esp-hal/.github/workflows/hil.yml

name: HIL

on:
  pull_request:
    types: [opened, synchronize, reopened]
  merge_group:
  workflow_dispatch:
    inputs:
      repository:
        description: "Owner and repository to test"
        required: true
        default: "esp-rs/esp-hal"
      branch:
        description: "Branch, tag or SHA to checkout."
        required: true
        default: "main"

# Cancel any currently running workflows from the same PR, branch, or
# tag when a new workflow is triggered.
#
# https://stackoverflow.com/a/66336834
concurrency:
  cancel-in-progress: true
  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}

env:
  CARGO_TERM_COLOR: always
  GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

jobs:
  build-xtasks:
    name: Build xtasks
    runs-on: ubuntu-latest

    steps:
      - uses: actions/checkout@v4
        if: github.event_name != 'workflow_dispatch'
      - uses: actions/checkout@v4
        if: github.event_name == 'workflow_dispatch'
        with:
          repository: ${{ github.event.inputs.repository }}
          ref: ${{ github.event.inputs.branch }}

      - name: Install Rust toolchain
        uses: dtolnay/rust-toolchain@v1
        with:
          toolchain: stable
          components: rust-src

      - name: Install cross
        run: cargo install cross

      - name: Build xtasks
        run: |
          cross build --release --target armv7-unknown-linux-gnueabihf -p xtask
          cross build --release --target aarch64-unknown-linux-gnu -p xtask

      - name: Upload artifact | armv7-unknown-linux-gnueabihf
        uses: actions/upload-artifact@v4
        with:
          name: xtask-armv7
          path: target/armv7-unknown-linux-gnueabihf/release/xtask

      - name: Upload artifact | aarch64-unknown-linux-gnu
        uses: actions/upload-artifact@v4
        with:
          name: xtask-aarch64
          path: target/aarch64-unknown-linux-gnu/release/xtask

  build-tests:
    name: Build HIL Tests | ${{ matrix.target.soc }}
    runs-on: ubuntu-latest

    strategy:
      fail-fast: false
      matrix:
        target:
          # RISC-V devices:
          - soc: esp32c2
            rust-target: riscv32imc-unknown-none-elf
          - soc: esp32c3
            rust-target: riscv32imc-unknown-none-elf
          - soc: esp32c6
            rust-target: riscv32imac-unknown-none-elf
          - soc: esp32h2
            rust-target: riscv32imac-unknown-none-elf
          # # Xtensa devices:
          - soc: esp32
            rust-target: xtensa-esp32-none-elf
          - soc: esp32s2
            rust-target: xtensa-esp32s2-none-elf
          - soc: esp32s3
            rust-target: xtensa-esp32s3-none-elf

    steps:
      - uses: actions/checkout@v4
        if: github.event_name != 'workflow_dispatch'
      - uses: actions/checkout@v4
        if: github.event_name == 'workflow_dispatch'
        with:
          repository: ${{ github.event.inputs.repository }}
          ref: ${{ github.event.inputs.branch }}

      # Install the Rust toolchain for RISC-V devices:
      - if: ${{ !contains(fromJson('["esp32", "esp32s2", "esp32s3"]'), matrix.target.soc) }}
        uses: dtolnay/rust-toolchain@v1
        with:
          target: ${{ matrix.target.rust-target }}
          toolchain: stable
          components: rust-src

        # -Zstack-protector=all tests need to be compiled with nightly.
      - if: ${{ !contains(fromJson('["esp32", "esp32s2", "esp32s3"]'), matrix.target.soc) }}
        name: Install nightly Rust toolchain
        uses: dtolnay/rust-toolchain@v1
        with:
          target: ${{ matrix.target.rust-target }}
          toolchain: nightly
          components: rust-src

      # Install the Rust toolchain for Xtensa devices:
      - if: contains(fromJson('["esp32", "esp32s2", "esp32s3"]'), matrix.target.soc)
        uses: esp-rs/xtensa-toolchain@v1.6
        with:
          buildtargets: ${{ matrix.target.soc }}
          default: true
          version: 1.88.0.0

      - name: Build tests
        run: cargo xtask build tests ${{ matrix.target.soc }}

      - uses: actions/upload-artifact@v4
        with:
          name: tests-${{ matrix.target.soc }}
          path: /home/runner/work/esp-hal/esp-hal/target/tests/${{ matrix.target.soc }}
          if-no-files-found: error
          overwrite: true

  hil:
    name: Run HIL Tests | ${{ matrix.target.soc }}
    needs: [build-tests, build-xtasks]
    runs-on:
      labels: [self-hosted, "${{ matrix.target.runner }}"]
    strategy:
      fail-fast: false
      matrix:
        target:
          # RISC-V devices:
          - soc: esp32c2
            runner: esp32c2-jtag
            host: aarch64
          - soc: esp32c3
            runner: esp32c3-usb
            host: armv7
          - soc: esp32c6
            runner: esp32c6-usb
            host: armv7
          - soc: esp32h2
            runner: esp32h2-usb
            host: armv7
          # Xtensa devices:
          - soc: esp32
            runner: esp32-jtag
            host: aarch64
          - soc: esp32s2
            runner: esp32s2-jtag
            host: armv7
          - soc: esp32s3
            runner: esp32s3-usb
            host: armv7
    steps:
      - uses: actions/download-artifact@v4
        with:
          name: tests-${{ matrix.target.soc }}
          path: tests-${{ matrix.target.soc }}

      - uses: actions/download-artifact@v4
        with:
          name: xtask-${{ matrix.target.host }}

      - name: Run Tests
        id: run-tests
        run: |
          [ -f ~/setup.sh ] && source ~/setup.sh

          export PATH=$PATH:/home/espressif/.cargo/bin
          chmod +x xtask
          ./xtask run elfs ${{ matrix.target.soc }} tests-${{ matrix.target.soc }}

      - name: Clean up
        if: always()
        run: |
          rm -rf tests-${{ matrix.target.soc }}
          rm -f xtask