Merge branch 'main' into Code_generation_fix

Cantonplas · Cantonplas · commit 2a8edead830d · 2025-03-25T20:38:07.000+01:00
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
@@ -2,7 +2,7 @@ FROM ubuntu:24.04
 
 # Install git, git-lfs, colorama and build tools
 RUN echo "deb http://security.ubuntu.com/ubuntu focal-security main universe" > /etc/apt/sources.list.d/ubuntu-focal-sources.list && \
-    apt-get update && apt-get -y install git git-lfs python3-colorama cmake g++ build-essential libncurses5 libusb-1.0-0 gdb && \
+    apt-get update && apt-get -y install git git-lfs python3 python3-pip curl python3-colorama cmake g++ build-essential libncurses5 libusb-1.0-0 gdb && \
     git lfs install
 
 # Install cubeclt
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -29,16 +29,32 @@ jobs:
     outputs:
       build-artifact: ${{ steps.upload-build-artifact.outputs.artifact-id }}
     container:
-      image: jmaralo/hyperloop-upv-firmware:0.3.0
+      image: jmaralo/hyperloop-upv-firmware:latest
     steps:
       - name: Clone Project
         uses: actions/checkout@v3
         with:
           submodules: recursive
+      - name: Configure
+        run: |
+          apt install -y python3.12-venv 
+          python3 -m venv .
+          source bin/activate
+          pip install -r requirements.txt
+        shell: bash
       - name: Build
         run: |
+          source bin/activate
           cmake --preset ${{ inputs.preset }} .
           cmake --build --preset ${{ inputs.preset }}
+        shell: bash
+      - name: Run Simulator Tests
+        if: inputs.preset == 'simulator'
+        run: |
+          cd Tests
+          echo "Running tests against $(cd .. && pwd)/out/build/simulator/latest.elf"
+          set -e
+          python3 test.py -uut="$(cd .. && pwd)/out/build/latest.elf"
       - name: Upload Build
         id: upload-build-artifact
         uses: actions/upload-artifact@v4
diff --git a/.gitignore b/.gitignore
@@ -35,6 +35,11 @@ _deps
 CMakeUserPresets.json
 .cache
 
+# *-----------------------*
+# | Flash Dump Utilities  |
+# *-----------------------*
+
+tools/*.bin
 # *-----------------------*
 # |         C/C++         |
 # *-----------------------*
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -5,5 +5,19 @@
   "C_Cpp.formatting": "clangFormat",
   "C_Cpp.clang_format_style": "{BasedOnStyle: Google, IndentWidth: 4, ColumnLimit: 80}",
   "C_Cpp.clang_format_sortIncludes": true,
-  "C_Cpp.intelliSenseCacheSize": 0
+  "C_Cpp.intelliSenseCacheSize": 0,
+  "files.associations": {
+    "condition_variable": "cpp",
+    "chrono": "cpp",
+    "array": "cpp",
+    "*.tcc": "cpp",
+    "memory": "cpp",
+    "format": "cpp",
+    "istream": "cpp",
+    "functional": "cpp",
+    "tuple": "cpp",
+    "utility": "cpp",
+    "variant": "cpp",
+    "atomic": "cpp"
+  }
 }
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,6 +4,17 @@ project (template-project ASM C CXX)
 set(EXECUTABLE ${PROJECT_NAME}.elf)
 set(STLIB_DIR ${CMAKE_CURRENT_LIST_DIR}/deps/ST-LIB)
 
+
+add_custom_target(
+    my_custom_target_that_always_runs ALL
+    DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/_tmp.h
+)
+add_custom_command(
+    OUTPUT
+        ${CMAKE_CURRENT_BINARY_DIR}/_tmp.h  # fake! ensure we run! 
+    COMMAND python3 ${CMAKE_SOURCE_DIR}/tools/generate_binary_metadata.py
+)
+
 option(USE_ETHERNET "Enable ethernet peripheral" OFF)
 option(TARGET_NUCLEO "Targets the STM32H723 Nucleo development board" OFF)
 
@@ -30,6 +41,7 @@ set(HAL_HEADER
 )
 set(HAL_RUNES
   ${CMAKE_SOURCE_DIR}/Core/Src/Runes/Runes.cpp
+  ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/Runes/generated_metadata.cpp
 )
 set(HAL_SOURCE
   ${CMAKE_SOURCE_DIR}/Core/Src/stm32h7xx_hal_msp.c
@@ -148,7 +160,6 @@ target_link_options(${EXECUTABLE} PRIVATE
   $<$<BOOL:${CMAKE_CROSSCOMPILING}>:-Wl,-Map=${PROJECT_NAME}.map,--cref>
   $<$<BOOL:${CMAKE_CROSSCOMPILING}>:-Wl,--gc-sections>
 )
-
 if (PROJECT_IS_TOP_LEVEL)
     # Create symlink to compile_commands.json for IDE to pick it up
     execute_process(
diff --git a/Core/Src/Runes/generated_metadata.cpp b/Core/Src/Runes/generated_metadata.cpp
@@ -0,0 +1,15 @@
+/*
+* AUTOGENERATED FILE 
+* DO NOT MODIFY MANUALLY!!!
+*/
+extern "C"{
+    const char DESCRIPTION[255]  __attribute__((section(".metadata_pool")))= 
+        "****************"  // placeholder for beggining
+        "***************"   // DateTime using ISO-8601 format
+        " "                 // alignment
+        "--------"          // STLIB commit
+        "--------"          // ADJ commit
+        "--------"          // Board commit
+        // the '=' is used for unparsing
+        ;
+}
diff --git a/Core/Src/main.cpp b/Core/Src/main.cpp
@@ -11,10 +11,11 @@ int main(void) {
     SharedMemory::start();
 #endif
 
-    DigitalOutput led_on(PA1);
+    DigitalOutput led_on(PB1);
     STLIB::start();
 
-    Time::register_low_precision_alarm(100, [&]() { led_on.toggle(); });
+    Time::register_low_precision_alarm(5, [&]() { led_on.toggle(); 
+    });
 
     while (1) {
         STLIB::update();
diff --git a/STM32H723ZGTX_FLASH.ld b/STM32H723ZGTX_FLASH.ld
@@ -134,7 +134,21 @@ SECTIONS
     . = ALIGN(4);
     _edata = .;        /* define a global symbol at data end */
   } >RAM_D1 AT> FLASH
-
+  /*
+    this needs to be the last thing in FLASH
+    because the preceeding sections are appended after the one preceeding them
+    this is, if this were the first thing in FLASH
+    the sections below it would try to be placed afterwards
+    thus overflowing the FLASH
+  */
+  .metadata_pool :
+  {
+  	. = ABSOLUTE(0x080DFD00);
+    . = ALIGN(4);
+    metadata = .;
+    KEEP(*(.metadata_pool))
+    . += 0x100;
+  } >FLASH
   /* Uninitialized data section */
   . = ALIGN(4);
   .bss (NOLOAD) :
diff --git a/Tests/runner.py b/Tests/runner.py
@@ -1,6 +1,25 @@
 import subprocess
 from argparse import ArgumentParser
 import time
+import sys
+import os
+from datetime import datetime
+import traceback
+
+import logging
+import threading
+
+pathlogs = 'testsLog'
+
+def LOG(*args, mode= 'INFO'):
+    print(args)
+    if(mode == 'INFO'):
+        logging.info(args)
+    elif(mode == 'ERR'):
+        logging.error(args)
+    elif(mode=='ELF'):
+        logging.info(f'<CPP>{args}')
+
 
 
 class DuplicatedTestError(Exception):
@@ -16,14 +35,27 @@ def __init__(self, executable):
         self._executable = executable
     
     def __enter__(self):
+        self._executable = f"stdbuf -oL {self._executable}"
         self._process = subprocess.Popen(
             self._executable,
             shell=True,
             stdout=subprocess.PIPE,
             stderr=subprocess.PIPE,
-            text=True
+            text=True,
+            bufsize=1,
         )
 
+        self._stdout_thread = threading.Thread(target=self.stream_output)
+        self._stdout_thread.daemon = True
+        self._stdout_thread.start()
+
+    def stream_output(self):
+        while True:
+            line = self._process.stdout.readline()
+            if not line: break
+            
+            LOG(line, mode = 'ELF')
+
     def __exit__(self, *args):
         try:
             out, err = self._process.communicate(timeout=1)
@@ -35,10 +67,12 @@ def __exit__(self, *args):
                 out = "Error recovering stdout"
                 err = "Error recovering stderr"
         
+        self._stdout_thread.join(timeout=1)
+        
         if out:
-            print(f"  * UUT stdout:\n{out}")
+            LOG(f"  * UUT stdout:\n{out}")
         if err:
-            print(f"  * UUT stderr:\n{err}")
+            LOG(f"  * UUT stderr:\n{err}")
 
 
 class Test:
@@ -99,27 +133,49 @@ def decorator(test_func):
     
     # Runs all the registered tests, cleaning up after each test
     def run(self):
+
+        failed_tests = 0
+
+        if not os.path.exists(f'./{pathlogs}'):
+            os.makedirs(f'./{pathlogs}')
+        date  = datetime.now()
+        logging.basicConfig(level=logging.INFO, filename=f'{pathlogs}/{date}log.log', filemode='w', format="%(levelname)s - %(message)s")
+
         for name, test in self._tests.items():
             try:
                 test.run_prepare()
 
                 with self._uut:
                     time.sleep(0.1)
                     try:
-                        print(f"[{name}] Running...")
+                        LOG(f"[{name}] Running...")
                         result = test()
-                        print(f"[{name}] Succesfull!")
+                        LOG(f"[{name}] Succesfull!")
                         if result is not None:
-                            print(f"  * Result: {result}")
+                            LOG(f"  * Result: {result}")
                     except Exception as reason:
-                        print(f"[{name}] Failed!")
-                        print(f"  * Reason: {reason}")
+                        tb = traceback.extract_tb(reason.__traceback__)
+                        failed_tests += 1
+
+                        # Obtener la última llamada (donde ocurrió el error)
+                        file1, line1, _, _ = tb[-2]
+                        file2, line2, _, _ = tb[-1]
+                        LOG(f"[{name}] Failed!", mode= 'ERR')
+                        LOG(f'file: {file1} line: {line1}, file: {file2} line: {line2}', mode = 'ERR')
+                        LOG(f"  * Reason: {reason}", mode = 'ERR')
 
                 test.run_cleanup()
             except KeyboardInterrupt:
-                print(f"[{name}] Keyboard Interrupt. Aborted.")
-
-
+                LOG(f"[{name}] Keyboard Interrupt. Aborted.")
+                import sys
+                sys.exit(130)
+               
+        if failed_tests>0:
+            import sys
+            LOG(f"[{failed_tests}] Tests Failed!", mode= 'ERR')
+            sys.exit(1)
+
+                
 
 parser = ArgumentParser(
     prog="test",
diff --git a/Tests/test.py b/Tests/test.py
@@ -1,7 +1,7 @@
 import sys, os
 sys.path.append(os.path.join(os.path.dirname(__file__), "VirtualMCU", "src"))
 
-from runner import runner
+from runner import runner, LOG
 from vmcu.shared_memory import SharedMemory
 from vmcu.pin import Pinout, DigitalOut
 from vmcu.services.digital_out import DigitalOutService
@@ -10,11 +10,13 @@
 
 @runner.test()
 def led_toggle():
+
     TOGGLE_PERIOD = milliseconds(100 * 2)
-    ALLOWED_SLACK = milliseconds(5)
+    ALLOWED_SLACK = milliseconds(100)
 
     shm = SharedMemory("gpio__blinking_led", "state_machine__blinking_led")
-    led = DigitalOutService(shm, Pinout.PA1)
+    led = DigitalOutService(shm, Pinout.PB1)
+    state = DigitalOut.State.Low
 
     def led_turns_on():
         nonlocal led
@@ -30,8 +32,20 @@ def led_turns_off():
         before=(TOGGLE_PERIOD / 2) + ALLOWED_SLACK,
         msg="Sync fails"
     )
+    completes(
+        wait_until_true(led_turns_off),
+        before=(TOGGLE_PERIOD / 2) + ALLOWED_SLACK,
+        msg="Sync fails"
+    )
+    completes(
+        wait_until_true(led_turns_on),
+        before=(TOGGLE_PERIOD / 2) + ALLOWED_SLACK,
+        msg="Sync fails"
+    )
+    time_start = nanoseconds(time.time_ns())
 
     for i in range(150):
+        t = time.time_ns()
         completes(
             wait_until_true(led_turns_off),
             before=(TOGGLE_PERIOD / 2) + ALLOWED_SLACK,
@@ -44,7 +58,9 @@ def led_turns_off():
             after=(TOGGLE_PERIOD / 2) - ALLOWED_SLACK,
             msg="turns on"
         )
+        time_start += TOGGLE_PERIOD
         print("toggle", i)
+        print(time.time_ns()-t-TOGGLE_PERIOD*10**9)
     
 
 runner.run() # Runs the tests, do not delete!
diff --git a/Tests/utility.py b/Tests/utility.py
diff --git a/requirements.txt b/requirements.txt
diff --git a/tools/binary_metadata_template.cpp b/tools/binary_metadata_template.cpp
diff --git a/tools/generate_binary_metadata.py b/tools/generate_binary_metadata.py
diff --git a/tools/retrieve_flash_data.py b/tools/retrieve_flash_data.py
