From 86fdead05db4f93f223b6d8b18c35ab6901ad6f8 Mon Sep 17 00:00:00 2001 From: "igor.udot" Date: Mon, 15 Jun 2026 14:28:26 +0800 Subject: [PATCH] ci: twai runner setup --- .../test_apps/legacy_twai/pytest_twai.py | 38 +++++++++++-------- .../test_apps/test_twai/pytest_driver_twai.py | 29 ++++++++------ .../twai/twai_network/pytest_twai_network.py | 17 +++++---- .../twai/twai_utils/pytest_twai_utils.py | 11 +++--- pytest.ini | 1 + 5 files changed, 56 insertions(+), 40 deletions(-) diff --git a/components/driver/test_apps/legacy_twai/pytest_twai.py b/components/driver/test_apps/legacy_twai/pytest_twai.py index e0ab973e77f..04eef1b5b38 100644 --- a/components/driver/test_apps/legacy_twai/pytest_twai.py +++ b/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' - 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( diff --git a/components/esp_driver_twai/test_apps/test_twai/pytest_driver_twai.py b/components/esp_driver_twai/test_apps/test_twai/pytest_driver_twai.py index e90d117b5ff..9a20e8f16d2 100644 --- a/components/esp_driver_twai/test_apps/test_twai/pytest_driver_twai.py +++ b/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 @@ -51,26 +54,24 @@ def esp_enter_flash_mode(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' - 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) @@ -78,7 +79,7 @@ def fixture_create_socket_can() -> Bus: # --------------------------------------------------------------------------- # Interactive Tests # --------------------------------------------------------------------------- -@pytest.mark.twai_std +@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']) @@ -100,7 +101,7 @@ def test_driver_twai_listen_only(dut: Dut, socket_can: Bus) -> None: esp_enter_flash_mode(dut) -@pytest.mark.twai_std +@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']) @@ -110,10 +111,16 @@ 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( diff --git a/examples/peripherals/twai/twai_network/pytest_twai_network.py b/examples/peripherals/twai/twai_network/pytest_twai_network.py index af3cb1f7c84..c24c4318052 100644 --- a/examples/peripherals/twai/twai_network/pytest_twai_network.py +++ b/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( diff --git a/examples/peripherals/twai/twai_utils/pytest_twai_utils.py b/examples/peripherals/twai/twai_utils/pytest_twai_utils.py index af35891da90..f0c7fddf258 100644 --- a/examples/peripherals/twai/twai_utils/pytest_twai_utils.py +++ b/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() @@ -607,7 +608,7 @@ def test_twai_utils_range_filters(twai: TwaiTestHelper) -> None: # --------------------------------------------------------------------------- -@pytest.mark.twai_std +@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']) diff --git a/pytest.ini b/pytest.ini index 3a715b08347..c975c7534f6 100644 --- a/pytest.ini +++ b/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