mirror of
https://github.com/espressif/esp-idf.git
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117 lines
2.9 KiB
Python
117 lines
2.9 KiB
Python
# SPDX-FileCopyrightText: 2021-2023 Espressif Systems (Shanghai) CO LTD
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# SPDX-License-Identifier: CC0-1.0
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import logging
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import subprocess
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from time import sleep
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import pytest
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from can import Bus
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from can import Message
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from pytest_embedded import Dut
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@pytest.mark.esp32
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@pytest.mark.esp32c3
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@pytest.mark.esp32c6
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@pytest.mark.esp32h2
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@pytest.mark.esp32s2
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@pytest.mark.esp32s3
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@pytest.mark.esp32p4
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@pytest.mark.generic
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@pytest.mark.parametrize(
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'config',
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[
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'release',
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],
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indirect=True,
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)
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def test_twai_self(dut: Dut) -> None:
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dut.run_all_single_board_cases(group='twai-loop-back')
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@pytest.fixture(name='socket_can', scope='module')
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def fixture_create_socket_can() -> Bus:
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# Set up the socket CAN with the bitrate
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start_command = 'sudo ip link set can0 up type can bitrate 250000 restart-ms 100'
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stop_command = 'sudo ip link set can0 down'
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subprocess.run(start_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
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bus = Bus(interface='socketcan', channel='can0', bitrate=250000)
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yield bus # test invoked here
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bus.shutdown()
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subprocess.run(stop_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
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@pytest.mark.esp32
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@pytest.mark.esp32c3
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@pytest.mark.esp32c6
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@pytest.mark.esp32h2
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@pytest.mark.esp32s2
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@pytest.mark.esp32s3
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@pytest.mark.esp32p4
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@pytest.mark.twai_std
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@pytest.mark.parametrize(
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'config',
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[
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'iram_safe',
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],
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indirect=True,
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)
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def test_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
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dut.serial.hard_reset()
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dut.expect_exact('Press ENTER to see the list of tests')
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# TEST_CASE("twai_listen_only", "[twai]")
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dut.write('"twai_listen_only"')
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# wait the DUT to block at the receive API
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sleep(0.03)
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message = Message(
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arbitration_id=0x123,
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is_extended_id=False,
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data=[0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88],
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)
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socket_can.send(message, timeout=0.2)
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dut.expect_unity_test_output()
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@pytest.mark.esp32
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@pytest.mark.esp32c3
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@pytest.mark.esp32c6
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@pytest.mark.esp32h2
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@pytest.mark.esp32s2
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@pytest.mark.esp32s3
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@pytest.mark.esp32p4
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@pytest.mark.twai_std
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@pytest.mark.parametrize(
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'config',
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[
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'release',
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],
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indirect=True,
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)
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def test_twai_remote_request(dut: Dut, socket_can: Bus) -> None:
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dut.serial.hard_reset()
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dut.expect_exact('Press ENTER to see the list of tests')
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# TEST_CASE("twai_remote_request", "[twai]")
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dut.write('"twai_remote_request"')
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while True:
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req = socket_can.recv(timeout=0.2)
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# wait for the remote request frame
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if req is not None and req.is_remote_frame:
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break
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logging.info(f'Received message: {req}')
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reply = Message(
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arbitration_id=req.arbitration_id,
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is_extended_id=req.is_extended_id,
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data=[0x10, 0x20, 0x30, 0x40, 0x50, 0x60, 0x70, 0x80],
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)
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socket_can.send(reply, timeout=0.2)
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print('send', reply)
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dut.expect_unity_test_output()
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