WIP

.github/workflows/integration_tests.yml

@@ -0,0 +1,116 @@
+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 gcc-arm-none-eabi binutils-arm-none-eabi
+
+      - name: Install renode (latest)
+        run: |
+          cd /opt
+          sudo wget --quiet --output-document renode.tar.gz https://builds.renode.io/renode-latest.linux-portable.tar.gz
+          sudo mkdir renode
+          sudo tar xf renode.tar.gz -C renode --strip-components 1
+          sudo pip install -r /opt/renode/tests/requirements.txt
+          echo "PATH=/opt/renode:${PATH}" >> $GITHUB_ENV
+
+      - name: Install toolchain
+        uses: dtolnay/rust-toolchain@stable
+        with:
+          components: clippy, rustfmt
+          toolchain: stable
+
+      - name: Build release binary
+        run: cargo build --release
+
+      - name: Install Auxon packages
+        env:
+          DEBIAN_FRONTEND: noninteractive
+        run: |
+          wget --no-verbose --quiet https://get.keygen.sh/auxon-io/auxon.deb -O /tmp/auxon.deb
+          sudo apt-get install -y /tmp/auxon.deb
+          sudo apt-get update
+          sudo apt-get install -y --no-install-recommends modalityd modality-client modality-reflector conform deviant
+
+      - name: Setup Modality server
+        run: |
+          sudo systemctl stop modalityd
+          echo 'license-key = "'"${{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
+
+      - name: Setup test network
+        working-directory: test_system
+        run: sudo ./scripts/setup-network.sh &
+
+      - name: Build test system
+        working-directory: test_system
+        run: ./scripts/build.sh
+
+      - name: Run the system
+        working-directory: test_system
+        env:
+          MODALITY_AUTH_TOKEN: ${{env.MODALITY_AUTH_TOKEN}}
+        run: ./scripts/run.sh
+
+      - name: Inspect data
+        env:
+          MODALITY_AUTH_TOKEN: ${{env.MODALITY_AUTH_TOKEN}}
+        run: |
+          modality workspace list
+          modality workspace inspect ${{env.MODALITY_WORKSPACE}}
+          modality segment list
+
+      - name: Evaluate specs
+        continue-on-error: true
+        env:
+          MODALITY_AUTH_TOKEN: ${{env.MODALITY_AUTH_TOKEN}}
+        run: |
+          conform spec eval --name device-specs

Cargo.toml

@@ -7,6 +7,7 @@ description = "A Modality reflector plugin suite and ingest adapter library for
 license = "Apache-2.0"
 repository = "https://github.com/auxoncorp/modality-trace-recorder-plugin"
 documentation = "https://docs.rs/modality-trace-recorder-plugin"
+exclude = ["test_system/"]
 
 [lib]
 name = "modality_trace_recorder_plugin"

test_system/.dockerignore

@@ -0,0 +1 @@
+build

test_system/.gitignore

@@ -0,0 +1,3 @@
+build
+.gdb_history
+tags

test_system/CMakeLists.txt

@@ -0,0 +1,257 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(demo-firmware LANGUAGES C ASM)
+
+include(FetchContent)
+
+message(STATUS "Fetching dependencies")
+
+FetchContent_Declare(
+    freertos
+    GIT_REPOSITORY "https://github.com/FreeRTOS/FreeRTOS-Kernel.git"
+    GIT_TAG "V10.5.0"
+)
+
+FetchContent_Declare(
+    freertostcp
+    GIT_REPOSITORY "https://github.com/auxoncorp/FreeRTOS-Plus-TCP.git"
+    GIT_TAG "V3.1.0-1-g2359a20"
+)
+
+FetchContent_Declare(
+    tracerecorder
+    GIT_REPOSITORY "https://github.com/percepio/TraceRecorderSource.git"
+    GIT_TAG "Tz4/4.8/v4.8.2"
+)
+
+FetchContent_Declare(
+    stm32cubef4
+    GIT_REPOSITORY "https://github.com/STMicroelectronics/STM32CubeF4.git"
+    GIT_TAG "v1.27.1"
+)
+
+# Use FetchContent_Populate instead of FetchContent_MakeAvailable because
+# we're defining build rules locally and don't want cmake to automatically
+# call add_subdirectory on these
+FetchContent_Populate(freertos)
+FetchContent_Populate(freertostcp)
+FetchContent_Populate(tracerecorder)
+FetchContent_Populate(stm32cubef4)
+
+set(
+    KERNEL_SOURCES
+    ${freertos_SOURCE_DIR}/portable/GCC/ARM_CM4F/port.c
+    ${freertos_SOURCE_DIR}/portable/MemMang/heap_4.c
+    ${freertos_SOURCE_DIR}/queue.c
+    ${freertos_SOURCE_DIR}/tasks.c
+    ${freertos_SOURCE_DIR}/timers.c
+    ${freertos_SOURCE_DIR}/event_groups.c
+    ${freertos_SOURCE_DIR}/stream_buffer.c
+    ${freertos_SOURCE_DIR}/list.c)
+set(
+    KERNEL_INCLUDES
+    ${freertos_SOURCE_DIR}/include
+    ${freertos_SOURCE_DIR}/portable/GCC/ARM_CM3)
+
+set(
+    TCPIP_SOURCES
+    ${freertostcp_SOURCE_DIR}/source/FreeRTOS_DNS.c
+    ${freertostcp_SOURCE_DIR}/source/FreeRTOS_DHCP.c
+    ${freertostcp_SOURCE_DIR}/source/FreeRTOS_ARP.c
+    ${freertostcp_SOURCE_DIR}/source/FreeRTOS_ICMP.c
+    ${freertostcp_SOURCE_DIR}/source/FreeRTOS_Stream_Buffer.c
+    ${freertostcp_SOURCE_DIR}/source/FreeRTOS_IP.c
+    ${freertostcp_SOURCE_DIR}/source/FreeRTOS_TCP_IP.c
+    ${freertostcp_SOURCE_DIR}/source/FreeRTOS_TCP_Transmission.c
+    ${freertostcp_SOURCE_DIR}/source/FreeRTOS_TCP_WIN.c
+    ${freertostcp_SOURCE_DIR}/source/FreeRTOS_TCP_State_Handling.c
+    ${freertostcp_SOURCE_DIR}/source/FreeRTOS_TCP_Reception.c
+    ${freertostcp_SOURCE_DIR}/source/FreeRTOS_TCP_Utils.c
+    ${freertostcp_SOURCE_DIR}/source/FreeRTOS_UDP_IP.c
+    ${freertostcp_SOURCE_DIR}/source/FreeRTOS_Sockets.c
+    ${freertostcp_SOURCE_DIR}/source/FreeRTOS_IP_Utils.c
+    ${freertostcp_SOURCE_DIR}/source/FreeRTOS_IP_Timers.c
+    ${freertostcp_SOURCE_DIR}/source/portable/BufferManagement/BufferAllocation_2.c
+    ${freertostcp_SOURCE_DIR}/source/portable/NetworkInterface/Common/phyHandling.c
+    ${freertostcp_SOURCE_DIR}/source/portable/NetworkInterface/STM32Fxx/NetworkInterface.c
+    ${freertostcp_SOURCE_DIR}/source/portable/NetworkInterface/STM32Fxx/stm32fxx_hal_eth.c)
+set(
+    TCPIP_INCLUDES
+    ${freertostcp_SOURCE_DIR}/source/include
+    ${freertostcp_SOURCE_DIR}/source/portable/NetworkInterface/include
+    ${freertostcp_SOURCE_DIR}/source/portable/NetworkInterface/STM32Fxx
+    ${freertostcp_SOURCE_DIR}/source/portable/Compiler/GCC)
+
+set(
+    TRACING_SOURCES
+    ${tracerecorder_SOURCE_DIR}/kernelports/FreeRTOS/trcKernelPort.c
+    ${tracerecorder_SOURCE_DIR}/trcAssert.c
+    ${tracerecorder_SOURCE_DIR}/trcCounter.c
+    ${tracerecorder_SOURCE_DIR}/trcDiagnostics.c
+    ${tracerecorder_SOURCE_DIR}/trcEntryTable.c
+    ${tracerecorder_SOURCE_DIR}/trcError.c
+    ${tracerecorder_SOURCE_DIR}/trcEventBuffer.c
+    ${tracerecorder_SOURCE_DIR}/trcEvent.c
+    ${tracerecorder_SOURCE_DIR}/trcExtension.c
+    ${tracerecorder_SOURCE_DIR}/trcHardwarePort.c
+    ${tracerecorder_SOURCE_DIR}/trcHeap.c
+    ${tracerecorder_SOURCE_DIR}/trcInternalEventBuffer.c
+    ${tracerecorder_SOURCE_DIR}/trcInterval.c
+    ${tracerecorder_SOURCE_DIR}/trcISR.c
+    ${tracerecorder_SOURCE_DIR}/trcMultiCoreEventBuffer.c
+    ${tracerecorder_SOURCE_DIR}/trcObject.c
+    ${tracerecorder_SOURCE_DIR}/trcPrint.c
+    ${tracerecorder_SOURCE_DIR}/trcStackMonitor.c
+    ${tracerecorder_SOURCE_DIR}/trcStateMachine.c
+    ${tracerecorder_SOURCE_DIR}/trcStaticBuffer.c
+    ${tracerecorder_SOURCE_DIR}/trcString.c
+    ${tracerecorder_SOURCE_DIR}/trcTask.c
+    ${tracerecorder_SOURCE_DIR}/trcTimestamp.c
+    ${tracerecorder_SOURCE_DIR}/trcStreamingRecorder.c)
+set(
+    TRACING_INCLUDES
+    ${tracerecorder_SOURCE_DIR}/kernelports/FreeRTOS/include
+    ${tracerecorder_SOURCE_DIR}/include)
+
+set(
+    HAL_SOURCES
+    ${stm32cubef4_SOURCE_DIR}/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c
+    ${stm32cubef4_SOURCE_DIR}/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c
+    ${stm32cubef4_SOURCE_DIR}/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_usart.c
+    ${stm32cubef4_SOURCE_DIR}/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c
+    ${stm32cubef4_SOURCE_DIR}/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c)
+set(
+    HAL_INCLUDES
+    ${stm32cubef4_SOURCE_DIR}/Drivers/CMSIS/Include
+    ${stm32cubef4_SOURCE_DIR}/Drivers/CMSIS/Device/ST/STM32F4xx/Include/
+    ${stm32cubef4_SOURCE_DIR}/Drivers/STM32F4xx_HAL_Driver/Inc)
+
+add_library(
+    hal
+    STATIC
+    ${HAL_SOURCES})
+
+target_include_directories(
+    hal
+    PRIVATE
+    config
+    PUBLIC
+    ${HAL_INCLUDES})
+
+target_compile_definitions(
+    hal
+    PUBLIC
+    STM32F4xx
+    STM32F407xx
+    HSE_VALUE=8000000
+    _FPU_PRESENT=1
+    _FPU_USED=1
+    ARM_MATH_CM4)
+
+add_library(
+    freertos
+    STATIC
+    ${TRACING_SOURCES}
+    ${KERNEL_SOURCES})
+
+target_include_directories(
+    freertos
+    PRIVATE
+    config
+    include
+    ${HAL_INCLUDES}
+    PUBLIC
+    ${TRACING_INCLUDES}
+    ${KERNEL_INCLUDES})
+
+add_library(
+    freertos_tcpip
+    STATIC
+    ${TCPIP_SOURCES})
+
+target_include_directories(
+    freertos_tcpip
+    PRIVATE
+    config
+    include
+    ${HAL_INCLUDES}
+    PUBLIC
+    ${TCPIP_INCLUDES})
+
+target_compile_options(
+    freertos_tcpip
+    PRIVATE
+    -Wno-format
+    -Wno-shadow)
+
+target_compile_definitions(
+    freertos_tcpip
+    PUBLIC
+    HEAP4)
+
+target_link_libraries(
+    freertos_tcpip
+    hal
+    freertos)
+
+add_executable(
+    ${PROJECT_NAME}
+    src/main.c
+    src/modality.c
+    src/logging.c
+    src/stats.c
+    src/ip.c
+    src/comms.c
+    src/sensor.c
+    src/actuator.c
+    src/led.c
+    src/syscall.c
+    src/hooks.c
+    src/timer.c
+    src/trcStreamPort.c
+    ${stm32cubef4_SOURCE_DIR}/Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c
+    ${stm32cubef4_SOURCE_DIR}/Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/gcc/startup_stm32f407xx.s)
+
+target_include_directories(
+    ${PROJECT_NAME}
+    PRIVATE
+    config
+    include)
+
+target_compile_definitions(
+    ${PROJECT_NAME}
+    PRIVATE
+    HEAP4)
+
+target_link_libraries(
+    ${PROJECT_NAME}
+    hal
+    freertos
+    freertos_tcpip)
+
+add_custom_target(
+    emulate
+    DEPENDS ${PROJECT_NAME})
+
+add_custom_command(
+    TARGET emulate
+    POST_BUILD
+    MAIN_DEPENDENCY ${PROJECT_NAME}
+    WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
+    COMMAND renode emulate.resc --hide-monitor
+    COMMENT "Emulating firmware with Renode")
+
+add_custom_target(
+    emulate-with-monitor
+    DEPENDS ${PROJECT_NAME})
+
+add_custom_command(
+    TARGET emulate-with-monitor
+    POST_BUILD
+    MAIN_DEPENDENCY ${PROJECT_NAME}
+    WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
+    COMMAND renode emulate.resc
+    COMMENT "Emulating firmware with Renode")
+
+print_exec_size()
+elf_to_bin()