robocars/robocar-oak-camera
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build: fix all pylint/mypy errors

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This commit is contained in:
Cyrille Nofficial
2022-10-27 10:34:04 +02:00
parent 4daf4d3c23
commit 55d8ce06c6
5 changed files with 68 additions and 49 deletions
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40
camera/tests/test_depthai.py
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@@ -1,26 +1,28 @@
import datetime
import typing
import unittest.mock
import depthai as dai
import events.events_pb2
import numpy as np
import numpy.typing as npt
import paho.mqtt.client as mqtt
import pytest
import pytest_mock
import camera.depthai
import events.events_pb2
Object = dict[str, float]
@pytest.fixture
def mqtt_client(mocker: pytest_mock.MockerFixture) -> mqtt.Client:
return mocker.MagicMock()
return mocker.MagicMock() # type: ignore
class TestObjectProcessor:
@pytest.fixture
def frame_ref(self):
def frame_ref(self) -> events.events_pb2.FrameRef:
now = datetime.datetime.now()
frame_msg = events.events_pb2.FrameMessage()
frame_msg.id.name = "robocar-oak-camera-oak"
@@ -42,7 +44,7 @@ class TestObjectProcessor:
def raw_objects_empty(self, mocker: pytest_mock.MockerFixture) -> dai.NNData:
raw_objects = mocker.MagicMock()
def mock_return(name):
def mock_return(name: str) -> typing.List[typing.Union[int, typing.List[int]]]:
if name == "ExpandDims":
return [[0] * 4] * 100
elif name == "ExpandDims_2":
@@ -56,7 +58,7 @@ class TestObjectProcessor:
@pytest.fixture
def raw_objects_one(self, mocker: pytest_mock.MockerFixture, object1: Object) -> dai.NNData:
def mock_return(name):
def mock_return(name: str) -> typing.Union[npt.NDArray[np.int64], typing.List[float]]:
if name == "ExpandDims": # Detection boxes
boxes: list[list[float]] = [[0.] * 4] * 100
boxes[0] = [object1["top"], object1["left"], object1["bottom"], object1["right"]]
@@ -77,20 +79,24 @@ class TestObjectProcessor:
def object_processor(self, mqtt_client: mqtt.Client) -> camera.depthai.ObjectProcessor:
return camera.depthai.ObjectProcessor(mqtt_client, "topic/object", 0.2)
def test_process_without_object(self, object_processor: camera.depthai.ObjectProcessor, mqtt_client,
raw_objects_empty, frame_ref):
def test_process_without_object(self, object_processor: camera.depthai.ObjectProcessor, mqtt_client: mqtt.Client,
raw_objects_empty: dai.NNData, frame_ref: events.events_pb2.FrameRef) -> None:
object_processor.process(raw_objects_empty, frame_ref)
mqtt_client.publish.assert_not_called()
publish_mock: unittest.mock.MagicMock = mqtt_client.publish # type: ignore
publish_mock.assert_not_called()
def test_process_with_object_with_low_score(self, object_processor: camera.depthai.ObjectProcessor, mqtt_client,
raw_objects_one, frame_ref):
def test_process_with_object_with_low_score(self, object_processor: camera.depthai.ObjectProcessor,
mqtt_client: mqtt.Client, raw_objects_one: dai.NNData,
frame_ref: events.events_pb2.FrameRef) -> None:
object_processor._objects_threshold = 0.9
object_processor.process(raw_objects_one, frame_ref)
mqtt_client.publish.assert_not_called()
publish_mock: unittest.mock.MagicMock = mqtt_client.publish # type: ignore
publish_mock.assert_not_called()
def test_process_with_one_object(self,
object_processor: camera.depthai.ObjectProcessor, mqtt_client,
raw_objects_one, frame_ref, object1: Object):
object_processor: camera.depthai.ObjectProcessor, mqtt_client: mqtt.Client,
raw_objects_one: dai.NNData, frame_ref: events.events_pb2.FrameRef,
object1: Object) -> None:
object_processor.process(raw_objects_one, frame_ref)
left = object1["left"]
right = object1["right"]
@@ -98,7 +104,7 @@ class TestObjectProcessor:
bottom = object1["bottom"]
score = object1["score"]
pub_mock: unittest.mock.MagicMock = mqtt_client.publish
pub_mock: unittest.mock.MagicMock = mqtt_client.publish # type: ignore
pub_mock.assert_called_once_with(payload=unittest.mock.ANY, qos=0, retain=False, topic="topic/object")
payload = pub_mock.call_args.kwargs['payload']
objects_msg = events.events_pb2.ObjectsMessage()
@@ -118,13 +124,13 @@ class TestFrameProcessor:
return camera.depthai.FrameProcessor(mqtt_client, "topic/frame")
def test_process(self, frame_processor: camera.depthai.FrameProcessor, mocker: pytest_mock.MockerFixture,
mqtt_client: mqtt.Client):
mqtt_client: mqtt.Client) -> None:
img: dai.ImgFrame = mocker.MagicMock()
mocker.patch(target="cv2.imencode").return_value = (True, np.array(b"img content"))
frame_ref = frame_processor.process(img)
pub_mock: unittest.mock.MagicMock = mqtt_client.publish
pub_mock: unittest.mock.MagicMock = mqtt_client.publish # type: ignore
pub_mock.assert_called_once_with(payload=unittest.mock.ANY, qos=0, retain=False, topic="topic/frame")
payload = pub_mock.call_args.kwargs['payload']
frame_msg = events.events_pb2.FrameMessage()
@@ -140,7 +146,7 @@ class TestFrameProcessor:
milliseconds=10) < frame_msg.id.created_at.ToDatetime() < now + datetime.timedelta(milliseconds=10)
def test_process_error(self, frame_processor: camera.depthai.FrameProcessor, mocker: pytest_mock.MockerFixture,
mqtt_client: mqtt.Client):
mqtt_client: mqtt.Client) -> None:
img: dai.ImgFrame = mocker.MagicMock()
mocker.patch(target="cv2.imencode").return_value = (False, None)