agrippa-stereocam

Testing

ag-cam-tools has two testing tiers:

• unit tests that do not require hardware,
• hardware integration tests that require a camera on the network.

Quick reference

make test
make test-hw
make test-all

Unit tests

Unit tests are standalone C programs built around the Unity framework (vendor/unity/). They link against only the object files under test rather than the full camera stack.

Current binaries

Binary	Source	Tests	Coverage
bin/test_calib_archive	tests/test_calib_archive.c	27	Archive pack/unpack, format handling, multi-slot AGMS
bin/test_remap	tests/test_remap.c	12	Remap table loading and application
bin/test_binning	tests/test_binning.c	9	Debayer, software binning, and grayscale processing
bin/test_calib_load	tests/test_calib_load.c	9	Local-path calibration loading, metadata parsing
bin/test_focus	tests/test_focus.c	24	Focus metrics (Laplacian, Tenengrad, Brenner), ROI, blur monotonicity
bin/test_stereo_common	tests/test_stereo_common.c	21	Backend parsing, SGBM defaults, JET colorize, depth conversion, range
bin/test_imgproc_extra	tests/test_imgproc_extra.c	21	Gamma LUT, color conversion, debayer-to-gray, DualBayer pipeline
bin/test_image	tests/test_image.c	17	Format parsing, PGM/PNG/JPG encoding, DualBayer pair output
bin/test_calib_load_slot	tests/test_calib_load_slot.c	10	Slot-based calibration loading via mock device
bin/test_disparity_filter	tests/test_disparity_filter.c	10	Specular masking, median filter, morphological cleanup
bin/test_temporal_filter	tests/test_temporal_filter.c	12	Temporal median filter, ring buffer, scene-change reset
bin/test_confidence	tests/test_confidence.c	9	Confidence scoring, JET colorization, edge cases

Conventions

• Each test is a void test_<name>(void) function.
• setUp() and tearDown() are called automatically before and after every test.
• main() uses UNITY_BEGIN() / UNITY_END() and calls RUN_TEST(test_fn).
• Individual tests can be selected from the command line; pass -v for verbose output.

Hardware integration tests

Hardware tests are shell scripts in tests/.

Current scripts

Script	Coverage
tests/test_stash_hw.sh	Calibration-stash lifecycle
tests/test_binning_hw.sh	Capture behavior with and without binning

Conventions

• accept -s, -a, and -i for device selection,
• return 77 when no camera is available,
• clean up temporary files with trap,
• avoid unnecessary external dependencies.

Fixture helper

tests/gen_test_calibration.c generates a small synthetic calibration session for fast archive tests.

Adding tests

For a new unit test:

1. Create tests/test_<name>.c, include ../vendor/unity/unity.h and the header under test.
2. Implement void setUp(void) and void tearDown(void) (can be empty stubs).
3. Write tests as void test_<descriptive_name>(void) functions.
4. In main(), use UNITY_BEGIN() / return UNITY_END() with RUN_TEST() calls.
5. Add a Makefile rule linking $(UNITY_OBJ) and only the needed .o files against TEST_LIBS.
6. Add the binary to the test: target.

For a new hardware test:

1. Create tests/test_<name>_hw.sh.
2. Keep the same device selection and exit-code conventions.
3. Add it to test-hw in the Makefile.

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