retry thrice finding devices with Ykush reset

realsense2_camera/test/live_camera/rosci.py

@@ -25,6 +25,8 @@
     #For running this script locally
     #Extract the root where both realsense-ros and librealsense are cloned
     ws_local = '/'.join(os.path.abspath( __file__ ).split( os.path.sep )[0:-5])
+    print("##Check point")
+    print(ws_local)
     #expected to have 'librealsense' repo in parallel to 'realsense-ros'
     assert os.path.exists( os.path.join(ws_local, 'librealsense')), f" 'librealsense' doesn't exist at {ws_local} "
     sys.path.append( os.path.join( ws_local, 'librealsense/unit-tests/py' ))
@@ -50,15 +52,15 @@ def usage():
     print( '        --device <>     Run only on the specified device(s); list of devices separated by ',', No white spaces' )
     print( '                        e.g.: --device=d455,d435i,d585 (or) --device d455,d435i,d585 ')
     print( '                        Note: if --device option not used, tests run on all connected devices ')
-        
+
     sys.exit( 2 )
 
 def command(dev_name, test=None):
     cmd =  ['pytest-3']
     cmd += ['-s']
     cmd += ['-m', ''.join(dev_name)]
     if test:
-        cmd += ['-k', f'{test}'] 
+        cmd += ['-k', f'{test}']
     cmd += [''.join(dir_live_tests)]
     cmd += ['--debug']
     cmd += [f'--junit-xml={logdir}/{dev_name.upper()}_pytest.xml']
@@ -70,7 +72,7 @@ def run_test(cmd, test=None, dev_name=None, stdout=None, append =False):
         if test:
             stdout = stdout + os.sep + str(dev_name.upper()) + '_' + test + '.log'
         else:
-            stdout = stdout + os.sep + str(dev_name.upper()) + '_' + 'full.log' 
+            stdout = stdout + os.sep + str(dev_name.upper()) + '_' + 'full.log'
         if stdout is None:
             sys.stdout.flush()
         elif stdout and stdout != subprocess.PIPE:
@@ -93,10 +95,10 @@ def run_test(cmd, test=None, dev_name=None, stdout=None, append =False):
     except Exception as e:
             log.e("---Test Failed---")
             log.w( "Error Exception:\n ",e )
-                        
+
     finally:
         if handle:
-            handle.close()      
+            handle.close()
         junit_xml_parsing(f'{dev_name.upper()}_pytest.xml')
 
 def junit_xml_parsing(xml_file):
@@ -121,24 +123,29 @@ def junit_xml_parsing(xml_file):
         new_xml = xml_file.split('.')[0]
         tree.write(f'{logdir}/{new_xml}_refined.xml')
 
-def find_devices_run_tests():     
-    global logdir, device_set
+def find_devices_run_tests():
+    from rspy import devices
+    global logdir, device_set, _device_by_sn
+    max_retry = 3
 
     try:
         os.makedirs( logdir, exist_ok=True )
-
-        from rspy import devices
+
         #Update dict '_device_by_sn' from devices module of rspy
-        devices.query( hub_reset = hub_reset )
-        global _device_by_sn
+        while(max_retry and not devices._device_by_sn):
+            subprocess.run('ykushcmd ykush3 --reset', shell=True)
+            time.sleep(2.0)
+            devices.query( hub_reset = hub_reset )
+            max_retry -= 1
+
         if not devices._device_by_sn:
             assert False, 'No Camera device detected!'
         else:
-            connected_devices = [device.name for device in devices._device_by_sn.values()]         
-            log.i('Connected devices:', connected_devices)        
-        
+            connected_devices = [device.name for device in devices._device_by_sn.values()]
+            log.i('Connected devices:', connected_devices)
+
         testname = regex if regex else None
-        
+
         if device_set:
             #Loop in for user specified devices and run tests only on them
             devices_not_found = []
@@ -183,7 +190,7 @@ def find_devices_run_tests():
             regex = arg
         elif opt == '--device':
             device_set = arg.split(',')
-    
+
     find_devices_run_tests()
 
 sys.exit( 0 )