Refactor and enhance V4L2 test suite

- Removed obsolete test scripts: run_ci.py, test_fps.py, test_fw_version.py.
- Updated conftest.py to include new resolution discovery functions for depth, RGB, and IR.
- Enhanced constants.py to define known driver names for better driver validation.
- Improved discovery.py to support camera discovery via symlinks on Tegra platforms.
- Modified test_controls.py to add tests for auto-exposure mode switching and manual exposure control.
- Updated test_discovery.py to validate driver names against known constants.
- Enhanced test_error_handling.py to gracefully handle unsupported resolutions and zero FPS settings.
- Improved test_metadata.py to configure metadata capture with error handling for fixed formats.
- Added concurrent streaming tests in test_streaming.py for depth, RGB, and IR streams.
- Updated device.py to handle ioctl errors gracefully for tegra-video driver.
- Added new ioctl constants in ioctls.py for exposure control.

Author: ymodlin

setup_workspace.sh

@@ -73,8 +73,8 @@ echo
 # Clone L4T kernel source repo
 cd $DEVDIR
 
-# Check if local tar ball exists in ~/nvidia_sources_cache
-NVIDIA_CACHE_DIR="$HOME/nvidia_sources_cache"
+# Check if local tar ball exists in /home/nvidia_sources_cache
+NVIDIA_CACHE_DIR="/home/nvidia_sources_cache"
 TARBALL_NAME="backup_sources_$1.tar.gz"
 TARBALL_PATH="$NVIDIA_CACHE_DIR/$TARBALL_NAME"
 

test/run_ci.py

@@ -8,6 +8,7 @@
 from .d4xx.discovery import discover_cameras
 from .d4xx import constants as C
 from .v4l2.device import V4L2Device
+from .v4l2 import ioctls
 from .report import D4xxReportPlugin
 
 
@@ -63,13 +64,16 @@ def camera(all_cameras, request):
 def fw_version(camera):
     """Cached firmware version as (raw_int, version_string) tuple."""
     with V4L2Device(camera.depth_path) as dev:
-        ctrl = dev.get_ctrl(C.DS5_CAMERA_CID_FW_VERSION)
-        raw = ctrl.value
-        major = (raw >> 24) & 0xFF
-        minor = (raw >> 16) & 0xFF
-        patch = (raw >> 8) & 0xFF
-        build = raw & 0xFF
-        return raw, f"{major}.{minor}.{patch}.{build}"
+        try:
+            ctrl = dev.get_ctrl(C.DS5_CAMERA_CID_FW_VERSION)
+            raw = ctrl.value
+            major = (raw >> 24) & 0xFF
+            minor = (raw >> 16) & 0xFF
+            patch = (raw >> 8) & 0xFF
+            build = raw & 0xFF
+            return raw, f"{major}.{minor}.{patch}.{build}"
+        except OSError:
+            pytest.skip("FW version control not available (tegra-video driver)")
 
 
 # ---- Function-scoped device fixtures ----
@@ -108,3 +112,130 @@ def depth_md_device(camera):
     dev.open()
     yield dev
     dev.close()
+
+
+def _discrete_sizes(dev, pixfmt):
+    """Return set of (w, h) for discrete frame sizes."""
+    return {
+        (s.discrete.width, s.discrete.height)
+        for s in dev.enum_framesizes(pixfmt)
+        if s.type == ioctls.V4L2_FRMSIZE_TYPE_DISCRETE
+    }
+
+
+# ---- Cached common resolution discovery (used by pytest_generate_tests) ----
+
+_common_res_cache = None
+
+
+def _discover_common_resolutions():
+    """Discover resolutions shared by depth (Z16) and RGB.
+
+    Returns ([(w,h), ...], rgb_pixfmt) or ([], None) if unavailable.
+    Cached after first call.
+    """
+    global _common_res_cache
+    if _common_res_cache is not None:
+        return _common_res_cache
+
+    cameras = discover_cameras()
+    if not cameras:
+        _common_res_cache = ([], None)
+        return _common_res_cache
+
+    cam = cameras[0]
+    try:
+        with V4L2Device(cam.depth_path) as ddev:
+            depth_sizes = _discrete_sizes(ddev, ioctls.V4L2_PIX_FMT_Z16)
+
+        with V4L2Device(cam.rgb_path) as rdev:
+            rgb_formats = rdev.enum_formats()
+            if not rgb_formats:
+                _common_res_cache = ([], None)
+                return _common_res_cache
+            rgb_pixfmt = rgb_formats[0].pixelformat
+            rgb_sizes = _discrete_sizes(rdev, rgb_pixfmt)
+
+        common = sorted(depth_sizes & rgb_sizes, key=lambda wh: wh[0] * wh[1])
+        _common_res_cache = (common, rgb_pixfmt)
+    except (OSError, Exception):
+        _common_res_cache = ([], None)
+
+    return _common_res_cache
+
+
+@pytest.fixture(scope="session")
+def common_depth_rgb_resolutions(camera):
+    """Resolutions supported by both depth (Z16) and RGB on this camera."""
+    resolutions, rgb_pixfmt = _discover_common_resolutions()
+    if not resolutions:
+        pytest.skip("No common resolutions between depth and RGB")
+    return resolutions, rgb_pixfmt
+
+
+# ---- Cached common depth+RGB+IR resolution discovery ----
+
+_common_all_res_cache = None
+
+
+def _discover_common_all_resolutions():
+    """Discover resolutions shared by depth (Z16), RGB, and IR (GREY).
+
+    Returns ([(w,h), ...], rgb_pixfmt) or ([], None) if unavailable.
+    Cached after first call.
+    """
+    global _common_all_res_cache
+    if _common_all_res_cache is not None:
+        return _common_all_res_cache
+
+    cameras = discover_cameras()
+    if not cameras:
+        _common_all_res_cache = ([], None)
+        return _common_all_res_cache
+
+    cam = cameras[0]
+    try:
+        with V4L2Device(cam.depth_path) as ddev:
+            depth_sizes = _discrete_sizes(ddev, ioctls.V4L2_PIX_FMT_Z16)
+
+        with V4L2Device(cam.rgb_path) as rdev:
+            rgb_formats = rdev.enum_formats()
+            if not rgb_formats:
+                _common_all_res_cache = ([], None)
+                return _common_all_res_cache
+            rgb_pixfmt = rgb_formats[0].pixelformat
+            rgb_sizes = _discrete_sizes(rdev, rgb_pixfmt)
+
+        with V4L2Device(cam.ir_path) as idev:
+            ir_sizes = _discrete_sizes(idev, ioctls.V4L2_PIX_FMT_GREY)
+
+        common = sorted(
+            depth_sizes & rgb_sizes & ir_sizes,
+            key=lambda wh: wh[0] * wh[1],
+        )
+        _common_all_res_cache = (common, rgb_pixfmt)
+    except (OSError, Exception):
+        _common_all_res_cache = ([], None)
+
+    return _common_all_res_cache
+
+
+@pytest.fixture(scope="session")
+def common_depth_rgb_ir_resolutions(camera):
+    """Resolutions supported by depth (Z16), RGB, and IR (GREY)."""
+    resolutions, rgb_pixfmt = _discover_common_all_resolutions()
+    if not resolutions:
+        pytest.skip("No common resolutions between depth, RGB, and IR")
+    return resolutions, rgb_pixfmt
+
+
+def pytest_generate_tests(metafunc):
+    """Dynamically parametrize resolution fixtures from hardware enumeration."""
+    if "resolution" in metafunc.fixturenames:
+        resolutions, _ = _discover_common_resolutions()
+        ids = [f"{w}x{h}" for w, h in resolutions]
+        metafunc.parametrize("resolution", resolutions, ids=ids)
+    if "tri_resolution" in metafunc.fixturenames:
+        resolutions, _ = _discover_common_all_resolutions()
+        ids = [f"{w}x{h}" for w, h in resolutions]
+        metafunc.parametrize("tri_resolution", resolutions, ids=ids)