86 lines
1.9 KiB
Go
86 lines
1.9 KiB
Go
package camera
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import (
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"bytes"
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"github.com/cyrilix/robocar-protobuf/go/events"
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mqtt "github.com/eclipse/paho.mqtt.golang"
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"github.com/golang/protobuf/proto"
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"go.uber.org/zap"
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"gocv.io/x/gocv"
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"image/jpeg"
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"sync"
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"testing"
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)
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type fakeVideoSource struct {
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}
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func (f fakeVideoSource) Close() error {
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return nil
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}
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func (f fakeVideoSource) Read(dest *gocv.Mat) bool {
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img := gocv.IMRead("testdata/img.jpg", gocv.IMReadUnchanged)
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if img.Total() == 0 {
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zap.S().Info("image read is empty")
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return false
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}
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img.CopyTo(dest)
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return true
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}
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func TestOpencvCameraPart(t *testing.T) {
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var muPubEvents sync.Mutex
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publishedEvents := make(map[string]*[]byte)
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oldPublish := publish
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defer func() {
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publish = oldPublish
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}()
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waitEvent := sync.WaitGroup{}
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waitEvent.Add(1)
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publish = func(_ mqtt.Client, topic string, payload *[]byte) {
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muPubEvents.Lock()
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defer muPubEvents.Unlock()
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publishedEvents[topic] = payload
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waitEvent.Done()
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}
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const topic = "topic/test/camera"
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imgBuffer := gocv.NewMat()
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part := OpencvCameraPart{
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client: nil,
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vc: fakeVideoSource{},
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topic: topic,
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publishFrequency: 2, // Send 2 img/s for tests
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imgBuffered: &imgBuffer,
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}
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go part.Start()
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waitEvent.Wait()
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var frameMsg events.FrameMessage
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muPubEvents.Lock()
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err := proto.Unmarshal(*(publishedEvents[topic]), &frameMsg)
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if err != nil {
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t.Errorf("unable to unmarshal pubblished frame")
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}
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muPubEvents.Unlock()
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if frameMsg.GetId().GetName() != "camera" {
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t.Errorf("bad name frame: %v, wants %v", frameMsg.GetId().GetName(), "camera")
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}
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if len(frameMsg.GetId().GetId()) != 13 {
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t.Errorf("bad id length: %v, wants %v", len(frameMsg.GetId().GetId()), 13)
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}
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if frameMsg.GetId().GetCreatedAt() == nil {
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t.Errorf("missin CreatedAt field")
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}
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_, err = jpeg.Decode(bytes.NewReader(frameMsg.GetFrame()))
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if err != nil {
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t.Errorf("image published can't be decoded: %v", err)
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}
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}
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