Test

.github/workflows/camera-test-rpicam-apps.yml

@@ -1,8 +1,6 @@
 name: Camera Tests
 
 on:
-  workflow_dispatch:
-
   pull_request_target:
     branches: [main]
 
@@ -12,8 +10,6 @@ permissions:
 jobs:
   trigger-camera-tests:
     runs-on: [self-hosted, camera-test-bridge]
-    if: >-
-      github.event.pull_request.head.repo.full_name == github.repository
     timeout-minutes: 120
     steps:
       - name: Checkout camera_tester

utils/test.py

@@ -24,6 +24,49 @@
 import numpy as np
 
 
+def detect_imx500():
+    """Check if an IMX500 sensor is connected by scanning v4l-subdev sysfs entries."""
+    for i in range(16):
+        module_link = f'/sys/class/video4linux/v4l-subdev{i}/device/driver/module'
+        try:
+            target = os.readlink(module_link)
+            if 'imx500' in target:
+                return True
+        except OSError:
+            continue
+    return False
+
+
+def detect_hailo():
+    """Detect Hailo accelerator and return architecture string, or None if not found."""
+    try:
+        result = subprocess.run(['hailortcli', 'fw-control', 'identify'],
+                                capture_output=True, text=True, timeout=10)
+        if result.returncode == 0:
+            for line in result.stdout.splitlines():
+                if 'Device Architecture' in line:
+                    arch = line.split(':')[-1].strip()
+                    if arch in ('HAILO8', 'HAILO8L', 'HAILO10H'):
+                        return arch
+    except (FileNotFoundError, subprocess.TimeoutExpired):
+        pass
+    return None
+
+
+def detect_num_cameras(exe_dir):
+    """Count the number of cameras detected by rpicam-hello --list-cameras."""
+    import re
+    try:
+        executable = os.path.join(exe_dir, 'rpicam-hello')
+        result = subprocess.run([executable, '--list-cameras'],
+                                capture_output=True, text=True, timeout=10)
+        if result.returncode == 0:
+            return len(re.findall(r'^\d+ : ', result.stdout, re.MULTILINE))
+    except (FileNotFoundError, subprocess.TimeoutExpired):
+        pass
+    return 0
+
+
 def get_platform():
     platform = 'vc4'
     try:
@@ -148,6 +191,38 @@ def test_hello(exe_dir, output_dir, preview_dir):
     check_retcode(retcode, "test_hello: no-raw test")
     check_time(time_taken, 1, 6, "test_hello: no-raw test")
 
+    # Multi-camera tests. Require at least 2 cameras.
+    num_cameras = detect_num_cameras(exe_dir)
+    if num_cameras < 2:
+        print("    Skipping multi-camera tests - less than 2 cameras detected")
+    else:
+        # "camera selection test". Run with --camera 1 to verify non-default camera works.
+        print("    camera selection test")
+        retcode, time_taken = run_executable(
+            args + ['-t', '2000', '--camera', '1'], logfile)
+        check_retcode(retcode, "test_hello: camera selection test")
+        check_time(time_taken, 1, 6, "test_hello: camera selection test")
+
+        # "dual camera test". Run two cameras simultaneously.
+        print("    dual camera test")
+        logfile0 = os.path.join(output_dir, 'log0.txt')
+        logfile1 = os.path.join(output_dir, 'log1.txt')
+        args0 = [executable, '-t', '10000', '--camera', '0']
+        args1 = [executable, '-t', '10000', '--camera', '1']
+        if preview_dir:
+            args0 += ['--preview-libs', preview_dir]
+            args1 += ['--preview-libs', preview_dir]
+        start_time = timer()
+        with open(logfile0, 'w') as lf0, open(logfile1, 'w') as lf1:
+            p0 = subprocess.Popen(args0, stdout=lf0, stderr=subprocess.STDOUT)
+            p1 = subprocess.Popen(args1, stdout=lf1, stderr=subprocess.STDOUT)
+            p0.communicate()
+            p1.communicate()
+        time_taken = timer() - start_time
+        check_retcode(p0.returncode, "test_hello: dual camera test (camera 0)")
+        check_retcode(p1.returncode, "test_hello: dual camera test (camera 1)")
+        check_time(time_taken, 8, 20, "test_hello: dual camera test")
+
     print("rpicam-hello tests passed")
 
 
@@ -636,9 +711,123 @@ def test_post_processing(exe_dir, output_dir, json_dir, postproc_dir):
             if log_text.find('Inference time') < 0:  # relies on "verbose" being set in the JSON
                 raise TestFailure("test_post_processing: detect test - TFLite model did not run")
 
+    # IMX500 tests - only if hardware detected.
+    if detect_imx500():
+        test_imx500(exe_dir, output_dir, json_dir, postproc_dir)
+    else:
+        print("Skipping IMX500 tests - no IMX500 sensor detected")
+
+    # Hailo tests - only if hardware detected.
+    if detect_hailo():
+        test_hailo(exe_dir, output_dir, json_dir, postproc_dir)
+    else:
+        print("Skipping Hailo tests - no Hailo device detected")
+
     print("post-processing tests passed")
 
 
+def test_imx500(exe_dir, output_dir, json_dir, postproc_dir):
+    logfile = os.path.join(output_dir, 'log.txt')
+    print("Testing IMX500 post-processing")
+    clean_dir(output_dir)
+
+    # Check that the IMX500 post-processing library is available.
+    if postproc_dir:
+        imx500_so = os.path.join(postproc_dir, 'imx500-postproc.so')
+        if not os.path.isfile(imx500_so):
+            print("WARNING: imx500-postproc.so not found in", postproc_dir, "- skipping IMX500 tests")
+            return
+
+    executable = os.path.join(exe_dir, 'rpicam-hello')
+    check_exists(executable, 'test_imx500')
+
+    # "object detection test". Run IMX500 MobileNet SSD object detection.
+    print("    object detection test")
+    json_file = os.path.join(json_dir, 'imx500_mobilenet_ssd.json')
+    check_exists(json_file, 'test_imx500')
+    try:
+        json_object = json.load(open(json_file, 'r'))
+        stage_name = list(json_object.keys())[0]
+        network_file = json_object[stage_name]['network_file']
+        check_exists(network_file, 'test_imx500')
+    except Exception:
+        print('WARNING: test_imx500: object detection test - model unavailable, skipping test')
+    else:
+        args = [executable, '-t', '5000', '--post-process-file', json_file]
+        if postproc_dir:
+            args += ['--post-process-libs', postproc_dir]
+        retcode, time_taken = run_executable(args, logfile)
+        check_retcode(retcode, "test_imx500: object detection test")
+        check_time(time_taken, 3, 360, "test_imx500: object detection test")
+        log_text = open(logfile, 'r').read()
+        if 'No post processing stage found' in log_text:
+            print("WARNING: test_imx500: object detection test - missing stages, test incomplete")
+
+    # "posenet test". Run IMX500 posenet.
+    print("    posenet test")
+    json_file = os.path.join(json_dir, 'imx500_posenet.json')
+    check_exists(json_file, 'test_imx500')
+    try:
+        json_object = json.load(open(json_file, 'r'))
+        stage_name = list(json_object.keys())[0]
+        network_file = json_object[stage_name]['network_file']
+        check_exists(network_file, 'test_imx500')
+    except Exception:
+        print('WARNING: test_imx500: posenet test - model unavailable, skipping test')
+    else:
+        args = [executable, '-t', '5000', '--post-process-file', json_file]
+        if postproc_dir:
+            args += ['--post-process-libs', postproc_dir]
+        retcode, time_taken = run_executable(args, logfile)
+        check_retcode(retcode, "test_imx500: posenet test")
+        check_time(time_taken, 3, 360, "test_imx500: posenet test")
+        log_text = open(logfile, 'r').read()
+        if 'No post processing stage found' in log_text:
+            print("WARNING: test_imx500: posenet test - missing stages, test incomplete")
+
+    print("IMX500 tests passed")
+
+
+def test_hailo(exe_dir, output_dir, json_dir, postproc_dir):
+    logfile = os.path.join(output_dir, 'log.txt')
+    print("Testing Hailo post-processing")
+    clean_dir(output_dir)
+
+    # Check that the Hailo post-processing library is available.
+    if postproc_dir:
+        hailo_so = os.path.join(postproc_dir, 'hailo-postproc.so')
+        if not os.path.isfile(hailo_so):
+            print("WARNING: hailo-postproc.so not found in", postproc_dir, "- skipping Hailo tests")
+            return
+
+    executable = os.path.join(exe_dir, 'rpicam-hello')
+    check_exists(executable, 'test_hailo')
+
+    tests = [
+        ("yolo inference test", 'hailo_yolov8_inference.json'),
+        ("classifier test", 'hailo_classifier.json'),
+        ("pose estimation test", 'hailo_yolov8_pose.json'),
+    ]
+
+    for test_name, json_name in tests:
+        print("   ", test_name)
+        json_file = os.path.join(json_dir, json_name)
+        check_exists(json_file, 'test_hailo')
+
+        args = [executable, '-t', '5000', '--post-process-file', json_file,
+                '--lores-width', '640', '--lores-height', '640']
+        if postproc_dir:
+            args += ['--post-process-libs', postproc_dir]
+        retcode, time_taken = run_executable(args, logfile)
+        check_retcode(retcode, "test_hailo: " + test_name)
+        check_time(time_taken, 3, 20, "test_hailo: " + test_name)
+        log_text = open(logfile, 'r').read()
+        if 'No post processing stage found' in log_text:
+            print("WARNING: test_hailo:", test_name, "- missing stages, test incomplete")
+
+    print("Hailo tests passed")
+
+
 def test_all(apps, exe_dir, output_dir, json_dir, postproc_dir, preview_dir, encoder_dir):
     try:
         if 'hello' in apps: