Added test harness

TESTING.md

@@ -147,7 +147,7 @@ runtime:
 // src/drivers/my_driver/test/my_driver_integration_test.c
 #include "my_driver_test.h"
 
-void my_driver_test_int_main(void)
+void main(void)
 {
     LOG_DEBUG("Starting my_driver integration tests\n");
     my_driver_init();
@@ -215,15 +215,109 @@ hardware_integration_test_suite(
 
 That's it! The next bringup or pico build will automatically include your test.
 
-### Using `hardware_test_assert`
+### Using `test_harness`
 
-Integration tests run on hardware where a `fatal_error()` would halt the MCU
-and prevent remaining tests from executing. The
-`//src/tasks/hardware_test:hardware_test_assert` library provides a non-fatal
-`ASSERT` override that logs failures via `LOG_ERROR` instead of aborting, so the
-full test suite always runs to completion.
+A test harness for running and reporting on groups of test cases has been
+provided in `src/test_infrastructure/` and is automatically linked during
+`samwise_test` and/or `samwise_integration_test`.
 
-Note that `hardware_test_assert` is automatically added as a dependency by bazel, so no need to ask for it in deps. 
+#### 1. Write test functions that return `int`
+
+Each test function must return `0` on success or non-zero on failure. Use the
+`TEST_ASSERT` macro for assertions — it logs the failure message and returns
+`-1` automatically:
+
+```c
+// src/drivers/my_driver/test/my_driver_test.c
+#include "my_driver_test.h"
+
+int test_my_driver_read(void)
+{
+    uint8_t buf[16] = {0};
+    my_driver_read(buf, sizeof(buf));
+    TEST_ASSERT(buf[0] == 0xAB, "First byte should be 0xAB");
+    return 0;
+}
+
+int test_my_driver_write(void)
+{
+    int rc = my_driver_write(data, sizeof(data));
+    TEST_ASSERT(rc == 0, "Write should succeed");
+    return 0;
+}
+```
+
+#### 2. Define a test case table
+
+Build an array of `test_harness_case_t` entries. Each entry has a unique
+numeric ID, a function pointer, and a human-readable name:
+
+```c
+// src/drivers/my_driver/test/my_driver_test.c (continued)
+const test_harness_case_t my_driver_tests[] = {
+    {0, test_my_driver_read,  "Read"},
+    {1, test_my_driver_write, "Write"},
+};
+const size_t my_driver_tests_len =
+    sizeof(my_driver_tests) / sizeof(my_driver_tests[0]);
+```
+
+Export the table and its length in the shared header so both unit and
+integration entry points can reference it:
+
+```c
+// src/drivers/my_driver/test/my_driver_test.h
+#include "test_harness.h"
+
+int test_my_driver_read(void);
+int test_my_driver_write(void);
+
+extern const test_harness_case_t my_driver_tests[];
+extern const size_t my_driver_tests_len;
+```
+
+#### 3. Run the suite
+
+Call `test_harness_run` from your entry point (`main()` for unit tests,
+and for integration tests). It runs every case, logs
+pass/fail results, and returns `0` if all tests passed or `-1` if any failed:
+
+```c
+// Unit test entry point
+int main(void)
+{
+    return test_harness_run("My Driver", my_driver_tests, my_driver_tests_len, my_init_func);
+}
+```
+
+Note that `my_init_func` is run for each test case that sets `requires_custom_init=true`. Otherwise, the slate passed into the function is directly initialized with `clear_and_init_slate`. If `my_init_func` is `NULL`, `clear_and_init_slate` is run for every `requires_custom_init=true`, i.e. the parameter is completely useless (as both `false` by default and `true` by `NULL` will call `clear_and_init_slate`).
+
+The function `my_init_func` MUST use `clear_and_init_slate` or similar functionality to initialize slate, as this is not handled when a custom init function is called.
+
+#### 4. Run a subset of tests (optional)
+
+To run only specific tests by ID, use `test_harness_include_run`:
+
+```c
+uint16_t ids[] = {0, 2};
+test_harness_include_run("My Driver", my_driver_tests, my_driver_tests_len, my_init_func,
+                         ids, 2);
+```
+
+To run all tests _except_ certain IDs, use `test_harness_exclude_run`:
+
+```c
+uint16_t skip[] = {1};
+test_harness_exclude_run("My Driver", my_driver_tests, my_driver_tests_len, my_init_func,
+                         skip, 1);
+```
+
+#### 5. Integration tests
+
+Note that because we export the tests array in the header file, we can easily use the same `test_harness_run` function in integration tests! In fact, you can copy paste the same code described in (3) or (4) into the integration test file as well.
+
+See `src/filesys/test/` for a complete working example of the test harness
+in use.
 
 ---
 
@@ -321,8 +415,6 @@ one-line edit in the `tests` dict.
 5. **Initialize state** — create a fresh `slate_t` for each test, using `clear_and_init_slate()`
 6. **Share test logic** — write core test functions in a shared `.c`/`.h` pair
    and reuse them in both `samwise_test()` and `samwise_integration_test()`
-7. **Add `hardware_test_assert`** to integration test deps so failures don't
-   halt the MCU
 
 ## Troubleshooting
 

bzl/defs.bzl

@@ -159,8 +159,8 @@ def samwise_test(name, srcs, deps = [], copts = [], defines = [], **kwargs):
     test_deps = _remap_deps_to_mocks(deps)
 
     # Add standard test infrastructure
-    if "//src/test_infrastructure" not in test_deps:
-        test_deps.append("//src/test_infrastructure")
+    if "//src/test_infrastructure:test_infrastructure" not in test_deps:
+        test_deps.append("//src/test_infrastructure:test_infrastructure")
 
     # Combine defines with TEST flag
     test_defines = list(defines)
@@ -240,7 +240,8 @@ def samwise_integration_test(name, int_src, srcs = [], deps = [], copts = [], de
 
     # cc_test does not support `hdrs`; pop it from kwargs before forwarding.
     hdrs = kwargs.pop("hdrs", [])
-
+
+    deps = list(deps)  # Make a mutable copy of deps
     # Add standard test infrastructure
     if "//src/test_infrastructure:hardware_test_infrastructure" not in deps:
         deps.append("//src/test_infrastructure:hardware_test_infrastructure")

src/filesys/test/filesys_integration_test.c

@@ -2,99 +2,6 @@
 
 void main(void)
 {
-    LOG_DEBUG("========================================\n");
-    LOG_DEBUG("Starting Filesys Test Suite\n");
-    LOG_DEBUG("========================================\n");
-
-    int result;
-    int tests_passed = 0;
-    int tests_failed = 0;
-
-    // Define test functions
-    struct
-    {
-        int (*test_func)(void);
-        const char *name;
-    } tests[] = {
-        {filesys_test_write_readback_success, "Write and Readback"},
-        {filesys_test_initialize_reformat_success, "Initialize and Reformat"},
-        {filesys_test_start_file_write_already_writing_should_fail,
-         "Start File Write - Already Writing"},
-        {filesys_test_write_data_to_buffer_bounds_should_fail,
-         "Write Data to Buffer - Bounds Checking"},
-        {filesys_test_write_data_to_buffer_when_no_file_started_should_fail,
-         "Write Data to Buffer - No File"},
-        {filesys_test_write_buffer_to_mram_when_no_file_started_should_fail,
-         "Write Buffer to MRAM - No File"},
-        {filesys_test_write_buffer_to_mram_clean_buffer_success,
-         "Write Buffer to MRAM - Clean Buffer"},
-        {filesys_test_complete_file_write_dirty_buffer_success,
-         "Complete File Write - Dirty Buffer"},
-        {filesys_test_cancel_file_write_success, "Cancel File Write"},
-        {filesys_test_cancel_file_write_no_file_should_fail,
-         "Cancel File Write - No File"},
-        {filesys_test_clear_buffer_success, "Clear Buffer"},
-        {filesys_test_crc_correct_success, "CRC Verification - Correct"},
-        {filesys_test_crc_incorrect_should_fail,
-         "CRC Verification - Incorrect"},
-        {filesys_test_crc_no_file_should_fail, "CRC Check - No File"},
-        {filesys_test_multiple_files_success, "Multiple File Writes"},
-        {filesys_test_blocks_left_calculation_success,
-         "Blocks Left Calculation"},
-        {filesys_test_multi_chunk_write_success, "Multi-Chunk Write"},
-        {filesys_test_write_at_offset_success, "Write at Offset"},
-        {filesys_test_multiple_files_commit_success,
-         "Multiple File Writes Committed"},
-        {filesys_test_write_long_file_crc32_success,
-         "Write Really Long File with CRC32"},
-        {filesys_test_file_too_large_should_fail,
-         "File Too Large for Filesystem"},
-        {filesys_test_second_file_out_of_space_should_fail,
-         "Second File Runs Out of Space"},
-        {filesys_test_raw_lfs_write_large_file_success,
-         "Raw LFS Write Large File (510KB)"},
-        {filesys_test_list_files_empty_filesystem_success,
-         "List Files - Empty Filesystem"},
-        {filesys_test_list_files_multiple_files_success,
-         "List Files - Multiple Files"},
-        {filesys_test_list_files_max_files_limit_success,
-         "List Files - Max Files Limit"},
-        {filesys_test_list_files_after_cancel_success,
-         "List Files - After Cancel"},
-        {filesys_test_list_files_crc_mismatch_success,
-         "List Files - CRC Mismatch Detection"},
-    };
-
-    int num_tests = sizeof(tests) / sizeof(tests[0]);
-
-    for (int i = 0; i < num_tests; i++)
-    {
-        LOG_DEBUG("\n--- Running Test %d/%d: %s ---\n", i + 1, num_tests,
-                  tests[i].name);
-        result = tests[i].test_func();
-        if (result == 0)
-        {
-            tests_passed++;
-            LOG_DEBUG("--- Test %d PASSED ---\n", i + 1);
-        }
-        else
-        {
-            tests_failed++;
-            LOG_ERROR("--- Test %d FAILED ---\n", i + 1);
-        }
-    }
-
-    LOG_DEBUG("\n========================================\n");
-    LOG_DEBUG("Test Suite Complete\n");
-    LOG_DEBUG("Passed: %d / %d\n", tests_passed, num_tests);
-    LOG_DEBUG("Failed: %d / %d\n", tests_failed, num_tests);
-    LOG_DEBUG("========================================\n");
-
-    if (tests_failed > 0)
-    {
-        LOG_ERROR("SOME TESTS FAILED!\n");
-        return;
-    }
-
-    LOG_DEBUG("All Filesys tests passed!\n");
+    test_harness_run("Filesys", filesys_tests, filesys_tests_len,
+                     filesys_test_setup);
 }