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new 4dc6a09b1b6 ci: Add BSWorld Bluetooth integration tests
4dc6a09b1b6 is described below
commit 4dc6a09b1b6de41502763a5f5e801af192d9f256
Author: Lingao Meng <[email protected]>
AuthorDate: Thu Oct 22 13:50:31 2026 +0800
ci: Add BSWorld Bluetooth integration tests
Run Bluetooth runtime tests for NuttX changes using the shared test suite
from nuttx-apps PR #3896. The initialization and timer failures fixed in
NuttX PR #20879 show why successful compilation alone is insufficient.
As AI-assisted code generation becomes more common, stricter code review,
static checks and runtime regression testing are needed.
Add a Linux workflow that builds sim:bthcisock and sim:nimble with
BabbleSim time and runs BTSak advertising/scanning and NimBLE connection,
GATT discovery and subscription against Python Controllers. Reuse the
apps preparation/build scripts and tests, pin BSWorld, and upload build
logs, source versions, JUnit results, device logs and HCI/radio captures.
Support Depends-On companion changes and manual companion_ref selection.
Cache only simulation dependencies and rebuild firmware for each run.
Document the workflow and link to the apps test instructions.
Testing:
Host: Ubuntu 22.04 x86_64, GCC 14.3.0, Python 3.12.3
Board/configs: sim:bthcisock and sim:nimble with SIM_BSIM_TIME=y
Sources include NuttX #20879 and nuttx-apps #3896.
Both firmware builds and the workflow's local build/test steps passed.
Both Bluetooth integration tests passed with two pytest workers.
Dependency application checks, actionlint, YAML validation and NuttX
checkpatch passed. The GitHub-hosted workflow has not been run yet.
Depends-On: https://github.com/apache/nuttx/pull/20879
Depends-On: https://github.com/apache/nuttx-apps/pull/3896
Assisted-by: OpenAI Codex
Signed-off-by: Lingao Meng <[email protected]>
---
.github/workflows/bluetooth.yml | 214 +++++++++++++++++++++++++++++++++++++
Documentation/testing/nuttx-ci.rst | 15 +++
2 files changed, 229 insertions(+)
diff --git a/.github/workflows/bluetooth.yml b/.github/workflows/bluetooth.yml
new file mode 100644
index 00000000000..a2bbd1ab603
--- /dev/null
+++ b/.github/workflows/bluetooth.yml
@@ -0,0 +1,214 @@
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+---
+name: Bluetooth
+
+on:
+ pull_request:
+ paths-ignore:
+ - "**/*.md"
+ - "Documentation/**"
+ - "**/CODEOWNERS"
+ push:
+ branches:
+ - master
+ - "releases/*"
+ workflow_dispatch:
+ inputs:
+ companion_ref:
+ description: >-
+ Branch, tag, SHA or refs/pull/N/head in the companion repository
+ default: master
+ required: true
+ type: string
+
+permissions:
+ contents: read
+ pull-requests: read
+
+defaults:
+ run:
+ shell: bash
+
+concurrency:
+ group: bluetooth-${{ github.event.pull_request.number || github.ref }}
+ cancel-in-progress: true
+
+env:
+ BSWORLD_REVISION: bf94e2fcc0c876e244dafcea4fb0ea5ed3a1c157
+ NUTTX_REPOSITORY: ${{ github.repository }}
+ APPS_REPOSITORY: apache/nuttx-apps
+ BUILD_JOBS: 4
+ PYTHONDONTWRITEBYTECODE: 1
+
+jobs:
+ bluetooth:
+ runs-on: ubuntu-24.04
+ timeout-minutes: 90
+ steps:
+ - name: Checkout NuttX
+ uses: actions/checkout@v7
+ with:
+ repository: ${{ env.NUTTX_REPOSITORY }}
+ ref: >-
+ ${{ env.NUTTX_REPOSITORY == github.repository && github.sha
+ || inputs.companion_ref || github.base_ref
+ || (startsWith(github.ref, 'refs/heads/releases/')
+ && github.ref_name)
+ || 'master' }}
+ path: nuttx
+ persist-credentials: false
+
+ - name: Checkout applications
+ uses: actions/checkout@v7
+ with:
+ repository: ${{ env.APPS_REPOSITORY }}
+ ref: >-
+ ${{ env.APPS_REPOSITORY == github.repository && github.sha
+ || inputs.companion_ref || github.base_ref
+ || (startsWith(github.ref, 'refs/heads/releases/')
+ && github.ref_name)
+ || 'master' }}
+ path: apps
+ persist-credentials: false
+
+ - name: Apply Depends-On changes
+ if: github.event_name == 'pull_request' && github.base_ref == 'master'
+ env:
+ GH_TOKEN: ${{ github.token }}
+ PR_BODY: ${{ github.event.pull_request.body }}
+ PR_NUMBER: ${{ github.event.pull_request.number }}
+ shell: bash
+ run: |
+ # Reuse the parser used by the main build workflow.
+ if body=$(gh api "repos/$GITHUB_REPOSITORY/pulls/$PR_NUMBER" \
+ --jq '.body // ""'); then
+ export PR_BODY="$body"
+ else
+ echo "::warning::Could not re-read the PR description;" \
+ "using the event payload."
+ fi
+ python3 nuttx/.github/scripts/depends_on.py --print-state \
+ > "$RUNNER_TEMP/bluetooth-dependencies"
+ read -r state < "$RUNNER_TEMP/bluetooth-dependencies"
+ if [ "$state" = invalid ]; then
+ echo "::warning::Invalid Depends-On declaration;" \
+ "using the normal source selection."
+ exit 0
+ fi
+ git config --global user.name github-actions
+ git config --global user.email [email protected]
+ while read -r dependency; do
+ repo=${dependency%/pull/*}
+ number=${dependency##*/}
+ case "$repo" in
+ apache/nuttx) tree=nuttx ;;
+ apache/nuttx-apps) tree=apps ;;
+ *) exit 1 ;;
+ esac
+ query='[.state, .merged, (.merge_commit_sha // "-")] | @tsv'
+ if info=$(gh api "repos/$repo/pulls/$number" --jq "$query"); then
+ read -r status merged merge_sha <<< "$info"
+ else
+ echo "::warning::Could not read the state of $dependency;" \
+ "applying it."
+ status=unknown
+ merged=false
+ merge_sha=-
+ fi
+ if [ "$status" = closed ] && [ "$merged" != true ]; then
+ echo "::error::Dependency $dependency is closed without merging"
+ exit 1
+ fi
+ if [ -f "$tree/.git/shallow" ]; then
+ git -C "$tree" fetch --unshallow origin
+ fi
+ git -C "$tree" fetch "https://github.com/$repo.git"; \
+ "pull/$number/head"
+ dependency_sha=$(git -C "$tree" rev-parse FETCH_HEAD)
+ if [ "$merged" = true ] &&
+ git -C "$tree" merge-base --is-ancestor "$merge_sha" HEAD; then
+ continue
+ fi
+ git -C "$tree" merge-base HEAD "$dependency_sha" > /dev/null
+ if ! commit_list=$(git -C "$tree" rev-list \
+ --reverse "HEAD..$dependency_sha"); then
+ echo "::error::Could not list commits for $dependency"
+ exit 1
+ fi
+ if [ -n "$commit_list" ]; then
+ mapfile -t commits <<< "$commit_list"
+ git -C "$tree" cherry-pick "${commits[@]}"
+ fi
+ done < <(tail -n +2 "$RUNNER_TEMP/bluetooth-dependencies")
+
+ - name: Checkout the validated BSWorld revision
+ uses: actions/checkout@v7
+ with:
+ repository: XiaoMi/bsworld
+ ref: ${{ env.BSWORLD_REVISION }}
+ path: bsworld
+ persist-credentials: false
+
+ - name: Install native build prerequisites
+ run: |
+ sudo apt-get update
+ sudo apt-get install -y --no-install-recommends \
+ build-essential gcc-multilib g++-multilib lib32z1-dev \
+ python3.12-dev python3.12-venv repo rsync \
+ autoconf automake bison flex gettext texinfo gperf \
+ libtool pkg-config \
+ libncurses-dev xxd genromfs kconfig-frontends \
+ wget unzip xz-utils
+
+ - name: Cache the fixed simulation infrastructure
+ uses: actions/cache@v6
+ with:
+ path: .bluetooth-ci/dependencies
+ key: >-
+ bluetooth-v1-ubuntu24.04-python3.12-${{ runner.arch }}-${{
+ env.BSWORLD_REVISION }}-${{
+ hashFiles('apps/testing/bluetooth/bsworld/prepare.sh') }}
+
+ - name: Prepare BabbleSim and the Python Controller
+ run: |
+ mkdir -p bluetooth-results
+ bash apps/testing/bluetooth/bsworld/prepare.sh \
+ "$PWD/bsworld" "$PWD/.bluetooth-ci/dependencies" \
+ 2>&1 | tee bluetooth-results/prepare.log
+
+ - name: Build the current NuttX and applications sources
+ run: |
+ bash apps/testing/bluetooth/bsworld/build.sh \
+ "$PWD/nuttx" "$PWD/apps" "$PWD/.bluetooth-ci/dependencies" \
+ "$RUNNER_TEMP/bluetooth-build" "$PWD/bluetooth-results"
+
+ - name: Run Bluetooth integration tests
+ run: |
+ source .bluetooth-ci/dependencies/env.sh
+ firmware="$PWD/bluetooth-results/firmware"
+ export BSWORLD_NUTTX_BTSAK_BIN="$firmware/btsak"
+ export BSWORLD_NUTTX_NIMBLE_BIN="$firmware/nimble"
+ python -m pytest -c apps/testing/bluetooth/bsworld/pytest.ini \
+ apps/testing/bluetooth/bsworld -v -n 2 -p no:cacheprovider \
+ --out-dir "$PWD/bluetooth-results/runtime" \
+ --junitxml="$PWD/bluetooth-results/bluetooth.xml" \
+ 2>&1 | tee bluetooth-results/bluetooth.log
+
+ - name: Upload Bluetooth results
+ if: always()
+ uses: actions/[email protected]
+ with:
+ name: bluetooth-results
+ path: bluetooth-results/
diff --git a/Documentation/testing/nuttx-ci.rst
b/Documentation/testing/nuttx-ci.rst
index 42256b79887..c21ba64c522 100644
--- a/Documentation/testing/nuttx-ci.rst
+++ b/Documentation/testing/nuttx-ci.rst
@@ -245,6 +245,21 @@ should be able to download the artifact, flash the NuttX
image(s) to your target
device and test them that way if you'd like to avoid building all of the images
yourself!
+Bluetooth Integration Tests
+===========================
+
+The separate ``Bluetooth`` workflow builds the current NuttX and apps sources
+and runs Bluetooth integration tests on a Linux/x86_64 runner. The tests use
+the ``sim:bthcisock`` and ``sim:nimble`` configurations with BabbleSim time
+enabled, connected to Python BSControllers through Unix sockets. No Bluetooth
+hardware is required.
+
+Build logs, source versions, JUnit results, device logs and HCI/radio
+captures are uploaded as the ``bluetooth-results`` artifact.
+
+For local commands and cross-repository PR testing, see
+`the Bluetooth test README
<https://github.com/apache/nuttx-apps/tree/master/testing/bluetooth/bsworld>`_.
+
Memory Footprint Tracking
=========================
