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99 lines
2.8 KiB
99 lines
2.8 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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import pyrealdds as dds
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from rspy import log, test
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import d435i
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import threading
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from time import sleep
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dds.debug( log.is_debug_on(), log.nested )
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participant = dds.participant()
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participant.init( 123, "device-init-server" )
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def test_one_stream():
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s1p1 = dds.video_stream_profile( 9, dds.video_encoding.rgb, 10, 10 )
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s1profiles = [s1p1]
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s1 = dds.depth_stream_server( "s1", "sensor" )
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s1.init_profiles( s1profiles, 0 )
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log.d( s1.profiles() )
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global server
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server = dds.device_server( participant, "realdds/device/topic-root" )
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server.init( [s1], [], {} )
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def test_one_motion_stream():
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s1p1 = dds.motion_stream_profile( 30 )
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s1profiles = [s1p1]
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s1 = dds.motion_stream_server( "s2", "sensor2" )
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s1.init_profiles( s1profiles, 0 )
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log.d( s1.profiles() )
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global server
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server = dds.device_server( participant, "realdds/device/topic-root" )
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server.init( [s1], [], {} )
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def test_no_profiles():
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s1profiles = []
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s1 = dds.color_stream_server( "s1", "sensor" )
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s1.init_profiles( s1profiles, 0 )
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global server
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server = dds.device_server( participant, "realdds/device/topic-root" )
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server.init( [s1], [], {} )
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def test_no_streams():
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global server
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server = dds.device_server( participant, "realdds/device/topic-root" )
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server.init( [], [], {} )
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def test_n_profiles( n_profiles ):
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assert n_profiles > 0
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s1profiles = []
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fibo = [0,1]
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for i in range(n_profiles):
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width = i
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height = fibo[-2] + fibo[-1]
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fibo[-2] = fibo[-1]
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fibo[-1] = height
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s1profiles += [dds.video_stream_profile( 9, dds.video_encoding.rgb, width, height )]
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s1 = dds.ir_stream_server( "s1", "sensor" )
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s1.init_profiles( s1profiles, 0 )
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log.d( s1.profiles() )
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global server
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server = dds.device_server( participant, "realdds/device/topic-root" )
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server.init( [s1], [], {} )
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def test_d435i():
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global server
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server = d435i.build( participant )
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notification_thread = None
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def notification_flood():
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def notification_flooder():
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global server
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i = 0
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while server is not None:
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i += 1
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log.d( f'----> {i}' )
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server.publish_notification( { 'id' : 'some-notification', 'counter' : i } )
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sleep( 0.005 )
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global notification_thread
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notification_thread = threading.Thread( target=notification_flooder )
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notification_thread.start()
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def close_server():
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global server, notification_thread
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server = None
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if notification_thread is not None:
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notification_thread.join()
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notification_thread = None
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# From here down, we're in "interactive" mode (see test-device-init.py)
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# ...
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