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Merge branch 'ci/twai-runner-update-v.6.1' into 'release/v6.1'

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ci: twai runner setup v6.1

See merge request espressif/esp-idf!49802
This commit is contained in:
morris
2026-06-30 12:02:03 +08:00
parent 25d10ea846 031c500d61
commit fc14f1009b
5 changed files with 197 additions and 159 deletions
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components/driver/test_apps/legacy_twai/pytest_twai.py
+54 -45
View File
@@ -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',
[
@@ -95,25 +97,27 @@ def fixture_create_socket_can() -> Bus:
'target', ['esp32', 'esp32c3', 'esp32c6', 'esp32h2', 'esp32s2', 'esp32s3', 'esp32p4'], indirect=['target']
)
def test_legacy_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
esp_reset_and_wait_ready(dut)
try:
esp_reset_and_wait_ready(dut)
# TEST_CASE("twai_listen_only", "[twai]")
dut.write('"twai_listen_only"')
# TEST_CASE("twai_listen_only", "[twai]")
dut.write('"twai_listen_only"')
# wait the DUT to start listening
time.sleep(0.1)
# wait the DUT to start listening
time.sleep(0.1)
message = Message(
arbitration_id=0x123,
is_extended_id=False,
data=[0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88],
)
socket_can.send(message, timeout=0.2)
dut.expect_unity_test_output()
esp_enter_flash_mode(dut)
message = Message(
arbitration_id=0x123,
is_extended_id=False,
data=[0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88],
)
socket_can.send(message, timeout=0.2)
dut.expect_unity_test_output()
finally:
esp_enter_flash_mode(dut)
@pytest.mark.twai_std
@pytest.mark.twai_adapter
@pytest.mark.parametrize(
'config',
[
@@ -125,26 +129,31 @@ def test_legacy_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
'target', ['esp32', 'esp32c3', 'esp32c6', 'esp32h2', 'esp32s2', 'esp32s3', 'esp32p4'], indirect=['target']
)
def test_legacy_twai_remote_request(dut: Dut, socket_can: Bus) -> None:
esp_reset_and_wait_ready(dut)
try:
esp_reset_and_wait_ready(dut)
# TEST_CASE("twai_remote_request", "[twai]")
dut.write('"twai_remote_request"')
# TEST_CASE("twai_remote_request", "[twai]")
dut.write('"twai_remote_request"')
while True:
req = socket_can.recv(timeout=0.2)
# wait for the remote request frame
if req is not None and req.is_remote_frame:
break
deadline = time.time() + 2.0
req = None
while time.time() < deadline:
req = socket_can.recv(timeout=0.2)
if req is not None and req.is_remote_frame:
break
logging.info(f'Received message: {req}')
if req is None:
raise Exception('Remote frame not received')
logging.info(f'Received message: {req}')
reply = Message(
arbitration_id=req.arbitration_id,
is_extended_id=req.is_extended_id,
data=[0x10, 0x20, 0x30, 0x40, 0x50, 0x60, 0x70, 0x80],
)
socket_can.send(reply, timeout=0.2)
print('send', reply)
reply = Message(
arbitration_id=req.arbitration_id,
is_extended_id=req.is_extended_id,
data=[0x10, 0x20, 0x30, 0x40, 0x50, 0x60, 0x70, 0x80],
)
socket_can.send(reply, timeout=0.2)
print('send', reply)
dut.expect_unity_test_output()
esp_enter_flash_mode(dut)
dut.expect_unity_test_output()
finally:
esp_enter_flash_mode(dut)