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Add test target, parallelize load and info across two devices

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This commit is contained in:
Ian Gulliver
2026-04-05 21:48:47 +09:00
parent 30a697066c
commit 1bbe350370
10 changed files with 220 additions and 56 deletions
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6
.claude/skills/load/SKILL.md
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@@ -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.

46
cmd/info/main.go
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@@ -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 {
return err
results[i].info = info
results[i].err = err
}()
}
wg.Wait()
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],
info.BoardID[4], info.BoardID[5], info.BoardID[6], info.BoardID[7])
fmt.Printf("MAC: %02X:%02X:%02X:%02X:%02X:%02X\n",
info.MAC[0], info.MAC[1], info.MAC[2],
info.MAC[3], info.MAC[4], info.MAC[5])
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",
r.info.BoardID[0], r.info.BoardID[1], r.info.BoardID[2], r.info.BoardID[3],
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",
r.info.MAC[0], r.info.MAC[1], r.info.MAC[2],
r.info.MAC[3], r.info.MAC[4], r.info.MAC[5])
}
return nil
}

109
cmd/load/main.go
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@@ -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 {
dev := devs[0]
fmt.Printf("Sending PICOBOOT request to %s...\n", dev)
c, err := client.NewSerial(dev, 2*time.Second)
if len(devs) < 2 {
return fmt.Errorf("expected 2 devices, found %d", len(devs))
}
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)
} else {
fmt.Println("Device confirmed reboot into PICOBOOT mode.")
errs[i] = fmt.Errorf("PICOBOOT %s: %w", devs[i], err)
}
}()
}
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 {
return err
for i := range 2 {
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

29
firmware/CMakeLists.txt
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@@ -9,26 +9,29 @@ set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 23)
pico_sdk_init()
add_executable(picomap
main.cpp
dhcp.cpp
net.cpp
tusb_config.cpp
set(LIB_SOURCES
lib/dhcp.cpp
lib/net.cpp
lib/tusb_config.cpp
w6300/w6300.cpp
)
target_include_directories(picomap PRIVATE
include
w6300
)
set(LIB_DEPS pico_stdlib pico_rand tinyusb_device tinyusb_board hardware_pio hardware_spi hardware_dma hardware_clocks)
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})

0
firmware/main.cpp → firmware/firmware.cpp
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0
firmware/dhcp.cpp → firmware/lib/dhcp.cpp
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0
firmware/net.cpp → firmware/lib/net.cpp
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0
firmware/tusb_config.cpp → firmware/lib/tusb_config.cpp
View File

58
firmware/test.cpp Normal file
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@@ -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();
}
}

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