feat(xteink): add native emulator harness

2026-07-24 14:11:15 -04:00
parent 598b5e66fd
commit ee101c8698
6 changed files with 477 additions and 7 deletions
@@ -26,6 +26,24 @@ nix develop
 ninja -C build qemu-system-riscv32
 ```

+Or build the native xteink target directly:
+
+```sh
+nix build .#qemu-native-xteink
+```
+
+### Agent emulator
+
+```sh
+nix run .#xteink-emu -- start --firmware firmware.bin --sdcard sdcard.img
+nix run .#xteink-emu -- wait --timeout 30 --match 'ready'
+nix run .#xteink-emu -- button bottom-2 --hold-ms 100
+nix run .#xteink-emu -- screenshot --output screen.png
+nix run .#xteink-emu -- stop
+```
+
+State defaults to `/tmp/xteink-emu-$UID`; pass `--state-dir` to any subcommand for parallel instances. `wait` advances a persistent log cursor after each match.
+
 ### WebAssembly

 Driven by the parent repo, not here:
@@ -0,0 +1,61 @@
+{
+  "nodes": {
+    "flake-utils": {
+      "inputs": {
+        "systems": "systems"
+      },
+      "locked": {
+        "lastModified": 1731533236,
+        "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1784796856,
+        "narHash": "sha256-wWFrV5/Qbm+lyt5x20E/bSbfJiGKMo4RCxZV8cl/WZI=",
+        "owner": "NixOS",
+        "repo": "nixpkgs",
+        "rev": "e2587caef70cea85dd97d7daab492899902dbf5d",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "ref": "nixos-unstable",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "root": {
+      "inputs": {
+        "flake-utils": "flake-utils",
+        "nixpkgs": "nixpkgs"
+      }
+    },
+    "systems": {
+      "locked": {
+        "lastModified": 1681028828,
+        "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
+        "owner": "nix-systems",
+        "repo": "default",
+        "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nix-systems",
+        "repo": "default",
+        "type": "github"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}
@@ -7,13 +7,102 @@
  };

  outputs =
-    { self, nixpkgs, flake-utils }:
+    { self
+    , nixpkgs
+    , flake-utils
+    ,
+    }:
    flake-utils.lib.eachDefaultSystem (
      system:
      let
        pkgs = nixpkgs.legacyPackages.${system};
+        keycodemapdb = pkgs.fetchFromGitLab {
+          owner = "qemu-project";
+          repo = "keycodemapdb";
+          rev = "f5772a62ec52591ff6870b7e8ef32482371f22c6";
+          hash = "sha256-GbZ5mrUYLXMi0IX4IZzles0Oyc095ij2xAsiLNJwfKQ=";
+        };
+        qemu-native-xteink = pkgs.stdenv.mkDerivation {
+          pname = "qemu-native-xteink";
+          version = pkgs.lib.strings.trim (builtins.readFile ./VERSION);
+          src = pkgs.lib.cleanSource ./.;
+
+          nativeBuildInputs = with pkgs; [
+            bison
+            flex
+            meson
+            ninja
+            perl
+            pkg-config
+            python3
+          ];
+          buildInputs = with pkgs; [
+            dtc
+            glib
+            libgcrypt
+            libpng
+            pixman
+            zlib
+          ];
+
+          dontUseMesonConfigure = true;
+
+          postPatch = ''
+            cp -r ${keycodemapdb} subprojects/keycodemapdb
+            chmod -R u+w subprojects/keycodemapdb
+            sed -i "/subdir('fp')/d" tests/meson.build
+          '';
+
+          configurePhase = ''
+            runHook preConfigure
+            ./configure \
+              --prefix=$out \
+              --target-list=riscv32-softmmu \
+              --with-devices-riscv32=xteink \
+              --with-coroutine=ucontext \
+              --without-default-features \
+              --enable-system \
+              --enable-gcrypt \
+              --enable-pixman \
+              --enable-png \
+              --disable-werror \
+              --disable-docs \
+              --disable-tools
+            runHook postConfigure
+          '';
+
+          buildPhase = ''
+            runHook preBuild
+            ninja -C build qemu-system-riscv32
+            runHook postBuild
+          '';
+
+          installPhase = ''
+            runHook preInstall
+            ninja -C build install
+            runHook postInstall
+          '';
+        };
+        xteink-emu = pkgs.writeShellApplication {
+          name = "xteink-emu";
+          runtimeInputs = [ pkgs.uv ];
+          text = ''
+            export XTEINK_QEMU=${qemu-native-xteink}/bin/qemu-system-riscv32
+            export XTEINK_BIOS=${qemu-native-xteink}/share/qemu
+            export XTEINK_BOOTLOADER=${./scripts/assets/esp32c3-bootloader.bin}
+            export XTEINK_PARTITIONS=${./scripts/assets/crosspoint-partitions.bin}
+            exec uv run --script ${./scripts/xteink-emu.py} "$@"
+          '';
+        };
      in
      {
+        packages.qemu-native-xteink = qemu-native-xteink;
+        packages.xteink-emu = xteink-emu;
+        apps.xteink-emu = {
+          type = "app";
+          program = "${xteink-emu}/bin/xteink-emu";
+        };
+
        # Native build/test shell. The wasm target is built by the parent
        # xteink-web-emulator repo via its emsdk Docker toolchain, not here.
        #
@@ -23,16 +112,17 @@
        devShells.default = pkgs.mkShell {
          inputsFrom = [ pkgs.qemu ];
          packages = with pkgs; [
-            gnumake
+            dosfstools
            git
-            ninja
-            meson
-            pkg-config
+            gnumake
            libgcrypt
            libslirp
-            pixman
-            dosfstools
+            meson
            mtools
+            ninja
+            pixman
+            pkg-config
+            uv
          ];
        };
      }
@@ -0,0 +1,301 @@
+#!/usr/bin/env -S uv run --script
+# /// script
+# requires-python = ">=3.11"
+# dependencies = []
+# ///
+
+import argparse
+import json
+import os
+import re
+import signal
+import socket
+import subprocess
+import sys
+import tempfile
+import time
+from pathlib import Path
+
+FLASH_SIZE = 16 * 1024 * 1024
+APP_OFFSET = 0x10000
+PARTITIONS_OFFSET = 0x8000
+RELEASED_ADC = 4095
+BUTTONS = {
+    "left": ("/machine/adc", "adci[2]", 2242, RELEASED_ADC),
+    "right": ("/machine/adc", "adci[2]", 5, RELEASED_ADC),
+    "bottom-1": ("/machine/adc", "adci[1]", 3512, RELEASED_ADC),
+    "bottom-2": ("/machine/adc", "adci[1]", 2694, RELEASED_ADC),
+    "bottom-3": ("/machine/adc", "adci[1]", 1493, RELEASED_ADC),
+    "bottom-4": ("/machine/adc", "adci[1]", 5, RELEASED_ADC),
+    "power": ("/machine/gpio", "input-level[3]", False, True),
+}
+
+
+def default_state_dir():
+    return Path(tempfile.gettempdir()) / f"xteink-emu-{os.getuid()}"
+
+
+def state_dir(args):
+    return Path(args.state_dir).expanduser().resolve()
+
+
+def require_env(name):
+    value = os.environ.get(name)
+    if not value:
+        raise RuntimeError(f"{name} is not set; run xteink-emu through its Nix app")
+    return Path(value)
+
+
+def pid_from(state):
+    try:
+        return int((state / "pid").read_text().strip())
+    except (FileNotFoundError, ValueError):
+        return None
+
+
+def process_alive(pid):
+    if pid is None:
+        return False
+    try:
+        os.kill(pid, 0)
+        return True
+    except ProcessLookupError:
+        return False
+    except PermissionError:
+        return True
+
+
+def qmp_command(state, execute, arguments=None, timeout=5):
+    with socket.socket(socket.AF_UNIX) as sock:
+        sock.settimeout(timeout)
+        sock.connect(str(state / "qmp.sock"))
+        stream = sock.makefile("rwb")
+        json.loads(stream.readline())
+
+        def send(command):
+            stream.write(json.dumps(command).encode() + b"\n")
+            stream.flush()
+            while True:
+                response = json.loads(stream.readline())
+                if "event" in response:
+                    continue
+                if "error" in response:
+                    raise RuntimeError(response["error"]["desc"])
+                return response.get("return")
+
+        send({"execute": "qmp_capabilities"})
+        command = {"execute": execute}
+        if arguments is not None:
+            command["arguments"] = arguments
+        return send(command)
+
+
+def require_running(state):
+    pid = pid_from(state)
+    if not process_alive(pid):
+        raise RuntimeError(f"xteink-emu is not running in {state}")
+    return pid
+
+
+def build_flash(firmware, output):
+    app = firmware.read_bytes()
+    if len(app) == FLASH_SIZE:
+        output.write_bytes(app)
+        return
+    if not app or app[0] != 0xE9:
+        raise RuntimeError(f"{firmware} is not an ESP32 app image")
+    if APP_OFFSET + len(app) > FLASH_SIZE:
+        raise RuntimeError(f"{firmware} does not fit in a 16 MiB flash image")
+
+    flash = bytearray(b"\xff" * FLASH_SIZE)
+    bootloader = require_env("XTEINK_BOOTLOADER").read_bytes()
+    partitions = require_env("XTEINK_PARTITIONS").read_bytes()
+    flash[: len(bootloader)] = bootloader
+    flash[PARTITIONS_OFFSET : PARTITIONS_OFFSET + len(partitions)] = partitions
+    flash[APP_OFFSET : APP_OFFSET + len(app)] = app
+    output.write_bytes(flash)
+
+
+def start(args):
+    state = state_dir(args)
+    old_pid = pid_from(state)
+    if process_alive(old_pid):
+        raise RuntimeError(f"xteink-emu is already running as PID {old_pid} in {state}")
+
+    firmware = Path(args.firmware).expanduser().resolve()
+    sdcard = Path(args.sdcard).expanduser().resolve()
+    if not firmware.is_file():
+        raise RuntimeError(f"firmware not found: {firmware}")
+    if not sdcard.is_file():
+        raise RuntimeError(f"SD card image not found: {sdcard}")
+
+    state.mkdir(parents=True, exist_ok=True, mode=0o700)
+    for name in ("pid", "qmp.sock", "serial.log", "qemu.log", "wait.offset"):
+        (state / name).unlink(missing_ok=True)
+    (state / "serial.log").touch()
+    (state / "wait.offset").write_text("0\n")
+    flash = state / "flash.bin"
+    build_flash(firmware, flash)
+
+    command = [
+        str(require_env("XTEINK_QEMU")),
+        "-machine", "xteink,variant=x3",
+        "-accel", "tcg",
+        "-L", str(require_env("XTEINK_BIOS")),
+        "-display", "none",
+        "-serial", f"file:{state / 'serial.log'}",
+        "-monitor", "none",
+        "-qmp", f"unix:{state / 'qmp.sock'},server=on,wait=off",
+        "-nic", "none",
+        "-drive", f"file={flash},if=mtd,format=raw",
+        "-drive", f"file={sdcard},if=sd,format=raw",
+    ]
+    qemu_log = (state / "qemu.log").open("ab")
+    process = subprocess.Popen(
+        command,
+        stdin=subprocess.DEVNULL,
+        stdout=qemu_log,
+        stderr=subprocess.STDOUT,
+        start_new_session=True,
+    )
+    qemu_log.close()
+    (state / "pid").write_text(f"{process.pid}\n")
+
+    deadline = time.monotonic() + 10
+    while time.monotonic() < deadline:
+        if process.poll() is not None:
+            message = (state / "qemu.log").read_text(errors="replace")
+            raise RuntimeError(f"QEMU exited during startup\n{message}")
+        try:
+            qmp_command(state, "query-status")
+            print(f"started PID {process.pid}")
+            print(f"state: {state}")
+            print(f"serial log: {state / 'serial.log'}")
+            return
+        except (FileNotFoundError, ConnectionRefusedError, socket.timeout):
+            time.sleep(0.05)
+    process.terminate()
+    raise RuntimeError("QEMU did not open its QMP socket")
+
+
+def stop(args):
+    state = state_dir(args)
+    pid = require_running(state)
+    try:
+        qmp_command(state, "quit")
+    except (ConnectionError, FileNotFoundError):
+        os.kill(pid, signal.SIGTERM)
+
+    deadline = time.monotonic() + 5
+    while process_alive(pid) and time.monotonic() < deadline:
+        time.sleep(0.05)
+    if process_alive(pid):
+        os.kill(pid, signal.SIGKILL)
+    (state / "pid").unlink(missing_ok=True)
+    (state / "qmp.sock").unlink(missing_ok=True)
+    print(f"stopped PID {pid}")
+
+
+def wait_for_log(args):
+    state = state_dir(args)
+    require_running(state)
+    log_path = state / "serial.log"
+    offset_path = state / "wait.offset"
+    try:
+        pattern = re.compile(args.match)
+    except re.error as error:
+        raise RuntimeError(f"invalid regex: {error}") from error
+    try:
+        offset = int(offset_path.read_text().strip())
+    except (FileNotFoundError, ValueError):
+        offset = 0
+
+    deadline = time.monotonic() + args.timeout
+    with log_path.open("r", errors="replace") as log:
+        log.seek(offset)
+        while True:
+            line = log.readline()
+            if line:
+                if pattern.search(line):
+                    offset_path.write_text(f"{log.tell()}\n")
+                    print(line, end="" if line.endswith("\n") else "\n")
+                    return
+                continue
+            if time.monotonic() >= deadline:
+                raise RuntimeError(f"timed out after {args.timeout:g}s waiting for /{args.match}/")
+            if not process_alive(pid_from(state)):
+                raise RuntimeError("QEMU exited while waiting for serial output")
+            time.sleep(0.05)
+
+
+def button(args):
+    state = state_dir(args)
+    require_running(state)
+    path, prop, pressed, released = BUTTONS[args.name]
+    qmp_command(state, "qom-set", {"path": path, "property": prop, "value": pressed})
+    try:
+        time.sleep(args.hold_ms / 1000)
+    finally:
+        qmp_command(state, "qom-set", {"path": path, "property": prop, "value": released})
+
+
+def screenshot(args):
+    state = state_dir(args)
+    require_running(state)
+    output = Path(args.output).expanduser().resolve()
+    output.parent.mkdir(parents=True, exist_ok=True)
+    qmp_command(state, "screendump", {"filename": str(output), "format": "png"}, timeout=30)
+    print(output)
+
+
+def parser():
+    root = argparse.ArgumentParser(prog="xteink-emu")
+    commands = root.add_subparsers(dest="command", required=True)
+
+    def add_state(command):
+        command.add_argument("--state-dir", default=default_state_dir())
+
+    command = commands.add_parser("start")
+    add_state(command)
+    command.add_argument("--firmware", required=True)
+    command.add_argument("--sdcard", required=True)
+    command.set_defaults(handler=start)
+
+    command = commands.add_parser("stop")
+    add_state(command)
+    command.set_defaults(handler=stop)
+
+    command = commands.add_parser("wait")
+    add_state(command)
+    command.add_argument("--timeout", type=float, required=True, help="seconds")
+    command.add_argument("--match", required=True, help="regular expression")
+    command.set_defaults(handler=wait_for_log)
+
+    command = commands.add_parser("button")
+    add_state(command)
+    command.add_argument("name", choices=BUTTONS)
+    command.add_argument("--hold-ms", type=int, default=100)
+    command.set_defaults(handler=button)
+
+    command = commands.add_parser("screenshot")
+    add_state(command)
+    command.add_argument("--output", required=True)
+    command.set_defaults(handler=screenshot)
+    return root
+
+
+def main():
+    args = parser().parse_args()
+    if getattr(args, "timeout", 0) < 0:
+        raise RuntimeError("--timeout must not be negative")
+    if getattr(args, "hold_ms", 0) < 0:
+        raise RuntimeError("--hold-ms must not be negative")
+    args.handler(args)
+
+
+if __name__ == "__main__":
+    try:
+        main()
+    except (RuntimeError, OSError) as error:
+        print(f"xteink-emu: {error}", file=sys.stderr)
+        sys.exit(1)