Automated Integration Tests

.github/workflows/ci.yaml

@@ -14,96 +14,116 @@ jobs:
       - name: Lint
         run: |
           make fmt
-
   build:
     runs-on: ubuntu-latest
-
     steps:
-    - name: Checkout repository
-      uses: actions/checkout@v4
-      with:
-        submodules: false  # We'll handle submodules with smart caching
-        fetch-depth: 0
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          submodules: false # We'll handle submodules with smart caching
+          fetch-depth: 0
 
-    # - name: Cache bin
-    #   id: cache-bin
-    #   uses: actions/cache@v4
-    #   with:
-    #     path: |
-    #       bin
-    #     key: bin-${{ hashFiles('Makefile') }}-v3
-    #     restore-keys: |
-    #       bin-${{ hashFiles('Makefile') }}-
-    #       bin-
+      # - name: Cache bin
+      #   id: cache-bin
+      #   uses: actions/cache@v4
+      #   with:
+      #     path: |
+      #       bin
+      #     key: bin-${{ hashFiles('Makefile') }}-v3
+      #     restore-keys: |
+      #       bin-${{ hashFiles('Makefile') }}-
+      #       bin-
 
-    - name: Download bin tools
-      if: steps.cache-bin.outputs.cache-hit != 'true'
-      run: |
-        make download-bin
+      - name: Download bin tools
+        if: steps.cache-bin.outputs.cache-hit != 'true'
+        run: |
+          make download-bin
 
-    # - name: Cache submodules
-    #   id: cache-submodules
-    #   uses: actions/cache@v4
-    #   with:
-    #     path: |
-    #       lib/fprime
-    #       lib/fprime-zephyr
-    #       lib/zephyr-workspace/zephyr
-    #     key: submodules-${{ hashFiles('.gitmodules') }}-v3
-    #     restore-keys: |
-    #       submodules-${{ hashFiles('.gitmodules') }}-
-    #       submodules-
+      # - name: Cache submodules
+      #   id: cache-submodules
+      #   uses: actions/cache@v4
+      #   with:
+      #     path: |
+      #       lib/fprime
+      #       lib/fprime-zephyr
+      #       lib/zephyr-workspace/zephyr
+      #     key: submodules-${{ hashFiles('.gitmodules') }}-v3
+      #     restore-keys: |
+      #       submodules-${{ hashFiles('.gitmodules') }}-
+      #       submodules-
 
-    - name: Setup submodules
-      if: steps.cache-submodules.outputs.cache-hit != 'true'
-      run: |
-        make submodules
+      - name: Setup submodules
+        if: steps.cache-submodules.outputs.cache-hit != 'true'
+        run: |
+          make submodules
 
-    # - name: Cache python venv
-    #   id: cache-python
-    #   uses: actions/cache@v4
-    #   with:
-    #     path: fprime-venv
-    #     key: python-venv-${{ runner.os }}-${{ hashFiles('requirements.txt') }}-v3
-    #     restore-keys: |
-    #       python-venv-${{ runner.os }}-
-    #       python-venv-
+      # - name: Cache python venv
+      #   id: cache-python
+      #   uses: actions/cache@v4
+      #   with:
+      #     path: fprime-venv
+      #     key: python-venv-${{ runner.os }}-${{ hashFiles('requirements.txt') }}-v3
+      #     restore-keys: |
+      #       python-venv-${{ runner.os }}-
+      #       python-venv-
 
-    - name: Setup python venv
-      if: steps.cache-python.outputs.cache-hit != 'true'
-      run: |
-        make fprime-venv
+      - name: Setup python venv
+        if: steps.cache-python.outputs.cache-hit != 'true'
+        run: |
+          make fprime-venv
 
-    # - name: Cache Zephyr workspace and SDK
-    #   id: cache-zephyr
-    #   uses: actions/cache@v4
-    #   with:
-    #     path: |
-    #       lib/zephyr-workspace/modules
-    #       lib/zephyr-workspace/bootloader
-    #       ~/zephyr-sdk-0.17.2
-    #     key: zephyr-${{ hashFiles('west.yml') }}-${{ runner.os }}-v3
-    #     restore-keys: |
-    #       zephyr-${{ hashFiles('west.yml') }}-${{ runner.os }}-
-    #       zephyr-
+      # - name: Cache Zephyr workspace and SDK
+      #   id: cache-zephyr
+      #   uses: actions/cache@v4
+      #   with:
+      #     path: |
+      #       lib/zephyr-workspace/modules
+      #       lib/zephyr-workspace/bootloader
+      #       ~/zephyr-sdk-0.17.2
+      #     key: zephyr-${{ hashFiles('west.yml') }}-${{ runner.os }}-v3
+      #     restore-keys: |
+      #       zephyr-${{ hashFiles('west.yml') }}-${{ runner.os }}-
+      #       zephyr-
 
-    - name: Setup Zephyr
-      if: steps.cache-zephyr.outputs.cache-hit != 'true'
-      run: |
-        make zephyr-setup
-      env:
-        PIP_DISABLE_PIP_VERSION_CHECK: 1
-        PIP_NO_COMPILE: 1
+      - name: Setup Zephyr
+        if: steps.cache-zephyr.outputs.cache-hit != 'true'
+        run: |
+          make zephyr-setup
+        env:
+          PIP_DISABLE_PIP_VERSION_CHECK: 1
+          PIP_NO_COMPILE: 1
 
-    - name: Build
-      run: |
-        make generate-ci build-ci
+      - name: Build
+        run: |
+          make generate-ci build-ci
 
-    - name: Upload build artifacts
-      uses: actions/upload-artifact@v4
-      with:
-        name: artifacts
-        path: |
-          build-artifacts/zephyr.uf2
-          build-artifacts/zephyr/fprime-zephyr-deployment/dict/ReferenceDeploymentTopologyDictionary.json
-        retention-days: 30
+      - name: Upload build artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: artifacts
+          path: |
+            build-artifacts/zephyr.uf2
+            build-artifacts/zephyr/fprime-zephyr-deployment/dict/ReferenceDeploymentTopologyDictionary.json
+          retention-days: 30
+  integration:
+    runs-on: [self-hosted, integration]
+    needs: build
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/download-artifact@v5
+      - name: Set up dependencies
+        run: |
+          mkdir -p build-artifacts/zephyr/fprime-zephyr-deployment/dict && mv zephyr/fprime-zephyr-deployment/dict/ReferenceDeploymentTopologyDictionary.json build-artifacts/zephyr/fprime-zephyr-deployment/dict
+            make submodules
+            make fprime-venv
+      - name: Trigger Bootloader
+        run: |
+          make bootloader
+          sleep 10
+      - name: Copy Firmware
+        run: |
+          picotool load ./zephyr.uf2
+          picotool reboot
+      - name: Run Integration Tests
+        run: |
+          make test-integration

FprimeZephyrReference/Components/BootloaderTrigger/BootloaderTrigger.fpp

@@ -2,7 +2,7 @@ module Components {
     @ Used to trigger bootloader mode to install board firmware for integration testing. (DO NOT USE IN SPACE VERY BAD!!!!)
     passive component BootloaderTrigger {
 
-        @ Restarts board and puts it in bootloader mode. (Only should be used for integration testing)
+        @ Restarts board and puts it in bootloader mode. (Only should be used for integration tests)
         sync command TRIGGER_BOOTLOADER(
         )
 

FprimeZephyrReference/test/bootloader_trigger.py

@@ -0,0 +1,33 @@
+import os
+import subprocess
+import time
+
+import pytest
+from fprime_gds.common.testing_fw.api import IntegrationTestAPI
+
+
+@pytest.fixture(scope="session", autouse=True)
+def start_gds(fprime_test_api_session: IntegrationTestAPI):
+    process = subprocess.Popen(["make", "gds-integration"], cwd=os.getcwd())
+
+    gds_working = False
+    timeout_time = time.time() + 30
+    while time.time() < timeout_time:
+        try:
+            fprime_test_api_session.send_and_assert_command(
+                command="CdhCore.cmdDisp.CMD_NO_OP"
+            )
+            gds_working = True
+            break
+        except Exception:
+            time.sleep(1)
+    assert gds_working
+
+    yield
+    process.kill()
+
+
+def test_bootloader(fprime_test_api: IntegrationTestAPI):
+    fprime_test_api.send_command(
+        "ReferenceDeployment.bootloaderTrigger.TRIGGER_BOOTLOADER"
+    )

FprimeZephyrReference/test/int/conftest.py

@@ -0,0 +1,33 @@
+import os
+import signal
+import subprocess
+import time
+
+import pytest
+from fprime_gds.common.testing_fw.api import IntegrationTestAPI
+
+
+@pytest.fixture(scope="session")
+def start_gds(fprime_test_api_session: IntegrationTestAPI):
+    pro = subprocess.Popen(
+        ["make", "gds-integration"],
+        cwd=os.getcwd(),
+        stdout=subprocess.PIPE,
+        preexec_fn=os.setsid,
+    )
+
+    gds_working = False
+    timeout_time = time.time() + 30
+    while time.time() < timeout_time:
+        try:
+            fprime_test_api_session.send_and_assert_command(
+                command="CdhCore.cmdDisp.CMD_NO_OP"
+            )
+            gds_working = True
+            break
+        except Exception:
+            time.sleep(1)
+    assert gds_working
+
+    yield
+    os.killpg(os.getpgid(pro.pid), signal.SIGTERM)

FprimeZephyrReference/test/int/imu_manager_test.py

@@ -18,7 +18,7 @@ def send_packet(fprime_test_api: IntegrationTestAPI):
     )
 
 
-def test_01_acceleration_telemetry(fprime_test_api: IntegrationTestAPI):
+def test_01_acceleration_telemetry(fprime_test_api: IntegrationTestAPI, start_gds):
     """Test that we can get Acceleration telemetry"""
     result: ChData = fprime_test_api.assert_telemetry(
         "ReferenceDeployment.lsm6dsoManager.Acceleration", start="NOW", timeout=3
@@ -30,7 +30,7 @@ def test_01_acceleration_telemetry(fprime_test_api: IntegrationTestAPI):
     )
 
 
-def test_02_angular_velocity_telemetry(fprime_test_api: IntegrationTestAPI):
+def test_02_angular_velocity_telemetry(fprime_test_api: IntegrationTestAPI, start_gds):
     """Test that we can get AngularVelocity telemetry"""
     result: ChData = fprime_test_api.assert_telemetry(
         "ReferenceDeployment.lsm6dsoManager.AngularVelocity", start="NOW", timeout=3
@@ -42,7 +42,7 @@ def test_02_angular_velocity_telemetry(fprime_test_api: IntegrationTestAPI):
     )
 
 
-def test_03_temperature_telemetry(fprime_test_api: IntegrationTestAPI):
+def test_03_temperature_telemetry(fprime_test_api: IntegrationTestAPI, start_gds):
     """Test that we can get Temperature telemetry"""
     result: ChData = fprime_test_api.assert_telemetry(
         "ReferenceDeployment.lsm6dsoManager.Temperature", start="NOW", timeout=3
@@ -52,7 +52,7 @@ def test_03_temperature_telemetry(fprime_test_api: IntegrationTestAPI):
     assert reading != 0, "Temperature reading should be non-zero"
 
 
-def test_04_magnetic_field_telemetry(fprime_test_api: IntegrationTestAPI):
+def test_04_magnetic_field_telemetry(fprime_test_api: IntegrationTestAPI, start_gds):
     """Test that we can get MagneticField telemetry"""
     result: ChData = fprime_test_api.assert_telemetry(
         "ReferenceDeployment.lis2mdlManager.MagneticField", start="NOW", timeout=3

FprimeZephyrReference/test/int/rtc_test.py

@@ -48,7 +48,7 @@ def set_time(fprime_test_api: IntegrationTestAPI, dt: datetime = None):
     fprime_test_api.assert_event("ReferenceDeployment.rtcManager.TimeSet", timeout=2)
 
 
-def test_01_time_set(fprime_test_api: IntegrationTestAPI):
+def test_01_time_set(fprime_test_api: IntegrationTestAPI, start_gds):
     """Test that we can set the time"""
 
     # Set time to Curiosity landing on Mars (7 minutes of terror! https://youtu.be/Ki_Af_o9Q9s)
@@ -91,7 +91,7 @@ def test_01_time_set(fprime_test_api: IntegrationTestAPI):
     pytest.approx(event_time, abs=30) == datetime.now(timezone.utc)
 
 
-def test_02_time_incrementing(fprime_test_api: IntegrationTestAPI):
+def test_02_time_incrementing(fprime_test_api: IntegrationTestAPI, start_gds):
     """Test that time increments over time"""
 
     # Fetch initial time
@@ -122,7 +122,7 @@ def test_02_time_incrementing(fprime_test_api: IntegrationTestAPI):
     )
 
 
-def test_03_time_not_set_event(fprime_test_api: IntegrationTestAPI):
+def test_03_time_not_set_event(fprime_test_api: IntegrationTestAPI, start_gds):
     """Test that a TimeNotSet event is emitted when setting time with invalid data"""
 
     # Clear histories

FprimeZephyrReference/test/int/watchdog_test.py

@@ -41,13 +41,13 @@ def get_watchdog_transitions(fprime_test_api: IntegrationTestAPI) -> int:
     return result.get_val()
 
 
-def test_01_watchdog_telemetry_basic(fprime_test_api: IntegrationTestAPI):
+def test_01_watchdog_telemetry_basic(fprime_test_api: IntegrationTestAPI, start_gds):
     """Test that we can read WatchdogTransitions telemetry"""
     value = get_watchdog_transitions(fprime_test_api)
     assert value >= 0, f"WatchdogTransitions should be >= 0, got {value}"
 
 
-def test_02_watchdog_increments(fprime_test_api: IntegrationTestAPI):
+def test_02_watchdog_increments(fprime_test_api: IntegrationTestAPI, start_gds):
     """Test that WatchdogTransitions increments over time"""
 
     initial_value = get_watchdog_transitions(fprime_test_api)
@@ -59,7 +59,7 @@ def test_02_watchdog_increments(fprime_test_api: IntegrationTestAPI):
     )
 
 
-def test_03_stop_watchdog_command(fprime_test_api: IntegrationTestAPI):
+def test_03_stop_watchdog_command(fprime_test_api: IntegrationTestAPI, start_gds):
     """
     Test STOP_WATCHDOG command sends and emits WatchdogStop
     event and WatchdogTransitions stops incrementing

Makefile

@@ -65,9 +65,13 @@ build-ci:
 	@$(UV) run fprime-util build
 
 .PHONY: test-integration
-test-integration:
+test-integration: uv
 	@$(UV) run pytest FprimeZephyrReference/test/int --deployment build-artifacts/zephyr/fprime-zephyr-deployment
 
+.PHONY: bootloader
+bootloader: uv
+	@$(UV) run pytest FprimeZephyrReference/test/bootloader_trigger.py --deployment build-artifacts/zephyr/fprime-zephyr-deployment
+
 .PHONY: clean
 clean: ## Remove all gitignored files
 	git clean -dfX
@@ -84,11 +88,17 @@ clean-zephyr-sdk: ## Remove Zephyr SDK (reinstall with 'make zephyr-setup')
 
 ##@ Operations
 
-.PHONY: gds
+GDS_COMMAND ?= $(UV) run fprime-gds -n --dictionary $(ARTIFACT_DIR)/zephyr/fprime-zephyr-deployment/dict/ReferenceDeploymentTopologyDictionary.json --communication-selection uart --uart-baud 115200 --output-unframed-data
 ARTIFACT_DIR ?= $(shell pwd)/build-artifacts
+
+.PHONY: gds
 gds: ## Run FPrime GDS
 	@echo "Running FPrime GDS..."
-	@$(UV) run fprime-gds -n --dictionary $(ARTIFACT_DIR)/zephyr/fprime-zephyr-deployment/dict/ReferenceDeploymentTopologyDictionary.json --communication-selection uart --uart-baud 115200 --output-unframed-data
+	@$(GDS_COMMAND)
+
+.PHONY: gds-integration
+gds-integration:
+	@$(GDS_COMMAND) --gui=none
 
 ##@ Build Tools