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110 lines
4.5 KiB
110 lines
4.5 KiB
2 months ago
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# License: Apache 2.0. See LICENSE file in root directory.
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# Copyright(c) 2023 Intel Corporation. All Rights Reserved.
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import pyrealdds as dds
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from rspy import log, test
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import pyrealsense2 as rs
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dds.debug( log.is_debug_on(), log.nested )
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participant = dds.participant()
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participant.init( 123, "formats-conversion-server" )
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device_info = dds.message.device_info.from_json({
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"name": "formats-conversion-device",
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"topic-root": "root_123"
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})
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# Used to created a device_server per test case, but it currently creates problems when creating a second device while
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# the first did not yet close. Changing to one device_server with different sensor per test case.
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def create_server():
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stream_servers = []
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# Y8I
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profile = dds.video_stream_profile( 30, dds.video_encoding( "Y8I" ), 1280, 720 )
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stream_server = dds.ir_stream_server( "Y8I-stream", "Y8I-sensor" ) # Stream name is assumed to contain only index after '_', cannot use "Y8I_stream"
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stream_server.init_profiles( [ profile ], 0 )
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stream_servers.append( stream_server )
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# Y12I
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profile = dds.video_stream_profile( 30, dds.video_encoding( "Y12I" ), 1280, 720 )
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stream_server = dds.ir_stream_server( "Y12I-stream", "Y12I-sensor" )
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stream_server.init_profiles( [ profile ], 0 )
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stream_servers.append( stream_server )
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# Y8
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profile = dds.video_stream_profile( 30, dds.video_encoding.y8, 1280, 720 )
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stream_server = dds.ir_stream_server( "Y8-stream", "Y8-sensor" )
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stream_server.init_profiles( [ profile ], 0 )
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stream_servers.append( stream_server )
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# YUYV
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profile = dds.video_stream_profile( 30, dds.video_encoding.yuyv, 1280, 720 )
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stream_server = dds.color_stream_server( "YUYV-stream", "YUYV-sensor" )
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stream_server.init_profiles( [ profile ], 0 )
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stream_servers.append( stream_server )
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# UYVY
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profile = dds.video_stream_profile( 30, dds.video_encoding.uyvy, 1280, 720 )
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stream_server = dds.color_stream_server( "UYVY-stream", "UYVY-sensor" )
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stream_server.init_profiles( [ profile ], 0 )
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stream_servers.append( stream_server )
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# Z16
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profile = dds.video_stream_profile( 30, dds.video_encoding.z16, 1280, 720 )
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stream_server = dds.depth_stream_server( "Z16-stream", "Z16-sensor" )
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stream_server.init_profiles( [ profile ], 0 )
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stream_servers.append( stream_server )
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# Motion
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profile = dds.motion_stream_profile( 30 )
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stream_server = dds.motion_stream_server( "motion-stream", "motion-sensor" )
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stream_server.init_profiles( [ profile ], 0 )
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stream_servers.append( stream_server )
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# multiple motion profiles
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profiles = []
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profiles.append( dds.motion_stream_profile( 63 ) )
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profiles.append( dds.motion_stream_profile( 200 ) )
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profiles.append( dds.motion_stream_profile( 250 ) )
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profiles.append( dds.motion_stream_profile( 400 ) )
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stream_server = dds.motion_stream_server( "multiple-motion-stream", "multiple-motion-sensor" )
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stream_server.init_profiles( profiles, 0 )
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stream_servers.append( stream_server )
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# multiple color profiles
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profiles = []
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profiles.append( dds.video_stream_profile( 5, dds.video_encoding.yuyv, 1280, 720 ) )
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profiles.append( dds.video_stream_profile( 15, dds.video_encoding.yuyv, 1280, 720 ) )
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profiles.append( dds.video_stream_profile( 30, dds.video_encoding.yuyv, 1280, 720 ) )
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stream_server = dds.color_stream_server( "multiple-color-stream", "multiple-color-sensor" )
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stream_server.init_profiles( profiles, 0 )
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stream_servers.append( stream_server )
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# multiple depth profiles
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profiles = []
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profiles.append( dds.video_stream_profile( 5, dds.video_encoding.z16, 1280, 720 ) )
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profiles.append( dds.video_stream_profile( 10, dds.video_encoding.z16, 1280, 720 ) )
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profiles.append( dds.video_stream_profile( 15, dds.video_encoding.z16, 1280, 720 ) )
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profiles.append( dds.video_stream_profile( 20, dds.video_encoding.z16, 1280, 720 ) )
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profiles.append( dds.video_stream_profile( 30, dds.video_encoding.z16, 1280, 720 ) )
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stream_server = dds.depth_stream_server( "multiple-depth-stream", "multiple-depth-sensor" )
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stream_server.init_profiles( profiles, 0 )
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stream_servers.append( stream_server )
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global dev_server
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dev_server = dds.device_server( participant, device_info.topic_root )
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dev_server.init( stream_servers, [], {} )
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dev_server.broadcast( device_info )
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def close_server():
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global dev_server
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dev_server = None
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# From here down, we're in "interactive" mode (see test-device-init.py)
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# ...
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