esp-idf/examples/peripherals/can/can_network/example_test.py

# Need Python 3 string formatting functions
from __future__ import print_function

import os
import sys
from threading import Thread
try:
    import IDF
    from IDF.IDFDUT import ESP32DUT
except ImportError:
    # The test cause is dependent on the Tiny Test Framework. Ensure the
    # `TEST_FW_PATH` environment variable is set to `$IDF_PATH/tools/tiny-test-fw`
    test_fw_path = os.getenv("TEST_FW_PATH")
    if test_fw_path and test_fw_path not in sys.path:
        sys.path.insert(0, test_fw_path)
    import IDF

# Define tuple of strings to expect for each DUT.
master_expect = ("CAN Master: Driver installed", "CAN Master: Driver uninstalled")
slave_expect = ("CAN Slave: Driver installed", "CAN Slave: Driver uninstalled")
listen_only_expect = ("CAN Listen Only: Driver installed", "CAN Listen Only: Driver uninstalled")


def dut_thread_callback(**kwargs):
    # Parse keyword arguments
    dut = kwargs['dut']             # Get DUT from kwargs
    expected = kwargs['expected']
    result = kwargs['result']       # Get result[out] from kwargs. MUST be of mutable type e.g. list

    # Must reset again as flashing during start_app will reset multiple times, causing unexpected results
    dut.reset()

    for string in expected:
        dut.expect(string, 20)

    # Mark thread has run to completion without any exceptions
    result[0] = True


@IDF.idf_example_test(env_tag='Example_CAN2', ignore=True)
def test_can_network_example(env, extra_data):

    # Get device under test. "dut1", "dut2", and "dut3" must be properly defined in EnvConfig
    dut_master = env.get_dut("dut1", "examples/peripherals/can/can_network/can_network_master", dut_class=ESP32DUT)
    dut_slave = env.get_dut("dut2", "examples/peripherals/can/can_network/can_network_slave", dut_class=ESP32DUT)
    dut_listen_only = env.get_dut("dut3", "examples/peripherals/can/can_network/can_network_listen_only", dut_class=ESP32DUT)

    # Flash app onto each DUT, each DUT is reset again at the start of each thread
    dut_master.start_app()
    dut_slave.start_app()
    dut_listen_only.start_app()

    # Create dict of keyword arguments for each dut
    results = [[False], [False], [False]]
    master_kwargs = {"dut": dut_master, "result": results[0], "expected": master_expect}
    slave_kwargs = {"dut": dut_slave, "result": results[1], "expected": slave_expect}
    listen_only_kwargs = {"dut": dut_listen_only, "result": results[2], "expected": listen_only_expect}

    # Create thread for each dut
    dut_master_thread = Thread(target=dut_thread_callback, name="Master Thread", kwargs=master_kwargs)
    dut_slave_thread = Thread(target=dut_thread_callback, name="Slave Thread", kwargs=slave_kwargs)
    dut_listen_only_thread = Thread(target=dut_thread_callback, name="Listen Only Thread", kwargs=listen_only_kwargs)

    # Start each thread
    dut_listen_only_thread.start()
    dut_master_thread.start()
    dut_slave_thread.start()

    # Wait for threads to complete
    dut_listen_only_thread.join()
    dut_master_thread.join()
    dut_slave_thread.join()

    # check each thread ran to completion
    for result in results:
        if result[0] is not True:
            raise Exception("One or more threads did not run successfully")


if __name__ == '__main__':
    test_can_network_example()