Merge pull request #15512 from aabadie/pr/tools/emulator_term

tools/emulator: allow use with *term targets + introduce EMULATE=1 instead of emulate target

Makefile.include

@@ -397,17 +397,19 @@ include $(BOARDDIR)/Makefile.include
 INCLUDES += -I$(RIOTCPU)/$(CPU)/include
 include $(RIOTCPU)/$(CPU)/Makefile.include
 
-# Include emulator code if available and if emulate target is used
-ifneq (,$(filter emulate%,$(MAKECMDGOALS)))
-  # Use renode as default emulator
-  RIOT_EMULATOR ?= renode
-  -include $(RIOTMAKE)/tools/$(RIOT_EMULATOR).inc.mk
-endif
-
 # Include common serial logic to define TERMPROG, TERMFLAGS variables based on
 # the content of RIOT_TERMINAL
 include $(RIOTMAKE)/tools/serial.inc.mk
 
+# Include emulator code when required and if available
+ifeq (1,$(EMULATE))
+  # Use renode as default emulator
+  RIOT_EMULATOR ?= renode
+  -include $(RIOTMAKE)/tools/$(RIOT_EMULATOR).inc.mk
+  TERMDEPS += $(EMULATORDEPS)
+  DEBUGDEPS += $(EMULATORDEPS)
+endif
+
 # Include common programmer logic if available
 -include $(RIOTMAKE)/tools/$(PROGRAMMER).inc.mk
 
@@ -746,20 +748,10 @@ debug-server:
 	$(call check_cmd,$(DEBUGSERVER),Debug server program)
 	$(DEBUGSERVER) $(DEBUGSERVER_FLAGS)
 
-emulate: all $(EMULATORDEPS)
-ifeq (,$(filter debug%,$(MAKECMDGOALS)))
+ifeq (1,$(EMULATE))
+emulate:
 	$(call check_cmd,$(EMULATOR),Emulation program)
 	$(EMULATOR) $(EMULATOR_FLAGS)
-else
-	@:
-endif
-
-emulate-only: $(EMULATORDEPS)
-ifeq (,$(filter debug%,$(MAKECMDGOALS)))
-	$(call check_cmd,$(EMULATOR),Emulation program)
-	$(EMULATOR) $(EMULATOR_FLAGS)
-else
-	@:
 endif
 
 reset:

boards/microbit/doc.txt

@@ -94,6 +94,6 @@ Use it like this:
 
     $ cd examples/hello-world
     $ BOARD=microbit make clean all -j4
-    $ BOARD=microbit make emulate
+    $ EMULATE=1 BOARD=microbit make term
 
  */

boards/stm32f4discovery/Makefile.include

@@ -9,3 +9,6 @@ PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.SLAB_USBtoUART*)))
 PROGRAMMER ?= openocd
 DEBUG_ADAPTER ?= stlink
 STLINK_VERSION ?= 2
+
+# Tell renode on which UART stdio is available
+RENODE_SYSBUS_UART ?= sysbus.uart2

boards/stm32f4discovery/doc.txt

@@ -172,7 +172,7 @@ To emulate this board you need an updated version of
 [renode](https://github.com/renode/renode) installed, at least version 1.11.
 
 ```
-BOARD=stm32f4discovery make all emulate
+EMULATE=1 BOARD=stm32f4discovery make all term
 ```
 
 ## Known Issues / Problems

dist/tools/emulator/debug.sh

@@ -45,9 +45,10 @@ trap '' INT
 # start emulator GDB server
 sh -c "\
     GDB_PORT=${GDB_PORT} \
+    EMULATE=1 \
     EMULATOR_PIDFILE=${EMULATOR_PIDFILE} \
     BOARD=${BOARD} \
-    make -C ${APPDIR} emulate-only debug-server & \
+    make -C ${APPDIR} debug-server & \
     echo \$! > ${EMULATOR_PIDFILE}" &
 # Start the debugger and connect to the GDB server
 sh -c "${DBG} ${DBG_FLAGS} ${ELFFILE}"

dist/tools/emulator/term.sh

@@ -0,0 +1,68 @@
+#!/usr/bin/env bash
+
+# This script wraps an emulator (renode or qemu) and a terminal client
+# in a single command and takes 6 arguments:
+# 1. the type of emulator (renode or qemu)
+# 2. the board to emulate,
+# 3. the application directory of the the current application
+# 4. the terminal client tool
+# 5. the options of the terminal client
+# 6. the serial port to connect to the terminal client to
+
+# This script is supposed to be called from RIOTs make system when using the
+# "term" or "cleanterm" targets.
+
+# @author       Alexandre Abadie <alexandre.abadie@inria.fr>
+
+EMULATOR=$1
+BOARD=$2
+APPDIR=$3
+TERMPROG=$4
+TERMFLAGS=$5
+PORT=$6
+
+# temporary file that contains the emulator pid
+EMULATOR_PIDFILE=$(mktemp -t "emulator_pid.XXXXXXXXXX")
+SOCAT_PIDFILE=$(mktemp -t "socat_pid.XXXXXXXXXX")
+
+# will be called by trap
+cleanup() {
+    if [ ${EMULATOR} = "qemu" ]
+    then
+        echo "cleanup ${SOCAT_PIDFILE}"
+        kill "$(cat ${SOCAT_PIDFILE})"
+        rm -f "${SOCAT_PIDFILE}"
+    fi
+    echo "cleanup ${EMULATOR_PIDFILE}"
+    kill "$(cat ${EMULATOR_PIDFILE})"
+    rm -f "${EMULATOR_PIDFILE}"
+    rm -f ${PORT}
+    exit 0
+}
+# cleanup after script terminates
+trap "cleanup terminal for ${EMULATOR} emulator" EXIT
+
+# start emulator in background
+sh -c "\
+    EMULATOR_PIDFILE=${EMULATOR_PIDFILE} \
+    EMULATE=1 \
+    BOARD=${BOARD} \
+    make -C ${APPDIR} emulate & \
+    echo \$! > ${EMULATOR_PIDFILE}" &
+
+# with qemu, start socat redirector in background
+if [ ${EMULATOR} = "qemu" ]
+then
+    sleep 1
+    sh -c "\
+        socat pty,link=${PORT},raw,echo=0 TCP:localhost:5555 & \
+        echo \$! > ${SOCAT_PIDFILE}" &
+fi
+
+# Start the terminal client after PORT is available. PORT can be a symlink.
+while [ ! -L "${PORT}" ]
+do
+    sleep 1
+done
+
+sh -c "${TERMPROG} ${TERMFLAGS}"

makefiles/tools/qemu.inc.mk

@@ -1,13 +1,25 @@
-EMULATOR ?= qemu-system-arm
-EMULATOR_MACHINE ?= $(BOARD)
-EMULATOR_MONITOR_PORT ?= 45454
-EMULATOR_MONITOR_FLAGS ?= telnet::$(EMULATOR_MONITOR_PORT),server,nowait
+QEMU ?= qemu-system-arm
+QEMU_MACHINE ?= $(BOARD)
+QEMU_MONITOR_PORT ?= 45454
+QEMU_MONITOR_FLAGS ?= telnet::$(QEMU_MONITOR_PORT),server,nowait
 FLASHFILE ?= $(ELFFILE)
 
-EMULATOR_FLAGS = -machine $(EMULATOR_MACHINE) -device loader,file=$(ELFFILE) \
-                 -serial stdio \
-                 -monitor $(EMULATOR_MONITOR_FLAGS) \
-                 -nographic
+QEMU_SERIAL_TCP_PORT ?= 5555
+
+# Configure emulator variables
+EMULATOR ?= $(QEMU)
+EMULATOR_FLAGS ?= -machine $(QEMU_MACHINE) -device loader,file=$(ELFFILE) \
+                  -serial telnet::$(QEMU_SERIAL_TCP_PORT),server,nowait,nodelay \
+                  -monitor $(QEMU_MONITOR_FLAGS) \
+                  -nographic
+
+# Configure the qemu terminal access
+EMULATOR_SERIAL_PORT ?= /tmp/riot_$(APPLICATION)_$(BOARD)_uart
+PORT = $(EMULATOR_SERIAL_PORT)
+RIOT_TERMPROG := $(TERMPROG)
+RIOT_TERMFLAGS := $(TERMFLAGS)
+TERMPROG := $(RIOTTOOLS)/emulator/term.sh
+TERMFLAGS := $(RIOT_EMULATOR) $(BOARD) $(APPDIR) $(RIOT_TERMPROG) '$(RIOT_TERMFLAGS)' $(EMULATOR_SERIAL_PORT)
 
 # Configure the debugger
 GDB_PORT ?= 3333
@@ -19,3 +31,7 @@ DEBUGSERVER_FLAGS ?= $(QEMU_DEBUG_FLAGS)
 
 DEBUGGER_FLAGS ?= $(BOARD) $(APPDIR) $(ELFFILE) $(GDB_PORT)
 DEBUGGER ?= $(RIOTTOOLS)/emulator/debug.sh
+
+# No flasher available with qemu emulator
+FLASHER ?=
+FFLAGS ?=

makefiles/tools/renode.inc.mk

@@ -9,18 +9,45 @@ EMULATORDEPS += $(RENODE_BOARD_CONFIG)
 # Use renode interactive commands to specify the image file and board config
 RENODE_CONFIG_FLAGS += -e "set image_file '$(RENODE_IMAGE_FILE)'"
 RENODE_CONFIG_FLAGS += -e "include @$(RENODE_BOARD_CONFIG)"
-
-# Set emulator variables
-EMULATOR_FLAGS ?= $(RENODE_CONFIG_FLAGS) -e start
-EMULATOR ?= $(RENODE)
-
-# Configure the debugger
-GDB_PORT ?= 3333
 EMULATOR_PIDFILE ?=
 ifneq (,$(EMULATOR_PIDFILE))
   $(info Using Renode pid file $(EMULATOR_PIDFILE))
   RENODE_CONFIG_FLAGS += --pid-file $(EMULATOR_PIDFILE)
 endif
+
+# Renode logging configuration
+RENODE_SHOW_LOG ?= 0
+ifneq (1,$(RENODE_SHOW_LOG))
+  RENODE_CONFIG_FLAGS += --hide-log
+endif
+RENODE_LOG_LEVEL ?= 2  # Warning level
+RENODE_CONFIG_FLAGS += -e "logLevel $(RENODE_LOG_LEVEL)"
+
+# Renode GUI
+RENODE_SHOW_GUI ?= 0
+ifneq (1,$(RENODE_SHOW_GUI))
+  RENODE_CONFIG_FLAGS += --disable-xwt
+endif
+
+# Configure local serial port
+RENODE_SYSBUS_UART ?= sysbus.uart0
+EMULATOR_SERIAL_PORT ?= /tmp/riot_$(APPLICATION)_$(BOARD)_uart
+RENODE_CONFIG_FLAGS += -e "emulation CreateUartPtyTerminal \"term\" \"$(EMULATOR_SERIAL_PORT)\" true"
+RENODE_CONFIG_FLAGS += -e "connector Connect $(RENODE_SYSBUS_UART) term"
+
+# Set emulator variables
+EMULATOR_FLAGS ?= $(RENODE_CONFIG_FLAGS) -e start
+EMULATOR ?= $(RENODE)
+
+# Configure the terminal
+PORT = $(EMULATOR_SERIAL_PORT)
+RIOT_TERMPROG := $(TERMPROG)
+RIOT_TERMFLAGS := $(TERMFLAGS)
+TERMPROG := $(RIOTTOOLS)/emulator/term.sh
+TERMFLAGS := $(RIOT_EMULATOR) $(BOARD) $(APPDIR) $(RIOT_TERMPROG) '$(RIOT_TERMFLAGS)' $(EMULATOR_SERIAL_PORT)
+
+# Configure the debugger
+GDB_PORT ?= 3333
 RENODE_DEBUG_FLAGS += $(RENODE_CONFIG_FLAGS)
 RENODE_DEBUG_FLAGS += -e "machine StartGdbServer $(GDB_PORT) true"
 
@@ -29,3 +56,7 @@ DEBUGSERVER_FLAGS ?= $(RENODE_DEBUG_FLAGS)
 
 DEBUGGER_FLAGS ?= $(BOARD) $(APPDIR) $(ELFFILE) $(GDB_PORT) "-ex \"monitor start\""
 DEBUGGER ?= $(RIOTTOOLS)/emulator/debug.sh
+
+# No flasher available with renode emulator
+FLASHER ?=
+FFLAGS ?=