Update workstation UI, ROS task control and device integration

2026-10-20 15:46:13 +08:00
parent 2b74c50ba8
commit e5b06df6da
141 changed files with 91520 additions and 748 deletions
@@ -0,0 +1,24 @@
+from unittest import TestCase
+from arm_application.camera_profiles import depth_profile
+from arm_application.realsense_color_pub import stream_open_passes, usb2_needs_reset
+
+
+class CameraProfilesTest(TestCase):
+    def test_1080p_color_keeps_native_720p_depth_at_same_rate(self):
+        modes={(1280,720,30),(848,480,30),(640,480,15)}
+        self.assertEqual(depth_profile((1920,1080,30),modes),(1280,720,30))
+        self.assertEqual(depth_profile((848,480,30),modes),(848,480,30))
+        with self.assertRaises(ValueError): depth_profile((1920,1080,60),modes)
+
+    def test_usb2_enumeration_requests_one_hardware_reset(self):
+        self.assertTrue(usb2_needs_reset('2.1'))
+        self.assertTrue(usb2_needs_reset('2.0'))
+        self.assertFalse(usb2_needs_reset('3.2'))
+        self.assertFalse(usb2_needs_reset(''))
+
+    def test_depth_is_exhausted_before_color_only_fallback(self):
+        names = [name for name, _modes in stream_open_passes(True, False, False)]
+        self.assertEqual(names, ['depth', 'color'])
+        depth_modes = next(modes for name, modes in stream_open_passes(True, False, True) if name == 'depth')
+        self.assertEqual(depth_modes, ((True, 'none'),))
+        self.assertTrue(all(with_depth for with_depth, _infra in depth_modes))