Enable tests for D555

unit-tests/live/d500/test-detect-dds-device.py

@@ -0,0 +1,18 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2025 Intel Corporation. All Rights Reserved.
+
+#test:donotrun:!dds
+#test:device D555
+
+import pyrealsense2 as rs
+from rspy import test, log
+
+# this test will query for device, test check it is DDS and exit
+
+with test.closure("Detect DDS device"):
+    dev, _ = test.find_first_device_or_exit()
+    if test.check(dev.supports(rs.camera_info.connection_type)):
+        connection_type = dev.get_info(rs.camera_info.connection_type)
+        test.check(connection_type == "DDS")
+
+test.print_results_and_exit()

unit-tests/live/d500/test-get-set-calib-config-table-api.py

@@ -1,7 +1,7 @@
 # License: Apache 2.0. See LICENSE file in root directory.
 # Copyright(c) 2024 Intel Corporation. All Rights Reserved.
 
-# test:donotrun  ## TODO: change this when D5555 device is connected to libCI
+# test:donotrun  ## TODO: change this when relevant device is connected to libCI
 
 import pyrealsense2 as rs
 from rspy import test, log
@@ -86,7 +86,7 @@
 
 # verify the JSON objects are equal (comparing JSON object because
 # the JSON string can have different order of inner fields
-test.check_equal(json.loads(read_result), json.loads(new_calib_config))
+test.check_equal_jsons(json.loads(read_result), json.loads(new_calib_config))
 
 test.finish()
 
@@ -232,7 +232,7 @@
 
 # verify the JSON objects are equal (comparing JSON object because
 # the JSON string can have different order of inner fields
-test.check_equal(json.loads(read_result), json.loads(original_calib_config))
+test.check_equal_jsons(json.loads(read_result), json.loads(original_calib_config))
 
 test.finish()
 

unit-tests/live/debug_protocol/test-build-command.py

@@ -2,9 +2,10 @@
 # Copyright(c) 2022 Intel Corporation. All Rights Reserved.
 
 # test:device D400*
+# test:device each(D555)
 
 import pyrealsense2 as rs
-from rspy import devices, log, test, file, repo
+from rspy import log, test, file, repo
 
 
 #############################################################################################

unit-tests/live/frames/test-depth.py

@@ -2,6 +2,7 @@
 # Copyright(c) 2023 Intel Corporation. All Rights Reserved.
 
 # test:device D400*
+# test:device each(D500*) 
 
 import pyrealsense2 as rs
 from rspy import test, log

unit-tests/live/frames/test-pipeline-start-stop.py

@@ -4,6 +4,7 @@
 # test:donotrun:!nightly
 # Currently, we exclude D457 as it's failing
 # test:device each(D400*) !D457
+# test:device each(D500*) 
 # On D455 and other units with IMU it takes ~4 seconds per iteration
 # test:timeout 220
 

unit-tests/live/frames/test-t2ff-pipeline.py

@@ -2,6 +2,7 @@
 # Copyright(c) 2021 Intel Corporation. All Rights Reserved.
 
 # test:device each(D400*)
+# test:device each(D500*) 
 
 
 import pyrealsense2 as rs
@@ -26,8 +27,11 @@
 if product_line == "D400":
     max_delay_for_depth_frame = 1
     max_delay_for_color_frame = 1
+elif product_line == "D500":
+    max_delay_for_depth_frame = 1
+    max_delay_for_color_frame = 1
 else:
-    log.f("This test support only D400 devices")
+    log.f("Not supported product line " + product_line)
 
 
 def time_to_first_frame(config):

unit-tests/live/frames/test-t2ff-sensor.py

@@ -2,6 +2,7 @@
 # Copyright(c) 2021 Intel Corporation. All Rights Reserved.
 
 # test:device each(D400*)
+# test:device each(D500*) 
 
 import pyrealsense2 as rs
 from rspy.stopwatch import Stopwatch

unit-tests/live/hw-reset/test-sanity.py

@@ -1,11 +1,11 @@
 # License: Apache 2.0. See LICENSE file in root directory.
 # Copyright(c) 2023 Intel Corporation. All Rights Reserved.
 
-
 # test:device each(D400*) !D457  # D457 device is known for HW reset issues..
+# test:device each(D500*)
 
 import pyrealsense2 as rs
-from rspy import test, log
+from rspy import test, log, devices
 from rspy.timer import Timer
 import time
 
@@ -49,6 +49,7 @@ def device_changed( info ):
 test.check(device_removed)
 
 log.out("Pending for device addition")
+t = Timer( devices.MAX_ENUMERATION_TIME )
 t.start()
 while not t.has_expired():
     if ( device_added ):

unit-tests/live/hw-reset/test-t2enum.py

@@ -2,6 +2,7 @@
 # Copyright(c) 2023 Intel Corporation. All Rights Reserved.
 
 # test:device each(D400*) !D457  # D457 device is known for HW reset issues..
+# test:device each(D500*)
 
 import pyrealsense2 as rs
 from rspy import test, log
@@ -15,6 +16,7 @@
 device_removed = False
 device_added = False
 MAX_ENUM_TIME_D400 = 5 # [sec]
+MAX_ENUM_TIME_D500 = 15 # [sec]
 
 def device_changed( info ):
     global dev, device_removed, device_added
@@ -28,9 +30,14 @@ def device_changed( info ):
             log.out( "Device addition detected at: ", time.perf_counter())
             device_added = True
 
-def get_max_enum_rime_by_device( dev ):
+def get_max_enum_time_by_device( dev ):
     if dev.get_info( rs.camera_info.product_line ) == "D400":
-        return MAX_ENUM_TIME_D400;
+        return MAX_ENUM_TIME_D400
+    elif dev.get_info( rs.camera_info.product_line ) == "D500":
+        if dev.get_info( rs.camera_info.connection_type) == "DDS":
+            print(18)
+            return MAX_ENUM_TIME_D500 + 3  # some extra time for discovery and initialization for DDS
+        return MAX_ENUM_TIME_D500
     return 0;
 
 ################################################################################################
@@ -40,7 +47,7 @@ def get_max_enum_rime_by_device( dev ):
 dev, ctx = test.find_first_device_or_exit()
 ctx.set_devices_changed_callback( device_changed )
 
-max_dev_enum_time = get_max_enum_rime_by_device( dev )
+max_dev_enum_time = get_max_enum_time_by_device( dev )
 time.sleep(1)
 log.out( "Sending HW-reset command" )
 enumeration_sw = Stopwatch() # we know we add the device removal time, but it shouldn't take long
@@ -57,7 +64,8 @@ def get_max_enum_rime_by_device( dev ):
 test.check( device_removed and not t.has_expired() ) # verifying we are not timed out
 
 log.out( "Pending for device addition" )
-t.start()
+buffer = 5 # we add 5 seconds so if the test pass the creteria by a short amount of time we can print it
+t = Timer( max_dev_enum_time + buffer )
 r_2_e_time = 0 # reset to enumeration time
 while not t.has_expired():
     if ( device_added ):
@@ -67,7 +75,11 @@ def get_max_enum_rime_by_device( dev ):
 
 test.check( device_added )
 test.check( r_2_e_time < max_dev_enum_time )
-log.d( "Enumeration time took", r_2_e_time, "[sec]" )
+
+if r_2_e_time:
+  log.d( "Enumeration time took", r_2_e_time, "[sec]" )
+else:
+  log.e( "Enumeration did not occur in ", max_dev_enum_time + buffer, "[sec]" )
 
 test.finish()
 

unit-tests/live/intrinsics/test-motion.py

@@ -3,6 +3,7 @@
 
 # test:device:jetson D457
 # test:device:!jetson D455
+# test:device:!jetson each(D500*)
 # This test check existence motion intrinsic data in accel and gyro profiles.
 
 import pyrealsense2 as rs
@@ -16,25 +17,22 @@
 test.check(motion_sensor)
 
 if motion_sensor:
-
-    motion_profile_accel = next(p for p in motion_sensor.profiles if p.stream_type() == rs.stream.accel)
-    motion_profile_gyro = next(p for p in motion_sensor.profiles if p.stream_type() == rs.stream.gyro)
-
-    test.check(motion_profile_accel and motion_profile_gyro)
-
-    if motion_profile_accel:
-        motion_profile_accel = motion_profile_accel.as_motion_stream_profile()
-        intrinsics_accel = motion_profile_accel.get_motion_intrinsics()
-
-        log.d(str(intrinsics_accel))
-        test.check(len(str(intrinsics_accel)) > 0)  # Checking if intrinsics has data
-
-    if motion_profile_gyro:
-        motion_profile_gyro = motion_profile_gyro.as_motion_stream_profile()
-        intrinsics_gyro = motion_profile_gyro.get_motion_intrinsics()
-
-        log.d(intrinsics_gyro)
-        test.check(len(str(intrinsics_gyro)) > 0)  # Checking if intrinsics has data
-
-    test.finish()
-    test.print_results_and_exit()
+    if rs.stream.motion in [p.stream_type() for p in motion_sensor.profiles]: # D555 works with combined motion instead of accel and gyro
+        motion_profile = next(p for p in motion_sensor.profiles if p.stream_type() == rs.stream.motion)
+        motion_profiles = [motion_profile]
+    else:
+        motion_profile_accel = next(p for p in motion_sensor.profiles if p.stream_type() == rs.stream.accel)
+        motion_profile_gyro = next(p for p in motion_sensor.profiles if p.stream_type() == rs.stream.gyro)
+        test.check(motion_profile_accel and motion_profile_gyro)
+        motion_profiles = [motion_profile_accel, motion_profile_gyro]
+
+    print(motion_profiles)
+    for motion_profile in motion_profiles:
+        motion_profile = motion_profile.as_motion_stream_profile()
+        intrinsics = motion_profile.get_motion_intrinsics()
+
+        log.d(str(intrinsics))
+        test.check(len(str(intrinsics)) > 0)  # Checking if intrinsics has data
+
+test.finish()
+test.print_results_and_exit()

unit-tests/live/metadata/test-enabled.py

@@ -2,6 +2,7 @@
 # Copyright(c) 2021 Intel Corporation. All Rights Reserved.
 
 #test:device each(D400*)
+#test:device each(D500*)
 #test:priority 1
 #test:flag windows
 

unit-tests/live/metadata/test-usb-type-found.py

@@ -3,6 +3,7 @@
 
 
 #test:device each(D400*) !D457
+#test:device each(D500*) !D555
 
 
 import pyrealsense2 as rs

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

@@ -2,6 +2,7 @@
 # Copyright(c) 2024 Intel Corporation. All Rights Reserved.
 
 # test:device D400*
+# test:device each(D555)
 
 import pyrealsense2 as rs
 from rspy import test

unit-tests/live/options/test-out-of-range-throw.py

@@ -2,6 +2,7 @@
 # Copyright(c) 2020 Intel Corporation. All Rights Reserved.
 
 # test:device D400*
+# test:device each(D555)
 
 import pyrealsense2 as rs
 from rspy import test

unit-tests/live/options/test-rgb-options-metadata-consistency.py

@@ -2,6 +2,7 @@
 # Copyright(c) 2021 Intel Corporation. All Rights Reserved.
 
 #test:device each(D400*) !D421 !D405
+#test:device each(D500*)
 
 import pyrealsense2 as rs
 from rspy import test, log

unit-tests/live/options/test-set-gain-stress-test.py

@@ -2,6 +2,7 @@
 # Copyright(c) 2021 Intel Corporation. All Rights Reserved.
 
 # test:device each(D400*)
+# test:device each(D500*)
 # test:donotrun:!nightly
 
 import pyrealsense2 as rs

unit-tests/live/streaming/test-y16-calibration-format.py

@@ -2,6 +2,7 @@
 # Copyright(c) 2023 Intel Corporation. All Rights Reserved.
 
 # test:device D400*
+# test:device each(D555)
 # This test checks streaming y16 profile
 
 import time

unit-tests/py/rspy/test.py

@@ -195,8 +195,8 @@ def _count_check():
 
 def check_passed():
     """
-    Function for when a check fails
-    :return: always False (so you can 'return check_failed()'
+    Function for when a check passes
+    :return: always True (so you can 'return check_passed()'
     """
     _count_check()
     print_info( error = False )
@@ -297,6 +297,58 @@ def check_equal( result, expected, on_fail=LOG ):
 
 check_equal_lists = check_equal
 
+# Recursive function to compare two JSON objects with epsilon for floats
+def check_equal_jsons(json1, json2, epsilon=1e-6, path="root"):
+    """
+    Compares two JSON-like objects with support for float tolerance and ignoring field order.
+    :param json1: The actual JSON object.
+    :param json2: The expected JSON object.
+    :param epsilon: The tolerance for float comparison.
+    :param path: The current path in the JSON structure for logging mismatches.
+    :return: True if JSONs are equal within tolerance, False otherwise.
+    """
+    def log_difference(path, j1, j2):
+        print(f"Mismatch at {path}:")
+        print(f"        left  : {j1}")
+        print(f"        right : {j2}")
+
+    # Normalize dictionaries by sorting their keys, so order doesn't matter
+    if isinstance(json1, dict) and isinstance(json2, dict):
+        if set(json1.keys()) != set(json2.keys()):
+            log_difference(path, json1, json2)
+            return False
+        # Recursively compare each key-value pair
+        for key in json1:
+            if not check_equal_jsons(json1[key], json2[key], epsilon, path=f"{path}.{key}"):
+                return False
+
+    # Compare lists by their length and then by recursively comparing each item
+    elif isinstance(json1, list) and isinstance(json2, list):
+        if len(json1) != len(json2):
+            log_difference(path, json1, json2)
+            return False
+        # Sort lists of dictionaries by a normalized key structure to ensure order-independence
+        sorted_json1 = sorted(json1, key=lambda x: str(x) if isinstance(x, (dict, list)) else x)
+        sorted_json2 = sorted(json2, key=lambda x: str(x) if isinstance(x, (dict, list)) else x)
+        for i, (item1, item2) in enumerate(zip(sorted_json1, sorted_json2)):
+            if not check_equal_jsons(item1, item2, epsilon, path=f"{path}[{i}]"):
+                return False
+
+    # Compare floats with epsilon tolerance
+    elif isinstance(json1, float) and isinstance(json2, float):
+        if abs(json1 - json2) > epsilon:
+            log_difference(path, json1, json2)
+            return False
+
+    # Direct comparison for other types
+    else:
+        if json1 != json2:
+            log_difference(path, json1, json2)
+            return False
+
+    return True
+
+
 
 def check_between( result, min, max, on_fail=LOG ):
     """

unit-tests/py/rspy/unifi.py

@@ -1,11 +1,14 @@
 # License: Apache 2.0. See LICENSE file in root directory.
 # Copyright(c) 2025 Intel Corporation. All Rights Reserved.
 
+import os
+import sys
+parent_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) # to allow running this script directly
+sys.path.append(parent_dir)
 from rspy import log
 import time
 import platform, re
 from rspy import device_hub
-import os
 
 if __name__ == '__main__':
     import os, sys, getopt
@@ -198,7 +201,7 @@ def enable_ports(self, ports=None, disable_other_ports=False, sleep_on_change=0)
             ports = self.all_ports()
 
         if disable_other_ports:
-            other_ports = set(self.all_ports()) - set(ports)
+            other_ports = set(self.all_ports()) - set([int(p) for p in ports])
             self.disable_ports(list(other_ports), sleep_on_change)
 
         if not ports:  # ports is []