test: add integration test for polling tracking mode

dual_camera_system/tests/test_integration_polling.py

@@ -0,0 +1,91 @@
+import sys
+import os
+import tempfile
+
+sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+
+import numpy as np
+from polling_tracker import PollingTrackingCoordinator
+from tracker import TrackedPerson, UltralyticsTracker
+
+
+class FakePanorama:
+    def __init__(self):
+        self.connected = False
+        self.streaming = False
+
+    def connect(self):
+        self.connected = True
+        return True
+
+    def start_stream_rtsp(self):
+        self.streaming = True
+        return True
+
+    def get_frame(self):
+        return np.zeros((480, 640, 3), dtype=np.uint8)
+
+    def disconnect(self):
+        self.connected = False
+        self.streaming = False
+
+
+class FakePTZ:
+    def __init__(self):
+        self.connected = False
+        self.commands = []
+        self.ptz_config = {"default_zoom": 8}
+
+    def connect(self):
+        self.connected = True
+        return True
+
+    def goto_exact_position(self, pan, tilt, zoom):
+        self.commands.append((pan, tilt, zoom))
+        return True
+
+    def get_frame(self):
+        return np.zeros((480, 640, 3), dtype=np.uint8)
+
+    def get_current_position(self):
+        return type("P", (), {"pan": 0, "tilt": 0, "zoom": 1})()
+
+    def calculate_ptz_position(self, x, y, zoom=None):
+        return x * 180, y * 90, zoom or 8
+
+    def disconnect(self):
+        self.connected = False
+
+
+class FakeTracker:
+    def __init__(self):
+        self.frame_count = 0
+
+    def update(self, frame):
+        self.frame_count += 1
+        return [
+            TrackedPerson(track_id=1, bbox=(100, 100, 150, 200), center=(125, 150), confidence=0.9),
+        ]
+
+
+def test_integration_polling_start_stop():
+    pan = FakePanorama()
+    ptz = FakePTZ()
+    tracker = FakeTracker()
+    capture_dir = tempfile.mkdtemp(prefix="tracking_captures_")
+    coord = PollingTrackingCoordinator(pan, ptz, tracker, config={
+        "max_tracking_targets": 4,
+        "ptz_stabilize_time": 0.05,
+        "tracking_timeout": 1.0,
+        "enable_upload": False,
+        "capture_dir": capture_dir,
+    })
+
+    assert coord.start() is True
+    import time
+    time.sleep(0.3)
+    coord.stop()
+
+    assert pan.connected is False
+    assert ptz.connected is False
+    assert len(ptz.commands) > 0