RealSense-D435i-G1/tests/test_two_channels.py

"""Two channels on a fake 30 fps camera: fast color (no align) and aligned color+depth on request."""

import asyncio
import base64
import time

import cv2
import numpy as np
import pytest

pytest.importorskip("pyrealsense2")

from httpx import ASGITransport, AsyncClient  # noqa: E402
from starlette.testclient import TestClient  # noqa: E402

from src.backend.api import routes, websocket  # noqa: E402
from src.backend.main import app  # noqa: E402
from src.backend.services.camera import RealSenseD435  # noqa: E402
from tests.fake_realsense import FakeAlign, FakePipeline, frame_number_of_color, open_fake_camera  # noqa: E402

FPS = 30


def _open(cam, align_s):
    pipe, align = FakePipeline(fps=FPS), FakeAlign(delay_s=align_s)
    open_fake_camera(cam, pipe, align)
    routes.set_camera(cam)
    websocket.set_camera(cam)
    return pipe, align


@pytest.fixture
def camera():
    cams = []

    def make(align_s=0.0, frame_cache_ms=100.0):
        cam = RealSenseD435(frame_cache_ms=frame_cache_ms)
        cams.append(cam)
        return (cam, *_open(cam, align_s))

    yield make
    for cam in cams:
        cam.close()
    routes.set_camera(None)
    websocket.set_camera(None)


def _decode(content: bytes, flags=cv2.IMREAD_COLOR) -> np.ndarray:
    return cv2.imdecode(np.frombuffer(content, np.uint8), flags)


def test_rgb_then_capture_then_depth_come_from_one_frame(camera):
    """Criterion B: /api/capture in between must not move the frame /api/rgb and /api/depth share.

    frame_cache_ms is raised so the test does not depend on this PC's timing:
    what it checks is WHICH frame the cache serves, not the 100 ms.
    """
    camera(frame_cache_ms=1000.0)
    client = TestClient(app)
    rgb_number = frame_number_of_color(_decode(client.get("/api/rgb").content))
    capture = client.get("/api/capture").json()["data"]
    depth = _decode(client.get("/api/depth").content, cv2.IMREAD_UNCHANGED)
    capture_number = frame_number_of_color(_decode(base64.b64decode(capture["rgb_jpeg_b64"])))
    assert capture_number != rgb_number              # /api/capture did get a newer frame ...
    assert int(depth[0, 0]) % 256 == rgb_number      # ... and /api/depth still pairs with /api/rgb


def test_color_channel_serves_consecutive_frames_with_both_clocks(camera):
    camera()
    client = TestClient(app)
    first = client.get("/api/color/latest")
    seq = int(first.headers["X-Frame-Seq"])
    seqs, marks = [seq], []
    for _ in range(10):
        r = client.get("/api/color/latest", params={"after": seq, "timeout_ms": 1000})
        assert r.status_code == 200
        seq = int(r.headers["X-Frame-Seq"])
        seqs.append(seq)
        camera_index = round(float(r.headers["X-Camera-Timestamp-Ms"]) * FPS / 1000.0)
        marks.append((frame_number_of_color(_decode(r.content)), camera_index % 256))
        assert r.headers["X-Camera-Timestamp-Domain"] == "hardware_clock"
        assert abs(float(r.headers["X-Host-Timestamp"]) - time.time()) < 5.0
    assert seqs == sorted(set(seqs))                      # strictly newer each time
    assert all(pixel == clock for pixel, clock in marks)  # the image is the frame its header names


def test_color_channel_times_out_with_504(camera):
    camera()
    client = TestClient(app)
    seq = int(client.get("/api/color/latest").headers["X-Frame-Seq"])
    t0 = time.perf_counter()
    r = client.get("/api/color/latest", params={"after": seq + 10_000, "timeout_ms": 100})
    assert r.status_code == 504
    assert time.perf_counter() - t0 < 1.0


def test_color_frame_is_encoded_once(camera):
    cam, _, _ = camera()
    seq, color = cam.color_frame()
    first = routes.encoded_color(seq, color)
    assert routes.encoded_color(seq, color) is first
    assert first.jpeg() is first.jpeg()


def test_color_channel_keeps_camera_rate_while_capture_runs(camera):
    """Criteria A1/A2 in short (3 s): color >= 25 new frames/s while /api/capture loops with a 100 ms align."""
    _, _, align = camera(align_s=0.1)
    duration = 3.0

    async def run():
        seqs, stamps = set(), set()
        async with AsyncClient(transport=ASGITransport(app=app), base_url="http://t", timeout=10) as c:
            stop_at = time.monotonic() + duration

            async def color():
                after = int((await c.get("/api/color/latest")).headers["X-Frame-Seq"])
                while time.monotonic() < stop_at:
                    r = await c.get("/api/color/latest", params={"after": after, "timeout_ms": 1000})
                    if r.status_code == 200:
                        after = int(r.headers["X-Frame-Seq"])
                        seqs.add(after)

            async def capture():
                while time.monotonic() < stop_at:
                    body = (await c.get("/api/capture")).json()
                    if body["success"]:
                        stamps.add(body["data"]["timestamp"])

            await asyncio.gather(color(), capture())
        return seqs, stamps

    seqs, stamps = asyncio.run(run())
    assert len(seqs) / duration >= 25
    assert len(stamps) >= 1 and align.calls >= len(stamps)