// Copyright 2021 Bey Hao Yun

//

// 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 <gtest/gtest.h>

#include <bits/stdc++.h>

#include <chrono>

#include <string>

#include <memory>

#include <functional>

#include "cv_bridge/cv_bridge.h"

#include "rclcpp/rclcpp.hpp"

#include "std_msgs/msg/string.hpp"

#include "sensor_msgs/msg/image.hpp"

// OpenCV library

#include "opencv2/opencv.hpp"

#include "virtual_camera/virtual_camera.hpp"

using namespace std::chrono_literals;

std::string PATH_TO_TEST_IMAGE(PATH_TO_PACKAGE "/data/nadezhda_diskant.jpg");

std::string PATH_TO_TEST_VIDEO(PATH_TO_PACKAGE "/data/video.mp4");

std::string PATH_TO_INPUT_DATA(PATH_TO_PACKAGE "/data/input_data");

// Test with a static image as input_data.

TEST(VirtualCamera_TestSuite, Test_VirtualCamera_ImageInputData)

{

system(("ln -sf " + PATH_TO_TEST_IMAGE + PATH_TO_INPUT_DATA).c_str());

auto vcamera_node = std::make_shared<VirtualCamera>();

sensor_msgs::msg::Image msg;

msg = vcamera_node->process_timer_callback();

}

// Test with a static video as input_data.

TEST(VirtualCamera_TestSuite, Test_VirtualCamera_VideoInputData)

{

system(("ln -sf " + PATH_TO_TEST_VIDEO + PATH_TO_INPUT_DATA).c_str());

auto vcamera_node = std::make_shared<VirtualCamera>();

}

// Test with calls to advance cursor.

TEST(VirtualCamera_TestSuite, Test_VirtualCamera_AdvanceCursor)

{

system(("ln -sf " + PATH_TO_TEST_IMAGE + PATH_TO_INPUT_DATA).c_str());

auto vcamera_node = std::make_shared<VirtualCamera>();

vcamera_node->activate_advance_cursor();

}

// Test with calls to timer_callback that publishes the image as sensor_msgs

TEST(VirtualCamera_TestSuite, Test_VirtualCamera_TimerCallback)

{

system(("ln -sf " + PATH_TO_TEST_IMAGE + " input_data").c_str());

auto vcamera_node = std::make_shared<VirtualCamera>();

vcamera_node->activate_time_callback();

}

int main(int argc, char ** argv)

{

rclcpp::init(argc, argv);

testing::InitGoogleTest(&argc, argv);

return RUN_ALL_TESTS();

}