Merge branch 'development' into react-viewer-collapsible-streams

Author: AviaAv

.github/copilot-instructions.md

@@ -99,7 +99,7 @@ See `.github/skills/build.md` for full build instructions. The project uses **CM
 | Platform | Notes |
 |---|---|
 | **Windows 10/11** | MSVC (Visual Studio 2019/2022) |
-| **Ubuntu 20.04 / 22.04 / 24.04** | GCC, primary Linux target |
+| **Ubuntu 20.04 / 22.04 / 24.04 / 26.04** | GCC, primary Linux target |
 | **macOS** | Clang, macOS 15+ tested in CI |
 | **NVIDIA Jetson** | ARM64, L4T |
 | **Raspberry Pi** | ARM (Raspbian) |

.github/skills/build.md

@@ -15,6 +15,7 @@
 | **Windows 10/11** | Visual Studio 2019 or 2022 (MSVC) | CI uses `windows-2025` runners |
 | **Ubuntu 22.04** | GCC | Primary Linux target |
 | **Ubuntu 24.04** | GCC | Also tested in CI |
+| **Ubuntu 26.04** | GCC | Supported |
 | **macOS 15+** | Clang (Xcode) | Tested in CI on `macos-15` |
 | **NVIDIA Jetson** | GCC (ARM64, L4T) | See `doc/installation_jetson.md` |
 | **Raspberry Pi** | GCC (ARM) | See `doc/installation_raspbian.md` |

.github/skills/cpp_coding.md

@@ -31,3 +31,10 @@ Use this protocol to ensure all C++ code modifications align with the project's
 ### 6. Performance Checks
 *   **Hot Paths**: Check for hidden allocations in loops or streaming callbacks.
 *   **Copying**: Minimize data copying; use const references (`const T&`) for non-primitive arguments.
+
+### 7. Comments
+*   **Comments should be sparse.** Keep to 1–2 lines unless the code is large and genuinely complex.
+*   **Intention:** Don't restate what the code already says, comment should convey the reason for the code.
+*   **Locality:** The comment should refer to the local code. e.g. class description should not mention inheritors or where other logic live.
+*   **Length:** Comment lines can be as long as the surrounding code. If code lines usually trim at 120 characters comment lines don't have to be 80 characters long.
+*   **Generality:** Don't reference internal session reasoning e.g. "as you instructed" 

.github/skills/testing.md

@@ -13,9 +13,14 @@
 
 ## Test Framework
 
-- librealsense uses a **custom Python-based test framework**
-- The test orchestrator is `unit-tests/run-unit-tests.py`
-- Tests must be run **from the `unit-tests/` directory**
+Two frameworks, split by test language:
+
+- **C++ tests** (`test-*.cpp`) are orchestrated by the legacy runner `unit-tests/run-unit-tests.py`.
+  Keeping that runner for C++ testing is its only remaining purpose.
+- **Python tests** (`pytest-*.py`) are pytest only. See `.github/skills/pytest-infra.md`.
+  No legacy `test-*.py` scripts remain, and `run-unit-tests.py` never collects `pytest-*.py`.
+
+Either way, run **from the `unit-tests/` directory**.
 
 ## Test Categories
 
@@ -31,7 +36,21 @@
 | `unit-tests/log/` | Logging | Logging infrastructure tests |
 | `unit-tests/types/` | Types | Type system tests |
 
-## Running All Tests
+## Running the pytest Tests
+
+```bash
+cd unit-tests
+python3 -m pytest -v                        # all collectable tests
+python3 -m pytest -v live/frames            # one directory
+python3 -m pytest -v pytest-fw-update.py    # one file
+python3 -m pytest -v -k "hdr and not preset"   # filter by test name
+```
+
+Flags are registered in `conftest.py`: `--live`, `--not-live`, `--device`, `--exclude-device`,
+`--context`, `--tag`, `--repeat`, `--reruns`, `--debug`, `--rslog`, `--test-dir`. Note that `-s`
+disables the per-test log files. See `.github/skills/pytest-infra.md` for fixtures and markers.
+
+## Running the C++ Tests (legacy runner)
 
 Navigate to the `unit-tests/` directory and run:
 
@@ -57,21 +76,23 @@ For full usage and all available flags:
 python3 run-unit-tests.py --help
 ```
 
-## Running Specific Tests
+## Running Specific C++ Tests
+
+The flags below belong to `run-unit-tests.py`, so they select among the C++ tests.
+For pytest use `-k`, `-m` and the flags listed above.
 
 ### By Name (Regex)
 
 Use `-r` / `--regex` to run tests whose names match a regular expression:
 
 ```bash
-python3 run-unit-tests.py -s -r "test-hdr"
-python3 run-unit-tests.py -s -r "test-metadata"
-python3 run-unit-tests.py -s --regex "test-stream.*"
+python3 run-unit-tests.py -s -r "test-log-vs-LOG"
+python3 run-unit-tests.py -s --regex "rsutils-string.*"
 ```
 
 **Test name derivation**: the orchestrator builds a test's name from its path relative to `unit-tests/`, replacing directory separators with `-` and stripping the leading `test-` from the filename. For example:
-- `live/hw-reset/test-stress.py` → `test-live-hw-reset-stress`
-- `func/test-hdr.py` → `test-func-hdr`
+- `rsutils/string/test-hexarray.cpp` becomes `test-rsutils-string-hexarray`
+- `log/test-vs-LOG-shared.cpp` becomes `test-log-vs-LOG-shared`
 
 So when using `-r`, omit the `test-` filename prefix and join subdirectories with `-`.
 
@@ -80,18 +101,18 @@ So when using `-r`, omit the `test-` filename prefix and join subdirectories wit
 Use `--skip-regex` to exclude tests whose names match:
 
 ```bash
-python3 run-unit-tests.py -s --skip-regex "test-fw-update"
+python3 run-unit-tests.py -s --skip-regex "test-rsutils-string-hexarray"
 ```
 
 ### By Tag
 
-Use `-t` / `--tag` to run tests with a specific tag. Tags are assigned automatically based on:
-- File type: `exe` (C++ binaries) or `py` (Python scripts)
+Use `-t` / `--tag` to run tests with a specific tag. Tags come from:
+- File type: `exe` (C++ binaries). The `py` tag matches nothing now that no legacy `test-*.py` remain.
 - Directory location: e.g., tests in `unit-tests/live/` get the `live` tag
+- An explicit `//#test:tag <name>` directive in the source file
 
 ```bash
 python3 run-unit-tests.py -s -t live          # run only live tests
-python3 run-unit-tests.py -s -t py            # run only Python tests
 python3 run-unit-tests.py -s -t exe           # run only compiled C++ tests
 python3 run-unit-tests.py -s -t live -t exe   # run tests that have BOTH tags
 ```
@@ -136,31 +157,34 @@ python3 run-unit-tests.py --rslog          # enable LibRS debug logging in tests
 python3 run-unit-tests.py --debug          # enable framework debug output; also prints "test took X seconds" per test
 ```
 
-## Running Nightly-Only Tests
+## Running Nightly-Only and Weekly Tests
+
+Both runners take `--context`, which accepts a **space-separated list**.
 
-Some tests are marked `# test:donotrun:!nightly` and are **skipped by default**. Pass `--context nightly` to enable them:
+pytest tests gated with `@pytest.mark.context("nightly")` are skipped unless the context is passed:
 
 ```bash
-python3 run-unit-tests.py --context nightly -r hw-reset-stress ../build/Release
+python3 -m pytest -v live/hw-reset/pytest-stress.py --context nightly
 ```
 
-## Running Weekly Tests
-
-Weekly tests use a higher iteration count / longer timeout (controlled by `'weekly' in test.context` inside the test). The `--context` flag accepts a **space-separated list**, so to run a nightly-guarded test with weekly behaviour pass **both** contexts:
+A test that also scales its iteration count or timeout for weekly runs reads the context through the
+`test_context_var` fixture, so pass both words to get nightly collection plus weekly behaviour:
 
 ```bash
-# 'nightly' satisfies the test:donotrun:!nightly guard
-# 'weekly' activates higher iteration counts and longer timeouts inside the test
-python3 run-unit-tests.py --context "nightly weekly" -r hw-reset-stress ../build/Release
+python3 -m pytest -v live/hw-reset/pytest-stress.py --context "nightly weekly"
 ```
 
-Passing `--context weekly` alone is **not sufficient** — the `test:donotrun:!nightly` directive will still filter the test out.
+C++ tests use a `//#test:donotrun:<context>` directive in the source file, evaluated by
+`run-unit-tests.py` against the same `--context` list.
 
 ## Repeating and Retrying
 
 ```bash
 python3 run-unit-tests.py --repeat 3       # repeat each test 3 times
 python3 run-unit-tests.py --retry 2        # retry failed tests up to 2 times
+
+python3 -m pytest --repeat 3               # pytest: repeat each file's tests 3 times
+python3 -m pytest --reruns 2               # pytest: retry a failed test up to 2 times
 ```
 
 ## Recording and Playback (Mock Hardware)
@@ -185,7 +209,7 @@ This is useful for:
 The `UNIT_TESTS_ARGS` CMake variable passes arguments to `unit-test-config.py` during configuration:
 
 ```bash
-cmake .. -DBUILD_UNIT_TESTS=ON -DUNIT_TESTS_ARGS="-t live -r test-streaming"
+cmake .. -DBUILD_UNIT_TESTS=ON -DUNIT_TESTS_ARGS="-t live -r rsutils-string.*"
 ```
 
 ## Using a Custom Test Directory
@@ -196,13 +220,17 @@ python3 run-unit-tests.py --test-dir /path/to/custom/tests
 
 ## Custom Firmware for Testing
 
-The SDK no longer ships a bundled firmware blob, so `test-fw-update` **requires** a custom firmware path for the device under test. Without one it logs a warning and skips. Download a signed `.bin` from <https://dev.realsenseai.com/docs/firmware-updates>, then:
+The SDK no longer ships a bundled firmware blob, so `pytest-fw-update` **requires** a custom firmware path for the device under test. Without one it skips. Download a signed `.bin` from <https://dev.realsenseai.com/docs/firmware-updates>, then:
 
 ```bash
-python3 run-unit-tests.py --custom-fw-d400 /path/to/firmware.bin
-python3 run-unit-tests.py --custom-fw-d555 /path/to/firmware.bin
+python3 -m pytest pytest-fw-update.py --custom-fw-d400 /path/to/firmware.bin
+python3 -m pytest pytest-fw-update.py --custom-fw-d555 /path/to/firmware.bin
+python3 -m pytest pytest-fw-update.py --custom-fw-d585 /path/to/firmware.bin
 ```
 
+`--custom-fw-d585` targets the non-safety D585 only (e.g. "D585 Prototype"). The safety SKU is kept
+out of the test by `pytest.mark.device_exclude("D585S")`, so it is never collected and never flashed.
+
 ## Troubleshooting
 
 - If tests fail due to missing `pyrealsense2`, ensure `-DBUILD_PYTHON_BINDINGS=ON` was set during the CMake configure step

.github/workflows/build-ROS2-package-CI.yaml

@@ -90,6 +90,13 @@ jobs:
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}
 
+      - name: checkout repository
+        uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd #v6.0.2
+        with:
+          fetch-depth: 1
+          persist-credentials: false
+          submodules: recursive
+
       - name: build librealsense ROS 2
         uses: ros-tooling/action-ros-ci@3a640b10f09b756dabe556dac5413aba369f71b0 #v0.4.8
         with:

.github/workflows/build-ROS2-rolling-CI.yaml

@@ -76,6 +76,13 @@ jobs:
           # in the stable ros2 apt index.
           use-ros2-testing: true
 
+      - name: checkout repository
+        uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd #v6.0.2
+        with:
+          fetch-depth: 1
+          persist-credentials: false
+          submodules: recursive
+
       - name: build librealsense ROS 2
         uses: ros-tooling/action-ros-ci@3a640b10f09b756dabe556dac5413aba369f71b0 #v0.4.8
         with:

.github/workflows/buildsCI.yaml

@@ -412,6 +412,53 @@ jobs:
         python3 -m pip install -r unit-tests/requirements.txt
         python3 -m pytest unit-tests/ --color=no --debug -s --not-live --context "linux"
 
+  #--------------------------------------------------------------------------------
+  U26_SH_Py_CI_SYS_JSON:  # Ubuntu 26.04, Shared, Python, LibCI with executables and system provided nlohmann_json library
+    runs-on: ubuntu-26.04
+    timeout-minutes: 60
+    steps:
+    - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd #v6.0.2
+
+    - name: Prebuild
+      shell: bash
+      run: |
+        sudo apt-get update;
+        sudo apt-get install -qq build-essential xorg-dev libgl1-mesa-dev libglu1-mesa-dev libglew-dev libglm-dev;
+        sudo apt-get install -qq libusb-1.0-0-dev;
+        sudo apt-get install -qq libgtk-3-dev;
+        sudo apt-get install -qq libglfw3-dev libglfw3;
+        sudo apt-get install -qq nlohmann-json3-dev;
+        python3 -m pip install numpy
+        # for debugging purpose
+        dpkg -s nlohmann-json3-dev | grep "Package\|Version" | xargs
+
+    - name: Check_API
+      shell: bash
+      run: |
+        cd scripts
+        ./api_check.sh
+        ./pr_check.sh
+        cd ..
+        mkdir build
+
+    - name: Build
+      shell: bash
+      run: |
+        cd build
+        cmake .. -DCMAKE_BUILD_TYPE=${{env.LRS_RUN_CONFIG}} -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=true -DBUILD_UNIT_TESTS=true -DUNIT_TESTS_ARGS="--not-live --context=linux" -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=false -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3) -DUSE_EXTERNAL_NLOHMANN_JSON=ON
+        cmake --build . -- -j4
+
+    - name: LibCI
+      # Note: requires BUILD_UNIT_TESTS or the executable C++ unit-tests won't run (and it won't complain)
+      shell: bash
+      run: |
+        python3 unit-tests/run-unit-tests.py --no-color --debug --stdout --not-live --context "linux"
+
+    - name: LibCI (pytest)
+      shell: bash
+      run: |
+        python3 -m pip install -r unit-tests/requirements.txt
+        python3 -m pytest unit-tests/ --color=no --debug -s --not-live --context "linux"
 
   #--------------------------------------------------------------------------------
   U22_ST_Py_DDS_RSUSB_SEC:  # Ubuntu 2020, Static, Python, DDS, RSUSB, additional security checks

.github/workflows/pre-release.yml

@@ -0,0 +1,73 @@
+# This adds "pre-release" builds for GitHub Actions. These:
+#   - build the package the same way the ROS build farm builds release
+#     binarydebs (bloom-generated debian packaging + dpkg-buildpackage,
+#     including the distro's default hardening flags)
+#   - catch farm-only failures before a release ships (e.g. the 2.58.2
+#     binarydeb failure on Ubuntu resolute: the distro hardening flag
+#     -Werror=implicit-function-declaration turned a qsort_r declaration
+#     issue into a hard error that the plain colcon CI builds never saw)
+#
+# These builds run on GitHub machines, but in the same environment and using
+# the same flow as actual ROS distro build farm releases, hence "pre-release".
+#
+# NOTE: This workflow is informational only — do not add to required branch
+# protection checks. It may fail due to ROS package server sync issues or
+# build farm infrastructure changes. The main CI workflows are the
+# authoritative build checks.
+#
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: pre-release
+
+on:
+  push:
+    branches:
+      - development
+  pull_request:
+    branches:
+      - development
+  # Allows running this workflow manually from the Actions tab
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+    name: Build pre-release tests for ROS2 ${{ matrix.ros_distro }} and ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    timeout-minutes: 120
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distro: [rolling, lyrical, kilted, jazzy, humble]
+        include:
+        - ros_distro: 'rolling'
+          os: ubuntu-latest
+        - ros_distro: 'lyrical'
+          os: ubuntu-26.04
+        - ros_distro: 'kilted'
+          os: ubuntu-24.04
+        - ros_distro: 'jazzy'
+          os: ubuntu-24.04
+        - ros_distro: 'humble'
+          os: ubuntu-22.04
+
+    env:
+      ROS_DISTRO: ${{ matrix.ros_distro }}
+      PRERELEASE: true
+      BASEDIR: ${{ github.workspace }}/.work
+      # industrial_ci defaults the prerelease host container to ros:noetic-ros-core
+      # (focal, EOL). Must stay a ros:* image — setting DOCKER_IMAGE disables
+      # industrial_ci's ROS apt setup, so colcon must be installable already.
+      DOCKER_IMAGE: ros:jazzy-ros-core
+
+    steps:
+      - uses: actions/checkout@692973e3d937129bcbf40652eb9f2f61becf3332 #v4
+        with:
+          persist-credentials: false
+      - name: industrial_ci
+        # Pinned to master as of 2026-04-30 — first version that knows the
+        # lyrical distro and rolling's retarget to resolute.
+        uses: ros-industrial/industrial_ci@125164b9f1883cdf1858897a7146d1bebf2be5c6