add test-dds-adapter-depth test

unit-tests/dds/adapter/test-depth.py

@@ -0,0 +1,82 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2024 Intel Corporation. All Rights Reserved.
+
+#test:donotrun:!dds
+#test:device D400*
+
+from rspy import log, repo, test
+import time
+
+
+with test.closure( 'Run rs-dds-adapter', on_fail=test.ABORT ):
+    adapter_path = repo.find_built_exe( 'tools/dds/dds-adapter', 'rs-dds-adapter' )
+    if test.check( adapter_path ):
+        import subprocess, signal
+        adapter_process = subprocess.Popen( [adapter_path, '--debug', '--domain-id', '123'],
+                stdout=None,
+                stderr=subprocess.STDOUT,
+                universal_newlines=True )  # don't fail on errors
+
+from rspy import librs as rs
+if log.is_debug_on():
+    rs.log_to_console( rs.log_severity.debug )
+
+with test.closure( 'Initialize librealsense context', on_fail=test.ABORT ):
+    context = rs.context( { 'dds': { 'enabled': True, 'domain': 123, 'participant': 'client' }} )
+
+with test.closure( 'Wait for a device', on_fail=test.ABORT ):
+    dev = rs.wait_for_devices( context, rs.only_sw_devices, n=1. )
+
+with test.closure( 'Get sensor', on_fail=test.ABORT ):
+    sensor = dev.first_depth_sensor()
+    test.check( sensor )
+
+with test.closure( 'Find profile', on_fail=test.ABORT ):
+    for p in sensor.profiles:
+        log.d( p )
+    profile = next( p for p in sensor.profiles
+                    if p.fps() == 30
+                    and p.stream_type() == rs.stream.depth )
+    test.check( profile )
+
+n_frames = 0
+start_time = None
+def frame_callback( frame ):
+    global n_frames, start_time
+    if n_frames == 0:
+        start_time = time.perf_counter()
+    n_frames += 1
+
+with test.closure( f'Stream {profile}', on_fail=test.ABORT ):
+    sensor.open( [profile] )
+    sensor.start( frame_callback )
+
+with test.closure( 'Let it stream' ):
+    time.sleep( 3 )
+    end_time = time.perf_counter()
+    if test.check( n_frames > 0 ):
+        test.info( 'start_time', start_time )
+        test.info( 'end_time', end_time )
+        test.info( 'n_frames', n_frames )
+        test.check_approx_abs( n_frames / (end_time-start_time), 30, 1 )
+
+with test.closure( 'Open the same profile while streaming!' ):
+    test.check_throws( lambda:
+        sensor.open( [profile] ),
+        RuntimeError, 'open(...) failed. Software device is streaming!' )
+
+with test.closure( 'Stop streaming' ):
+    sensor.stop()
+    sensor.close()
+
+del profile
+del sensor
+del dev
+del context
+
+with test.closure( 'Stop rs-dds-adapter' ):
+    adapter_process.send_signal( signal.SIGTERM )
+    adapter_process.wait( timeout=2 )
+
+test.print_results()
+