Rework HIL

.github/workflows/obc_build.yml

@@ -1,16 +1,20 @@
 name: OBC Build
 on: [push, pull_request]
 
+concurrency:
+  group: rm46-hil
+  cancel-in-progress: false
+
 jobs:
-  build:
+  OBC_BUILD:
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v3
 
     - name: Setup
       run: |
         sudo apt-get update
-        sudo apt-get -y install build-essential cmake
+        sudo apt install -y build-essential gcc-multilib g++-multilib cmake curl
 
     - name: Install requirements
       run: |
@@ -28,18 +32,36 @@ jobs:
         cmake .. -DCMAKE_BUILD_TYPE=OBC -G"Unix Makefiles" -DBOARD_TYPE=RM46_LAUNCHPAD -DDEBUG=0
         make
 
+    - name: Upload CRC Binary (Release-Launchpad)
+      uses: actions/upload-artifact@v4
+      with:
+        name: launchpad-bin
+        path: build/OBC-firmware-crc.bin
+
     - name: Build (Release-OBC Rev1)
       run: |
         cd build
         cmake .. -DCMAKE_BUILD_TYPE=OBC -G"Unix Makefiles" -DBOARD_TYPE=OBC_REVISION_1 -DDEBUG=0
         make
 
+    - name: Upload CRC Binary (Release-OBC Rev1)
+      uses: actions/upload-artifact@v4
+      with:
+        name: rev1-bin
+        path: build/OBC-firmware-crc.bin
+
     - name: Build (Release-OBC Rev2)
       run: |
         cd build
         cmake .. -DCMAKE_BUILD_TYPE=OBC -G"Unix Makefiles" -DBOARD_TYPE=OBC_REVISION_2 -DDEBUG=0
         make
 
+    - name: Upload CRC Binary (Release-OBC Rev2)
+      uses: actions/upload-artifact@v4
+      with:
+        name: rev2-bin
+        path: build/OBC-firmware-crc.bin
+
     - name: Build (Debug-Launchpad)
       run: |
         cd build
@@ -64,8 +86,8 @@ jobs:
         name: bin-file
         path: build/OBC-firmware.bin
 
-  crc:
-    needs: build
+  CRC:
+    needs: OBC_BUILD
     runs-on: ubuntu-latest
     steps:
     - name: Download binary
@@ -78,3 +100,43 @@ jobs:
       run: |
         echo "CRC checksum:"
         cksum OBC-firmware.bin
+
+  HARDWARE-IN-LOOP:
+    needs: OBC_BUILD
+    runs-on: [self-hosted, hil, rm46]
+
+    defaults:
+      run:
+        shell: bash
+    steps:
+    - uses: actions/checkout@v3
+    - name: Install Dependencies
+      run: |
+        sudo apt install -y build-essential gcc-multilib g++-multilib cmake curl
+        python3 -m venv venv/
+        source venv/bin/activate
+        pip install --upgrade pip
+        pip install -r requirements.txt
+        pip install -e .
+
+    - name: Create Ground Station Binary Directory
+      run: |
+        mkdir build_gs
+        cd build_gs
+        cmake .. -DCMAKE_BUILD_TYPE=GS
+
+    - name: Build
+      run: |
+        cd build_gs
+        cmake --build .
+
+    - name: Download binary with CRC
+      uses: actions/download-artifact@v4
+      with:
+        name: launchpad-bin
+        path: .
+
+    - name: Run HIL
+      run: |
+          source venv/bin/activate
+          python3 hil/hil_main.py /dev/ttyACM0 OBC-firmware-crc.bin

hil/hil_main.py

@@ -0,0 +1,77 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+from pathlib import Path
+
+from serial import Serial
+
+from obc.tools.python.app_update import send_bin
+
+EXIT_OK = 0
+EXIT_BAD_ARGS = 1
+EXIT_FW_NOT_FOUND = 2
+EXIT_FW_INVALID = 3
+EXIT_SERIAL_NOT_FOUND = 4
+EXIT_SERIAL_NO_PERMISSION = 5
+
+
+# Helper logger function for this
+def error_log(msg: str, code: int) -> None:
+    """
+    Print an error message and terminate execution with a specific exit code
+
+    Args:
+        msg: Human-readable error message.
+        code: Process exit code.
+    """
+    print(f"ERROR: {msg}")
+    sys.exit(code)
+
+
+def main() -> int:
+    """
+    Validate inputs and flash firmware onto the target hardware
+
+    Returns:
+        Exit status code.
+    """
+    if len(sys.argv) != 3:
+        print("Usage: hil_main.py <serial_device> <firmware.bin>")
+        return EXIT_BAD_ARGS
+
+    serial_dev = sys.argv[1]
+    firmware_path = Path(sys.argv[2]).resolve()
+
+    # Firmware validation
+    if not firmware_path.exists():
+        error_log(f"Firmware file not found: {firmware_path}", EXIT_FW_NOT_FOUND)
+
+    if firmware_path.suffix != ".bin":
+        error_log("Firmware must be a .bin file", EXIT_FW_INVALID)
+
+    # Serial device validation (filesystem level)
+    if not os.path.exists(serial_dev):
+        error_log(f"Serial device does not exist: {serial_dev}", EXIT_SERIAL_NOT_FOUND)
+
+    if not os.access(serial_dev, os.R_OK | os.W_OK):
+        error_log(f"No permission to access serial device: {serial_dev}", EXIT_SERIAL_NO_PERMISSION)
+
+    print(f"Serial device path validated: {serial_dev}")
+
+    # Open + close once to ensure kernel-level readiness
+    # If this fails, Python will terminate immediately (desired)
+    ser = Serial(serial_dev, timeout=2)
+    ser.close()
+
+    print("[1] Flashing Hardware In The Loop")
+
+    # Flashing (any failure aborts process)
+    send_bin(str(firmware_path), serial_dev)
+
+    print("[2] Flashing Completed Successfully")
+    return EXIT_OK
+
+
+if __name__ == "__main__":
+    sys.exit(main())