def test_option_changes(sensor):
options = sensor.get_supported_options()
for option in options:
try:
if sensor.is_option_read_only(option):
continue
old_value = sensor.get_option(option)
range = sensor.get_option_range(option)
new_value = range.min
if old_value == new_value:
new_value = range.max
if not log.d(str(option), old_value, '->', new_value):
test.info(str(option), new_value, persistent=True)
set_new_value(sensor, option, new_value)
sensor.set_option(option, old_value)
except:
test.unexpected_exception()
break
finally:
test.reset_info(persistent=True)
def expect(depth_frame=None, color_frame=None, nothing_else=False):
"""
Looks at the syncer queue and gets the next frame from it if available, checking its contents
against the expected frame numbers.
"""
global syncer, playback_status
f = syncer.poll_for_frame()
if playback_status is not None:
countdown = 50 # 5 seconds
while not f and playback_status != rs.playback_status.stopped:
countdown -= 1
if countdown == 0:
break
time.sleep(0.1)
f = syncer.poll_for_frame()
# NOTE: f will never be None
if not f:
test.check(depth_frame is None, "expected a depth frame")
test.check(color_frame is None, "expected a color frame")
return False
log.d("Got", f)
fs = rs.composite_frame(f)
if fs:
depth = fs.get_depth_frame()
else:
depth = rs.depth_frame(f)
test.info("actual depth", depth)
test.check_equal(depth_frame is None, not depth)
if depth_frame is not None and depth:
test.check_equal(depth.get_frame_number(), depth_frame)
if fs:
color = fs.get_color_frame()
elif not depth:
color = rs.video_frame(f)
else:
color = None
test.info("actual color", color)
test.check_equal(color_frame is None, not color)
if color_frame is not None and color:
test.check_equal(color.get_frame_number(), color_frame)
if nothing_else:
f = syncer.poll_for_frame()
test.info("Expected nothing else; actual", f)
test.check(not f)
return True
depth_options = depth_sensor.get_supported_options()
color_options = color_sensor.get_supported_options()
test.start("Checking for frame drops when setting any option")
for option in depth_options:
try:
if depth_sensor.is_option_read_only(option):
continue
old_value = depth_sensor.get_option(option)
range = depth_sensor.get_option_range(option)
new_value = range.min
if old_value == new_value:
new_value = range.max
if not log.d(str(option), old_value, '->', new_value):
test.info(str(option), new_value, persistent=True)
set_new_value(depth_sensor, option, new_value)
depth_sensor.set_option(option, old_value)
except:
test.unexpected_exception()
test.abort()
finally:
test.reset_info(persistent=True)
for option in color_options:
try:
if color_sensor.is_option_read_only(option):
continue
new_value = color_sensor.get_option_range(option).min
set_new_value(color_sensor, option, new_value)
except:
# Test #2
depth_options = depth_sensor.get_supported_options()
color_options = color_sensor.get_supported_options()
test.start("Checking for frame drops when setting any option")
for option in depth_options:
try:
if depth_sensor.is_option_read_only(option):
continue
new_value = depth_sensor.get_option_range(option).min
set_new_value(depth_sensor, option, new_value)
except:
option_name = "Depth sensor - " + str(option)
test.info(option_name, new_value)
test.unexpected_exception()
test.abort()
for option in color_options:
try:
if color_sensor.is_option_read_only(option):
continue
new_value = color_sensor.get_option_range(option).min
set_new_value(color_sensor, option, new_value)
except:
option_name = "Color sensor - " + str(option)
test.info(option_name, new_value)
test.unexpected_exception()
test.abort()
#
#############################################################################################
#
test.start("Stop giving color; wait_for_frames() should throw (after 5s)")
sw.generate_depth_frame(5, sw.gap_d * 5)
# We expect the syncer to try and wait for a Color frame to fit the Depth we just gave it.
# The syncer relies on frame inputs to actually run -- and, if we wait for a frame, we're
# not feeding it frames so can't get back any, either.
try:
fs = sw.syncer.wait_for_frames()
except RuntimeError as e:
test.check_exception(e, RuntimeError, "Frame did not arrive in time!")
else:
test.info("Unexpected frameset", fs)
test.unreachable()
test.finish()
#
#############################################################################################
#
test.start(
"try_wait_for_frames() allows us to keep feeding frames; eventually we get one"
)
# The syncer will not immediately release framesets because it's still waiting for a color frame to
# match Depth #10. But, if we advance the timestamp sufficiently, it should eventually release it
# as it deems Color "inactive".
# The last color frame we sent was at gap*4, so it's next expected at gap*5 plus a buffer of gap*7