PR IntelRealSense#13091 from remibettan: test-for-sensor-ts-vs-frame-s

test added for checking sensor timestamp and frame timestamp metadata values

unit-tests/live/frames/test-sensor-vs-frame-timestamp.py

@@ -0,0 +1,64 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2024 Intel Corporation. All Rights Reserved.
+
+# test:device D400*
+
+import pyrealsense2 as rs
+from rspy import test
+import time
+
+dev = test.find_first_device_or_exit()
+depth_sensor = dev.first_depth_sensor()
+depth_exposure = depth_sensor.get_option(rs.option.exposure)
+is_global_time_enabled_orig = False
+fps = 30
+has_at_least_one_frame_arrived = False
+
+
+def check_hw_ts_right_before_sensor_ts(frame):
+    global has_at_least_one_frame_arrived, depth_exposure
+    has_at_least_one_frame_arrived = True
+    frame_ts_supported = frame.supports_frame_metadata(rs.frame_metadata_value.frame_timestamp)
+    sensor_ts_supported = frame.supports_frame_metadata(rs.frame_metadata_value.sensor_timestamp)
+    test.check(frame_ts_supported and sensor_ts_supported)
+    hw_ts = frame.get_frame_metadata(rs.frame_metadata_value.frame_timestamp)
+    sensor_ts = frame.get_frame_metadata(rs.frame_metadata_value.sensor_timestamp)
+    delta = hw_ts - sensor_ts
+    time_between_frames = 1/fps *1000000
+    if not test.check_between(delta, min=0, max=time_between_frames):
+        print("hw_ts = " + repr(hw_ts) + ", sensor_ts = " + repr(sensor_ts) + ", delta = " + repr(delta))
+        print("time between frames = " + repr(time_between_frames))
+
+
+#############################################################################################
+with test.closure("Set Depth stream time domain to HW"):
+    is_global_time_enabled_orig = depth_sensor.get_option(rs.option.global_time_enabled)
+    if is_global_time_enabled_orig:
+        depth_sensor.set_option(rs.option.global_time_enabled, 0)
+    test.check_equal(int(depth_sensor.get_option(rs.option.global_time_enabled)), 0)
+
+#############################################################################################
+with test.closure("Get frame timestamp and compare it to sensor timestamp"):
+    depth_profile = next(p for p in
+                         depth_sensor.profiles if p.fps() == fps
+                         and p.stream_type() == rs.stream.depth
+                         and p.format() == rs.format.z16
+                         and p.as_video_stream_profile().width() == 1280
+                         and p.as_video_stream_profile().height() == 720)
+
+    depth_sensor.open(depth_profile)
+    depth_sensor.start(check_hw_ts_right_before_sensor_ts)
+    time.sleep(1)
+    test.check(has_at_least_one_frame_arrived)
+    depth_sensor.stop()
+    depth_sensor.close()
+
+#############################################################################################
+with test.closure("Restore original time domain"):
+    if is_global_time_enabled_orig:
+        depth_sensor.set_option(rs.option.global_time_enabled, 1)
+    test.check_equal(int(depth_sensor.get_option(rs.option.global_time_enabled)), 1)
+
+#############################################################################################
+
+test.print_results_and_exit()