Update integration test, hide behind cmake flag

Signed-off-by: Evan Flynn <[email protected]>

Author: flynneva

CMakeLists.txt

@@ -86,12 +86,12 @@ if(BUILD_TESTING)
     test/test_pixel_formats.cpp)
   target_link_libraries(test_pixel_formats
     ${PROJECT_NAME})
-  # TODO(flynneva): rewrite this test in another PR
-  # Integration tests
-  # ament_add_gtest(test_usb_cam_lib
-  #  test/test_usb_cam_lib.cpp)
-  # target_link_libraries(test_usb_cam_lib
-  #   ${PROJECT_NAME})
+  if(INTEGRATION_TESTS)
+    ament_add_gtest(test_usb_cam_lib
+      test/test_usb_cam_lib.cpp)
+    target_link_libraries(test_usb_cam_lib
+      ${PROJECT_NAME})
+  endif()
 endif()
 
 install(

README.md

@@ -154,7 +154,25 @@ Unfortunately `rviz2` and `show_image.py` do not support visualizing the compres
 ros2 run image_transport republish compressed raw --ros-args --remap in/compressed:=image_raw/compressed --remap out:=image_raw/uncompressed
 ```
 
-## Address and leak sanitizing
+## Testing
+
+To run the basic unit tests for this repository:
+
+```shell
+colcon build --packages-select usb_cam
+colcon test --pacakges-select usb_cam
+```
+
+### Integration tests
+
+To run integration tests for this repository:
+
+```shell
+colcon build --packages-select usb_cam --cmake-args -DINTEGRATION_TESTS=1
+colcon test --pacakges-select usb_cam
+```
+
+### Address and leak sanitizing
 
 Incorporated into the `CMakelists.txt` file to assist with memory leak and address sanitizing
 is a flag to add these compile commands to the targets.

include/usb_cam/usb_cam.hpp

@@ -104,32 +104,27 @@ typedef struct
 
 typedef struct
 {
-  std::string camera_name;  // can be anything
-  std::string device_name;  // usually /dev/video0 or something similiar
-  std::string frame_id;
-  std::string io_method_name;
-  std::string camera_info_url;
-  // these parameters all have to be a combination supported by the device
-  // Use
-  // v4l2-ctl --device=0 --list-formats-ext
-  // to discover them,
-  // or guvcview
-  std::string pixel_format_name;
-  std::string av_device_format;
-  int image_width;
-  int image_height;
-  int framerate;
-  int brightness;
-  int contrast;
-  int saturation;
-  int sharpness;
-  int gain;
-  int white_balance;
-  int exposure;
-  int focus;
-  bool auto_white_balance;
-  bool autoexposure;
-  bool autofocus;
+  std::string camera_name = "usb_cam";  // can be anything
+  std::string device_name = "/dev/video0";  // usually /dev/video0 or something similiar
+  std::string frame_id = "camera";
+  std::string io_method_name = "mmap";
+  std::string camera_info_url = "package://usb_cam/config/camera_info.yaml";
+  std::string pixel_format_name = "yuyv2rgb";
+  std::string av_device_format = "YUV422P";
+  int image_width = 600;
+  int image_height = 400;
+  int framerate = 30.0;
+  int brightness = -1;
+  int contrast = -1;
+  int saturation = -1;
+  int sharpness = -1;
+  int gain = -1;
+  int white_balance = -1;
+  int exposure = -1;
+  int focus = -1;
+  bool auto_white_balance = true;
+  bool autoexposure = true;
+  bool autofocus = false;
 } parameters_t;
 
 typedef struct

test/test_usb_cam_lib.cpp

@@ -38,22 +38,19 @@
 TEST(test_usb_cam_lib, test_usb_cam_class) {
   usb_cam::UsbCam test_usb_cam;
 
+  usb_cam::parameters_t parameters;
+  test_usb_cam.configure(parameters, usb_cam::utils::IO_METHOD_MMAP);
+
+  test_usb_cam.start();
+
   auto supported_fmts = test_usb_cam.get_supported_formats();
 
   // TODO(flynneva): iterate over availble formats with test_usb_cam obj
   for (auto fmt : supported_fmts) {
     std::cerr << "format: " << fmt.format.type << std::endl;
   }
 
-  // TODO(flynneva): rework these tests in another MR
-  {
-    // test_usb_cam.configure(
-    //   "/dev/video0",
-    //   usb_cam::utils::IO_METHOD_MMAP,
-    //   "yuyv2rgb", 640, 480, 30);
-    // test_usb_cam.start();
-    // TODO(flynneva): uncomment once /dev/video0 can be simulated in CI
-    // EXPECT_TRUE(test_usb_cam.is_capturing());
-    // test_usb_cam.shutdown();
-  }
+  // TODO(flynneva): uncomment once /dev/video0 can be simulated in CI
+  EXPECT_TRUE(test_usb_cam.is_capturing());
+  test_usb_cam.shutdown();
 }