fix(twai): enable twai interactive test for all targets on new std runner

.gitlab/ci/target-test.yml

@@ -926,6 +926,60 @@ pytest_components_esp32_psramv0:
       artifacts: false
   tags: [ esp32, psramv0 ]
 
+pytest_components_esp32_twai_std:
+  extends:
+    - .pytest_components_dir_template
+    - .rules:test:component_ut-esp32
+  needs:
+    - job: build_pytest_components_esp32
+      artifacts: false
+  tags: [ esp32, twai_std ]
+
+pytest_components_esp32s2_twai_std:
+  extends:
+    - .pytest_components_dir_template
+    - .rules:test:component_ut-esp32s2
+  needs:
+    - job: build_pytest_components_esp32s2
+      artifacts: false
+  tags: [ esp32s2, twai_std ]
+
+pytest_components_esp32s3_twai_std:
+  extends:
+    - .pytest_components_dir_template
+    - .rules:test:component_ut-esp32s3
+  needs:
+    - job: build_pytest_components_esp32s3
+      artifacts: false
+  tags: [ esp32s3, twai_std ]
+
+pytest_components_esp32c3_twai_std:
+  extends:
+    - .pytest_components_dir_template
+    - .rules:test:component_ut-esp32c3
+  needs:
+    - job: build_pytest_components_esp32c3
+      artifacts: false
+  tags: [ esp32c3, twai_std ]
+
+pytest_components_esp32c6_twai_std:
+  extends:
+    - .pytest_components_dir_template
+    - .rules:test:component_ut-esp32c6
+  needs:
+    - job: build_pytest_components_esp32c6
+      artifacts: false
+  tags: [ esp32c6, twai_std ]
+
+pytest_components_esp32h2_twai_std:
+  extends:
+    - .pytest_components_dir_template
+    - .rules:test:component_ut-esp32h2
+  needs:
+    - job: build_pytest_components_esp32h2
+      artifacts: false
+  tags: [ esp32h2, twai_std ]
+
 pytest_components_esp32s2_generic:
   extends:
     - .pytest_components_dir_template

components/driver/test_apps/.build-test-rules.yml

@@ -93,6 +93,10 @@ components/driver/test_apps/twai:
     - if: IDF_TARGET == "esp32p4"
       temporary: true
       reason: test not pass, should be re-enable # TODO: IDF-8966
+  depends_filepatterns:
+    - components/driver/twai/**/*
+  depends_components:
+    - esp_driver_gpio
 
 components/driver/test_apps/usb_serial_jtag:
   disable:

components/driver/test_apps/twai/main/test_twai_interactive.c

@@ -27,7 +27,7 @@ TEST_CASE("twai_listen_only", "[twai]")
 {
     twai_timing_config_t t_config = TWAI_TIMING_CONFIG_250KBITS();
     twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
-    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(0, 2, TWAI_MODE_LISTEN_ONLY);
+    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(4, 5, TWAI_MODE_LISTEN_ONLY);
 #if CONFIG_TWAI_ISR_IN_IRAM
     g_config.intr_flags |= ESP_INTR_FLAG_IRAM;
 #endif
@@ -60,8 +60,10 @@ TEST_CASE("twai_remote_request", "[twai]")
     twai_handle_t bus_handle;
     twai_timing_config_t t_config = TWAI_TIMING_CONFIG_250KBITS();
     twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
-    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(0, 2, TWAI_MODE_NORMAL);
+    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(4, 5, TWAI_MODE_NORMAL);
-    g_config.controller_id = 2;
+#if CONFIG_IDF_TARGET_ESP32C6
+    g_config.controller_id = 1;
+#endif
     TEST_ESP_OK(twai_driver_install_v2(&g_config, &t_config, &f_config, &bus_handle));
     TEST_ESP_OK(twai_start_v2(bus_handle));
 

components/driver/test_apps/twai/pytest_twai.py

@@ -2,6 +2,7 @@
 # SPDX-License-Identifier: CC0-1.0
 
 import logging
+import subprocess
 from time import sleep
 
 import pytest
@@ -29,10 +30,14 @@ def test_twai_self(dut: Dut) -> None:
 
 @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
+    # Set up the socket CAN with the bitrate
+    start_command = 'sudo ip link set can0 up type can bitrate 250000 restart-ms 100'
+    stop_command = 'sudo ip link set can0 down'
+    subprocess.run(start_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
     bus = Bus(interface='socketcan', channel='can0', bitrate=250000)
-    yield bus
+    yield bus   # test invoked here
     bus.shutdown()
+    subprocess.run(stop_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
 
 
 @pytest.mark.esp32
@@ -41,7 +46,7 @@ def fixture_create_socket_can() -> Bus:
 @pytest.mark.esp32h2
 @pytest.mark.esp32s2
 @pytest.mark.esp32s3
-@pytest.mark.skip(reason='Runner not set up yet')
+@pytest.mark.twai_std
 @pytest.mark.parametrize(
     'config',
     [
@@ -50,6 +55,7 @@ def fixture_create_socket_can() -> Bus:
     indirect=True,
 )
 def test_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
+    dut.serial.hard_reset()
     dut.expect_exact('Press ENTER to see the list of tests')
 
     # TEST_CASE("twai_listen_only", "[twai]")
@@ -73,7 +79,7 @@ def test_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
 @pytest.mark.esp32h2
 @pytest.mark.esp32s2
 @pytest.mark.esp32s3
-@pytest.mark.skip(reason='Runner not set up yet')
+@pytest.mark.twai_std
 @pytest.mark.parametrize(
     'config',
     [
@@ -82,6 +88,7 @@ def test_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
     indirect=True,
 )
 def test_twai_remote_request(dut: Dut, socket_can: Bus) -> None:
+    dut.serial.hard_reset()
     dut.expect_exact('Press ENTER to see the list of tests')
 
     # TEST_CASE("twai_remote_request", "[twai]")

tools/ci/idf_pytest/constants.py

@@ -108,7 +108,8 @@ ENV_MARKERS = {
     'twai_network': 'multiple runners form a TWAI network.',
     'sdio_master_slave': 'Test sdio multi board, esp32+esp32',
     'sdio_multidev_32_c6': 'Test sdio multi board, esp32+esp32c6',
-    'usj_device': 'Test usb_serial_jtag and usb_serial_jtag is used as serial only (not console)'
+    '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'
 }