// License: Apache 2.0. See LICENSE file in root directory.
// Copyright(c) 2015 Intel Corporation. All Rights Reserved.

/////////////////////////////////////////////////////////////////////////////////////////////////////////////
// This set of tests is valid for any number and combination of RealSense cameras, including R200 and F200 //
/////////////////////////////////////////////////////////////////////////////////////////////////////////////

#include <cmath>
#include "unit-tests-common.h"
#include <librealsense2/rs_advanced_mode.hpp>
#include <librealsense2/hpp/rs_types.hpp>
#include <librealsense2/hpp/rs_frame.hpp>
#include <iostream>
#include <chrono>
#include <ctime>
#include <algorithm>
#include <librealsense2/rsutil.h>

using namespace rs2;

TEST_CASE("Sync sanity", "[live][mayfail]") {

    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        auto list = ctx.query_devices();
        REQUIRE(list.size());

        auto dev = list[0];
        disable_sensitive_options_for(dev);

        int fps = is_usb3(dev) ? 30 : 15; // In USB2 Mode the devices will switch to lower FPS rates
        rs2::syncer sync;

        auto profiles = configure_all_supported_streams(dev, 640, 480, fps);

        for (auto s : dev.query_sensors())
        {
            s.start(sync);
        }

        for (auto i = 0; i < 30; i++)
        {
            auto frames = sync.wait_for_frames(500);
        }

        std::vector<std::vector<double>> all_timestamps;
        auto actual_fps = float( fps );

        for (auto i = 0; i < 200; i++)
        {
            auto frames = sync.wait_for_frames(5000);
            REQUIRE(frames.size() > 0);

            std::vector<double> timestamps;
            for (auto&& f : frames)
            {
                bool hw_timestamp_domain = false;
                bool system_timestamp_domain = false;
                bool global_timestamp_domain = false;

                if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
                {
                    auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
                    if (val < actual_fps)
                        actual_fps = val;
                }
                if (f.get_frame_timestamp_domain() == RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK)
                {
                    hw_timestamp_domain = true;
                }
                if (f.get_frame_timestamp_domain() == RS2_TIMESTAMP_DOMAIN_SYSTEM_TIME)
                {
                    system_timestamp_domain = true;
                }
                if (f.get_frame_timestamp_domain() == RS2_TIMESTAMP_DOMAIN_GLOBAL_TIME)
                {
                    global_timestamp_domain = true;
                }
                CAPTURE(hw_timestamp_domain);
                CAPTURE(system_timestamp_domain);
                CAPTURE(global_timestamp_domain);
                REQUIRE(int(hw_timestamp_domain) + int(system_timestamp_domain) + int(global_timestamp_domain) == 1);

                timestamps.push_back(f.get_timestamp());
            }
            all_timestamps.push_back(timestamps);
        }


        size_t num_of_partial_sync_sets = 0;
        for (auto set_timestamps : all_timestamps)
        {
            if (set_timestamps.size() < profiles.second.size())
                num_of_partial_sync_sets++;

            if (set_timestamps.size() <= 1)
                continue;

            std::sort(set_timestamps.begin(), set_timestamps.end());
            REQUIRE(set_timestamps[set_timestamps.size() - 1] - set_timestamps[0] <= 1000.f / actual_fps);
        }

        CAPTURE(num_of_partial_sync_sets);
        CAPTURE(all_timestamps.size());
        // Require some coherent framesets, no KPI
        REQUIRE((float(num_of_partial_sync_sets) / all_timestamps.size()) < 1.f);

        for (auto s : dev.query_sensors())
        {
            s.stop();
        }
    }
}

TEST_CASE("Sync different fps", "[live][mayfail]") {

    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        auto list = ctx.query_devices();
        REQUIRE(list.size());
        auto dev = list[0];

        list = ctx.query_devices();
        REQUIRE(list.size());
        dev = list[0];

        syncer syncer;
        disable_sensitive_options_for(dev);

        auto sensors = dev.query_sensors();

        for (auto s : sensors)
        {
            if (s.supports(RS2_OPTION_EXPOSURE))
            {
                auto range = s.get_option_range(RS2_OPTION_EXPOSURE);
                REQUIRE_NOTHROW(s.set_option(RS2_OPTION_EXPOSURE, range.min));
            }

        }

        std::map<rs2_stream, rs2::sensor*> profiles_sensors;
        std::map<rs2::sensor*, rs2_stream> sensors_profiles;

        int fps_step = is_usb3(dev) ? 30 : 15; // USB2 Mode

        std::vector<int> fps(sensors.size(), 0);

        // The heuristic for FPS selection need to be better explained and probably refactored
        for (auto i = 0; i < fps.size(); i++)
        {
            fps[i] = (fps.size() - i - 1) * fps_step % 90 + fps_step;
        }
        std::vector<std::vector<rs2::sensor*>> streams_groups(fps.size());
        for (auto i = 0; i < sensors.size(); i++)
        {
            auto profs = configure_all_supported_streams(sensors[i], 640, 480, fps[i]);
            for (auto p : profs)
            {
                profiles_sensors[p.stream] = &sensors[i];
                sensors_profiles[&sensors[i]] = p.stream;
            }
            if (profs.size() > 0)
                sensors[i].start(syncer);
        }

        for (auto i = 0; i < sensors.size(); i++)
        {
            for (auto j = 0; j < sensors.size(); j++)
            {
                if ((float)fps[j] / (float)fps[i] >= 1)
                {
                    streams_groups[i].push_back(&sensors[j]);
                }

            }
        }

        std::vector<std::vector<rs2_stream>> frames_arrived;

        for (auto i = 0; i < 200; i++)
        {
            auto frames = syncer.wait_for_frames(5000);
            REQUIRE(frames.size() > 0);
            std::vector<rs2_stream> streams_arrived;
            for (auto&& f : frames)
            {
                auto s = f.get_profile().stream_type();
                streams_arrived.push_back(s);
            }
            frames_arrived.push_back(streams_arrived);
        }

        std::vector<int> streams_groups_arrrived(streams_groups.size(), 0);

        for (auto streams : frames_arrived)
        {
            std::set<rs2::sensor*> sensors;

            for (auto s : streams)
            {
                sensors.insert(profiles_sensors[s]);
            }
            std::vector<rs2::sensor*> sensors_vec(sensors.size());
            std::copy(sensors.begin(), sensors.end(), sensors_vec.begin());
            auto it = std::find(streams_groups.begin(), streams_groups.end(), sensors_vec);
            if (it != streams_groups.end())
            {
                auto ind = std::distance(streams_groups.begin(), it);
                streams_groups_arrrived[ind]++;
            }
        }


        for (auto i = 0; i < streams_groups_arrrived.size(); i++)
        {
            for (auto j = 0; j < streams_groups_arrrived.size(); j++)
            {
                REQUIRE(streams_groups_arrrived[j]);
                auto num1 = streams_groups_arrrived[i];
                auto num2 = streams_groups_arrrived[j];
                CAPTURE(sensors_profiles[&sensors[i]]);
                CAPTURE(num1);
                CAPTURE(sensors_profiles[&sensors[j]]);
                CAPTURE(num2);
                REQUIRE((float)num1 / (float)num2 <= 5 * (float)fps[i] / (float)fps[j]);
            }

        }
    }
}

bool get_mode(rs2::device& dev, stream_profile* profile, int mode_index = 0)
{
    auto sensors = dev.query_sensors();
    REQUIRE(sensors.size() > 0);

    for (auto i = 0; i < sensors.size(); i++)
    {
        auto modes = sensors[i].get_stream_profiles();
        REQUIRE(modes.size() > 0);

        if (mode_index >= modes.size())
            continue;

        *profile = modes[mode_index];
        return true;
    }
    return false;
}

TEST_CASE("Sync start stop", "[live][mayfail]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        auto list = ctx.query_devices();
        REQUIRE(list.size() > 0);
        auto dev = list[0];
        disable_sensitive_options_for(dev);

        syncer sync;

        rs2::stream_profile mode;
        auto mode_index = 0;
        bool usb3_device = is_usb3(dev);
        int fps = usb3_device ? 30 : 15; // In USB2 Mode the devices will switch to lower FPS rates
        int req_fps = usb3_device ? 60 : 30; // USB2 Mode has only a single resolution for 60 fps which is not sufficient to run the test

        do
        {
            REQUIRE(get_mode(dev, &mode, mode_index));
            mode_index++;
        } while (mode.fps() != req_fps);

        auto video = mode.as<rs2::video_stream_profile>();
        auto res = configure_all_supported_streams(dev, video.width(), video.height(), mode.fps());

        for (auto s : res.first)
        {
            REQUIRE_NOTHROW(s.start(sync));
        }


        rs2::frameset frames;
        for (auto i = 0; i < 30; i++)
        {
            frames = sync.wait_for_frames(10000);
            REQUIRE(frames.size() > 0);
        }

        frameset old_frames;

        while (sync.poll_for_frames(&old_frames));

        stream_profile other_mode;
        mode_index = 0;

        REQUIRE(get_mode(dev, &other_mode, mode_index));
        auto other_video = other_mode.as<rs2::video_stream_profile>();
        while ((other_video.height() == video.height() && other_video.width() == video.width()) || other_video.fps() != req_fps)
        {
            CAPTURE(mode_index);
            CAPTURE(video.format());
            CAPTURE(video.width());
            CAPTURE(video.height());
            CAPTURE(video.fps());
            CAPTURE(other_video.format());
            CAPTURE(other_video.width());
            CAPTURE(other_video.height());
            CAPTURE(other_video.fps());
            REQUIRE(get_mode(dev, &other_mode, mode_index));
            mode_index++;
            other_video = other_mode.as<rs2::video_stream_profile>();
            REQUIRE(other_video);
        }

        for (auto s : res.first)
        {
            REQUIRE_NOTHROW(s.stop());
            REQUIRE_NOTHROW(s.close());
        }
        res = configure_all_supported_streams(dev, other_video.width(), other_video.height(), other_mode.fps());

        for (auto s : res.first)
        {
            REQUIRE_NOTHROW(s.start(sync));
        }

        for (auto i = 0; i < 10; i++)
            frames = sync.wait_for_frames(10000);

        REQUIRE(frames.size() > 0);
        auto f = frames[0];
        auto image = f.as<rs2::video_frame>();
        REQUIRE(image);

        REQUIRE(image.get_width() == other_video.width());

        REQUIRE(image.get_height() == other_video.height());
    }
}

TEST_CASE("Device metadata enumerates correctly", "[live]")
{
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {       // Require at least one device to be plugged in
        std::vector<rs2::device> list;
        REQUIRE_NOTHROW(list = ctx.query_devices());
        REQUIRE(list.size() > 0);

        // For each device
        for (auto&& dev : list)
        {
            SECTION("supported device metadata strings are nonempty, unsupported ones throw")
            {
                for (auto j = 0; j < RS2_CAMERA_INFO_COUNT; ++j) {
                    auto is_supported = false;
                    REQUIRE_NOTHROW(is_supported = dev.supports(rs2_camera_info(j)));
                    if (is_supported) REQUIRE(dev.get_info(rs2_camera_info(j)) != nullptr);
                    else REQUIRE_THROWS(dev.get_info(rs2_camera_info(j)));
                }
            }
        }
    }
}

////////////////////////////////////////////
////// Test basic streaming functionality //
////////////////////////////////////////////
TEST_CASE("Start-Stop stream sequence", "[live][using_pipeline]")
{
    // Require at least one device to be plugged in
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        std::vector<sensor> list;
        REQUIRE_NOTHROW(list = ctx.query_all_sensors());
        REQUIRE(list.size() > 0);

        pipeline pipe(ctx);
        device dev;
        // Configure all supported streams to run at 30 frames per second

        for (auto i = 0; i < 5; i++)
        {
            rs2::config cfg;
            rs2::pipeline_profile profile;
            REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
            REQUIRE(profile);
            REQUIRE_NOTHROW(dev = profile.get_device());
            REQUIRE(dev);
            disable_sensitive_options_for(dev);

            // Test sequence
            REQUIRE_NOTHROW(pipe.start(cfg));

            REQUIRE_NOTHROW(pipe.stop());
        }
    }
}

TEST_CASE("Start-Stop streaming  - Sensors callbacks API", "[live][using_callbacks]")
{
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        for (auto i = 0; i < 5; i++)
        {
            std::vector<rs2::device> list;
            REQUIRE_NOTHROW(list = ctx.query_devices());
            REQUIRE(list.size());

            auto dev = list[0];
            CAPTURE(dev.get_info(RS2_CAMERA_INFO_NAME));
            disable_sensitive_options_for(dev);

            std::mutex m;
            int fps = is_usb3(dev) ? 30 : 15; // In USB2 Mode the devices will switch to lower FPS rates
            std::map<std::string, size_t> frames_per_stream{};

            auto profiles = configure_all_supported_streams(dev, 640, 480, fps);

            for (auto s : profiles.first)
            {
                REQUIRE_NOTHROW(s.start([&m, &frames_per_stream](rs2::frame f)
                    {
                        std::lock_guard<std::mutex> lock(m);
                        ++frames_per_stream[f.get_profile().stream_name()];
                    }));
            }

            std::this_thread::sleep_for(std::chrono::seconds(1));
            // Stop & flush all active sensors
            for (auto s : profiles.first)
            {
                REQUIRE_NOTHROW(s.stop());
                REQUIRE_NOTHROW(s.close());
            }

            // Verify frames arrived for all the profiles specified
            std::stringstream active_profiles, streams_arrived;
            active_profiles << "Profiles requested : " << profiles.second.size() << std::endl;
            for (auto& pf : profiles.second)
                active_profiles << pf << std::endl;
            streams_arrived << "Streams recorded : " << frames_per_stream.size() << std::endl;
            for (auto& frec : frames_per_stream)
                streams_arrived << frec.first << ": frames = " << frec.second << std::endl;

            CAPTURE(active_profiles.str().c_str());
            CAPTURE(streams_arrived.str().c_str());
            REQUIRE(profiles.second.size() == frames_per_stream.size());
        }
    }
}

////////////////////////////////////////////
////// Test basic streaming functionality //
////////////////////////////////////////////
// This test is postponed for later review and refactoring
//TEST_CASE("Frame drops", "[live][using_pipeline]")
//{
//    // Require at least one device to be plugged in
//    rs2::context ctx;
//    if (make_context(SECTION_FROM_TEST_NAME, &ctx, "2.13.0"))
//    {
//        std::vector<sensor> list;
//        REQUIRE_NOTHROW(list = ctx.query_all_sensors());
//        REQUIRE(list.size() > 0);

//        pipeline pipe(ctx);
//        device dev;
//        // Configure all supported streams to run at 30 frames per second

//        //std::this_thread::sleep_for(std::chrono::milliseconds(10000));

//        for (auto i = 0; i < 5; i++)
//        {
//            rs2::config cfg;
//            rs2::pipeline_profile profile;
//            REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
//            REQUIRE(profile);
//            REQUIRE_NOTHROW(dev = profile.get_device());
//            REQUIRE(dev);
//            disable_sensitive_options_for(dev);

//            // Test sequence
//            REQUIRE_NOTHROW(pipe.start(cfg));

//            unsigned long long current_depth_frame_number = 0;
//            unsigned long long prev_depth_frame_number = 0;
//            unsigned long long current_color_frame_number = 0;
//            unsigned long long prev_color_frame_number = 0;

//            // Capture 30 frames to give autoexposure, etc. a chance to settle
//            for (auto i = 0; i < 30; ++i)
//            {
//                auto frame = pipe.wait_for_frames();
//                prev_depth_frame_number = frame.get_depth_frame().get_frame_number();
//                prev_color_frame_number = frame.get_color_frame().get_frame_number();
//            }

//            // Checking for frame drops on depth+color
//            for (auto i = 0; i < 1000; ++i)
//            {
//                auto frame = pipe.wait_for_frames();
//                current_depth_frame_number = frame.get_depth_frame().get_frame_number();
//                current_color_frame_number = frame.get_color_frame().get_frame_number();

//                printf("User got %zd frames: depth %d, color %d\n", frame.size(), current_depth_frame_number, current_color_frame_number);

//                REQUIRE(current_depth_frame_number == (prev_depth_frame_number+1));
//                REQUIRE(current_color_frame_number == (prev_color_frame_number + 1));

//                prev_depth_frame_number = current_depth_frame_number;
//                prev_color_frame_number = current_color_frame_number;
//            }

//            REQUIRE_NOTHROW(pipe.stop());
//        }
//    }
//}

/////////////////////////////////////////
//////// Calibration information tests //
/////////////////////////////////////////

TEST_CASE("No extrinsic transformation between a stream and itself", "[live]")
{
    // Require at least one device to be plugged in
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        std::vector<sensor> list;
        REQUIRE_NOTHROW(list = ctx.query_all_sensors());
        const size_t device_count = list.size();
        REQUIRE(device_count > 0);

        // For each device
        for (auto&& snr : list)
        {
            std::vector<rs2::stream_profile> profs;
            REQUIRE_NOTHROW(profs = snr.get_stream_profiles());
            REQUIRE(profs.size()>0);

            rs2_extrinsics extrin;
            try {
                auto prof = profs[0];
                extrin = prof.get_extrinsics_to(prof);
            }
            catch (error &e) {
                // if device isn't calibrated, get_extrinsics must error out (according to old comment. Might not be true under new API)
                WARN(e.what());
                continue;
            }

            require_identity_matrix(extrin.rotation);
            require_zero_vector(extrin.translation);
        }
    }
}

TEST_CASE("Extrinsic transformation between two streams is a rigid transform", "[live]")
{
    // Require at least one device to be plugged in
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        std::vector<sensor> list;
        REQUIRE_NOTHROW(list = ctx.query_all_sensors());
        const size_t device_count = list.size();
        REQUIRE(device_count > 0);

        // For each device
        for (int i = 0; i < device_count; ++i)
        {
            auto dev = list[i];
            auto adj_devices = ctx.get_sensor_parent(dev).query_sensors();

            //REQUIRE(dev != nullptr);

            // For every pair of streams
            for (auto j = 0; j < adj_devices.size(); ++j)
            {
                for (size_t k = j + 1; k < adj_devices.size(); ++k)
                {
                    std::vector<rs2::stream_profile> profs_a, profs_b;
                    REQUIRE_NOTHROW(profs_a = adj_devices[j].get_stream_profiles());
                    REQUIRE(profs_a.size()>0);

                    REQUIRE_NOTHROW(profs_b = adj_devices[k].get_stream_profiles());
                    REQUIRE(profs_b.size()>0);

                    // Extrinsics from A to B should have an orthonormal 3x3 rotation matrix and a translation vector of magnitude less than 10cm
                    rs2_extrinsics a_to_b;

                    try {
                        a_to_b = profs_a[0].get_extrinsics_to(profs_b[0]);
                    }
                    catch (error &e) {
                        WARN(e.what());
                        continue;
                    }

                    require_rotation_matrix(a_to_b.rotation);
                    REQUIRE(vector_length(a_to_b.translation) < 0.1f);

                    // Extrinsics from B to A should be the inverse of extrinsics from A to B
                    rs2_extrinsics b_to_a;
                    REQUIRE_NOTHROW(b_to_a = profs_b[0].get_extrinsics_to(profs_a[0]));

                    require_transposed(a_to_b.rotation, b_to_a.rotation);
                    REQUIRE(b_to_a.rotation[0] * a_to_b.translation[0] + b_to_a.rotation[3] * a_to_b.translation[1] + b_to_a.rotation[6] * a_to_b.translation[2] == approx(-b_to_a.translation[0]));
                    REQUIRE(b_to_a.rotation[1] * a_to_b.translation[0] + b_to_a.rotation[4] * a_to_b.translation[1] + b_to_a.rotation[7] * a_to_b.translation[2] == approx(-b_to_a.translation[1]));
                    REQUIRE(b_to_a.rotation[2] * a_to_b.translation[0] + b_to_a.rotation[5] * a_to_b.translation[1] + b_to_a.rotation[8] * a_to_b.translation[2] == approx(-b_to_a.translation[2]));
                }
            }
        }
    }
}

TEST_CASE("Extrinsic transformations are transitive", "[live]")
{
    // Require at least one device to be plugged in
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        std::vector<sensor> list;
        REQUIRE_NOTHROW(list = ctx.query_all_sensors());
        REQUIRE(list.size() > 0);

        // For each device
        for (auto&& dev : list)
        {
            auto adj_devices = ctx.get_sensor_parent(dev).query_sensors();

            // For every set of subdevices
            for (auto a = 0UL; a < adj_devices.size(); ++a)
            {
                for (auto b = 0UL; b < adj_devices.size(); ++b)
                {
                    for (auto c = 0UL; c < adj_devices.size(); ++c)
                    {
                        std::vector<rs2::stream_profile> profs_a, profs_b, profs_c ;
                        REQUIRE_NOTHROW(profs_a = adj_devices[a].get_stream_profiles());
                        REQUIRE(profs_a.size()>0);

                        REQUIRE_NOTHROW(profs_b = adj_devices[b].get_stream_profiles());
                        REQUIRE(profs_b.size()>0);

                        REQUIRE_NOTHROW(profs_c = adj_devices[c].get_stream_profiles());
                        REQUIRE(profs_c.size()>0);

                        // Require that the composition of a_to_b and b_to_c is equal to a_to_c
                        rs2_extrinsics a_to_b, b_to_c, a_to_c;

                        try {
                            a_to_b = profs_a[0].get_extrinsics_to(profs_b[0]);
                            b_to_c = profs_b[0].get_extrinsics_to(profs_c[0]);
                            a_to_c = profs_a[0].get_extrinsics_to(profs_c[0]);
                        }
                        catch (error &e)
                        {
                            WARN(e.what());
                            continue;
                        }

                        // a_to_c.rotation == a_to_b.rotation * b_to_c.rotation
                        auto&& epsilon = 0.0001;
                        REQUIRE(a_to_c.rotation[0] == approx((float)(a_to_b.rotation[0] * b_to_c.rotation[0] + a_to_b.rotation[3] * b_to_c.rotation[1] + a_to_b.rotation[6] * b_to_c.rotation[2])).epsilon(epsilon));
                        REQUIRE(a_to_c.rotation[2] == approx(a_to_b.rotation[2] * b_to_c.rotation[0] + a_to_b.rotation[5] * b_to_c.rotation[1] + a_to_b.rotation[8] * b_to_c.rotation[2]).epsilon(epsilon));
                        REQUIRE(a_to_c.rotation[1] == approx(a_to_b.rotation[1] * b_to_c.rotation[0] + a_to_b.rotation[4] * b_to_c.rotation[1] + a_to_b.rotation[7] * b_to_c.rotation[2]).epsilon(epsilon));
                        REQUIRE(a_to_c.rotation[3] == approx(a_to_b.rotation[0] * b_to_c.rotation[3] + a_to_b.rotation[3] * b_to_c.rotation[4] + a_to_b.rotation[6] * b_to_c.rotation[5]).epsilon(epsilon));
                        REQUIRE(a_to_c.rotation[4] == approx(a_to_b.rotation[1] * b_to_c.rotation[3] + a_to_b.rotation[4] * b_to_c.rotation[4] + a_to_b.rotation[7] * b_to_c.rotation[5]).epsilon(epsilon));
                        REQUIRE(a_to_c.rotation[5] == approx(a_to_b.rotation[2] * b_to_c.rotation[3] + a_to_b.rotation[5] * b_to_c.rotation[4] + a_to_b.rotation[8] * b_to_c.rotation[5]).epsilon(epsilon));
                        REQUIRE(a_to_c.rotation[6] == approx(a_to_b.rotation[0] * b_to_c.rotation[6] + a_to_b.rotation[3] * b_to_c.rotation[7] + a_to_b.rotation[6] * b_to_c.rotation[8]).epsilon(epsilon));
                        REQUIRE(a_to_c.rotation[7] == approx(a_to_b.rotation[1] * b_to_c.rotation[6] + a_to_b.rotation[4] * b_to_c.rotation[7] + a_to_b.rotation[7] * b_to_c.rotation[8]).epsilon(epsilon));
                        REQUIRE(a_to_c.rotation[8] == approx(a_to_b.rotation[2] * b_to_c.rotation[6] + a_to_b.rotation[5] * b_to_c.rotation[7] + a_to_b.rotation[8] * b_to_c.rotation[8]).epsilon(epsilon));

                        // a_to_c.translation = a_to_b.transform(b_to_c.translation)
                        REQUIRE(a_to_c.translation[0] == approx(a_to_b.rotation[0] * b_to_c.translation[0] + a_to_b.rotation[3] * b_to_c.translation[1] + a_to_b.rotation[6] * b_to_c.translation[2] + a_to_b.translation[0]).epsilon(epsilon));
                        REQUIRE(a_to_c.translation[1] == approx(a_to_b.rotation[1] * b_to_c.translation[0] + a_to_b.rotation[4] * b_to_c.translation[1] + a_to_b.rotation[7] * b_to_c.translation[2] + a_to_b.translation[1]).epsilon(epsilon));
                        REQUIRE(a_to_c.translation[2] == approx(a_to_b.rotation[2] * b_to_c.translation[0] + a_to_b.rotation[5] * b_to_c.translation[1] + a_to_b.rotation[8] * b_to_c.translation[2] + a_to_b.translation[2]).epsilon(epsilon));
                    }
                }
            }
        }
    }
}

TEST_CASE("Toggle Advanced Mode", "[live][AdvMd][mayfail]") {
    for (int i = 0; i < 3; ++i)
    {
        rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
        if( ctx )
        {
            device_list list;
            REQUIRE_NOTHROW(list = ctx.query_devices());
            REQUIRE(list.size() > 0);

            auto dev = std::make_shared<device>(list.front());

            disable_sensitive_options_for(*dev);

            std::string serial;
            REQUIRE_NOTHROW(serial = dev->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));

            if (dev->is<rs400::advanced_mode>())
            {
                auto advanced = dev->as<rs400::advanced_mode>();

                if (!advanced.is_enabled())
                {
                    dev = do_with_waiting_for_camera_connection(ctx, dev, serial, [&]()
                    {
                        REQUIRE_NOTHROW(advanced.toggle_advanced_mode(true));
                    });
                }
                disable_sensitive_options_for(*dev);
                advanced = dev->as<rs400::advanced_mode>();

                REQUIRE(advanced.is_enabled());

                dev = do_with_waiting_for_camera_connection(ctx, dev, serial, [&]()
                {
                    REQUIRE_NOTHROW(advanced.toggle_advanced_mode(false));
                });
                advanced = dev->as<rs400::advanced_mode>();
                REQUIRE(!advanced.is_enabled());
            }
        }
    }
}


TEST_CASE("Advanced Mode presets", "[live][AdvMd][mayfail]")
{
    const std::vector< res_type > resolutions = { low_resolution, medium_resolution, high_resolution };

    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        device_list list;
        REQUIRE_NOTHROW(list = ctx.query_devices());
        REQUIRE(list.size() > 0);

        auto dev = std::make_shared<device>(list.front());

        disable_sensitive_options_for(*dev);

        std::string serial;
        REQUIRE_NOTHROW(serial = dev->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));

        if (dev->is<rs400::advanced_mode>())
        {
            auto advanced = dev->as<rs400::advanced_mode>();

            if (!advanced.is_enabled())
            {
                dev = do_with_waiting_for_camera_connection(ctx, dev, serial, [&]()
                {
                    REQUIRE_NOTHROW(advanced.toggle_advanced_mode(true));
                });
            }
            disable_sensitive_options_for(*dev);
            advanced = dev->as<rs400::advanced_mode>();

            REQUIRE(advanced.is_enabled());
            auto sensors = dev->query_sensors();

            sensor presets_sensor;
            for (sensor& elem : sensors)
            {
                auto supports = false;
                REQUIRE_NOTHROW(supports = elem.supports(RS2_OPTION_VISUAL_PRESET));
                if (supports)
                {
                    presets_sensor = elem;
                    break;
                }
            }

            for (auto& res : resolutions)
            {
                std::vector<rs2::stream_profile> sp = {get_profile_by_resolution_type(presets_sensor, res)};
                if (presets_sensor.supports(RS2_OPTION_VISUAL_PRESET))
                {
                    presets_sensor.open(sp);
                    presets_sensor.start([](rs2::frame) {});
                    for (auto i = 0; i < RS2_RS400_VISUAL_PRESET_COUNT; ++i)
                    {
                        auto preset = (rs2_rs400_visual_preset)i;
                        CAPTURE(res);
                        CAPTURE(preset);
                        try
                        {
                            presets_sensor.set_option(RS2_OPTION_VISUAL_PRESET, (float)preset);
                        }
                        catch (...)
                        {
                            // preset is not supported
                            continue;
                        }
                        float ret_preset;
                        REQUIRE_NOTHROW(ret_preset = presets_sensor.get_option(RS2_OPTION_VISUAL_PRESET));
                        REQUIRE(preset == (rs2_rs400_visual_preset)((int)ret_preset));
                    }
                    presets_sensor.stop();
                    presets_sensor.close();
                }
            }

            dev = do_with_waiting_for_camera_connection(ctx, dev, serial, [&]()
            {
                REQUIRE_NOTHROW(advanced.toggle_advanced_mode(false));
            });
            disable_sensitive_options_for(*dev);
            advanced = dev->as<rs400::advanced_mode>();
            REQUIRE(!advanced.is_enabled());
        }
    }
}

TEST_CASE("Advanced Mode JSON", "[live][AdvMd][mayfail]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        device_list list;
        REQUIRE_NOTHROW(list = ctx.query_devices());
        REQUIRE(list.size() > 0);


        auto dev = std::make_shared<device>(list.front());

        disable_sensitive_options_for(*dev);

        std::string serial;
        REQUIRE_NOTHROW(serial = dev->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));

        if (dev->is<rs400::advanced_mode>())
        {
            auto advanced = dev->as<rs400::advanced_mode>();

            if (!advanced.is_enabled())
            {
                dev = do_with_waiting_for_camera_connection(ctx, dev, serial, [&]()
                {
                    REQUIRE_NOTHROW(advanced.toggle_advanced_mode(true));
                });
            }

            disable_sensitive_options_for(*dev);
            advanced = dev->as<rs400::advanced_mode>();
            REQUIRE(advanced.is_enabled());

            auto sensors = dev->query_sensors();
            sensor presets_sensor;
            for (sensor& elem : sensors)
            {
                auto supports = false;
                REQUIRE_NOTHROW(supports = elem.supports(RS2_OPTION_VISUAL_PRESET));
                if (supports)
                {
                    presets_sensor = elem;
                    break;
                }
            }

            std::string json1, json2;
            REQUIRE_NOTHROW(json1 = advanced.serialize_json());
            REQUIRE_NOTHROW(presets_sensor.set_option(RS2_OPTION_VISUAL_PRESET, RS2_RS400_VISUAL_PRESET_COUNT - 1));
            REQUIRE_NOTHROW(advanced.load_json(json1));
            REQUIRE_NOTHROW(json2 = advanced.serialize_json());
            REQUIRE(json1 == json2);

            dev = do_with_waiting_for_camera_connection(ctx, dev, serial, [&]()
            {
                REQUIRE_NOTHROW(advanced.toggle_advanced_mode(false));
            });
            disable_sensitive_options_for(*dev);
            advanced = dev->as<rs400::advanced_mode>();
            REQUIRE(!advanced.is_enabled());
        }
    }
}

TEST_CASE("Advanced Mode controls", "[live][AdvMd][mayfail]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        device_list list;
        REQUIRE_NOTHROW(list = ctx.query_devices());
        REQUIRE(list.size() > 0);

        std::shared_ptr<device> dev = std::make_shared<device>(list.front());
        if (dev->is<rs400::advanced_mode>())
        {
            disable_sensitive_options_for(*dev);
            auto info = dev->get_info(RS2_CAMERA_INFO_NAME);
            CAPTURE(info);

            std::string serial;
            REQUIRE_NOTHROW(serial = dev->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));


            auto advanced = dev->as<rs400::advanced_mode>();
            if (!advanced.is_enabled())
            {

                dev = do_with_waiting_for_camera_connection(ctx, dev, serial, [&]()
                {
                    REQUIRE_NOTHROW(advanced.toggle_advanced_mode(true));
                });
            }



            disable_sensitive_options_for(*dev);
            advanced = dev->as<rs400::advanced_mode>();
            REQUIRE(advanced.is_enabled());

            {
                STDepthControlGroup ctrl_curr{};
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_depth_control(0));
                STDepthControlGroup ctrl_min{};
                REQUIRE_NOTHROW(ctrl_min = advanced.get_depth_control(1));
                STDepthControlGroup ctrl_max{};
                REQUIRE_NOTHROW(ctrl_max = advanced.get_depth_control(2));
                REQUIRE_NOTHROW(advanced.set_depth_control(ctrl_min));
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_depth_control(0));
                REQUIRE(ctrl_curr == ctrl_min);
            }

            {
                STRsm ctrl_curr{};
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_rsm(0));
                STRsm ctrl_min{};
                REQUIRE_NOTHROW(ctrl_min = advanced.get_rsm(1));
                STRsm ctrl_max{};
                REQUIRE_NOTHROW(ctrl_max = advanced.get_rsm(2));
                REQUIRE_NOTHROW(advanced.set_rsm(ctrl_min));
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_rsm(0));
                REQUIRE(ctrl_curr == ctrl_min);
            }

            {
                STRauSupportVectorControl ctrl_curr{};
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_rau_support_vector_control(0));
                STRauSupportVectorControl ctrl_min{};
                REQUIRE_NOTHROW(ctrl_min = advanced.get_rau_support_vector_control(1));
                STRauSupportVectorControl ctrl_max{};
                REQUIRE_NOTHROW(ctrl_max = advanced.get_rau_support_vector_control(2));
                REQUIRE_NOTHROW(advanced.set_rau_support_vector_control(ctrl_min));
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_rau_support_vector_control(0));
                REQUIRE(ctrl_curr == ctrl_min);
            }

            {
                STColorControl ctrl_curr{};
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_color_control(0));
                STColorControl ctrl_min{};
                REQUIRE_NOTHROW(ctrl_min = advanced.get_color_control(1));
                STColorControl ctrl_max{};
                REQUIRE_NOTHROW(ctrl_max = advanced.get_color_control(2));
                REQUIRE_NOTHROW(advanced.set_color_control(ctrl_min));
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_color_control(0));
                REQUIRE(ctrl_curr == ctrl_min);
            }

            {
                STRauColorThresholdsControl ctrl_curr{};
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_rau_thresholds_control(0));
                STRauColorThresholdsControl ctrl_min{};
                REQUIRE_NOTHROW(ctrl_min = advanced.get_rau_thresholds_control(1));
                STRauColorThresholdsControl ctrl_max{};
                REQUIRE_NOTHROW(ctrl_max = advanced.get_rau_thresholds_control(2));
                REQUIRE_NOTHROW(advanced.set_rau_thresholds_control(ctrl_min));
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_rau_thresholds_control(0));
                REQUIRE(ctrl_curr == ctrl_min);
            }

            {
                STSloColorThresholdsControl ctrl_curr{};
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_slo_color_thresholds_control(0));
                STSloColorThresholdsControl ctrl_min{};
                REQUIRE_NOTHROW(ctrl_min = advanced.get_slo_color_thresholds_control(1));
                STSloColorThresholdsControl ctrl_max{};
                REQUIRE_NOTHROW(ctrl_max = advanced.get_slo_color_thresholds_control(2));
                REQUIRE_NOTHROW(advanced.set_slo_color_thresholds_control(ctrl_min));
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_slo_color_thresholds_control(0));
                REQUIRE(ctrl_curr == ctrl_min);
            }

            {
                STSloPenaltyControl ctrl_curr{};
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_slo_penalty_control(0));
                STSloPenaltyControl ctrl_min{};
                REQUIRE_NOTHROW(ctrl_min = advanced.get_slo_penalty_control(1));
                STSloPenaltyControl ctrl_max{};
                REQUIRE_NOTHROW(ctrl_max = advanced.get_slo_penalty_control(2));
                REQUIRE_NOTHROW(advanced.set_slo_penalty_control(ctrl_min));
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_slo_penalty_control(0));
                REQUIRE(ctrl_curr == ctrl_min);
            }

            {
                STHdad ctrl_curr1{};
                REQUIRE_NOTHROW(ctrl_curr1 = advanced.get_hdad(0));
                REQUIRE_NOTHROW(advanced.set_hdad(ctrl_curr1));
                STHdad ctrl_curr2{};
                REQUIRE_NOTHROW(ctrl_curr2 = advanced.get_hdad(0));
                REQUIRE(ctrl_curr1 == ctrl_curr2);
            }

            {
                STColorCorrection ctrl_curr{};
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_color_correction(0));
                STColorCorrection ctrl_min{};
                REQUIRE_NOTHROW(ctrl_min = advanced.get_color_correction(1));
                STColorCorrection ctrl_max{};
                REQUIRE_NOTHROW(ctrl_max = advanced.get_color_correction(2));
                REQUIRE_NOTHROW(advanced.set_color_correction(ctrl_min));
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_color_correction(0));
                REQUIRE(ctrl_curr == ctrl_min);
            }

            {
                STAEControl ctrl_curr1{};
                REQUIRE_NOTHROW(ctrl_curr1 = advanced.get_ae_control(0));
                REQUIRE_NOTHROW(advanced.set_ae_control(ctrl_curr1));
                STAEControl ctrl_curr2{};
                REQUIRE_NOTHROW(ctrl_curr2 = advanced.get_ae_control(0));
                REQUIRE(ctrl_curr1 == ctrl_curr2);
            }

            {
                STDepthTableControl ctrl_curr{};
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_depth_table(0));
                STDepthTableControl ctrl_min{};
                REQUIRE_NOTHROW(ctrl_min = advanced.get_depth_table(1));
                STDepthTableControl ctrl_max{};
                REQUIRE_NOTHROW(ctrl_max = advanced.get_depth_table(2));
                REQUIRE_NOTHROW(advanced.set_depth_table(ctrl_min));
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_depth_table(0));
                REQUIRE(ctrl_curr == ctrl_min);
            }

            {
                STCensusRadius ctrl_curr{};
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_census(0));
                STCensusRadius ctrl_min{};
                REQUIRE_NOTHROW(ctrl_min = advanced.get_census(1));
                STCensusRadius ctrl_max{};
                REQUIRE_NOTHROW(ctrl_max = advanced.get_census(2));
                REQUIRE_NOTHROW(advanced.set_census(ctrl_min));
                REQUIRE_NOTHROW(ctrl_curr = advanced.get_census(0));
                REQUIRE(ctrl_curr == ctrl_min);
            }


            dev = do_with_waiting_for_camera_connection(ctx, dev, serial, [&]()
            {
                REQUIRE_NOTHROW(advanced.toggle_advanced_mode(false));
            });

            disable_sensitive_options_for(*dev);
            advanced = dev->as<rs400::advanced_mode>();

            REQUIRE(!advanced.is_enabled());
        }
    }
}

// the tests may incorrectly interpret changes to librealsense-core, namely default profiles selections
TEST_CASE("Streaming modes sanity check", "[live][mayfail]")
{
    // Require at least one device to be plugged in
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        std::vector<sensor> list;
        REQUIRE_NOTHROW(list = ctx.query_all_sensors());
        REQUIRE(list.size() > 0);

        // For each device
        for (auto&& dev : list)
        {
            disable_sensitive_options_for(dev);

            std::string PID;
            REQUIRE_NOTHROW(PID = dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID));

            // make sure they provide at least one streaming mode
            std::vector<rs2::stream_profile> stream_profiles;
            REQUIRE_NOTHROW(stream_profiles = dev.get_stream_profiles());
            REQUIRE(stream_profiles.size() > 0);

            SECTION("check stream profile settings are sane")
            {
                // for each stream profile provided:
                for (auto profile : stream_profiles) {

                    // require that the settings are sane
                    REQUIRE(profile.format() > RS2_FORMAT_ANY);
                    REQUIRE(profile.format() < RS2_FORMAT_COUNT);
                    REQUIRE(profile.fps() >= 2);
                    REQUIRE(profile.fps() <= 300);

                    // require that we can start streaming this mode
                    REQUIRE_NOTHROW(dev.open({ profile }));
                    // TODO: make callback confirm stream format/dimensions/framerate
                    REQUIRE_NOTHROW(dev.start([](rs2::frame fref) {}));

                    // Require that we can disable the stream afterwards
                    REQUIRE_NOTHROW(dev.stop());
                    REQUIRE_NOTHROW(dev.close());
                }
            }
            SECTION("check stream intrinsics are sane")
            {
                for (auto profile : stream_profiles)
                {
                    if (auto video = profile.as<video_stream_profile>())
                    {
                        rs2_intrinsics intrin;
                        CAPTURE(video.stream_type());
                        CAPTURE(video.format());
                        CAPTURE(video.width());
                        CAPTURE(video.height());

                        bool calib_format = (
                                            (RS2_FORMAT_Y16 == video.format()) &&
                                            (RS2_STREAM_INFRARED == video.stream_type()));
                        if (!calib_format) // intrinsics are not available for calibration formats
                        {
                            REQUIRE_NOTHROW(intrin = video.get_intrinsics());

                            // Intrinsic width/height must match width/height of streaming mode we requested
                            REQUIRE(intrin.width == video.width());
                            REQUIRE(intrin.height == video.height());

                            // Principal point must be within center 20% of image
                            REQUIRE(intrin.ppx > video.width() * 0.4f);
                            REQUIRE(intrin.ppx < video.width() * 0.6f);
                            REQUIRE(intrin.ppy > video.height() * 0.4f);
                            REQUIRE(intrin.ppy < video.height() * 0.6f);

                            // Focal length must be non-negative (todo - Refine requirements based on known expected FOV)
                            REQUIRE(intrin.fx > 0.0f);
                            REQUIRE(intrin.fy > 0.0f);
                        }
                        else
                        {
                            REQUIRE_THROWS(intrin = video.get_intrinsics());
                        }
                    }
                }
            }
        }
    }
}

TEST_CASE("Motion profiles sanity", "[live]")
{
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        std::vector<sensor> list;
        REQUIRE_NOTHROW(list = ctx.query_all_sensors());
        REQUIRE(list.size() > 0);

        // For each device
        for (auto&& dev : list)
        {
            disable_sensitive_options_for(dev);

            // make sure they provide at least one streaming mode
            std::vector<rs2::stream_profile> stream_profiles;
            REQUIRE_NOTHROW(stream_profiles = dev.get_stream_profiles());
            REQUIRE(stream_profiles.size() > 0);

            // for each stream profile provided:
            for (auto profile : stream_profiles)
            {
                SECTION("check motion intrisics") {

                    auto stream = profile.stream_type();
                    rs2_motion_device_intrinsic mm_int;

                    CAPTURE(stream);

                    if (stream == RS2_STREAM_ACCEL || stream == RS2_STREAM_GYRO)
                    {
                        auto motion = profile.as<motion_stream_profile>();
                        REQUIRE_NOTHROW(mm_int = motion.get_motion_intrinsics());

                        for (int j = 0; j < 3; j++)
                        {
                            auto scale = mm_int.data[j][j];
                            CAPTURE(scale);
                            // Make sure scale value is "sane"
                            // We don't expect Motion Device to require adjustment of more then 20%
                            REQUIRE(scale > 0.8);
                            REQUIRE(scale < 1.2);

                            auto bias = mm_int.data[0][3];
                            CAPTURE(bias);
                            // Make sure bias is "sane"
                            REQUIRE(bias > -0.5);
                            REQUIRE(bias < 0.5);
                        }
                    }
                }
            }
        }
    }
}

TEST_CASE("Check width and height of stream intrinsics", "[live][AdvMd]")
{
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        std::vector<device> devs;
        REQUIRE_NOTHROW(devs = ctx.query_devices());

        for (auto&& dev : devs)
        {
            auto shared_dev = std::make_shared<device>(dev);
            disable_sensitive_options_for(dev);
            std::string serial;
            REQUIRE_NOTHROW(serial = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
            std::string PID;
            REQUIRE_NOTHROW(PID = dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID));
            if (shared_dev->is<rs400::advanced_mode>())
            {
                auto advanced = shared_dev->as<rs400::advanced_mode>();

                if (advanced.is_enabled())
                {
                    shared_dev = do_with_waiting_for_camera_connection(ctx, shared_dev, serial, [&]()
                    {
                        REQUIRE_NOTHROW(advanced.toggle_advanced_mode(false));
                    });
                }
                disable_sensitive_options_for(*shared_dev);
                advanced = shared_dev->as<rs400::advanced_mode>();

                REQUIRE(advanced.is_enabled() == false);
            }

            std::vector<sensor> list;
            REQUIRE_NOTHROW(list = shared_dev->query_sensors());
            REQUIRE(list.size() > 0);

            for (auto&& dev : list)
            {
                disable_sensitive_options_for(dev);
                auto module_name = dev.get_info(RS2_CAMERA_INFO_NAME);
                // TODO: if FE
                std::vector<rs2::stream_profile> stream_profiles;
                REQUIRE_NOTHROW(stream_profiles = dev.get_stream_profiles());
                REQUIRE(stream_profiles.size() > 0);

                // for each stream profile provided:
                int i=0;
                for (const auto& profile : stream_profiles)
                {
                    i++;
                    if (auto video = profile.as<video_stream_profile>())
                    {
                        rs2_intrinsics intrin;

                        CAPTURE(video.stream_type());
                        CAPTURE(video.format());
                        CAPTURE(video.width());
                        CAPTURE(video.height());

                        // Calibration formats does not provide intrinsic data
                        bool calib_format = (
                                            (RS2_FORMAT_Y16 == video.format()) &&
                                            (RS2_STREAM_INFRARED == video.stream_type()));
                        if (!calib_format)
                            REQUIRE_NOTHROW(intrin = video.get_intrinsics());
                        else
                            REQUIRE_THROWS(intrin = video.get_intrinsics());

                        // Intrinsic width/height must match width/height of streaming mode we requested
                        REQUIRE(intrin.width == video.width());
                        REQUIRE(intrin.height == video.height());
                    }
                }
            }
        }
    }
}

std::vector<rs2::stream_profile> get_supported_streams(rs2::sensor sensor, std::vector<rs2::stream_profile> profiles) {
    std::set<std::pair<rs2_stream, int>> supported_streams;
    auto hint = supported_streams.begin();
    // get the set of supported stream+index pairs
    for (auto& profile : sensor.get_stream_profiles()) {
        hint = supported_streams.emplace_hint(hint, profile.stream_type(), profile.stream_index());
    }

    // all profiles
    std::map<std::pair<rs2_stream, int>, rs2::stream_profile> all_profiles;
    for (auto& profile : profiles) {
        all_profiles.emplace(std::make_pair(profile.stream_type(), profile.stream_index()), profile);
    }

    std::vector<rs2::stream_profile> output;
    for (auto pair : supported_streams) {
        auto it = all_profiles.find(pair);
        if (it != all_profiles.end()) output.push_back(it->second);
    }
    return output;
}

TEST_CASE("get_active_streams sanity check", "[live]")
{
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        // Require at least one device to be plugged in
        REQUIRE_NOTHROW(ctx.query_devices().size() > 0);
        
        // Get device and a stream profile for each stream type it supports
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        rs2::pipeline_profile pipe_profile;
        cfg.enable_all_streams();
        REQUIRE_NOTHROW(pipe_profile = cfg.resolve(pipe));

        rs2::device dev = pipe_profile.get_device();
        std::vector<rs2::stream_profile> streams = pipe_profile.get_streams();

        for (auto&& sensor : dev.query_sensors())
        {
            // find which streams are supported by this specific sensor
            auto profiles = get_supported_streams(sensor, streams);
            auto n_streams = profiles.size();
            // iterate over all possible sets of streams supported by the sensor
            for (size_t bits=(1 << n_streams)-1; bits>0; --bits) {
                std::vector<rs2::stream_profile> opened_profiles;
                for (int i = 0; i < n_streams; ++i) {
                    if (bits&(1ULL << i)) opened_profiles.push_back(profiles[i]);
                }
                REQUIRE_NOTHROW(sensor.open(opened_profiles));
                std::vector<rs2::stream_profile> reported_profiles;
                REQUIRE_NOTHROW(reported_profiles = sensor.get_active_streams());
                
                REQUIRE(reported_profiles == opened_profiles);
                sensor.close();
            }
        }
    }
}

TEST_CASE("Check option API", "[live][options]")
{
    // Require at least one device to be plugged in
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        std::vector<sensor> list;
        REQUIRE_NOTHROW(list = ctx.query_all_sensors());
        REQUIRE(list.size() > 0);

        // for each device
        for (auto&& dev : list)
        {

            // for each option
            for (auto i = 0; i < RS2_OPTION_COUNT; ++i) {
                auto opt = rs2_option(i);
                bool is_opt_supported;
                REQUIRE_NOTHROW(is_opt_supported = dev.supports(opt));


                SECTION("Ranges are sane")
                {
                    if (!is_opt_supported)
                    {
                        REQUIRE_THROWS_AS(dev.get_option_range(opt), error);
                    }
                    else
                    {
                        rs2::option_range range;
                        REQUIRE_NOTHROW(range = dev.get_option_range(opt));

                        // a couple sanity checks
                        REQUIRE(range.min < range.max);
                        REQUIRE(range.min + range.step <= range.max);
                        REQUIRE(range.step > 0);
                        REQUIRE(range.def <= range.max);
                        REQUIRE(range.min <= range.def);

                        // TODO: check that range.def == range.min + k*range.step for some k?
                        // TODO: some sort of bounds checking against constants?
                    }
                }
                SECTION("get_option returns a legal value")
                {
                    if (!is_opt_supported)
                    {
                        REQUIRE_THROWS_AS(dev.get_option(opt), error);
                    }
                    else
                    {
                        auto range = dev.get_option_range(opt);
                        float value;
                        REQUIRE_NOTHROW(value = dev.get_option(opt));

                        // value in range. Do I need to account for epsilon in lt[e]/gt[e] comparisons?
                        REQUIRE(value >= range.min);
                        REQUIRE(value <= range.max);

                        // value doesn't change between two gets (if no additional threads are calling set)
                        REQUIRE(dev.get_option(opt) == approx(value));

                        // REQUIRE(value == approx(range.def)); // Not sure if this is a reasonable check
                        // TODO: make sure value == range.min + k*range.step for some k?
                    }
                }
                SECTION("set opt doesn't like bad values") {
                    if (!is_opt_supported)
                    {
                        REQUIRE_THROWS_AS(dev.set_option(opt, 1), error);
                    }
                    else
                    {
                        auto range = dev.get_option_range(opt);

                        // minimum should work, as should maximum
                        REQUIRE_NOTHROW(dev.set_option(opt, range.min));
                        REQUIRE_NOTHROW(dev.set_option(opt, range.max));

                        int n_steps = int((range.max - range.min) / range.step);

                        // check a few arbitrary points along the scale
                        REQUIRE_NOTHROW(dev.set_option(opt, range.min + (1 % n_steps)*range.step));
                        REQUIRE_NOTHROW(dev.set_option(opt, range.min + (11 % n_steps)*range.step));
                        REQUIRE_NOTHROW(dev.set_option(opt, range.min + (111 % n_steps)*range.step));
                        REQUIRE_NOTHROW(dev.set_option(opt, range.min + (1111 % n_steps)*range.step));

                        // below min and above max shouldn't work
                        REQUIRE_THROWS_AS(dev.set_option(opt, range.min - range.step), error);
                        REQUIRE_THROWS_AS(dev.set_option(opt, range.max + range.step), error);

                        // make sure requesting value in the range, but not a legal step doesn't work
                        // TODO: maybe something for range.step < 1 ?
                        for (auto j = 1; j < range.step; j++) {
                            CAPTURE(range.step);
                            CAPTURE(j);
                            REQUIRE_THROWS_AS(dev.set_option(opt, range.min + j), error);
                        }
                    }
                }
                SECTION("check get/set sequencing works as expected") {
                    if (!is_opt_supported) continue;
                    auto range = dev.get_option_range(opt);

                    // setting a valid value lets you get that value back
                    dev.set_option(opt, range.min);
                    REQUIRE(dev.get_option(opt) == approx(range.min));

                    // setting an invalid value returns the last set valid value.
                    REQUIRE_THROWS(dev.set_option(opt, range.max + range.step));
                    REQUIRE(dev.get_option(opt) == approx(range.min));

                    dev.set_option(opt, range.max);
                    REQUIRE_THROWS(dev.set_option(opt, range.min - range.step));
                    REQUIRE(dev.get_option(opt) == approx(range.max));

                }
                SECTION("get_description returns a non-empty, non-null string") {
                    if (!is_opt_supported) {
                        REQUIRE_THROWS_AS(dev.get_option_description(opt), error);
                    }
                    else
                    {
                        REQUIRE(dev.get_option_description(opt) != nullptr);
                        REQUIRE(std::string(dev.get_option_description(opt)) != std::string(""));
                    }
                }
                // TODO: tests for get_option_value_description? possibly too open a function to have useful tests
            }
        }
    }
}

// List of controls coupled together, such as modifying one of them would impose changes(affect) other options if modified
// The list is managed per-sensor/SKU
struct option_bundle
{
    rs2_stream sensor_type;
    rs2_option master_option;
    rs2_option slave_option;
    float slave_val_before;
    float slave_val_after;
};

enum dev_group { e_unresolved_grp, e_d400 };

const std::map<dev_type,dev_group> dev_map = {
    /* RS400/PSR*/      { { "0AD1", true }, e_d400},
    /* RS410/ASR*/      { { "0AD2", true }, e_d400 },
                        { { "0AD2", false }, e_d400},
    /* RS415/ASRC*/     { { "0AD3", true }, e_d400},
                        { { "0AD3", false }, e_d400},
    /* RS430/AWG*/      { { "0AD4", true }, e_d400},
    /* RS430_MM / AWGT*/{ { "0AD5", true }, e_d400},
    /* D4/USB2*/        { { "0AD6", false }, e_d400 },
    /* RS420/PWG*/      { { "0AF6", true }, e_d400},
    /* RS420_MM/PWGT*/  { { "0AFE", true }, e_d400},
    /* RS410_MM/ASRT*/  { { "0AFF", true }, e_d400},
    /* RS400_MM/PSR*/   { { "0B00", true }, e_d400},
    /* RS405/DS5U*/     { { "0B01", true }, e_d400},
    /* RS430_MMC/AWGTC*/{ { "0B03", true }, e_d400},
    /* RS435_RGB/AWGC*/ { { "0B07", true }, e_d400},
                        { { "0B07", false }, e_d400},
    /* DS5U */          { { "0B0C", true }, e_d400},
    /* D435I */         { { "0B3A", true }, e_d400},
};

// Testing bundled depth controls
const std::map<dev_group, std::vector<option_bundle> > auto_disabling_controls =
{
    { e_d400,  { { RS2_STREAM_DEPTH, RS2_OPTION_EXPOSURE, RS2_OPTION_ENABLE_AUTO_EXPOSURE, 1.f, 0.f },
                { RS2_STREAM_DEPTH, RS2_OPTION_GAIN, RS2_OPTION_ENABLE_AUTO_EXPOSURE, 1.f, 1.f } } },  // The value remain intact == the controls shall not affect each other
};

// Verify that the bundled controls (Exposure<->Aut-Exposure) are in sync
TEST_CASE("Auto-Disabling Controls", "[live][options]")
{
    // Require at least one device to be plugged in
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        std::vector<rs2::device> list;
        REQUIRE_NOTHROW(list = ctx.query_devices());
        REQUIRE(list.size() > 0);

        // for each sensor
        for (auto&& dev : list)
        {
            disable_sensitive_options_for(dev);
            dev_type PID = get_PID(dev);
            CAPTURE(PID.first);
            CAPTURE(PID.second);
            auto dev_grp{ e_unresolved_grp };
            REQUIRE_NOTHROW(dev_grp = dev_map.at(PID));

            for (auto&& snr : dev.query_sensors())
            {
                // The test will apply to depth sensor only. In future may be extended for additional type of sensors
                if (snr.is<depth_sensor>())
                {
                    auto entry = auto_disabling_controls.find(dev_grp);
                    if (auto_disabling_controls.end() == entry)
                    {
                        WARN("Skipping test - the Device-Under-Test profile is not defined for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
                    }
                    else
                    {
                        auto test_patterns = auto_disabling_controls.at(dev_grp);
                        REQUIRE(test_patterns.size() > 0);

                        for (auto i = 0; i < test_patterns.size(); ++i)
                        {
                            if (test_patterns[i].sensor_type != RS2_STREAM_DEPTH)
                                continue;

                            auto orig_opt = test_patterns[i].master_option;
                            auto tgt_opt = test_patterns[i].slave_option;
                            bool opt_orig_supported{};
                            bool opt_tgt_supported{};
                            REQUIRE_NOTHROW(opt_orig_supported = snr.supports(orig_opt));
                            REQUIRE_NOTHROW(opt_tgt_supported = snr.supports(tgt_opt));

                            if (opt_orig_supported && opt_tgt_supported)
                            {
                                rs2::option_range master_range,slave_range;
                                REQUIRE_NOTHROW(master_range = snr.get_option_range(orig_opt));
                                REQUIRE_NOTHROW(slave_range = snr.get_option_range(tgt_opt));

                                // Switch the receiving options into the responding state
                                auto slave_cur_val = snr.get_option(tgt_opt);
                                if (slave_cur_val != test_patterns[i].slave_val_before)
                                {
                                    REQUIRE_NOTHROW(snr.set_option(tgt_opt, test_patterns[i].slave_val_before));
                                    //std::this_thread::sleep_for(std::chrono::milliseconds(500));
                                    REQUIRE(snr.get_option(tgt_opt) == test_patterns[i].slave_val_before);
                                }

                                // Modify the originating control and verify that the target control has been modified as well
                                // Modifying gain while in auto exposure throws an exception.
                                try
                                {
                                    (snr.set_option(orig_opt, master_range.def));
                                }
                                catch (...)
                                {
                                    continue;
                                }
                                REQUIRE(snr.get_option(tgt_opt) == test_patterns[i].slave_val_after);
                            }
                        }
                    }
                }
            }
        } // for (auto&& dev : list)
    }
}

/// The test may fail due to changes in profiles list that do not indicate regression.
/// TODO - refactoring required to make the test agnostic to changes imposed by librealsense core
TEST_CASE("Multiple devices", "[live][multicam][!mayfail]")
{
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        // Require at least one device to be plugged in
        std::vector<sensor> list;
        REQUIRE_NOTHROW(list = ctx.query_all_sensors());
        REQUIRE(list.size() > 0);

        SECTION("subdevices on a single device")
        {
            for (auto & dev : list)
            {
                disable_sensitive_options_for(dev);

                SECTION("opening the same subdevice multiple times")
                {
                    auto modes = dev.get_stream_profiles();
                    REQUIRE(modes.size() > 0);
                    CAPTURE(modes.front().stream_type());
                    REQUIRE_NOTHROW(dev.open(modes.front()));

                    SECTION("same mode")
                    {
                        // selected, but not streaming
                        REQUIRE_THROWS_AS(dev.open({ modes.front() }), error);

                        // streaming
                        REQUIRE_NOTHROW(dev.start([](rs2::frame fref) {}));
                        REQUIRE_THROWS_AS(dev.open({ modes.front() }), error);
                    }

                    SECTION("different modes")
                    {
                        if (modes.size() == 1)
                        {
                            WARN("device " << dev.get_info(RS2_CAMERA_INFO_NAME) << " S/N: " << dev.get_info(
                                RS2_CAMERA_INFO_SERIAL_NUMBER) << " w/ FW v" << dev.get_info(
                                    RS2_CAMERA_INFO_FIRMWARE_VERSION) << ":");
                            WARN("subdevice has only 1 supported streaming mode. Skipping Same Subdevice, different modes test.");
                        }
                        else
                        {
                            // selected, but not streaming
                            REQUIRE_THROWS_AS(dev.open({ modes[1] }), error);

                            // streaming
                            REQUIRE_NOTHROW(dev.start([](rs2::frame fref) {}));
                            REQUIRE_THROWS_AS(dev.open({ modes[1] }), error);
                        }
                    }

                    REQUIRE_NOTHROW(dev.stop());
                }
                // TODO: Move
                SECTION("opening different subdevices") {
                    for (auto&& subdevice1 : ctx.get_sensor_parent(dev).query_sensors())
                    {
                        disable_sensitive_options_for(subdevice1);
                        for (auto&& subdevice2 : ctx.get_sensor_parent(dev).query_sensors())
                        {
                            disable_sensitive_options_for(subdevice2);

                            if (subdevice1 == subdevice2)
                                continue;

                            // get first lock
                            REQUIRE_NOTHROW(subdevice1.open(subdevice1.get_stream_profiles().front()));

                            // selected, but not streaming
                            {
                                auto profile = subdevice2.get_stream_profiles().front();

                                CAPTURE(profile.stream_type());
                                CAPTURE(profile.format());
                                CAPTURE(profile.fps());
                                auto vid_p = profile.as<rs2::video_stream_profile>();
                                CAPTURE(vid_p.width());
                                CAPTURE(vid_p.height());

                                REQUIRE_NOTHROW(subdevice2.open(subdevice2.get_stream_profiles().front()));
                                REQUIRE_NOTHROW(subdevice2.start([](rs2::frame fref) {}));
                                REQUIRE_NOTHROW(subdevice2.stop());
                                REQUIRE_NOTHROW(subdevice2.close());
                            }

                            // streaming
                            {
                                REQUIRE_NOTHROW(subdevice1.start([](rs2::frame fref) {}));
                                REQUIRE_NOTHROW(subdevice2.open(subdevice2.get_stream_profiles().front()));
                                REQUIRE_NOTHROW(subdevice2.start([](rs2::frame fref) {}));
                                // stop streaming in opposite order just to be sure that works too
                                REQUIRE_NOTHROW(subdevice1.stop());
                                REQUIRE_NOTHROW(subdevice2.stop());
                                REQUIRE_NOTHROW(subdevice2.close());
                            }

                            REQUIRE_NOTHROW(subdevice1.close());
                        }
                    }
                }
            }
        }
        SECTION("multiple devices")
        {
            if (list.size() == 1)
            {
                WARN("Only one device connected. Skipping multi-device test");
            }
            else
            {
                for (auto & dev1 : list)
                {
                    disable_sensitive_options_for(dev1);
                    for (auto & dev2 : list)
                    {
                        // couldn't think of a better way to compare the two...
                        if (dev1 == dev2)
                            continue;

                        disable_sensitive_options_for(dev2);

                        auto dev1_profiles = dev1.get_stream_profiles();
                        auto dev2_profiles = dev2.get_stream_profiles();

                        if (!dev1_profiles.size() || !dev2_profiles.size())
                            continue;

                        auto dev1_profile = dev1_profiles.front();
                        auto dev2_profile = dev2_profiles.front();

                        CAPTURE(dev1_profile.stream_type());
                        CAPTURE(dev1_profile.format());
                        CAPTURE(dev1_profile.fps());
                        auto vid_p1 = dev1_profile.as<rs2::video_stream_profile>();
                        CAPTURE(vid_p1.width());
                        CAPTURE(vid_p1.height());

                        CAPTURE(dev2_profile.stream_type());
                        CAPTURE(dev2_profile.format());
                        CAPTURE(dev2_profile.fps());
                        auto vid_p2 = dev2_profile.as<rs2::video_stream_profile>();
                        CAPTURE(vid_p2.width());
                        CAPTURE(vid_p2.height());

                        REQUIRE_NOTHROW(dev1.open(dev1_profile));
                        REQUIRE_NOTHROW(dev2.open(dev2_profile));

                        REQUIRE_NOTHROW(dev1.start([](rs2::frame fref) {}));
                        REQUIRE_NOTHROW(dev2.start([](rs2::frame fref) {}));
                        REQUIRE_NOTHROW(dev1.stop());
                        REQUIRE_NOTHROW(dev2.stop());

                        REQUIRE_NOTHROW(dev1.close());
                        REQUIRE_NOTHROW(dev2.close());
                    }
                }
            }
        }
    }
}

// On Windows 10 RS2 there is an unusual behaviour that may fail this test:
// When trying to enable the second instance of Source Reader, instead of failing, the Media Foundation allows it
// and sends an HR to the first Source Reader instead (something about the application being preempted)
TEST_CASE("Multiple applications", "[live][multicam][!mayfail]")
{
    rs2::context ctx1 = make_context( SECTION_FROM_TEST_NAME );
    if( ctx1 )
    {
        // Require at least one device to be plugged in
        std::vector<sensor> list1;
        REQUIRE_NOTHROW(list1 = ctx1.query_all_sensors());
        REQUIRE(list1.size() > 0);

        rs2::context ctx2 = make_context( "two_contexts" );
        REQUIRE( ctx2 );
        std::vector<sensor> list2;
        REQUIRE_NOTHROW(list2 = ctx2.query_all_sensors());
        REQUIRE(list2.size() == list1.size());
        SECTION("subdevices on a single device")
        {
            for (auto&& dev1 : list1)
            {
                disable_sensitive_options_for(dev1);
                for (auto&& dev2 : list2)
                {
                    disable_sensitive_options_for(dev2);

                    if (dev1 == dev2)
                    {
                        bool skip_section = false;
#ifdef _WIN32
                        skip_section = true;
#endif
                        if (!skip_section)
                        {
                            SECTION("same subdevice") {
                                // get modes
                                std::vector<rs2::stream_profile> modes1, modes2;
                                REQUIRE_NOTHROW(modes1 = dev1.get_stream_profiles());
                                REQUIRE_NOTHROW(modes2 = dev2.get_stream_profiles());
                                REQUIRE(modes1.size() > 0);
                                REQUIRE(modes1.size() == modes2.size());
                                // require that the lists are the same (disregarding order)
                                for (auto profile : modes1) {
                                    REQUIRE(std::any_of(begin(modes2), end(modes2), [&profile](const rs2::stream_profile & p)
                                    {
                                        return profile == p;
                                    }));
                                }

                                // grab first lock
                                CAPTURE(modes1.front().stream_name());
                                REQUIRE_NOTHROW(dev1.open(modes1.front()));

                                SECTION("same mode")
                                {
                                    // selected, but not streaming
                                    REQUIRE_THROWS_AS(dev2.open({ modes1.front() }), error);

                                    // streaming
                                    REQUIRE_NOTHROW(dev1.start([](rs2::frame fref) {}));
                                    REQUIRE_THROWS_AS(dev2.open({ modes1.front() }), error);
                                }
                                SECTION("different modes")
                                {
                                    if (modes1.size() == 1)
                                    {
                                        WARN("device " << dev1.get_info(RS2_CAMERA_INFO_NAME) << " S/N: " << dev1.get_info(
                                            RS2_CAMERA_INFO_SERIAL_NUMBER) << " w/ FW v" << dev1.get_info(
                                                RS2_CAMERA_INFO_FIRMWARE_VERSION) << ":");
                                        WARN("Device has only 1 supported streaming mode. Skipping Same Subdevice, different modes test.");
                                    }
                                    else
                                    {
                                        // selected, but not streaming
                                        REQUIRE_THROWS_AS(dev2.open({ modes1[1] }), error);

                                        // streaming
                                        REQUIRE_NOTHROW(dev1.start([](rs2::frame fref) {}));
                                        REQUIRE_THROWS_AS(dev2.open({ modes1[1] }), error);
                                    }
                                }
                                REQUIRE_NOTHROW(dev1.stop());
                            }
                        }
                    }
                    else
                    {
                        SECTION("different subdevice")
                        {
                            // get first lock
                            REQUIRE_NOTHROW(dev1.open(dev1.get_stream_profiles().front()));

                            // selected, but not streaming
                            {
                                CAPTURE(dev2.get_stream_profiles().front().stream_type());
                                REQUIRE_NOTHROW(dev2.open(dev2.get_stream_profiles().front()));
                                REQUIRE_NOTHROW(dev2.start([](rs2::frame fref) {}));
                                REQUIRE_NOTHROW(dev2.stop());
                                REQUIRE_NOTHROW(dev2.close());
                            }

                            // streaming
                            {
                                REQUIRE_NOTHROW(dev1.start([](rs2::frame fref) {}));
                                REQUIRE_NOTHROW(dev2.open(dev2.get_stream_profiles().front()));
                                REQUIRE_NOTHROW(dev2.start([](rs2::frame fref) {}));
                                // stop streaming in opposite order just to be sure that works too
                                REQUIRE_NOTHROW(dev1.stop());
                                REQUIRE_NOTHROW(dev2.stop());

                                REQUIRE_NOTHROW(dev1.close());
                                REQUIRE_NOTHROW(dev2.close());
                            }
                        }
                    }
                }
            }
        }
        SECTION("subdevices on separate devices")
        {
            if (list1.size() == 1)
            {
                WARN("Only one device connected. Skipping multi-device test");
            }
            else
            {
                for (auto & dev1 : list1)
                {
                    disable_sensitive_options_for(dev1);
                    for (auto & dev2 : list2)
                    {
                        disable_sensitive_options_for(dev2);

                        if (dev1 == dev2)
                            continue;

                        // get modes
                        std::vector<rs2::stream_profile> modes1, modes2;
                        REQUIRE_NOTHROW(modes1 = dev1.get_stream_profiles());
                        REQUIRE_NOTHROW(modes2 = dev2.get_stream_profiles());
                        REQUIRE(modes1.size() > 0);
                        REQUIRE(modes2.size() > 0);

                        // grab first lock
                        CAPTURE(modes1.front().stream_type());
                        CAPTURE(dev1.get_info(RS2_CAMERA_INFO_NAME));
                        CAPTURE(dev1.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
                        CAPTURE(dev2.get_info(RS2_CAMERA_INFO_NAME));
                        CAPTURE(dev2.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
                        REQUIRE_NOTHROW(dev1.open(modes1.front()));

                        // try to acquire second lock

                        // selected, but not streaming
                        {
                            REQUIRE_NOTHROW(dev2.open({ modes2.front() }));
                            REQUIRE_NOTHROW(dev2.start([](rs2::frame fref) {}));
                            REQUIRE_NOTHROW(dev2.stop());
                            REQUIRE_NOTHROW(dev2.close());
                        }

                        // streaming
                        {
                            REQUIRE_NOTHROW(dev1.start([](rs2::frame fref) {}));
                            REQUIRE_NOTHROW(dev2.open({ modes2.front() }));
                            REQUIRE_NOTHROW(dev2.start([](rs2::frame fref) {}));
                            // stop streaming in opposite order just to be sure that works too
                            REQUIRE_NOTHROW(dev1.stop());
                            REQUIRE_NOTHROW(dev2.stop());
                            REQUIRE_NOTHROW(dev2.close());
                        }

                        REQUIRE_NOTHROW(dev1.close());
                    }
                }
            }
        }
    }
}


//
///* Apply heuristic test to check metadata attributes for sanity*/
void metadata_verification(const std::vector<internal_frame_additional_data>& data)
{
    // Heuristics that we use to verify metadata
    // Metadata sanity
    // Frame numbers and timestamps increase monotonically
    // Sensor timestamp should be less or equal to frame timestamp
    // Exposure time and gain values are greater than zero
    // Sensor framerate is bounded to >0 and < 200 fps for uvc streams
    int64_t last_val[3] = { -1, -1, -1 };

    for (size_t i = 0; i < data.size(); i++)
    {

        // Check that Frame/Sensor timetamps, frame number rise monotonically
        for (int j = RS2_FRAME_METADATA_FRAME_COUNTER; j <= RS2_FRAME_METADATA_SENSOR_TIMESTAMP; j++)
        {
            if (data[i].frame_md.md_attributes[j].first)
            {
                int64_t value = data[i].frame_md.md_attributes[j].second;
                CAPTURE(value);
                CAPTURE(last_val[j]);

                REQUIRE((value > last_val[j]));
                if (RS2_FRAME_METADATA_FRAME_COUNTER == j && last_val[j] >= 0) // In addition, there shall be no frame number gaps
                {
                    REQUIRE((1 == (value - last_val[j])));
                }

                last_val[j] = data[i].frame_md.md_attributes[j].second;
            }
        }

        // Metadata below must have a non negative value
        auto md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_ACTUAL_EXPOSURE];
        if (md.first) REQUIRE(md.second >= 0);
        md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_GAIN_LEVEL];
        if (md.first) REQUIRE(md.second >= 0);
        md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_TIME_OF_ARRIVAL];
        if (md.first) REQUIRE(md.second >= 0);
        md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_BACKEND_TIMESTAMP];
        if (md.first) REQUIRE(md.second >= 0);
        md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_ACTUAL_FPS];
        if (md.first) REQUIRE(md.second >= 0);
        md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_POWER_LINE_FREQUENCY];
        if (md.first) REQUIRE(md.second >= 0);

        // Metadata below must have a boolean value
        md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_AUTO_EXPOSURE];
        if (md.first) REQUIRE((md.second == 0 || md.second == 1));
        md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE];
        if (md.first) REQUIRE((md.second == 0 || md.second == 1));
        md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_AUTO_WHITE_BALANCE_TEMPERATURE];
        if (md.first) REQUIRE((md.second == 0 || md.second == 1));
        md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_BACKLIGHT_COMPENSATION];
        if (md.first) REQUIRE((md.second == 0 || md.second == 1));
        md = data[i].frame_md.md_attributes[RS2_FRAME_METADATA_LOW_LIGHT_COMPENSATION];
        if (md.first) REQUIRE((md.second == 0 || md.second == 1));
    }
}


////serialize_json
void trigger_error(const rs2::device& dev, int num)
{
    int opcode = 0x4d;
    if (auto debug = dev.as<debug_protocol>())
    {
        auto raw_data = debug.build_command(opcode, num);
        debug.send_and_receive_raw_data(raw_data);
    }
}



TEST_CASE("Error handling sanity", "[live][!mayfail]") {

    //Require at least one device to be plugged in
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        std::vector<sensor> list;
        REQUIRE_NOTHROW(list = ctx.query_all_sensors());
        REQUIRE(list.size() > 0);

        std::string notification_description;
        rs2_log_severity severity;
        std::condition_variable cv;
        std::mutex m;

        // An exempt of possible error values - note that the full list is available to Librealsenes core
        const std::map< uint8_t, std::string> error_report = {
            { 0,  "Success" },
            { 1,  "Laser hot - power reduce" },
            { 2,  "Laser hot - disabled" },
            { 3,  "Flag B - laser disabled" },
        };

        //enable error polling
        for (auto && subdevice : list) {

            if (subdevice.supports(RS2_OPTION_ERROR_POLLING_ENABLED))
            {
                disable_sensitive_options_for(subdevice);

                subdevice.set_notifications_callback([&](rs2::notification n)
                {
                    std::unique_lock<std::mutex> lock(m);

                    notification_description = n.get_description();
                    severity = n.get_severity();
                    cv.notify_one();
                });

                REQUIRE_NOTHROW(subdevice.set_option(RS2_OPTION_ERROR_POLLING_ENABLED, 1));

                // The first entry with success value cannot be emulated
                for (auto i = 1; i < error_report.size(); i++)
                {
                    trigger_error(ctx.get_sensor_parent(subdevice), i);
                    std::unique_lock<std::mutex> lock(m);
                    CAPTURE(i);
                    CAPTURE(error_report.at(i));
                    CAPTURE(severity);
                    auto pred = [&]() {
                        return notification_description.compare(error_report.at(i)) == 0
                            && severity == RS2_LOG_SEVERITY_ERROR;
                    };
                    REQUIRE(cv.wait_for(lock, std::chrono::seconds(10), pred));

                }
                REQUIRE_NOTHROW(subdevice.set_option(RS2_OPTION_ERROR_POLLING_ENABLED, 0));
            }
        }
    }
}

std::vector<uint32_t> split(const std::string &s, char delim) {
    std::stringstream ss(s);
    std::string item;
    std::vector<uint32_t> tokens;
    while (std::getline(ss, item, delim)) {
        tokens.push_back(std::stoi(item, nullptr));
    }
    return tokens;
}

bool is_fw_version_newer(rs2::sensor& subdevice, const uint32_t other_fw[4])
{
    std::string fw_version_str;
    REQUIRE_NOTHROW(fw_version_str = subdevice.get_info(RS2_CAMERA_INFO_FIRMWARE_VERSION));
    auto fw = split(fw_version_str, '.');
    if (fw[0] > other_fw[0])
            return true;
    if (fw[0] == other_fw[0] && fw[1] > other_fw[1])
        return true;
    if (fw[0] == other_fw[0] && fw[1] == other_fw[1] && fw[2] > other_fw[2])
        return true;
    if (fw[0] == other_fw[0] && fw[1] == other_fw[1] && fw[2] == other_fw[2] && fw[3] > other_fw[3])
        return true;
    if (fw[0] == other_fw[0] && fw[1] == other_fw[1] && fw[2] == other_fw[2] && fw[3] == other_fw[3])
        return true;
    return false;
}


TEST_CASE("Auto disabling control behavior", "[live]") {
    //Require at least one device to be plugged in
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        std::vector<sensor> list;
        REQUIRE_NOTHROW(list = ctx.query_all_sensors());
        REQUIRE(list.size() > 0);

        for (auto && subdevice : list)
        {
            disable_sensitive_options_for(subdevice);
            auto info = subdevice.get_info(RS2_CAMERA_INFO_NAME);
            CAPTURE(info);

            rs2::option_range range{};
            float val{};
            if (subdevice.supports(RS2_OPTION_ENABLE_AUTO_EXPOSURE))
            {
                SECTION("Disable auto exposure when setting a value")
                {
                    REQUIRE_NOTHROW(subdevice.set_option(RS2_OPTION_ENABLE_AUTO_EXPOSURE, 1));
                    REQUIRE_NOTHROW(range = subdevice.get_option_range(RS2_OPTION_EXPOSURE));
                    REQUIRE_NOTHROW(subdevice.set_option(RS2_OPTION_EXPOSURE, range.max));
                    CAPTURE(range.max);
                    REQUIRE_NOTHROW(val = subdevice.get_option(RS2_OPTION_ENABLE_AUTO_EXPOSURE));
                    REQUIRE(val == 0);
                }
            }

            if (subdevice.supports(RS2_OPTION_EMITTER_ENABLED))
            {
                SECTION("Disable emitter when setting a value")
                {
                    for (auto elem : { 0.f, 2.f })
                    {
                        CAPTURE(elem);
                        REQUIRE_NOTHROW(subdevice.set_option(RS2_OPTION_EMITTER_ENABLED, elem));
                        REQUIRE_NOTHROW(range = subdevice.get_option_range(RS2_OPTION_LASER_POWER));
                        REQUIRE_NOTHROW(subdevice.set_option(RS2_OPTION_LASER_POWER, range.max));
                        CAPTURE(range.max);
                        REQUIRE_NOTHROW(val = subdevice.get_option(RS2_OPTION_EMITTER_ENABLED));
                        REQUIRE(val == 1);
                        //0 - on, 1- off, 2 - deprecated for fw later than 5.9.11.0
                        //check if the fw version supports elem = 2
                        const uint32_t MIN_FW_VER[4] = { 5, 9, 11, 0 };
                        if (is_fw_version_newer(subdevice, MIN_FW_VER)) break;
                    }
                }
            }

            if (subdevice.supports(RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE))
            {
                SECTION("Disable white balance when setting a value")
                {
                    if (subdevice.supports(RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE) && subdevice.supports(RS2_OPTION_WHITE_BALANCE))
                    {

                        REQUIRE_NOTHROW(subdevice.set_option(RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE, 1));
                        REQUIRE_NOTHROW(range = subdevice.get_option_range(RS2_OPTION_WHITE_BALANCE));
                        REQUIRE_NOTHROW(subdevice.set_option(RS2_OPTION_WHITE_BALANCE, range.max));
                        CAPTURE(range.max);
                        REQUIRE_NOTHROW(val = subdevice.get_option(RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE));
                        REQUIRE(val == 0);
                    }
                }
            }
        }
    }
}


std::pair<std::shared_ptr<rs2::device>, std::weak_ptr<rs2::device>> make_device(device_list& list)
{
    REQUIRE(list.size() > 0);

    std::shared_ptr<rs2::device> dev;
    REQUIRE_NOTHROW(dev = std::make_shared<rs2::device>(list[0]));
    std::weak_ptr<rs2::device> weak_dev(dev);

    disable_sensitive_options_for(*dev);

    return std::pair<std::shared_ptr<rs2::device>, std::weak_ptr<rs2::device>>(dev, weak_dev);
}

void reset_device(std::shared_ptr<rs2::device>& strong, std::weak_ptr<rs2::device>& weak, device_list& list, const rs2::device& new_dev)
{
    strong.reset();
    weak.reset();
    list = nullptr;
    strong = std::make_shared<rs2::device>(new_dev);
    weak = strong;
    disable_sensitive_options_for(*strong);
}

TEST_CASE("Disconnect events works", "[live]") {

    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        device_list list;
        REQUIRE_NOTHROW(list = ctx.query_devices());

        auto dev = make_device(list);
        auto dev_strong = dev.first;
        auto dev_weak = dev.second;


        auto disconnected = false;
        auto connected = false;

        std::string serial;

        REQUIRE_NOTHROW(serial = dev_strong->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));

        std::condition_variable cv;
        std::mutex m;

        //Setting up devices change callback to notify the test about device disconnection
        REQUIRE_NOTHROW(ctx.set_devices_changed_callback([&, dev_weak](event_information& info) mutable
        {
            auto&& strong = dev_weak.lock();
            {
                if (strong)
                {
                    if (info.was_removed(*strong))
                    {
                        std::unique_lock<std::mutex> lock(m);
                        disconnected = true;
                        cv.notify_one();
                    }


                    for (auto d : info.get_new_devices())
                    {
                        for (auto&& s : d.query_sensors())
                            disable_sensitive_options_for(s);

                        if (serial == d.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER))
                        {
                            try
                            {
                                std::unique_lock<std::mutex> lock(m);
                                connected = true;
                                cv.notify_one();
                                break;
                            }
                            catch (...)
                            {

                            }
                        }
                    }
                }

            }}));

        //forcing hardware reset to simulate device disconnection
        do_with_waiting_for_camera_connection(ctx, dev_strong, serial, [&]()
        {
            dev_strong->hardware_reset();
        });

        //Check that after the library reported device disconnection, operations on old device object will return error
        REQUIRE_THROWS(dev_strong->query_sensors().front().close());
    }
}

TEST_CASE("Connect events works", "[live]") {

    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        device_list list;
        REQUIRE_NOTHROW(list = ctx.query_devices());

        auto dev = make_device(list);
        auto dev_strong = dev.first;
        auto dev_weak = dev.second;

        std::string serial;

        REQUIRE_NOTHROW(serial = dev_strong->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));

        auto disconnected = false;
        auto connected = false;
        std::condition_variable cv;
        std::mutex m;

        //Setting up devices change callback to notify the test about device disconnection and connection
        REQUIRE_NOTHROW(ctx.set_devices_changed_callback([&, dev_weak](event_information& info) mutable
        {
            auto&& strong = dev_weak.lock();
            {
                if (strong)
                {
                    if (info.was_removed(*strong))
                    {
                        std::unique_lock<std::mutex> lock(m);
                        disconnected = true;
                        cv.notify_one();
                    }


                    for (auto d : info.get_new_devices())
                    {
                        if (serial == d.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER))
                        {
                            try
                            {
                                std::unique_lock<std::mutex> lock(m);

                                reset_device(dev_strong, dev_weak, list, d);

                                connected = true;
                                cv.notify_one();
                                break;
                            }
                            catch (...)
                            {

                            }
                        }
                    }
                }

            }}));

        //forcing hardware reset to simulate device disconnection
        do_with_waiting_for_camera_connection(ctx, dev_strong, serial, [&]()
        {
            dev_strong->hardware_reset();
        });
    }
}

std::shared_ptr<std::function<void(rs2::frame fref)>> check_stream_sanity(const context& ctx, const sensor& sub, int num_of_frames, bool infinite = false)
{
    std::shared_ptr<std::condition_variable> cv = std::make_shared<std::condition_variable>();
    std::shared_ptr<std::mutex> m = std::make_shared<std::mutex>();
    std::shared_ptr<std::map<rs2_stream, int>> streams_frames = std::make_shared<std::map<rs2_stream, int>>();

    std::shared_ptr<std::function<void(rs2::frame fref)>>  func;

    std::vector<rs2::stream_profile> modes;
    REQUIRE_NOTHROW(modes = sub.get_stream_profiles());

    auto streaming = false;

    for (auto p : modes)
    {
        if (auto video = p.as<video_stream_profile>())
        {
            if (video.width() == 640 && video.height() == 480 && video.fps() == 60 && video.format())
            {
                if ((video.stream_type() == RS2_STREAM_DEPTH && video.format() == RS2_FORMAT_Z16) ||
                    (video.stream_type() == RS2_STREAM_FISHEYE && video.format() == RS2_FORMAT_RAW8))
                {
                    streaming = true;
                    (*streams_frames)[p.stream_type()] = 0;

                    REQUIRE_NOTHROW(sub.open(p));

                    func = std::make_shared< std::function<void(frame fref)>>([num_of_frames, m, streams_frames, cv](frame fref) mutable
                    {
                        std::unique_lock<std::mutex> lock(*m);
                        auto stream = fref.get_profile().stream_type();
                        streams_frames->at(stream)++;
                        if (streams_frames->at(stream) >= num_of_frames)
                            cv->notify_one();

                    });
                    REQUIRE_NOTHROW(sub.start(*func));
                }
            }
        }
    }


    std::unique_lock<std::mutex> lock(*m);
    cv->wait_for(lock, std::chrono::seconds(30), [&]
    {
        for (auto f : (*streams_frames))
        {
            if (f.second < num_of_frames)
                return false;
        }
        return true;
    });

    if (!infinite && streaming)
    {
        REQUIRE_NOTHROW(sub.stop());
        REQUIRE_NOTHROW(sub.close());

    }

    return func;
}

TEST_CASE("Connect Disconnect events while streaming", "[live]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        device_list list;
        REQUIRE_NOTHROW(list = ctx.query_devices());

        std::string serial;

        auto dev = make_device(list);
        auto dev_strong = dev.first;
        auto dev_weak = dev.second;


        REQUIRE_NOTHROW(serial = dev_strong->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));


        auto disconnected = false;
        auto connected = false;
        std::condition_variable cv;
        std::mutex m;

        //Setting up devices change callback to notify the test about device disconnection and connection
        REQUIRE_NOTHROW(ctx.set_devices_changed_callback([&, dev_weak](event_information& info) mutable
        {
            auto&& strong = dev_weak.lock();
            {
                if (strong)
                {
                    if (info.was_removed(*strong))
                    {
                        std::unique_lock<std::mutex> lock(m);
                        disconnected = true;
                        cv.notify_one();
                    }


                    for (auto d : info.get_new_devices())
                    {
                        if (serial == d.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER))
                        {
                            try
                            {
                                std::unique_lock<std::mutex> lock(m);

                                reset_device(dev_strong, dev_weak, list, d);

                                connected = true;
                                cv.notify_one();
                                break;
                            }
                            catch (...)
                            {

                            }
                        }
                    }
                }

            }}));

        for (auto&& s : dev_strong->query_sensors())
            auto func = check_stream_sanity(ctx, s, 1, true);

        for (auto i = 0; i < 3; i++)
        {
            //forcing hardware reset to simulate device disconnection
            dev_strong = do_with_waiting_for_camera_connection(ctx, dev_strong, serial, [&]()
            {
                dev_strong->hardware_reset();
            });

            for (auto&& s : dev_strong->query_sensors())
                auto func = check_stream_sanity(ctx, s, 10);

            disconnected = connected = false;
        }

    }
}

void check_controls_sanity(const context& ctx, const sensor& dev)
{
    for (auto d : ctx.get_sensor_parent(dev).query_sensors())
    {
        for (auto i = 0; i < RS2_OPTION_COUNT; i++)
        {
            if (d.supports((rs2_option)i))
                REQUIRE_NOTHROW(d.get_option((rs2_option)i));
        }
    }
}
//
TEST_CASE("Connect Disconnect events while controls", "[live]")
{
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        device_list list;
        REQUIRE_NOTHROW(list = ctx.query_devices());

        auto dev = make_device(list);
        auto dev_strong = dev.first;
        auto dev_weak = dev.second;

        std::string serial;

        REQUIRE_NOTHROW(serial = dev_strong->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));


        auto disconnected = false;
        auto connected = false;
        std::condition_variable cv;
        std::mutex m;

        //Setting up devices change callback to notify the test about device disconnection and connection
        REQUIRE_NOTHROW(ctx.set_devices_changed_callback([&, dev_weak](event_information& info) mutable
        {
            auto&& strong = dev_weak.lock();
            {
                if (strong)
                {
                    if (info.was_removed(*strong))
                    {
                        std::unique_lock<std::mutex> lock(m);
                        disconnected = true;
                        cv.notify_one();
                    }

                    for (auto d : info.get_new_devices())
                    {
                        if (serial == d.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER))
                        {
                            try
                            {
                                std::unique_lock<std::mutex> lock(m);

                                reset_device(dev_strong, dev_weak, list, d);
                                connected = true;
                                cv.notify_one();
                                break;
                            }
                            catch (...)
                            {

                            }
                        }
                    }
                }

            }}));

        //forcing hardware reset to simulate device disconnection
        dev_strong = do_with_waiting_for_camera_connection(ctx, dev_strong, serial, [&]()
        {
            dev_strong->hardware_reset();
        });

        for (auto&& s : dev_strong->query_sensors())
            check_controls_sanity(ctx, s);
    }

}

TEST_CASE("Basic device_hub flow", "[live][!mayfail]") {

    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );

    std::shared_ptr<rs2::device> dev;

    if( ctx )
    {
        device_hub hub(ctx);
        REQUIRE_NOTHROW(dev = std::make_shared<rs2::device>(hub.wait_for_device()));

        std::weak_ptr<rs2::device> weak(dev);

        disable_sensitive_options_for(*dev);

        dev->hardware_reset();
        int i = 300;
        while (i > 0 && hub.is_connected(*dev))
        {
            std::this_thread::sleep_for(std::chrono::milliseconds(10));
            --i;
        }
        /*if (i == 0)
        {
            WARN("Reset workaround");
            dev->hardware_reset();
            while (hub.is_connected(*dev))
                std::this_thread::sleep_for(std::chrono::milliseconds(10));
        }*/

        // Don't exit the test in unknown state
        REQUIRE_NOTHROW(hub.wait_for_device());
    }
}


struct stream_format
{
    rs2_stream stream_type;
    int width;
    int height;
    int fps;
    rs2_format format;
    int index;
};

TEST_CASE("Auto-complete feature works", "[offline][util::config][using_pipeline]") {
    // dummy device can provide the following profiles:
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        struct Test {
            std::vector<stream_format> given;      // We give these profiles to the config class
            std::vector<stream_format> expected;    // pool of profiles the config class can return. Leave empty if auto-completer is expected to fail
        };
        std::vector<Test> tests = {
            // Test 0 (Depth always has RS2_FORMAT_Z16)
           { { { RS2_STREAM_DEPTH   ,   0,   0,   0, RS2_FORMAT_ANY, 0 } },   // given
             { { RS2_STREAM_DEPTH   ,   0,   0,   0, RS2_FORMAT_Z16, 0 } } }, // expected
            // Test 1 (IR always has RS2_FORMAT_Y8)
           { { { RS2_STREAM_INFRARED,   0,   0,   0, RS2_FORMAT_ANY, 1 } },   // given
             { { RS2_STREAM_INFRARED,   0,   0,   0, RS2_FORMAT_Y8 , 1 } } }, // expected
            // Test 2 (No 200 fps depth)
           { { { RS2_STREAM_DEPTH   ,   0,   0, 200, RS2_FORMAT_ANY, -1 } },   // given
             { } },                                                      // expected
            // Test 3 (Can request 60 fps IR)
           { { { RS2_STREAM_INFRARED,   0,   0, 60, RS2_FORMAT_ANY, 1 } },   // given
             { { RS2_STREAM_INFRARED,   0,   0, 60, RS2_FORMAT_ANY, 1 } } }, // expected
            // Test 4 (requesting IR@200fps + depth fails
           { { { RS2_STREAM_INFRARED,   0,   0, 200, RS2_FORMAT_ANY, 1 }, { RS2_STREAM_DEPTH   ,   0,   0,   0, RS2_FORMAT_ANY, -1 } },   // given
             { } },                                                                                                            // expected
            // Test 5 (Can't do 640x480@110fps a)
           { { { RS2_STREAM_INFRARED, 640, 480, 110, RS2_FORMAT_ANY, -1 } },   // given
             { } },                                                      // expected
            // Test 6 (Can't do 640x480@110fps b)
           { { { RS2_STREAM_DEPTH   , 640, 480,   0, RS2_FORMAT_ANY, -1 }, { RS2_STREAM_INFRARED,   0,   0, 110, RS2_FORMAT_ANY, 1 } },   // given
             { } },                                                                                                            // expected
            // Test 7 (Pull extra details from second stream a)
           { { { RS2_STREAM_DEPTH   , 640, 480,   0, RS2_FORMAT_ANY, -1 }, { RS2_STREAM_INFRARED,   0,   0,  30, RS2_FORMAT_ANY, 1 } },   // given
             { { RS2_STREAM_DEPTH   , 640, 480,  30, RS2_FORMAT_ANY, 0 }, { RS2_STREAM_INFRARED, 640, 480,  30, RS2_FORMAT_ANY, 1 } } }, // expected
            // Test 8 (Pull extra details from second stream b) [IR also supports 200, could fail if that gets selected]
           { { { RS2_STREAM_INFRARED, 640, 480,   0, RS2_FORMAT_ANY, 1 }, { RS2_STREAM_DEPTH   ,   0,   0,   0, RS2_FORMAT_ANY , 0 } },   // given
             { { RS2_STREAM_INFRARED, 640, 480,  10, RS2_FORMAT_ANY, 1 }, { RS2_STREAM_INFRARED, 640, 480,  30, RS2_FORMAT_ANY , 1 },     // expected - options for IR stream
               { RS2_STREAM_DEPTH   , 640, 480,  10, RS2_FORMAT_ANY, 0 }, { RS2_STREAM_DEPTH   , 640, 480,  30, RS2_FORMAT_ANY , 0 } } }  // expected - options for depth stream

        };

        pipeline pipe(ctx);
        rs2::config cfg;
        for (int i = 0; i < tests.size(); ++i)
        {
            cfg.disable_all_streams();
            for (auto & profile : tests[i].given) {
                REQUIRE_NOTHROW(cfg.enable_stream(profile.stream_type, profile.index, profile.width, profile.height, profile.format, profile.fps));
            }

            CAPTURE(i);
            if (tests[i].expected.size() == 0) {
                REQUIRE_THROWS_AS(pipe.start(cfg), std::runtime_error);
            }
            else
            {
                rs2::pipeline_profile pipe_profile;
                REQUIRE_NOTHROW(pipe_profile = pipe.start(cfg));
                //REQUIRE()s are in here
                REQUIRE(pipe_profile);
                REQUIRE_NOTHROW(pipe.stop());
            }
        }
    }
}


//TODO: make it work
//TEST_CASE("Sync connect disconnect", "[live]") {
//    rs2::context ctx;
//
//    if (make_context(SECTION_FROM_TEST_NAME, &ctx))
//    {
//        auto list = ctx.query_devices();
//        REQUIRE(list.size());
//        pipeline pipe(ctx);
//        auto dev = pipe.get_device();
//
//        disable_sensitive_options_for(dev);
//
//
//        auto profiles = configure_all_supported_streams(dev, dev);
//
//
//        pipe.start();
//
//        std::string serial;
//        REQUIRE_NOTHROW(serial = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
//
//        auto disconnected = false;
//        auto connected = false;
//        std::condition_variable cv;
//        std::mutex m;
//
//        //Setting up devices change callback to notify the test about device disconnection and connection
//        REQUIRE_NOTHROW(ctx.set_devices_changed_callback([&](event_information& info) mutable
//        {
//            std::unique_lock<std::mutex> lock(m);
//            if (info.was_removed(dev))
//            {
//
//                try {
//                    pipe.stop();
//                    pipe.disable_all();
//                    dev = nullptr;
//                }
//                catch (...) {};
//                disconnected = true;
//                cv.notify_one();
//            }
//
//            auto devs = info.get_new_devices();
//            if (devs.size() > 0)
//            {
//                dev = pipe.get_device();
//                std::string new_serial;
//                REQUIRE_NOTHROW(new_serial = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
//                if (serial == new_serial)
//                {
//                    disable_sensitive_options_for(dev);
//
//                    auto profiles = configure_all_supported_streams(dev, pipe);
//
//                    pipe.start();
//
//                    connected = true;
//                    cv.notify_one();
//                }
//            }
//
//        }));
//
//
//        for (auto i = 0; i < 5; i++)
//        {
//            auto frames = pipe.wait_for_frames(10000);
//            REQUIRE(frames.size() > 0);
//        }
//
//        {
//            std::unique_lock<std::mutex> lock(m);
//            disconnected = connected = false;
//            auto shared_dev = std::make_shared<rs2::device>(dev);
//            dev.hardware_reset();
//
//            REQUIRE(wait_for_reset([&]() {
//                return cv.wait_for(lock, std::chrono::seconds(20), [&]() {return disconnected; });
//            }, shared_dev));
//            REQUIRE(cv.wait_for(lock, std::chrono::seconds(20), [&]() {return connected; }));
//        }
//
//        for (auto i = 0; i < 5; i++)
//        {
//            auto frames = pipe.wait_for_frames(10000);
//            REQUIRE(frames.size() > 0);
//
//        }
//    }
//}


void validate(std::vector<std::vector<stream_profile>> frames, std::vector<std::vector<double>> timestamps, device_profiles requests, float actual_fps)
{
    REQUIRE(frames.size() > 0);

    int successful = 0;

    auto gap = 1000.f / actual_fps;

    auto ts = 0;

    std::vector<profile> actual_streams_arrived;
    for (auto i = 0; i < frames.size(); i++)
    {
        auto frame = frames[i];
        auto ts = timestamps[i];
        if (frame.size() == 0)
        {
            CAPTURE(frame.size());
            continue;
        }

        std::vector<profile> stream_arrived;

        for (auto f : frame)
        {
            auto image = f.as<rs2::video_stream_profile>();

            stream_arrived.push_back({ image.stream_type(), image.format(), image.width(), image.height() });
            REQUIRE(image.fps());
        }

        std::sort(ts.begin(), ts.end());

        if (ts[ts.size() - 1] - ts[0] > (float)gap / (float)2)
        {
            CAPTURE(gap);
            CAPTURE((float)gap / (float)2);
            CAPTURE(ts[ts.size() - 1]);
            CAPTURE(ts[0]);
            CAPTURE(ts[ts.size() - 1] - ts[0]);
            continue;
        }

        for (auto& str : stream_arrived)
            actual_streams_arrived.push_back(str);

        if (stream_arrived.size() != requests.streams.size())
            continue;

        std::sort(stream_arrived.begin(), stream_arrived.end());
        std::sort(requests.streams.begin(), requests.streams.end());

        auto equals = true;
        for (auto i = 0; i < requests.streams.size(); i++)
        {
            if (stream_arrived[i] != requests.streams[i])
            {
                equals = false;
                break;
            }

        }
        if (!equals)
            continue;

        successful++;

    }

    std::stringstream ss;
    ss << "Requested profiles : " << std::endl;
    for (auto profile : requests.streams)
    {
        ss << STRINGIFY(profile.stream) << " = " << profile.stream << std::endl;
        ss << STRINGIFY(profile.format) << " = " << profile.format << std::endl;
        ss << STRINGIFY(profile.width) << " = " << profile.width << std::endl;
        ss << STRINGIFY(profile.height) << " = " << profile.height << std::endl;
        ss << STRINGIFY(profile.index) << " = " << profile.index << std::endl;
    }
    CAPTURE(ss.str());
    CAPTURE(requests.fps);
    CAPTURE(requests.sync);

    ss.str("");
    ss << "\n\nReceived profiles : " << std::endl;
    std::sort(actual_streams_arrived.begin(), actual_streams_arrived.end());
    auto last = std::unique(actual_streams_arrived.begin(), actual_streams_arrived.end());
    actual_streams_arrived.erase(last, actual_streams_arrived.end());

    for (auto profile : actual_streams_arrived)
    {
        ss << STRINGIFY(profile.stream) << " = " << profile.stream << std::endl;
        ss << STRINGIFY(profile.format) << " = " << profile.format << std::endl;
        ss << STRINGIFY(profile.width) << " = " << profile.width << std::endl;
        ss << STRINGIFY(profile.height) << " = " << profile.height << std::endl;
        ss << STRINGIFY(profile.index) << " = " << profile.index << std::endl;
    }
    CAPTURE(ss.str());

    REQUIRE(successful > 0);
}

static const std::map< dev_type, device_profiles> pipeline_default_configurations = {
/* RS400/PSR*/          { { "0AD1", true}  ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 1280, 720, 1 } }, 30, true}},
/* RS410/ASR*/          { { "0AD2", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 1280, 720, 1 } }, 30, true }},
/* D410/USB2*/          { { "0AD2", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 1 } }, 15, true } },
/* RS415/ASRC*/         { { "0AD3", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1280, 720, 0 } }, 30, true }},
/* D415/USB2*/          { { "0AD3", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 640, 480, 0 } }, 15, true } },
/* RS430/AWG*/          { { "0AD4", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 1280, 720, 1 } }, 30, true }},
/* RS430_MM/AWGT*/      { { "0AD5", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 1280, 720, 1 } }, 30, true }},
/* RS420/PWG*/          { { "0AF6", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 1280, 720, 1 } }, 30, true }},
/* RS420_MM/PWGT*/      { { "0AFE", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 1280, 720, 1 } }, 30, true }},
/* RS410_MM/ASRT*/      { { "0AFF", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 1280, 720, 1 } }, 30, true } },
/* RS400_MM/PSR*/       { { "0B00", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 1280, 720, 1 } }, 30, true } },
/* RS430_MM_RGB/AWGTC*/ { { "0B01", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1280, 720, 0 } }, 30, true }},
/* RS405/D460/DS5U*/    { { "0B03", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 1280, 720, 1 } }, 30, true }},
/* RS435_RGB/AWGC*/     { { "0B07", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1280, 720, 0 } }, 30, true }},
/* D435/USB2*/          { { "0B07", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 640, 480, 0 } }, 15, true } },
// TODO - IMU data profiles are pending FW timestamp fix
/* D435I/USB3*/         { { "0B3A", true } ,{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 1280, 720, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1280, 720, 0 } }, 30, true } },
};

TEST_CASE("Pipeline wait_for_frames", "[live][pipeline][using_pipeline][!mayfail]") {

    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        rs2::device dev;
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        rs2::pipeline_profile profile;
        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);
        disable_sensitive_options_for(dev);
        dev_type PID = get_PID(dev);
        CAPTURE(PID.first);
        CAPTURE(PID.second);

        if (pipeline_default_configurations.end() == pipeline_default_configurations.find(PID))
        {
            WARN("Skipping test - the Device-Under-Test profile is not defined for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
        }
        else
        {
            REQUIRE(pipeline_default_configurations.at(PID).streams.size() > 0);

            REQUIRE_NOTHROW(pipe.start(cfg));

            std::vector<std::vector<stream_profile>> frames;
            std::vector<std::vector<double>> timestamps;

            for (auto i = 0; i < 30; i++)
                REQUIRE_NOTHROW(pipe.wait_for_frames(10000));

            auto actual_fps = float( pipeline_default_configurations.at(PID).fps );

            while (frames.size() < 100)
            {
                frameset frame;
                REQUIRE_NOTHROW(frame = pipe.wait_for_frames(10000));
                std::vector<stream_profile> frames_set;
                std::vector<double> ts;

                for (auto f : frame)
                {
                    if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
                    {
                        auto val = f.get_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS) / 1000.f;
                        if (val < actual_fps)
                            actual_fps = val;
                    }
                    frames_set.push_back(f.get_profile());
                    ts.push_back(f.get_timestamp());
                }
                frames.push_back(frames_set);
                timestamps.push_back(ts);
            }


            REQUIRE_NOTHROW(pipe.stop());
            validate(frames, timestamps, pipeline_default_configurations.at(PID), actual_fps);
        }
    }
}

TEST_CASE("Pipeline poll_for_frames", "[live][pipeline][using_pipeline][!mayfail]")
{
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        auto list = ctx.query_devices();
        REQUIRE(list.size());
        rs2::device dev;
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        rs2::pipeline_profile profile;
        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);
        disable_sensitive_options_for(dev);
        dev_type PID = get_PID(dev);
        CAPTURE(PID.first);
        CAPTURE(PID.second);

        if (pipeline_default_configurations.end() == pipeline_default_configurations.find(PID))
        {
            WARN("Skipping test - the Device-Under-Test profile is not defined for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
        }
        else
        {
            REQUIRE(pipeline_default_configurations.at(PID).streams.size() > 0);

            REQUIRE_NOTHROW(pipe.start(cfg));

            std::vector<std::vector<stream_profile>> frames;
            std::vector<std::vector<double>> timestamps;

            for (auto i = 0; i < 30; i++)
                REQUIRE_NOTHROW(pipe.wait_for_frames(5000));

            auto actual_fps = float( pipeline_default_configurations.at(PID).fps );
            while (frames.size() < 100)
            {
                frameset frame;
                if (pipe.poll_for_frames(&frame))
                {
                    std::vector<stream_profile> frames_set;
                    std::vector<double> ts;
                    for (auto f : frame)
                    {
                        if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
                        {
                            auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
                            if (val < actual_fps)
                                actual_fps = val;
                        }
                        frames_set.push_back(f.get_profile());
                        ts.push_back(f.get_timestamp());
                    }
                    frames.push_back(frames_set);
                    timestamps.push_back(ts);
                }
            }

            REQUIRE_NOTHROW(pipe.stop());
            validate(frames, timestamps, pipeline_default_configurations.at(PID), actual_fps);
        }

    }
}

static const std::map<dev_type, device_profiles> pipeline_custom_configurations = {
    /* RS400/PSR*/      { {"0AD1", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 1 } }, 30, true } },
    /* RS410/ASR*/      { {"0AD2", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 1 } }, 30, true } },
    /* D410/USB2*/      { {"0AD2", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 480, 270, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 480, 270, 1 } }, 30, true } },
    /* RS415/ASRC*/     { {"0AD3", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1280, 720, 0 } }, 30, true } },
    /* D415/USB2*/      { {"0AD3", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 480, 270, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 424, 240, 0 } }, 30, true } },
    /* RS430/AWG*/      { {"0AD4", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 640, 480, 1 } }, 30, true } },
    /* RS430_MM/AWGT*/  { {"0AD5", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 640, 480, 1 } }, 30, true } },
    /* RS420/PWG*/      { {"0AF6", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 640, 480, 1 } }, 30, true } },
    /* RS420_MM/PWGT*/  { {"0AFE", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_Y8, 640, 480, 1 } }, 30, true } },
    /* RS410_MM/ASRT*/  { {"0AFF", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 1 } }, 30, true } },
    /* RS400_MM/PSR*/   { {"0B00", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 1 } }, 30, true } },
    /* RS430_MC/AWGTC*/ { {"0B01", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1280, 720, 0 } }, 30, true } },
    /* RS405/D460/DS5U*/{ {"0B03", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 0 } }, 30, true } },
    /* RS435_RGB/AWGC*/ { {"0B07", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 640, 480, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 1280, 720, 0 } }, 30, true } },
    /* D435/USB2*/      { {"0B07", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 480, 270, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 424, 240, 0 } }, 30, true } },
};

TEST_CASE("Pipeline enable stream", "[live][pipeline][using_pipeline]") {

    auto dev_requests = pipeline_custom_configurations;

    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ! ctx )
        return;

    auto list = ctx.query_devices();
    REQUIRE(list.size());

    rs2::device dev;
    rs2::pipeline pipe(ctx);
    rs2::config cfg;
    rs2::pipeline_profile profile;
    REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
    REQUIRE(profile);
    REQUIRE_NOTHROW(dev = profile.get_device());
    REQUIRE(dev);
    disable_sensitive_options_for(dev);
    dev_type PID = get_PID(dev);
    CAPTURE(PID.first);
    CAPTURE(PID.second);

    if (dev_requests.end() == dev_requests.find(PID))
    {
        WARN("Skipping test - the Device-Under-Test profile is not defined for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
    }
    else
    {
        REQUIRE(dev_requests[PID].streams.size() > 0);

        for (auto req : pipeline_custom_configurations.at(PID).streams)
            REQUIRE_NOTHROW(cfg.enable_stream(req.stream, req.index, req.width, req.height, req.format, dev_requests[PID].fps));

        REQUIRE_NOTHROW(profile = pipe.start(cfg));
        REQUIRE(profile);
        REQUIRE(std::string(profile.get_device().get_info(RS2_CAMERA_INFO_SERIAL_NUMBER)) == dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
        std::vector<std::vector<stream_profile>> frames;
        std::vector<std::vector<double>> timestamps;

        for (auto i = 0; i < 30; i++)
            REQUIRE_NOTHROW(pipe.wait_for_frames(5000));

        auto actual_fps = float( dev_requests[PID].fps );

        while (frames.size() < 100)
        {
            frameset frame;
            REQUIRE_NOTHROW(frame = pipe.wait_for_frames(5000));
            std::vector<stream_profile> frames_set;
            std::vector<double> ts;

            for (auto f : frame)
            {
                if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
                {
                    auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
                    if (val < actual_fps)
                        actual_fps = val;
                }
                frames_set.push_back(f.get_profile());
                ts.push_back(f.get_timestamp());
            }
            frames.push_back(frames_set);
            timestamps.push_back(ts);
        }

        REQUIRE_NOTHROW(pipe.stop());
        validate(frames, timestamps, dev_requests[PID], actual_fps);
    }
}

static const std::map<dev_type, device_profiles> pipeline_autocomplete_configurations = {
    /* RS400/PSR*/      { {"0AD1", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_ANY, 0, 0, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_ANY, 0, 0, 1 } }, 30, true } },
    /* RS410/ASR*/      { {"0AD2", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_ANY, 0, 0, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_ANY, 0, 0, 1 } }, 30, true } },
    /* D410/USB2*/      { {"0AD2", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 0, 0, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 0, 0, 0 } }, 15, true } },
    //                                FW issues render streaming Depth:HD + Color:FHD as not feasible. Applies for AWGC and ASRC
    /*  AWGC/ASRC should be invoked with 30 fps in order to avoid selecting FullHD for Color sensor at least with FW 5.9.6*/
    /* RS415/ASRC*/     { {"0AD3", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_ANY, 0, 0, 0 }/*,{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 0, 0, 0 }*/ }, 30, true } },
    /* D415/USB2*/      { {"0AD3", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 0, 0, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 0, 0, 0 } }, 60, true } },
    /* RS430/AWG*/      { {"0AD4", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_ANY, 0, 0, 0 } }, 30, true } },
    /* RS430_MM/AWGT*/  { {"0AD5", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_ANY, 0, 0, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_ANY, 0, 0, 1 } }, 30, true } },
    /* RS420/PWG*/      { {"0AF6", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_ANY, 0, 0, 0 } }, 30, true } },
    /* RS420_MM/PWGT*/  { {"0AFE", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 0, 0, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 0, 0, 0 } }, 30, true } },
    /* RS410_MM/ASRT*/  { {"0AFF", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 0, 0, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 0, 0, 0 } }, 30, true } },
    /* RS400_MM/PSR*/   { {"0B00", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 0, 0, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 0, 0, 0 } }, 30, true } },
    /* RS430_MM_RGB/AWGTC*/{ {"0B01", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 0, 0, 0 },{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 0, 0, 0 } }, 30, true } },
    /* RS405/DS5U*/     { {"0B03", true },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 0, 0, 0 },{ RS2_STREAM_INFRARED, RS2_FORMAT_ANY, 0, 0, 1 } }, 30, true } },
    /* RS435_RGB/AWGC*/ { {"0B07", true },{ { /*{ RS2_STREAM_DEPTH, RS2_FORMAT_ANY, 0, 0, 0 },*/{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 0, 0, 0 } }, 30, true } },
    /* D435/USB2*/      { {"0B07", false },{ { /*{ RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 0, 0, 0 },*/{ RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 0, 0, 0 } }, 60, true } },
};

TEST_CASE("Pipeline enable stream auto complete", "[live][pipeline][using_pipeline]")
{
    auto configurations = pipeline_autocomplete_configurations;

    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        auto list = ctx.query_devices();
        REQUIRE(list.size());

        rs2::device dev;
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        rs2::pipeline_profile profile;
        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);
        disable_sensitive_options_for(dev);
        dev_type PID = get_PID(dev);
        CAPTURE(PID.first);
        CAPTURE(PID.second);

        if (configurations.end() == configurations.find(PID))
        {
            WARN("Skipping test - the Device-Under-Test profile is not defined for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
        }
        else
        {
            REQUIRE(configurations[PID].streams.size() > 0);

            for (auto req : configurations[PID].streams)
                REQUIRE_NOTHROW(cfg.enable_stream(req.stream, req.index, req.width, req.height, req.format, configurations[PID].fps));

            REQUIRE_NOTHROW(profile = pipe.start(cfg));
            REQUIRE(profile);
            REQUIRE(profile.get_device());
            REQUIRE(std::string(profile.get_device().get_info(RS2_CAMERA_INFO_SERIAL_NUMBER)) == dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));

            std::vector<std::vector<stream_profile>> frames;
            std::vector<std::vector<double>> timestamps;

            for (auto i = 0; i < 30; i++)
                REQUIRE_NOTHROW(pipe.wait_for_frames(5000));

            auto actual_fps = float( configurations[PID].fps );

            while (frames.size() < 100)
            {
                frameset frame;
                REQUIRE_NOTHROW(frame = pipe.wait_for_frames(5000));
                std::vector<stream_profile> frames_set;
                std::vector<double> ts;
                for (auto f : frame)
                {
                    if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
                    {
                        auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
                        if (val < actual_fps)
                            actual_fps = val;
                    }
                    frames_set.push_back(f.get_profile());
                    ts.push_back(f.get_timestamp());
                }
                frames.push_back(frames_set);
                timestamps.push_back(ts);
            }

            REQUIRE_NOTHROW(pipe.stop());
            validate(frames, timestamps, configurations[PID], actual_fps);
        }
    }
}

TEST_CASE("Pipeline disable_all", "[live][pipeline][using_pipeline][!mayfail]") {

    auto not_default_configurations = pipeline_custom_configurations;
    auto default_configurations = pipeline_default_configurations;

    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        auto list = ctx.query_devices();
        REQUIRE(list.size());

        rs2::device dev;
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        rs2::pipeline_profile profile;
        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);
        disable_sensitive_options_for(dev);
        dev_type PID = get_PID(dev);
        CAPTURE(PID.first);
        CAPTURE(PID.second);

        if ((not_default_configurations.end() == not_default_configurations.find(PID)) || ((default_configurations.find(PID) == default_configurations.end())))
        {
            WARN("Skipping test - the Device-Under-Test profile is not defined properly for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
        }
        else
        {
            REQUIRE(not_default_configurations[PID].streams.size() > 0);

            for (auto req : not_default_configurations[PID].streams)
                REQUIRE_NOTHROW(cfg.enable_stream(req.stream, req.index, req.width, req.height, req.format, not_default_configurations[PID].fps));

            REQUIRE_NOTHROW(cfg.disable_all_streams());

            REQUIRE_NOTHROW(profile = pipe.start(cfg));
            REQUIRE(profile);
            REQUIRE(std::string(profile.get_device().get_info(RS2_CAMERA_INFO_SERIAL_NUMBER)) == dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));


            std::vector<std::vector<stream_profile>> frames;
            std::vector<std::vector<double>> timestamps;

            for (auto i = 0; i < 30; i++)
                REQUIRE_NOTHROW(pipe.wait_for_frames(5000));

            auto actual_fps = float( default_configurations[PID].fps );

            while (frames.size() < 100)
            {
                frameset frame;
                REQUIRE_NOTHROW(frame = pipe.wait_for_frames(5000));
                std::vector<stream_profile> frames_set;
                std::vector<double> ts;
                for (auto f : frame)
                {
                    if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
                    {
                        auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
                        if (val < actual_fps)
                            actual_fps = val;
                    }
                    frames_set.push_back(f.get_profile());
                    ts.push_back(f.get_timestamp());
                }
                frames.push_back(frames_set);
                timestamps.push_back(ts);
            }

            REQUIRE_NOTHROW(pipe.stop());
            validate(frames, timestamps, default_configurations[PID], actual_fps);
        }
    }
}

TEST_CASE("Pipeline disable stream", "[live][pipeline][using_pipeline]") {

    auto configurations = pipeline_custom_configurations;

    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        auto list = ctx.query_devices();
        REQUIRE(list.size());

        rs2::device dev;
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        rs2::pipeline_profile profile;
        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);
        disable_sensitive_options_for(dev);
        dev_type PID = get_PID(dev);
        CAPTURE(PID.first);
        CAPTURE(PID.second);

        if (configurations.end() == configurations.find(PID))
        {
            WARN("Skipping test - the Device-Under-Test profile is not defined for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
        }
        else
        {
            REQUIRE(configurations[PID].streams.size() > 0);

            for (auto req : configurations[PID].streams)
                REQUIRE_NOTHROW(cfg.enable_stream(req.stream, req.index, req.width, req.height, req.format, configurations[PID].fps));

            auto stream_to_be_removed = configurations[PID].streams[configurations[PID].streams.size() - 1].stream;
            REQUIRE_NOTHROW(cfg.disable_stream(stream_to_be_removed));

            auto& streams = configurations[PID].streams;
            streams.erase(streams.end() - 1);

            REQUIRE_NOTHROW(profile = pipe.start(cfg));
            REQUIRE(profile);
            REQUIRE(std::string(profile.get_device().get_info(RS2_CAMERA_INFO_SERIAL_NUMBER)) == dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));

            std::vector<std::vector<stream_profile>> frames;
            std::vector<std::vector<double>> timestamps;

            for (auto i = 0; i < 30; i++)
                REQUIRE_NOTHROW(pipe.wait_for_frames(5000));

            auto actual_fps = float( configurations[PID].fps );
            while (frames.size() < 100)
            {
                frameset frame;
                REQUIRE_NOTHROW(frame = pipe.wait_for_frames(5000));
                std::vector<stream_profile> frames_set;
                std::vector<double> ts;
                for (auto f : frame)
                {
                    if (f.supports_frame_metadata(RS2_FRAME_METADATA_ACTUAL_FPS))
                    {
                        auto val = f.get_frame_metadata( RS2_FRAME_METADATA_ACTUAL_FPS ) / 1000.f;
                        if (val < actual_fps)
                            actual_fps = val;
                    }
                    frames_set.push_back(f.get_profile());
                    ts.push_back(f.get_timestamp());
                }
                frames.push_back(frames_set);
                timestamps.push_back(ts);
            }

            REQUIRE_NOTHROW(pipe.stop());
            validate(frames, timestamps, configurations[PID], actual_fps);
        }
    }
}
// The test relies on default profiles that may alter
TEST_CASE("Pipeline with specific device", "[live][pipeline][using_pipeline]")
{
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        auto list = ctx.query_devices();
        REQUIRE(list.size());

        rs2::device dev;
        REQUIRE_NOTHROW(dev = list[0]);
        disable_sensitive_options_for(dev);
        std::string serial, serial1, serial2;
        REQUIRE_NOTHROW(serial = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));

        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        REQUIRE_NOTHROW(cfg.enable_device(serial));
        rs2::pipeline_profile profile;
        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);
        disable_sensitive_options_for(dev);
        REQUIRE_NOTHROW(serial1 = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
        CAPTURE(serial);
        CAPTURE(serial1);
        REQUIRE(serial1 == serial);

        REQUIRE_NOTHROW(profile = pipe.start(cfg));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE_NOTHROW(serial2 = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
        CAPTURE(serial);
        CAPTURE(serial2);
        REQUIRE(serial2 == serial);
        REQUIRE_NOTHROW(pipe.stop());

    }
}

bool operator==(std::vector<profile> streams1, std::vector<profile> streams2)
{
    if (streams1.size() != streams2.size())
        return false;

    std::sort(streams1.begin(), streams1.end());
    std::sort(streams2.begin(), streams2.end());

    auto equals = true;
    for (auto i = 0; i < streams1.size(); i++)
    {
        if (streams1[i] != streams2[i])
        {
            equals = false;
            break;
        }
    }
    return equals;
}

TEST_CASE("Pipeline start stop", "[live][pipeline][using_pipeline]") {

    auto configurations = pipeline_custom_configurations;

    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        auto list = ctx.query_devices();
        REQUIRE(list.size());

        rs2::device dev;
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        rs2::pipeline_profile pipe_profile;
        REQUIRE_NOTHROW(pipe_profile = cfg.resolve(pipe));
        REQUIRE(pipe_profile);
        REQUIRE_NOTHROW(dev = pipe_profile.get_device());
        REQUIRE(dev);
        disable_sensitive_options_for(dev);
        dev_type PID = get_PID(dev);
        CAPTURE(PID.first);
        CAPTURE(PID.second);

        if (configurations.end() == configurations.find(PID))
        {
            WARN("Skipping test - the Device-Under-Test profile is not defined for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
        }
        else
        {
            REQUIRE(configurations[PID].streams.size() > 0);

            for (auto req : configurations[PID].streams)
                REQUIRE_NOTHROW(cfg.enable_stream(req.stream, req.index, req.width, req.height, req.format, configurations[PID].fps));

            auto& streams = configurations[PID].streams;

            REQUIRE_NOTHROW(pipe.start(cfg));

            std::vector<device_profiles> frames;

            for (auto i = 0; i < 10; i++)
                REQUIRE_NOTHROW(pipe.wait_for_frames(5000));


            REQUIRE_NOTHROW(pipe.stop());
            REQUIRE_NOTHROW(pipe.start(cfg));

            for (auto i = 0; i < 20; i++)
                REQUIRE_NOTHROW(pipe.wait_for_frames(5000));

            std::vector<profile> profiles;
            auto equals = 0;
            for (auto i = 0; i < 30; i++)
            {
                frameset frame;
                REQUIRE_NOTHROW(frame = pipe.wait_for_frames(5000));
                REQUIRE(frame.size() > 0);

                for (auto f : frame)
                {
                    auto profile = f.get_profile();
                    auto video_profile = profile.as<video_stream_profile>();

                    profiles.push_back({ profile.stream_type(),
                        profile.format(),
                        video_profile.width(),
                        video_profile.height(),
                        video_profile.stream_index() });

                }
                if (profiles == streams)
                    equals++;
                profiles.clear();
            }

            REQUIRE_NOTHROW(pipe.stop());
            REQUIRE(equals > 1);
        }
    }
}

static const std::map<dev_type, device_profiles> pipeline_configurations_for_extrinsic = {
    /* D400/PSR*/      { {"0AD1", true},{ { { RS2_STREAM_DEPTH,    RS2_FORMAT_Z16,  640, 480, 0 },
                                     { RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 0 } }, 30, true } },
    /* D410/ASR*/      { {"0AD2", true },{ { { RS2_STREAM_DEPTH,    RS2_FORMAT_Z16,  640, 480, 0 },
                                     { RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 0 } }, 30, true } },
    /* D410/USB2*/      { {"0AD2", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 480, 270, 0 },
                                     { RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 480, 270, 0 } }, 30, true } },
    /* D415/ASRC*/     { {"0AD3", true },{ { { RS2_STREAM_DEPTH,    RS2_FORMAT_Z16, 640, 480, 0 },
                                     { RS2_STREAM_INFRARED, RS2_FORMAT_Y8,  640, 480, 1 } ,
                                     { RS2_STREAM_COLOR,    RS2_FORMAT_RGB8, 1920, 1080, 0 } }, 30, true } },
    /* D415/USB2*/      { {"0AD3", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 480, 270, 0 },
                                     { RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 424, 240, 0 } }, 30, true } },
    /* RS430/AWG*/      { {"0AD4", true },{ { { RS2_STREAM_DEPTH,    RS2_FORMAT_Z16, 640, 480, 0 },
                                     { RS2_STREAM_INFRARED, RS2_FORMAT_Y8,  640, 480, 1 } }, 30, true } },
    /* RS430_MM/AWGT*/  { {"0AD5", true },{ { { RS2_STREAM_DEPTH,    RS2_FORMAT_Z16, 640, 480, 0 },
                                     { RS2_STREAM_INFRARED, RS2_FORMAT_Y8,  640, 480, 1 } }, 30, true } },
    /* RS420/PWG*/      { {"0AF6", true },{ { { RS2_STREAM_DEPTH,    RS2_FORMAT_Z16, 640, 480, 0 },
                                     { RS2_STREAM_INFRARED, RS2_FORMAT_Y8,  640, 480, 1 } }, 30, true } },
    /* RS420_MM/PWGT*/  { {"0AFE", true },{ { { RS2_STREAM_DEPTH,    RS2_FORMAT_Z16, 640, 480, 0 },
                                     { RS2_STREAM_INFRARED, RS2_FORMAT_Y8,  640, 480, 1 } }, 30, true } },
    /* RS410_MM/ASRT*/  { {"0AFF", true },{ { { RS2_STREAM_DEPTH,    RS2_FORMAT_Z16,  640, 480, 0 },
                                     { RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 0 } }, 30, true } },
    /* RS400_MM/PSR*/   { {"0B00", true },{ { { RS2_STREAM_DEPTH,    RS2_FORMAT_Z16,  640, 480, 0 },
                                     { RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 0 } }, 30, true } },
    /* RS430_MM_RGB/AWGTC*/{ {"0B01", true },{ { { RS2_STREAM_DEPTH,  RS2_FORMAT_Z16, 640, 480, 0 },
                                     { RS2_STREAM_INFRARED, RS2_FORMAT_Y8,  640, 480, 1 } ,
                                     { RS2_STREAM_COLOR,    RS2_FORMAT_RGB8, 1920, 1080, 0 } }, 30, true } },
    /* RS405/DS5U*/     { {"0B03", true },{ { { RS2_STREAM_DEPTH,    RS2_FORMAT_Z16,  640, 480, 0 },
                                     { RS2_STREAM_INFRARED, RS2_FORMAT_RGB8, 640, 480, 0 } }, 30, true } },
    /* RS435_RGB/AWGC*/ { {"0B07", true },{ { { RS2_STREAM_DEPTH,    RS2_FORMAT_Z16, 640, 480, 0 },
                                     { RS2_STREAM_INFRARED, RS2_FORMAT_Y8,  640, 480, 1 } ,
                                     { RS2_STREAM_COLOR,    RS2_FORMAT_RGB8, 1920, 1080, 0 } }, 30, true } },
    /* D435/USB2*/      { {"0B07", false },{ { { RS2_STREAM_DEPTH, RS2_FORMAT_Z16, 480, 270, 0 },
                                     { RS2_STREAM_COLOR, RS2_FORMAT_RGB8, 424, 240, 0 } }, 30, true } },
                        };

TEST_CASE("Pipeline get selection", "[live][pipeline][using_pipeline]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    auto configurations = pipeline_configurations_for_extrinsic;

    if( ctx )
    {
        auto list = ctx.query_devices();
        REQUIRE(list.size());

        rs2::device dev;
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        rs2::pipeline_profile pipe_profile;
        REQUIRE_NOTHROW(pipe_profile = cfg.resolve(pipe));
        REQUIRE(pipe_profile);
        REQUIRE_NOTHROW(dev = pipe_profile.get_device());
        REQUIRE(dev);
        disable_sensitive_options_for(dev);
        dev_type PID = get_PID(dev);
        CAPTURE(PID.first);
        CAPTURE(PID.second);

        if (configurations.end() == configurations.find(PID))
        {
            WARN("Skipping test - the Device-Under-Test profile is not defined for PID " << PID.first << (PID.second ? " USB3" : " USB2"));
        }
        else
        {
            REQUIRE(configurations[PID].streams.size() > 0);

            for (auto req : configurations[PID].streams)
                REQUIRE_NOTHROW(cfg.enable_stream(req.stream, req.index, req.width, req.height, req.format, configurations[PID].fps));

            REQUIRE_NOTHROW(pipe.start(cfg));
            std::vector<stream_profile> profiles;
            REQUIRE_NOTHROW(pipe_profile = pipe.get_active_profile());
            REQUIRE(pipe_profile);
            REQUIRE_NOTHROW(profiles = pipe_profile.get_streams());

            auto streams = configurations[PID].streams;
            std::vector<profile> pipe_streams;
            for (auto s : profiles)
            {
                REQUIRE(s.is<video_stream_profile>());
                auto video = s.as<video_stream_profile>();

                pipe_streams.push_back({ video.stream_type(), video.format(), video.width(), video.height(), video.stream_index() });
            }
            REQUIRE(pipe_streams.size() == streams.size());

            std::sort(pipe_streams.begin(), pipe_streams.end());
            std::sort(streams.begin(), streams.end());

            for (auto i = 0; i < pipe_streams.size(); i++)
            {
                REQUIRE(pipe_streams[i] == streams[i]);
            }
        }
    }
}

TEST_CASE("Per-frame metadata sanity check", "[live][!mayfail]") {
    //Require at least one device to be plugged in
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        std::vector<sensor> list;
        REQUIRE_NOTHROW(list = ctx.query_all_sensors());
        REQUIRE(list.size() > 0);

        const int frames_before_start_measure = 10;
        const int frames_for_fps_measure = 50;
        const double msec_to_sec = 0.001;
        const int num_of_profiles_for_each_subdevice = 2;
        const float max_diff_between_real_and_metadata_fps = 1.0f;

        for (auto && subdevice : list) {
            std::vector<rs2::stream_profile> modes;
            REQUIRE_NOTHROW(modes = subdevice.get_stream_profiles());

            REQUIRE(modes.size() > 0);
            CAPTURE(subdevice.get_info(RS2_CAMERA_INFO_NAME));

            //the test will be done only on sub set of profile for each sub device
            for (int i = 0; i < modes.size(); i += static_cast<int>(std::ceil((float)modes.size() / (float)num_of_profiles_for_each_subdevice)))
            {
                // Full-HD is often times too heavy for the build machine to handle
                if (auto video_profile = modes[i].as<video_stream_profile>())
                {
                    if (video_profile.width() == 1920 && video_profile.height() == 1080 && video_profile.fps() == 60)
                    {
                        continue;   // Disabling for now
                    }
                }
                // GPIO Requires external triggers to produce events
                if (RS2_STREAM_GPIO == modes[i].stream_type())
                    continue;   // Disabling for now

                CAPTURE(modes[i].format());
                CAPTURE(modes[i].fps());
                CAPTURE(modes[i].stream_type());
                CAPTURE(modes[i].stream_index());
                if (auto video = modes[i].as<video_stream_profile>())
                {
                    CAPTURE(video.width());
                    CAPTURE(video.height());
                }

                std::vector<internal_frame_additional_data> frames_additional_data;
                auto frames = 0;
                double start = 0;
                std::condition_variable cv;
                std::mutex m;
                auto first = true;

                REQUIRE_NOTHROW(subdevice.open({ modes[i] }));
                disable_sensitive_options_for(subdevice);

                REQUIRE_NOTHROW(subdevice.start([&](rs2::frame f)
                {
                    if (frames_additional_data.size() >= frames_for_fps_measure)
                    {
                        cv.notify_one();
                    }

                    if ((frames >= frames_before_start_measure) && (frames_additional_data.size() < frames_for_fps_measure))
                    {
                        if (first)
                        {
                            start = internal::get_time();
                            first = false;
                        }

                        internal_frame_additional_data data{ f.get_timestamp(),
                            f.get_frame_number(),
                            f.get_frame_timestamp_domain(),
                            f.get_profile().stream_type(),
                            f.get_profile().format() };

                        // Store frame metadata attributes, verify API behavior correctness
                        for (auto i = 0; i < rs2_frame_metadata_value::RS2_FRAME_METADATA_COUNT; i++)
                        {
                            CAPTURE(i);
                            bool supported = false;
                            REQUIRE_NOTHROW(supported = f.supports_frame_metadata((rs2_frame_metadata_value)i));
                            if (supported)
                            {
                                rs2_metadata_type val{};
                                REQUIRE_NOTHROW(val = f.get_frame_metadata((rs2_frame_metadata_value)i));
                                data.frame_md.md_attributes[i] = std::make_pair(true, val);
                            }
                            else
                            {

                                REQUIRE_THROWS(f.get_frame_metadata((rs2_frame_metadata_value)i));
                                data.frame_md.md_attributes[i].first = false;
                            }
                        }


                        std::unique_lock<std::mutex> lock(m);
                        frames_additional_data.push_back(data);
                    }
                    frames++;
                }));


                CAPTURE(frames_additional_data.size());
                CAPTURE(frames_for_fps_measure);

                std::unique_lock<std::mutex> lock(m);
                cv.wait_for(lock, std::chrono::seconds(15), [&] {return ((frames_additional_data.size() >= frames_for_fps_measure)); });

                auto end = internal::get_time();
                REQUIRE_NOTHROW(subdevice.stop());
                REQUIRE_NOTHROW(subdevice.close());

                lock.unlock();

                auto seconds = (end - start)*msec_to_sec;

                CAPTURE(start);
                CAPTURE(end);
                CAPTURE(seconds);

                REQUIRE(seconds > 0);

                if (frames_additional_data.size())
                {
                    auto actual_fps = (double)frames_additional_data.size() / (double)seconds;
                    double metadata_seconds = frames_additional_data[frames_additional_data.size() - 1].timestamp - frames_additional_data[0].timestamp;
                    metadata_seconds *= msec_to_sec;
                    CAPTURE(frames_additional_data[frames_additional_data.size() - 1].timestamp);
                    CAPTURE(frames_additional_data[0].timestamp);

                    if (metadata_seconds <= 0)
                    {
                        std::cout << "Start metadata " << std::fixed << frames_additional_data[0].timestamp << "\n";
                        std::cout << "End metadata   " << std::fixed << frames_additional_data[frames_additional_data.size() - 1].timestamp << "\n";
                    }
                    REQUIRE(metadata_seconds > 0);

                    auto metadata_frames = frames_additional_data[frames_additional_data.size() - 1].frame_number - frames_additional_data[0].frame_number;
                    auto metadata_fps = (double)metadata_frames / (double)metadata_seconds;

                    for (auto i = 0; i < frames_additional_data.size() - 1; i++)
                    {
                        CAPTURE(i);
                        CAPTURE(frames_additional_data[i].timestamp_domain);
                        CAPTURE(frames_additional_data[i + 1].timestamp_domain);
                        REQUIRE((frames_additional_data[i].timestamp_domain == frames_additional_data[i + 1].timestamp_domain));

                        CAPTURE(frames_additional_data[i].frame_number);
                        CAPTURE(frames_additional_data[i + 1].frame_number);

                        REQUIRE((frames_additional_data[i].frame_number < frames_additional_data[i + 1].frame_number));
                    }

                    CAPTURE(metadata_frames);
                    CAPTURE(metadata_seconds);
                    CAPTURE(metadata_fps);
                    CAPTURE(frames_additional_data.size());
                    CAPTURE(actual_fps);

                    //it the diff in percentage between metadata fps and actual fps is bigger than max_diff_between_real_and_metadata_fps
                    //the test will fail
                    REQUIRE(std::fabs(metadata_fps / actual_fps - 1) < max_diff_between_real_and_metadata_fps);

                    // Verify per-frame metadata attributes
                    metadata_verification(frames_additional_data);
                }
            }
        }
    }
}

TEST_CASE("color sensor API", "[live][options]")
{
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        rs2::device dev;
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        rs2::pipeline_profile profile;
        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);
        dev_type PID = get_PID(dev);
        if (!librealsense::val_in_range(PID.first, { std::string("0AD3"),
                                                     std::string("0AD4"),
                                                     std::string("0AD5"),
                                                     std::string("0B01"),
                                                     std::string("0B07"),
                                                     std::string("0B3A"),
                                                     std::string("0B3D") }))
        {
            WARN("Skipping test - no motion sensor is device type: " << PID.first << (PID.second ? " USB3" : " USB2"));
            return;
        }
        auto sensor = profile.get_device().first<rs2::color_sensor>();
        std::string module_name = sensor.get_info(RS2_CAMERA_INFO_NAME);
        std::cout << "depth sensor: " << librealsense::get_string(RS2_EXTENSION_DEPTH_SENSOR) << "\n";
        std::cout << "color sensor: " << librealsense::get_string(RS2_EXTENSION_COLOR_SENSOR) << "\n";
        std::cout << "motion sensor: " << librealsense::get_string(RS2_EXTENSION_MOTION_SENSOR) << "\n";
        std::cout << "fisheye sensor: " << librealsense::get_string(RS2_EXTENSION_FISHEYE_SENSOR) << "\n";
        REQUIRE(sensor.is<rs2::color_sensor>());
        REQUIRE(!sensor.is<rs2::motion_sensor>());
        REQUIRE(!sensor.is<rs2::depth_sensor>());
        REQUIRE(!sensor.is<rs2::fisheye_sensor>());
        REQUIRE(module_name.size() > 0);
    }
}

TEST_CASE("motion sensor API", "[live][options]")
{
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        rs2::device dev;
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        rs2::pipeline_profile profile;
        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);
        dev_type PID = get_PID(dev);
        if (!librealsense::val_in_range(PID.first, { std::string("0AD5"),
                                                     std::string("0AFE"),
                                                     std::string("0AFF"),
                                                     std::string("0B00"),
                                                     std::string("0B01"),
                                                     std::string("0B3A"),
                                                     std::string("0B3D")}))
        {
            WARN("Skipping test - no motion sensor is device type: " << PID.first << (PID.second ? " USB3" : " USB2"));
            return;
        }
        auto sensor = profile.get_device().first<rs2::motion_sensor>();
        std::string module_name = sensor.get_info(RS2_CAMERA_INFO_NAME);
        REQUIRE(!sensor.is<rs2::color_sensor>());
        REQUIRE(!sensor.is<rs2::depth_sensor>());
        REQUIRE(module_name.size() > 0);
    }
}

TEST_CASE("fisheye sensor API", "[live][options]")
{
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        rs2::device dev;
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        rs2::pipeline_profile profile;
        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);

        dev_type PID = get_PID(dev);
        if (!librealsense::val_in_range(PID.first, { std::string("0AD5"),
                                                     std::string("0AFE"),
                                                     std::string("0AFF"),
                                                     std::string("0B00"),
                                                     std::string("0B01") }))
        {
            WARN("Skipping test - no fisheye sensor is device type: " << PID.first << (PID.second ? " USB3" : " USB2"));
            return;
        }
        auto sensor = profile.get_device().first<rs2::fisheye_sensor>();
        std::string module_name = sensor.get_info(RS2_CAMERA_INFO_NAME);
        REQUIRE(!sensor.is<rs2::color_sensor>());
        REQUIRE(!sensor.is<rs2::depth_sensor>());
        REQUIRE(module_name.size() > 0);
    }
}

// FW Sub-presets API
TEST_CASE("Alternating Emitter", "[live][options]")
{
    //log_to_console(RS2_LOG_SEVERITY_DEBUG);
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        rs2::device dev;
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        rs2::pipeline_profile profile;
        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);
        disable_sensitive_options_for(dev);
        dev_type PID = get_PID(dev);
        CAPTURE(PID.first);
        const size_t record_frames = 60;

        // D400 Global Shutter only models
        if (!librealsense::val_in_range(PID.first, { std::string("0B3A"),std::string("0B07") }))
        {
            WARN("Skipping test - the Alternating Emitter feature is not supported for device type: " << PID.first << (PID.second ? " USB3" : " USB2"));
        }
        else
        {
            auto depth_sensor = profile.get_device().first<rs2::depth_sensor>();
            REQUIRE(depth_sensor.supports(RS2_OPTION_EMITTER_ENABLED));
            REQUIRE(depth_sensor.supports(RS2_OPTION_EMITTER_ON_OFF));

            GIVEN("Success scenario"){

                REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,0));
                REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,0));
                REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED));
                REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF));

                WHEN("Sequence - idle - flickering on/off")
                {
                    THEN("Stress test succeed")
                    {
                        for (int i=0 ;i<30; i++)
                        {
                            //std::cout << "iteration " << i << " off";
                            // Revert to original state
                            REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,0));
                            REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,0));
                            REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF));
                            REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED));
                            //std::cout << " - on\n";
                            REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,1));
                            REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,1));
                            REQUIRE(1 == depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED));
                            REQUIRE(1 == depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF));
                        }

                        // Revert
                        REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,0));
                        REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,0));
                        REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF));
                        REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED));
                    }
                }

                WHEN("Sequence=[idle->:laser_on->: emitter_toggle_on->:streaming]") {

                    REQUIRE(false==static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF)));
                    REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,1));
                    REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,1));
                    THEN("The emitter is alternating on/off") {

                        std::vector<int> emitter_state;
                        emitter_state.reserve(record_frames);

                        REQUIRE_NOTHROW(pipe.start(cfg));
                        REQUIRE(true ==static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF)));

                        // Warmup - the very first depth frames may not include the alternating pattern
                        frameset fs;
                        for (int i=0; i<10; )
                        {
                            REQUIRE_NOTHROW(fs = pipe.wait_for_frames());
                            if (auto f = fs.get_depth_frame())
                                i++;
                        }

                        bool even=true;
                        while (emitter_state.size() < record_frames)
                        {
                            size_t last_fn = 0;
                            REQUIRE_NOTHROW(fs = pipe.wait_for_frames());

                            if (auto f = fs.get_depth_frame())
                            {
                                if (((bool(f.get_frame_number()%2)) != even) && f.supports_frame_metadata(RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE))
                                {
                                    even = !even;  // Alternating odd/even frame number is sufficient to avoid duplicates
                                    auto val = static_cast<int>(f.get_frame_metadata(RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE));
                                    emitter_state.push_back(val);
                                }
                            }
                        }

                        // Reject Laser off command while subpreset is active
                        REQUIRE(static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED)));
                        REQUIRE_THROWS(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,0));

                        // Allow Laser off command when subpreset is removed
                        REQUIRE(static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF)));
                        REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,0));
                        REQUIRE(false==static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF)));
                        REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,0));

                        // Re-enable alternating emitter to test stream stop scenario
                        REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,1));
                        REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,1));

                        REQUIRE(static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED)));
                        REQUIRE(static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF)));

                        REQUIRE_NOTHROW(pipe.stop());
                        REQUIRE(false ==static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF)));
                        std::stringstream emitter_results;
                        std::copy(emitter_state.begin(), emitter_state.end(), std::ostream_iterator<int>(emitter_results));
                        CAPTURE(emitter_results.str().c_str());

                        // Verify that the laser state is constantly alternating
                        REQUIRE(std::adjacent_find(emitter_state.begin(), emitter_state.end()) == emitter_state.end());
                    }
                }

                WHEN("Sequence=[idle->:streaming-:laser_on->: emitter_toggle_on]") {

                    THEN("The emitter is alternating on/off") {

                        std::vector<int> emitter_state;
                        emitter_state.reserve(record_frames);

                        REQUIRE_NOTHROW(pipe.start(cfg));
                        REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,1));
                        REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,1));
                        REQUIRE(true ==static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF)));

                        // Warmup - the very first depth frames may not include the alternating pattern
                        frameset fs;
                        for (int i=0; i<10; )
                        {
                            REQUIRE_NOTHROW(fs = pipe.wait_for_frames());
                            if (auto f = fs.get_depth_frame())
                                i++;
                        }

                        bool even=true;
                        while (emitter_state.size() < record_frames)
                        {
                            size_t last_fn = 0;
                            REQUIRE_NOTHROW(fs = pipe.wait_for_frames());

                            if (auto f = fs.get_depth_frame())
                            {
                                if (((bool(f.get_frame_number()%2) != even)) && f.supports_frame_metadata(RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE))
                                {
                                    even = !even;
                                    auto val = static_cast<int>(f.get_frame_metadata(RS2_FRAME_METADATA_FRAME_LASER_POWER_MODE));
                                    emitter_state.push_back(val);
                                }
                            }
                        }
                        REQUIRE_NOTHROW(pipe.stop());

                        REQUIRE(false ==static_cast<bool>(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF)));
                        std::stringstream emitter_results;
                        std::copy(emitter_state.begin(), emitter_state.end(), std::ostream_iterator<int>(emitter_results));
                        CAPTURE(emitter_results.str().c_str());

                        // Verify that the laser state is constantly alternating 
                        REQUIRE(std::adjacent_find(emitter_state.begin(), emitter_state.end()) == emitter_state.end());
                    }
                }
            }

            GIVEN("Negative scenario"){

                REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,0));
                REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,0));
                CAPTURE(depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED));
                CAPTURE(depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF));
                REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED));
                REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF));

                WHEN("Sequence=[idle->:laser_off->: emitter_toggle_on]") {
                    THEN ("Cannot set alternating emitter when laser is set off") {
                        REQUIRE_THROWS(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,1));
                    }
                }

                WHEN("Sequence=[idle->:laser_on->:emitter_toggle_on->:laser_off]") {
                    THEN ("Cannot turn_off laser while the alternating emitter option is on") {
                        REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,1));
                        REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,1));
                        REQUIRE_THROWS(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,1));
                    }
                }
            }

            // Revert to original state
            REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ON_OFF,0));
            REQUIRE_NOTHROW(depth_sensor.set_option(RS2_OPTION_EMITTER_ENABLED,0));
            REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ON_OFF));
            REQUIRE(0 == depth_sensor.get_option(RS2_OPTION_EMITTER_ENABLED));
        }
    }
}

// the tests may incorrectly interpret changes to librealsense-core, namely default profiles selections
TEST_CASE("All suggested profiles can be opened", "[live][!mayfail]") {

    //Require at least one device to be plugged in
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {

        const int num_of_profiles_for_each_subdevice = 2;

        std::vector<sensor> list;
        REQUIRE_NOTHROW(list = ctx.query_all_sensors());
        REQUIRE(list.size() > 0);

        for (auto && subdevice : list) {

            disable_sensitive_options_for(subdevice);

            std::vector<rs2::stream_profile> modes;
            REQUIRE_NOTHROW(modes = subdevice.get_stream_profiles());

            REQUIRE(modes.size() > 0);
            //the test will be done only on sub set of profile for each sub device
            for (auto i = 0UL; i < modes.size(); i += (int)std::ceil((float)modes.size() / (float)num_of_profiles_for_each_subdevice)) {
                //CAPTURE(rs2_subdevice(subdevice));
                CAPTURE(modes[i].format());
                CAPTURE(modes[i].fps());
                CAPTURE(modes[i].stream_type());
                REQUIRE_NOTHROW(subdevice.open({ modes[i] }));
                REQUIRE_NOTHROW(subdevice.start([](rs2::frame fref) {}));
                REQUIRE_NOTHROW(subdevice.stop());
                REQUIRE_NOTHROW(subdevice.close());
            }
        }
    }
}

TEST_CASE("Pipeline config enable resolve start flow", "[live][pipeline][using_pipeline]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        auto list = ctx.query_devices();
        REQUIRE(list.size());

        rs2::device dev;
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        rs2::pipeline_profile profile;
        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);
        disable_sensitive_options_for(dev);
        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);

        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);

        REQUIRE_NOTHROW(cfg.enable_stream(RS2_STREAM_DEPTH, -1, 0, 0, RS2_FORMAT_Z16, 0));
        REQUIRE_NOTHROW(pipe.start(cfg));

        REQUIRE_NOTHROW(profile = pipe.get_active_profile());
        auto depth_profile = profile.get_stream(RS2_STREAM_DEPTH).as<video_stream_profile>();
        CAPTURE(depth_profile.stream_index());
        CAPTURE(depth_profile.stream_type());
        CAPTURE(depth_profile.format());
        CAPTURE(depth_profile.fps());
        CAPTURE(depth_profile.width());
        CAPTURE(depth_profile.height());
        std::vector<device_profiles> frames;


        uint32_t timeout = is_usb3(dev) ? 500 : 2000; // for USB2 it takes longer to produce frames

        for (auto i = 0; i < 5; i++)
            REQUIRE_NOTHROW(pipe.wait_for_frames(timeout));

        REQUIRE_NOTHROW(pipe.stop());
        REQUIRE_NOTHROW(pipe.start(cfg));

        for (auto i = 0; i < 5; i++)
            REQUIRE_NOTHROW(pipe.wait_for_frames(timeout));

        REQUIRE_NOTHROW(cfg.disable_all_streams());

        REQUIRE_NOTHROW(cfg.enable_stream(RS2_STREAM_DEPTH, -1, 0, 0, RS2_FORMAT_ANY, 0));
        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);

        REQUIRE_NOTHROW(cfg.disable_all_streams());
        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);
    }
}

TEST_CASE("Pipeline - multicam scenario with specific devices", "[live][multicam][pipeline][using_pipeline]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {

        auto list = ctx.query_devices();
        int realsense_devices_count = 0;
        rs2::device d;
        for (auto&& dev : list)
        {
            if (dev.supports(RS2_CAMERA_INFO_NAME))
            {
                std::string name = dev.get_info(RS2_CAMERA_INFO_NAME);
                if (name != "Platform Camera")
                {
                    realsense_devices_count++;
                    d = dev;
                }
            }
        }
        if (realsense_devices_count < 2)
        {
            WARN("Skipping test! This test requires multiple RealSense devices connected");
            return;
        }

        disable_sensitive_options_for(d);
        //After getting the device, find a serial and a profile it can use
        std::string required_serial;
        REQUIRE_NOTHROW(required_serial = d.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
        stream_profile required_profile;
        //find the a video profile of some sensor
        for (auto&& sensor : d.query_sensors())
        {
            for (auto&& profile : sensor.get_stream_profiles())
            {
                auto vid_profile = profile.as<video_stream_profile>();
                if (vid_profile)
                {
                    required_profile = vid_profile;
                    break;
                }
            }
            if (required_profile)
                break;
        }
        REQUIRE(required_profile);
        CAPTURE(required_profile);
        auto vid_profile = required_profile.as<video_stream_profile>();

        rs2::device dev;
        rs2::pipeline pipe(ctx);
        rs2::config cfg;

        //Using the config object to request the serial and stream that we found above
        REQUIRE_NOTHROW(cfg.enable_device(required_serial));
        REQUIRE_NOTHROW(cfg.enable_stream(vid_profile.stream_type(), vid_profile.stream_index(), vid_profile.width(), vid_profile.height(), vid_profile.format(), vid_profile.fps()));

        //Testing that config.resolve() returns the right data
        rs2::pipeline_profile resolved_profile;
        REQUIRE_NOTHROW(resolved_profile = cfg.resolve(pipe));
        REQUIRE(resolved_profile);
        rs2::pipeline_profile resolved_profile_from_start;
        REQUIRE_NOTHROW(resolved_profile_from_start = pipe.start(cfg));
        REQUIRE(resolved_profile_from_start);

        REQUIRE_NOTHROW(dev = resolved_profile.get_device());
        REQUIRE(dev);
        rs2::device dev_from_start;
        REQUIRE_NOTHROW(dev_from_start = resolved_profile_from_start.get_device());
        REQUIRE(dev_from_start);

        //Compare serial number
        std::string actual_serial;
        std::string actual_serial_from_start;
        REQUIRE_NOTHROW(actual_serial = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
        REQUIRE_NOTHROW(actual_serial_from_start = dev_from_start.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
        REQUIRE(actual_serial == required_serial);
        REQUIRE(actual_serial == actual_serial_from_start);

        //Compare Stream
        std::vector<rs2::stream_profile> actual_streams;
        REQUIRE_NOTHROW(actual_streams = resolved_profile.get_streams());
        REQUIRE(actual_streams.size() == 1);
        REQUIRE(actual_streams[0] == required_profile);
        std::vector<rs2::stream_profile> actual_streams_from_start;
        REQUIRE_NOTHROW(actual_streams_from_start = resolved_profile_from_start.get_streams());
        REQUIRE(actual_streams_from_start.size() == 1);
        REQUIRE(actual_streams_from_start[0] == required_profile);

        pipe.stop();

        //Using the config object to request the serial and stream that we found above, and test the pipeline.start() returns the right data
        rs2::device started_dev;
        rs2::pipeline_profile strarted_profile;
        cfg = rs2::config(); //Clean previous config

        //Using the config object to request the serial and stream that we found above
        REQUIRE_NOTHROW(cfg.enable_device(required_serial));
        REQUIRE_NOTHROW(cfg.enable_stream(vid_profile.stream_type(), vid_profile.stream_index(), vid_profile.width(), vid_profile.height(), vid_profile.format(), vid_profile.fps()));

        //Testing that pipeline.start(cfg) returns the right data
        REQUIRE_NOTHROW(strarted_profile = pipe.start(cfg));
        REQUIRE(strarted_profile);
        REQUIRE_NOTHROW(started_dev = strarted_profile.get_device());
        REQUIRE(started_dev);

        //Compare serial number
        std::string started_serial;
        REQUIRE_NOTHROW(started_serial = started_dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
        REQUIRE(started_serial == required_serial);

        //Compare Stream
        std::vector<rs2::stream_profile> started_streams;
        REQUIRE_NOTHROW(started_streams = strarted_profile.get_streams());
        REQUIRE(started_streams.size() == 1);
        REQUIRE(started_streams[0] == required_profile);
        pipe.stop();
    }
}

TEST_CASE("Empty Pipeline Profile", "[live][pipeline][using_pipeline]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        REQUIRE_NOTHROW(rs2::pipeline_profile());
        rs2::pipeline_profile prof;
        REQUIRE_FALSE(prof);
        rs2::device dev;
        CHECK_THROWS(dev = prof.get_device());
        REQUIRE(!dev);
        for (int i = 0; i < (int)RS2_STREAM_COUNT; i++)
        {
            rs2_stream stream = static_cast<rs2_stream>(i);
            CAPTURE(stream);
            rs2::stream_profile sp;
            CHECK_THROWS(sp = prof.get_stream(stream));
            REQUIRE(!sp);
        }
        std::vector<rs2::stream_profile> spv;
        CHECK_THROWS(spv = prof.get_streams());
        REQUIRE(spv.size() == 0);
    }
}

void require_pipeline_profile_same(const rs2::pipeline_profile& profile1, const rs2::pipeline_profile& profile2)
{
    rs2::device d1 = profile1.get_device();
    rs2::device d2 = profile2.get_device();

    REQUIRE(d1.get().get());
    REQUIRE(d2.get().get());
    std::string serial1, serial2;
    REQUIRE_NOTHROW(serial1 = d1.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
    REQUIRE_NOTHROW(serial2 = d2.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER));
    if (serial1 != serial2)
    {
        throw std::runtime_error(serial1 + " is different than " + serial2);
    }

    std::string name1, name2;
    REQUIRE_NOTHROW(name1 = d1.get_info(RS2_CAMERA_INFO_NAME));
    REQUIRE_NOTHROW(name2 = d2.get_info(RS2_CAMERA_INFO_NAME));
    if (name1 != name2)
    {
        throw std::runtime_error(name1 + " is different than " + name2);
    }

    auto streams1 = profile1.get_streams();
    auto streams2 = profile2.get_streams();
    if (streams1.size() != streams2.size())
    {
        throw std::runtime_error(std::string("Profiles contain different number of streams ") +  std::to_string(streams1.size()) + " vs " + std::to_string(streams2.size()));
    }

    auto streams1_and_2_equals = true;
    for (auto&& s : streams1)
    {
        auto it = std::find_if(streams2.begin(), streams2.end(), [&s](const stream_profile& sp) {
            return
                s.format() == sp.format() &&
                s.fps() == sp.fps() &&
                s.is_default() == sp.is_default() &&
                s.stream_index() == sp.stream_index() &&
                s.stream_type() == sp.stream_type() &&
                s.stream_name() == sp.stream_name();
        });
        if (it == streams2.end())
        {
            streams1_and_2_equals = false;
        }
    }

    if (!streams1_and_2_equals)
    {
        throw std::runtime_error(std::string("Profiles contain different streams"));
    }
}
TEST_CASE("Pipeline empty Config", "[live][pipeline][using_pipeline]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        REQUIRE_NOTHROW(rs2::config());
        //Empty config
        rs2::pipeline p(ctx);
        rs2::config c1;
        REQUIRE(c1.get().get() != nullptr);
        bool can_resolve = false;
        REQUIRE_NOTHROW(can_resolve = c1.can_resolve(p));
        REQUIRE(true == can_resolve);
        REQUIRE_THROWS(c1.resolve(nullptr));
        rs2::pipeline_profile profile;
        REQUIRE_NOTHROW(profile = c1.resolve(p));
        REQUIRE(true == profile);
    }
}

TEST_CASE("Pipeline 2 Configs", "[live][pipeline][using_pipeline]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        rs2::pipeline p(ctx);
        rs2::config c1;
        rs2::config c2;
        bool can_resolve1 = false;
        bool can_resolve2 = false;
        REQUIRE_NOTHROW(can_resolve1 = c1.can_resolve(p));
        REQUIRE_NOTHROW(can_resolve2 = c2.can_resolve(p));
        REQUIRE(can_resolve1);
        REQUIRE(can_resolve2);
        rs2::pipeline_profile profile1;
        rs2::pipeline_profile profile2;

        REQUIRE_NOTHROW(profile1 = c1.resolve(p));
        REQUIRE(profile1);
        REQUIRE_NOTHROW(profile2 = c2.resolve(p));
        REQUIRE(profile2);

        REQUIRE_NOTHROW(require_pipeline_profile_same(profile1, profile2));
    }
}

TEST_CASE("Pipeline start after resolve uses the same profile", "[live][pipeline][using_pipeline]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        cfg.enable_stream(RS2_STREAM_DEPTH);
        rs2::pipeline_profile profile_from_cfg;
        REQUIRE_NOTHROW(profile_from_cfg = cfg.resolve(pipe));
        REQUIRE(profile_from_cfg);
        rs2::pipeline_profile profile_from_start;
        REQUIRE_NOTHROW(profile_from_start = pipe.start(cfg));
        REQUIRE(profile_from_start);
        REQUIRE_NOTHROW(require_pipeline_profile_same(profile_from_cfg, profile_from_start));

    }
}

TEST_CASE("Pipeline start ignores previous config if it was changed", "[live][pipeline][using_pipeline][!mayfail]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        rs2::pipeline_profile profile_from_cfg;
        REQUIRE_NOTHROW(profile_from_cfg = cfg.resolve(pipe));
        REQUIRE(profile_from_cfg);
        cfg.enable_stream(RS2_STREAM_INFRARED, RS2_FORMAT_ANY, 60); //enable a single stream (unlikely to be the default one)
        rs2::pipeline_profile profile_from_start;
        REQUIRE_NOTHROW(profile_from_start = pipe.start(cfg));
        REQUIRE(profile_from_start);
        REQUIRE_THROWS(require_pipeline_profile_same(profile_from_cfg, profile_from_start));
    }
}

TEST_CASE("Pipeline Config disable all is a nop with empty config", "[live][pipeline][using_pipeline]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        rs2::pipeline p(ctx);
        rs2::config c1;
        c1.disable_all_streams();
        rs2::config c2;
        rs2::pipeline_profile profile1;
        rs2::pipeline_profile profile2;

        REQUIRE_NOTHROW(profile1 = c1.resolve(p));
        REQUIRE(profile1);
        REQUIRE_NOTHROW(profile2 = c2.resolve(p));
        REQUIRE(profile2);
        REQUIRE_NOTHROW(require_pipeline_profile_same(profile1, profile2));
    }
}
TEST_CASE("Pipeline Config disable each stream is nop on empty config", "[live][pipeline][using_pipeline]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        rs2::pipeline p(ctx);
        rs2::config c1;
        for (int i = 0; i < (int)RS2_STREAM_COUNT; i++)
        {
            REQUIRE_NOTHROW(c1.disable_stream(static_cast<rs2_stream>(i)));
        }
        rs2::config c2;
        rs2::pipeline_profile profile1;
        rs2::pipeline_profile profile2;

        REQUIRE_NOTHROW(profile1 = c1.resolve(p));
        REQUIRE(profile1);
        REQUIRE_NOTHROW(profile2 = c2.resolve(p));
        REQUIRE(profile2);
        REQUIRE_NOTHROW(require_pipeline_profile_same(profile1, profile2));
    }
}
//
//TEST_CASE("Pipeline record and playback", "[live][pipeline][using_pipeline][!mayfail]") {
//    rs2::context ctx;
//
//    if (make_context(SECTION_FROM_TEST_NAME, &ctx, "2.13.0"))
//    {
//        const std::string filename = get_folder_path(special_folder::temp_folder) + "test_file.bag";
//        //Scoping the below code to make sure no one holds the device
//        {
//            rs2::pipeline p(ctx);
//            rs2::config cfg;
//            REQUIRE_NOTHROW(cfg.enable_record_to_file(filename));
//            rs2::pipeline_profile profile;
//            REQUIRE_NOTHROW(profile = cfg.resolve(p));
//            REQUIRE(profile);
//            auto dev = profile.get_device();
//            REQUIRE(dev);
//            disable_sensitive_options_for(dev);
//            REQUIRE_NOTHROW(p.start(cfg));
//            std::this_thread::sleep_for(std::chrono::seconds(5));
//            rs2::frameset frames;
//            REQUIRE_NOTHROW(frames = p.wait_for_frames(200));
//            REQUIRE(frames);
//            REQUIRE(frames.size() > 0);
//            REQUIRE_NOTHROW(p.stop());
//        }
//        //Scoping the above code to make sure no one holds the device
//        REQUIRE(file_exists(filename));
//
//        {
//            rs2::pipeline p(ctx);
//            rs2::config cfg;
//            rs2::pipeline_profile profile;
//            REQUIRE_NOTHROW(cfg.enable_device_from_file(filename));
//            REQUIRE_NOTHROW(profile = cfg.resolve(p));
//            REQUIRE(profile);
//            REQUIRE_NOTHROW(p.start(cfg));
//            std::this_thread::sleep_for(std::chrono::seconds(5));
//            rs2::frameset frames;
//            REQUIRE_NOTHROW(frames = p.wait_for_frames(200));
//            REQUIRE(frames);
//            REQUIRE_NOTHROW(p.stop());
//        }
//    }
//}


TEST_CASE("Pipeline enable bad configuration", "[pipeline][using_pipeline]")
{
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ! ctx )
        return;

    pipeline pipe(ctx);
    rs2::config cfg;

    cfg.enable_stream(rs2_stream::RS2_STREAM_COLOR, 1000);
    REQUIRE_THROWS(pipe.start(cfg));
}

TEST_CASE("Pipeline stream enable hierarchy", "[pipeline]")
{
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ! ctx )
        return;

    pipeline pipe(ctx);
    rs2::config cfg;
    std::vector<stream_profile> default_streams = pipe.start(cfg).get_streams();
    pipe.stop();

    cfg.enable_all_streams();
    std::vector<stream_profile> all_streams = pipe.start(cfg).get_streams();
    pipe.stop();

    cfg.disable_all_streams();
    cfg.enable_stream(rs2_stream::RS2_STREAM_DEPTH);
    std::vector<stream_profile> wildcards_streams = pipe.start(cfg).get_streams();
    pipe.stop();

    for (auto d : default_streams)
    {
        auto it = std::find(begin(all_streams), end(all_streams), d);
        REQUIRE(it != std::end(all_streams));
    }
    for (auto w : wildcards_streams)
    {
        auto it = std::find(begin(all_streams), end(all_streams), w);
        REQUIRE(it != std::end(all_streams));
    }
}

TEST_CASE("Pipeline stream with callback", "[live][pipeline][using_pipeline][!mayfail]")
{
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ! ctx )
        return;

    rs2::pipeline pipe(ctx);
    rs2::frame_queue q;

    auto callback = [&](const rs2::frame& f)
    {
        q.enqueue(f);
    };

    // Stream with callback
    pipe.start(callback);
    REQUIRE_THROWS(pipe.wait_for_frames());
    rs2::frameset frame_from_queue;
    REQUIRE_THROWS(pipe.poll_for_frames(&frame_from_queue));
    REQUIRE_THROWS(pipe.try_wait_for_frames(&frame_from_queue));

    rs2::frame frame_from_callback = q.wait_for_frame();
    pipe.stop();

    REQUIRE(frame_from_callback);
    REQUIRE(frame_from_queue == false);

    frame_from_callback = rs2::frame();
    frame_from_queue = rs2::frameset();

    // Stream without callback
    pipe.start();
    REQUIRE_NOTHROW(pipe.wait_for_frames());
    REQUIRE_NOTHROW(pipe.poll_for_frames(&frame_from_queue));
    REQUIRE_NOTHROW(pipe.try_wait_for_frames(&frame_from_queue));

    pipe.stop();

    REQUIRE(frame_from_callback == false);
    REQUIRE(frame_from_queue);
}

TEST_CASE("Syncer sanity with software-device device", "[live][software-device][!mayfail]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {

        const int W = 640;
        const int H = 480;
        const int BPP = 2;
        std::shared_ptr<software_device> dev = std::move(std::make_shared<software_device>());
        auto s = dev->add_sensor("software_sensor");

        rs2_intrinsics intrinsics{ W, H, 0, 0, 0, 0, RS2_DISTORTION_NONE ,{ 0,0,0,0,0 } };

        s.add_video_stream({ RS2_STREAM_DEPTH, 0, 0, W, H, 60, BPP, RS2_FORMAT_Z16, intrinsics });
        s.add_video_stream({ RS2_STREAM_INFRARED, 1, 1, W, H,60, BPP, RS2_FORMAT_Y8, intrinsics });
        dev->create_matcher(RS2_MATCHER_DI);

        frame_queue q;

        auto profiles = s.get_stream_profiles();
        auto depth = profiles[0];
        auto ir = profiles[1];

        syncer sync;
        s.open(profiles);
        s.start(sync);

        std::vector<uint8_t> pixels(W * H * BPP, 0);
        std::weak_ptr<rs2::software_device> weak_dev(dev);

        std::thread t([&s, weak_dev, pixels, depth, ir]() mutable {

            auto shared_dev = weak_dev.lock();
            if (shared_dev == nullptr)
                return;
            s.on_video_frame({ pixels.data(), [](void*) {}, 0,0,0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 7, depth });
            s.on_video_frame({ pixels.data(), [](void*) {}, 0,0,0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 5, ir });

            s.on_video_frame({ pixels.data(), [](void*) {},0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 8, depth });
            s.on_video_frame({ pixels.data(), [](void*) {},0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 6, ir });

            s.on_video_frame({ pixels.data(), [](void*) {},0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 8, ir });
        });
        t.detach();

        std::vector<std::vector<std::pair<rs2_stream, uint64_t>>> expected =
        {
            { { RS2_STREAM_DEPTH , 7}},
            { { RS2_STREAM_INFRARED , 5 } },
            { { RS2_STREAM_INFRARED , 6 } },
            { { RS2_STREAM_DEPTH , 8 },{ RS2_STREAM_INFRARED , 8 } }
        };

        std::vector<std::vector<std::pair<rs2_stream, uint64_t>>> results;

        for (auto i = 0UL; i < expected.size(); i++)
        {
            frameset fs;
            REQUIRE_NOTHROW(fs = sync.wait_for_frames(5000));
            std::vector < std::pair<rs2_stream, uint64_t>> curr;

            for (auto f : fs)
            {
                curr.push_back({ f.get_profile().stream_type(), f.get_frame_number() });
            }
            results.push_back(curr);
        }

        CAPTURE(results.size());
        CAPTURE(expected.size());
        REQUIRE(results.size() == expected.size());

        for (size_t i = 0; i < expected.size(); i++)
        {
            auto exp = expected[i];
            auto curr = results[i];
            CAPTURE(i);
            CAPTURE(exp.size());
            CAPTURE(curr.size());
            REQUIRE(exp.size() == curr.size());

            for (size_t j = 0; j < exp.size(); j++)
            {
                CAPTURE(j);
                CAPTURE(exp[j].first);
                CAPTURE(exp[j].second);
                CAPTURE(curr[j].first);
                CAPTURE(curr[j].second);
                REQUIRE(std::find(curr.begin(), curr.end(), exp[j]) != curr.end());
            }
        }
    }
}

TEST_CASE("Syncer clean_inactive_streams by frame number with software-device device", "[live][software-device]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        log_to_file(RS2_LOG_SEVERITY_DEBUG);
        const int W = 640;
        const int H = 480;
        const int BPP = 2;

        std::shared_ptr<software_device> dev = std::make_shared<software_device>();
        auto s = dev->add_sensor("software_sensor");

        rs2_intrinsics intrinsics{ W, H, 0, 0, 0, 0, RS2_DISTORTION_NONE ,{ 0,0,0,0,0 } };
        s.add_video_stream({ RS2_STREAM_DEPTH, 0, 0, W, H, 60, BPP, RS2_FORMAT_Z16, intrinsics });
        s.add_video_stream({ RS2_STREAM_INFRARED, 1, 1, W, H,60,  BPP, RS2_FORMAT_Y8, intrinsics });
        dev->create_matcher(RS2_MATCHER_DI);
        frame_queue q;

        auto profiles = s.get_stream_profiles();
        auto depth = profiles[0];
        auto ir = profiles[1];

        syncer sync(10);
        s.open(profiles);
        s.start(sync);

        std::vector<uint8_t> pixels(W * H * BPP, 0);
        std::weak_ptr<rs2::software_device> weak_dev(dev);
        std::thread t([s, weak_dev, pixels, depth, ir]() mutable {
            auto shared_dev = weak_dev.lock();
            if (shared_dev == nullptr)
                return;
            s.on_video_frame({ pixels.data(), [](void*) {}, 0,0,0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 1, depth });
            s.on_video_frame({ pixels.data(), [](void*) {}, 0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 1, ir });

            s.on_video_frame({ pixels.data(), [](void*) {}, 0,0,0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 3, depth });

            s.on_video_frame({ pixels.data(), [](void*) {}, 0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 4, depth });

            s.on_video_frame({ pixels.data(), [](void*) {},0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 5, depth });

            s.on_video_frame({ pixels.data(), [](void*) {}, 0,0,0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 6, depth });

            s.on_video_frame({ pixels.data(), [](void*) {}, 0, 0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 7, depth });
        });

        t.detach();

        std::vector<std::vector<std::pair<rs2_stream, uint64_t>>> expected =
        {
            { { RS2_STREAM_DEPTH , 1 } },
            { { RS2_STREAM_INFRARED , 1 } },
            { { RS2_STREAM_DEPTH , 3 } },
            { { RS2_STREAM_DEPTH , 4 } },
            { { RS2_STREAM_DEPTH , 5 } },
            { { RS2_STREAM_DEPTH , 6 } },
            { { RS2_STREAM_DEPTH , 7 } },
        };

        std::vector<std::vector<std::pair<rs2_stream, uint64_t>>> results;

        for (auto i = 0UL; i < expected.size(); i++)
        {
            frameset fs;
            CAPTURE(i);
            REQUIRE_NOTHROW(fs = sync.wait_for_frames(5000));
            std::vector < std::pair<rs2_stream, uint64_t>> curr;

            for (auto f : fs)
            {
                curr.push_back({ f.get_profile().stream_type(), f.get_frame_number() });
            }
            results.push_back(curr);
        }

        CAPTURE(results.size());
        CAPTURE(expected.size());
        REQUIRE(results.size() == expected.size());

        for (size_t i = 0; i < expected.size(); i++)
        {
            auto exp = expected[i];
            auto curr = results[i];
            CAPTURE(i);
            CAPTURE(exp.size());
            CAPTURE(curr.size());
            REQUIRE(exp.size() == exp.size());

            for (size_t j = 0; j < exp.size(); j++)
            {
                CAPTURE(j);
                CAPTURE(exp[j].first);
                CAPTURE(exp[j].second);
                CAPTURE(curr[j].first);
                CAPTURE(curr[j].second);
                REQUIRE(std::find(curr.begin(), curr.end(), exp[j]) != curr.end());
            }
        }
    }
}
//ported to python test
TEST_CASE("Unit transform test", "[live][software-device-disabled]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ! ctx )
        return;

    log_to_file(RS2_LOG_SEVERITY_DEBUG);
    const int W = 640;
    const int H = 480;
    const int BPP = 2;
    int expected_frames = 1;
    int fps = 60;
    float depth_unit = 1.5;
    units_transform ut;
    rs2_intrinsics intrinsics{ W, H, 0, 0, 0, 0, RS2_DISTORTION_NONE ,{ 0,0,0,0,0 } };

    std::shared_ptr<software_device> dev = std::make_shared<software_device>();
    auto s = dev->add_sensor("software_sensor");
    s.add_read_only_option(RS2_OPTION_DEPTH_UNITS, depth_unit);
    s.add_video_stream({ RS2_STREAM_DEPTH, 0, 0, W, H, fps, BPP, RS2_FORMAT_Z16, intrinsics });

    auto profiles = s.get_stream_profiles();
    auto depth = profiles[0];

    syncer sync;
    s.open(profiles);
    s.start(sync);

    std::vector<uint16_t> pixels(W * H, 0);
    for (int i = 0; i < W * H; i++) {
        pixels[i] = i % 10;
    }

    std::weak_ptr<rs2::software_device> weak_dev(dev);
    std::thread t([s, weak_dev, &pixels, depth, expected_frames]() mutable {
        auto shared_dev = weak_dev.lock();
        if (shared_dev == nullptr)
            return;
        for (int i = 1; i <= expected_frames; i++)
            s.on_video_frame({ pixels.data(), [](void*) {}, 0,0,rs2_time_t(i * 100), RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, i, depth });
    });
    t.detach();

    for (auto i = 0; i < expected_frames; i++)
    {
        frame f;
        REQUIRE_NOTHROW(f = sync.wait_for_frames(5000));

        auto f_format = f.get_profile().format();
        REQUIRE(RS2_FORMAT_Z16 == f_format);

        auto depth_distance = ut.process(f);
        auto depth_distance_format = depth_distance.get_profile().format();
        REQUIRE(RS2_FORMAT_DISTANCE == depth_distance_format);

        auto frame_data = reinterpret_cast<const uint16_t*>(f.get_data());
        auto depth_distance_data = reinterpret_cast<const float*>(depth_distance.get_data());

        for (size_t i = 0; i < W*H; i++)
        {
            auto frame_data_units_transformed = (frame_data[i] * depth_unit);
            REQUIRE(depth_distance_data[i] == frame_data_units_transformed);
        }
    }
}

#define ADD_ENUM_TEST_CASE(rs2_enum_type, RS2_ENUM_COUNT)                                  \
TEST_CASE(#rs2_enum_type " enum test", "[live]") {                                         \
    int last_item_index = static_cast<int>(RS2_ENUM_COUNT);                                \
    for (int i = 0; i < last_item_index; i++)                                              \
    {                                                                                      \
        rs2_enum_type enum_value = static_cast<rs2_enum_type>(i);                          \
        std::string str;                                                                   \
        REQUIRE_NOTHROW(str = rs2_enum_type##_to_string(enum_value));                      \
        REQUIRE(str.empty() == false);                                                     \
        std::string error = "Unknown enum value passed to " #rs2_enum_type "_to_string";   \
        error += " (Value: " + std::to_string(i) + ")";                                    \
        error += "\nDid you add a new value but forgot to add it to:\n"                    \
                   " librealsense::get_string(" #rs2_enum_type ") ?";                      \
        CAPTURE(error);                                                                    \
        REQUIRE(str != "UNKNOWN");                                                         \
    }                                                                                      \
    /* Test for false positive*/                                                           \
    for (int i = last_item_index; i < last_item_index + 1; i++)                            \
    {                                                                                      \
        rs2_enum_type enum_value = static_cast<rs2_enum_type>(i);                          \
        std::string str;                                                                   \
        REQUIRE_NOTHROW(str = rs2_enum_type##_to_string(enum_value));                      \
        REQUIRE(str == "UNKNOWN");                                                         \
    }                                                                                      \
}

ADD_ENUM_TEST_CASE(rs2_stream, RS2_STREAM_COUNT)
ADD_ENUM_TEST_CASE(rs2_format, RS2_FORMAT_COUNT)
ADD_ENUM_TEST_CASE(rs2_distortion, RS2_DISTORTION_COUNT)
ADD_ENUM_TEST_CASE(rs2_option, RS2_OPTION_COUNT)
ADD_ENUM_TEST_CASE(rs2_camera_info, RS2_CAMERA_INFO_COUNT)
ADD_ENUM_TEST_CASE(rs2_timestamp_domain, RS2_TIMESTAMP_DOMAIN_COUNT)
ADD_ENUM_TEST_CASE(rs2_notification_category, RS2_NOTIFICATION_CATEGORY_COUNT)
ADD_ENUM_TEST_CASE(rs2_sr300_visual_preset, RS2_SR300_VISUAL_PRESET_COUNT)
ADD_ENUM_TEST_CASE(rs2_log_severity, RS2_LOG_SEVERITY_COUNT)
ADD_ENUM_TEST_CASE(rs2_exception_type, RS2_EXCEPTION_TYPE_COUNT)
ADD_ENUM_TEST_CASE(rs2_playback_status, RS2_PLAYBACK_STATUS_COUNT)
ADD_ENUM_TEST_CASE(rs2_extension, RS2_EXTENSION_COUNT)
ADD_ENUM_TEST_CASE(rs2_frame_metadata_value, RS2_FRAME_METADATA_COUNT)
ADD_ENUM_TEST_CASE(rs2_rs400_visual_preset, RS2_RS400_VISUAL_PRESET_COUNT)

void dev_changed(rs2_device_list* removed_devs, rs2_device_list* added_devs, void* ptr) {}
TEST_CASE("C API Compilation", "[live]") {
    rs2_error* e;
    REQUIRE_NOTHROW(rs2_set_devices_changed_callback(NULL, dev_changed, NULL, &e));
    REQUIRE(e != nullptr);
}


// added [!mayfail] , syncing by frame number has known issues
TEST_CASE("Syncer try wait for frames", "[live][software-device][!mayfail]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        std::shared_ptr<software_device> dev = std::move(std::make_shared<software_device>());
        auto s = dev->add_sensor("software_sensor");

        const int W = 640, H = 480, BPP = 2;
        rs2_intrinsics intrinsics{ W, H, 0, 0, 0, 0, RS2_DISTORTION_NONE ,{ 0,0,0,0,0 } };
        s.add_video_stream({ RS2_STREAM_DEPTH, 0, 0, W, H, 60, BPP, RS2_FORMAT_Z16, intrinsics });
        s.add_video_stream({ RS2_STREAM_INFRARED, 1, 1, W, H,60, BPP, RS2_FORMAT_Y8, intrinsics });
        dev->create_matcher(RS2_MATCHER_DI);

        auto profiles = s.get_stream_profiles();
        syncer sync;
        s.open(profiles);
        s.start(sync);

        std::vector<uint8_t> pixels(W * H * BPP, 0);
        std::weak_ptr<rs2::software_device> weak_dev(dev);

        auto depth = profiles[0];
        auto ir = profiles[1];
        std::thread t([&s, weak_dev, pixels, depth, ir]() mutable {

            auto shared_dev = weak_dev.lock();
            if (shared_dev == nullptr)
                return;
            s.on_video_frame({ pixels.data(), [](void*) {}, 0,0,0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 7, depth });
            s.on_video_frame({ pixels.data(), [](void*) {}, 0,0,0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 5, ir });

            s.on_video_frame({ pixels.data(), [](void*) {},0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 8, depth });
            s.on_video_frame({ pixels.data(), [](void*) {},0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 6, ir });

            s.on_video_frame({ pixels.data(), [](void*) {},0,0, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 8, ir });
        });
        t.detach();

        std::vector<std::vector<std::pair<rs2_stream, uint64_t>>> expected =
        {
            { { RS2_STREAM_DEPTH , 7 } },
        { { RS2_STREAM_INFRARED , 5 } },
        { { RS2_STREAM_INFRARED , 6 } },
        { { RS2_STREAM_DEPTH , 8 },{ RS2_STREAM_INFRARED , 8 } }
        };

        std::vector<std::vector<std::pair<rs2_stream, uint64_t>>> results;
        for (auto i = 0UL; i < expected.size(); i++)
        {
            frameset fs;
            REQUIRE(sync.try_wait_for_frames(&fs, 5000));
            std::vector < std::pair<rs2_stream, uint64_t>> curr;

            for (auto f : fs)
            {
                curr.push_back({ f.get_profile().stream_type(), f.get_frame_number() });
            }
            results.push_back(curr);
        }

        CAPTURE(results.size());
        CAPTURE(expected.size());
        REQUIRE(results.size() == expected.size());

        for (size_t i = 0; i < expected.size(); i++)
        {
            auto exp = expected[i];
            auto curr = results[i];
            CAPTURE(exp.size());
            CAPTURE(curr.size());
            REQUIRE(exp.size() == curr.size());

            for (size_t j = 0; j < exp.size(); j++)
            {
                CAPTURE(exp[j].first);
                CAPTURE(exp[j].second);
                REQUIRE(std::find(curr.begin(), curr.end(), exp[j]) != curr.end());
            }
        }
    }
}

TEST_CASE("Test Motion Module Extension", "[software-device][using_pipeline][projection]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ! ctx )
        return;
    std::string folder_name = get_folder_path(special_folder::temp_folder);
    const std::string filename = folder_name + "D435i_Depth_and_IMU.bag";
    REQUIRE(file_exists(filename));
    auto dev = ctx.load_device(filename);
    dev.set_real_time(false);

    syncer sync;
    std::vector<sensor> sensors = dev.query_sensors();
    for (auto s : sensors)
    {
        REQUIRE((std::string(s.get_info(RS2_CAMERA_INFO_NAME)) == "Stereo Module") == (s.is<rs2::depth_sensor>()));
        REQUIRE((std::string(s.get_info(RS2_CAMERA_INFO_NAME)) == "RGB Camera") == (s.is<rs2::color_sensor>()));
        REQUIRE((std::string(s.get_info(RS2_CAMERA_INFO_NAME)) == "Motion Module") == (s.is<rs2::motion_sensor>()));
    }
}

// Marked as MayFail due to DSO-11753. TODO -revisit once resolved
TEST_CASE("Projection from recording", "[software-device-disabled][using_pipeline][projection][!mayfail]") {
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ! ctx )
        return;
    std::string folder_name = get_folder_path(special_folder::temp_folder);
    const std::string filename = folder_name + "single_depth_color_640x480.bag";
    REQUIRE(file_exists(filename));
    auto dev = ctx.load_device(filename);
    dev.set_real_time(false);

    syncer sync;
    std::vector<sensor> sensors = dev.query_sensors();
    REQUIRE(sensors.size() == 2);
    for (auto s : sensors)
    {
        REQUIRE_NOTHROW(s.open(s.get_stream_profiles().front()));
        REQUIRE_NOTHROW(s.start(sync));
    }

    rs2::frame depth;
    rs2::stream_profile depth_profile;
    rs2::stream_profile color_profile;

    while (!depth_profile || !color_profile)
    {
        frameset frames = sync.wait_for_frames();
        REQUIRE(frames.size() > 0);
        if (frames.size() == 1)
        {
            if (frames.get_profile().stream_type() == RS2_STREAM_DEPTH)
            {
                depth = frames.get_depth_frame();
                depth_profile = depth.get_profile();
            }
            else
            {
                color_profile = frames.get_color_frame().get_profile();
            }
        }
        else
        {
            depth = frames.get_depth_frame();
            depth_profile = depth.get_profile();
            color_profile = frames.get_color_frame().get_profile();
        }
    }

    auto depth_intrin = depth_profile.as<rs2::video_stream_profile>().get_intrinsics();
    auto color_intrin = color_profile.as<rs2::video_stream_profile>().get_intrinsics();
    auto depth_extrin_to_color = depth_profile.as<rs2::video_stream_profile>().get_extrinsics_to(color_profile);
    auto color_extrin_to_depth = color_profile.as<rs2::video_stream_profile>().get_extrinsics_to(depth_profile);

    float depth_scale = 0;
    for (auto s : sensors)
    {
        auto depth_sensor = s.is<rs2::depth_sensor>();
        if (s.is<rs2::depth_sensor>())
        {
            REQUIRE_NOTHROW(depth_scale = s.as<rs2::depth_sensor>().get_depth_scale());
        }
        REQUIRE((std::string(s.get_info(RS2_CAMERA_INFO_NAME)) == "Stereo Module") == (s.is<rs2::depth_sensor>()));
        REQUIRE((std::string(s.get_info(RS2_CAMERA_INFO_NAME)) == "RGB Camera") == (s.is<rs2::color_sensor>()));
    }

    int count = 0;
    for (float i = 0; i < depth_intrin.width; i++)
    {
        for (float j = 0; j < depth_intrin.height; j++)
        {
            float depth_pixel[2] = { i, j };
            auto udist = depth.as<rs2::depth_frame>().get_distance(static_cast<int>(depth_pixel[0]+0.5f), static_cast<int>(depth_pixel[1]+0.5f));
            if (udist == 0) continue;

            float from_pixel[2] = { 0 }, to_pixel[2] = { 0 }, point[3] = { 0 }, other_point[3] = { 0 };
            rs2_deproject_pixel_to_point(point, &depth_intrin, depth_pixel, udist);
            rs2_transform_point_to_point(other_point, &depth_extrin_to_color, point);
            rs2_project_point_to_pixel(from_pixel, &color_intrin, other_point);

            // Search along a projected beam from 0.1m to 10 meter
            rs2_project_color_pixel_to_depth_pixel(to_pixel, reinterpret_cast<const uint16_t*>(depth.get_data()), depth_scale, 0.1f, 10,
                &depth_intrin, &color_intrin,
                &color_extrin_to_depth, &depth_extrin_to_color, from_pixel);

            float dist = static_cast<float>(sqrt(pow((depth_pixel[1] - to_pixel[1]), 2) + pow((depth_pixel[0] - to_pixel[0]), 2)));
            if (dist > 1)
                count++;
            if (dist > 2)
            {
                WARN("Projecting color->depth, distance > 2 pixels. Origin: ["
                            << depth_pixel[0] << "," << depth_pixel[1] <<"], Projected << "
                            << to_pixel[0] << "," << to_pixel[1] << "]");
            }
        }
    }
    const double MAX_ERROR_PERCENTAGE = 0.1;
    CAPTURE(count);
    REQUIRE(count * 100 / (depth_intrin.width * depth_intrin.height) < MAX_ERROR_PERCENTAGE);

    for (auto s : sensors)
    {
        s.stop();
        s.close();
    }
}

TEST_CASE("software-device pose stream", "[software-device]")
{
    rs2::software_device dev;

    auto sensor = dev.add_sensor("Pose"); // Define single sensor
    rs2_pose_stream stream = { RS2_STREAM_POSE, 0, 0, 200, RS2_FORMAT_6DOF };
    auto stream_profile = sensor.add_pose_stream(stream);

    rs2::syncer sync;

    sensor.open(stream_profile);
    sensor.start(sync);

    rs2_software_pose_frame::pose_frame_info info = { { 1, 1, 1 },{ 2, 2, 2 },{ 3, 3, 3 },{ 4, 4 ,4 ,4 },{ 5, 5, 5 },{ 6, 6 ,6 }, 0, 0 };
    rs2_software_pose_frame frame = { &info, [](void*) {}, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK , 0, stream_profile};
    sensor.on_pose_frame(frame);

    rs2::frameset fset = sync.wait_for_frames();
    rs2::frame pose = fset.first_or_default(RS2_STREAM_POSE);
    REQUIRE(pose);
    REQUIRE(((memcmp(frame.data, pose.get_data(), sizeof(rs2_software_pose_frame::pose_frame_info)) == 0) &&
        frame.frame_number == pose.get_frame_number() &&
        frame.domain == pose.get_frame_timestamp_domain() &&
        frame.timestamp == pose.get_timestamp()));

}

TEST_CASE("software-device motion stream", "[software-device-disabled]")
{
    rs2::software_device dev;

    auto sensor = dev.add_sensor("Motion"); // Define single sensor
    rs2_motion_device_intrinsic intrinsics = { { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 },{ 2, 2, 2 },{ 3, 3 ,3 } };
    rs2_motion_stream stream = { RS2_STREAM_ACCEL, 0, 0, 200, RS2_FORMAT_MOTION_RAW, intrinsics };
    auto stream_profile = sensor.add_motion_stream(stream);

    rs2::syncer sync;

    sensor.open(stream_profile);
    sensor.start(sync);

    float data[3] = { 1, 1, 1 };
    rs2_software_motion_frame frame = { data, [](void*) {}, 0, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 0, stream_profile };
    sensor.on_motion_frame(frame);

    rs2::frameset fset = sync.wait_for_frames();
    rs2::frame motion = fset.first_or_default(RS2_STREAM_ACCEL);
    REQUIRE(motion);
    REQUIRE(((memcmp(frame.data, motion.get_data(), sizeof(float) * 3) == 0) &&
        frame.frame_number == motion.get_frame_number() &&
        frame.domain == motion.get_frame_timestamp_domain() &&
        frame.timestamp == motion.get_timestamp()));

}

TEST_CASE("Record software-device", "[software-device-disabled][record][!mayfail]")
{
    const int W = 640;
    const int H = 480;
    const int BPP = 2;

    std::string folder_name = get_folder_path(special_folder::temp_folder);
    const std::string filename = folder_name + "recording.bag";

    rs2_software_video_frame video_frame;
    rs2_software_motion_frame motion_frame;
    rs2_software_pose_frame pose_frame;

    std::vector<uint8_t> pixels(W * H * BPP, 100);
    float motion_data[3] = { 1, 1, 1 };
    rs2_software_pose_frame::pose_frame_info pose_info = { { 1, 1, 1 },{ 2, 2, 2 },{ 3, 3, 3 },{ 4, 4 ,4 ,4 },{ 5, 5, 5 },{ 6, 6 ,6 }, 0, 0 };
    //Software device, streams and frames definition
    {
        rs2::software_device dev;

        auto sensor = dev.add_sensor("Synthetic");
        rs2_intrinsics depth_intrinsics = { W, H, (float)W / 2, H / 2, (float)W, (float)H,
            RS2_DISTORTION_BROWN_CONRADY ,{ 0,0,0,0,0 } };
        rs2_video_stream video_stream = { RS2_STREAM_DEPTH, 0, 0, W, H, 60, BPP, RS2_FORMAT_Z16, depth_intrinsics };
        auto depth_stream_profile = sensor.add_video_stream(video_stream);

        rs2_motion_device_intrinsic motion_intrinsics = { { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 },{ 2, 2, 2 },{ 3, 3 ,3 } };
        rs2_motion_stream motion_stream = { RS2_STREAM_ACCEL, 0, 1, 200, RS2_FORMAT_MOTION_RAW, motion_intrinsics };
        auto motion_stream_profile = sensor.add_motion_stream(motion_stream);

        rs2_pose_stream pose_stream = { RS2_STREAM_POSE, 0, 2, 200, RS2_FORMAT_6DOF };
        auto pose_stream_profile = sensor.add_pose_stream(pose_stream);

        rs2::syncer sync;
        std::vector<stream_profile> stream_profiles;
        stream_profiles.push_back(depth_stream_profile);
        stream_profiles.push_back(motion_stream_profile);
        stream_profiles.push_back(pose_stream_profile);

        video_frame = { pixels.data(), [](void*) {},W * BPP, BPP, 10000, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 0, depth_stream_profile };
        motion_frame = { motion_data, [](void*) {}, 20000, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK, 0, motion_stream_profile };
        pose_frame = { &pose_info, [](void*) {}, 30000, RS2_TIMESTAMP_DOMAIN_HARDWARE_CLOCK , 0, pose_stream_profile };

        //Record software device
        {
            recorder recorder(filename, dev);
            sensor.open(stream_profiles);
            sensor.start(sync);
            sensor.on_video_frame(video_frame);
            sensor.on_motion_frame(motion_frame);
            sensor.on_pose_frame(pose_frame);
            sensor.stop();
            sensor.close();
        }
    }


    //Playback software device
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ! ctx )
        return;
    auto player_dev = ctx.load_device(filename);
    player_dev.set_real_time(false);
    syncer player_sync;
    auto s = player_dev.query_sensors()[0];
    REQUIRE_NOTHROW(s.open(s.get_stream_profiles()));
    REQUIRE_NOTHROW(s.start(player_sync));
    rs2::frameset fset;
    rs2::frame recorded_depth, recorded_accel, recorded_pose;
    while (player_sync.try_wait_for_frames(&fset))
    {
        if (fset.first_or_default(RS2_STREAM_DEPTH))
            recorded_depth = fset.first_or_default(RS2_STREAM_DEPTH);
        if (fset.first_or_default(RS2_STREAM_ACCEL))
            recorded_accel = fset.first_or_default(RS2_STREAM_ACCEL);
        if (fset.first_or_default(RS2_STREAM_POSE))
            recorded_pose = fset.first_or_default(RS2_STREAM_POSE);
    }

    REQUIRE(recorded_depth);
    REQUIRE(recorded_accel);
    REQUIRE(recorded_pose);

    //Compare input frames with recorded frames
    REQUIRE(((memcmp(video_frame.pixels, recorded_depth.get_data(), W * H * BPP) == 0) &&
        video_frame.frame_number == recorded_depth.get_frame_number() &&
        video_frame.domain == recorded_depth.get_frame_timestamp_domain() &&
        video_frame.timestamp == recorded_depth.get_timestamp()));

    REQUIRE(((memcmp(motion_frame.data, recorded_accel.get_data(), sizeof(float) * 3) == 0) &&
        motion_frame.frame_number == recorded_accel.get_frame_number() &&
        motion_frame.domain == recorded_accel.get_frame_timestamp_domain() &&
        motion_frame.timestamp == recorded_accel.get_timestamp()));

    REQUIRE(((memcmp(pose_frame.data, recorded_pose.get_data(), sizeof(rs2_software_pose_frame::pose_frame_info)) == 0) &&
        pose_frame.frame_number == recorded_pose.get_frame_number() &&
        pose_frame.domain == recorded_pose.get_frame_timestamp_domain() &&
        pose_frame.timestamp == recorded_pose.get_timestamp()));

    s.stop();
    s.close();
}

void compare(filter first, filter second)
{
    CAPTURE(first.get_info(RS2_CAMERA_INFO_NAME));
    CAPTURE(second.get_info(RS2_CAMERA_INFO_NAME));
    REQUIRE(strcmp(first.get_info(RS2_CAMERA_INFO_NAME), second.get_info(RS2_CAMERA_INFO_NAME)) == 0);

    auto first_options = first.get_supported_options();
    auto second_options = second.get_supported_options();

    REQUIRE(first_options.size() == second_options.size());

    REQUIRE(first_options == second_options);

    for (auto i = 0UL;i < first_options.size();i++)
    {
        auto opt = static_cast<rs2_option>(first_options[i]);
        CAPTURE(opt);
        CAPTURE(first.get_option(opt));
        CAPTURE(second.get_option(opt));
        REQUIRE(first.get_option(opt) == second.get_option(opt));
    }
}

void compare(std::vector<filter> first, std::vector<std::shared_ptr<filter>> second)
{
    REQUIRE(first.size() == second.size());

    for (size_t i = 0;i < first.size();i++)
    {
        compare(first[i], (*second[i]));
    }
}

TEST_CASE("Sensor get recommended filters", "[live][!mayfail]") {
    //Require at least one device to be plugged in

    enum sensors
    {
        depth,
        depth_stereo,
        color
    };

    std::map<sensors, std::vector<std::shared_ptr<filter>>> sensors_to_filters;

    auto dec_color = std::make_shared<decimation_filter>();
    dec_color->set_option(RS2_OPTION_STREAM_FILTER, RS2_STREAM_COLOR);
    dec_color->set_option(RS2_OPTION_STREAM_FORMAT_FILTER, RS2_FORMAT_ANY);

    sensors_to_filters[color] = {
        dec_color
    };

    auto dec_depth = std::make_shared<decimation_filter>();
    dec_depth->set_option(RS2_OPTION_STREAM_FILTER, RS2_STREAM_DEPTH);
    dec_depth->set_option(RS2_OPTION_STREAM_FORMAT_FILTER, RS2_FORMAT_Z16);

    auto threshold = std::make_shared<threshold_filter>(0.1f, 4.f);
    auto spatial = std::make_shared<spatial_filter>();
    auto temporal = std::make_shared<temporal_filter>();
    auto hole_filling = std::make_shared<hole_filling_filter>();

    sensors_to_filters[depth] = {
        dec_depth,
        threshold,
        spatial,
        temporal,
        hole_filling
    };

    auto depth2disparity = std::make_shared<disparity_transform>(true);
    auto disparity2depth = std::make_shared<disparity_transform>(false);

    sensors_to_filters[depth_stereo] = {
        dec_depth,
        threshold,
        depth2disparity,
        spatial,
        temporal,
        hole_filling,
        disparity2depth
    };

    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        std::vector<sensor> sensors;
        REQUIRE_NOTHROW(sensors = ctx.query_all_sensors());
        REQUIRE(sensors.size() > 0);

        for (auto sensor : sensors)
        {
            auto processing_blocks = sensor.get_recommended_filters();
            auto stream_profiles = sensor.get_stream_profiles();
            if (sensor.is<depth_stereo_sensor>())
            {
                compare(processing_blocks, sensors_to_filters[depth_stereo]);
            }
            else if (sensor.is<depth_sensor>())
            {
                compare(processing_blocks, sensors_to_filters[depth]);
            }
            else if (std::find_if(stream_profiles.begin(), stream_profiles.end(), [](stream_profile profile) { return profile.stream_type() == RS2_STREAM_COLOR;}) != stream_profiles.end())
            {
                compare(processing_blocks, sensors_to_filters[color]);
            }
        }
    }
}

TEST_CASE("Positional_Sensors_API", "[live]")
{
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        log_to_console(RS2_LOG_SEVERITY_WARN);
        rs2::device dev;
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        rs2::pipeline_profile profile;
        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);
        disable_sensitive_options_for(dev);
        dev_type PID = get_PID(dev);
        CAPTURE(PID.first);

        // T265 Only
        if (!librealsense::val_in_range(PID.first, { std::string("0B37")}))
        {
            WARN("Skipping test - Applicable for Positional Tracking sensors only. Current device type: " << PID.first << (PID.second ? " USB3" : " USB2"));
        }
        else
        {
            CAPTURE(dev);
            REQUIRE_NOTHROW(dev.first<rs2::pose_sensor>());
            auto pose_snr = dev.first<rs2::pose_sensor>();
            CAPTURE(pose_snr);
            REQUIRE(pose_snr);

            WHEN("Sequence - Streaming.")
            {
                THEN("Export/Import must Fail")
                {
                    rs2::pipeline_profile pf;
                    REQUIRE_NOTHROW(pf = pipe.start(cfg));
                    rs2::device d = pf.get_device();
                    REQUIRE(d);
                    auto pose_snr = d.first<rs2::pose_sensor>();
                    CAPTURE(pose_snr);
                    REQUIRE(pose_snr);

                    WARN("T2xx Collecting frames started");
                    rs2::frameset frames;
                    // The frames are required to generate some initial localization map
                    for (auto i = 0; i < 200; i++)
                    {
                        REQUIRE_NOTHROW(frames = pipe.wait_for_frames());
                        REQUIRE(frames.size() > 0);
                    }

                    std::vector<uint8_t> results{}, vnv{};
                    WARN("T2xx export map");
                    REQUIRE_THROWS(results = pose_snr.export_localization_map());
                    CAPTURE(results.size());
                    REQUIRE(0 == results.size());
                    WARN("T2xx import map");
                    REQUIRE_THROWS(pose_snr.import_localization_map({ 0, 1, 2, 3, 4 }));
                    REQUIRE_NOTHROW(pipe.stop());
                    WARN("T2xx import/export during streaming finished");
                }
            }

            WHEN("Sequence - idle.")
            {
                THEN("Export/Import Success")
                {
                    std::vector<uint8_t> results, vnv;
                    REQUIRE_NOTHROW(results = pose_snr.export_localization_map());
                    CAPTURE(results.size());
                    REQUIRE(results.size());

                    bool ret = false;
                    REQUIRE_NOTHROW(ret = pose_snr.import_localization_map(results));
                    CAPTURE(ret);
                    REQUIRE(ret);
                    REQUIRE_NOTHROW(vnv = pose_snr.export_localization_map());
                    CAPTURE(vnv.size());
                    REQUIRE(vnv.size());
                    REQUIRE(vnv == results);
                }
            }

            WHEN("Sequence - Streaming.")
            {
                THEN("Set/Get Static node functionality")
                {
                    rs2::pipeline_profile pf;
                    REQUIRE_NOTHROW(pf = pipe.start(cfg));
                    rs2::device d = pf.get_device();
                    REQUIRE(d);
                    auto pose_snr = d.first<rs2::pose_sensor>();
                    CAPTURE(pose_snr);
                    REQUIRE(pose_snr);

                    rs2::frameset frames;
                    // The frames are required to get pose with sufficient confidence for static node marker
                    for (auto i = 0; i < 100; i++)
                    {
                        REQUIRE_NOTHROW(frames = pipe.wait_for_frames());
                        REQUIRE(frames.size() > 0);
                    }

                    rs2_vector init_pose{}, test_pose{ 1,2,3 }, vnv_pose{};
                    rs2_quaternion init_or{}, test_or{ 4,5,6,7 }, vnv_or{};
                    auto res = 0;
                    REQUIRE_NOTHROW(res = pose_snr.set_static_node("wp1", test_pose, test_or));
                    CAPTURE(res);
                    REQUIRE(res != 0);
                    std::this_thread::sleep_for(std::chrono::milliseconds(500));
                    REQUIRE_NOTHROW(res = pose_snr.get_static_node("wp1", vnv_pose, vnv_or));
                    CAPTURE(vnv_pose);
                    CAPTURE(vnv_or);
                    CAPTURE(res);
                    REQUIRE(test_pose.x == approx(vnv_pose.x));
                    REQUIRE(test_pose.y == approx(vnv_pose.y));
                    REQUIRE(test_pose.z == approx(vnv_pose.z));
                    REQUIRE(test_or.x == approx(vnv_or.x));
                    REQUIRE(test_or.y == approx(vnv_or.y));
                    REQUIRE(test_or.z == approx(vnv_or.z));
                    REQUIRE(test_or.w == approx(vnv_or.w));

                    REQUIRE_NOTHROW(res = pose_snr.remove_static_node("wp1"));
                    REQUIRE_NOTHROW(!(res = pose_snr.remove_static_node("wp1")));

                    REQUIRE_NOTHROW(pipe.stop());
                }
            }
        }
    }
}

TEST_CASE("Wheel_Odometry_API", "[live]")
{
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        log_to_console(RS2_LOG_SEVERITY_WARN);
        rs2::device dev;
        rs2::pipeline pipe(ctx);
        rs2::config cfg;
        rs2::pipeline_profile profile;
        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);
        dev_type PID = get_PID(dev);
        CAPTURE(PID.first);

        // T265 Only
        if (!librealsense::val_in_range(PID.first, { std::string("0B37")}))
        {
            WARN("Skipping test - Applicable for Positional Tracking sensors only. Current device type: " << PID.first << (PID.second ? " USB3" : " USB2"));
        }
        else
        {
            CAPTURE(dev);
            auto wheel_odom_snr = dev.first<rs2::wheel_odometer>();
            CAPTURE(wheel_odom_snr);
            REQUIRE(wheel_odom_snr);

            WHEN("Sequence - idle.")
            {
                THEN("Load wheel odometry calibration")
                {
                    std::ifstream calibrationFile("calibration_odometry.json");
                    REQUIRE(calibrationFile);
                    {
                        const std::string json_str((std::istreambuf_iterator<char>(calibrationFile)),
                            std::istreambuf_iterator<char>());
                        const std::vector<uint8_t> wo_calib(json_str.begin(), json_str.end());
                        bool b;
                        REQUIRE_NOTHROW(b = wheel_odom_snr.load_wheel_odometery_config(wo_calib));
                        REQUIRE(b);
                    }
                }
            }

            WHEN("Sequence - Streaming.")
            {
                THEN("Send wheel odometry data")
                {
                    rs2::pipeline_profile pf;
                    REQUIRE_NOTHROW(pf = pipe.start(cfg));
                    rs2::device d = pf.get_device();
                    REQUIRE(d);
                    auto wo_snr = d.first<rs2::wheel_odometer>();
                    CAPTURE(wo_snr);
                    REQUIRE(wo_snr);

                    bool b;
                    float norm_max = 0;
                    WARN("T2xx Collecting frames started - Keep device static");
                    rs2::frameset frames;
                    for (int i = 0; i < 100; i++)
                    {
                        REQUIRE_NOTHROW(frames = pipe.wait_for_frames());
                        REQUIRE(frames.size() > 0);
                        auto f = frames.first_or_default(RS2_STREAM_POSE);
                        auto pose_data = f.as<rs2::pose_frame>().get_pose_data();
                        float norm = sqrt(pose_data.translation.x*pose_data.translation.x + pose_data.translation.y*pose_data.translation.y
                                          + pose_data.translation.z*pose_data.translation.z);
                        if (norm > norm_max) norm_max = norm;

                        REQUIRE_NOTHROW(b = wo_snr.send_wheel_odometry(0, 0, { 1,0,0 }));
                        REQUIRE(b);
                    }
                    Catch::Approx approx_norm(0);
                    approx_norm.epsilon(0.005); // 0.5cm threshold
                    REQUIRE_FALSE(norm_max == approx_norm);
                    REQUIRE_NOTHROW(pipe.stop());
                }
            }
        }
    }
}


TEST_CASE("get_sensor_from_frame", "[live][using_pipeline][!mayfail]")
{
    // Require at least one device to be plugged in
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        std::vector<sensor> list;
        REQUIRE_NOTHROW(list = ctx.query_all_sensors());
        REQUIRE(list.size() > 0);

        pipeline pipe(ctx);
        device dev;
        // Configure all supported streams to run at 30 frames per second

        rs2::config cfg;
        rs2::pipeline_profile profile;
        REQUIRE_NOTHROW(profile = cfg.resolve(pipe));
        REQUIRE(profile);
        REQUIRE_NOTHROW(dev = profile.get_device());
        REQUIRE(dev);
        disable_sensitive_options_for(dev);

        // Test sequence
        REQUIRE_NOTHROW(pipe.start(cfg));
        std::string dev_serial_no = dev.get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
        for (auto i = 0; i < 5; i++)
        {
            rs2::frameset data = pipe.wait_for_frames(); // Wait for next set of frames from the camera
            for (auto&& frame : data)
            {
                std::string frame_serial_no = sensor_from_frame(frame)->get_info(RS2_CAMERA_INFO_SERIAL_NUMBER);
                REQUIRE(dev_serial_no == frame_serial_no);
                // TODO: Add additinal sensor attribiutions checks.
            }
        }
        REQUIRE_NOTHROW(pipe.stop());
    }
}

TEST_CASE("l500_presets_set_preset", "[live]")
{
    std::vector<rs2_option> _hw_controls = { RS2_OPTION_VISUAL_PRESET, RS2_OPTION_PRE_PROCESSING_SHARPENING, RS2_OPTION_CONFIDENCE_THRESHOLD, RS2_OPTION_POST_PROCESSING_SHARPENING, RS2_OPTION_NOISE_FILTERING, RS2_OPTION_AVALANCHE_PHOTO_DIODE, RS2_OPTION_LASER_POWER ,RS2_OPTION_MIN_DISTANCE, RS2_OPTION_INVALIDATION_BYPASS };
    // Require at least one device to be plugged in
    rs2::context ctx = make_context( SECTION_FROM_TEST_NAME );
    if( ctx )
    {
        std::vector<sensor> list;
        REQUIRE_NOTHROW(list = ctx.query_all_sensors());
        REQUIRE(list.size() > 0);

         sensor ds;

         for (auto&& s : list)
         {
             if (s.is < rs2::depth_sensor>())
             {
                 ds = s.as < rs2::depth_sensor>();
                 break;
             }
         }

        REQUIRE(ds);

        for (auto&& option : _hw_controls)
        {
            REQUIRE(ds.supports(option));
        }
        REQUIRE(ds.supports(RS2_OPTION_SENSOR_MODE));

        auto presets = ds.get_option_range(RS2_OPTION_VISUAL_PRESET);
        REQUIRE(presets.min == RS2_L500_VISUAL_PRESET_CUSTOM);
        REQUIRE(presets.max == RS2_L500_VISUAL_PRESET_COUNT - 1);
        REQUIRE(presets.step == 1);
        REQUIRE(presets.def == RS2_L500_VISUAL_PRESET_DEFAULT);

        std::map< rs2_option, option_range> options_range;

        for (auto&& option : _hw_controls)
        {
            if (option != RS2_OPTION_VISUAL_PRESET)
            {
                options_range[option] = ds.get_option_range(option);
            }
        }

        std::map<int, int> expected_ambient_per_preset =
        {
            {RS2_L500_VISUAL_PRESET_NO_AMBIENT, RS2_DIGITAL_GAIN_HIGH},
            {RS2_L500_VISUAL_PRESET_LOW_AMBIENT, RS2_DIGITAL_GAIN_LOW},
            {RS2_L500_VISUAL_PRESET_MAX_RANGE, RS2_DIGITAL_GAIN_HIGH},
            {RS2_L500_VISUAL_PRESET_SHORT_RANGE, RS2_DIGITAL_GAIN_LOW}
        };

        std::map<int, int> expected_laser_power_per_preset =
        {
            {RS2_L500_VISUAL_PRESET_LOW_AMBIENT, 100},
            {RS2_L500_VISUAL_PRESET_MAX_RANGE, 100}
        };

        std::map< float, float> apd_per_ambient;
        for (auto i : expected_ambient_per_preset)
        {
            std::vector<int> resolutions{ RS2_SENSOR_MODE_XGA, RS2_SENSOR_MODE_VGA };
            for (auto res : resolutions)
            {
                ds.set_option(RS2_OPTION_SENSOR_MODE, (float)res);
                ds.set_option(RS2_OPTION_VISUAL_PRESET, (float)i.first);
                CAPTURE(ds.get_option(RS2_OPTION_DIGITAL_GAIN));
                REQUIRE(ds.get_option(RS2_OPTION_DIGITAL_GAIN) == i.second);
                apd_per_ambient[ds.get_option(RS2_OPTION_DIGITAL_GAIN)] = ds.get_option(RS2_OPTION_AVALANCHE_PHOTO_DIODE);
                auto expected_laser_power = expected_laser_power_per_preset.find(i.first);
                if (expected_laser_power != expected_laser_power_per_preset.end())
                {
                    CAPTURE(ds.get_option(RS2_OPTION_LASER_POWER));
                    REQUIRE(ds.get_option(RS2_OPTION_LASER_POWER) == expected_laser_power->second);
                }

            }
        }

        CAPTURE(apd_per_ambient[RS2_SENSOR_MODE_XGA]);
        CAPTURE(apd_per_ambient[RS2_SENSOR_MODE_VGA]);
        REQUIRE(apd_per_ambient[RS2_SENSOR_MODE_XGA] != apd_per_ambient[RS2_SENSOR_MODE_VGA]);
        for (auto&& opt : options_range)
        {
            ds.set_option(opt.first, opt.second.min);
            CAPTURE(ds.get_option(RS2_OPTION_VISUAL_PRESET));
            REQUIRE(ds.get_option(RS2_OPTION_VISUAL_PRESET) == RS2_L500_VISUAL_PRESET_CUSTOM);
            ds.set_option(RS2_OPTION_VISUAL_PRESET, RS2_L500_VISUAL_PRESET_LOW_AMBIENT);
        }
       
    }
}