vcu118-run.py

#!/usr/bin/env python3
# PYTHON_ARGCOMPLETE_OK
#
# SPDX-License-Identifier: BSD-2-Clause
#
# Copyright (c) 2020 Alex Richardson
#
# This work was supported by Innovate UK project 105694, "Digital Security by
# Design (DSbD) Technology Platform Prototype".
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# 1. Redistributions of source code must retain the above copyright notice,
#    this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright notice,
#    this list of conditions and the following disclaimer in the documentation
#    and/or other materials provided with the distribution.
#
# THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND ANY
# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED.  IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY
# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
import argparse
import datetime
import os
import shlex
import shutil
import sys
import tempfile
import time
import typing
from abc import abstractmethod
from pathlib import Path
from threading import Thread
from typing import Optional

_cheribuild_root = Path(__file__).resolve().parent
_pexpect_dir = _cheribuild_root / "3rdparty/pexpect"
assert (_pexpect_dir / "pexpect/__init__.py").exists()
sys.path.insert(1, str(_pexpect_dir))
sys.path.insert(1, str(_pexpect_dir.parent / "ptyprocess"))
sys.path.insert(1, str(_cheribuild_root))
from serial.tools.list_ports import comports  # noqa: E402
from serial.tools.list_ports_common import ListPortInfo  # noqa: E402

from pycheribuild.boot_cheribsd import (  # noqa: E402
    CheriBSDInstance,
    CheriBSDSpawnMixin,
    PretendSpawn,
    boot_and_login,
    failure,
    info,
    pexpect,
    success,
)
from pycheribuild.colour import AnsiColour, coloured  # noqa: E402
from pycheribuild.config.compilation_targets import CompilationTargets  # noqa: E402
from pycheribuild.filesystemutils import FileSystemUtils  # noqa: E402
from pycheribuild.processutils import print_command  # noqa: E402
from pycheribuild.utils import ConfigBase, fatal_error, get_global_config, init_global_config  # noqa: E402

VIVADO_SCRIPT = b"""
# Setup some variables
#

if { [llength $argv] != 2 } {
    puts "ERROR!! Did not pass proper number of arguments to this script."
    puts "args: <bitfile path> <ltxfile path>"
    exit -1
}
set bitfile [lindex $argv 0]
set probfile [lindex $argv 1]

open_hw
connect_hw_server
open_hw_target
current_hw_device [get_hw_devices xcvu9p_0]
# refresh_hw_device -update_hw_probes false [lindex [get_hw_devices xcvu9p_0] 0]
set_property PROBES.FILE $probfile [get_hw_devices xcvu9p_0]
set_property FULL_PROBES.FILE $probfile [get_hw_devices xcvu9p_0]
set_property PROGRAM.FILE $bitfile [get_hw_devices xcvu9p_0]
puts "---------------------"
puts "Program Configuration"
puts "---------------------"
puts "Bitstream : $bitfile"
puts "Probe Info: $probfile"
puts ""
puts "Programming..."
program_hw_devices [get_hw_devices xcvu9p_0]
close_hw_target
disconnect_hw_server
close_hw
puts "Done!"
exit 0
"""


def generate_openocd_script(num_cores: int):
    openocd_script = """
interface ftdi
transport select jtag
bindto 0.0.0.0
adapter_khz 2000

ftdi_tdo_sample_edge falling

ftdi_vid_pid 0x0403 0x6014

ftdi_channel 0
ftdi_layout_init 0x00e8 0x60eb

reset_config none

set _CHIPNAME riscv
jtag newtap $_CHIPNAME cpu -irlen 18 -ignore-version -expected-id 0x04B31093
"""

    for core in range(num_cores):
        openocd_script += f"\nset _TARGETNAME_{core:d} $_CHIPNAME.cpu{core:d}"
        openocd_script += f"\ntarget create $_TARGETNAME_{core:d} riscv -chain-position $_CHIPNAME.cpu -coreid {core:d}"
        if core == 0:
            openocd_script += " -rtos hwthread"
        openocd_script += "\n"

    if num_cores > 0:
        openocd_script += "\ntarget smp"
        for core in range(num_cores):
            openocd_script += f" $_TARGETNAME_{core:d}"

    openocd_script += """

riscv set_ir dtmcs 0x022924
riscv set_ir dmi 0x003924

init

halt
reset halt
"""
    return openocd_script.encode()


def load_bitfile(bitfile: Path, ltxfile: Path, fu: FileSystemUtils):
    if shutil.which("vivado") is None:
        fatal_error("vivado not in $PATH, cannot continue", pretend=False)
    if bitfile is None or not bitfile.exists():
        fatal_error("Missing bitfile:", bitfile, pretend=False)
    if ltxfile is None or not ltxfile.exists():
        fatal_error("Missing ltx file:", ltxfile, pretend=False)
    with tempfile.NamedTemporaryFile() as t:
        t.write(VIVADO_SCRIPT)
        t.flush()
        args = [
            "vivado",
            "-nojournal",
            "-notrace",
            "-nolog",
            "-source",
            t.name,
            "-mode",
            "batch",
            "-tclargs",
            str(bitfile),
            str(ltxfile),
        ]
        print_command(args, config=get_global_config())
        if get_global_config().pretend:
            vivado = PretendSpawn(args[0], args[1:])
        else:
            vivado = pexpect.spawn(args[0], args[1:], logfile=sys.stdout, encoding="utf-8")
        vivado_exit_str = "Exiting Vivado at"
        if vivado.expect_exact(["****** Vivado", vivado_exit_str]) != 0:
            failure("Vivado failed to start", exit=True)
        success("Vivado started")
        if vivado.expect_exact(["Programming...", vivado_exit_str]) != 0:
            failure("Vivado failed to start programming", exit=True)
        success("Vivado started programming FPGA")
        # 5 minutes should be enough time to programt the FPGA
        if vivado.expect_exact(["Done!", vivado_exit_str], timeout=5 * 60) != 0:
            failure("Vivado failed to program FPGA", exit=True)
        success("Vivado finished programming FPGA")
        vivado.expect_exact([vivado_exit_str])
        vivado.wait()
        fu.delete_file(Path("webtalk.log"), print_verbose_only=True)
        fu.delete_file(Path("webtalk.jou"), print_verbose_only=True)
        if not get_global_config().pretend:
            # wait for 3 seconds to avoid 'Error: libusb_claim_interface() failed with LIBUSB_ERROR_BUSY'
            time.sleep(3)


def abspath_arg(s) -> Path:
    return Path(os.path.abspath(os.path.expandvars(os.path.expanduser(s))))


class FakeSerialSpawn(CheriBSDSpawnMixin, PretendSpawn):
    pass


class SerialConnection:
    def __init__(self, executable, args):
        if get_global_config().pretend:
            self.cheribsd = FakeSerialSpawn(executable, args)
        else:
            print_command([executable, *args], config=get_global_config())
            self.cheribsd = CheriBSDInstance(
                CompilationTargets.CHERIBSD_RISCV_HYBRID,
                executable,
                args,
                logfile=sys.stdout,
                encoding="utf-8",
                timeout=60,
            )
        assert isinstance(self.cheribsd, CheriBSDSpawnMixin)

    def interact(self):
        # interact() prints all input+output -> disable logfile
        self.cheribsd.logfile = None
        self.cheribsd.logfile_read = None
        self.cheribsd.logfile_send = None
        self.show_help_message()
        self.cheribsd.interact()

    @abstractmethod
    def show_help_message(self): ...


class PicoComConnection(SerialConnection):
    def __init__(self, tty_info: ListPortInfo):
        # We need --nolock so that openocd can access the device
        # TODO: should probably
        super().__init__("picocom", ["--baud", "115200", tty_info.device])
        self.cheribsd.expect(["Terminal ready"])

    def show_help_message(self):
        # Print the help message
        self.cheribsd.sendcontrol("a")
        self.cheribsd.sendcontrol("h")
        time.sleep(0.5)
        success("Interacting with CheriBSD. ", coloured(AnsiColour.yellow, "Use CTRL+A,CTRL+Q to exit"))


class PySerialConnection(SerialConnection):
    def __init__(self, tty_info: ListPortInfo):
        # Note: use --eol LF to avoid two prompts being printed on <Enter> (default seems to be CRLF)
        super().__init__(sys.executable, ["-m", "serial.tools.miniterm", tty_info.device, "115200", "--eol", "LF"])
        self.cheribsd.expect(["--- Miniterm on "])

    def show_help_message(self):
        # Print the help message
        self.cheribsd.sendcontrol("t")
        self.cheribsd.sendcontrol("i")
        time.sleep(0.5)
        success("Interacting with CheriBSD. ", coloured(AnsiColour.yellow, "Use CTRL+] to exit"))


class FpgaConnection:
    """Access to openOCD+GDB+Serial port connection"""

    def __init__(self, gdb: pexpect.spawn, openocd: pexpect.spawn, serial: SerialConnection):
        self.gdb = gdb
        self.openocd = openocd
        self.serial = serial


class BackgroundExpectEOF(Thread):
    def __init__(self, child):
        Thread.__init__(self)
        self.child = child
        self.daemon = True

    def run(self):
        self.child.expect(pexpect.EOF, timeout=None)


def reset_soc(conn: FpgaConnection):
    # On the rare occasion you need to reset SoC stuff not just the core, set *(0x6fff0000)=1 does a write to a GPIO
    # block whose output is connected to the SoC's reset so that lets you reset the whole SoC
    conn.gdb.sendline("set *(0x6fff0000)=1")
    # though the core will then be running so you'll need to c and then ^C in GDB to get things back in sync
    conn.gdb.sendline("continue")
    conn.gdb.sendintr()


def start_openocd(openocd_cmd: Path, num_cores: int) -> typing.Tuple[pexpect.spawn, int]:
    with tempfile.NamedTemporaryFile() as t:
        t.write(generate_openocd_script(num_cores))
        t.flush()
        cmdline = [str(openocd_cmd), "-f", t.name]
        print_command(cmdline, config=get_global_config())
        if get_global_config().pretend:
            openocd = PretendSpawn(cmdline[0], cmdline[1:])
        else:
            openocd = pexpect.spawn(cmdline[0], cmdline[1:], logfile=sys.stdout, encoding="utf-8")
        openocd.expect_exact(["Open On-Chip Debugger"])
        success("openocd started")
        gdb_port = 3333
        openocd.expect(["Info : Listening on port (\\d+) for gdb connections"])
        if openocd.match is not None:
            gdb_port = int(openocd.match.group(1))
        openocd.expect_exact(["Info : Listening on port 4444 for telnet connections"])
        success("openocd waiting for GDB connection")
        return openocd, gdb_port


def get_console(tty_info: ListPortInfo) -> SerialConnection:
    # We fall back to using the miniterm command bundled with PySerial as the interactive prompt.
    # This means that we don't depend on minicom/picocom being installed.
    success("Connecting to TTY...")
    if shutil.which("picocom"):
        return PicoComConnection(tty_info)
    return PySerialConnection(tty_info)


def load_and_start_kernel(
    *,
    gdb_cmd: Path,
    openocd_cmd: Path,
    bios_image: Path,
    kernel_image: "Optional[Path]" = None,
    kernel_debug_file: "Optional[Path]" = None,
    tty_info: ListPortInfo,
    num_cores: int,
    extra_gdb_commands: "Optional[list[str]]" = None,
) -> FpgaConnection:
    # Open the serial connection first to check that it's available:
    serial_conn = get_console(tty_info)
    success("Connected to TTY")
    if bios_image is None or not bios_image.exists():
        failure("Missing bios image: ", bios_image, exit=True)
    # First start openocd
    gdb_start_time = datetime.datetime.utcnow()
    openocd, openocd_gdb_port = start_openocd(openocd_cmd, num_cores)
    # openocd is running, now start GDB
    # NB: Cannot set the actual file since GDB will then expect OpenOCD's
    # gdbserver to provide capabilities and fail to read the PC (PCC).
    args = ["-ex", "set architecture riscv"]
    # NB: Avoids software single stepping as writing ebreak to the bootrom
    # doesn't work (silently fails at least with Toooba at time of writing).
    args += ["-ex", "set os none"]
    args += ["-ex", "symbol-file " + str(Path(bios_image).absolute())]
    args += ["-ex", "target extended-remote :" + str(openocd_gdb_port)]
    args += ["-ex", "set confirm off"]  # avoid interactive prompts
    args += ["-ex", "set pagination off"]  # avoid paginating output, requiring input
    args += ["-ex", "set style enabled off"]  # disable colours since they break the matcher strings
    args += ["-ex", "monitor reset init"]  # reset and go back to boot room
    if num_cores > 1:
        args += ["-ex", "thread 1"]  # ensure we're on core 0
    args += ["-ex", "si 5"]  # we need to run the first few instructions to get a valid DTB
    if num_cores > 1:
        for core in range(1, num_cores):
            args += ["-ex", f"thread {core + 1:d}"]  # switch to thread (core + 1) (GDB counts from 1)
            args += ["-ex", "si 5"]  # execute bootrom on every other core
        args += ["-ex", "thread 1"]  # switch back to core 0
    args += ["-ex", "set disassemble-next-line on"]
    # Load the kernel image first since load changes the next PC to the entry point
    if kernel_image is not None:
        kernel_image = kernel_image.absolute()
        if kernel_debug_file is None:
            # If there is a .full image use that to get debug symbols:
            full_file = kernel_image.with_name(kernel_image.name + ".full")
            if full_file.exists():
                kernel_debug_file = full_file
            else:
                # Fall back to the kernel image without debug info.
                kernel_debug_file = kernel_image
        args += ["-ex", "symbol-file " + shlex.quote(str(kernel_debug_file.absolute()))]
        args += ["-ex", "load " + shlex.quote(str(kernel_image.absolute()))]
    args += ["-ex", "load " + shlex.quote(str(Path(bios_image).absolute()))]
    if num_cores > 1:
        args += ["-ex", "set $entry_point = $pc"]  # Record the entry point to the bios
        for core in range(1, num_cores):
            args += ["-ex", f"thread {core + 1:d}"]  # switch to thread (core + 1) (GDB counts from 1)
            args += ["-ex", "set $pc=$entry_point"]  # set every other core to the start of the bios
        args += ["-ex", "thread 1"]  # switch back to core 0
    if extra_gdb_commands is not None:
        for arg in extra_gdb_commands:
            args += ["-ex", arg]
    args += ["-ex", "echo ready to continue\n"]
    print_command(str(gdb_cmd), *args, config=get_global_config())
    if get_global_config().pretend:
        gdb = PretendSpawn(str(gdb_cmd), args, timeout=60)
    else:
        gdb = pexpect.spawn(str(gdb_cmd), args, timeout=60, logfile=sys.stdout, encoding="utf-8")
    gdb.expect_exact(["Reading symbols from"])
    # openOCD should acknowledge the GDB connection:
    openocd.expect_exact([f"Info : accepting 'gdb' connection on tcp/{openocd_gdb_port}"])
    success("openocd accepted GDB connection")
    # Now we're done with OpenOCD and want to ensure anything it logs doesn't
    # lead to backpressure and block it
    BackgroundExpectEOF(openocd).start()
    gdb.expect_exact(["Remote debugging using :" + str(openocd_gdb_port)])
    success("GDB connected to openocd")
    # XXX: doesn't match with recent GDB:  gdb.expect_exact(["0x0000000070000000 in ??"])
    gdb.expect_exact(["0x0000000070000000"])
    success("PC set to bootrom")
    # XXX: doesn't match with recent GDB: gdb.expect_exact(["0x0000000044000000 in ??"])
    gdb.expect_exact(["0x0000000044000000"])
    success("Done executing bootrom")
    if num_cores > 1:
        for core in range(1, num_cores):
            gdb.expect_exact(["0x0000000044000000"])
        success("Done executing bootrom on all other cores")
    if kernel_image is not None:
        gdb.expect_exact(["Loading section .text"])
        load_start_time = datetime.datetime.utcnow()
        success("Started loading kernel image (this may take a long time)")
        gdb.expect_exact(["Transfer rate:"], timeout=120 * 60)  # XXX: is 2 hours a sensible timeout?
        load_end_time = datetime.datetime.utcnow()
        success("Finished loading kernel image in ", load_end_time - load_start_time)
    # Now load the bootloader
    gdb.expect_exact(["Loading section .text"])
    load_start_time = datetime.datetime.utcnow()
    success("Started loading bootloader image")
    gdb.expect_exact(["Transfer rate:"], timeout=10 * 60)  # XXX: is 10 minutes a sensible timeout?
    load_end_time = datetime.datetime.utcnow()
    success("Finished loading bootloader image in ", load_end_time - load_start_time)
    gdb_finish_time = load_end_time
    gdb.expect_exact(["ready to continue"])
    gdb.sendline("continue")
    success("Starting CheriBSD after ", datetime.datetime.utcnow() - gdb_start_time)
    i = serial_conn.cheribsd.expect_exact(["bbl loader", "---<<BOOT>>---", pexpect.TIMEOUT], timeout=30)
    if i == 0:
        success("bbl loader started")
    elif i == 1:
        success("FreeBSD boot started")
    else:
        failure("Did not get expected boot output", exit=True)
    # TODO: network_iface="xae0", but DHCP doesn't work
    boot_and_login(serial_conn.cheribsd, starttime=gdb_finish_time, network_iface=None)
    return FpgaConnection(gdb, openocd, serial_conn)


def find_vcu118_tty(pretend: bool) -> ListPortInfo:
    # find the serial port:
    expected_vendor_id = 0x10C4
    expected_product_id = 0xEA70
    expected_endpoint = ":1.1"
    for portinfo in comports(include_links=True):
        assert isinstance(portinfo, ListPortInfo)
        if (
            portinfo.pid == expected_product_id
            and portinfo.vid == expected_vendor_id
            and portinfo.location.endswith(expected_endpoint)
        ):
            return portinfo
    if pretend:
        return ListPortInfo("/dev/fakeTTY")
    raise ValueError(
        "Could not find USB TTY with VID",
        hex(expected_vendor_id),
        "PID",
        hex(expected_product_id),
        "endpoint",
        expected_endpoint,
    )


def main():
    # noinspection PyTypeChecker
    parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
    parser.add_argument("--bitfile", help="The bitfile to load", type=abspath_arg)
    parser.add_argument("--ltxfile", help="The LTX file to use", type=abspath_arg)
    parser.add_argument("--bios", help="The machine-mode program to load", type=abspath_arg)
    parser.add_argument("--kernel", help="The supervisor-mode program to load", type=abspath_arg)
    parser.add_argument("--kernel-debug-file", help="Debug info file for the kernel", type=abspath_arg)
    parser.add_argument("--gdb", default=shutil.which("gdb") or "gdb", help="Path to GDB binary", type=Path)
    parser.add_argument(
        "--openocd",
        default=shutil.which("openocd") or "openocd",
        help="Path to openocd binary",
        type=abspath_arg,
    )
    parser.add_argument("--num-cores", type=int, default=1, help="Number of harts on bitstream")
    parser.add_argument(
        "--test-command",
        action="append",
        help="Run a command non-interactively before possibly opening a console",
    )
    parser.add_argument("--extra-gdb-command", action="append", help="Run a command in gdb after loading kernel")
    parser.add_argument("--test-timeout", type=int, default=60 * 60, help="Timeout for the test command")
    parser.add_argument(
        "--benchmark-config",
        help="Configure for benchmarking before running commands",
        action="store_true",
    )
    parser.add_argument(
        "--pretend",
        help="Don't actually run the commands just show what would happen",
        action="store_true",
    )
    parser.add_argument("action", choices=["all", "bitfile", "boot", "console"], default="all", nargs=argparse.OPTIONAL)
    try:
        # noinspection PyUnresolvedReferences
        import argcomplete

        argcomplete.autocomplete(parser)
    except ImportError:
        pass
    args = parser.parse_args()
    print(args)
    init_global_config(ConfigBase(pretend=args.pretend, verbose=True, quiet=False, force=False))
    if (args.action == "all" and args.bitfile is not None) or args.action == "bitfile":
        if args.ltxfile is None:
            args.ltxfile = Path(args.bitfile).with_suffix(".ltx")
        load_bitfile(args.bitfile, args.ltxfile, FileSystemUtils(get_global_config()))
        if args.action == "bitfile":
            sys.exit(0)

    tty_info = find_vcu118_tty(args.pretend)
    success("Found TTY:", tty_info)
    info(tty_info.usb_info())
    if args.action == "console":
        console = get_console(tty_info)
        console.interact()
        return
    else:
        conn = load_and_start_kernel(
            gdb_cmd=args.gdb,
            openocd_cmd=args.openocd,
            bios_image=args.bios,
            kernel_image=args.kernel,
            kernel_debug_file=args.kernel_debug_file,
            tty_info=tty_info,
            num_cores=args.num_cores,
            extra_gdb_commands=args.extra_gdb_command,
        )
        console = conn.serial
        if args.action == "boot":
            sys.exit(0)

    if args.benchmark_config:
        success("Disabling malloc abort-on-warning and junking")
        console.cheribsd.checked_run("ln -fhs 'abort:false,junk:false' /etc/malloc.conf")

    if args.test_command is not None:
        success("Running test commands")
        for test_command in args.test_command:
            console.cheribsd.checked_run(test_command, timeout=args.test_timeout)
    # Finally interact with the console (if possible)
    if not sys.__stdin__.isatty():
        success("Not interating with console since stdin is not a TTY. Exiting now.")
    else:
        console.interact()


if __name__ == "__main__":
    main()