Initial import of ORISYS arm workstation

2026-10-16 17:27:30 +08:00
commit 2b74c50ba8
745 changed files with 1199101 additions and 0 deletions
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+from unittest import TestCase
+from station.subscriptions import SubscriptionSet, demanded_streams
+
+
+class SubscriptionsTest(TestCase):
+    def test_switches_release_unused_real_sim_depth(self):
+        cams=[{'id':'left'},{'id':'right'},{'id':'sim_wrist'},{'id':'overhead'}]
+        subscriptions=SubscriptionSet();created=[];destroyed=[]
+        def create(key): created.append(key);return key
+        def sync(preview=(),jpeg=()):
+            subscriptions.sync(demanded_streams(cams,preview,jpeg),create,destroyed.append)
+        sync(['left_color','overhead_color'])
+        self.assertEqual(set(created),{'left_color','overhead_color'})
+        sync(['right_depth','overhead_depth'])
+        self.assertEqual(set(subscriptions.items),{'right_depth','overhead_depth'})
+        self.assertEqual(set(destroyed),{'left_color','overhead_color'})
+        sync([],['left_color'])
+        self.assertEqual(set(subscriptions.items),{'left_color'})
+        sync(['sim_wrist_color'])
+        self.assertEqual(set(subscriptions.items),{'sim_wrist_color'})
+        sync();self.assertEqual(subscriptions.items,{})
+        sync(['unknown_color']);self.assertEqual(subscriptions.items,{})