[RSDK-11808] - Add unit tests

.github/workflows/integration.yml

@@ -4,18 +4,6 @@ on:
   workflow_run:
     workflows: ["Build Latest"]
     types: [completed]
-  push:
-    branches: 
-      - '*'
-    paths-ignore:
-      - 'README.md'
-      - 'docs/**'
-  pull_request:
-    branches:
-      - '*'
-    paths-ignore:
-      - 'README.md'
-      - 'docs/**'
 
 permissions:
   contents: read

.github/workflows/unit.yml

@@ -0,0 +1,50 @@
+name: Unit Tests
+
+on:
+  push:
+    branches:
+      - '*'
+    paths-ignore:
+      - 'README.md'
+      - 'docs/**'
+  pull_request:
+    branches:
+      - '*'
+    paths-ignore:
+      - 'README.md'
+      - 'docs/**'
+
+jobs:
+  unit-test:
+    name: Unit Tests
+    runs-on: buildjet-2vcpu-ubuntu-2204-arm
+    strategy:
+      matrix:
+        include:
+          - container: ghcr.io/viam-modules/csi-camera/viam-cpp-base-jetson:0.0.6
+            TARGET: jetson
+
+    container:
+      image: ${{ matrix.container }}
+      options: --platform linux/arm64
+
+    steps:
+      - name: Check out code
+        uses: actions/checkout@v3
+
+      - name: Set environment variables
+        run: |
+          echo "TARGET=${{ matrix.TARGET }}" >> $GITHUB_ENV
+          echo "META_PATH=${{ matrix.META_PATH }}" >> $GITHUB_ENV
+
+      - name: Install module dependencies
+        run: make dep
+
+      - name: Build viam-csi binary
+        run: make build
+
+      - name: Run unit tests
+        run: |
+          export VIAM_CSI_DEVICE=${{ matrix.TARGET }}
+          export VIAM_CSI_TEST_MODE=1
+          ctest --test-dir build --rerun-failed --output-on-failure -VV

.gitignore

@@ -9,3 +9,5 @@ etc/appimage-build
 **/.DS_Store
 gha-creds-*.json
 .vscode
+*Testing
+*squashfs-root*

CMakeLists.txt

@@ -44,7 +44,7 @@ install(TARGETS ${PROJECT_NAME} DESTINATION usr/local/bin)
 
 
 # Test executable
-add_executable(${PROJECT_NAME}_test test/test_csi_camera.cpp)
+add_executable(${PROJECT_NAME}_test tests/unit/test_csi_camera.cpp)
 
 target_link_libraries(${PROJECT_NAME}_test
         ${GSTREAMER_LIBRARIES}

Makefile

@@ -65,7 +65,7 @@ dep:
 	apt-get update && \
 	if [ "$(TARGET)" = "jetson" ]; then \
 		apt-get -y install libgtest-dev && \
-		apt-get install -y gstreamer1.0-tools && \
+		apt-get install -y gstreamer1.0-tools gstreamer1.0-plugins-good && \
 		apt-get install -y libgstreamer1.0-dev \
 			libgstreamer-plugins-base1.0-dev \
 			libgstreamer-plugins-good1.0-dev \

test/test_csi_camera.cpp → tests/unit/test_csi_camera.cpp

@@ -1,16 +1,28 @@
 #include <gtest/gtest.h>
+#include <cstdlib>
+#include <viam/sdk/common/instance.hpp>
 #include <viam/sdk/common/proto_convert.hpp>
 #include <viam/sdk/components/camera.hpp>
 
-#include "../constraints.h"
-#include "../csi_camera.cpp"
-#include "../utils.cpp"
+#include "../../constraints.h"
+#include "../../csi_camera.cpp"
+#include "../../utils.cpp"
 
 using namespace viam::sdk;
 
+// One-time runtime bootstrap to initialize Viam SDK Instance and GStreamer
+static void ensure_runtime() {
+    static bool inited = false;
+    if (inited)
+        return;
+    static Instance inst;
+    gst_init(nullptr, nullptr);
+    inited = true;
+}
+
 // Test that the camera can be created with default values
 TEST(CSICamera, CreateDefault) {
-    gst_init(nullptr, nullptr);
+    ensure_runtime();
 
     ProtoStruct attrs = std::unordered_map<std::string, ProtoValue>();
 
@@ -26,7 +38,7 @@ TEST(CSICamera, CreateDefault) {
 
 // Test that the camera can be created with custom values
 TEST(CSICamera, CreateCustom) {
-    gst_init(nullptr, nullptr);
+    ensure_runtime();
 
     ProtoStruct attrs = std::unordered_map<std::string, ProtoValue>();
     attrs.insert(std::make_pair("width_px", ProtoValue(640)));
@@ -59,8 +71,6 @@ TEST(CSICamera, StartStopPipeline) {
 
     camera.stop_pipeline();
 
-    pipeline = camera.get_pipeline();
-    appsink = camera.get_appsink();
-    EXPECT_EQ(GST_STATE(pipeline), GST_STATE_NULL);
-    EXPECT_EQ(GST_STATE(appsink), GST_STATE_NULL);
+    EXPECT_EQ(camera.get_pipeline(), nullptr);
+    EXPECT_EQ(camera.get_appsink(), nullptr);
 }