dist/tools/emulator: allow use of term with emulators

Makefile.include

@@ -747,7 +747,7 @@ debug-server:
 	$(DEBUGSERVER) $(DEBUGSERVER_FLAGS)
 
 emulate: all $(EMULATORDEPS)
-ifeq (,$(filter debug%,$(MAKECMDGOALS)))
+ifeq (,$(filter term cleanterm debug%,$(MAKECMDGOALS)))
 	$(call check_cmd,$(EMULATOR),Emulation program)
 	$(EMULATOR) $(EMULATOR_FLAGS)
 else
@@ -755,7 +755,7 @@ else
 endif
 
 emulate-only: $(EMULATORDEPS)
-ifeq (,$(filter debug%,$(MAKECMDGOALS)))
+ifeq (,$(filter term cleanterm debug%,$(MAKECMDGOALS)))
 	$(call check_cmd,$(EMULATOR),Emulation program)
 	$(EMULATOR) $(EMULATOR_FLAGS)
 else

dist/tools/emulator/term.sh

@@ -0,0 +1,67 @@
+#!/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} \
+    BOARD=${BOARD} \
+    make -C ${APPDIR} emulate-only & \
+    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

@@ -5,10 +5,17 @@ EMULATOR_MONITOR_FLAGS ?= telnet::$(EMULATOR_MONITOR_PORT),server,nowait
 FLASHFILE ?= $(ELFFILE)
 
 EMULATOR_FLAGS = -machine $(EMULATOR_MACHINE) -device loader,file=$(ELFFILE) \
-                 -serial stdio \
+                 -serial telnet::5555,server,nowait,nodelay \
                  -monitor $(EMULATOR_MONITOR_FLAGS) \
                  -nographic
 
+# Configure the qemu terminal access
+PORT = /tmp/riot_$(APPLICATION)_$(BOARD)_uart
+RIOT_TERMPROG := $(TERMPROG)
+RIOT_TERMFLAGS := $(TERMFLAGS)
+TERMPROG := $(RIOTTOOLS)/emulator/term.sh
+TERMFLAGS := $(RIOT_EMULATOR) $(BOARD) $(APPDIR) $(RIOT_TERMPROG) '$(RIOT_TERMFLAGS)' $(PORT)
+
 # Configure the debugger
 GDB_PORT ?= 3333
 QEMU_DEBUG_FLAGS += -S -gdb tcp::$(GDB_PORT)

makefiles/tools/renode.inc.mk

@@ -9,18 +9,29 @@ 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 $(EMULATOR_PIDFILE)
 endif
+
+# Configure local serial port
+PORT = /tmp/riot_$(APPLICATION)_$(BOARD)_uart
+RENODE_CONFIG_FLAGS += -e "emulation CreateUartPtyTerminal \"term\" \"$(PORT)\" true"
+RENODE_CONFIG_FLAGS += -e "connector Connect sysbus.uart0 term"
+
+# Set emulator variables
+EMULATOR_FLAGS ?= $(RENODE_CONFIG_FLAGS) -e start
+EMULATOR ?= $(RENODE)
+
+# Configure the terminal
+RIOT_TERMPROG := $(TERMPROG)
+RIOT_TERMFLAGS := $(TERMFLAGS)
+TERMPROG := $(RIOTTOOLS)/emulator/term.sh
+TERMFLAGS := $(RIOT_EMULATOR) $(BOARD) $(APPDIR) $(RIOT_TERMPROG) '$(RIOT_TERMFLAGS)' $(PORT)
+
+# Configure the debugger
+GDB_PORT ?= 3333
 RENODE_DEBUG_FLAGS += $(RENODE_CONFIG_FLAGS)
 RENODE_DEBUG_FLAGS += -e "machine StartGdbServer $(GDB_PORT) true"