ci: twai runner setup

components/driver/test_apps/legacy_twai/pytest_twai.py

@@ -1,6 +1,7 @@
-# SPDX-FileCopyrightText: 2021-2025 Espressif Systems (Shanghai) CO LTD
+# SPDX-FileCopyrightText: 2021-2026 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
 import logging
+import os
 import subprocess
 import time
 
@@ -14,6 +15,9 @@ from pytest_embedded_idf.utils import idf_parametrize
 # Loop Back Tests
 # ---------------------------------------------------------------------------
 
+can_env = os.getenv('CAN_PORT', 'can0')
+print(f'CAN_PORT={can_env}')
+
 
 @pytest.mark.generic
 @pytest.mark.parametrize(
@@ -54,28 +58,26 @@ def esp_reset_and_wait_ready(dut: Dut) -> None:
 @pytest.fixture(name='socket_can')
 def fixture_create_socket_can() -> Bus:
     # Set up the socket CAN with the bitrate
-    start_command = 'sudo -n ip link set can0 up type can bitrate 250000 restart-ms 100'
-    stop_command = 'sudo -n ip link set can0 down'
-    status_command = 'sudo -n ip -details link show can0'
+    start_command = f'sudo -n ip link set {can_env} up type can bitrate 250000'
+    stop_command = f'sudo -n ip link set {can_env} down'
+    status_command = f'sudo -n ip -details link show {can_env}'
 
     try:
-        result = subprocess.run(status_command, shell=True, capture_output=True, text=True)
+        result = subprocess.run(status_command, shell=True, capture_output=True, text=True, timeout=2)
         if result.returncode != 0:
-            raise Exception('CAN interface "can0" not found')
+            raise Exception(f'CAN interface "{can_env}" not found')
 
         if 'UP' in result.stdout:  # Close the bus anyway if it is already up
-            subprocess.run(stop_command, shell=True, capture_output=True, text=True)
-        subprocess.run(start_command, shell=True, capture_output=True, text=True)
+            subprocess.run(stop_command, shell=True, capture_output=True, text=True, timeout=2)
+        subprocess.run(start_command, shell=True, capture_output=True, text=True, timeout=2)
 
         time.sleep(0.5)
-        bus = Bus(interface='socketcan', channel='can0', bitrate=250000)
+        bus = Bus(interface='socketcan', channel=f'{can_env}', bitrate=250000)
         yield bus  # test invoked here
 
         bus.shutdown()
-    except Exception as e:
-        pytest.skip(f'Open usb-can bus Error: {str(e)}')
     finally:
-        subprocess.run(stop_command, shell=True, capture_output=True, text=True)
+        subprocess.run(stop_command, shell=True, capture_output=True, text=True, timeout=2)
 
 
 # ---------------------------------------------------------------------------
@@ -83,7 +85,7 @@ def fixture_create_socket_can() -> Bus:
 # ---------------------------------------------------------------------------
 
 
-@pytest.mark.twai_std
+@pytest.mark.twai_adapter
 @pytest.mark.parametrize(
     'config',
     [
@@ -113,7 +115,7 @@ def test_legacy_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
     esp_enter_flash_mode(dut)
 
 
-@pytest.mark.twai_std
+@pytest.mark.twai_adapter
 @pytest.mark.parametrize(
     'config',
     [
@@ -130,12 +132,16 @@ def test_legacy_twai_remote_request(dut: Dut, socket_can: Bus) -> None:
     # TEST_CASE("twai_remote_request", "[twai]")
     dut.write('"twai_remote_request"')
 
-    while True:
+    deadline = time.time() + 2.0
+    req = None
+    while time.time() < deadline:
         req = socket_can.recv(timeout=0.2)
-        # wait for the remote request frame
         if req is not None and req.is_remote_frame:
             break
 
+    if req is None:
+        raise Exception('Remote frame not received')
+
     logging.info(f'Received message: {req}')
 
     reply = Message(

components/esp_driver_twai/test_apps/test_twai/pytest_driver_twai.py

@@ -1,6 +1,6 @@
 # SPDX-FileCopyrightText: 2025-2026 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Apache-2.0
-
+import os
 import subprocess
 import time
 
@@ -11,6 +11,9 @@ from pytest_embedded import Dut
 from pytest_embedded_idf.utils import idf_parametrize
 from pytest_embedded_idf.utils import soc_filtered_targets
 
+can_env = os.getenv('CAN_PORT', 'can0')
+print(f'CAN_PORT={can_env}')
+
 
 # ---------------------------------------------------------------------------
 # Loop Back Tests
@@ -56,26 +59,24 @@ def esp_reset_and_wait_ready(dut: Dut) -> None:
 @pytest.fixture(name='socket_can')
 def fixture_create_socket_can() -> Bus:
     # Set up the socket CAN with the bitrate
-    start_command = 'sudo -n ip link set can0 up type can bitrate 250000 restart-ms 100'
-    stop_command = 'sudo -n ip link set can0 down'
-    status_command = 'sudo -n ip -details link show can0'
+    start_command = f'sudo -n ip link set {can_env} up type can bitrate 250000'
+    stop_command = f'sudo -n ip link set {can_env} down'
+    status_command = f'sudo -n ip -details link show {can_env}'
 
     try:
         result = subprocess.run(status_command, shell=True, capture_output=True, text=True)
         if result.returncode != 0:
-            raise Exception('CAN interface "can0" not found')
+            raise Exception(f'CAN interface "{can_env}" not found')
 
         if 'UP' in result.stdout:  # Close the bus anyway if it is already up
             subprocess.run(stop_command, shell=True, capture_output=True, text=True)
         subprocess.run(start_command, shell=True, capture_output=True, text=True)
 
         time.sleep(0.5)
-        bus = Bus(interface='socketcan', channel='can0', bitrate=250000)
+        bus = Bus(interface='socketcan', channel=f'{can_env}', bitrate=250000)
         yield bus  # test invoked here
 
         bus.shutdown()
-    except Exception as e:
-        pytest.skip(f'Open usb-can bus Error: {str(e)}')
     finally:
         subprocess.run(stop_command, shell=True, capture_output=True, text=True)
 
@@ -83,8 +84,8 @@ def fixture_create_socket_can() -> Bus:
 # ---------------------------------------------------------------------------
 # Interactive Tests
 # ---------------------------------------------------------------------------
-@pytest.mark.twai_std
-@pytest.mark.temp_skip_ci(targets=['esp32h4'], reason='no runner')
+@pytest.mark.twai_adapter
+@pytest.mark.temp_skip_ci(targets=['esp32s31'], reason='no runner')
 @pytest.mark.parametrize('config', ['release'], indirect=True)
 @idf_parametrize('target', soc_filtered_targets('SOC_TWAI_SUPPORTED == 1'), indirect=['target'])
 def test_driver_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
@@ -105,8 +106,8 @@ def test_driver_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
     esp_enter_flash_mode(dut)
 
 
-@pytest.mark.twai_std
-@pytest.mark.temp_skip_ci(targets=['esp32h4'], reason='no runner')
+@pytest.mark.twai_adapter
+@pytest.mark.temp_skip_ci(targets=['esp32s31'], reason='no runner')
 @pytest.mark.parametrize('config', ['release'], indirect=True)
 @idf_parametrize('target', soc_filtered_targets('SOC_TWAI_SUPPORTED == 1'), indirect=['target'])
 def test_driver_twai_remote_request(dut: Dut, socket_can: Bus) -> None:
@@ -115,10 +116,16 @@ def test_driver_twai_remote_request(dut: Dut, socket_can: Bus) -> None:
     dut.write('"twai_remote_request"')
 
     print('Waiting remote frame ...')
-    while True:
+    deadline = time.time() + 5.0
+    req = None
+    while time.time() < deadline:
         req = socket_can.recv(timeout=0.2)
         if req is not None and req.is_remote_frame:
             break
+
+    if req is None:
+        raise Exception('Remote frame not received')
+
     print(f'USB Socket CAN Received: {req}')
 
     reply = Message(

examples/peripherals/twai/twai_network/pytest_twai_network.py

@@ -1,5 +1,6 @@
 # SPDX-FileCopyrightText: 2025-2026 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
+import os
 import os.path
 import subprocess
 
@@ -8,23 +9,23 @@ from can import Bus
 from can import Message
 from pytest_embedded_idf import IdfDut
 
+can_env = os.getenv('CAN_PORT', 'can0')
+print(f'CAN_PORT={can_env}')
+
 
 # Socket CAN fixture
 @pytest.fixture(name='socket_can')
 def fixture_create_socket_can() -> Bus:
-    start_command = 'sudo ip link set can0 up type can bitrate 1000000'
-    stop_command = 'sudo ip link set can0 down'
-    try:
-        subprocess.run(start_command, shell=True, capture_output=True, text=True)
-    except Exception as e:
-        print(f'Open bus Error: {e}')
-    bus = Bus(interface='socketcan', channel='can0', bitrate=1000000)
+    start_command = f'sudo ip link set {can_env} up type can bitrate 1000000'
+    stop_command = f'sudo ip link set {can_env} down'
+    subprocess.run(start_command, shell=True, capture_output=True, text=True)
+    bus = Bus(interface='socketcan', channel=f'{can_env}', bitrate=1000000)
     yield bus  # test invoked here
     bus.shutdown()
     subprocess.run(stop_command, shell=True, capture_output=True, text=True)
 
 
-@pytest.mark.twai_std
+@pytest.mark.twai_adapter
 @pytest.mark.parametrize('count', [2], indirect=True)
 @pytest.mark.timeout(120)
 @pytest.mark.parametrize(

examples/peripherals/twai/twai_utils/pytest_twai_utils.py

@@ -1,6 +1,6 @@
 # SPDX-FileCopyrightText: 2025-2026 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Apache-2.0
-
+import os
 import subprocess
 import time
 from collections.abc import Generator
@@ -18,6 +18,9 @@ from pytest_embedded_idf.utils import soc_filtered_targets
 # Constants / Helpers
 # ---------------------------------------------------------------------------
 
+can_env = os.getenv('CAN_PORT', 'can0')
+print(f'CAN_PORT={can_env}')
+
 PROMPTS = ['twai>']
 
 # Hardware configuration
@@ -253,7 +256,7 @@ class TwaiTestHelper:
 class CanBusManager:
     """CAN bus manager for external hardware tests"""
 
-    def __init__(self, interface: str = 'can0'):
+    def __init__(self, interface: str = can_env):
         self.interface = interface
         self.bus: can.Bus | None = None
 
@@ -280,8 +283,6 @@ class CanBusManager:
 
             self.bus = can.Bus(interface='socketcan', channel=self.interface)
             yield self.bus
-        except Exception as e:
-            pytest.skip(f'CAN interface not available: {str(e)}')
         finally:
             if self.bus:
                 self.bus.shutdown()
@@ -593,8 +594,9 @@ def test_twai_utils_range_filters(twai: TwaiTestHelper) -> None:
 # ---------------------------------------------------------------------------
 
 
-@pytest.mark.twai_std
-@pytest.mark.temp_skip_ci(targets=['esp32h4'], reason='no runner')
+@pytest.mark.twai_adapter
+@pytest.mark.temp_skip_ci(targets=['esp32h4'], reason='no runner')  # TODO: IDFCI-11110
+@pytest.mark.temp_skip_ci(targets=['esp32s31'], reason='no runner')
 @idf_parametrize('target', soc_filtered_targets('SOC_TWAI_SUPPORTED == 1'), indirect=['target'])
 def test_twai_utils_external_communication(twai: TwaiTestHelper, usb_can: CanBusManager) -> None:
     test_frames = [

pytest.ini

@@ -124,6 +124,7 @@ env_markers =
     sdio_multidev_p4_c5: Test sdio multi board, esp32p4+esp32c5
     usj_device: Test usb_serial_jtag and usb_serial_jtag is used as serial only (not console)
     twai_std: twai runner with all twai supported targets connect to usb-can adapter
+    twai_adapter: runner with multiple twai_std
     lp_i2s: lp_i2s runner tested with hp_i2s
     ram_app: ram_app runners
     recovery_bootloader: Runner with recovery bootloader offset set in