wasm-micro-runtime/.github/workflows/spec_test_on_nuttx.yml

# Copyright (C) 2019 Intel Corporation.  All rights reserved.
# SPDX-License-Identifier: Apache-2.0 WITH LLVM-exception

name: spec test on nuttx

on:
  pull_request:
    types:
      - opened
      - synchronize
    paths:
      - ".github/workflows/spec_test_on_nuttx.yml"
      - "core/**"
      - "!core/deps/**"
      - "product-mini/**"
      - "!samples/workload/**"
      - "tests/wamr-test-suites/**"
      - "wamr-compiler/**"
      - "wamr-sdk/**"
  schedule:
    - cron:  '0 0 * * *'

  workflow_dispatch:

# Note on INTERPRETERS_WAMR_STACK_GUARD_SIZE:
# https://github.com/apache/nuttx-apps/pull/2241 is not included in
# releases/12.4 branch as of writing this.
env:
  LLVM_CACHE_SUFFIX: "build-llvm_libraries_ex"
  WASI_SDK_PATH: "/opt/wasi-sdk"
  WAMR_COMMON_OPTION:
    "CONFIG_INTERPRETERS_WAMR=y\\nCONFIG_INTERPRETERS_WAMR_LOG=y\\nCONFIG_INTERPRETERS_WAMR_LIBC_BUILTIN=y\\nCONFIG_INTERPRETERS_WAMR_REF_TYPES=y\\nCONFIG_INTERPRETERS_WAMR_ENABLE_SPEC_TEST=y\\nCONFIG_INTERPRETERS_WAMR_SHARED_MEMORY=y\\nCONFIG_INTERPRETERS_WAMR_BULK_MEMORY=y\\nCONFIG_EOL_IS_LF=y\\nCONFIG_LIBC_FLOATINGPOINT=y\\nCONFIG_INTERPRETERS_WAMR_STACK_GUARD_SIZE=1024\\n"
  HOSTFS_OPTION:
    "CONFIG_ARM_SEMIHOSTING_HOSTFS=y\\nCONFIG_ARM_SEMIHOSTING_HOSTFS_CACHE_COHERENCE=y\\nCONFIG_RISCV_SEMIHOSTING_HOSTFS=y\\nCONFIG_FS_HOSTFS=y\\n"

jobs:
  build_llvm_libraries:
    uses: ./.github/workflows/build_llvm_libraries.yml
    with:
      os: "ubuntu-22.04"
      arch: "ARM RISCV AArch64"
      container_image: ghcr.io/no1wudi/nuttx/apache-nuttx-ci-linux@sha256:8c4e00b607d4d6d66ba8f51c4544819a616eac69d3a2ac669e2af2150e2eb0f9

  build_llvm_libraries_xtensa:
    uses: ./.github/workflows/build_llvm_libraries.yml
    with:
      os: "ubuntu-22.04"
      arch: "Xtensa"
      extra_build_llvm_options: "--platform xtensa"
      cache_key_suffix: "-xtensa"
      container_image: ghcr.io/no1wudi/nuttx/apache-nuttx-ci-linux@sha256:8c4e00b607d4d6d66ba8f51c4544819a616eac69d3a2ac669e2af2150e2eb0f9

  spec_test_on_qemu:
    runs-on: ubuntu-latest
    needs: [build_llvm_libraries, build_llvm_libraries_xtensa]
    container:
      image: ghcr.io/no1wudi/nuttx/apache-nuttx-ci-linux@sha256:8c4e00b607d4d6d66ba8f51c4544819a616eac69d3a2ac669e2af2150e2eb0f9
    strategy:
      matrix:
        target_config: [
          # {
          #   config: "boards/arm64/qemu/qemu-armv8a/configs/nsh",
          #   target: "aarch64_vfp",
          #   fpu_type: "fp"
          # },
          # {
          #   config: "boards/arm/imx6/sabre-6quad/configs/nsh",
          #   target: "thumbv7",
          #   fpu_type: "none"
          # },
          {
            config: "boards/arm/imx6/sabre-6quad/configs/nsh",
            target: "thumbv7_vfp",
            fpu_type: "dp"
          },
          {
            config: "boards/risc-v/qemu-rv/rv-virt/configs/nsh",
            target: "riscv32",
            fpu_type: "none"
          },
          # {
          #   config: "boards/risc-v/qemu-rv/rv-virt/configs/nsh",
          #   target: "riscv32_ilp32d",
          #   fpu_type: "dp"
          # },
          {
            config: "boards/risc-v/qemu-rv/rv-virt/configs/nsh64",
            target: "riscv64",
            fpu_type: "none"
          },
          {
            config: "boards/xtensa/esp32s3/esp32s3-devkit/configs/qemu_debug",
            target: "xtensa",
            fpu_type: "none"
          },
        ]

        wamr_test_option: [
          {
            mode: "-t aot",
            option: "CONFIG_INTERPRETERS_WAMR_AOT=y\\n"
          },
          {
            mode: "-t aot -X",
            option: "CONFIG_INTERPRETERS_WAMR_AOT=y\\n"
          },
          # {
          #   mode: "-t classic-interp",
          #   option: "CONFIG_INTERPRETERS_WAMR_CLASSIC=y\\n"
          # },
          # {
          #   mode: "-t fast-interp",
          #   option: "CONFIG_INTERPRETERS_WAMR_FAST=y\\n"
          # },
        ]

        wamr_feature_option:
          # Empty option for default
          - { option: "", mode: "" }
          - { option: "CONFIG_INTERPRETERS_WAMR_GC=y\\nCONFIG_INTERPRETERS_WAMR_AOT_STACK_FRAME=y\\n", mode: "-G" }

        exclude:
          # XIP is not fully supported yet on RISCV64, some relocations can not be resolved
          - target_config: { config: "boards/risc-v/qemu-rv/rv-virt/configs/nsh64" }
            wamr_test_option: { mode: "-t aot -X" }

          # Our xtensa environment doesn't have enough memory
          - target_config: { target: "xtensa" }
            wamr_feature_option: { mode: "-G" }

    steps:
      # Note: we use an unreleased version nuttx for xtensa because
      # 12.4 doesn't contain necessary esp32s3 changes.
      - name: Checkout NuttX
        uses: actions/checkout@v4
        with:
          repository: apache/nuttx
          ref: ${{ matrix.target_config.target == 'xtensa' && '985d395b025cf2012b22f6bb4461959fa6d87645' || 'releases/12.4' }}
          path: nuttx

      - name: Checkout NuttX Apps
        uses: actions/checkout@v4
        with:
          repository: apache/nuttx-apps
          ref: ${{ matrix.target_config.target == 'xtensa' && '2ef3eb25c0cec944b13792185f7e5d5a05990d5f' || 'releases/12.4' }}
          path: apps

      - name: Checkout WAMR
        uses: actions/checkout@v4
        with:
          repository: ${{ github.repository }}
          path: apps/interpreters/wamr/wamr

      - name: Get LLVM libraries
        if: contains(matrix.wamr_test_option.mode, 'aot')
        id: retrieve_llvm_libs
        uses: actions/cache@v4
        with:
          path: |
            ./core/deps/llvm/build/bin
            ./core/deps/llvm/build/include
            ./core/deps/llvm/build/lib
            ./core/deps/llvm/build/libexec
            ./core/deps/llvm/build/share
          key: ${{ matrix.target_config.target == 'xtensa' && needs.build_llvm_libraries_xtensa.outputs.cache_key || needs.build_llvm_libraries.outputs.cache_key }}

      - name: Quit if cache miss
        if: contains(matrix.wamr_test_option.mode, 'aot') && steps.retrieve_llvm_libs.outputs.cache-hit != 'true'
        run: echo "::error::can not get prebuilt llvm libraries" && exit 1

      - name: Copy LLVM
        if: contains(matrix.wamr_test_option.mode, 'aot')
        run: cp -r core/deps/llvm apps/interpreters/wamr/wamr/core/deps/llvm

      # Inject the config option to NuttX
      # TODO: Merge this into NuttX once GC is generally available
      #
      # Note: the version of nuttx-apps we use for xtensa does have
      # an equivalent. (the default of INTERPRETERS_WAMR_TAIL_CALL is
      # different though.)
      - name: Modify Kconfig
        if: matrix.target_config.target != 'xtensa'
        run: |
          echo "\n" >> apps/interpreters/wamr/Kconfig
          echo "config INTERPRETERS_WAMR_GC" >> apps/interpreters/wamr/Kconfig
          echo "\tbool \"Enable GC\"" >> apps/interpreters/wamr/Kconfig
          echo "\tdefault n" >> apps/interpreters/wamr/Kconfig
          echo "\n" >> apps/interpreters/wamr/Kconfig
          echo "config INTERPRETERS_WAMR_AOT_STACK_FRAME" >> apps/interpreters/wamr/Kconfig
          echo "\tbool \"Enable AOT stack frame\"" >> apps/interpreters/wamr/Kconfig
          echo "\tdefault n" >> apps/interpreters/wamr/Kconfig
          echo "\n" >> apps/interpreters/wamr/Kconfig
          echo "config INTERPRETERS_WAMR_TAIL_CALL" >> apps/interpreters/wamr/Kconfig
          echo "\tbool \"Enable Tail Call\"" >> apps/interpreters/wamr/Kconfig
          echo "\tdefault y" >> apps/interpreters/wamr/Kconfig

      - name: Enable WAMR for NuttX
        run: |
          find nuttx/boards -name defconfig | xargs sed -i '$a\${{ env.WAMR_COMMON_OPTION }}'

      - name: Set WAMR stack size for NuttX
        if: matrix.target_config.target != 'xtensa'
        run: |
          find nuttx/boards -name defconfig | xargs sed -i '$aCONFIG_INTERPRETERS_WAMR_STACKSIZE=327680\n'

      # because qemu doesn't have a proper emulation of esp32s3 psram,
      # we are limited to the internal ram, which is about 400KB.
      - name: Set WAMR stack size for NuttX (xtensa)
        if: matrix.target_config.target == 'xtensa'
        run: |
          find nuttx/boards -name defconfig | xargs sed -i '$aCONFIG_INTERPRETERS_WAMR_STACKSIZE=25600\n'

      # Note: the nuttx config we happened to use for xtensa already has
      # hostfs enabled.
      - name: Enable hostfs for NuttX
        if: matrix.target_config.target != 'xtensa'
        run: |
          find nuttx/boards -name defconfig | xargs sed -i '$a\${{ env.HOSTFS_OPTION }}'
      
      - name: Enable WAMR Interpreter for NuttX
        run: |
          find nuttx/boards -name defconfig | xargs sed -i '$a\${{ matrix.wamr_test_option.option }}'

      - name: Enable WAMR Feature for NuttX
        if: matrix.wamr_feature_option.option != ''
        run: |
          find nuttx/boards -name defconfig | xargs sed -i '$a\${{ matrix.wamr_feature_option.option }}'

      - name: Disable FPU for NuttX
        if: matrix.target_config.fpu_type == 'none'
        run: |
          find nuttx/boards -name defconfig | xargs sed -i '$a\# CONFIG_ARCH_FPU is not set\n'

      - name: Disable DPFPU for NuttX
        if: matrix.target_config.fpu_type == 'fp'
        run: |
          find nuttx/boards -name defconfig | xargs sed -i '$a\# CONFIG_ARCH_DPFPU is not set\n'

      # Note: while a real hardware would need
      # INTERPRETERS_WAMR_MEM_DUAL_BUS_MIRROR=y,
      # it doesn't work with xtensa qemu which we use on the CI because it
      # doesn't have a proper emulation of I/D separate mappings.
      # we work it around by using INTERPRETERS_WAMR_MEM_DUAL_BUS_MIRROR=n.
      # this configuration won't work on a real hardware.
      - name: Tweak NuttX config (xtensa)
        if: matrix.target_config.target == 'xtensa'
        run: |
          find nuttx/boards -name defconfig | xargs sed -i '$aCONFIG_INTERPRETERS_WAMR_AOT_WORD_ALIGN_READ=y\n\# CONFIG_INTERPRETERS_WAMR_MEM_DUAL_BUS_MIRROR is not set\n'

      - name: Build wamrc
        if: contains(matrix.wamr_test_option.mode, 'aot')
        working-directory: apps/interpreters/wamr/wamr/wamr-compiler
        run: |
          cmake -Bbuild .
          cmake --build build

      # the nuttx version we use for xtensa requires esptool.py newer than
      # what we have in our version of the apache-nuttx-ci-linux image.
      - name: Install the latest esptool.py (xtensa)
        if: matrix.target_config.target == 'xtensa'
        run: |
          pip3 install esptool==4.7.0
          esptool.py version

      - name: Configure NuttX
        run: |
          tools/configure.sh ${{ matrix.target_config.config }}
        working-directory: nuttx

      # depending on configurations, the iwasm command line generated
      # by spec-test-script can be longer than the default NSH_LINELEN,
      # which is 64 or 80.
      - name: Tweak NuttX config
        run: |
          kconfig-tweak --set-val CONFIG_NSH_LINELEN 255
        working-directory: nuttx

      - name: Build NuttX
        run: |
          make olddefconfig
          make -j$(nproc)
        working-directory: nuttx

      # for xtensa, build a 8MB firmware image.
      # simple boot is assumed. (thus the nuttx.bin offset in the image is 0)
      # qemu will infer the flash size from the file size.
      - name: Post build processing (xtensa)
        if: matrix.target_config.target == 'xtensa'
        run: |
          cd nuttx
          dd if=/dev/zero of=flash.img bs=1024 count=8192
          dd if=nuttx.bin of=flash.img conv=notrunc
          mv flash.img nuttx

      - name: Build firmware path
        id: build_firmware_path
        run: |
          echo "firmware=$PWD/nuttx/nuttx" >> $GITHUB_OUTPUT
      
      # for xtensa, use the espressif fork of qemu, which has esp32s3 support.
      - name: Install QEMU (xtensa)
        if: matrix.target_config.target == 'xtensa'
        run: |
          apt-get remove -y qemu-system-misc
          apt-get update && apt-get install -y libsdl2-2.0-0
          ./.github/scripts/install_qemu_xtensa.sh
          qemu-system-xtensa --version
        working-directory: apps/interpreters/wamr/wamr

      - name: Test
        if: matrix.target_config.target != 'xtensa'
        run: |
          cd apps/interpreters/wamr/wamr/tests/wamr-test-suites
          ./test_wamr.sh -s spec ${{ matrix.wamr_test_option.mode }} -m ${{ matrix.target_config.target }} -b -Q -P -F ${{ steps.build_firmware_path.outputs.firmware }} ${{ matrix.wamr_feature_option.mode}}

      # for xtensa, for some reasons, when running the tests
      # with test_wamr.sh -P, nuttx occasionally hangs after
      # "total segments stored 6" on the CI.
      # i (yamamoto) couldn't reproduce it locally (macOS) even
      # with the identical flash image.
      # for now, run the tests without -P.
      - name: Test
        if: matrix.target_config.target == 'xtensa'
        run: |
          cd apps/interpreters/wamr/wamr/tests/wamr-test-suites
          ./test_wamr.sh -s spec ${{ matrix.wamr_test_option.mode }} -m ${{ matrix.target_config.target }} -b -Q -F ${{ steps.build_firmware_path.outputs.firmware }} ${{ matrix.wamr_feature_option.mode}}