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146 lines
6.3 KiB
146 lines
6.3 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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#test:donotrun:!dds
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#test:retries:gha 2
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from rspy import log, test
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import pyrealdds as dds
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dds.debug( log.is_debug_on() )
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device_info = dds.message.device_info()
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device_info.topic_root = 'server/device'
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with test.remote.fork( nested_indent=None ) as remote:
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if remote is None: # we're the fork
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with test.closure( 'Start the server participant' ):
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participant = dds.participant()
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participant.init( 123, 'server' )
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with test.closure( 'Create the server' ):
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device_info.name = 'Some device'
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s1p1 = dds.video_stream_profile( 9, dds.video_encoding.rgb, 10, 10 )
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s1profiles = [s1p1]
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s1 = dds.color_stream_server( 's1', 'sensor' )
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s1.init_profiles( s1profiles, 0 )
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server = dds.device_server( participant, device_info.topic_root )
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server.init( [s1], [], {} )
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with test.closure( 'Set up a control handler' ):
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n_replies = 0
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def _on_control( server, id, control, reply ):
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# the control has already been output to debug by the calling code, as will the reply
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global n_replies
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n_replies += 1
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reply['sequence'] = n_replies # to show that we've processed it
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reply['nested-json'] = { 'more': True } # to show off
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return True # otherwise the control will be flagged as error
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subscription = server.on_control( _on_control )
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raise StopIteration() # exit the 'with' statement
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###############################################################################################################
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# The client is a device from which we send controls
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#
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from dds import wait_for_devices
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with test.closure( 'Start the client participant' ):
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participant = dds.participant()
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participant.init( 123, 'client' )
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with test.closure( 'Wait for the device' ):
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device_info.name = 'Device1'
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device = dds.device( participant, device_info )
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device.wait_until_ready()
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with test.closure( 'Set up a notification handler' ):
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n_replies = 0
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notification_count = dict()
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reply_count = dict()
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notification_count[device.guid()] = 0
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reply_count[device.guid()] = 0
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import threading
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notifications = threading.Event()
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def expect_notifications( n=1 ):
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global notifications, n_notifications
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notifications.clear()
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n_notifications = n
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def _on_notification( device, id, notification ):
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global notification_count, notifications, n_notifications
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n_notifications -= 1
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if n_notifications <= 0:
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notifications.set()
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notification_count[device.guid()] += 1
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sample = notification.get( 'sample' )
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if sample is None:
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log.d( f'notification to {device}: {notification}' )
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elif sample[0] == str(device.guid()):
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log.d( f'reply to {device}' )
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reply_count[device.guid()] += 1
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else:
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log.d( f'notification to {device}' )
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notification_subscription = device.on_notification( _on_notification )
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with test.closure( 'Send a notification that is not a reply' ):
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dev1_notifications = notification_count[device.guid()]
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dev1_replies = reply_count[device.guid()]
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expect_notifications( 1 )
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remote.run( 'server.publish_notification( { "id": "something" } )' )
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notifications.wait( 3 )
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test.check_equal( notification_count[device.guid()], dev1_notifications + 1 ) # notification
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test.check_equal( reply_count[device.guid()], dev1_replies ) # not a reply
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with test.closure( 'Set up a control sender' ):
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server_sequence = 0
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def control( device, json, n=1 ):
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global server_sequence
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server_sequence += 1
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expect_notifications( n )
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reply = device.send_control( json, True ) # Wait for reply
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if test.check( reply.get('control') is not None ):
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test.check_equal( reply['control']['id'], json['id'] )
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else:
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test.check_equal( reply['id'], json['id'] )
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test.check_equal( reply['sequence'], server_sequence )
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test.check_equal( reply['sample'][0], str(device.guid()) )
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notifications.wait( 3 ) # We may get the reply before the other notifications are received
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return reply
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with test.closure( 'Send some controls' ):
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control( device, { 'id': 'control' } )
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control( device, { 'id': 'control-2' } )
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with test.closure( 'Add a second device!' ):
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device_info.name = 'Device2'
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device2 = dds.device( participant, device_info )
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notification_count[device2.guid()] = 0
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reply_count[device2.guid()] = 0
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notification2_subscription = device2.on_notification( _on_notification )
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device2.wait_until_ready()
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with test.closure( 'Controls generate notifications to all devices' ):
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dev1_notifications = notification_count[device.guid()]
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dev2_notifications = notification_count[device2.guid()]
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control( device, { 'id': 'dev1' }, 2 )
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test.check_equal( notification_count[device.guid()], dev1_notifications + 1 )
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test.check_equal( notification_count[device2.guid()], dev2_notifications + 1 ) # both get notifications
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control( device2, { 'id': 'dev2' }, 2 )
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test.check_equal( notification_count[device.guid()], dev1_notifications + 2 )
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test.check_equal( notification_count[device2.guid()], dev2_notifications + 2 )
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with test.closure( 'But only one gets a reply' ):
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dev1_replies = reply_count[device.guid()]
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dev2_replies = reply_count[device2.guid()]
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control( device, { 'id': 'dev1' }, 2 )
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test.check_equal( reply_count[device.guid()], dev1_replies + 1 )
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test.check_equal( reply_count[device2.guid()], dev2_replies )
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control( device2, { 'id': 'dev2' }, 2 )
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test.check_equal( reply_count[device.guid()], dev1_replies + 1 )
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test.check_equal( reply_count[device2.guid()], dev2_replies + 1 )
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device = None
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test.print_results()
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