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103 lines
3.9 KiB
103 lines
3.9 KiB
# License: Apache 2.0. See LICENSE file in root directory.
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# Copyright(c) 2021 Intel Corporation. All Rights Reserved.
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# test:device each(D400*)
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import pyrealsense2 as rs
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from rspy.stopwatch import Stopwatch
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from rspy import test, log
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import time
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import platform
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# Start depth + color streams and measure the time from stream opened until first frame arrived using sensor API.
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# Verify that the time do not exceeds the maximum time allowed
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# Note - Using Windows Media Foundation to handle power management between USB actions take time (~27 ms)
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def time_to_first_frame(sensor, profile, max_delay_allowed):
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"""
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Wait for the first frame for 'max_delay_allowed' + 1 extra second
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If the frame arrives it will return the seconds it took since open() call
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If no frame it will return 'max_delay_allowed'
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"""
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first_frame_time = max_delay_allowed
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open_call_stopwatch = Stopwatch()
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def frame_cb(frame):
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nonlocal first_frame_time, open_call_stopwatch
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if first_frame_time == max_delay_allowed:
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first_frame_time = open_call_stopwatch.get_elapsed()
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open_call_stopwatch.reset()
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sensor.open(profile)
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sensor.start(frame_cb)
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# Wait condition:
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# 1. first frame did not arrive yet
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# 2. timeout of 'max_delay_allowed' + 1 extra second reached.
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while first_frame_time == max_delay_allowed and open_call_stopwatch.get_elapsed() < max_delay_allowed + 1:
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time.sleep(0.05)
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sensor.stop()
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sensor.close()
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return first_frame_time
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# The device starts at D0 (Operational) state, allow time for it to get into idle state
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time.sleep(3)
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#####################################################################################################
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test.start("Testing device creation time on " + platform.system() + " OS")
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device_creation_stopwatch = Stopwatch()
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dev = test.find_first_device_or_exit()
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device_creation_time = device_creation_stopwatch.get_elapsed()
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max_time_for_device_creation = 1
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print("Device creation time is: {:.3f} [sec] max allowed is: {:.1f} [sec] ".format(device_creation_time, max_time_for_device_creation))
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test.check(device_creation_time < max_time_for_device_creation)
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test.finish()
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# Set maximum delay for first frame according to product line
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product_line = dev.get_info(rs.camera_info.product_line)
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if product_line == "D400":
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max_delay_for_depth_frame = 1
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max_delay_for_color_frame = 1
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else:
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log.f( "This test support only D400 devices" )
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ds = dev.first_depth_sensor()
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cs = dev.first_color_sensor()
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dp = next(p for p in
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ds.profiles if p.fps() == 30
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and p.stream_type() == rs.stream.depth
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and p.format() == rs.format.z16)
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cp = next(p for p in
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cs.profiles if p.fps() == 30
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and p.stream_type() == rs.stream.color
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and p.format() == rs.format.rgb8)
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#####################################################################################################
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test.start("Testing first depth frame delay on " + product_line + " device - "+ platform.system() + " OS")
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first_depth_frame_delay = time_to_first_frame(ds, dp, max_delay_for_depth_frame)
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print("Time until first depth frame is: {:.3f} [sec] max allowed is: {:.1f} [sec] ".format(first_depth_frame_delay, max_delay_for_depth_frame))
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test.check(first_depth_frame_delay < max_delay_for_depth_frame)
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test.finish()
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#####################################################################################################
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test.start("Testing first color frame delay on " + product_line + " device - "+ platform.system() + " OS")
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first_color_frame_delay = time_to_first_frame(cs, cp, max_delay_for_color_frame)
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print("Time until first color frame is: {:.3f} [sec] max allowed is: {:.1f} [sec] ".format(first_color_frame_delay, max_delay_for_color_frame))
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test.check(first_color_frame_delay < max_delay_for_color_frame)
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test.finish()
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#####################################################################################################
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test.print_results_and_exit()
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