> ## Documentation Index
> Fetch the complete documentation index at: https://motorbridge.seeedstudio.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Reliability Tool Overview

## Channel Compatibility (PCAN + slcan + Damiao Serial Bridge)

* Linux SocketCAN uses interface names directly: `can0`, `can1`, `slcan0`.
* For USB-serial CAN adapters, bring up `slcan0` first: `sudo slcand -o -c -s8 /dev/ttyUSB0 slcan0 && sudo ip link set slcan0 up`.
* Damiao-only serial bridge transport is also available in CLI (`--transport dm-serial --serial-port /dev/ttyACM0 --serial-baud 921600`).
* Full Damiao serial-bridge interface list and command patterns are documented in `motor_cli/README.md` (section `3.6` in `motor_cli/README.zh-CN.md`).
* On Linux SocketCAN, do not append bitrate in `--channel` (for example `can0@1000000` is invalid).
* On Windows (PCAN backend), `can0/can1` map to `PCAN_USBBUS1/2`; optional `@bitrate` suffix is supported.

This folder provides practical checks for:

* endurance (long-run control/read loop)
* error/timeout behavior (automated unit tests + manual HIL checks)
* disconnect/recovery (manual HIL steps)
* cross-platform scan consistency (Linux vs Windows)

## 1) Endurance

Run one command repeatedly and generate a JSON report:

Windows (PCAN) example:

```bash theme={null}
python tools/reliability/reliability_runner.py endurance \
  --command "cargo run -p motor_cli --release -- --vendor damiao --channel can0@1000000 --model 4340P --motor-id 0x01 --feedback-id 0x11 --mode pos-vel --pos 3.1416 --vlim 2.0 --loop 1 --dt-ms 20" \
  --duration-sec 1800 \
  --interval-sec 0.5 \
  --report tools/reliability/reports/windows_endurance_4340p.json
```

Linux (SocketCAN) example (`can0` or `slcan0`):

```bash theme={null}
python tools/reliability/reliability_runner.py endurance \
  --command "cargo run -p motor_cli --release -- --vendor damiao --channel slcan0 --model 4340P --motor-id 0x01 --feedback-id 0x11 --mode pos-vel --pos 3.1416 --vlim 2.0 --loop 1 --dt-ms 20" \
  --duration-sec 1800 \
  --interval-sec 0.5 \
  --report tools/reliability/reports/linux_endurance_4340p.json
```

Template-driven `slcan0` regression (recommended):

```bash theme={null}
python tools/reliability/reliability_runner.py endurance \
  --template tools/reliability/templates/linux_slcan_endurance_4340p.json
```

Available templates:

* `tools/reliability/templates/linux_slcan_endurance_4340p.json`
* `tools/reliability/templates/linux_slcan_endurance_rs00_vel.json`

Pass criteria:

* `fail == 0`
* `success_rate == 1.0`

Template thresholds are evaluated automatically:

* `thresholds.max_fail`
* `thresholds.min_success_rate`

## 2) Error/Timeout Injection

Automated coverage is in `cargo test --workspace --all-targets`:

* bus read error path (`CoreController`)
* Damiao register timeout
* RobStride parameter timeout

## 3) Disconnect / Recovery (HIL)

Manual steps:

1. Start a short control loop (`pos-vel` or `vel`).
2. Unplug PCAN-USB (or down Linux CAN interface).
3. Verify command pauses, then auto-reconnect/retry is attempted.
4. Re-plug / recover bus.
5. Verify loop resumes without restarting the process, or re-run scan/control to confirm recovery.

## 4) Cross-Platform Consistency (Scan)

Save scan stdout logs on Linux and Windows, then compare:

```bash theme={null}
python tools/reliability/reliability_runner.py compare-scan \
  --left-log tools/reliability/reports/linux_scan.log \
  --right-log tools/reliability/reports/windows_scan.log \
  --vendors damiao,robstride \
  --allow-hit-delta 1 \
  --id-mode intersect-nonempty
```

Comparison checks:

* per-vendor `hits` with optional tolerance (`--allow-hit-delta`)
* vendor subset filtering (`--vendors`)
* configurable `id` matching mode (`--id-mode`):
  * `exact`
  * `left-subset`
  * `right-subset`
  * `intersect-nonempty`