add imu.py and motion-stream on-data-available callback in pyrealdds

third-party/realdds/py/pyrealdds.cpp

@@ -919,7 +919,12 @@ PYBIND11_MODULE(NAME, m) {
         motion_stream_client_base( m, "motion_stream", stream_client_base );
     motion_stream_client_base
         .def( "set_gyro_intrinsics", &dds_motion_stream::set_gyro_intrinsics )
-        .def( "set_accel_intrinsics", &dds_motion_stream::set_accel_intrinsics );
+        .def( "set_accel_intrinsics", &dds_motion_stream::set_accel_intrinsics )
+        .def( FN_FWD( dds_motion_stream,
+                      on_data_available,
+                      ( dds_motion_stream &, imu_msg && ),
+                      ( imu_msg && i ),
+                      callback( self, std::move( i ) ); ) );
 
 
     using subscription = rsutils::subscription;

third-party/realdds/scripts/imu.py

@@ -0,0 +1,109 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2024 Intel Corporation. All Rights Reserved.
+
+from argparse import ArgumentParser
+args = ArgumentParser()
+args.add_argument( '--debug', action='store_true', help='enable debug mode' )
+args.add_argument( '--quiet', action='store_true', help='No output; just the minimum FPS as a number' )
+args.add_argument( '--device', metavar='<path>', required=True, help='the topic root for the device' )
+def time_arg(x):
+    t = int(x)
+    if t <= 0:
+        raise ValueError( f'--time should be a positive integer' )
+    return t
+args.add_argument( '--time', metavar='<seconds>', type=time_arg, default=5, help='how long to gather frames for (default=5)' )
+def domain_arg(x):
+    t = int(x)
+    if t <= 0 or t > 232:
+        raise ValueError( f'--domain should be [0,232]' )
+    return t
+args.add_argument( '--domain', metavar='<0-232>', type=domain_arg, default=-1, help='DDS domain to use (default=0)' )
+args = args.parse_args()
+
+
+if args.quiet:
+    def i( *a, **kw ):
+        pass
+else:
+    def i( *a, **kw ):
+        print( '-I-', *a, **kw )
+def e( *a, **kw ):
+    print( '-E-', *a, **kw )
+
+
+import pyrealdds as dds
+import time
+import sys
+
+dds.debug( args.debug )
+
+settings = {}
+
+participant = dds.participant()
+participant.init( dds.load_rs_settings( settings ), args.domain )
+
+# Most important is the topic-root: this assumes we know it in advance and do not have to
+# wait for a device-info message (which would complicate the code here).
+info = dds.message.device_info()
+info.name = 'Dummy Device'
+info.topic_root = args.device
+
+# Create the device and initialize
+# The server must be up and running, or the init will time out!
+device = dds.device( participant, info )
+try:
+    i( 'Looking for device at', info.topic_root, '...' )
+    device.wait_until_ready()  # If unavailable before timeout, this throws
+except:
+    e( 'Cannot find device' )
+    sys.exit(1)
+
+n_imu = 0
+def on_motion_data( stream, data ):
+    d( f'----> motion {data}')
+    global n_imu
+    n_imu += 1
+
+i( device.n_streams(), 'streams available' )
+motion_stream = None
+for stream in device.streams():
+    profiles = stream.profiles()
+    i( '   ', stream.sensor_name(), '/', stream.default_profile().to_string()[1:-1] )
+    if stream.type_string() == 'motion':
+        depth_stream = stream
+        stream.on_data_available( on_motion_data )
+    else:
+        continue
+
+    stream_topic = 'rt/' + info.topic_root + '_' + stream.name()
+    stream.open( stream_topic, dds.subscriber( participant ) )
+    stream.start_streaming()
+
+# Wait until we have at least one frame from each
+tries = 3
+while tries > 0:
+    if n_imu > 0:
+        break
+    time.sleep( 1 )
+else:
+    raise RuntimeError( 'timed out waiting for frames to arrive' )
+n_imu = 0
+time_started = time.time()
+i( 'Starting                       :', time_started )
+
+# Measure number of frames in a period of time
+time.sleep( args.time )
+
+result_imu = n_imu
+time_stopped = time.time()
+i( 'Stopping                       :', time_stopped )
+motion_stream.stop_streaming()
+motion_stream.close()
+
+time_delta = time_stopped - time_started
+i( 'Elapsed                        :', time_delta )
+i( 'Number of Motion frames received:', result_imu, '=', result_imu / time_delta, 'fps' )
+
+if args.quiet:
+    print( min( result_color, result_depth ) / time_delta )
+