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

#Need Python 3 string formatting functions
from __future__ import print_function

import re
import os
import sys
import time
from threading import Thread
# 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 TinyFW
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", "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_CAN')
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_slave = env.get_dut("dut2", "examples/peripherals/can/can_network/can_network_slave")
    dut_listen_only = env.get_dut("dut3", "examples/peripherals/can/can_network/can_network_listen_only")

    #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] != True:
            raise Exception("One or more threads did not run successfully")

if __name__ == '__main__':
    test_can_network_example()