Add live tests

realsense2_camera/CMakeLists.txt

@@ -296,12 +296,16 @@ if(BUILD_TESTING)
 
 
   find_package(ament_cmake_pytest REQUIRED)
+
   set(_pytest_folders
     test
     test/templates
     test/rosbag
     test/post_processing_filters
   )
+
+
+
   foreach(test_folder ${_pytest_folders})
     file(GLOB files "${test_folder}/test_*.py")
     foreach(file ${files})
@@ -314,6 +318,41 @@ if(BUILD_TESTING)
     )
     endforeach()
   endforeach()
+
+  unset(_pytest_folders)
+
+  set(rs_query_cmd "rs-enumerate-devices -s")
+  execute_process(COMMAND bash -c ${rs_query_cmd}
+      WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
+      RESULT_VARIABLE rs_result
+      OUTPUT_VARIABLE RS_DEVICE_INFO)
+  message(STATUS "rs_device_info:")
+  message(STATUS "${RS_DEVICE_INFO}")
+  if(RS_DEVICE_INFO MATCHES "D455")
+    message(STATUS "D455 device found")
+    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 ${_pytest_live_folders})
+    file(GLOB files "${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 500
+      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+    )
+    endforeach()
+  endforeach()
+
 endif()
 
 # Ament exports

realsense2_camera/test/README.md

@@ -52,7 +52,31 @@ The pytests can be grouped using markers. These markers can be used to run a gro
 The grouping is specified by adding a marker just before the test declaration. In the test_integration_template.py `rosbag` is specified as a marker specify tests that use rosbag file. This is achieved by adding "@pytest.mark.rosbag" to the begining of the test. So when the pytest parses for test, it detects the marker for the test. If this marker is selected or none of the markers are specified, the test will be added to the list, else will be listed as a deselected test.
 
 It is recommended to use markers such as ds457, rosbag, ds415 etc to differentiate the tests so that it's easier to run a group of tests in a machine that has the required hardware.
-
+
+### Running multipe test instances using parameters and a single test case
+
+If a test is generic enough that it can be used for say, two devices (D415 and D455). then the same testcase be triggered as many times by giving different settings as parameters to the testcase. "@pytest.mark.parametrize" can be used to specify the parameters. See the example below, the test TestLiveCamera_Change_Resolution will be run two times one with test_params_all_profiles_d455 and the other with test_params_all_profiles_d415.  
+
+```
+@pytest.mark.parametrize("launch_descr_with_parameters", [test_params_all_profiles_d455, test_params_all_profiles_d415]
+    ,indirect=True)
+@pytest.mark.launch(fixture=launch_descr_with_parameters)
+class TestLiveCamera_Change_Resolution(pytest_rs_utils.RsTestBaseClass):
+```
+### Grouping the set of parameters using mark option
+
+Just like the marking of testcases using mark option as mentioned before, the parameters can also be marked using pytest.mark option. One example is given below as reference.
+
+```
+@pytest.mark.parametrize("launch_descr_with_parameters", [
+    pytest.param(test_params_all_profiles_d455, marks=pytest.mark.d455),
+    pytest.param(test_params_all_profiles_d415, marks=pytest.mark.d415),
+    pytest.param(test_params_all_profiles_d435, marks=pytest.mark.d435),]
+    ,indirect=True)
+@pytest.mark.launch(fixture=launch_descr_with_parameters)
+class TestLiveCamera_Change_Resolution(pytest_rs_utils.RsTestBaseClass):
+``` 
+
 ## Building and running tests  
 
 ### Build steps 
@@ -68,27 +92,15 @@ Note: The below command helps view the steps taken by the build command.
 	colcon build --event-handlers console_direct+
 
 ### Prerequisites for running the tests
-
-1. The template tests require the rosbag files from librealsense.intel.comi, the following commands download them:
-```
-bag_filename="https://librealsense.intel.com/rs-tests/TestData/outdoors_1color.bag";
-wget $bag_filename -P "records/"
-bag_filename="https://librealsense.intel.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag";
-wget $bag_filename -P "records/"
-```
-2. The tests use the environment variable ROSBAG_FILE_PATH as the directory that contains the rosbag files
-```	
-export ROSBAG_FILE_PATH=/path/to/directory/of/rosbag
-```
-3. Install launch_pytest package. For humble: 
+1. Install launch_pytest package. For humble: 
 ```
 sudo apt install ros-$ROS_DISTRO-launch-pytest
 ```
-4. As in the case of all the packages, the install script of realsesnse2_camera has to be run.
+2. As in the case of all the packages, the install script of realsesnse2_camera has to be run.
 ```
 . install/local_setup.bash
 ```
-5. If the tests are run on a machine that has the RS board connected or the tests are using rosbag files, then its better to let the ROS search for the nodes in the local machine, this will be faster and less prone to interference and hence unexpected errors. It can be achieved using the following environment variable.
+3. If the tests are run on a machine that has the RS board connected or the tests are using rosbag files, then its better to let the ROS search for the nodes in the local machine, this will be faster and less prone to interference and hence unexpected errors. It can be achieved using the following environment variable.
 ```
 export ROS_DOMAIN_ID=1
 ```
@@ -97,11 +109,6 @@ So, all put together:
 
 ```
 sudo apt install  ros-$ROS_DISTRO-launch-pytest
-bag_filename="https://librealsense.intel.com/rs-tests/TestData/outdoors_1color.bag";
-wget $bag_filename -P "records/"
-bag_filename="https://librealsense.intel.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag";
-wget $bag_filename -P "records/"
-export ROSBAG_FILE_PATH=$PWD/records
 . install/local_setup.bash
 export ROS_DOMAIN_ID=1
 ```
@@ -129,22 +136,23 @@ The xml files mentioned by the command can be directly opened also.
 
 User can run all the tests in a pytest file directly using the below command:
 
-	pytest-3 -s realsense2_camera/test/test_integration_template.py
+	PYTHONPATH=$PYTHONPATH:$PWD/realsense2_camera/test/utils:$PWD/realsense2_camera//launch:$PWD/realsense2_camera//scripts pytest-3 -s realsense2_camera/test/test_integration_template.py
+ Note: The PYTHONPATH additions are required because we are bypassing the python path settings in CMakeLists.txt for ament_cmake_pytest. If the above mentioned command is failing, but colcon test is passing, then it could be due to some difference in the python paths. Please check the paths in the CMakeLists.txt and modify the command accordingly.
 
 All the pytests in a test folder can be directly run using the below command:
 
-	pytest-3 -s realsense2_camera/test/
+	PYTHONPATH=$PYTHONPATH:$PWD/realsense2_camera/test/utils:$PWD/realsense2_camera//launch:$PWD/realsense2_camera//scripts pytest-3 -s realsense2_camera/test/
 
 ### Running a group of pytests
 As mentioned above, a set of pytests that are grouped using markers can be run using the pytest command. The below command runs all the pytests in realsense2_camera/test folder that has the marker rosbag:
 
-	pytest-3 -s -m rosbag realsense2_camera/test/
+	PYTHONPATH=$PYTHONPATH:$PWD/realsense2_camera/test/utils:$PWD/realsense2_camera//launch:$PWD/realsense2_camera//scripts pytest-3 -s -m rosbag realsense2_camera/test/
 
 
 ### Running a single pytest
 The below command finds the test with the name test_static_tf_1 in realsense2_camera/test folder run:
 
-	pytest-3 -s -k test_static_tf_1 realsense2_camera/test/
+	PYTHONPATH=$PYTHONPATH:$PWD/realsense2_camera/test/utils:$PWD/realsense2_camera//launch:$PWD/realsense2_camera//scripts pytest-3 -s -k test_static_tf_1 realsense2_camera/test/
 
 ### Points to be noted while writing pytests
 The tests that are in one file are nromally run in parallel. So if there are multiple tests in one file, the system capacity can influence the test execution. It's recomended to have 3-4 tests in file, more than that can affect the test results due to delays.

realsense2_camera/test/live_camera/test_camera_all_profile_tests.py

@@ -0,0 +1,235 @@
+# Copyright 2023 Intel Corporation. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import os
+import sys
+import itertools
+
+
+import pytest
+import rclpy
+
+from sensor_msgs.msg import Image as msg_Image
+from sensor_msgs.msg import Imu as msg_Imu
+from sensor_msgs.msg import PointCloud2 as msg_PointCloud2
+
+import numpy as np
+
+sys.path.append(os.path.abspath(os.path.dirname(__file__)+"/../utils"))
+import pytest_rs_utils
+from pytest_rs_utils import launch_descr_with_parameters
+from pytest_rs_utils import delayed_launch_descr_with_parameters
+from pytest_rs_utils import get_rosbag_file_path
+import pytest_live_camera_utils
+from rclpy.parameter import Parameter
+from rcl_interfaces.msg import ParameterValue
+from rcl_interfaces.srv import SetParameters, GetParameters, ListParameters
+from pytest_live_camera_utils import debug_print
+def check_if_skip_test(profile, format):
+    '''
+    if profile == 'Color':
+        if "BGRA8" == format:
+            return True
+        if "RGBA8" == format:
+            return True
+        if "Y8" == format:
+            return True
+    elif profile == 'Depth':
+        if "Z16" == format:
+            return True
+    elif profile == 'Infrared':
+        if "Y8" == format:
+            return True
+        if "Y16" == format:
+            return True
+        if "BGRA8" == format:
+            return True
+        if "RGBA8" == format:
+            return True
+        if "Y10BPACK" == format:
+            return True
+        if "UYVY" == format:
+            return True
+        if "BGR8" == format:
+            return True
+        if "RGB8" == format:
+            return True
+        if "RAW10" == format:
+            return True
+    elif profile == 'Infrared1':
+        if "Y8" ==format:
+            return True
+        if "Y16" ==format:
+            return True
+        if "Y10BPACK"  == format:
+            return True
+        if "UYVY" ==format:
+            return True
+        if "BGR8" ==format:
+            return True
+        if "RGB8" ==format:
+            return True
+        if "RAW10" ==format:
+            return True
+    if profile == 'Infrared2':                    
+        if "Y8" == format:
+            return True
+        if "Y16" == format:
+            return True
+        if "Y10BPACK" == format:
+            return True
+        if "UYVY" == format:
+            return True
+        if "BGR8" == format:
+            return True
+        if "RGB8" == format:
+            return True
+        if "RAW10" == format:
+            return True
+    '''
+    return False
+
+
+test_params_all_profiles_d455 = {
+    'camera_name': 'D455',
+    'device_type': 'D455',
+    }
+test_params_all_profiles_d415 = {
+    'camera_name': 'D415',
+    'device_type': 'D415',
+    }
+test_params_all_profiles_d435 = {
+    'camera_name': 'D435',
+    'device_type': 'D435',
+    }
+
+
+'''
+This test was implemented as a template to set the parameters and run the test.
+This directory is not added to the CMakeLists.txt so as to avoid the colcon failure in the
+machines that don't have the D455 connected.
+1. Only a subset of parameter types are implemented in py_rs_utils, it has to be extended for others
+2. After setting the param, rclpy.spin_once may be needed.Test passes even without this though.
+'''
+@pytest.mark.parametrize("launch_descr_with_parameters", [
+    pytest.param(test_params_all_profiles_d455, marks=pytest.mark.d455),
+    pytest.param(test_params_all_profiles_d415, marks=pytest.mark.d415),
+    pytest.param(test_params_all_profiles_d435, marks=pytest.mark.d435),]
+    ,indirect=True)
+@pytest.mark.launch(fixture=launch_descr_with_parameters)
+class TestLiveCamera_Change_Resolution(pytest_rs_utils.RsTestBaseClass):
+    def test_LiveCamera_Change_Resolution(self,launch_descr_with_parameters):
+        skipped_tests = []
+        num_passed = 0
+        num_failed = 0
+        params = launch_descr_with_parameters[1]
+        themes = [{'topic':'/'+params['camera_name']+'/color/image_raw', 'msg_type':msg_Image,'expected_data_chunks':1}]
+        config = pytest_live_camera_utils.get_profile_config(params['camera_name'])
+        try:
+            ''' 
+            initialize, run and check the data 
+            '''
+            serial_no = None
+            if 'serial_no' in params:
+                serial_no = params['serial_no']
+            self.init_test("RsTest"+params['camera_name'])
+            cap = pytest_live_camera_utils.get_camera_capabilities(params['device_type'], serial_no)
+            if cap == None:
+                debug_print("Device not found? : " + params['device_type'])
+                return
+            self.create_param_ifs(params['camera_name'] + '/' + params['camera_name'])
+            config["Color"]["default_profile1"],config["Color"]["default_profile2"] = pytest_live_camera_utils.get_default_profiles(cap["color_profile"], "Color")
+            config["Depth"]["default_profile1"],config["Depth"]["default_profile2"] = pytest_live_camera_utils.get_default_profiles(cap["depth_profile"], "Depth")
+            config["Infrared"]["default_profile1"],config["Infrared"]["default_profile2"] = pytest_live_camera_utils.get_default_profiles(cap["depth_profile"], "Infrared")
+            config["Infrared1"]["default_profile1"],config["Infrared1"]["default_profile2"] = pytest_live_camera_utils.get_default_profiles(cap["depth_profile"], "Infrared1")
+            config["Infrared2"]["default_profile1"],config["Infrared2"]["default_profile2"] = pytest_live_camera_utils.get_default_profiles(cap["depth_profile"], "Infrared2")
+            for key in cap["color_profile"]:
+                profile_type = key[0]
+                profile = key[1]
+                format = key[2]
+                if check_if_skip_test(profile_type, format):
+                    skipped_tests.append(" ".join(key))
+                    continue
+                themes[0]['topic'] = config[profile_type]['topic']
+                themes[0]['width'] = int(profile.split('x')[0])
+                themes[0]['height'] = int(profile.split('x')[1])
+                if themes[0]['width'] == int(config[profile_type]["default_profile2"].split('x')[0]):
+                    self.set_string_param(config[profile_type]["profile"], config[profile_type]["default_profile1"])
+                else:
+                    self.set_string_param(config[profile_type]["profile"], config[profile_type]["default_profile2"])
+                self.set_bool_param(config[profile_type]["param"], True)
+                self.disable_all_params()
+                self.set_string_param(config[profile_type]["profile"], profile)
+                self.set_string_param(config[profile_type]["format"], format)
+                self.set_bool_param(config[profile_type]["param"], True)
+                try:
+                    ret = self.run_test(themes)
+                    assert ret[0], ret[1]
+                    assert self.process_data(themes), " ".join(key) + " failed"
+                    num_passed += 1
+                except Exception as e:
+                    print("Test failed")
+                    print(e)
+                    num_failed += 1
+            debug_print("Color tests completed")
+            for key in cap["depth_profile"]:
+                profile_type = key[0]
+                profile = key[1]
+                format = key[2]
+                if check_if_skip_test(profile_type, format):
+                    skipped_tests.append(" ".join(key))
+                    continue
+                debug_print("Testing " + " ".join(key))
+
+                themes[0]['topic'] = config[profile_type]['topic']
+                themes[0]['width'] = int(profile.split('x')[0])
+                themes[0]['height'] = int(profile.split('x')[1])
+                if themes[0]['width'] == int(config[profile_type]["default_profile2"].split('x')[0]):
+                    self.set_string_param(config[profile_type]["profile"], config[profile_type]["default_profile1"])
+                else:
+                    self.set_string_param(config[profile_type]["profile"], config[profile_type]["default_profile2"])
+                self.set_bool_param(config[profile_type]["param"], True)
+
+
+                self.disable_all_params()
+                self.set_string_param(config[profile_type]["profile"], profile)
+                self.set_string_param(config[profile_type]["format"], format)
+                self.set_bool_param(config[profile_type]["param"], True)
+                try:
+                    ret = self.run_test(themes)
+                    assert ret[0], ret[1]
+                    assert self.process_data(themes), " ".join(key) + " failed"
+                    num_passed += 1
+                except Exception as e:
+                    print("Test failed")
+                    print(e)
+                    num_failed += 1
+            debug_print("Depth tests completed")
+        finally:
+            #this step is important because the test will fail next time
+            pytest_rs_utils.kill_realsense2_camera_node()
+            self.shutdown()
+            debug_print("\nSkipped tests:" + params['device_type'])
+            debug_print("\n".join(skipped_tests))
+            print("Tests passed " + str(num_passed))
+            print("Tests skipped " + str(len(skipped_tests)))
+            print("Tests failed " + str(num_failed))
+    def disable_all_params(self):
+        self.set_bool_param('enable_color', False)
+        self.set_bool_param('enable_depth', False)
+        self.set_bool_param('enable_infra', False)
+        self.set_bool_param('enable_infra1', False)
+        self.set_bool_param('enable_infra2', False)
+