Add on option changed to python wrapper. Add options-watcher unit test

include/librealsense2/hpp/rs_options.hpp

@@ -20,6 +20,11 @@ namespace rs2
         {
         }
 
+        options_list()
+            : _list( nullptr )
+        {
+        }
+
         options_list & operator=( std::shared_ptr< rs2_options_list > list )
         {
             _list = std::move( list );

unit-tests/live/options/test-options-watcher.py

@@ -0,0 +1,51 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+
+# test:device each(D400*)
+
+import pyrealsense2 as rs
+from rspy import test
+from rspy import log
+import time
+
+dev = test.find_first_device_or_exit()
+depth_sensor = dev.first_depth_sensor()
+product_line = dev.get_info(rs.camera_info.product_line)
+
+changed_options = 0
+
+def notification_callback( opt_list ):
+    global changed_options
+    log.d( "notification_callback called with {} options".format( len( opt_list ) ) )
+    for opt in opt_list:
+        log.d( "    Changed option {}".format( opt ) )
+        changed_options = changed_options + 1
+
+depth_sensor.on_options_changed( notification_callback )
+
+with test.closure( 'disabling auto exposure' ): # Need to disable or changing gain/exposure might automatically disable it
+    depth_sensor.set_option( rs.option.enable_auto_exposure, 0 )
+    test.check_equal( depth_sensor.get_option( rs.option.enable_auto_exposure ), 0.0 )
+    time.sleep( 1.5 ) # default options-watcher update interval is 1 second
+
+with test.closure( 'set one option' ):
+    changed_options = 0
+    current_gain = depth_sensor.get_option( rs.option.gain )
+    depth_sensor.set_option( rs.option.gain , current_gain + 1 )
+    test.check_equal( depth_sensor.get_option( rs.option.gain ), current_gain + 1 )
+    time.sleep( 1.5 ) # default options-watcher update interval is 1 second
+    test.check_equal( changed_options, 1 )
+    changed_options = 0
+
+with test.closure( 'set multiple options' ):
+    current_gain = depth_sensor.get_option( rs.option.gain )
+    depth_sensor.set_option( rs.option.gain , current_gain + 1 )
+    test.check_equal( depth_sensor.get_option( rs.option.gain ), current_gain + 1 )
+    current_exposure = depth_sensor.get_option( rs.option.exposure )
+    depth_sensor.set_option( rs.option.exposure , current_exposure + 1 )
+    test.check_equal( depth_sensor.get_option( rs.option.exposure ), current_exposure + 1 )
+    time.sleep( 2.5 ) # default options-watcher update interval is 1 second, multiple options might be updated on different intervals
+    test.check_equal( changed_options, 2 )
+    changed_options = 0
+
+test.print_results_and_exit()

wrappers/python/pyrs_options.cpp

@@ -6,6 +6,24 @@ Copyright(c) 2017 Intel Corporation. All Rights Reserved. */
 
 void init_options(py::module &m) {
     /** rs_options.hpp **/
+
+    py::class_< rs2::options_list > options_list( m, "options_list" );  // No docstring in C++
+    options_list.def( py::init<>() )
+        .def( "__getitem__",
+              []( const rs2::options_list & self, size_t i )
+              {
+                  if( i >= self.size() )
+                      throw py::index_error();
+                  return self[size_t( i )];
+              } )
+        .def( "__len__", &rs2::options_list::size )
+        .def( "size", &rs2::options_list::size )  // No docstring in C++
+        .def( "__iter__",
+            []( const rs2::options_list & self ) { return py::make_iterator( self.begin(), self.end() ); },
+            py::keep_alive< 0, 1 >() )
+        .def( "front", &rs2::options_list::front )  // No docstring in C++
+        .def( "back", &rs2::options_list::back );   // No docstring in C++
+
     py::class_<rs2::options> options(m, "options", "Base class for options interface. Should be used via sensor or processing_block."); // No docstring in C++
     options.def("is_option_read_only", &rs2::options::is_option_read_only, "Check if particular option "
                 "is read only.", "option"_a)
@@ -18,6 +36,9 @@ void init_options(py::module &m) {
         .def("get_option_description", &rs2::options::get_option_description, "Get option description.", "option"_a)
         .def("get_option_value_description", &rs2::options::get_option_value_description, "Get option value description "
              "(In case a specific option value holds special meaning)", "option"_a, "value"_a)
-        .def("get_supported_options", &rs2::options::get_supported_options, "Retrieve list of supported options"); // No docstring in C++
+        .def("get_supported_options", &rs2::options::get_supported_options, "Retrieve list of supported options") // No docstring in C++
+        .def( "on_options_changed", &rs2::options::on_options_changed,
+              "Sets a callback to notify in case options in this container change value", "callback"_a );
+
     /** end rs_options.hpp **/
 }

wrappers/python/pyrs_sensor.cpp

@@ -42,6 +42,8 @@ void init_sensor(py::module &m) {
              "Check if specific camera info is supported.", "info")
         .def("supports", (bool (rs2::sensor::*)(rs2_option) const) &rs2::options::supports,
              "Check if specific camera info is supported.", "info")
+        .def( "on_options_changed", &rs2::options::on_options_changed,
+              "Sets a callback to notify in case options in this container change value", "callback"_a )
         .def("get_info", &rs2::sensor::get_info, "Retrieve camera specific information, "
              "like versions of various internal components.", "info"_a)
         .def("set_notifications_callback", [](const rs2::sensor& self, std::function<void(rs2::notification)> callback) {