WIP

.github/workflows/integration_tests.yml

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+name: Integration Tests
+#on: [workflow_dispatch]
+on: [push]
+
+env:
+  MODALITY_URL: "http://localhost:14181/v1"
+  MODALITY_WORKSPACE: "ci-tests"
+  RENODE_CI_MODE: YES
+
+jobs:
+  demo:
+    name: Run, collect, and test
+    timeout-minutes: 30
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Print Environment
+        run: |
+          echo "GITHUB_WORKFLOW=$GITHUB_WORKFLOW"
+          echo "GITHUB_RUN_ID=$GITHUB_RUN_ID"
+          echo "GITHUB_RUN_NUMBER=$GITHUB_RUN_NUMBER"
+          echo "GITHUB_JOB=$GITHUB_JOB"
+          echo "GITHUB_ACTION=$GITHUB_ACTION"
+          echo "GITHUB_ACTOR=$GITHUB_ACTOR"
+          echo "GITHUB_REF=$GITHUB_REF"
+          echo "GITHUB_SHA=$GITHUB_SHA"
+          docker --version
+
+      - name: Checkout Sources
+        uses: actions/checkout@v4
+
+      - name: Install system packages
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y libusb-1.0-0-dev libftdi1-dev libudev-dev bridge-utils
+
+      - name: Install toolchain
+        uses: dtolnay/rust-toolchain@stable
+        with:
+          components: clippy, rustfmt
+          toolchain: stable
+
+      - name: Build release binary
+        run: cargo build --release
+
+      - name: Install Auxon Packages
+        env:
+          DEBIAN_FRONTEND: noninteractive
+        run: |
+          wget --no-verbose --quiet https://get.keygen.sh/auxon-io/auxon.deb -O /tmp/auxon.deb
+          sudo apt-get install -y /tmp/auxon.deb
+          sudo apt-get update
+          sudo apt-get install -y --no-install-recommends modalityd modality-client modality-reflector conform deviant
+
+      - name: Setup Modality Server
+        run: |
+          sudo systemctl stop modalityd
+          echo 'license-key = "'"${{secrets.MODALITY_LICENSE_KEY}}"'"' | sudo tee -a /etc/modalityd/config.toml
+          sudo systemctl start modalityd
+          sudo systemctl status modalityd --no-pager --full
+          curl --retry-max-time 30 --retry 10 --retry-connrefused ${{env.MODALITY_URL}}/alive
+
+      - name: Setup Initial Modality Configuration
+        run: |
+          modality --version
+          modality config --modalityd ${{env.MODALITY_URL}}
+          modality user create --use ci
+          echo "MODALITY_AUTH_TOKEN=$(modality user auth-token)" >> $GITHUB_ENV
+          modality workspace create --use ${{env.MODALITY_WORKSPACE}} test_system/workspace.toml
+
+      - name: Update Reflector Plugins
+        run: |
+          sudo cp target/release/modality-trace-recorder-importer /usr/lib/modality-reflector-plugins/importers/
+          sudo cp target/release/modality-trace-recorder-tcp-collector /usr/lib/modality-reflector-plugins/collectors/
+          sudo cp target/release/modality-trace-recorder-itm-collector /usr/lib/modality-reflector-plugins/collectors/
+
+      - name: Create Specs
+        run: |
+          conform spec create --file test_system/specs/device.speqtr device-specs

test_system/specs/device.speqtr

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+# @author = "[email protected]"
+# @project = "Test System"
+
+# @type = "task-resources"
+behavior "Task Scheduling Resource Usage"
+    when "a stats event is logged for a task"
+        stats @ * (_.task != "IDLE") AS task_stats
+    end
+
+    prohibited case "the task's CPU runtime utilization never exceeds 75%"
+        (task_stats.task_run_time / task_stats.total_run_time) > 0.75
+    end
+
+    prohibited case "the task's stack usage never exceeds 70%"
+        (1.0 - (task_stats.stack_high_water / task_stats.stack_size)) > 0.70
+    end
+end
+
+# @type = "memory"
+behavior "Heap Usage"
+    prohibited case "the consumed heap never exceeds 80%"
+        MEMORY_ALLOC @ * AS alloc
+            AND
+        (alloc.internal.trace_recorder.memory.heap_counter / alloc.timeline.heap_size) > 0.80
+    end
+end
+
+# @type = "scheduler"
+behavior "Task Activation Time"
+    prohibited case "ready tasks are activated within 20 ms"
+        TASK_READY @ * (_.task != "IDLE" AND _.task != "TzCtrl" AND _.timeline.name != "init") as ready
+            FOLLOWED BY
+        TASK_ACTIVATE @ * (_.timeline.name = ready.task) AS activated
+            AND
+        (activated.timestamp - ready.timestamp) > 20ms
+    end
+end
+
+# @type = "error logs"
+behavior "No Errors"
+    prohibited case "no error messages exist"
+        * @ * (_.channel = "error" OR _.channel = "#WFR")
+    end
+end
+
+# @type = "led-timer-isr"
+behavior "LED Timer Interrupt"
+    when "the LED timer ISR begins"
+        TASK_SWITCH_ISR_BEGIN @ LEDTimerISR as isr_begin
+    end
+
+    until "the next LED timer ISR"
+        TASK_SWITCH_ISR_BEGIN @ LEDTimerISR
+    end
+
+    nominal case "an info message is logged"
+        isr_begin
+            FOLLOWED BY
+        info @ LEDTimerISR (_.formatted_string = "blink")
+    end
+end
+
+# @type = "control-cycle"
+behavior "Control Cycle"
+    when "an ADC measurement is read"
+        adc @ Sensor as adc
+    end
+
+    until "the next ADC measurement is read"
+        adc @ Sensor
+    end
+
+    nominal case "program execution follows the control cycle expectations"
+        adc
+            FOLLOWED BY
+        QUEUE_SEND @ Sensor (_.queue = "adc_queue")
+            FOLLOWED BY
+        TASK_READY @ Sensor (_.task = "Actuator")
+            FOLLOWED BY
+        TASK_ACTIVATE @ Actuator
+            FOLLOWED BY
+        QUEUE_RECEIVE @ Actuator (_.queue = "adc_queue")
+            FOLLOWED BY
+        pwm @ Actuator as pwm
+            FOLLOWED BY
+        QUEUE_SEND @ Actuator (_.queue = "comms_queue")
+            FOLLOWED BY
+        TASK_READY @ Actuator (_.task = "Comms")
+            FOLLOWED BY
+        TASK_ACTIVATE @ Comms
+            FOLLOWED BY
+        QUEUE_RECEIVE @ Comms (_.queue = "comms_queue")
+            FOLLOWED BY
+        comms_tx @ Comms (_.adc = adc.measurement AND _.pwm = pwm.value)
+    end
+end

test_system/workspace.toml

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+[[segmentation-rule]]
+name = "by-run-id"
+attributes = ["run_id"]
+segment-name-template = "Run {timeline.run_id}"
+causally-partition-segments = true