.. _twister_script: Test Runner (Twister) ##################### This script scans for the set of unit test applications in the git repository and attempts to execute them. By default, it tries to build each test case on boards marked as default in the board definition file. The default options will build the majority of the tests on a defined set of boards and will run in an emulated environment if available for the architecture or configuration being tested. In normal use, twister runs a limited set of kernel tests (inside an emulator). Because of its limited test execution coverage, twister cannot guarantee local changes will succeed in the full build environment, but it does sufficient testing by building samples and tests for different boards and different configurations to help keep the complete code tree buildable. When using (at least) one ``-v`` option, twister's console output shows for every test how the test is run (qemu, native_sim, etc.) or whether the binary was just built. There are a few reasons why twister only builds a test and doesn't run it: - The test is marked as ``build_only: true`` in its ``.yaml`` configuration file. - The test configuration has defined a ``harness`` but you don't have it or haven't set it up. - The target device is not connected and not available for flashing - You or some higher level automation invoked twister with ``--build-only``. To run the script in the local tree, follow the steps below: .. tabs:: .. group-tab:: Linux .. code-block:: bash $ source zephyr-env.sh $ ./scripts/twister .. group-tab:: Windows .. code-block:: bat zephyr-env.cmd python .\scripts\twister If you have a system with a large number of cores and plenty of free storage space, you can build and run all possible tests using the following options: .. tabs:: .. group-tab:: Linux .. code-block:: bash $ ./scripts/twister --all --enable-slow .. group-tab:: Windows .. code-block:: bat python .\scripts\twister --all --enable-slow This will build for all available boards and run all applicable tests in a simulated (for example QEMU) environment. If you want to run tests on one or more specific platforms, you can use the ``--platform`` option, it is a platform filter for testing, with this option, test suites will only be built/run on the platforms specified. This option also supports different revisions of one same board, you can use ``--platform board@revision`` to test on a specific revision. The list of command line options supported by twister can be viewed using: .. tabs:: .. group-tab:: Linux .. code-block:: bash $ ./scripts/twister --help .. group-tab:: Windows .. code-block:: bat python .\scripts\twister --help Board Configuration ******************* To build tests for a specific board and to execute some of the tests on real hardware or in an emulation environment such as QEMU a board configuration file is required which is generic enough to be used for other tasks that require a board inventory with details about the board and its configuration that is only available during build time otherwise. The board metadata file is located in the board directory and is structured using the YAML markup language. The example below shows a board with a data required for best test coverage for this specific board: .. code-block:: yaml identifier: frdm_k64f name: NXP FRDM-K64F type: mcu arch: arm toolchain: - zephyr - gnuarmemb - xtools supported: - arduino_gpio - arduino_i2c - netif:eth - adc - i2c - nvs - spi - gpio - usb_device - watchdog - can - pwm testing: default: true identifier: A string that matches how the board is defined in the build system. This same string is used when building, for example when calling ``west build`` or ``cmake``: .. code-block:: console # with west west build -b reel_board # with cmake cmake -DBOARD=reel_board .. name: The actual name of the board as it appears in marketing material. type: Type of the board or configuration, currently we support 2 types: mcu, qemu simulation: Simulator used to simulate the platform, e.g. qemu. arch: Architecture of the board toolchain: The list of supported toolchains that can build this board. This should match one of the values used for :envvar:`ZEPHYR_TOOLCHAIN_VARIANT` when building on the command line ram: Available RAM on the board (specified in KB). This is used to match testcase requirements. If not specified we default to 128KB. flash: Available FLASH on the board (specified in KB). This is used to match testcase requirements. If not specified we default to 512KB. supported: A list of features this board supports. This can be specified as a single word feature or as a variant of a feature class. For example: .. code-block:: yaml supported: - pci This indicates the board does support PCI. You can make a testcase build or run only on such boards, or: .. code-block:: yaml supported: - netif:eth - sensor:bmi16 A testcase can both depend on 'eth' to only test ethernet or on 'netif' to run on any board with a networking interface. testing: testing relating keywords to provide best coverage for the features of this board. default: [True|False]: This is a default board, it will tested with the highest priority and is covered when invoking the simplified twister without any additional arguments. ignore_tags: Do not attempt to build (and therefore run) tests marked with this list of tags. only_tags: Only execute tests with this list of tags on a specific platform. .. _twister_board_timeout_multiplier: timeout_multiplier: (default 1) Multiply each test case timeout by specified ratio. This option allows to tune timeouts only for required platform. It can be useful in case naturally slow platform I.e.: HW board with power-efficient but slow CPU or simulation platform which can perform instruction accurate simulation but does it slowly. env: A list of environment variables. Twister will check if all these environment variables are set, and otherwise skip this platform. This allows the user to define a platform which should be used, for example, only if some required software or hardware is present, and to signal that presence to twister using these environment variables. Test Cases ********** Test cases are detected by the presence of a ``testcase.yaml`` or a ``sample.yaml`` files in the application's project directory. This file may contain one or more entries in the test section each identifying a test scenario. The name of each testcase needs to be unique in the context of the overall testsuite and has to follow basic rules: #. The format of the test identifier shall be a string without any spaces or special characters (allowed characters: alphanumeric and [\_=]) consisting of multiple sections delimited with a dot (.). #. Each test identifier shall start with a section followed by a subsection separated by a dot. For example, a test that covers semaphores in the kernel shall start with ``kernel.semaphore``. #. All test identifiers within a testcase.yaml file need to be unique. For example a testcase.yaml file covering semaphores in the kernel can have: * ``kernel.semaphore``: For general semaphore tests * ``kernel.semaphore.stress``: Stress testing semaphores in the kernel. #. Depending on the nature of the test, an identifier can consist of at least two sections: * Ztest tests: The individual testcases in the ztest testsuite will be concatenated to identifier in the testcase.yaml file generating unique identifiers for every testcase in the suite. * Standalone tests and samples: This type of test should at least have 3 sections in the test identifier in the testcase.yaml (or sample.yaml) file. The last section of the name shall signify the test itself. Test cases are written using the YAML syntax and share the same structure as samples. The following is an example test with a few options that are explained in this document. .. code-block:: yaml tests: bluetooth.gatt: build_only: true platform_allow: qemu_cortex_m3 qemu_x86 tags: bluetooth bluetooth.gatt.br: build_only: true extra_args: CONF_FILE="prj_br.conf" filter: not CONFIG_DEBUG platform_exclude: up_squared platform_allow: qemu_cortex_m3 qemu_x86 tags: bluetooth A sample with tests will have the same structure with additional information related to the sample and what is being demonstrated: .. code-block:: yaml sample: name: hello world description: Hello World sample, the simplest Zephyr application tests: sample.basic.hello_world: build_only: true tags: tests min_ram: 16 sample.basic.hello_world.singlethread: build_only: true extra_args: CONF_FILE=prj_single.conf filter: not CONFIG_BT tags: tests min_ram: 16 The full canonical name for each test case is:``/`` Each test block in the testcase meta data can define the following key/value pairs: tags: (required) A set of string tags for the testcase. Usually pertains to functional domains but can be anything. Command line invocations of this script can filter the set of tests to run based on tag. skip: (default False) skip testcase unconditionally. This can be used for broken tests. slow: (default False) Don't run this test case unless ``--enable-slow`` or ``--enable-slow-only`` was passed in on the command line. Intended for time-consuming test cases that are only run under certain circumstances, like daily builds. These test cases are still compiled. extra_args: Extra arguments to pass to Make when building or running the test case. extra_configs: Extra configuration options to be merged with a master prj.conf when building or running the test case. For example: .. code-block:: yaml common: tags: drivers adc tests: test: depends_on: adc test_async: extra_configs: - CONFIG_ADC_ASYNC=y Using namespacing, it is possible to apply a configuration only to some hardware. Currently both architectures and platforms are supported: .. code-block:: yaml common: tags: drivers adc tests: test: depends_on: adc test_async: extra_configs: - arch:x86:CONFIG_ADC_ASYNC=y - platform:qemu_x86:CONFIG_DEBUG=y build_only: (default False) If true, twister will not try to run the test even if the test is runnable on the platform. This keyword is reserved for tests that are used to test if some code actually builds. A ``build_only`` test is not designed to be run in any environment and should not be testing any functionality, it only verifies that the code builds. This option is often used to test drivers and the fact that they are correctly enabled in Zephyr and that the code builds, for example sensor drivers. Such test shall not be used to verify the functionality of the driver. build_on_all: (default False) If true, attempt to build test on all available platforms. This is mostly used in CI for increased coverage. Do not use this flag in new tests. depends_on: A board or platform can announce what features it supports, this option will enable the test only those platforms that provide this feature. levels: Test levels this test should be part of. If a level is present, this test will be selectable using the command line option ``--level `` min_ram: minimum amount of RAM in KB needed for this test to build and run. This is compared with information provided by the board metadata. min_flash: minimum amount of ROM in KB needed for this test to build and run. This is compared with information provided by the board metadata. .. _twister_test_case_timeout: timeout: Length of time to run test before automatically killing it. Default to 60 seconds. arch_allow: Set of architectures that this test case should only be run for. arch_exclude: Set of architectures that this test case should not run on. platform_allow: Set of platforms that this test case should only be run for. Do not use this option to limit testing or building in CI due to time or resource constraints, this option should only be used if the test or sample can only be run on the allowed platform and nothing else. integration_platforms: This option limits the scope to the listed platforms when twister is invoked with the ``--integration`` option. Use this instead of platform_allow if the goal is to limit scope due to timing or resource constraints. platform_exclude: Set of platforms that this test case should not run on. extra_sections: When computing sizes, twister will report errors if it finds extra, unexpected sections in the Zephyr binary unless they are named here. They will not be included in the size calculation. sysbuild: (default False) Build the project using sysbuild infrastructure. Only the main project's generated devicetree and Kconfig will be used for filtering tests. on device testing must use the hardware map, or west flash to load the images onto the target. The ``--erase`` option of west flash is not supported with this option. Usage of unsupported options will result in tests requiring sysbuild support being skipped. harness: A harness keyword in the ``testcase.yaml`` file identifies a Twister harness needed to run a test successfully. A harness is a feature of Twister and implemented by Twister, some harnesses are defined as placeholders and have no implementation yet. A harness can be seen as the handler that needs to be implemented in Twister to be able to evaluate if a test passes criteria. For example, a keyboard harness is set on tests that require keyboard interaction to reach verdict on whether a test has passed or failed, however, Twister lack this harness implementation at the moment. Supported harnesses: - ztest - test - console - pytest - gtest - robot Harnesses ``ztest``, ``gtest`` and ``console`` are based on parsing of the output and matching certain phrases. ``ztest`` and ``gtest`` harnesses look for pass/fail/etc. frames defined in those frameworks. Use ``gtest`` harness if you've already got tests written in the gTest framework and do not wish to update them to zTest. The ``console`` harness tells Twister to parse a test's text output for a regex defined in the test's YAML file. The ``robot`` harness is used to execute Robot Framework test suites in the Renode simulation framework. Some widely used harnesses that are not supported yet: - keyboard - net - bluetooth Harness ``bsim`` is implemented in limited way - it helps only to copy the final executable (``zephyr.exe``) from build directory to BabbleSim's ``bin`` directory (``${BSIM_OUT_PATH}/bin``). This action is useful to allow BabbleSim's tests to directly run after. By default, the executable file name is (with dots and slashes replaced by underscores): ``bs___``. This name can be overridden with the ``bsim_exe_name`` option in ``harness_config`` section. platform_key: Often a test needs to only be built and run once to qualify as passing. Imagine a library of code that depends on the platform architecture where passing the test on a single platform for each arch is enough to qualify the tests and code as passing. The platform_key attribute enables doing just that. For example to key on (arch, simulation) to ensure a test is run once per arch and simulation (as would be most common): .. code-block:: yaml platform_key: - arch - simulation Adding platform (board) attributes to include things such as soc name, soc family, and perhaps sets of IP blocks implementing each peripheral interface would enable other interesting uses. For example, this could enable building and running SPI tests once for each unique IP block. harness_config: Extra harness configuration options to be used to select a board and/or for handling generic Console with regex matching. Config can announce what features it supports. This option will enable the test to run on only those platforms that fulfill this external dependency. The following options are currently supported: type: (required) Depends on the regex string to be matched regex: (required) Strings with regular expressions to match with the test's output to confirm the test runs as expected. ordered: (default False) Check the regular expression strings in orderly or randomly fashion repeat: Number of times to validate the repeated regex expression record: (optional) regex: (required) The regular expression with named subgroups to match data fields at the test's output lines where the test provides some custom data for further analysis. These records will be written into the build directory 'recording.csv' file as well as 'recording' property of the test suite object in 'twister.json'. For example, to extract three data fields 'metric', 'cycles', 'nanoseconds': .. code-block:: yaml record: regex: "(?P.*):(?P.*) cycles, (?P.*) ns" fixture: Specify a test case dependency on an external device(e.g., sensor), and identify setups that fulfill this dependency. It depends on specific test setup and board selection logic to pick the particular board(s) out of multiple boards that fulfill the dependency in an automation setup based on ``fixture`` keyword. Some sample fixture names are i2c_hts221, i2c_bme280, i2c_FRAM, ble_fw and gpio_loop. Only one fixture can be defined per testcase and the fixture name has to be unique across all tests in the test suite. .. _pytest_root: pytest_root: (default pytest) Specify a list of pytest directories, files or subtests that need to be executed when a test case begins to run. The default pytest directory is ``pytest``. After the pytest run is finished, Twister will check if the test case passed or failed according to the pytest report. As an example, a list of valid pytest roots is presented below: .. code-block:: yaml harness_config: pytest_root: - "pytest/test_shell_help.py" - "../shell/pytest/test_shell.py" - "/tmp/test_shell.py" - "~/tmp/test_shell.py" - "$ZEPHYR_BASE/samples/subsys/testsuite/pytest/shell/pytest/test_shell.py" - "pytest/test_shell_help.py::test_shell2_sample" # select pytest subtest - "pytest/test_shell_help.py::test_shell2_sample[param_a]" # select pytest parametrized subtest .. _pytest_args: pytest_args: (default empty) Specify a list of additional arguments to pass to ``pytest`` e.g.: ``pytest_args: [‘-k=test_method’, ‘--log-level=DEBUG’]``. Note that ``--pytest-args`` can be passed multiple times to pass several arguments to the pytest. .. _pytest_dut_scope: pytest_dut_scope: (default function) The scope for which ``dut`` and ``shell`` pytest fixtures are shared. If the scope is set to ``function``, DUT is launched for every test case in python script. For ``session`` scope, DUT is launched only once. robot_test_path: (default empty) Specify a path to a file containing a Robot Framework test suite to be run. bsim_exe_name: If provided, the executable filename when copying to BabbleSim's bin directory, will be ``bs__`` instead of the default based on the test path and scenario name. The following is an example yaml file with a few harness_config options. .. code-block:: yaml sample: name: HTS221 Temperature and Humidity Monitor common: tags: sensor harness: console harness_config: type: multi_line ordered: false regex: - "Temperature:(.*)C" - "Relative Humidity:(.*)%" fixture: i2c_hts221 tests: test: tags: sensors depends_on: i2c The following is an example yaml file with pytest harness_config options, default pytest_root name "pytest" will be used if pytest_root not specified. please refer the examples in samples/subsys/testsuite/pytest/. .. code-block:: yaml common: harness: pytest tests: pytest.example.directories: harness_config: pytest_root: - pytest_dir1 - $ENV_VAR/samples/test/pytest_dir2 pytest.example.files_and_subtests: harness_config: pytest_root: - pytest/test_file_1.py - test_file_2.py::test_A - test_file_2.py::test_B[param_a] The following is an example yaml file with robot harness_config options. .. code-block:: yaml tests: robot.example: harness: robot harness_config: robot_test_path: [robot file path] filter: Filter whether the testcase should be run by evaluating an expression against an environment containing the following values: .. code-block:: none { ARCH : , PLATFORM : , , *: any environment variable available } Twister will first evaluate the expression to find if a "limited" cmake call, i.e. using package_helper cmake script, can be done. Existence of "dt_*" entries indicates devicetree is needed. Existence of "CONFIG*" entries indicates kconfig is needed. If there are no other types of entries in the expression a filtration can be done without creating a complete build system. If there are entries of other types a full cmake is required. The grammar for the expression language is as follows: .. code-block:: antlr expression : expression 'and' expression | expression 'or' expression | 'not' expression | '(' expression ')' | symbol '==' constant | symbol '!=' constant | symbol '<' NUMBER | symbol '>' NUMBER | symbol '>=' NUMBER | symbol '<=' NUMBER | symbol 'in' list | symbol ':' STRING | symbol ; list : '[' list_contents ']'; list_contents : constant (',' constant)*; constant : NUMBER | STRING; For the case where ``expression ::= symbol``, it evaluates to ``true`` if the symbol is defined to a non-empty string. Operator precedence, starting from lowest to highest: * or (left associative) * and (left associative) * not (right associative) * all comparison operators (non-associative) ``arch_allow``, ``arch_exclude``, ``platform_allow``, ``platform_exclude`` are all syntactic sugar for these expressions. For instance: .. code-block:: none arch_exclude = x86 arc Is the same as: .. code-block:: none filter = not ARCH in ["x86", "arc"] The ``:`` operator compiles the string argument as a regular expression, and then returns a true value only if the symbol's value in the environment matches. For example, if ``CONFIG_SOC="stm32f107xc"`` then .. code-block:: none filter = CONFIG_SOC : "stm.*" Would match it. required_snippets: :ref:`Snippets ` are supported in twister for test cases that require them. As with normal applications, twister supports using the base zephyr snippet directory and test application directory for finding snippets. Listed snippets will filter supported tests for boards (snippets must be compatible with a board for the test to run on them, they are not optional). The following is an example yaml file with 2 required snippets. .. code-block:: yaml tests: snippet.example: required_snippets: - cdc-acm-console - user-snippet-example The set of test cases that actually run depends on directives in the testcase filed and options passed in on the command line. If there is any confusion, running with ``-v`` or examining the discard report (:file:`twister_discard.csv`) can help show why particular test cases were skipped. Metrics (such as pass/fail state and binary size) for the last code release are stored in ``scripts/release/twister_last_release.csv``. To update this, pass the ``--all --release`` options. To load arguments from a file, add ``+`` before the file name, e.g., ``+file_name``. File content must be one or more valid arguments separated by line break instead of white spaces. Most everyday users will run with no arguments. Managing tests timeouts *********************** There are several parameters which control tests timeouts on various levels: * ``timeout`` option in each test case. See :ref:`here ` for more details. * ``timeout_multiplier`` option in board configuration. See :ref:`here ` for more details. * ``--timeout-multiplier`` twister option which can be used to adjust timeouts in exact twister run. It can be useful in case of simulation platform as simulation time may depend on the host speed & load or we may select different simulation method (i.e. cycle accurate but slower one), etc... Overall test case timeout is a multiplication of these three parameters. Running in Integration Mode *************************** This mode is used in continuous integration (CI) and other automated environments used to give developers fast feedback on changes. The mode can be activated using the ``--integration`` option of twister and narrows down the scope of builds and tests if applicable to platforms defined under the integration keyword in the testcase definition file (testcase.yaml and sample.yaml). Running tests on custom emulator ******************************** Apart from the already supported QEMU and other simulated environments, Twister supports running any out-of-tree custom emulator defined in the board's :file:`board.cmake`. To use this type of simulation, add the following properties to :file:`custom_board/custom_board.yaml`: .. code-block:: yaml simulation: custom simulation_exec: This tells Twister that the board is using a custom emulator called ````, make sure this binary exists in the PATH. Then, in :file:`custom_board/board.cmake`, set the supported emulation platforms to ``custom``: .. code-block:: cmake set(SUPPORTED_EMU_PLATFORMS custom) Finally, implement the ``run_custom`` target in :file:`custom_board/board.cmake`. It should look something like this: .. code-block:: cmake add_custom_target(run_custom COMMAND WORKING_DIRECTORY ${APPLICATION_BINARY_DIR} DEPENDS ${logical_target_for_zephyr_elf} USES_TERMINAL ) Running Tests on Hardware ************************* Beside being able to run tests in QEMU and other simulated environments, twister supports running most of the tests on real devices and produces reports for each run with detailed FAIL/PASS results. Executing tests on a single device =================================== To use this feature on a single connected device, run twister with the following new options: .. tabs:: .. group-tab:: Linux .. code-block:: bash scripts/twister --device-testing --device-serial /dev/ttyACM0 \ --device-serial-baud 115200 -p frdm_k64f -T tests/kernel .. group-tab:: Windows .. code-block:: bat python .\scripts\twister --device-testing --device-serial COM1 \ --device-serial-baud 115200 -p frdm_k64f -T tests/kernel The ``--device-serial`` option denotes the serial device the board is connected to. This needs to be accessible by the user running twister. You can run this on only one board at a time, specified using the ``--platform`` option. The ``--device-serial-baud`` option is only needed if your device does not run at 115200 baud. To support devices without a physical serial port, use the ``--device-serial-pty`` option. In this cases, log messages are captured for example using a script. In this case you can run twister with the following options: .. tabs:: .. group-tab:: Linux .. code-block:: bash scripts/twister --device-testing --device-serial-pty "script.py" \ -p intel_adsp/cavs25 -T tests/kernel .. group-tab:: Windows .. note:: Not supported on Windows OS The script is user-defined and handles delivering the messages which can be used by twister to determine the test execution status. The ``--device-flash-timeout`` option allows to set explicit timeout on the device flash operation, for example when device flashing takes significantly large time. The ``--device-flash-with-test`` option indicates that on the platform the flash operation also executes a test case, so the flash timeout is increased by a test case timeout. Executing tests on multiple devices =================================== To build and execute tests on multiple devices connected to the host PC, a hardware map needs to be created with all connected devices and their details such as the serial device, baud and their IDs if available. Run the following command to produce the hardware map: .. tabs:: .. group-tab:: Linux .. code-block:: bash ./scripts/twister --generate-hardware-map map.yml .. group-tab:: Windows .. code-block:: bat python .\scripts\twister --generate-hardware-map map.yml The generated hardware map file (map.yml) will have the list of connected devices, for example: .. tabs:: .. group-tab:: Linux .. code-block:: yaml - connected: true id: OSHW000032254e4500128002ab98002784d1000097969900 platform: unknown product: DAPLink CMSIS-DAP runner: pyocd serial: /dev/cu.usbmodem146114202 - connected: true id: 000683759358 platform: unknown product: J-Link runner: unknown serial: /dev/cu.usbmodem0006837593581 .. group-tab:: Windows .. code-block:: yaml - connected: true id: OSHW000032254e4500128002ab98002784d1000097969900 platform: unknown product: unknown runner: unknown serial: COM1 - connected: true id: 000683759358 platform: unknown product: unknown runner: unknown serial: COM2 Any options marked as ``unknown`` need to be changed and set with the correct values, in the above example the platform names, the products and the runners need to be replaced with the correct values corresponding to the connected hardware. In this example we are using a reel_board and an nrf52840dk/nrf52840: .. tabs:: .. group-tab:: Linux .. code-block:: yaml - connected: true id: OSHW000032254e4500128002ab98002784d1000097969900 platform: reel_board product: DAPLink CMSIS-DAP runner: pyocd serial: /dev/cu.usbmodem146114202 baud: 9600 - connected: true id: 000683759358 platform: nrf52840dk/nrf52840 product: J-Link runner: nrfjprog serial: /dev/cu.usbmodem0006837593581 baud: 9600 .. group-tab:: Windows .. code-block:: yaml - connected: true id: OSHW000032254e4500128002ab98002784d1000097969900 platform: reel_board product: DAPLink CMSIS-DAP runner: pyocd serial: COM1 baud: 9600 - connected: true id: 000683759358 platform: nrf52840dk/nrf52840 product: J-Link runner: nrfjprog serial: COM2 baud: 9600 The baud entry is only needed if not running at 115200. If the map file already exists, then new entries are added and existing entries will be updated. This way you can use one single master hardware map and update it for every run to get the correct serial devices and status of the devices. With the hardware map ready, you can run any tests by pointing to the map .. tabs:: .. group-tab:: Linux .. code-block:: bash ./scripts/twister --device-testing --hardware-map map.yml -T samples/hello_world/ .. group-tab:: Windows .. code-block:: bat python .\scripts\twister --device-testing --hardware-map map.yml -T samples\hello_world The above command will result in twister building tests for the platforms defined in the hardware map and subsequently flashing and running the tests on those platforms. .. note:: Currently only boards with support for pyocd, nrfjprog, jlink, openocd, or dediprog are supported with the hardware map features. Boards that require other runners to flash the Zephyr binary are still work in progress. Hardware map allows to set ``--device-flash-timeout`` and ``--device-flash-with-test`` command line options as ``flash-timeout`` and ``flash-with-test`` fields respectively. These hardware map values override command line options for the particular platform. Serial PTY support using ``--device-serial-pty`` can also be used in the hardware map: .. code-block:: yaml - connected: true id: None platform: intel_adsp/cavs25 product: None runner: intel_adsp serial_pty: path/to/script.py runner_params: - --remote-host=remote_host_ip_addr - --key=/path/to/key.pem The runner_params field indicates the parameters you want to pass to the west runner. For some boards the west runner needs some extra parameters to work. It is equivalent to following west and twister commands. .. tabs:: .. group-tab:: Linux .. code-block:: bash west flash --remote-host remote_host_ip_addr --key /path/to/key.pem twister -p intel_adsp/cavs25 --device-testing --device-serial-pty script.py --west-flash="--remote-host=remote_host_ip_addr,--key=/path/to/key.pem" .. group-tab:: Windows .. note:: Not supported on Windows OS .. note:: For serial PTY, the "--generate-hardware-map" option cannot scan it out and generate a correct hardware map automatically. You have to edit it manually according to above example. This is because the serial port of the PTY is not fixed and being allocated in the system at runtime. Fixtures +++++++++ Some tests require additional setup or special wiring specific to the test. Running the tests without this setup or test fixture may fail. A testcase can specify the fixture it needs which can then be matched with hardware capability of a board and the fixtures it supports via the command line or using the hardware map file. Fixtures are defined in the hardware map file as a list: .. code-block:: yaml - connected: true fixtures: - gpio_loopback id: 0240000026334e450015400f5e0e000b4eb1000097969900 platform: frdm_k64f product: DAPLink CMSIS-DAP runner: pyocd serial: /dev/ttyACM9 When running ``twister`` with ``--device-testing``, the configured fixture in the hardware map file will be matched to testcases requesting the same fixtures and these tests will be executed on the boards that provide this fixture. .. figure:: fixtures.svg :figclass: align-center Fixtures can also be provided via twister command option ``--fixture``, this option can be used multiple times and all given fixtures will be appended as a list. And the given fixtures will be assigned to all boards, this means that all boards set by current twister command can run those testcases which request the same fixtures. Notes +++++ It may be useful to annotate board descriptions in the hardware map file with additional information. Use the ``notes`` keyword to do this. For example: .. code-block:: yaml - connected: false fixtures: - gpio_loopback id: 000683290670 notes: An nrf5340dk/nrf5340 is detected as an nrf52840dk/nrf52840 with no serial port, and three serial ports with an unknown platform. The board id of the serial ports is not the same as the board id of the development kit. If you regenerate this file you will need to update serial to reference the third port, and platform to nrf5340dk/nrf5340/cpuapp or another supported board target. platform: nrf52840dk/nrf52840 product: J-Link runner: jlink serial: null Overriding Board Identifier +++++++++++++++++++++++++++ When (re-)generated the hardware map file will contain an ``id`` keyword that serves as the argument to ``--board-id`` when flashing. In some cases the detected ID is not the correct one to use, for example when using an external J-Link probe. The ``probe_id`` keyword overrides the ``id`` keyword for this purpose. For example: .. code-block:: yaml - connected: false id: 0229000005d9ebc600000000000000000000000097969905 platform: mimxrt1060_evk probe_id: 000609301751 product: DAPLink CMSIS-DAP runner: jlink serial: null Quarantine ++++++++++ Twister allows user to provide configuration files defining a list of tests or platforms to be put under quarantine. Such tests will be skipped and marked accordingly in the output reports. This feature is especially useful when running larger test suits, where a failure of one test can affect the execution of other tests (e.g. putting the physical board in a corrupted state). To use the quarantine feature one has to add the argument ``--quarantine-list `` to a twister call. Multiple quarantine files can be used. The current status of tests on the quarantine list can also be verified by adding ``--quarantine-verify`` to the above argument. This will make twister skip all tests which are not on the given list. A quarantine yaml has to be a sequence of dictionaries. Each dictionary has to have ``scenarios`` and ``platforms`` entries listing combinations of scenarios and platforms to put under quarantine. In addition, an optional entry ``comment`` can be used, where some more details can be given (e.g. link to a reported issue). These comments will also be added to the output reports. When quarantining a class of tests or many scenarios in a single testsuite or when dealing with multiple issues within a subsystem, it is possible to use regular expressions, for example, **kernel.*** would quarantine all kernel tests. An example of entries in a quarantine yaml: .. code-block:: yaml - scenarios: - sample.basic.helloworld comment: "Link to the issue: https://github.com/zephyrproject-rtos/zephyr/pull/33287" - scenarios: - kernel.common - kernel.common.(misra|tls) - kernel.common.nano64 platforms: - .*_cortex_.* - native_sim To exclude a platform, use the following syntax: .. code-block:: yaml - platforms: - qemu_x86 comment: "broken qemu" Additionally you can quarantine entire architectures or a specific simulator for executing tests. Test Configuration ****************** A test configuration can be used to customize various aspects of twister and the default enabled options and features. This allows tweaking the filtering capabilities depending on the environment and makes it possible to adapt and improve coverage when targeting different sets of platforms. The test configuration also adds support for test levels and the ability to assign a specific test to one or more levels. Using command line options of twister it is then possible to select a level and just execute the tests included in this level. Additionally, the test configuration allows defining level dependencies and additional inclusion of tests into a specific level if the test itself does not have this information already. In the configuration file you can include complete components using regular expressions and you can specify which test level to import from the same file, making management of levels easier. To help with testing outside of upstream CI infrastructure, additional options are available in the configuration file, which can be hosted locally. As of now, those options are available: - Ability to ignore default platforms as defined in board definitions (Those are mostly emulation platforms used to run tests in upstream CI) - Option to specify your own list of default platforms overriding what upstream defines. - Ability to override `build_on_all` options used in some testcases. This will treat tests or sample as any other just build for default platforms you specify in the configuration file or on the command line. - Ignore some logic in twister to expand platform coverage in cases where default platforms are not in scope. Platform Configuration ====================== The following options control platform filtering in twister: - `override_default_platforms`: override default key a platform sets in board configuration and instead use the list of platforms provided in the configuration file as the list of default platforms. This option is set to False by default. - `increased_platform_scope`: This option is set to True by default, when disabled, twister will not increase platform coverage automatically and will only build and run tests on the specified platforms. - `default_platforms`: A list of additional default platforms to add. This list can either be used to replace the existing default platforms or can extend it depending on the value of `override_default_platforms`. And example platforms configuration: .. code-block:: yaml platforms: override_default_platforms: true increased_platform_scope: false default_platforms: - qemu_x86 Test Level Configuration ======================== The test configuration allows defining test levels, level dependencies and additional inclusion of tests into a specific test level if the test itself does not have this information already. In the configuration file you can include complete components using regular expressions and you can specify which test level to import from the same file, making management of levels simple. And example test level configuration: .. code-block:: yaml levels: - name: my-test-level description: > my custom test level adds: - kernel.threads.* - kernel.timer.behavior - arch.interrupt - boards.* Combined configuration ====================== To mix the Platform and level configuration, you can take an example as below: An example platforms plus level configuration: .. code-block:: yaml platforms: override_default_platforms: true default_platforms: - frdm_k64f levels: - name: smoke description: > A plan to be used verifying basic zephyr features. - name: unit description: > A plan to be used verifying unit test. - name: integration description: > A plan to be used verifying integration. - name: acceptance description: > A plan to be used verifying acceptance. - name: system description: > A plan to be used verifying system. - name: regression description: > A plan to be used verifying regression. To run with above test_config.yaml file, only default_platforms with given test level test cases will run. .. tabs:: .. group-tab:: Linux .. code-block:: bash scripts/twister --test-config=/test_config.yaml -T tests --level="smoke" Running in Tests in Random Order ******************************** Enable ZTEST framework's :kconfig:option:`CONFIG_ZTEST_SHUFFLE` config option to run your tests in random order. This can be beneficial for identifying dependencies between test cases. For native_sim platforms, you can provide the seed to the random number generator by providing ``-seed=value`` as an argument to twister. See :ref:`Shuffling Test Sequence ` for more details. Robot Framework Tests ********************* Zephyr supports `Robot Framework `_ as one of solutions for automated testing. Robot files allow you to express interactive test scenarios in human-readable text format and execute them in simulation or against hardware. At this moment Zephyr integration supports running Robot tests in the `Renode `_ simulation framework. To execute a Robot test suite with twister, run the following command: .. tabs:: .. group-tab:: Linux .. code-block:: bash $ ./scripts/twister --platform hifive1 --test samples/subsys/shell/shell_module/sample.shell.shell_module.robot .. group-tab:: Windows .. code-block:: bat python .\scripts\twister --platform hifive1 --test samples/subsys/shell/shell_module/sample.shell.shell_module.robot It's also possible to run it by `west` directly, with: .. code-block:: bash $ ROBOT_FILES=shell_module.robot west build -p -b hifive1 -s samples/subsys/shell/shell_module -t run_renode_test Writing Robot tests =================== For the list of keywords provided by the Robot Framework itself, refer to `the official Robot documentation `_. Information on writing and running Robot Framework tests in Renode can be found in `the testing section `_ of Renode documentation. It provides a list of the most commonly used keywords together with links to the source code where those are defined. It's possible to extend the framework by adding new keywords expressed directly in Robot test suite files, as an external Python library or, like Renode does it, dynamically via XML-RPC. For details see the `extending Robot Framework `_ section in the official Robot documentation. Running a single testsuite ========================== To run a single testsuite instead of a whole group of test you can run: .. code-block:: bash $ twister -p qemu_riscv32 -s tests/kernel/interrupt/arch.shared_interrupt