Add test target, parallelize load and info across two devices

.claude/skills/load/SKILL.md

@@ -1,11 +1,11 @@
 ---
 name: load
-description: Build firmware, load it onto the Pico, and reboot. Use when the user says "load", "flash", "deploy", "push to pico", or after making changes to picomap.cpp or include/ headers that need testing on hardware.
+description: Build firmware, load it onto the Pico, and reboot. Use when the user says "load", "flash", "deploy", "push to pico", or after making changes to firmware/ files that need testing on hardware.
 user-invocable: true
 ---
 
-Run `go run ./cmd/load/` from the project root. This builds the firmware, loads it onto the Pico, and reboots.
+Run `go run ./cmd/load/` from the project root. This builds both firmware targets, loads picomap onto the first device and picomap_test onto the second, and reboots both.
 
-If cmake needs reconfiguring (e.g. after CMakeLists.txt changes), run `cmake -B build` first.
+After loading, run `go run ./cmd/info/` to verify both devices are responding.
 
 After modifying the load command itself (cmd/load/, lib/wire/, lib/picoserial/), run it twice: once to load the firmware, once to verify the load process still works end-to-end.

cmd/info/main.go

@@ -3,11 +3,18 @@ package main
 import (
 	"fmt"
 	"os"
+	"sync"
 	"time"
 
 	"github.com/theater/picomap/lib/client"
 )
 
+type deviceResult struct {
+	dev  string
+	info *client.ResponseInfo
+	err  error
+}
+
 func main() {
 	if err := run(); err != nil {
 		fmt.Fprintf(os.Stderr, "error: %v\n", err)
@@ -21,27 +28,42 @@ func run() error {
 		return err
 	}
 	if len(devs) == 0 {
-		return fmt.Errorf("no device found")
+		return fmt.Errorf("no devices found")
 	}
-	dev := devs[0]
 
-	fmt.Printf("Device: %s\n", dev)
+	results := make([]deviceResult, len(devs))
+	var wg sync.WaitGroup
+	for i, dev := range devs {
+		wg.Add(1)
+		go func() {
+			defer wg.Done()
+			results[i].dev = dev
 			c, err := client.NewSerial(dev, 2*time.Second)
 			if err != nil {
-		return err
+				results[i].err = err
+				return
 			}
 			info, err := c.Info()
 			c.Close()
-	if err != nil {
+			results[i].info = info
-		return err
+			results[i].err = err
+		}()
 	}
+	wg.Wait()
 
+	for _, r := range results {
+		fmt.Printf("Device: %s\n", r.dev)
+		if r.err != nil {
+			fmt.Fprintf(os.Stderr, "  error: %v\n", r.err)
+			continue
+		}
 		fmt.Printf("  Board ID: %02X%02X%02X%02X%02X%02X%02X%02X\n",
-		info.BoardID[0], info.BoardID[1], info.BoardID[2], info.BoardID[3],
+			r.info.BoardID[0], r.info.BoardID[1], r.info.BoardID[2], r.info.BoardID[3],
-		info.BoardID[4], info.BoardID[5], info.BoardID[6], info.BoardID[7])
+			r.info.BoardID[4], r.info.BoardID[5], r.info.BoardID[6], r.info.BoardID[7])
 		fmt.Printf("  MAC: %02X:%02X:%02X:%02X:%02X:%02X\n",
-		info.MAC[0], info.MAC[1], info.MAC[2],
+			r.info.MAC[0], r.info.MAC[1], r.info.MAC[2],
-		info.MAC[3], info.MAC[4], info.MAC[5])
+			r.info.MAC[3], r.info.MAC[4], r.info.MAC[5])
+	}
 
 	return nil
 }

cmd/load/main.go

@@ -5,6 +5,7 @@ import (
 	"os"
 	"os/exec"
 	"path/filepath"
+	"sync"
 	"time"
 
 	"github.com/theater/picomap/lib/client"
@@ -25,7 +26,7 @@ func main() {
 	}
 }
 
-func run(buildDir string) error {
+func build(buildDir string) error {
 	fmt.Println("Configuring...")
 	cmake := exec.Command("cmake", "-S", filepath.Join(filepath.Dir(buildDir)), "-B", buildDir)
 	cmake.Stdout = os.Stdout
@@ -41,36 +42,116 @@ func run(buildDir string) error {
 	if err := cmd.Run(); err != nil {
 		return fmt.Errorf("build failed: %w", err)
 	}
+	return nil
+}
+
+func boardSerial(id [8]byte) string {
+	return fmt.Sprintf("%02X%02X%02X%02X%02X%02X%02X%02X",
+		id[0], id[1], id[2], id[3], id[4], id[5], id[6], id[7])
+}
+
+func run(buildDir string) error {
+	if err := build(buildDir); err != nil {
+		return err
+	}
 
 	devs, err := client.ListSerial()
 	if err != nil {
 		return err
 	}
-	if len(devs) > 0 {
+	if len(devs) < 2 {
-		dev := devs[0]
+		return fmt.Errorf("expected 2 devices, found %d", len(devs))
-		fmt.Printf("Sending PICOBOOT request to %s...\n", dev)
+	}
-		c, err := client.NewSerial(dev, 2*time.Second)
+
+	serials := make([]string, 2)
+	errs := make([]error, 2)
+
+	var wg sync.WaitGroup
+	for i := range 2 {
+		wg.Add(1)
+		go func() {
+			defer wg.Done()
+			c, err := client.NewSerial(devs[i], 2*time.Second)
 			if err != nil {
-			return err
+				errs[i] = err
+				return
+			}
+			info, err := c.Info()
+			c.Close()
+			if err != nil {
+				errs[i] = err
+				return
+			}
+			serials[i] = boardSerial(info.BoardID)
+		}()
+	}
+	wg.Wait()
+	for i, err := range errs {
+		if err != nil {
+			return fmt.Errorf("info %s: %w", devs[i], err)
+		}
+	}
+
+	fmt.Println("Sending PICOBOOT requests...")
+	for i := range 2 {
+		wg.Add(1)
+		go func() {
+			defer wg.Done()
+			c, err := client.NewSerial(devs[i], 2*time.Second)
+			if err != nil {
+				errs[i] = err
+				return
 			}
 			err = c.PICOBOOT()
 			c.Close()
 			if err != nil {
-			fmt.Fprintf(os.Stderr, "warning: PICOBOOT request failed: %v\n", err)
+				errs[i] = fmt.Errorf("PICOBOOT %s: %w", devs[i], err)
-		} else {
+			}
-			fmt.Println("Device confirmed reboot into PICOBOOT mode.")
+		}()
+	}
+	wg.Wait()
+	for _, err := range errs {
+		if err != nil {
+			return err
 		}
-		time.Sleep(2 * time.Second)
 	}
 
-	uf2 := filepath.Join(buildDir, "picomap.uf2")
+	time.Sleep(2 * time.Second)
+
+	uf2s := []string{
+		filepath.Join(buildDir, "picomap.uf2"),
+		filepath.Join(buildDir, "picomap_test.uf2"),
+	}
+
 	fmt.Println("Loading firmware...")
-	if err := picotool.Load(uf2); err != nil {
+	for i := range 2 {
-		return err
+		wg.Add(1)
+		go func() {
+			defer wg.Done()
+			errs[i] = picotool.Load(uf2s[i], serials[i])
+		}()
+	}
+	wg.Wait()
+	for i, err := range errs {
+		if err != nil {
+			return fmt.Errorf("load %s: %w", serials[i], err)
+		}
 	}
 
 	fmt.Println("Rebooting...")
-	_ = picotool.Reboot()
+	for i := range 2 {
+		wg.Add(1)
+		go func() {
+			defer wg.Done()
+			errs[i] = picotool.Reboot(serials[i])
+		}()
+	}
+	wg.Wait()
+	for i, err := range errs {
+		if err != nil {
+			return fmt.Errorf("reboot %s: %w", serials[i], err)
+		}
+	}
 
 	fmt.Println("Done.")
 	return nil

firmware/CMakeLists.txt

@@ -9,26 +9,29 @@ set(CMAKE_C_STANDARD 11)
 set(CMAKE_CXX_STANDARD 23)
 pico_sdk_init()
 
-add_executable(picomap
+set(LIB_SOURCES
-	main.cpp
+	lib/dhcp.cpp
-	dhcp.cpp
+	lib/net.cpp
-	net.cpp
+	lib/tusb_config.cpp
-	tusb_config.cpp
 	w6300/w6300.cpp
 )
 
-target_include_directories(picomap PRIVATE
+set(LIB_DEPS pico_stdlib pico_rand tinyusb_device tinyusb_board hardware_pio hardware_spi hardware_dma hardware_clocks)
-	include
-	w6300
-)
 
+add_executable(picomap firmware.cpp ${LIB_SOURCES})
+target_include_directories(picomap PRIVATE include w6300)
 target_compile_options(picomap PRIVATE -Wall -Wextra -Wno-unused-parameter)
-
 pico_generate_pio_header(picomap ${CMAKE_CURRENT_LIST_DIR}/w6300/qspi.pio)
-
 pico_enable_stdio_usb(picomap 0)
 pico_enable_stdio_uart(picomap 0)
-
 pico_add_extra_outputs(picomap)
+target_link_libraries(picomap ${LIB_DEPS})
 
-target_link_libraries(picomap pico_stdlib pico_rand tinyusb_device tinyusb_board hardware_pio hardware_spi hardware_dma hardware_clocks)
+add_executable(picomap_test test.cpp ${LIB_SOURCES})
+target_include_directories(picomap_test PRIVATE include w6300)
+target_compile_options(picomap_test PRIVATE -Wall -Wextra -Wno-unused-parameter)
+pico_generate_pio_header(picomap_test ${CMAKE_CURRENT_LIST_DIR}/w6300/qspi.pio)
+pico_enable_stdio_usb(picomap_test 0)
+pico_enable_stdio_uart(picomap_test 0)
+pico_add_extra_outputs(picomap_test)
+target_link_libraries(picomap_test ${LIB_DEPS})

firmware/test.cpp

@@ -0,0 +1,58 @@
+#include "pico/stdlib.h"
+#include "pico/bootrom.h"
+#include "pico/unique_id.h"
+#include "tusb.h"
+#include "wire.h"
+#include "usb_cdc.h"
+#include "net.h"
+#include "w6300.h"
+
+static usb_cdc usb;
+
+int main() {
+    tusb_init();
+    net_init();
+
+    static static_vector<uint8_t, 256> rx_buf;
+
+    while (true) {
+        tud_task();
+
+        usb.drain();
+
+        while (tud_cdc_available()) {
+            uint8_t byte;
+            if (tud_cdc_read(&byte, 1) != 1) break;
+
+            rx_buf.push_back(byte);
+
+            auto msg = try_decode(rx_buf);
+            if (!msg) {
+                if (rx_buf.full()) rx_buf.clear();
+                continue;
+            }
+
+            rx_buf.clear();
+
+            switch (msg->type_id) {
+            case RequestPICOBOOT::ext_id:
+                usb.send(encode_response(msg->message_id, ResponsePICOBOOT{}));
+                sleep_ms(100);
+                reset_usb_boot(0, 1);
+                break;
+            case RequestInfo::ext_id: {
+                ResponseInfo resp;
+                pico_unique_board_id_t uid;
+                pico_get_unique_board_id(&uid);
+                std::copy(uid.id, uid.id + 8, resp.board_id.begin());
+                auto ninfo = w6300::get_net_info();
+                resp.mac = ninfo.mac;
+                usb.send(encode_response(msg->message_id, resp));
+                break;
+            }
+            }
+        }
+
+        __wfi();
+    }
+}

lib/picotool/picotool.go

@@ -5,8 +5,8 @@ import (
 	"os/exec"
 )
 
-func Load(uf2Path string) error {
+func Load(uf2Path string, serial string) error {
-	cmd := exec.Command("picotool", "load", "-f", uf2Path)
+	cmd := exec.Command("picotool", "load", uf2Path, "--ser", serial)
 	out, err := cmd.CombinedOutput()
 	if err != nil {
 		return fmt.Errorf("picotool load: %w\n%s", err, out)
@@ -14,8 +14,8 @@ func Load(uf2Path string) error {
 	return nil
 }
 
-func Reboot() error {
+func Reboot(serial string) error {
-	cmd := exec.Command("picotool", "reboot")
+	cmd := exec.Command("picotool", "reboot", "--ser", serial)
 	out, err := cmd.CombinedOutput()
 	if err != nil {
 		return fmt.Errorf("picotool reboot: %w\n%s", err, out)