RawlogGrabberApp_unittest.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <gtest/gtest.h>
#include <mrpt/apps/RawlogGrabberApp.h>
#include <mrpt/config.h>
#include <mrpt/core/lock_helper.h>
#include <mrpt/system/filesystem.h>
#include <test_mrpt_common.h>
#include <thread>

#if MRPT_HAS_FFMPEG && MRPT_HAS_OPENCV
TEST(RawlogGrabberApp, CGenericCamera_AVI)
#else
TEST(RawlogGrabberApp, DISABLED_CGenericCamera_AVI)
#endif
{
    using namespace std::string_literals;

    const std::string ini_fil =
        mrpt::UNITTEST_BASEDIR +
        "/share/mrpt/config_files/rawlog-grabber/camera_ffmpeg_video_file.ini"s;
    EXPECT_TRUE(mrpt::system::fileExists(ini_fil));

    const std::string video_fil =
        mrpt::UNITTEST_BASEDIR + "/share/mrpt/datasets/dummy_video.avi"s;
    EXPECT_TRUE(mrpt::system::fileExists(video_fil));

    try
    {
        mrpt::apps::RawlogGrabberApp app;
        app.setMinLoggingLevel(mrpt::system::LVL_ERROR);

        const char* argv[] = {"rawlog-grabber", ini_fil.c_str()};
        const int argc = sizeof(argv) / sizeof(argv[0]);

        app.initialize(argc, argv);

        // Create output dir:
        const auto out_dir = mrpt::system::getTempFileName() + "_dir"s;
        if (!mrpt::system::createDirectory(out_dir))
            THROW_EXCEPTION_FMT("Could not mkdir: `%s`", out_dir.c_str());

        app.params.write("global", "rawlog_prefix", out_dir + "/dataset"s);
        app.params.write("Camera1", "ffmpeg_url", video_fil);

        // Run slowly, so we have time to capture a few frames from the
        // (otherwise really short) test video file:
        app.params.write("Camera1", "process_rate", "10.0");

        // Max. run time.
        // Should end much sooner when the video file is entirely processed.
        app.run_for_seconds = 45.0;

        // Less verbose output in tests:
        app.show_sensor_thread_exceptions = false;

        const std::size_t REQUIRED_GRAB_OBS = 3U;
        std::atomic_bool runEnded = false;

        auto tWatchDog = std::thread([&]() {
            while (!runEnded)
            {
                const auto numSavedObjs = [&]() {
                    auto lk = mrpt::lockHelper(app.results_mtx);
                    return app.rawlog_saved_objects;
                }();
                if (numSavedObjs >= REQUIRED_GRAB_OBS)
                {
                    auto lk = mrpt::lockHelper(app.params_mtx);
                    app.run_for_seconds = 1.0;  // make it exit
                    break;
                }
                std::this_thread::sleep_for(std::chrono::milliseconds(500));
            }
        });

        // Run:
        app.run();

        runEnded = true;

        // Check expected results:
        std::cout << "Rawlog grabbed objects: " << app.rawlog_saved_objects
                  << std::endl;
        if (tWatchDog.joinable()) tWatchDog.join();

        EXPECT_GE(app.rawlog_saved_objects, REQUIRED_GRAB_OBS);
    }
    catch (const std::exception& e)
    {
        std::cerr << mrpt::exception_to_str(e);
        GTEST_FAIL();
    }
}