From a8e380ed69cb941d88b50e4e697f07fac3bff11e Mon Sep 17 00:00:00 2001
From: Olivia Casadei <olivia.casadei@laboticsitalia.com>
Date: Tue, 29 Sep 2026 13:12:47 +0200
Subject: [PATCH] test: captured frames do not share memory with the SDK frame

The fake frames now hand out a buffer (memoryview) like pyrealsense2's
BufData, so np.asanyarray() of it is a view, as on the robot; a control test
proves it. Then: the captured rgb/depth share no memory with the fake SDK
frame and own their data (without the fix both shared it), and _owned()
copies views only.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 tests/fake_realsense.py  |  9 ++++++++-
 tests/test_frame_copy.py | 39 +++++++++++++++++++++++++++++++++++++++
 2 files changed, 47 insertions(+), 1 deletion(-)
 create mode 100644 tests/test_frame_copy.py

diff --git a/tests/fake_realsense.py b/tests/fake_realsense.py
index 83044b9..b3c4309 100644
--- a/tests/fake_realsense.py
+++ b/tests/fake_realsense.py
@@ -18,6 +18,11 @@ class FakeVideoFrame:
         self._data = data
 
     def get_data(self):
+        # A buffer over the frame's memory, as pyrealsense2's BufData: np.asanyarray() of it is a view.
+        return memoryview(self._data)
+
+    @property
+    def array(self) -> np.ndarray:
         return self._data
 
     def get_height(self) -> int:
@@ -54,6 +59,7 @@ class FakePipeline:
         self._active = 0
         self._lock = threading.Lock()
         self.stopped = False
+        self.last_frameset = None
 
     def wait_for_frames(self, timeout_ms: int = 5000):
         with self._lock:
@@ -63,7 +69,8 @@ class FakePipeline:
             index = self.calls
         try:
             time.sleep(self.latency_s)
-            return FakeFrameset(index)
+            self.last_frameset = FakeFrameset(index)
+            return self.last_frameset
         finally:
             with self._lock:
                 self._active -= 1
diff --git a/tests/test_frame_copy.py b/tests/test_frame_copy.py
new file mode 100644
index 0000000..f2a27f9
--- /dev/null
+++ b/tests/test_frame_copy.py
@@ -0,0 +1,39 @@
+"""Frames acquired from the pipeline own their memory: nothing points into the SDK's buffers."""
+
+import numpy as np
+import pytest
+
+pytest.importorskip("pyrealsense2")
+
+from src.backend.services.camera import RealSenseD435, _owned  # noqa: E402
+from tests.fake_realsense import FakeFrameset, FakePipeline, open_fake_camera  # noqa: E402
+
+
+def test_the_fake_hands_out_views_like_the_sdk():
+    """Control: without the copy, the driver's arrays WOULD share the SDK frame's memory."""
+    color = FakeFrameset(1).get_color_frame()
+    assert np.shares_memory(np.asanyarray(color.get_data()), color.array)
+
+
+def test_captured_frame_does_not_share_memory_with_the_sdk_frame():
+    cam = RealSenseD435()
+    pipe = FakePipeline()
+    open_fake_camera(cam, pipe)
+    try:
+        frame = cam.capture()
+        sdk = pipe.last_frameset
+        assert frame is not None
+        assert not np.shares_memory(frame.rgb, sdk.get_color_frame().array)
+        assert not np.shares_memory(frame.depth, sdk.get_depth_frame().array)
+        assert frame.rgb.base is None and frame.depth.base is None
+        np.testing.assert_array_equal(frame.rgb, sdk.get_color_frame().array)   # same pixels
+    finally:
+        cam.close()
+
+
+def test_owned_copies_views_only():
+    owned = np.zeros((4, 4), np.uint16)
+    view = np.asanyarray(memoryview(owned))
+    assert _owned(owned) is owned
+    copy = _owned(view)
+    assert copy is not view and not np.shares_memory(copy, owned)