test-sensor-extensions.js

// Copyright (c) 2017 Intel Corporation. All rights reserved.
// Use of this source code is governed by an Apache 2.0 license
// that can be found in the LICENSE file.

'use strict';
/* global describe, it, before, after */
const assert = require('assert');
let rs2;
let pipeline;
try {
  rs2 = require('node-librealsense');
} catch (e) {
  rs2 = require('../index.js');
}

let device;
let frameset;
let dev_info;
let motion_product_list = ["0AD5", "0AFE", "0AFF", "0B00", "0B01", "0B3A", "0B3D"];
const ctx = new rs2.Context();
let devices = ctx.queryDevices().devices;
assert(devices.length > 0); // Device must be connected
device = devices[0]
dev_info = device.getCameraInfo();


describe('Sensor extensions test', function() {
  before(function() {
    // const ctx = new rs2.Context();
    // let devices = ctx.queryDevices().devices;
    // assert(devices.length > 0); // Device must be connected
    // device = devices[0]
    // dev_info = device.getCameraInfo();
  });

  after(function() {
    rs2.cleanup();
  });

  it('Testing constructor - 0 argument', () => {
    assert.throws(() => {
      new rs2.Align();
    });
  });
  
  it('Testing ColorSensor extention', () => {
      var products_list = ["0AA5, 0B48, 0AD3, 0AD4, 0AD5, 0B01, 0B07, 0B3A, 0B3D"];
      let rtn = device.getCameraInfo();
      if (products_list.includes(rtn.productId))
      {
        const sensors = device.querySensors();
        let is_found = false;
        for (let i = 0; i < sensors.length; i++) {
            if (sensors[i] instanceof rs2.ColorSensor) {
                const sensor = sensors[i];
                const profile = sensor.getStreamProfiles()[0];
                assert(profile.streamType === rs2.stream.STREAM_COLOR && profile.format == rs2.format.FORMAT_RGB8);
                is_found = true;
            }
          }
          assert(is_found);
      }
  });

  it('Testing FisheyeSensor extention', () => {
    var products_list = ["0AD5", "0AFE", "0AFF", "0B00", "0B01"];
    let rtn = device.getCameraInfo();
    if (products_list.includes(rtn.productId))
    {
      const sensors = device.querySensors();
      let is_found = false;
      for (let i = 0; i < sensors.length; i++) {
          if (sensors[i] instanceof rs2.FisheyeSensor) {
              const sensor = sensors[i];
              const profile = sensor.getStreamProfiles()[0];
              assert(profile.streamType === rs2.stream.STREAM_COLOR && profile.format == rs2.format.FORMAT_RGB8);
              is_found = true;
            }
          }
      assert(is_found);

    }
  });

  if (motion_product_list.includes(dev_info.productId))
  {
    it('Testing MotionSensor extention', () => {
      var products_list = ["0AD5", "0AFE", "0AFF", "0B00", "0B01", "0B3A", "0B3D"];
      let rtn = device.getCameraInfo();
      if (products_list.includes(rtn.productId))
      {
        const sensors = device.querySensors();
        let is_found = false;
        for (let i = 0; i < sensors.length; i++) {
            if (sensors[i] instanceof rs2.MotionSensor) {
                const sensor = sensors[i];
                const profile = sensor.getStreamProfiles()[0];
                assert([rs2.stream.STREAM_GYRO, rs2.stream.STREAM_ACCEL].includes(profile.streamType))
                assert([rs2.format.FORMAT_MOTION_RAW, rs2.format.FORMAT_MOTION_XYZ32F].includes(profile.format));
                is_found = true;
              }
            }
        assert(is_found);
  
      }
    });
  };

});