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ci: twai runner setup

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This commit is contained in:
igor.udot
2026-06-17 13:45:20 +08:00
parent 7a573330b8
commit d3cbee3d65
5 changed files with 56 additions and 40 deletions
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components/driver/test_apps/legacy_twai/pytest_twai.py
+22 -16
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@@ -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(