esp-idf/components/driver/test_apps/twai/pytest_twai.py

108 lines
2.6 KiB
Python
Raw Normal View History

# SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
# SPDX-License-Identifier: CC0-1.0
import logging
from time import sleep
import pytest
from can import Bus, Message
from pytest_embedded import Dut
@pytest.mark.esp32
@pytest.mark.esp32c3
@pytest.mark.esp32c6
2023-02-14 02:25:10 -05:00
@pytest.mark.esp32h2
@pytest.mark.esp32s2
@pytest.mark.esp32s3
@pytest.mark.generic
@pytest.mark.parametrize(
'config',
[
'release',
],
indirect=True,
)
def test_twai_self(dut: Dut) -> None:
dut.expect_exact('Press ENTER to see the list of tests')
dut.write('[twai-loop-back]')
dut.expect_unity_test_output()
@pytest.fixture(name='socket_can', scope='module')
def fixture_create_socket_can() -> Bus:
# See README.md for instructions on how to set up the socket CAN with the bitrate
bus = Bus(interface='socketcan', channel='can0', bitrate=250000)
yield bus
bus.shutdown()
@pytest.mark.esp32
@pytest.mark.esp32c3
@pytest.mark.esp32c6
2023-02-14 02:25:10 -05:00
@pytest.mark.esp32h2
@pytest.mark.esp32s2
@pytest.mark.esp32s3
@pytest.mark.skip(reason='Runner not set up yet')
@pytest.mark.parametrize(
'config',
[
'iram_safe',
],
indirect=True,
)
def test_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
dut.expect_exact('Press ENTER to see the list of tests')
# TEST_CASE("twai_listen_only", "[twai]")
dut.write('"twai_listen_only"')
# wait the DUT to block at the receive API
sleep(0.03)
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()
@pytest.mark.esp32
@pytest.mark.esp32c3
@pytest.mark.esp32c6
2023-02-14 02:25:10 -05:00
@pytest.mark.esp32h2
@pytest.mark.esp32s2
@pytest.mark.esp32s3
@pytest.mark.skip(reason='Runner not set up yet')
@pytest.mark.parametrize(
'config',
[
'release',
],
indirect=True,
)
def test_twai_remote_request(dut: Dut, socket_can: Bus) -> None:
dut.expect_exact('Press ENTER to see the list of tests')
# 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
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)
dut.expect_unity_test_output()