OpenCVCamera(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 = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
+    camera = OpenCVCamera(config)
+    camera.connect(warmup=False)
+
+    try:
+        with pytest.raises(TimeoutError):
+            camera.async_read(timeout_ms=0)
+    finally:
+        if camera.is_connected:
+            camera.disconnect()
+
+
+def test_async_read_before_connect():
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
+    camera = OpenCVCamera(config)
+
+    with pytest.raises(DeviceNotConnectedError):
+        _ = camera.async_read()
+
+
+@pytest.mark.parametrize("index_or_path", TEST_IMAGE_PATHS, ids=TEST_IMAGE_SIZES)
+@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, index_or_path):
+    filename = Path(index_or_path).name
+    dimensions = filename.split("_")[-1].split(".")[0]  # Assumes filenames format (_wxh.png)
+    original_width, original_height = map(int, dimensions.split("x"))
+
+    config = OpenCVCameraConfig(index_or_path=index_or_path, rotation=rotation)
+    camera = OpenCVCamera(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 == original_height
+        assert camera.height == original_width
+        assert img.shape[:2] == (original_width, original_height)
+    else:
+        assert camera.width == original_width
+        assert camera.height == original_height
+        assert img.shape[:2] == (original_height, original_width)