fwt_software/tests/test_cameramode.cpp

#include <doctest/doctest.h>

#include "fgc/CameraMode.h"

#include <filesystem>
#include <fstream>
#include <string>

#include <unistd.h>

using namespace fgc;
namespace fs = std::filesystem;

namespace {

// Each test gets its own directory so a stale file can never leak between them.
fs::path scratchDir(const std::string& tag) {
    fs::path d = fs::temp_directory_path() / ("fgc_modes_" + tag + "_" + std::to_string(::getpid()));
    fs::remove_all(d);
    fs::create_directories(d);
    return d;
}

void write(const fs::path& p, const std::string& text) {
    std::ofstream f(p);
    f << text;
}

const char* kMinimal = R"(
[Mode]
description = A mode
settle_wait_ms = 1500
frame_timeout_ms = 3000

[Camera]
AcquisitionFrameRate = 10
ExposureAuto = Continuous
)";

}  // namespace

TEST_CASE("loadCameraMode reads the header and names the mode after the file") {
    fs::path d = scratchDir("header");
    write(d / "standard.ini", kMinimal);

    CameraMode m = loadCameraMode((d / "standard.ini").string());
    CHECK(m.name == "standard");
    CHECK(m.description == "A mode");
    CHECK(m.settle_wait_ms == 1500);
    CHECK(m.frame_timeout_ms == 3000);
    REQUIRE(m.features.size() == 2);

    fs::remove_all(d);
}

TEST_CASE("loadCameraMode defaults the [Mode] header when it is absent") {
    fs::path d = scratchDir("defaults");
    write(d / "bare.ini", "[Camera]\nGamma = 1.0\n");

    CameraMode m = loadCameraMode((d / "bare.ini").string());
    CHECK(m.description.empty());
    CHECK(m.settle_wait_ms == 1000);
    CHECK(m.frame_timeout_ms == 2000);

    fs::remove_all(d);
}

TEST_CASE("loadCameraMode preserves file order and repeated keys") {
    // GenICam selectors are stateful, so both properties are load-bearing: a map
    // would sort BalanceRatio ahead of BalanceRatioSelector and collapse the two
    // ratios into one.
    fs::path d = scratchDir("order");
    write(d / "wb.ini", R"(
[Camera]
BalanceRatioSelector = Red
BalanceRatio = 2.87
BalanceRatioSelector = Blue
BalanceRatio = 2.0
)");

    CameraMode m = loadCameraMode((d / "wb.ini").string());
    REQUIRE(m.features.size() == 4);
    CHECK(m.features[0] == std::make_pair(std::string("BalanceRatioSelector"), std::string("Red")));
    CHECK(m.features[1] == std::make_pair(std::string("BalanceRatio"), std::string("2.87")));
    CHECK(m.features[2] == std::make_pair(std::string("BalanceRatioSelector"), std::string("Blue")));
    CHECK(m.features[3] == std::make_pair(std::string("BalanceRatio"), std::string("2.0")));

    fs::remove_all(d);
}

TEST_CASE("loadCameraMode strips inline comments from feature values") {
    fs::path d = scratchDir("comments");
    write(d / "c.ini", "[Camera]\nExposureAutoMax = 20000  ; blur budget\n");

    CameraMode m = loadCameraMode((d / "c.ini").string());
    REQUIRE(m.features.size() == 1);
    CHECK(m.features[0].second == "20000");

    fs::remove_all(d);
}

TEST_CASE("loadCameraMode rejects files a typo would otherwise make silently wrong") {
    fs::path d = scratchDir("bad");

    write(d / "unknown_key.ini", "[Mode]\nsettle_wait = 500\n[Camera]\nGamma = 1\n");
    CHECK_THROWS(loadCameraMode((d / "unknown_key.ini").string()));

    write(d / "unknown_section.ini", "[Modes]\ndescription = x\n[Camera]\nGamma = 1\n");
    CHECK_THROWS(loadCameraMode((d / "unknown_section.ini").string()));

    write(d / "bad_value.ini", "[Mode]\nsettle_wait_ms = soon\n[Camera]\nGamma = 1\n");
    CHECK_THROWS(loadCameraMode((d / "bad_value.ini").string()));

    write(d / "negative.ini", "[Mode]\nsettle_wait_ms = -1\n[Camera]\nGamma = 1\n");
    CHECK_THROWS(loadCameraMode((d / "negative.ini").string()));

    // A mode that sets nothing on the camera is a mistake, not an empty mode.
    write(d / "no_features.ini", "[Mode]\ndescription = nothing\n");
    CHECK_THROWS(loadCameraMode((d / "no_features.ini").string()));

    CHECK_THROWS(loadCameraMode((d / "does_not_exist.ini").string()));

    fs::remove_all(d);
}

TEST_CASE("loadCameraModes picks up every *.ini in the directory") {
    fs::path d = scratchDir("dir");
    write(d / "standard.ini", kMinimal);
    write(d / "night.ini", kMinimal);
    write(d / "notes.txt", "not a mode");

    auto modes = loadCameraModes(d.string());
    CHECK(modes.size() == 2);
    CHECK(modes.count("standard") == 1);
    CHECK(modes.count("night") == 1);
    CHECK(modes.count("notes") == 0);

    fs::remove_all(d);
}

TEST_CASE("loadCameraModes fails loudly on an empty or missing directory") {
    fs::path d = scratchDir("empty");
    CHECK_THROWS(loadCameraModes(d.string()));
    CHECK_THROWS(loadCameraModes((d / "nope").string()));

    // One bad file fails the whole load, so a mode nobody uses today still cannot
    // rot unnoticed until the night someone switches to it.
    write(d / "good.ini", kMinimal);
    write(d / "bad.ini", "[Mode]\nnonsense = 1\n");
    CHECK_THROWS(loadCameraModes(d.string()));

    fs::remove_all(d);
}

TEST_CASE("the shipped RGB mode files parse and define both modes") {
    // Guards the real config/camera_modes/rgb files, which the rig depends on.
    for (const char* rel : {"config/camera_modes/rgb", "../config/camera_modes/rgb"}) {
        if (!fs::is_directory(rel)) continue;
        auto modes = loadCameraModes(rel);
        REQUIRE(modes.count("standard") == 1);
        REQUIRE(modes.count("night") == 1);
        CHECK(modes.at("standard").settle_wait_ms == 1000);
        CHECK(modes.at("night").settle_wait_ms == 2500);
        CHECK(modes.at("standard").features.size() > 40);
        return;
    }
    MESSAGE("shipped mode files not reachable from the test working directory; skipped");
}