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Added live camera test for changing profile based on enumerated data
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realsense2_camera/test/d455/test_d455_all_profile_tests.py
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| # Copyright 2023 Intel Corporation. All Rights Reserved. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
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| import os | ||
| import sys | ||
| import itertools | ||
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| import pytest | ||
| import rclpy | ||
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| from sensor_msgs.msg import Image as msg_Image | ||
| from sensor_msgs.msg import Imu as msg_Imu | ||
| from sensor_msgs.msg import PointCloud2 as msg_PointCloud2 | ||
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| import numpy as np | ||
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| sys.path.append(os.path.abspath(os.path.dirname(__file__)+"/../utils")) | ||
| import pytest_rs_utils | ||
| from pytest_rs_utils import launch_descr_with_parameters | ||
| from pytest_rs_utils import delayed_launch_descr_with_parameters | ||
| from pytest_rs_utils import get_rosbag_file_path | ||
| import pytest_live_camera_utils | ||
| from rclpy.parameter import Parameter | ||
| from rcl_interfaces.msg import ParameterValue | ||
| from rcl_interfaces.srv import SetParameters, GetParameters, ListParameters | ||
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| test_params_all_profiles = { | ||
| 'camera_name': 'D455', | ||
| 'device_type': 'D455', | ||
| } | ||
| ''' | ||
| This test was implemented as a template to set the parameters and run the test. | ||
| This directory is not added to the CMakeLists.txt so as to avoid the colcon failure in the | ||
| machines that don't have the D455 connected. | ||
| 1. Only a subset of parameter types are implemented in py_rs_utils, it has to be extended for others | ||
| 2. After setting the param, rclpy.spin_once may be needed.Test passes even without this though. | ||
| ''' | ||
| @pytest.mark.parametrize("launch_descr_with_parameters", [test_params_all_profiles],indirect=True) | ||
| @pytest.mark.launch(fixture=launch_descr_with_parameters) | ||
| class TestD455_Change_Resolution(pytest_rs_utils.RsTestBaseClass): | ||
| def test_D455_Change_Resolution(self,launch_descr_with_parameters): | ||
| params = launch_descr_with_parameters[1] | ||
| themes = [ | ||
| {'topic':'/'+params['camera_name']+'/color/image_raw', | ||
| 'msg_type':msg_Image, | ||
| 'expected_data_chunks':1, | ||
| #'data':data | ||
| } | ||
| ] | ||
| try: | ||
| ''' | ||
| initialize, run and check the data | ||
| ''' | ||
| serial_no = None | ||
| if 'serial_no' in params: | ||
| serial_no = params['serial_no'] | ||
| cap = pytest_live_camera_utils.get_camera_capabilities(params['device_type'], serial_no) | ||
| self.init_test("RsTest"+params['camera_name']) | ||
| self.create_param_ifs(params['camera_name'] + '/' + params['camera_name']) | ||
| for profile in cap["color_profile"]: | ||
| if profile[0] == 'Color': | ||
| print("Testing :" + profile[1] + " " + profile[2]) | ||
| if "BGRA8" == profile[2]: | ||
| print("Skipping BGRA8" ) | ||
| continue | ||
| if "RGBA8" == profile[2]: | ||
| print("Skipping RGBA8" ) | ||
| continue | ||
| if "Y8" == profile[2]: | ||
| print("Skipping Y8" ) | ||
| continue | ||
| self.set_string_param('rgb_camera.profile', profile[1]) | ||
| self.set_string_param('rgb_camera.color_format', profile[2]) | ||
| self.set_bool_param('enable_color', True) | ||
| themes[0]['width'] = int(profile[1].split('x')[0]) | ||
| themes[0]['height'] = int(profile[1].split('x')[1]) | ||
| ret = self.run_test(themes) | ||
| assert ret[0], ret[1] | ||
| assert self.process_data(themes) | ||
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| ret = self.run_test(themes) | ||
| assert self.process_data(themes) | ||
| finally: | ||
| #this step is important because the test will fail next time | ||
| pytest_rs_utils.kill_realsense2_camera_node() | ||
| self.shutdown() | ||
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realsense2_camera/test/utils/pytest_live_camera_utils.py
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| # Copyright 2023 Intel Corporation. All Rights Reserved. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
| import os | ||
| import sys | ||
| import time | ||
| import ctypes | ||
| import struct | ||
| import requests | ||
| import json | ||
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| def debug_print(*args): | ||
| if(False): | ||
| print(*args) | ||
| def get_camera_capabilities_short(device_type, serial_no=None): | ||
| short_data = os.popen("rs-enumerate-devices -s").read().splitlines() | ||
| print(serial_no) | ||
| for line in short_data: | ||
| print(line) | ||
| if device_type in line: | ||
| if serial_no is None or serial_no == "" : | ||
| print(device_type+ " found in " + line) | ||
| return | ||
| if serial_no in line: | ||
| print(device_type + " with serial_no " + serial_no +" found in " + line) | ||
| return | ||
| print(device_type + " not found") | ||
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| device_info_string = "Device info:" | ||
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| def get_device_info_location(long_data, index=0): | ||
| for line_no in range(index, len(long_data)): | ||
| if device_info_string in long_data[line_no]: | ||
| return line_no | ||
| return len(long_data) | ||
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| stream_profile_string = "Stream Profiles supported by" | ||
| def get_stream_profile_location(long_data, start_index, end_index, profile_string): | ||
| for line_no in range(start_index, end_index): | ||
| if stream_profile_string in long_data[line_no]: | ||
| if profile_string in long_data[line_no]: | ||
| return line_no | ||
| return None | ||
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| def get_depth_profiles(long_data, start_index, end_index): | ||
| cap = [] | ||
| for line_no in range(start_index, end_index): | ||
| if len(long_data[line_no]) == 0: | ||
| break | ||
| debug_print("depth profile processing:" + long_data[line_no]) | ||
| depth_profile = long_data[line_no].split() | ||
| if len(depth_profile) == 5: | ||
| profile = depth_profile[0] | ||
| value = depth_profile[1]+"x"+depth_profile[3] | ||
| format = depth_profile[4] | ||
| elif len(depth_profile) == 6: | ||
| profile = depth_profile[0]+depth_profile[1] | ||
| value = depth_profile[2]+"x"+depth_profile[4] | ||
| format = depth_profile[5] | ||
| else: | ||
| assert false, "Seems that the depth profile info format printed by rs-enumerate-devices changed" | ||
| value = value[:-2] | ||
| debug_print("depth profile added: " + profile, value, format) | ||
| cap.append([profile, value, format]) | ||
| debug_print(cap) | ||
| return cap | ||
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| def get_color_profiles(long_data, start_index, end_index): | ||
| cap = [] | ||
| for line_no in range(start_index, end_index): | ||
| if len(long_data[line_no]) == 0: | ||
| break | ||
| debug_print("color profile processing:" + long_data[line_no]) | ||
| color_profile = long_data[line_no].split() | ||
| if len(color_profile) == 5: | ||
| profile = color_profile[0] | ||
| value = color_profile[1]+"x"+color_profile[3] | ||
| format = color_profile[4] | ||
| else: | ||
| assert false, "Seems that the color profile info format printed by rs-enumerate-devices changed" | ||
| value = value[:-2] | ||
| debug_print("color profile added: " + profile, value, format) | ||
| cap.append([profile, value, format]) | ||
| debug_print(cap) | ||
| return cap | ||
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| NAME_LINE_INDEX = 1 | ||
| NAME_LINE_NAME_OFFSET = 4 | ||
| SERIAL_NO_LINE_INDEX = 2 | ||
| SERIAL_NO_VALUE_OFFSET = 3 | ||
| def parse_device_info(long_data, start_index, end_index, device_type, serial_no): | ||
| #after device_info, the next line should have the name and device type | ||
| capability = {} | ||
| debug_print("Searching for data between lines ", str(start_index) + " and " + str(end_index)) | ||
| name_line = long_data[start_index+NAME_LINE_INDEX].split() | ||
| if name_line[0] != "Name": | ||
| assert False, "rs-enumerate-devices output format changed" | ||
| if name_line[4] != device_type: | ||
| debug_print("device not matching:" + name_line[NAME_LINE_NAME_OFFSET]) | ||
| return None | ||
| debug_print("device matched:" + name_line[NAME_LINE_NAME_OFFSET]) | ||
| if serial_no != None: | ||
| #next line after nameline should have the serial_no | ||
| serial_no_line = long_data[start_index+SERIAL_NO_LINE_INDEX].split() | ||
| if serial_no_line[0] != "Serial": | ||
| assert False, "rs-enumerate-devices output format changed" | ||
| if serial_no_line[SERIAL_NO_VALUE_OFFSET] != serial_no: | ||
| debug_print("serial_no not matching:" + serial_no_line[SERIAL_NO_VALUE_OFFSET]) | ||
| return None | ||
| debug_print("serial_no matched:" + serial_no_line[SERIAL_NO_VALUE_OFFSET]) | ||
| else: | ||
| serial_no = long_data[start_index+SERIAL_NO_LINE_INDEX].split()[SERIAL_NO_VALUE_OFFSET] | ||
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| capability["device_type"] = device_type | ||
| capability["serial_no"] = serial_no | ||
| depth_profile_index = get_stream_profile_location(long_data, start_index, end_index, "Stereo Module") | ||
| if depth_profile_index != None: | ||
| capability["depth_profile"] = get_depth_profiles(long_data, depth_profile_index+3, end_index) | ||
| rgb_profile_index = get_stream_profile_location(long_data, start_index, end_index, "RGB Camera") | ||
| if rgb_profile_index != None: | ||
| capability["color_profile"] = get_color_profiles(long_data, rgb_profile_index+3, end_index) | ||
| return capability | ||
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| def get_camera_capabilities(device_type, serial_no=None): | ||
| long_data = os.popen("rs-enumerate-devices").read().splitlines() | ||
| debug_print(serial_no) | ||
| index = 0 | ||
| while index < len(long_data): | ||
| index = get_device_info_location(long_data, index) | ||
| if index == len(long_data): | ||
| return | ||
| else: | ||
| debug_print("DeviceInfo found at: " + str(index)) | ||
| start_index = index | ||
| index += 1 | ||
| index = get_device_info_location(long_data, index) | ||
| capability = parse_device_info(long_data, start_index, index, device_type, serial_no) | ||
| if capability != None: | ||
| return capability | ||
| return None | ||
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| if __name__ == '__main__': | ||
| device_type = 'D455' | ||
| serial_no = None | ||
| if len(sys.argv) > 1: | ||
| device_type = sys.argv[1] | ||
| if len(sys.argv) > 2: | ||
| serial_no = sys.argv[2] | ||
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| cap = get_camera_capabilities(device_type, serial_no) | ||
| print("Capabilities:") | ||
| print(cap) |
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