Add live fps test

unit-tests/live/frames/test-fps.py

@@ -0,0 +1,109 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2022 Intel Corporation. All Rights Reserved.
+
+# test:device L500*
+# test:device D400*
+# test:donotrun:!nightly
+# test:timeout 230
+
+import pyrealsense2 as rs
+from rspy.stopwatch import Stopwatch
+from rspy import test, log
+import time
+import platform
+
+# Start depth + color streams and measure frame frequency using sensor API.
+# Verify that actual fps is as requested
+
+def measure_fps(sensor, profile):
+    """
+    Wait for 2 seconds to be sure that frames are at steady state after start
+    Count number of received frames for 5 seconds and compare actual fps to requested fps
+    """
+    seconds_till_steady_state = 2
+    seconds_to_count_frames = 20
+
+    steady_state = False
+    frames_received = 0
+    fps_stopwatch = Stopwatch()
+
+    def frame_cb(frame):
+        nonlocal steady_state, frames_received
+        if steady_state:
+            frames_received += 1
+
+    sensor.open(profile)
+    sensor.start(frame_cb)
+
+    time.sleep(seconds_till_steady_state)
+
+    steady_state = True
+    fps_stopwatch.reset()
+
+    time.sleep(seconds_to_count_frames) # Time to count frames
+
+    steady_state = False # Stop counting    
+
+    sensor.stop()
+    sensor.close()
+
+    fps = frames_received / seconds_to_count_frames
+    return fps
+
+
+delta_Hz = 1
+tested_fps = [6, 15, 30, 60, 90]
+
+dev = test.find_first_device_or_exit()
+product_line = dev.get_info(rs.camera_info.product_line)
+
+#####################################################################################################
+test.start("Testing depth fps " + product_line + " device - "+ platform.system() + " OS")
+
+for requested_fps in tested_fps:
+    ds = dev.first_depth_sensor()
+    #Set auto-exposure option as it might take precedence over requested FPS
+    if product_line == "D400":
+        ds.set_option(rs.option.enable_auto_exposure, 1)
+
+    try:
+        dp = next(p for p in ds.profiles
+                  if p.fps() == requested_fps 
+                  and p.stream_type() == rs.stream.depth
+                  and p.format() == rs.format.z16)
+    except StopIteration:
+        print("Requested fps: {:.1f} [Hz], not supported".format(requested_fps))
+    else:
+        fps = measure_fps(ds, dp)
+        print("Requested fps: {:.1f} [Hz], actual fps: {:.1f} [Hz] ".format(requested_fps, fps))
+        test.check(fps <= (requested_fps + delta_Hz) and fps >= (requested_fps - delta_Hz))
+test.finish()
+
+
+#####################################################################################################
+test.start("Testing color fps " + product_line + " device - "+ platform.system() + " OS")
+
+for requested_fps in tested_fps:
+    cs = dev.first_color_sensor()
+    #Set auto-exposure option as it might take precedence over requested FPS
+    if product_line == "D400":
+        ds.set_option(rs.option.enable_auto_exposure, 1)
+    elif product_line == "L500":
+        cs.set_option(rs.option.enable_auto_exposure, 0)
+
+    try:
+        cp = next(p for p in cs.profiles
+                  if p.fps() == requested_fps
+                  and p.stream_type() == rs.stream.color
+                  and p.format() == rs.format.rgb8)
+    except StopIteration:
+        print("Requested fps: {:.1f} [Hz], not supported".format(requested_fps))
+    else:
+        fps = measure_fps(cs, cp)
+        print("Requested fps: {:.1f} [Hz], actual fps: {:.1f} [Hz] ".format(requested_fps, fps))
+        test.check(fps <= (requested_fps + delta_Hz) and fps >= (requested_fps - delta_Hz))
+
+test.finish()
+
+#####################################################################################################
+test.print_results_and_exit()