Temp pytest

board/drivers/can_common.h

@@ -18,9 +18,8 @@ bool can_loopback = false;
 
 // ********************* instantiate queues *********************
 #define can_buffer(x, size) \
-  static CANPacket_t elems_##x[size]; \
   extern can_ring can_##x; \
-  can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CANPacket_t *)&(elems_##x) };
+  can_ring can_##x = { .w_ptr = 0, .r_ptr = 0};
 
 #define CAN_RX_BUFFER_SIZE 4096U
 #define CAN_TX_BUFFER_SIZE 416U

pyproject.toml

@@ -10,6 +10,7 @@ flake8-implicit-str-concat.allow-multiline=false
 
 [tool.ruff.lint.flake8-tidy-imports.banned-api]
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
+"unittest".msg = "Use pytest"
 
 [tool.pytest.ini_options]
 addopts = "-n auto --ignore-glob='*.sh'"

setup.py

@@ -57,6 +57,7 @@ def find_version(*file_paths):
       "pytest-xdist",
       "pytest-timeout",
       "pytest-randomly",
+      "pytest-subtests",
       "parameterized",
       "pre-commit",
       "numpy",

tests/libpanda/SConscript

@@ -43,6 +43,7 @@ if GetOption('ubsan'):
 
 panda = env.SharedObject("panda.os", "panda.c")
 libpanda = env.SharedLibrary("libpanda.so", [panda])
+libpanda2 = env.SharedLibrary("libpanda2.so", [panda])
 
 if GetOption('coverage'):
   env.Append(

tests/libpanda/libpanda_py.py

@@ -7,20 +7,21 @@
 
 libpanda_dir = os.path.dirname(os.path.abspath(__file__))
 libpanda_fn = os.path.join(libpanda_dir, "libpanda.so")
+libpanda_fn2 = os.path.join(libpanda_dir, "libpanda2.so")
 
 ffi = FFI()
 
 ffi.cdef("""
 typedef struct {
-  unsigned char reserved : 1;
-  unsigned char bus : 3;
-  unsigned char data_len_code : 4;
-  unsigned char rejected : 1;
-  unsigned char returned : 1;
-  unsigned char extended : 1;
-  unsigned int addr : 29;
-  unsigned char checksum;
-  unsigned char data[64];
+unsigned char reserved : 1;
+unsigned char bus : 3;
+unsigned char data_len_code : 4;
+unsigned char rejected : 1;
+unsigned char returned : 1;
+unsigned char extended : 1;
+unsigned int addr : 29;
+unsigned char checksum;
+unsigned char data[64];
 } CANPacket_t;
 """, packed=True)
 
@@ -33,16 +34,16 @@
 
 ffi.cdef("""
 typedef struct {
-  volatile uint32_t w_ptr;
-  volatile uint32_t r_ptr;
-  uint32_t fifo_size;
-  CANPacket_t *elems;
+volatile uint32_t w_ptr;
+volatile uint32_t r_ptr;
+uint32_t fifo_size;
+CANPacket_t *elems;
 } can_ring;
 
-extern can_ring *rx_q;
-extern can_ring *tx1_q;
-extern can_ring *tx2_q;
-extern can_ring *tx3_q;
+extern can_ring rx_q;
+extern can_ring tx1_q;
+extern can_ring tx2_q;
+extern can_ring tx3_q;
 
 bool can_pop(can_ring *q, CANPacket_t *elem);
 bool can_push(can_ring *q, CANPacket_t *elem);
@@ -80,6 +81,7 @@ def set_safety_hooks(self, mode: int, param: int) -> int: ...
 
 
 libpanda: Panda = ffi.dlopen(libpanda_fn)
+libpanda2: Panda = ffi.dlopen(libpanda_fn2)
 
 
 # helpers

tests/libpanda/panda.c

@@ -19,10 +19,15 @@ void can_tx_comms_resume_spi(void) { };
 #include "main_definitions.h"
 #include "drivers/can_common.h"
 
-can_ring *rx_q = &can_rx_q;
-can_ring *tx1_q = &can_tx1_q;
-can_ring *tx2_q = &can_tx2_q;
-can_ring *tx3_q = &can_tx3_q;
+const can_ring rx_q_copy = can_rx_q;
+const can_ring tx1_q_copy = can_tx1_q;
+const can_ring tx2_q_copy = can_tx2_q;
+const can_ring tx3_q_copy = can_tx3_q;
+
+can_ring *rx_q = &rx_q_copy;
+can_ring *tx1_q = &tx1_q_copy;
+can_ring *tx2_q = &tx2_q_copy;
+can_ring *tx3_q = &tx3_q_copy;
 
 #include "comms_definitions.h"
 #include "can_comms.h"