Merge pull request #4 from tock/dev/nrf_tests

nrf52840dk Intial Tests

hwci/boards/mock_board.py

@@ -33,6 +33,9 @@ def get_serial_port(self):
     def erase_board(self):
         logging.info("Mock erase of the board")
 
+    def reset(self):
+        logging.info("Mock board reset")
+
     def flash_kernel(self):
         logging.info("Mock flashing of the Tock OS kernel")
 

hwci/boards/nrf52dk.py

@@ -9,6 +9,9 @@
 import serial.tools.list_ports
 from boards.tockloader_board import TockloaderBoard
 from utils.serial_port import SerialPort
+from gpio.gpio import GPIO
+import yaml
+import os
 
 
 class Nrf52dk(TockloaderBoard):
@@ -23,6 +26,7 @@ def __init__(self):
         self.openocd_board = "nrf52dk"
         self.board = "nrf52dk"
         self.serial = self.get_serial_port()
+        self.gpio = self.get_gpio_interface()
 
     def get_uart_port(self):
         logging.info("Getting list of serial ports")
@@ -47,6 +51,20 @@ def get_serial_port(self):
         )
         return SerialPort(self.uart_port, self.uart_baudrate)
 
+    def get_gpio_interface(self):
+        # Load the target spec from a YAML file
+        target_spec = load_target_spec()
+        # Initialize GPIO with the target spec
+        gpio = GPIO(target_spec)
+        return gpio
+
+    def cleanup(self):
+        if self.gpio:
+            for interface in self.gpio.gpio_interfaces.values():
+                interface.cleanup()
+        if self.serial:
+            self.serial.close()
+
     def flash_kernel(self):
         logging.info("Flashing the Tock OS kernel")
         tock_dir = os.path.join(self.base_dir, "tock")
@@ -68,6 +86,15 @@ def erase_board(self):
         ]
         subprocess.run(command, check=True)
 
+    def reset(self):
+        logging.info("Performing a target reset via JTAG")
+        command = [
+            "openocd",
+            "-c",
+            "adapter driver jlink; transport select swd; source [find target/nrf52.cfg]; init; reset; exit",
+        ]
+        subprocess.run(command, check=True)
+
     # The flash_app method is inherited from TockloaderBoard
 
     @contextmanager
@@ -82,4 +109,12 @@ def change_directory(self, new_dir):
             logging.info(f"Reverted to directory: {os.getcwd()}")
 
 
+def load_target_spec():
+    # Assume the target spec file is in a fixed location
+    target_spec_path = os.path.join(os.getcwd(), "target_spec.yaml")
+    with open(target_spec_path, "r") as f:
+        target_spec = yaml.safe_load(f)
+    return target_spec
+
+
 board = Nrf52dk()

hwci/boards/tockloader_board.py

@@ -19,28 +19,38 @@ def __init__(self):
             os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
         )
 
-    def flash_app(self, app):
-        logging.info(f"Flashing app: {app}")
+    def flash_app(self, app_path):
+        app_name = os.path.basename(app_path)
+        logging.info(f"Flashing app: {app_name}")
         libtock_c_dir = os.path.join(self.base_dir, "libtock-c")
         if not os.path.exists(libtock_c_dir):
             logging.error(f"libtock-c directory {libtock_c_dir} not found")
             raise FileNotFoundError(f"libtock-c directory {libtock_c_dir} not found")
 
-        app_dir = os.path.join(libtock_c_dir, "examples", app)
+        app_dir = os.path.join(libtock_c_dir, "examples", app_path)
         if not os.path.exists(app_dir):
             logging.error(f"App directory {app_dir} not found")
             raise FileNotFoundError(f"App directory {app_dir} not found")
 
         # Build the app using absolute paths
-        logging.info(f"Building app: {app}")
-        subprocess.run(["make", f"TOCK_TARGETS={self.arch}"], cwd=app_dir, check=True)
+        logging.info(f"Building app: {app_name}")
+        if app_name != "lua-hello":
+            subprocess.run(
+                ["make", f"TOCK_TARGETS={self.arch}"], cwd=app_dir, check=True
+            )
+        else:
+            # if the app is lua-hello, we need to build the libtock-c submodule first so we need to change directory
+            # into the libtock-c directory so it knows we are in a git repostiory
+            self.change_directory(libtock_c_dir)
+            subprocess.run(
+                ["make", f"TOCK_TARGETS={self.arch}"], cwd=app_dir, check=True
+            )
 
-        tab_file = os.path.join(app_dir, "build", f"{app}.tab")
+        tab_file = os.path.join(app_dir, "build", f"{app_name}.tab")
         if not os.path.exists(tab_file):
             logging.error(f"Tab file {tab_file} not found")
             raise FileNotFoundError(f"Tab file {tab_file} not found")
-
-        logging.info(f"Installing app: {app}")
+        logging.info(f"Installing app: {app_name}")
         subprocess.run(
             [
                 "tockloader",
@@ -54,16 +64,19 @@ def flash_app(self, app):
         )
 
     def get_uart_port(self):
-        pass
+        raise NotImplementedError
 
     def get_uart_baudrate(self):
-        pass
+        raise NotImplementedError
 
     def erase_board(self):
-        pass
+        raise NotImplementedError
+
+    def reset(self):
+        raise NotImplementedError
 
     def flash_kernel(self):
-        pass
+        raise NotImplementedError
 
     @contextmanager
     def change_directory(self, new_dir):

hwci/core/board_harness.py

@@ -12,22 +12,28 @@ def __init__(self):
         self.gpio = None
 
     def get_uart_port(self):
-        pass
+        raise NotImplementedError
 
     def get_uart_baudrate(self):
-        pass
+        raise NotImplementedError
 
     def get_serial_port(self):
-        pass
+        raise NotImplementedError
 
     def get_gpio_interface(self):
-        pass
+        raise NotImplementedError
+
+    def cleanup(self):
+        raise NotImplementedError
 
     def erase_board(self):
-        pass
+        raise NotImplementedError
+
+    def reset(self):
+        raise NotImplementedError
 
     def flash_kernel(self):
-        pass
+        raise NotImplementedError
 
     def flash_app(self, app):
-        pass
+        raise NotImplementedError

hwci/core/main.py

@@ -16,7 +16,7 @@ def main():
 
     # Set up logging
     logging.basicConfig(
-        level=logging.INFO,
+        level=logging.DEBUG,
         format="%(asctime)s - %(levelname)s - %(message)s",
     )
 
@@ -48,7 +48,7 @@ def main():
         logging.exception("An error occurred during test execution")
         sys.exit(1)
     finally:
-        board.serial.close()
+        board.cleanup()
 
 
 if __name__ == "__main__":

hwci/gpio/__init__.py

@@ -0,0 +1,5 @@
+# Licensed under the Apache License, Version 2.0 or the MIT License.
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+# Copyright Tock Contributors 2024.
+
+from .gpio import GPIO

hwci/gpio/gpio.py

@@ -0,0 +1,42 @@
+# Licensed under the Apache License, Version 2.0 or the MIT License.
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+# Copyright Tock Contributors 2024.
+
+import logging
+
+from gpio.interfaces.raspberry_pi5_gpio import RaspberryPi5GPIO
+from gpio.interfaces.mock_gpio import MockGPIO
+
+
+class GPIO:
+    def __init__(self, target_spec):
+        self.target_spec = target_spec
+        self.gpio_interfaces = {}
+        # Initialize GPIO interfaces based on the target spec
+        for pin_label, pin_mapping in self.target_spec.get("pin_mappings", {}).items():
+            interface_name = pin_mapping["io_interface"]
+            if interface_name not in self.gpio_interfaces:
+                interface_class = self.load_interface_class(interface_name)
+                self.gpio_interfaces[interface_name] = interface_class()
+
+    def load_interface_class(self, interface_name):
+        # Map interface names to classes
+        interface_classes = {
+            "raspberrypi5gpio": RaspberryPi5GPIO,
+            "mock_gpio": MockGPIO,
+        }
+        if interface_name in interface_classes:
+            return interface_classes[interface_name]
+        else:
+            raise ValueError(f"Unknown GPIO interface: {interface_name}")
+
+    def pin(self, pin_label):
+        # Get the pin mapping from the target spec
+        pin_mapping = self.target_spec["pin_mappings"].get(pin_label)
+        if not pin_mapping:
+            raise ValueError(f"Unknown pin label: {pin_label}")
+        interface_name = pin_mapping["io_interface"]
+        interface = self.gpio_interfaces.get(interface_name)
+        if not interface:
+            raise ValueError(f"No GPIO interface for {interface_name}")
+        return interface.pin(pin_label, pin_mapping)

hwci/gpio/interfaces/__init__.py

@@ -0,0 +1,6 @@
+# Licensed under the Apache License, Version 2.0 or the MIT License.
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+# Copyright Tock Contributors 2024.
+
+from .raspberry_pi5_gpio import RaspberryPi5GPIO
+from .mock_gpio import MockGPIO

hwci/gpio/interfaces/mock_gpio.py

@@ -0,0 +1,40 @@
+# Licensed under the Apache License, Version 2.0 or the MIT License.
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+# Copyright Tock Contributors 2024.
+
+import logging
+
+
+class MockGPIO:
+    def __init__(self):
+        self.pins = {}
+
+    def pin(self, target_pin_label, target_pin_mapping):
+        if target_pin_label not in self.pins:
+            pin = MockGPIOPin(target_pin_label)
+            self.pins[target_pin_label] = pin
+        else:
+            pin = self.pins[target_pin_label]
+        return pin
+
+    def cleanup(self):
+        pass  # Nothing to clean up in mock
+
+
+class MockGPIOPin:
+    def __init__(self, pin_label):
+        self.pin_label = pin_label
+        self.mode = None
+        self.value = None
+
+    def set_mode(self, mode):
+        self.mode = mode
+        logging.info(f"Pin {self.pin_label} set to mode {mode}")
+
+    def read(self):
+        logging.info(f"Pin {self.pin_label} read value {self.value}")
+        return self.value
+
+    def write(self, value):
+        self.value = value
+        logging.info(f"Pin {self.pin_label} write value {value}")

hwci/gpio/interfaces/raspberry_pi5_gpio.py

@@ -0,0 +1,64 @@
+# Licensed under the Apache License, Version 2.0 or the MIT License.
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+# Copyright Tock Contributors 2024.
+
+import logging
+from gpiozero import LED, Button, DigitalOutputDevice, DigitalInputDevice
+
+
+class RaspberryPi5GPIO:
+    def __init__(self):
+        self.pins = {}
+
+    def pin(self, _target_pin_label, target_pin_mapping):
+        gpio_pin_number = int(target_pin_mapping["io_pin_spec"])
+        if gpio_pin_number not in self.pins:
+            pin = RaspberryPiGPIOPin(gpio_pin_number)
+            self.pins[gpio_pin_number] = pin
+        else:
+            pin = self.pins[gpio_pin_number]
+        return pin
+
+    def cleanup(self):
+        for pin in self.pins.values():
+            pin.close()
+        self.pins.clear()
+
+
+class RaspberryPiGPIOPin:
+    def __init__(self, gpio_pin_number):
+        self.gpio_pin_number = gpio_pin_number
+        self.device = None  # Will be initialized based on mode
+        self.mode = None
+
+    def set_mode(self, mode):
+        if mode == "input":
+            if self.device:
+                self.device.close()
+            self.device = DigitalInputDevice(self.gpio_pin_number)
+            self.mode = mode
+        elif mode == "output":
+            if self.device:
+                self.device.close()
+            self.device = DigitalOutputDevice(self.gpio_pin_number)
+            self.mode = mode
+        else:
+            raise ValueError(f"Unknown mode: {mode}")
+
+    def read(self):
+        if self.mode != "input":
+            raise RuntimeError("Pin is not set to input mode")
+        value = self.device.value
+        logging.debug(f"Read value {value} from pin {self.gpio_pin_number}")
+        return value
+
+    def write(self, value):
+        if self.mode != "output":
+            raise RuntimeError("Pin is not set to output mode")
+        self.device.value = value
+        logging.debug(f"Wrote value {value} to pin {self.gpio_pin_number}")
+
+    def close(self):
+        if self.device:
+            self.device.close()
+            self.device = None

hwci/requirements-frozen.txt

@@ -1,6 +1,9 @@
+PyYAML==6.0.2
 argcomplete==3.5.1
 colorama==0.4.6
 crcmod==1.7
+gpiozero==2.0.1
+lgpio==0.2.2.0
 pexpect==4.9.0
 prompt-toolkit==3.0.36
 ptyprocess==0.7.0
@@ -10,5 +13,5 @@ questionary==2.0.1
 siphash==0.0.1
 tockloader==1.13.0
 toml==0.10.2
-tqdm==4.66.5
+tqdm==4.66.6
 wcwidth==0.2.13

hwci/requirements.txt

@@ -5,3 +5,6 @@
 pexpect
 pyserial
 tockloader
+pyyaml
+gpiozero
+lgpio

hwci/select_tests.py

@@ -52,5 +52,6 @@ def main():
 
     print(f"Selected HWCI tests: {test_files}")
 
+
 if __name__ == "__main__":
     main()