added tests for all profiles of d455 415 based on the inputs from rs-…

…enumerate-devices
IntelRealSense · Aug 4, 2023 · 8fa253f · 8fa253f
1 parent a9fcee4
commit 8fa253f
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Showing 5 changed files with 315 additions and 111 deletions.
diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt
@@ -303,36 +303,56 @@ if(BUILD_TESTING)
     test/rosbag
     test/post_processing_filters
   )
+
+
+
+  foreach(test_folder ${_pytest_folders})
+    file(GLOB files "${test_folder}/test_*.py")
+    foreach(file ${files})
+
+    get_filename_component(_test_name ${file} NAME_WE)
+    ament_add_pytest_test(${_test_name} ${file}
+      APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}:${CMAKE_SOURCE_DIR}/test/utils:${CMAKE_SOURCE_DIR}/launch:${CMAKE_SOURCE_DIR}/scripts
+      TIMEOUT 60
+      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+    )
+    endforeach()
+  endforeach()
+
+  unset(_pytest_folders)
+
   set(rs_query_cmd "rs-enumerate-devices -s")
   execute_process(COMMAND bash -c ${rs_query_cmd}
       WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
       RESULT_VARIABLE rs_result
       OUTPUT_VARIABLE RS_DEVICE_INFO)
-
- # message(STATUS "rs_result ${rs_result}")
   message(STATUS "rs_device_info:")
   message(STATUS "${RS_DEVICE_INFO}")
   if(RS_DEVICE_INFO MATCHES "D455")
     message(STATUS "D455 device found")
-    set(_pytest_folders
-      ${_pytest_folders}
-      test/d455
+    set(_pytest_live_folders
+      test/live_camera
+    )
+  elseif(RS_DEVICE_INFO MATCHES "D415")
+    message(STATUS "D415 device found")
+    set(_pytest_live_folders
+      test/live_camera
     )
   endif()
 
-
-  foreach(test_folder ${_pytest_folders})
+  foreach(test_folder ${_pytest_live_folders})
     file(GLOB files "${test_folder}/test_*.py")
     foreach(file ${files})
 
     get_filename_component(_test_name ${file} NAME_WE)
     ament_add_pytest_test(${_test_name} ${file}
       APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}:${CMAKE_SOURCE_DIR}/test/utils:${CMAKE_SOURCE_DIR}/launch:${CMAKE_SOURCE_DIR}/scripts
-      TIMEOUT 60
+      TIMEOUT 500
       WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
     )
     endforeach()
   endforeach()
+
 endif()
 
 # Ament exports

diff --git a/realsense2_camera/test/d455/test_d455_all_profile_tests.py b/realsense2_camera/test/d455/test_d455_all_profile_tests.py