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111 lines
5.4 KiB
111 lines
5.4 KiB
# License: Apache 2.0. See LICENSE file in root directory.
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# Copyright(c) 2022 Intel Corporation. All Rights Reserved.
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#test:donotrun:!dds
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#test:retries:gha 2
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from rspy import log, test
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log.nested = 'C '
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import d435i
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import d405
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import d455
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import dds
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import pyrealsense2 as rs
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if log.is_debug_on():
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rs.log_to_console( rs.log_severity.debug )
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from time import sleep
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context = rs.context( { 'dds': { 'enabled': True, 'domain': 123, 'participant': 'device-properties-client' }} )
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only_sw_devices = int(rs.product_line.sw_only) | int(rs.product_line.any_intel)
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import os.path
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cwd = os.path.dirname(os.path.realpath(__file__))
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remote_script = os.path.join( cwd, 'device-broadcaster.py' )
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with test.remote( remote_script, nested_indent=" S" ) as remote:
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remote.wait_until_ready()
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#
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#############################################################################################
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#
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with test.closure( "Test D435i" ):
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remote.run( 'instance = broadcast_device( d435i, d435i.device_info )' )
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dev = dds.wait_for_devices( context, only_sw_devices, n=1. )
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test.check_equal( dev.get_info( rs.camera_info.name ), d435i.device_info.name )
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test.check_equal( dev.get_info( rs.camera_info.serial_number ), d435i.device_info.serial )
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test.check_equal( dev.get_info( rs.camera_info.physical_port ), d435i.device_info.topic_root )
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sensors = {sensor.get_info( rs.camera_info.name ) : sensor for sensor in dev.query_sensors()}
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test.check_equal( len(sensors), 3 )
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sensor = dev.first_depth_sensor()
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if test.check( sensor ):
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test.check( rs.depth_sensor( sensor ))
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test.check( sensors[sensor.name] )
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test.check_equal( sensor.name, 'Stereo Module' )
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test.check_equal( len(sensor.get_stream_profiles()), 104 ) # As measured running rs-sensor-control example
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sensor = dev.first_color_sensor()
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if test.check( sensor ):
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test.check( rs.color_sensor( sensor ))
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test.check( sensors[sensor.name] )
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test.check_equal( sensor.name, 'RGB Camera' )
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test.check_equal( len(sensor.get_stream_profiles()), 192 ) # As measured running rs-sensor-control example
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sensor = dev.first_motion_sensor()
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if test.check( sensor ):
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test.check( rs.motion_sensor( sensor ))
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test.check( sensors[sensor.name] )
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test.check_equal( sensor.name, 'Motion Module' )
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test.check_equal( len(sensor.get_stream_profiles()), 2 ) # Only the Gyro profiles
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remote.run( 'close_server( instance )' )
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dev = None
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#
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#############################################################################################
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#
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with test.closure( "Test D405" ):
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remote.run( 'instance = broadcast_device( d405, d405.device_info )' )
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dev = dds.wait_for_devices( context, only_sw_devices, n=1. )
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test.check_equal( dev.get_info( rs.camera_info.name ), d405.device_info.name )
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test.check_equal( dev.get_info( rs.camera_info.serial_number ), d405.device_info.serial )
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test.check_equal( dev.get_info( rs.camera_info.physical_port ), d405.device_info.topic_root )
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sensors = {sensor.get_info( rs.camera_info.name ) : sensor for sensor in dev.query_sensors()}
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test.check_equal( len(sensors), 1 )
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sensor = dev.first_depth_sensor()
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if test.check( sensor ):
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test.check( sensors[sensor.name] )
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test.check_equal( sensor.name, 'Stereo Module' )
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test.check_equal( len(sensor.get_stream_profiles()), 258 ) # As measured running rs-sensor-control example
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remote.run( 'close_server( instance )' )
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dev = None
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#
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#############################################################################################
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#
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with test.closure( "Test D455" ):
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remote.run( 'instance = broadcast_device( d455, d455.device_info )' )
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dev = dds.wait_for_devices( context, only_sw_devices, n=1. )
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test.check_equal( dev.get_info( rs.camera_info.name ), d455.device_info.name )
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test.check_equal( dev.get_info( rs.camera_info.serial_number ), d455.device_info.serial )
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test.check_equal( dev.get_info( rs.camera_info.physical_port ), d455.device_info.topic_root )
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sensors = {sensor.get_info( rs.camera_info.name ) : sensor for sensor in dev.query_sensors()}
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test.check_equal( len(sensors), 3 )
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sensor = dev.first_depth_sensor()
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if test.check( sensor ):
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test.check( sensors[sensor.name] )
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test.check_equal( sensor.name, 'Stereo Module' )
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test.check_equal( len(sensor.get_stream_profiles()), 100 ) # As measured running rs-sensor-control example
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sensor = dev.first_color_sensor()
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if test.check( sensor ):
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test.check( sensors[sensor.name] )
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test.check_equal( sensor.name, 'RGB Camera' )
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test.check_equal( len(sensor.get_stream_profiles()), 186 ) # As measured running rs-sensor-control example
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sensor = dev.first_motion_sensor()
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if test.check( sensor ):
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test.check( sensors[sensor.name] )
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test.check_equal( sensor.name, 'Motion Module' )
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test.check_equal( len(sensor.get_stream_profiles()), 2 ) # Only the Gyro profiles
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remote.run( 'close_server( instance )' )
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dev = None
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#
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#############################################################################################
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context = None
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test.print_results_and_exit()
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