Add camera imitation test

tests/test-system-config.xml

@@ -41,6 +41,7 @@ equal to its class name.
 
 	<!-- A list of known devices. -->
 	<deviceClasses>
+		<camera type="file" src="/dev/video0" filters="*.jpg,*.png"/>
 		<servoMotor period="20000000" invert="false" controlMin="-90" controlMax="90" />
 		<pwmCapture />
 		<powerMotor period="4096" invert="false" measures="(0;0)(100;100)" />

tests/tests.pro

@@ -18,6 +18,7 @@ SUBDIRS = \
 	minimalCppApp \
 	selftest \
 	thirdparty \
+	trikCameraPhotoTests \
 	trikCommunicatorTests \
 	trikKernelTests \
 	trikScriptRunnerTests \
@@ -29,3 +30,4 @@ trikKernelTests.depends = thirdparty testUtils
 trikScriptRunnerTests.depends = thirdparty testUtils
 trikCommunicatorTests.depends = thirdparty testUtils
 selftest.depends = thirdparty testUtils
+trikCameraPhotoTests.depends = thirdparty testUtils

tests/trikCameraPhotoTests/trikCameraPhotoImitationTest.cpp

@@ -0,0 +1,56 @@
+/* Copyright 2018 Ivan Tyulyandin and CyberTech Labs Ltd.
+ *
+ * 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. */
+
+#include "trikCameraPhotoImitationTest.h"
+
+#include <trikControl/brickFactory.h>
+
+using namespace tests;
+using namespace trikControl;
+
+void trikCameraPhotoImitationTest::SetUp() {
+	testBrick.reset(trikControl::BrickFactory::create("./test-system-config.xml"
+			, "./test-model-config.xml", "./media/"));
+}
+
+namespace {
+	QVector<uint8_t> qImageToQVector(const QImage &imgOrig) {
+		constexpr auto DESIRED_FORMAT = QImage::Format_RGB888;
+
+		constexpr auto SIZE_X = 320;
+		constexpr auto SIZE_Y = 240;
+		const QImage &img = imgOrig.format() == DESIRED_FORMAT ? imgOrig : imgOrig.convertToFormat(DESIRED_FORMAT);
+		const QImage &scaledImg = img.height() == SIZE_X && img.width() == SIZE_Y ? img : img.scaled(SIZE_X, SIZE_Y);
+		auto cb = scaledImg.constBits();
+		QVector<uint8_t> imageByteVector = QVector<uint8_t>(scaledImg.byteCount());
+		std::copy(cb, cb + scaledImg.byteCount(), imageByteVector.begin());
+
+		return imageByteVector;
+	}
+}
+
+TEST_F(trikCameraPhotoImitationTest, cameraImitationTest)
+{
+	QVector<uint8_t> expectedPhoto = qImageToQVector(QImage("./media/trik_smile_normal.png"));
+	QVector<uint8_t> currentPhoto = testBrick->getStillImage();
+	ASSERT_EQ(expectedPhoto, currentPhoto);
+
+	currentPhoto = testBrick->getStillImage();
+	expectedPhoto = qImageToQVector(QImage("./media/trik_smile_sad.png"));
+	ASSERT_EQ(expectedPhoto, currentPhoto);
+
+	currentPhoto = testBrick->getStillImage();
+	expectedPhoto = qImageToQVector(QImage("./media/trik_smile_normal.png"));
+	ASSERT_EQ(expectedPhoto, currentPhoto);
+}

tests/trikCameraPhotoTests/trikCameraPhotoImitationTest.h

@@ -0,0 +1,35 @@
+/* Copyright 2018 Ivan Tyulyandin and CyberTech Labs Ltd.
+ *
+ * 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. */
+
+#pragma once
+
+#include <trikControl/brickInterface.h>
+
+#include <gtest/gtest.h>
+
+namespace tests {
+
+/// Test suite for camera imitation
+class trikCameraPhotoImitationTest : public testing::Test
+{
+
+protected:
+	void SetUp() override;
+//	void TearDown() override;
+
+public:
+	QScopedPointer<trikControl::BrickInterface> testBrick;
+};
+
+}

tests/trikCameraPhotoTests/trikCameraPhotoTests.pro

@@ -0,0 +1,24 @@
+# Copyright 2018 Ivan Tylyandin and CyberTech Labs Ltd.
+#
+# 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.
+
+include(../common.pri)
+
+HEADERS += \
+	$$PWD/trikCameraPhotoImitationTest.h
+
+SOURCES += \ 
+	$$PWD/trikCameraPhotoImitationTest.cpp
+
+implementationIncludes(trikKernel trikControl tests/testUtils)
+links(trikKernel trikControl trikHal testUtils)

trikControl/src/imitationCameraImplementation.cpp

@@ -15,8 +15,6 @@
 #include "imitationCameraImplementation.h"
 
 #include <QtCore/QDir>
-#include <QtCore/QFileInfoList>
-#include <QtCore/QVector>
 #include <QtGui/QImage>
 
 #include <QsLog.h>
@@ -36,23 +34,25 @@ ImitationCameraImplementation::ImitationCameraImplementation(const QStringList &
 	if (filesList.size() > 1) {
 		QLOG_INFO() << "Few files matching regexps " << filters
 				<< " in file " << getTempDir();
+
 		if (filesList.size() < 10) {
-			for (auto file : filesList) {
+			for (auto &&file : filesList) {
 				QLOG_INFO() << file.fileName();
 			}
 		}
 	}
 }
 
+
 QVector<uint8_t> ImitationCameraImplementation::getPhoto() {
 	if ( ! filesList.isEmpty()) {
 		auto f = filesList[++cur%=filesList.size()];
-		QImage imgOrig(f.fileName());
+		QImage imgOrig(f.absoluteFilePath());
 
 		if (! imgOrig.isNull()) {
-			QLOG_INFO() << "Opening file " << f.fileName();
+			QLOG_INFO() << "Opening file " << f.absoluteFilePath();
 		} else {
-			QLOG_ERROR() << "Can not open file " << f.fileName();
+			QLOG_ERROR() << "Can not open file " << f.absoluteFilePath();
 			return QVector<uint8_t>();
 		}