Add support for NuttX RTOS, with optional support for Espressif devices.

Squashed commits:
Main pytest_embedded modifications to support Nuttx
Binary test files for nuttx
Created Nuttx App
Added serial module of NuttX
Added DUT for Nuttx
Fixes on nuttx serial
Added nuttx example
General fixes + docs
Dut now has return code method
Fixed return code issues. Added write_and_return
Return code now waits for nsh ready
Added short delay after write to obtain nsh prompt
Checking filename at the stem instead of full path
Skipping 'merged' files
Target is passed to App in dut_factory
Debug app path
Documentation update
General fixes
Documentation update
Improved nsh prompt parse

docs/apis/pytest-embedded-nuttx.rst

@@ -0,0 +1,18 @@
+#######################
+ pytest-embedded-nuttx
+#######################
+
+.. automodule:: pytest_embedded_nuttx.app
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+.. automodule:: pytest_embedded_nuttx.dut
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+.. automodule:: pytest_embedded_nuttx.serial
+   :members:
+   :undoc-members:
+   :show-inheritance:

docs/concepts/services.md

@@ -16,6 +16,9 @@ The arrow points from the dependent service to the service it depends on. For ex
 graph LR
     pytest-embedded-serial
 
+    pytest-embedded-nuttx --> pytest-embedded-serial
+    pytest-embedded-nuttx -->|optional, support test on espressif chips| pytest-embedded-serial-esp
+
     pytest-embedded-serial-esp --> pytest-embedded-serial
 
     pytest-embedded-jtag --> pytest-embedded-serial
@@ -53,3 +56,6 @@ Activate a service would enable a set of fixtures or add some extra functionalit
 
 ```{include} ../../pytest-embedded-wokwi/README.md
 ```
+
+```{include} ../../pytest-embedded-nuttx/README.md
+```

examples/nuttx-esp/README.md

@@ -0,0 +1,18 @@
+# NuttX with Espressif Device Example
+
+The example shows run pytest-embedded using NuttX and Espressif devices.
+Simple uses such as serial port data exchange can be done with pytest-embedded only.
+Using pytest-embedded-nuttx allows for the of `esptool` along Pytest.
+
+## Prerequisites
+
+1. Install following packages
+   - `pytest_embedded`
+   - `pytest_embedded_nuttx`
+   - `esptool`
+
+## Test Steps
+
+```shell
+$ pytest
+```

examples/nuttx-esp/pytest.ini

@@ -0,0 +1,8 @@
+[pytest]
+addopts = --embedded-services nuttx,esp -s --port=/dev/ttyUSB0
+
+# log related
+log_cli = True
+log_cli_level = INFO
+log_cli_format = %(asctime)s %(levelname)s %(message)s
+log_cli_date_format = %Y-%m-%d %H:%M:%S

examples/nuttx-esp/test_nuttx_esp.py

@@ -0,0 +1,15 @@
+"""Test example for Espressif devices"""
+
+import pytest
+
+
+@pytest.fixture(autouse=True)
+def reset_to_nsh(dut, serial):
+    """Resets the device and waits until NSH prompt is ready."""
+    serial.hard_reset()
+    dut.expect('nsh>', timeout=5)
+
+
+def test_nuttx_esp_ps(dut):
+    dut.write('ps')
+    dut.expect('Idle_Task', timeout=2)

foreach.sh

@@ -11,6 +11,7 @@ DEFAULT_PACKAGES=" \
   pytest-embedded-qemu \
   pytest-embedded-arduino \
   pytest-embedded-wokwi \
+  pytest-embedded-nuttx \
 "
 
 action=${1:-"install"}

pytest-embedded-nuttx/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 Espressif Systems (Shanghai) Co. Ltd.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

pytest-embedded-nuttx/README.md

@@ -0,0 +1,17 @@
+### pytest-embedded-nuttx
+
+Pytest embedded service for NuttX project. alongside Espressif devices.
+
+Using the 'nuttx' service alongside 'serial' allows writing and reading from
+the serial port, taking the NuttShell into consideration when running programs
+and even getting return codes.
+
+While using pytest-embedded-nuttx allows you to communicate with serial
+devices and run simple tests, enabling the 'esp' service  adds extra capabilities for
+Espressif devices, such as flashing and device rebooting.
+
+Extra Functionalities:
+
+- `app`: Explore the NuttX binary directory and identify firmware and bootloader files.
+- `serial`: Parse the binary information and flash the board. Requires 'esp' service.
+- `dut`:  Send commands to device through serial port. Requires 'serial' service or 'esp' for Espressif devices.

pytest-embedded-nuttx/pyproject.toml

@@ -0,0 +1,46 @@
+[build-system]
+requires = ["flit_core >=3.2,<4"]
+build-backend = "flit_core.buildapi"
+
+[project]
+name = "pytest-embedded-nuttx"
+authors = [
+    {name = "Filipe Cavalcanti", email = "[email protected]"},
+    {name = "Fu Hanxi", email = "[email protected]"},
+]
+readme = "README.md"
+license = {file = "LICENSE"}
+classifiers = [
+    "Development Status :: 5 - Production/Stable",
+    "Framework :: Pytest",
+    "Intended Audience :: Developers",
+    "License :: OSI Approved :: MIT License",
+    "Operating System :: OS Independent",
+    "Programming Language :: Python :: 3 :: Only",
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.7",
+    "Programming Language :: Python :: 3.8",
+    "Programming Language :: Python :: 3.9",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python",
+    "Topic :: Software Development :: Testing",
+]
+dynamic = ["version", "description"]
+requires-python = ">=3.7"
+
+dependencies = [
+    "pytest-embedded-serial~=1.11.8",
+]
+
+[project.optional-dependencies]
+esp = [
+    "pytest-embedded-serial-esp~=1.11.8",
+]
+
+[project.urls]
+homepage = "https://github.com/espressif/pytest-embedded"
+repository = "https://github.com/espressif/pytest-embedded"
+documentation = "https://docs.espressif.com/projects/pytest-embedded/en/latest/"
+changelog = "https://github.com/espressif/pytest-embedded/blob/main/CHANGELOG.md"

pytest-embedded-nuttx/pytest_embedded_nuttx/__init__.py

@@ -0,0 +1,24 @@
+"""Make pytest-embedded plugin work with NuttX."""
+
+import importlib
+
+from pytest_embedded.utils import lazy_load
+
+from .app import NuttxApp
+from .dut import NuttxDut, NuttxEspDut
+
+__getattr__ = lazy_load(
+    importlib.import_module(__name__),
+    {
+        'NuttxDut': NuttxDut,
+        'NuttxEspDut': NuttxEspDut,  # requires 'esp' service
+    },
+    {
+        'NuttxApp': '.app',  # requires 'esp' service
+        'NuttxSerial': '.serial',  # requires 'esp' service
+    },
+)
+
+__all__ = ['NuttxApp', 'NuttxSerial', 'NuttxEspDut', 'NuttxDut']
+
+__version__ = '1.11.8'

pytest-embedded-nuttx/pytest_embedded_nuttx/app.py

@@ -0,0 +1,100 @@
+import logging
+from pathlib import Path
+
+from esptool.cmds import FLASH_MODES, LoadFirmwareImage
+from pytest_embedded.app import App
+
+
+class NuttxApp(App):
+    """
+    NuttX App class for Espressif devices.
+    Evaluates binary files (firmware and bootloader) and extract information
+    required for flashing.
+
+    Attributes:
+        file_extension (str): app binary file extension.
+    """
+
+    def __init__(
+        self,
+        file_extension='.bin',
+        **kwargs,
+    ):
+        super().__init__(**kwargs)
+
+        self.flash_size = None
+        self.flash_freq = None
+        self.flash_mode = None
+        self.file_extension = file_extension
+        files = self._get_bin_files()
+        self.app_file, self.bootloader_file, self.merge_file = files
+        self._get_binary_target_info()
+
+    def _get_bin_files(self) -> list:
+        """
+        Get path to binary files available in the app_path.
+        If either the application image or bootloader is not found,
+        None is returned.
+
+        Returns:
+            list: path to application binary file and bootloader file.
+        """
+        search_path = Path(self.app_path)
+        search_pattern = '*' + self.file_extension
+        bin_files = list(search_path.rglob(search_pattern))
+        app_file, bootloader_file, merge_file = None, None, None
+
+        logging.info('Searching %s', str(search_path))
+        if not bin_files:
+            logging.warning('No binary files found with pattern: %s', search_pattern)
+
+        for file_path in bin_files:
+            file_name = str(file_path.stem)
+            if 'nuttx' in file_name:
+                if 'merged' in file_name:
+                    merge_file = file_path
+                else:
+                    app_file = file_path
+            if 'mcuboot-' in file_name:
+                bootloader_file = file_path
+
+        if not app_file:
+            logging.error('App file not found: %s', app_file)
+            print(bin_files)
+
+        return app_file, bootloader_file, merge_file
+
+    def _get_binary_target_info(self):
+        """Binary target should be in the format nuttx.merged.bin, where
+        the 'merged.bin' extension can be modified by the file_extension
+        argument.
+
+        Important note regarding MCUBoot:
+        If enabled, the magic number will be on the MCUBoot binary. In this
+        case, image_info should run on the mcuboot binary, not the NuttX one.
+        """
+
+        def get_key_from_value(dictionary, val):
+            """Get key from value in dictionary"""
+            for key, value in dictionary.items():
+                if value == val:
+                    return key
+            return None
+
+        binary_path = self.app_file
+        if self.bootloader_file:
+            binary_path = self.bootloader_file
+
+        # Load app image and retrieve flash information
+        image = LoadFirmwareImage(self.target, binary_path.as_posix())
+
+        # Flash Size
+        flash_s_bits = image.flash_size_freq & 0xF0
+        self.flash_size = get_key_from_value(image.ROM_LOADER.FLASH_SIZES, flash_s_bits)
+
+        # Flash Frequency
+        flash_fr_bits = image.flash_size_freq & 0x0F  # low four bits
+        self.flash_freq = get_key_from_value(image.ROM_LOADER.FLASH_FREQUENCY, flash_fr_bits)
+
+        # Flash Mode
+        self.flash_mode = get_key_from_value(FLASH_MODES, image.flash_mode)