Kernel mode support

Documentation/config-yaml.rst

@@ -350,6 +350,10 @@ Flash command can use special tags that are handled by NTFC:
 
 - ``$IMAGE_BIN`` is replaced by path to ``nuttx.bin``.
 - ``$IMAGE_HEX`` is replaced by path to ``nuttx.hex``.
+- ``$APPS_BINDIR`` is replaced by the application binaries directory
+  (kernel-mode builds).
+- ``$APPS_IMG`` is replaced by the generated application filesystem
+  image (requires ``apps_image``).
 
 Example usage with ``st-flash`` tool:
 
@@ -430,6 +434,11 @@ These fields are parsed by :class:`ntfc.coreconfig.CoreConfig`.
      - (Optional) Directory with kernel-mode application binaries. Defaults
        to the ``bin/`` directory next to the NuttX ELF for kernel-mode
        builds (``CONFIG_BUILD_KERNEL=y``)
+   * - ``apps_image``
+     - (Optional) Generate a filesystem image with the application
+       binaries after build, e.g. ``apps_image: {type: romfs}``. The
+       image path is available as ``$APPS_IMG`` in the ``flash``
+       command. Requires ``genromfs`` and a kernel-mode build
    * - ``defconfig``
      - Path to NuttX defconfig (auto-build)
    * - ``elf_path``

Documentation/config.yaml

@@ -77,6 +77,9 @@ product:                          # many products can be supported in tests (pro
       app_bindir: ''              # (optional) directory with kernel-mode application binaries.
                                   # Defaults to the bin/ directory next to the NuttX ELF
                                   # for kernel-mode builds.
+      apps_image:                 # (optional) generate a filesystem image with the application
+        type: romfs               # binaries after build (kernel-mode only, requires genromfs).
+                                  # The image path is available as $APPS_IMG in 'flash'.
 
                                   # NTFC can use pre-build image or build it from defconfig
                                   # the behavior will depend on the parameters specified in config.

Documentation/ntfc.yaml

@@ -5,4 +5,6 @@ dependencies: ["toml"] # python dependencies for test cases module
 requirements:          # nuttx config requirements
   - ["CONFIG_DEBUG_SYMBOLS", True]
   - ["CONFIG_SYSTEM_NSH", True]
-  - ["CONFIG_INIT_ENTRYPOINT", "nsh_main"]
+  # alternatives: any one entry satisfies the requirement;
+  # "*" accepts any set value
+  - [["CONFIG_INIT_ENTRYPOINT", "nsh_main"], ["CONFIG_INIT_FILEPATH", "*"]]

Documentation/writing-test-cases.rst

@@ -70,6 +70,20 @@ String/Value Requirements:
      - ["CONFIG_INIT_ENTRYPOINT", "nsh_main"]  # CONFIG must equal value
      - ["CONFIG_TASK_NAME_SIZE", "32"]         # CONFIG must equal value
 
+Wildcard Requirements:
+
+.. code-block:: yaml
+
+   requirements:
+     - ["CONFIG_INIT_FILEPATH", "*"]           # CONFIG must be set (any value)
+
+Alternative Requirements (any one entry satisfies the requirement):
+
+.. code-block:: yaml
+
+   requirements:
+     - [["CONFIG_INIT_ENTRYPOINT", "nsh_main"], ["CONFIG_INIT_FILEPATH", "*"]]
+
 How Requirements Work:
 
 1. NTFC reads NuttX ``.config`` file from configuration
@@ -178,7 +192,11 @@ Execute NSH command and verify output:
 
 Decorators:
 
-- ``@pytest.mark.cmd_check("symbol_name")``: Verify ELF symbol exists
+- ``@pytest.mark.cmd_check("symbol_name")``: Verify ELF symbol exists.
+  On kernel-mode targets (``CONFIG_BUILD_KERNEL=y``) the marker is first
+  matched against application file names (a trailing ``_main`` maps to
+  the file name, so ``hello_main`` matches the ``hello`` binary) and
+  then against symbols in the unstripped application binaries
 - ``@pytest.mark.dep_config("CONFIG_X", "CONFIG_Y")``: Skip if configs not
   enabled
 

config/nuttx-qemu-armv7a-knsh.yaml

@@ -0,0 +1,32 @@
+# NuttX kernel-mode (CONFIG_BUILD_KERNEL=y) target for QEMU armv7a.
+#
+# The CMake build installs application binaries to <build>/bin and the
+# builder sets exec_cwd=<build> for kernel-mode cores, so the hostfs
+# mount data 'fs=.' maps /system to the build directory and
+# /system/bin/init resolves to <build>/bin/init. Semihosting is
+# required for the hostfs mount.
+
+config:
+  cwd: './external'
+  build_dir: './build'
+
+product:
+
+  name: "ntfc-armv7a-knsh"
+  cores:
+    core0:
+      name: 'main'
+      device: 'qemu'
+      exec_path: 'qemu-system-arm'
+      exec_args: '-semihosting -cpu cortex-a7 -nographic
+                 -machine virt,highmem=off,virtualization=off,gic-version=2
+                 -chardev stdio,id=con,mux=on -serial chardev:con
+                 -mon chardev=con,mode=readline'
+      defconfig: 'boards/arm/qemu/qemu-armv7a/configs/knsh'
+      boot_timeout: 15
+      kv:
+        CONFIG_INIT_MOUNT_DATA: "fs=."
+        # required by the arch/os ostest test case
+        CONFIG_SYSTEM_SETLOGMASK: "y"
+        # required by the arch/os heap stability test case
+        CONFIG_TESTING_HEAP: "y"

config/nuttx-qemu-armv8a-knsh.yaml

@@ -0,0 +1,32 @@
+# NuttX kernel-mode (CONFIG_BUILD_KERNEL=y) target for QEMU armv8a.
+#
+# The CMake build installs application binaries to <build>/bin and the
+# builder sets exec_cwd=<build> for kernel-mode cores, so the hostfs
+# mount data 'fs=.' maps /system to the build directory and
+# /system/bin/init resolves to <build>/bin/init. Semihosting is
+# required for the hostfs mount.
+
+config:
+  cwd: './external'
+  build_dir: './build'
+
+product:
+
+  name: "ntfc-armv8a-knsh"
+  cores:
+    core0:
+      name: 'main'
+      device: 'qemu'
+      exec_path: 'qemu-system-aarch64'
+      exec_args: '-semihosting -cpu cortex-a53 -nographic
+                 -machine virt,virtualization=on,gic-version=3
+                 -net none -chardev stdio,id=con,mux=on
+                 -serial chardev:con -mon chardev=con,mode=readline'
+      defconfig: 'boards/arm64/qemu/qemu-armv8a/configs/knsh'
+      boot_timeout: 15
+      kv:
+        CONFIG_INIT_MOUNT_DATA: "fs=."
+        # required by the arch/os ostest test case
+        CONFIG_SYSTEM_SETLOGMASK: "y"
+        # required by the arch/os heap stability test case
+        CONFIG_TESTING_HEAP: "y"

config/nuttx-qemu-intel64-knsh.yaml

@@ -0,0 +1,39 @@
+# NuttX kernel-mode (CONFIG_BUILD_KERNEL=y) target for QEMU intel64.
+#
+# The knsh_romfs configuration loads user-space applications from a
+# ROMFS image linked into the kernel; there is no hostfs, so exec_cwd
+# is not relevant for the mount. Application command discovery uses the
+# <build>/bin directory registered by the builder.
+#
+# Requires NuttX with CMake kernel-build support for x86_64 (branch
+# fix-x86_64-cmake-kernel-build in the vendored checkout: arch_interface
+# guard, CMAKE_LD, relocatable binary install, board ROMFS generation).
+
+config:
+  cwd: './external'
+  build_dir: './build'
+
+product:
+
+  name: "ntfc-intel64-knsh"
+  cores:
+    core0:
+      name: 'main'
+      device: 'qemu'
+      exec_path: 'qemu-system-x86_64'
+      exec_args: '-m 2G -cpu host -enable-kvm -nographic -serial mon:stdio'
+      defconfig: 'boards/x86_64/qemu/qemu-intel64/configs/knsh_romfs'
+      boot_timeout: 15
+      kv:
+        # resolve bare command names against the ROMFS mount point
+        CONFIG_LIBC_ENVPATH: "y"
+        CONFIG_PATH_INITIAL: "/system/bin"
+        # required by the arch/os ostest test case
+        CONFIG_SYSTEM_SETLOGMASK: "y"
+        # required by the arch/os heap stability test case
+        CONFIG_TESTING_HEAP: "y"
+        # setlocale()/nl_langinfo(), referenced by the LTP strftime cases
+        CONFIG_LIBC_LOCALE: "y"
+        # without it SIGKILL is absent from the default action table and
+        # can be ignored, which the LTP sigignore cases check for
+        CONFIG_SIG_SIGKILL_ACTION: "y"

config/nuttx-qemu-riscv-rv-virt-knsh64.yaml

@@ -0,0 +1,31 @@
+# NuttX kernel-mode (CONFIG_BUILD_KERNEL=y) reference target.
+#
+# The knsh64 configuration is an S-mode build: QEMU boots its bundled
+# OpenSBI firmware (no '-bios none') and NTFC appends '-kernel <elf>'.
+#
+# The CMake build installs application binaries to <build>/bin and the
+# builder sets exec_cwd=<build> for kernel-mode cores, so the hostfs
+# mount data 'fs=.' maps /system to the build directory and
+# /system/bin/init resolves to <build>/bin/init.
+
+config:
+  cwd: './external'
+  build_dir: './build'
+
+product:
+
+  name: "ntfc-rv-virt-knsh64"
+  cores:
+    core0:
+      name: 'main'
+      device: 'qemu'
+      exec_path: 'qemu-system-riscv64'
+      exec_args: '-semihosting -M virt,aclint=on -cpu rv64 -smp 1 -nographic'
+      defconfig: 'boards/risc-v/qemu-rv/rv-virt/configs/knsh64'
+      boot_timeout: 15
+      kv:
+        CONFIG_INIT_MOUNT_DATA: "fs=."
+        # required by the arch/os ostest test case
+        CONFIG_SYSTEM_SETLOGMASK: "y"
+        # required by the arch/os heap stability test case
+        CONFIG_TESTING_HEAP: "y"

config/nuttx-serial-knsh.yaml.example

@@ -0,0 +1,33 @@
+# Template for a kernel-mode (CONFIG_BUILD_KERNEL=y) hardware target
+# on a serial console. Copy, rename and fill in the board specifics.
+#
+# Kernel-mode hardware notes:
+# - There is no hostfs on hardware: application binaries must reach the
+#   target filesystem. Either the board defconfig bakes a ROMFS into the
+#   kernel image, or 'apps_image' generates one from <build>/bin and the
+#   'flash' command writes it with $APPS_IMG.
+# - When NTFC builds the image, command discovery uses <build>/bin. For
+#   prebuilt images (no 'defconfig'), commands are discovered once from
+#   the running target by listing CONFIG_PATH_INITIAL.
+# - Kernel boot (mount filesystem, load init ELF) plus a bootloader can
+#   exceed the 5 second default boot wait; raise 'boot_timeout'.
+
+config:
+  cwd: './external'
+  build_dir: './build'
+
+product:
+
+  name: "ntfc-<board>-knsh"
+  cores:
+    core0:
+      name: 'main'
+      device: 'serial'
+      exec_path: '/dev/ttyUSB0'
+      exec_args: '115200,n,8,1'
+      defconfig: 'boards/<arch>/<chip>/<board>/configs/knsh'
+      boot_timeout: 30
+      apps_image:
+        type: romfs
+      flash: '<flash-tool> write $IMAGE_BIN <kernel-address> $APPS_IMG <apps-address>'
+      reboot: '<reset-tool command>'