Run raspberry pi tests.

.github/workflows/ci.yml

@@ -75,6 +75,7 @@ env:
   DO_RELEASE: ${{ github.event_name == 'release' || startsWith(github.event.inputs.do-release, 'v') }}
   DO_MORE_TESTS: ${{ github.event_name == 'schedule' || github.event.inputs.test-more == 'true' }}
   ESPTOOL_VERSION: "v4.8.1%2Btoitlang"
+  TEST_PI_HW: "true"
 
 jobs:
   prereqs:
@@ -111,6 +112,7 @@ jobs:
       EXTRA_INCLUDES: ${{ steps.vars.outputs.EXTRA_INCLUDES }}
       SHARD_COUNT: ${{ steps.vars.outputs.SHARD_COUNT }}
       SHARD_COUNT_LINUX: ${{ steps.vars.outputs.SHARD_COUNT_LINUX }}
+      TEST_PI_HW: ${{ env.TEST_PI_HW }}
 
   build:
     needs: prereqs
@@ -529,6 +531,49 @@ jobs:
             build/firmware-esp32s2.gz
             build/firmware-esp32s3.gz
 
+  rpi:
+    runs-on: ubuntu-latest
+    needs: prereqs
+    if: needs.prereqs.outputs.TEST_PI_HW == 'true'
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Set version
+        run: |
+          if [ -z "$TOIT_VERSION" ]; then
+            TOIT_VERSION=$(cmake -DPRINT_VERSION=1 -P tools/gitversion.cmake)
+          fi
+          echo "TOIT_GIT_VERSION=$TOIT_VERSION" >> $GITHUB_ENV
+
+      - name: Set up build environment
+        uses: ./actions/setup-build
+        with:
+          toit-dir: .
+          cache-key-prefix: cross-pi
+
+      - name: Make
+        # Note that the TOIT_GIT_VERSION is set. The make step will thus not
+        # compute the version from git.
+        run: |
+          make raspbian
+
+      - name: Pack artifacts
+        shell: bash
+        # Note that we use `cp -R` first, since that works on every platform.
+        run: |
+          cp -R ./build/raspbian/sdk ./build/raspbian/toit
+          tar -czf build/rpi.tar.gz -C ./build/raspbian --dereference toit
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: rpi-build
+          path: |
+            build/rpi.tar.gz
+
   cross:
     runs-on: ubuntu-latest
 
@@ -580,10 +625,17 @@ jobs:
         run: |
           make sdk
           make TARGET=win64 sdk
-          make raspbian
+          # The raspbian executable is built in the rpi job.
+          # It is then tested on real hardware.
+          # If the hardware is unavailable we can reenable this step.
+          # make raspbian
           make aarch64
           make arm-linux-gnueabi
 
+      - name: Make raspbian
+        run: |
+          make raspbian
+
       - name: Build test snapshot
         run: |
           echo '
@@ -614,6 +666,7 @@ jobs:
           done
 
       - name: Test executables 32-bit
+        if: ${{ env.TEST_PI_HW != 'true' }}
         uses: pguyot/arm-runner-action@v2
         with:
           cpu: cortex-a7
@@ -627,6 +680,7 @@ jobs:
               build/raspbian/extracted/boot.sh > raspbian_output
 
       - name: Check that the 32-bit run-script worked
+        if: ${{ env.TEST_PI_HW != 'true' }}
         run: |
           cat raspbian_output
           grep "hello world" raspbian_output
@@ -1221,3 +1275,37 @@ jobs:
           git commit -am "Update to version ${{ env.TOIT_VERSION }}"
           git push origin master
           popd
+
+  serial:
+    needs: [prereqs, rpi]
+    if: needs.prereqs.outputs.TEST_PI_HW == 'true'
+
+    runs-on: serial
+
+    steps:
+      - name: Clean workspace
+        run: |
+          rm -rf ${{ github.workspace }}/*
+
+      - uses: actions/checkout@v4
+
+      # We need a more recent version of cmake than is installed globally.
+      - name: Add local bin to PATH
+        run: |
+          echo "$HOME/local/bin" >> $GITHUB_PATH
+
+      # Download the pi artifact.
+      - uses: actions/download-artifact@v4
+        with:
+          name: rpi-build
+
+      - name: Unpack Raspberry Pi
+        run: |
+          mkdir -p rpi
+          tar x -zf rpi.tar.gz -C rpi
+
+      - name: Test Raspberry Pi
+        run: |
+          # Get the pin configuration from the file in the runner's home.
+          source $HOME/pi-test.env
+          make HW_TOIT_EXE=${{ github.workspace }}/rpi/toit/bin/toit test-serial

Makefile

@@ -306,6 +306,17 @@ install: install-sdk
 test:
 	(cd $(BUILD)/$(HOST) && ninja check_slow check_fuzzer_lib)
 
+.PHONY: test-serial
+test-serial:
+	@if [ -z "$$HW_TOIT_EXE" ]; then \
+		echo "HW_TOIT_EXE is not set. Set it to the path of the PI executable."; \
+		exit 1; \
+	fi
+	mkdir -p $(BUILD)/serial
+	(cd $(BUILD)/serial && cmake -DHW_TOIT_EXE=$$HW_TOIT_EXE -G Ninja $(CURDIR)/tests/hw)
+	$$HW_TOIT_EXE pkg install --project-root tests/hw/pi
+	(cd $(BUILD)/serial && ninja check_pi)
+
 .PHONY: build-test-assets
 build-test-assets: rebuild-cmake
 	(cd $(BUILD)/$(HOST) && ninja build_test_assets)

tests/hw/CMakeLists.txt

@@ -0,0 +1,28 @@
+# Copyright (C) 2024 Toitware ApS.
+#
+# This library is free software; you can redistribute it and/or
+# modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation; version
+# 2.1 only.
+#
+# This library is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+# Lesser General Public License for more details.
+#
+# The license can be found in the file `LICENSE` in the top level
+# directory of this repository.
+
+cmake_minimum_required(VERSION 3.20.0)
+
+project(hw NONE)  # No need for compilers.
+
+set(HW_TOIT_EXE "" CACHE FILEPATH "The executable used to run hw tests")
+
+if (NOT HW_TOIT_EXE)
+  message(FATAL_ERROR "HW_TOIT_EXE not set")
+endif()
+
+enable_testing()
+
+add_subdirectory(pi)

tests/hw/pi/CMakeLists.txt

@@ -0,0 +1,35 @@
+# Copyright (C) 2024 Toitware ApS.
+#
+# This library is free software; you can redistribute it and/or
+# modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation; version
+# 2.1 only.
+#
+# This library is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+# Lesser General Public License for more details.
+#
+# The license can be found in the file `LICENSE` in the top level
+# directory of this repository.
+
+file(GLOB TOIT_TESTS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "*-test.toit")
+
+add_custom_target(
+  check_pi
+  COMMAND ${CMAKE_CTEST_COMMAND} -j1 -T test -C pi --output-on-failure
+  USES_TERMINAL
+  )
+
+foreach(file ${TOIT_TESTS})
+  get_filename_component(name ${file} NAME_WE)
+  set(toit_file ${CMAKE_CURRENT_SOURCE_DIR}/${file})
+  set(test_name ${name})
+
+  add_test(
+    NAME ${file}
+    COMMAND ${HW_TOIT_EXE} ${toit_file}
+    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    CONFIGURATIONS pi
+    )
+endforeach()

tests/hw/pi/package.lock

@@ -0,0 +1,9 @@
+sdk: ^2.0.0-alpha.144
+prefixes:
+  host: pkg-host
+packages:
+  pkg-host:
+    url: github.com/toitlang/pkg-host
+    name: host
+    version: 1.15.3
+    hash: 62393e8522b77eafbafe60b9817935266117daf6

tests/hw/pi/package.yaml

@@ -0,0 +1,4 @@
+dependencies:
+  host:
+    url: github.com/toitlang/pkg-host
+    version: ^1.15.3