CI: testing frames and fps

test/pytest.ini

@@ -0,0 +1,4 @@
+[pytest]
+markers =
+        d457: realsesne D457 camera
+

test/run_ci.py

@@ -46,7 +46,7 @@ def run_test(cmd):
                 timeout=200,
                 check=True )
     except Exception as e:
-        print( "Exception occurred.")
+        print("Exception occurred: {}".format( e ))
 
 
 def run_tests_on_d457():     
@@ -73,6 +73,7 @@ def run_tests_on_d457():
     except getopt.GetoptError as err:
         print( err )
         usage()
+        sys.exit ( 1 )
 
     for opt, arg in opts:
         if opt in ('-h', '--help'):

test/test_fps.py

@@ -0,0 +1,94 @@
+import subprocess
+import pytest
+import re
+
+@pytest.mark.d457
+@pytest.mark.parametrize("frames", {20})
+@pytest.mark.parametrize("device", {'0', '2'})
+def test_fps(device, frames):
+	try:
+		print(f"\nDevice: {device}")
+		formats = get_formats(device)
+		for w, h in formats:
+			print(f"format: {w}x{h}")
+			for FPS in formats[(w, h)]:
+				cmd = [ "v4l2-ctl",
+					  f"-d{device}",
+					  f"--set-fmt-video=width={w},height={h}",
+					  ]
+				subprocess.check_call(cmd)
+				cmd = [ "v4l2-ctl",
+					  f"-d{device}",
+					  "-p",
+					  f"{FPS}",
+					  ]
+				subprocess.check_call(cmd)
+				cmd = [ "v4l2-ctl",
+					  f"-d{device}",
+					  "--stream-mmap",
+					  "--stream-count",
+					  f"{frames}",
+					  "--verbose",
+					  ]
+				timeout = 5.0 * frames / FPS
+				output = subprocess.run(cmd,
+								  check=True,
+								  text=True,
+								  capture_output=True,
+								  timeout=timeout).stderr.splitlines()
+				last = None
+				kpi = 5 # [%]
+				for line in output:
+					m = re.search(r"cap dqbuf:.*seq:\s*(\d*)\s*bytesused:.*", line)
+					if m:
+						frame = int(m.group(1))
+						print(f"\t{frame}", end="")
+						if last:
+							assert frame > last, f"Repeated frame: {frame}"
+							assert (frame - last) < 3 , f"Frames dropped between: {last} and {frame}"
+						m = re.search(r"cap dqbuf:.*bytesused:.*fps:\s*(\d+\.\d+)\s*.*", line)
+						if m:
+							fps = float(m.group(1))
+							if last:
+								print(f"/{fps}", end="")
+								assert fps > FPS * (1 - kpi/100), f"FPS too low: {fps}/{FPS}"
+								assert fps < FPS * (1 + kpi/100), f"FPS too high: {fps}/{FPS}"
+						last = frame
+						print()
+				assert last, "No frames received"
+
+	except Exception as e:
+		assert False, "Exception caught during test: {}".format(e)
+
+def get_formats(device):
+	try:
+		cmd = [ "v4l2-ctl",
+		 "-d" + device,
+		 "--list-formats-ext",
+		 ]
+		output = subprocess.run(cmd,
+						  check=True,
+						  text=True,
+						  capture_output=True
+						  ).stdout.splitlines()
+		formats = {}
+		last = None
+		for line in output:
+			m = re.search(r"\s*Size: Discrete\s*(\d+)x(\d+)", line)
+			if m:
+				w = int(m.group(1))
+				h = int(m.group(2))
+				last = (w ,h)
+				if not last in formats:
+					formats[last] = set()
+				continue
+			m = re.search(r"\s*Interval: Discrete.*\((\d+\.\d+)\s+fps\)", line)
+			if m:
+				fps = float(m.group(1))
+				if last:
+					formats[last].add(fps)
+		return formats
+
+	except Exception as e:
+		assert False, "Exception caught @get_formats: {}".format(e)
+

test/test_fw_version.py

@@ -5,14 +5,16 @@
 @pytest.mark.parametrize("device", {'0'})
 def test_fw_version(device):
     try:
-        result = subprocess.check_call(["v4l2-ctl", "-d"+device, "-C", "fw_version"])
+        key = "fw_version"
+        result = subprocess.check_call(["v4l2-ctl", "-d"+device, "-C", key])
         assert result == 0
 
-        std_output = subprocess.check_output(["v4l2-ctl", "-d"+device, "-C", "fw_version"])
-        assert "fw version: " in std_output, "Couldn't fetch FW version"
+        std_output = subprocess.check_output(["v4l2-ctl", "-d"+device, "-C", key])
+        key += ": "
+        assert key in std_output.decode(), "Couldn't fetch FW version"
 
         # Remove the 'fw version: ' string from std output
-        fw_version = int(std_output.replace("fw version: ", ""))
+        fw_version = int(std_output.decode().replace(key, ""))
 
         fw_version_str = str(fw_version>>24 & 0xFF) + "." + str(fw_version>>16 & 0xFF) + "." + str(fw_version>>8 & 0xFF)  + "." + str(fw_version & 0xFF)
         print ("fw_version:", fw_version_str)
@@ -21,14 +23,14 @@ def test_fw_version(device):
         assert fw_version == (fw_version & 0x05FFFFFF), "Expected FW version is 5.x.x.x, but received {}".format(fw_version_str)
 
         # Get DFU device name
-        dfu_device = subprocess.check_output(["ls", "/sys/class/d4xx-class/"])
+        dfu_device = subprocess.check_output(["ls", "/sys/class/d4xx-class/"]).decode()
         assert "d4xx-dfu-" in dfu_device, "D4xx DFU device not found"
 
         # Get FW version from DFU device info
-        dfu_device_info = subprocess.check_output(["cat", "/dev/"+dfu_device.strip()])
+        dfu_device_info = subprocess.check_output(["cat", "/dev/"+dfu_device.strip()]).decode()
 
         # Check whether the DFU info also has same FW version
         assert fw_version_str in dfu_device_info, "FW versions read through v4l2-ctl utility and DFU device info doesn't match"
 
     except Exception as e:
-        assert False, e
+        assert False, "Exception caught during test: {}".format(e)