Use esp-hal runners for HIL (#996)

* ci: Test esp-hal runners for c6

* ci: Test esp32s2

* ci: Remove unused code

* ci: Enable all the targets

* feat: Add C5 and P4 HIL

* feat: Add udev rules with symlink

* ci: Run tests on multiple ports

* ci: Unfold matrix to have better logging

* ci: Enable S2

* feat: Use port aliases

* feat: Add c5 elf file

* ci: Enable P4

* feat: Avoid code duplication

* ci: Remove p4 uart

* feat: Update p4 bootloader

.github/workflows/ci.yml

@@ -53,7 +53,7 @@ jobs:
             arch: "x86_64"
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
 
       - uses: ./.github/actions/setup-target
         with:
@@ -79,7 +79,7 @@ jobs:
             arch: "armhf"
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
 
       - uses: ./.github/actions/setup-target
         with:
@@ -105,7 +105,7 @@ jobs:
             arch: "armhf"
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
 
       - uses: ./.github/actions/setup-target
         with:
@@ -120,7 +120,7 @@ jobs:
     runs-on: ubuntu-22.04
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - uses: dtolnay/rust-toolchain@stable
 
       - run: cargo check -p xtask --all-features
@@ -133,7 +133,7 @@ jobs:
     runs-on: ubuntu-22.04
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - uses: ./.github/actions/setup-target
 
       - run: cargo test --lib
@@ -146,7 +146,7 @@ jobs:
     runs-on: ubuntu-22.04
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - uses: dtolnay/rust-toolchain@stable
         with:
           components: clippy
@@ -159,7 +159,7 @@ jobs:
     runs-on: ubuntu-22.04
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - uses: dtolnay/rust-toolchain@nightly
         with:
           components: rustfmt

.github/workflows/hil.yml

@@ -28,95 +28,138 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
 
 jobs:
-  build-espflash:
-    name: Build espflash
-    runs-on: ubuntu-22.04
-    container:
-      image: ubuntu:20.04
+  build-packages:
+    name: Build packages | (${{ matrix.target.host }})
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        target:
+          - host: aarch64
+            target: aarch64-unknown-linux-gnu
+          - host: armv7
+            target: armv7-unknown-linux-gnueabihf
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           repository: ${{ github.event.inputs.repository || github.repository }}
           ref: ${{ github.event.inputs.branch || github.ref }}
 
-      - name: Install dependencies
-        env:
-          DEBIAN_FRONTEND: noninteractive
-        run: apt-get update && apt-get -y install curl musl-tools pkg-config
-
-      - name: Install toolchain
-        run: |
-          curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
-
-      - name: Build espflash
-        run: $HOME/.cargo/bin/cargo build --release
-        working-directory: espflash
-
-      - name: Build xtask
-        run: $HOME/.cargo/bin/cargo build --release --locked
-        working-directory: xtask
-
-      - uses: actions/upload-artifact@v4
+      - name: Install cross
+        uses: taiki-e/install-action@v2
         with:
-          name: espflash
-          path: target/release/espflash
+          tool: cross
+
+      - name: Cache Dependencies
+        uses: Swatinem/rust-cache@v2
+
+      - name: Build binaries
+        run: cross build --release --target ${{ matrix.target.target }} -p espflash -p xtask
+
+      - name: Upload espflash-${{ matrix.target.host }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: espflash-${{ matrix.target.host }}
+          path: target/${{ matrix.target.target }}/release/espflash
           if-no-files-found: error
 
-      - uses: actions/upload-artifact@v4
+      - name: Upload xtask-${{ matrix.target.host }}
+        uses: actions/upload-artifact@v4
         with:
-          name: xtask
-          path: target/release/xtask
+          name: xtask-${{ matrix.target.host }}
+          path: target/${{ matrix.target.target }}/release/xtask
           if-no-files-found: error
 
-  run-target:
+  run-packages:
     if: github.repository_owner == 'esp-rs'
-    name: ${{ matrix.board.mcu }}${{ matrix.board.freq }}
-    needs: build-espflash
-    runs-on:
-      [
-        self-hosted,
-        linux,
-        x64,
-        "${{ matrix.board.mcu }}${{ matrix.board.freq }}",
-      ]
-
+    name: HIL | ${{ matrix.target.soc }} | ${{ matrix.target.port }}
+    needs: build-packages
+    runs-on: [self-hosted, "${{ matrix.target.runner }}"]
     env:
-      ESPFLASH_PORT: /dev/serial_ports/${{ matrix.board.mcu }}
+      ESPFLASH_PORT: /dev/serial_ports/${{ matrix.target.port }}
 
     strategy:
       fail-fast: false
       matrix:
-        board:
-          - mcu: esp32
-          - mcu: esp32c2
-            freq: -26mhz
-            flag: -x 26mhz
-          - mcu: esp32c3
-          - mcu: esp32c6
-          - mcu: esp32h2
-          - mcu: esp32s2
-          - mcu: esp32s3
+        target:
+          - soc: esp32c2
+            runner: esp32c2-jtag
+            port: uart
+            host: aarch64
+          - soc: esp32c3
+            runner: esp32c3-usb
+            port: usb
+            host: armv7
+          - soc: esp32c5
+            runner: esp32c5-usb
+            port: usb
+            host: aarch64
+          - soc: esp32c5
+            runner: esp32c5-usb
+            port: uart
+            host: aarch64
+          - soc: esp32c6
+            runner: esp32c6-usb
+            port: usb
+            host: armv7
+          - soc: esp32c6
+            runner: esp32c6-usb
+            port: uart
+            host: armv7
+          - soc: esp32h2
+            runner: esp32h2-usb
+            port: usb
+            host: armv7
+          - soc: esp32h2
+            runner: esp32h2-usb
+            port: uart
+            host: armv7
+          - soc: esp32p4
+            runner: esp32p4
+            port: usb
+            host: aarch64
+          - soc: esp32
+            runner: esp32-jtag
+            port: uart
+            host: aarch64
+          - soc: esp32s2
+            runner: esp32s2-jtag
+            port: uart
+            host: armv7
+          - soc: esp32s3
+            runner: esp32s3-usb
+            port: usb
+            host: armv7
+          - soc: esp32s3
+            runner: esp32s3-usb
+            port: uart
+            host: armv7
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
 
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v7
         with:
-          name: espflash
+          name: espflash-${{ matrix.target.host }}
           path: espflash_app
 
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v7
         with:
-          name: xtask
+          name: xtask-${{ matrix.target.host }}
           path: xtask_app
 
-      - name: Set up espflash binary
+      - name: Set up binaries
         run: |
           chmod +x espflash_app/espflash
-          echo "$PWD/espflash_app" >> "$GITHUB_PATH"
           chmod +x xtask_app/xtask
+          echo "$PWD/espflash_app" >> "$GITHUB_PATH"
           echo "$PWD/xtask_app" >> "$GITHUB_PATH"
 
+      - name: Reset device
+        run: |
+          espflash reset
+          sleep 5
+
       - name: Run all tests
-        run: xtask run-tests --chip ${{ matrix.board.mcu }} -t 60 --no-build
+        run: xtask run-tests --chip ${{ matrix.target.soc }} -t 60 --no-build

.github/workflows/release.yml

@@ -41,7 +41,7 @@ jobs:
             arch: "x86_64"
     runs-on: ${{ matrix.platform.os }}
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
 
       - uses: ./.github/actions/package
         with:

espflash/resources/70-espflash.rules

@@ -0,0 +1,24 @@
+# Copy this file to /etc/udev/rules.d/
+# If rules fail to reload automatically, you can refresh udev rules
+# with the command "udevadm control --reload"
+
+# This rules are based on the udev rules from the OpenOCD project, with unsupported probes removed.
+# See http://openocd.org/ for more details.
+#
+# This file is available under the GNU General Public License v2.0
+
+ACTION!="add|change", GOTO="espflash_rules_end"
+
+SUBSYSTEM=="gpio", MODE="0660", GROUP="plugdev", TAG+="uaccess"
+
+SUBSYSTEM!="usb|tty|hidraw", GOTO="espflash_rules_end"
+
+# Please keep this list sorted by VID:PID
+
+# Espressif USB JTAG/serial debug unit and USB Bridge
+ATTRS{idVendor}=="303a", ATTRS{idProduct}=="1001", MODE="660", GROUP="plugdev", TAG+="uaccess", SYMLINK+="serial_ports/usb"
+ATTRS{idVendor}=="303a", ATTRS{idProduct}=="1002", MODE="660", GROUP="plugdev", TAG+="uaccess", SYMLINK+="serial_ports/usb"
+# Silicon Labs CP210x UART Bridge
+ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", GROUP="plugdev", MODE="660", TAG+="uaccess", SYMLINK+="serial_ports/uart"
+
+LABEL="espflash_rules_end"

espflash/tests/data/README.md

@@ -37,3 +37,13 @@ cargo build --release
 
 `esp_hal_binary_with_overlapping_defmt_and_embedded_test_sections` is the ESP-HAL `gpio_unstable` test built for ESP32.
 This file is used in a unit test in espflash, and is not flashed as a HIL test.
+
+The `esp32c5` and `esp32p4` elf files under this folder have been generated using `esp-idf@v5.5.2`:
+```
+ git clone -b v5.5.2 --recursive https://github.com/espressif/esp-idf.git
+cd esp-idf/
+./install.sh all
+cd examples/get-started/hello_world/
+idf.py set-target $CHIP
+idf.py build
+```

xtask/src/test_runner.rs

@@ -130,6 +130,36 @@ impl TestRunner {
         Ok((child, output, stdout_handle, stderr_handle))
     }
 
+    fn run_command_capture_output_with_timeout(
+        cmd: &mut Command,
+        timeout: Duration,
+        test_name: &str,
+    ) -> Result<String> {
+        let (mut child, output, h1, h2) = Self::spawn_and_capture_output(cmd)?;
+        let start_time = Instant::now();
+        let mut terminated_naturally = false;
+
+        while start_time.elapsed() < timeout {
+            if let Ok(Some(_)) = child.try_wait() {
+                terminated_naturally = true;
+                break;
+            }
+            thread::sleep(Duration::from_millis(100));
+        }
+
+        if !terminated_naturally {
+            log::warn!("{test_name} test timed out after {timeout:?}, terminating process");
+            let _ = child.kill();
+            let _ = child.wait();
+        }
+
+        let _ = h1.join();
+        let _ = h2.join();
+
+        let output = output.lock().unwrap();
+        Ok(output.clone())
+    }
+
     /// Runs a command with a timeout, returning the exit code
     pub fn run_command_with_timeout(&self, cmd: &mut Command, timeout: Duration) -> Result<i32> {
         log::debug!("Running command: {cmd:?}");
@@ -254,29 +284,8 @@ impl TestRunner {
         let mut cmd = self.create_espflash_command(args);
 
         if let Some(expected) = expected_contains {
-            let (mut child, output, h1, h2) = Self::spawn_and_capture_output(&mut cmd)?;
-            let start_time = Instant::now();
-            let mut terminated_naturally = false;
-
-            while start_time.elapsed() < timeout {
-                if let Ok(Some(_)) = child.try_wait() {
-                    terminated_naturally = true;
-                    break;
-                }
-                thread::sleep(Duration::from_millis(100));
-            }
-
-            // If still running, kill it
-            if !terminated_naturally {
-                log::warn!("{test_name} test timed out after {timeout:?}, terminating process");
-                let _ = child.kill();
-                let _ = child.wait();
-            }
-
-            let _ = h1.join();
-            let _ = h2.join();
-
-            let output = output.lock().unwrap();
+            let output =
+                Self::run_command_capture_output_with_timeout(&mut cmd, timeout, test_name)?;
             for &expected in expected {
                 if !output.contains(expected) {
                     Self::restore_terminal();
@@ -538,12 +547,20 @@ impl TestRunner {
 
     /// Tests listing available ports
     pub fn test_list_ports(&self) -> Result<()> {
-        self.run_simple_command_test(
-            &["list-ports"],
-            Some(&["Silicon Labs"]),
-            Duration::from_secs(10),
-            "list-ports",
-        )?;
+        log::info!("Running list-ports test");
+        let mut cmd = self.create_espflash_command(&["list-ports"]);
+        let timeout = Duration::from_secs(10);
+        let output =
+            Self::run_command_capture_output_with_timeout(&mut cmd, timeout, "list-ports")?;
+        // Accept either "Silicon Labs" or "Espressif" in the output
+        if !output.contains("Silicon Labs") && !output.contains("Espressif") {
+            Self::restore_terminal();
+            return Err(
+                "Missing expected output: neither 'Silicon Labs' nor 'Espressif' found".into(),
+            );
+        }
+
+        log::info!("list-ports test passed and output verified");
         Ok(())
     }