Feature module tests

test/frame_helper.py

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+""" This module acts as a helper script for putting a frame on the R2D2 Python
+CAN bus. """
+
+from client.comm import Comm
+from common.frames import FrameQrcodeData
+
+STRING = "TEST"
+WIDTH, HEIGHT = 200, 100
+X, Y = 5, 5
+DISTANCE = 20
+
+
+def create_frame(string, width, height, x, y, distance):
+    """ Helper function for creating a new CAN bus frame. 
+    :param string: string message you want to send.
+    :param width: width of the qr code in pixels.
+    :param height: height of the qr code in pixels.
+    :param x: center pixel coordinate on the x axis.
+    :param y: center pixel coordinate on the y axis.
+    param distance: distance in milimeter to the QR code.
+    :return: Ret urns the created frame. """
+    frame = FrameQrcodeData()
+    byte_string = bytes(string, 'utf-8')
+    frame.set_data(byte_string, width, height, x, y, distance)
+    return frame
+
+
+def main():
+    """ Main function that gets executed when we call the script,
+    probably from a subprocess. """
+    comm = Comm()
+    frame = create_frame(STRING, WIDTH, HEIGHT, X, Y, DISTANCE)
+    comm.send(frame)
+    comm.stop()
+
+
+main()

test/test_vision_module.py

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+""" This module describes the unit tests for our Vision module class. 
+Please connect a webcam and start the R2D2 Python bus manager. """
+
+import subprocess
+from client.comm import Comm
+from common.frame_enum import FrameType
+from modules.vision.module.mod import Vision
+from modules.vision.module.qr_reader import QrReader
+from modules.vision.test.frame_helper import create_frame
+from modules.vision.module.video_feed import VideoFeedCV2
+from modules.vision.module.camera_properties import CameraProperties
+from modules.vision.test.frame_helper import STRING, WIDTH, HEIGHT, X, Y, DISTANCE
+
+FRAME_TUPLE = (bytes(STRING, 'utf-8'), WIDTH, HEIGHT, X, Y, DISTANCE)
+
+
+def catch(bus: Comm):
+    """ listens on the bus for a specific frametype.
+    :param frame_type: type of frame to listen for.
+    :return: None if it was unable to find a frame of the specified type on the bus.
+    """
+    data = None
+    while bus.has_data():
+        frame = bus.get_data()
+        data = frame.get_data()
+        return data
+    return data
+
+
+class TestVisionModule:
+    """ Groups the tests for the vision class, please connect a webcam and
+    start the bus manager found in the Python build directory. """
+
+    def test_frame(self):
+        """ tests the frame for correctly setting and getting the values. """
+        # create a frame and get the data
+        frame = create_frame(STRING, WIDTH, HEIGHT, X, Y, DISTANCE)
+        data = frame.get_data()
+        assert data[1:] == FRAME_TUPLE[1:]
+
+    def test_module(self):
+        """ Tests if the module correctly puts a frame on the bus and retrieve it. 
+        This test can fail if there is still old data on the bus, restart the manager
+        if this happens. """
+        module = Vision(Comm(), VideoFeedCV2(
+            0), QrReader(), CameraProperties(0, 0))
+
+        module.comm.listen_for([FrameType.QRCODE_DATA])
+
+        # put a frame on the bus from another process (the python build is setup in
+        # a way that you can't listen to frames sent by the same OS process, so we do
+        # it this way.)
+        subprocess.call(['python', 'test/frame_helper.py'])
+
+        data = None
+        while data is None:
+            data = catch(module.comm)
+        module.comm.stop()
+
+        assert data[1:] == FRAME_TUPLE[1:]