Add blender unit testing

A console script has been added, blendunittest,  to run unittest under blender.
The blender unittesting file should start by blendtest, and be formatted according to unittesting convention.

navipy/sensors/blendtest_renderer.py

+"""
+ Unittesting under blender
+"""
+import unittest
+import numpy as np
+from navipy.sensors.renderer import BlenderRender
+
+
+class TestBlenderRender(unittest.TestCase):
+    @classmethod
+    def setUpClass(self):
+        self.cyberbee = BlenderRender()
+
+    def test_class_assigments_error(self):
+        """ Test that error are correctly raised
+        List of tested function:
+        * camera_rotation_mode
+        * cycle_samples
+        * camera_fov
+        * camera_gaussian_width
+        * camera_resolution
+        """
+        with self.assertRaises(TypeError):
+            # Should a string
+            self.cyberbee.camera_rotation_mode = 0
+        with self.assertRaises(TypeError):
+            # Should be an integer
+            self.cyberbee.cycle_samples = 0.1
+        with self.assertRaises(TypeError):
+            # Should be a tuple list or np.ndarray
+            self.cyberbee.camera_fov = 'bla'
+        with self.assertRaises(TypeError):
+            # Should be a float or int, so not a complex
+            self.cyberbee.camera_gaussian_width = 4 + 4j
+        with self.assertRaises(TypeError):
+            # Should be a tuple, list or nd.array
+            self.cyberbee.camera_resolution = 'bla'
+
+    def test_class_assigments(self):
+        """ Test set/get match
+
+        * camera_rotation_mode
+        * cycle_samples
+        * camera_fov
+        * camera_gaussian_width
+        * camera_resolution
+        """
+        # camera cycle_samples
+        val = 100
+        self.cyberbee.cycle_samples = val
+        self.assertEqual(val, self.cyberbee.cycle_samples)
+        # camera rotation mode
+        val = 'XYZ'
+        self.cyberbee.camera_rotation_mode = val
+        self.assertEqual(val, self.cyberbee.camera_rotation_mode)
+        # camera fov
+        val = np.array([[-90, 90], [-180, 180]])
+        self.cyberbee.camera_fov = val
+        np.testing.assert_allclose(val, self.cyberbee.camera_fov)
+        # camera gaussian
+        val = 1.5
+        self.cyberbee.gaussian_width = val
+        self.assertEqual(val, self.cyberbee.gaussian_width)
+        # camera resolution
+        val = np.array([360, 180])
+        self.cyberbee.camera_resolution = val
+        np.testing.assert_allclose(val, self.cyberbee.camera_resolution)

navipy/sensors/blendunittest.py

+"""
+
+"""
+import unittest
+import sys
+import argparse
+import pkg_resources
+import tempfile
+import os
+import inspect
+
+
+def parser_blendnavipy():
+    # Create command line options
+    parser = argparse.ArgumentParser()
+    arghelp = 'Path to the environment (.blend) in which your agent lives'
+    defaultworld = pkg_resources.resource_filename(
+        'navipy', 'resources/twocylinders_world.blend')
+    parser.add_argument('--blender-world',
+                        type=str,
+                        default=defaultworld,
+                        help=arghelp)
+    arghelp = 'Path to start searching for blendtest*.py'
+    parser.add_argument('--start-dir',
+                        type=str,
+                        default='navipy',
+                        help=arghelp)
+    arghelp = 'Command to run blender\n'
+    arghelp += 'If not provided, the script will try to find the command'
+    arghelp += " by using: shutil.which('blender')"
+    parser.add_argument('--blender-command',
+                        type=str,
+                        default=None,
+                        help=arghelp)
+
+    arghelp = 'To display some stuff \n'
+    arghelp += ' * -v print command \n'
+    arghelp += ' * -vv print also script'
+    parser.add_argument('-v', '--verbose',
+                        action='count',
+                        default=0,
+                        help=arghelp)
+    return parser
+
+
+def run(start_dir):
+    suite = unittest.defaultTestLoader.discover(start_dir=start_dir,
+                                                pattern='blendtest*.py')
+    success = unittest.TextTestRunner().run(suite).wasSuccessful()
+    print(success)
+    if not success:
+        raise Exception('Tests Failed')
+
+
+def main():
+    # encoding for temporary file
+    encoding = 'utf-8'
+
+    # Fetch arguments
+    args = parser_blendnavipy().parse_args()
+
+    # Create tempfile with testing code and then call blendnavipy
+    header = '# Generated by {}\n'.format(sys.argv[0])
+    with tempfile.NamedTemporaryFile() as tfile:
+        # Start of file
+        tfile.write(header.encode(encoding))
+        tfile.write('import unittest \n'.encode(encoding))
+        for line in inspect.getsourcelines(run)[0]:
+            tfile.write(line.encode(encoding))
+        tfile.write('\n\n'.encode(encoding))
+        tfile.write('try:\n'.encode(encoding))
+        tfile.write('     run("{}")\n'.format(args.start_dir).encode(encoding))
+        tfile.write('     sys.exit(0)\n'.encode(encoding))
+        tfile.write('except Exception:\n'.encode(encoding))
+        tfile.write('     sys.exit(1)\n'.encode(encoding))
+        tfile.seek(0)
+
+        command = 'blendnavipy --blender-world {} --python-script {}'
+        command = command.format(args.blender_world, tfile.name)
+        if args.blender_command is not None:
+            command += ' --blender-command {}'.format(args.blender_command)
+        for _ in range(args.verbose):
+            command += ' -v'
+        os.system(command)
+
+
+if __name__ == "__main__":
+    # execute only if run as a script
+    main()

navipy/sensors/renderer.py

@@ -136,23 +136,23 @@ class BlenderRender():
         """get fov of camera
 
         :returns: the field of view of the camera as \
-[min,max],[longitude,latitude] in degrees
-        :rtype: dict
+        [[minimum latitude, maximum latitude],
+                            [minimum longitude, maximum longitude]]
+                            (in deg)
+        :rtype: np.array
 
         ..todo Change assert to if -> raise TypeError/KeyError
 
         """
-        if self.camera.data.type != 'PANO':
+        if not self.camera.data.type == 'PANO':
             raise TypeError('Camera is not panoramic')
-        if self.camera.cycles.panorama_type == 'EQUIRECTANGULAR':
+        if not self.camera.data.cycles.panorama_type == 'EQUIRECTANGULAR':
             raise TypeError('The panoramic camera is not equirectangular')
-        fov = dict()
-        fov['latitude_min'] = np.rad2ged(self.camera.data.cycles.latitude_min)
-        fov['latitude_max'] = np.rad2ged(self.camera.data.cycles.latitude_max)
-        fov['longitude_min'] = np.rad2ged(
-            self.camera.data.cycles.longitude_min)
-        fov['longitude_max'] = np.rad2ged(
-            self.camera.data.cycles.longitude_max)
+        fov = np.zeros((2, 2))
+        fov[0, 0] = np.rad2deg(self.camera.data.cycles.latitude_min)
+        fov[0, 1] = np.rad2deg(self.camera.data.cycles.latitude_max)
+        fov[1, 0] = np.rad2deg(self.camera.data.cycles.longitude_min)
+        fov[1, 1] = np.rad2deg(self.camera.data.cycles.longitude_max)
         return fov
 
     @camera_fov.setter

setup.py

@@ -41,10 +41,11 @@ setup_dict = {'name': 'navipy',
                                    'networkx',
                                    'sphinx-argparse'],
               'package_data': {'navipy': ['resources/database.db',
-                                          'resources/forest_world.blend']},
+                                          'resources/*.blend']},
               'include_package_data': True,
               'entry_points': {
                   'console_scripts': [
-                      'blendnavipy=navipy.sensors.blendnavipy:main']}, }
+                      'blendnavipy=navipy.sensors.blendnavipy:main',
+                      'blendunittest=navipy.sensors.blendunittest:main']}, }
 
 setup(**setup_dict)