rename dds test and join metadata-server into test-metadata

unit-tests/dds/test-metadata.py

@@ -10,29 +10,73 @@
 # latter and we have a problem where the broadcaster does not work.
 #test:donotrun:linux
 
-
 import pyrealdds as dds
 from rspy import log, test
-from time import sleep
-from rspy.timer import Timer
+import d435i
 
-dds.debug( log.is_debug_on(), 'C  ' )
-log.nested = 'C  '
 
-import d435i
+with test.remote.fork( nested_indent='  S' ) as remote:
+    if remote is None:  # we're the server fork
+
+        dds.debug( log.is_debug_on(), log.nested )
+
+        participant = dds.participant()
+        participant.init( 123, "server" )
+
+        # set up a server device with a single color stream
+        device_server = dds.device_server( participant, d435i.device_info.topic_root )
+
+        color_stream = dds.color_stream_server( 'Color',  'RGB Camera' )
+        color_stream.enable_metadata()  # not there in d435i by default
+        color_stream.init_profiles( d435i.color_stream_profiles(), 0 )
+        color_stream.init_options( [] )
+        color_stream.set_intrinsics( d435i.color_stream_intrinsics() )
+
+        def on_control( server, id, control, reply ):
+            # the control has already been output to debug by the calling code, as will the reply
+            return True  # otherwise the control will be flagged as error
+
+        device_server.on_control( on_control )
+        device_server.init( [color_stream], [], {} )
+
+
+        def broadcast():
+            global device_server
+            device_server.broadcast( d435i.device_info )
+
 
+        def new_image( width, height, bpp, timestamp_as_ns = None ):
+            i = dds.message.image()
+            i.width = width
+            i.height = height
+            i.data = bytearray( width * height * bpp )
+            if timestamp_as_ns is not None:
+                i.timestamp = dds.time.from_ns( timestamp_as_ns )
+            return i
 
-participant = dds.participant()
-participant.init( 123, "client" )
 
+        def publish_image( img, timestamp ):
+            img.timestamp = timestamp
+            color_stream.publish_image( img )
 
-# run the server in another process: GHA has some issue with it in the same process...
-import os.path
-cwd = os.path.dirname(os.path.realpath(__file__))
-remote_script = os.path.join( cwd, 'metadata-server.py' )
-with test.remote( remote_script, nested_indent="  S" ) as remote:
-    remote.wait_until_ready()
 
+        # From here down, we're in "interactive" mode (see test-metadata.py)
+        # ...
+        raise StopIteration()
+
+
+    ###############################################################################################################
+    # The client
+    #
+
+    from time import sleep
+    from rspy.timer import Timer
+
+    dds.debug( log.is_debug_on(), 'C  ' )
+    log.nested = 'C  '
+
+    participant = dds.participant()
+    participant.init( 123, "client" )
 
     # set up the client device and keep all its streams - this is connected directly and we can get notifications on it!
     device_direct = dds.device( participant, d435i.device_info )
@@ -233,7 +277,6 @@ def __exit__( self, type, value, traceback ):
     #
     with test.closure( "Metadata without a stream name is ignored" ):
         pass
-    #
-    #############################################################################################
-    #
-test.print_results_and_exit()
+
+
+test.print_results()