#!/usr/bin/env python3
# vim: set syntax=python ts=4 :
#
# Copyright (c) 20180-2022 Intel Corporation
# Copyright 2022 NXP
# SPDX-License-Identifier: Apache-2.0

import math
import os
import sys
import csv
import time
import signal
import logging
import shlex
import subprocess
import threading
import select
import re
import psutil
from twisterlib.environment import ZEPHYR_BASE
sys.path.insert(0, os.path.join(ZEPHYR_BASE, "scripts/pylib/build_helpers"))
from domains import Domains

try:
    import serial
except ImportError:
    print("Install pyserial python module with pip to use --device-testing option.")

try:
    import pty
except ImportError as capture_error:
    if os.name == "nt":  # "nt" means that program is running on Windows OS
        pass  # "--device-serial-pty" option is not supported on Windows OS
    else:
        raise capture_error

logger = logging.getLogger('twister')
logger.setLevel(logging.DEBUG)


class HarnessImporter:

    def __init__(self, name):
        sys.path.insert(0, os.path.join(ZEPHYR_BASE, "scripts/pylib/twister/twisterlib"))
        module = __import__("harness")
        if name:
            my_class = getattr(module, name)
        else:
            my_class = getattr(module, "Test")

        self.instance = my_class()

class Handler:
    def __init__(self, instance, type_str="build"):
        """Constructor

        """
        self.options = None

        self.state = "waiting"
        self.run = False
        self.type_str = type_str

        self.binary = None
        self.pid_fn = None
        self.call_make_run = True

        self.name = instance.name
        self.instance = instance
        self.timeout = math.ceil(instance.testsuite.timeout * instance.platform.timeout_multiplier)
        self.sourcedir = instance.testsuite.source_dir
        self.build_dir = instance.build_dir
        self.log = os.path.join(self.build_dir, "handler.log")
        self.returncode = 0
        self.generator = None
        self.generator_cmd = None
        self.suite_name_check = True

        self.args = []
        self.terminated = False

    def record(self, harness):
        if harness.recording:
            filename = os.path.join(self.build_dir, "recording.csv")
            with open(filename, "at") as csvfile:
                cw = csv.writer(csvfile, harness.fieldnames, lineterminator=os.linesep)
                cw.writerow(harness.fieldnames)
                for instance in harness.recording:
                    cw.writerow(instance)

    def terminate(self, proc):
        # encapsulate terminate functionality so we do it consistently where ever
        # we might want to terminate the proc.  We need try_kill_process_by_pid
        # because of both how newer ninja (1.6.0 or greater) and .NET / renode
        # work.  Newer ninja's don't seem to pass SIGTERM down to the children
        # so we need to use try_kill_process_by_pid.
        for child in psutil.Process(proc.pid).children(recursive=True):
            try:
                os.kill(child.pid, signal.SIGTERM)
            except ProcessLookupError:
                pass
        proc.terminate()
        # sleep for a while before attempting to kill
        time.sleep(0.5)
        proc.kill()
        self.terminated = True

    def _verify_ztest_suite_name(self, harness_state, detected_suite_names, handler_time):
        """
        If test suite names was found in test's C source code, then verify if
        detected suite names from output correspond to expected suite names
        (and not in reverse).
        """
        expected_suite_names = self.instance.testsuite.ztest_suite_names
        if not expected_suite_names or \
                not harness_state == "passed":
            return
        if not detected_suite_names:
            self._missing_suite_name(expected_suite_names, handler_time)
        for detected_suite_name in detected_suite_names:
            if detected_suite_name not in expected_suite_names:
                self._missing_suite_name(expected_suite_names, handler_time)
                break

    def _missing_suite_name(self, expected_suite_names, handler_time):
        """
        Change result of performed test if problem with missing or unpropper
        suite name was occurred.
        """
        self.instance.status = "failed"
        self.instance.execution_time = handler_time
        for tc in self.instance.testcases:
            tc.status = "failed"
        self.instance.reason = f"Testsuite mismatch"
        logger.debug("Test suite names were not printed or some of them in " \
                     "output do not correspond with expected: %s",
                     str(expected_suite_names))

    def _final_handle_actions(self, harness, handler_time):

        # only for Ztest tests:
        harness_class_name = type(harness).__name__
        if self.suite_name_check and harness_class_name == "Test":
            self._verify_ztest_suite_name(harness.state, harness.detected_suite_names, handler_time)

            if not harness.matched_run_id and harness.run_id_exists:
                self.instance.status = "failed"
                self.instance.execution_time = handler_time
                self.instance.reason = "RunID mismatch"
                for tc in self.instance.testcases:
                    tc.status = "failed"

        self.record(harness)


class BinaryHandler(Handler):
    def __init__(self, instance, type_str):
        """Constructor

        @param instance Test Instance
        """
        super().__init__(instance, type_str)

        self.call_west_flash = False
        self.seed = None
        self.line = b""

    def try_kill_process_by_pid(self):
        if self.pid_fn:
            pid = int(open(self.pid_fn).read())
            os.unlink(self.pid_fn)
            self.pid_fn = None  # clear so we don't try to kill the binary twice
            try:
                os.kill(pid, signal.SIGKILL)
            except ProcessLookupError:
                pass

    def _output_reader(self, proc):
        self.line = proc.stdout.readline()

    def _output_handler(self, proc, harness):
        if harness.is_pytest:
            harness.handle(None)
            return

        with open(self.log, "wt") as log_out_fp:
            timeout_extended = False
            timeout_time = time.time() + self.timeout
            while True:
                this_timeout = timeout_time - time.time()
                if this_timeout < 0:
                    break
                reader_t = threading.Thread(target=self._output_reader, args=(proc,), daemon=True)
                reader_t.start()
                reader_t.join(this_timeout)
                if not reader_t.is_alive() and self.line != b"":
                    line_decoded = self.line.decode('utf-8', "replace")
                    stripped_line = line_decoded.rstrip()
                    logger.debug("OUTPUT: %s", stripped_line)
                    log_out_fp.write(line_decoded)
                    log_out_fp.flush()
                    harness.handle(stripped_line)
                    if harness.state:
                        if not timeout_extended or harness.capture_coverage:
                            timeout_extended = True
                            if harness.capture_coverage:
                                timeout_time = time.time() + 30
                            else:
                                timeout_time = time.time() + 2
                else:
                    reader_t.join(0)
                    break
            try:
                # POSIX arch based ztests end on their own,
                # so let's give it up to 100ms to do so
                proc.wait(0.1)
            except subprocess.TimeoutExpired:
                self.terminate(proc)

    def handle(self):

        harness_name = self.instance.testsuite.harness.capitalize()
        harness_import = HarnessImporter(harness_name)
        harness = harness_import.instance
        harness.configure(self.instance)

        if self.call_make_run:
            command = [self.generator_cmd, "run"]
        elif self.call_west_flash:
            command = ["west", "flash", "--skip-rebuild", "-d", self.build_dir]
        else:
            command = [self.binary]

        run_valgrind = False
        if self.options.enable_valgrind:
            command = ["valgrind", "--error-exitcode=2",
                       "--leak-check=full",
                       "--suppressions=" + ZEPHYR_BASE + "/scripts/valgrind.supp",
                       "--log-file=" + self.build_dir + "/valgrind.log",
                       "--track-origins=yes",
                       ] + command
            run_valgrind = True

        # Only valid for native_posix
        if self.seed is not None:
            command = command + ["--seed="+str(self.seed)]

        logger.debug("Spawning process: " +
                     " ".join(shlex.quote(word) for word in command) + os.linesep +
                     "in directory: " + self.build_dir)

        start_time = time.time()

        env = os.environ.copy()
        if self.options.enable_asan:
            env["ASAN_OPTIONS"] = "log_path=stdout:" + \
                                  env.get("ASAN_OPTIONS", "")
            if not self.options.enable_lsan:
                env["ASAN_OPTIONS"] += "detect_leaks=0"

        if self.options.enable_ubsan:
            env["UBSAN_OPTIONS"] = "log_path=stdout:halt_on_error=1:" + \
                                  env.get("UBSAN_OPTIONS", "")

        with subprocess.Popen(command, stdout=subprocess.PIPE,
                              stderr=subprocess.PIPE, cwd=self.build_dir, env=env) as proc:
            logger.debug("Spawning BinaryHandler Thread for %s" % self.name)
            t = threading.Thread(target=self._output_handler, args=(proc, harness,), daemon=True)
            t.start()
            t.join()
            if t.is_alive():
                self.terminate(proc)
                t.join()
            proc.wait()
            self.returncode = proc.returncode
            self.try_kill_process_by_pid()

        handler_time = time.time() - start_time

        if self.options.coverage:
            subprocess.call(["GCOV_PREFIX=" + self.build_dir,
                             "gcov", self.sourcedir, "-b", "-s", self.build_dir], shell=True)

        # FIXME: This is needed when killing the simulator, the console is
        # garbled and needs to be reset. Did not find a better way to do that.
        if sys.stdout.isatty():
            subprocess.call(["stty", "sane"], stdin=sys.stdout)

        if harness.is_pytest:
            harness.pytest_run(self.log)

        self.instance.execution_time = handler_time
        if not self.terminated and self.returncode != 0:
            self.instance.status = "failed"
            if run_valgrind and self.returncode == 2:
                self.instance.reason = "Valgrind error"
            else:
                # When a process is killed, the default handler returns 128 + SIGTERM
                # so in that case the return code itself is not meaningful
                self.instance.reason = "Failed"
        elif harness.state:
            self.instance.status = harness.state
            if harness.state == "failed":
                self.instance.reason = "Failed"
        else:
            self.instance.status = "failed"
            self.instance.reason = "Timeout"
            self.instance.add_missing_case_status("blocked", "Timeout")

        self._final_handle_actions(harness, handler_time)


class DeviceHandler(Handler):

    def __init__(self, instance, type_str):
        """Constructor

        @param instance Test Instance
        """
        super().__init__(instance, type_str)

    def monitor_serial(self, ser, halt_event, harness):
        if harness.is_pytest:
            harness.handle(None)
            return

        log_out_fp = open(self.log, "wt")

        if self.options.coverage:
            # Set capture_coverage to True to indicate that right after
            # test results we should get coverage data, otherwise we exit
            # from the test.
            harness.capture_coverage = True

        ser.flush()

        while ser.isOpen():
            if halt_event.is_set():
                logger.debug('halted')
                ser.close()
                break

            if not ser.in_waiting:
                # no incoming bytes are waiting to be read from the serial
                # input buffer, let other threads run
                time.sleep(0.001)
                continue

            serial_line = None
            try:
                serial_line = ser.readline()
            except TypeError:
                pass
            # ignore SerialException which may happen during the serial device
            # power off/on process.
            except serial.SerialException:
                pass

            # Just because ser_fileno has data doesn't mean an entire line
            # is available yet.
            if serial_line:
                sl = serial_line.decode('utf-8', 'ignore').lstrip()
                logger.debug("DEVICE: {0}".format(sl.rstrip()))

                log_out_fp.write(sl)
                log_out_fp.flush()
                harness.handle(sl.rstrip())

            if harness.state:
                if not harness.capture_coverage:
                    ser.close()
                    break

        log_out_fp.close()

    def device_is_available(self, instance):
        device = instance.platform.name
        fixture = instance.testsuite.harness_config.get("fixture")
        for d in self.duts:
            if fixture and fixture not in d.fixtures:
                continue
            if d.platform != device or (d.serial is None and d.serial_pty is None):
                continue
            d.lock.acquire()
            avail = False
            if d.available:
                d.available = 0
                d.counter += 1
                avail = True
            d.lock.release()
            if avail:
                return d

        return None

    def make_device_available(self, serial):
        for d in self.duts:
            if serial in [d.serial_pty, d.serial]:
                d.available = 1

    @staticmethod
    def run_custom_script(script, timeout):
        with subprocess.Popen(script, stderr=subprocess.PIPE, stdout=subprocess.PIPE) as proc:
            try:
                stdout, stderr = proc.communicate(timeout=timeout)
                logger.debug(stdout.decode())
                if proc.returncode != 0:
                    logger.error(f"Custom script failure: {stderr.decode(errors='ignore')}")

            except subprocess.TimeoutExpired:
                proc.kill()
                proc.communicate()
                logger.error("{} timed out".format(script))

    def handle(self):
        runner = None

        hardware = self.device_is_available(self.instance)
        while not hardware:
            logger.debug("Waiting for device {} to become available".format(self.instance.platform.name))
            time.sleep(1)
            hardware = self.device_is_available(self.instance)

        runner = hardware.runner or self.options.west_runner
        serial_pty = hardware.serial_pty

        ser_pty_process = None
        if serial_pty:
            master, slave = pty.openpty()
            try:
                ser_pty_process = subprocess.Popen(re.split(',| ', serial_pty), stdout=master, stdin=master, stderr=master)
            except subprocess.CalledProcessError as error:
                logger.error("Failed to run subprocess {}, error {}".format(serial_pty, error.output))
                return

            serial_device = os.ttyname(slave)
        else:
            serial_device = hardware.serial

        logger.debug(f"Using serial device {serial_device} @ {hardware.baud} baud")

        if (self.options.west_flash is not None) or runner:
            command = ["west", "flash", "--skip-rebuild", "-d", self.build_dir]
            command_extra_args = []

            # There are three ways this option is used.
            # 1) bare: --west-flash
            #    This results in options.west_flash == []
            # 2) with a value: --west-flash="--board-id=42"
            #    This results in options.west_flash == "--board-id=42"
            # 3) Multiple values: --west-flash="--board-id=42,--erase"
            #    This results in options.west_flash == "--board-id=42 --erase"
            if self.options.west_flash and self.options.west_flash != []:
                command_extra_args.extend(self.options.west_flash.split(','))

            if runner:
                command.append("--runner")
                command.append(runner)

                board_id = hardware.probe_id or hardware.id
                product = hardware.product
                if board_id is not None:
                    if runner == "pyocd":
                        command_extra_args.append("--board-id")
                        command_extra_args.append(board_id)
                    elif runner == "nrfjprog":
                        command_extra_args.append("--dev-id")
                        command_extra_args.append(board_id)
                    elif runner == "openocd" and product == "STM32 STLink":
                        command_extra_args.append("--cmd-pre-init")
                        command_extra_args.append("hla_serial %s" % (board_id))
                    elif runner == "openocd" and product == "STLINK-V3":
                        command_extra_args.append("--cmd-pre-init")
                        command_extra_args.append("hla_serial %s" % (board_id))
                    elif runner == "openocd" and product == "EDBG CMSIS-DAP":
                        command_extra_args.append("--cmd-pre-init")
                        command_extra_args.append("cmsis_dap_serial %s" % (board_id))
                    elif runner == "jlink":
                        command.append("--tool-opt=-SelectEmuBySN  %s" % (board_id))
                    elif runner == "stm32cubeprogrammer":
                        command.append("--tool-opt=sn=%s" % (board_id))

                    # Receive parameters from runner_params field.
                    if hardware.runner_params:
                        for param in hardware.runner_params:
                            command.append(param)

            if command_extra_args != []:
                command.append('--')
                command.extend(command_extra_args)
        else:
            command = [self.generator_cmd, "-C", self.build_dir, "flash"]

        pre_script = hardware.pre_script
        post_flash_script = hardware.post_flash_script
        post_script = hardware.post_script

        if pre_script:
            self.run_custom_script(pre_script, 30)

        try:
            ser = serial.Serial(
                serial_device,
                baudrate=hardware.baud,
                parity=serial.PARITY_NONE,
                stopbits=serial.STOPBITS_ONE,
                bytesize=serial.EIGHTBITS,
                timeout=self.timeout
            )
        except serial.SerialException as e:
            self.instance.status = "failed"
            self.instance.reason = "Serial Device Error"
            logger.error("Serial device error: %s" % (str(e)))

            self.instance.add_missing_case_status("blocked", "Serial Device Error")
            if serial_pty and ser_pty_process:
                ser_pty_process.terminate()
                outs, errs = ser_pty_process.communicate()
                logger.debug("Process {} terminated outs: {} errs {}".format(serial_pty, outs, errs))

            if serial_pty:
                self.make_device_available(serial_pty)
            else:
                self.make_device_available(serial_device)
            return

        ser.flush()

        # turns out the ser.flush() is not enough to clear serial leftover from last case
        # explicitly readline() can do it reliably
        old_timeout = ser.timeout
        # wait for 1s if no serial output
        ser.timeout = 1
        # or read 1000 lines at most
        # if the leftovers are more than 1000 lines, user should realize that once
        # saw the caught ones and fix it.
        leftover_lines = ser.readlines(1000)
        for line in leftover_lines:
            logger.debug(f"leftover log of previous test: {line}")
        ser.timeout = old_timeout

        harness_name = self.instance.testsuite.harness.capitalize()
        harness_import = HarnessImporter(harness_name)
        harness = harness_import.instance
        harness.configure(self.instance)
        halt_monitor_evt = threading.Event()

        t = threading.Thread(target=self.monitor_serial, daemon=True,
                             args=(ser, halt_monitor_evt, harness))
        t.start()
        start_time = time.time()

        d_log = "{}/device.log".format(self.instance.build_dir)
        logger.debug('Flash command: %s', command)
        flash_error = False
        try:
            stdout = stderr = None
            with subprocess.Popen(command, stderr=subprocess.PIPE, stdout=subprocess.PIPE) as proc:
                try:
                    (stdout, stderr) = proc.communicate(timeout=60)
                    # ignore unencodable unicode chars
                    logger.debug(stdout.decode(errors = "ignore"))

                    if proc.returncode != 0:
                        self.instance.status = "error"
                        self.instance.reason = "Device issue (Flash error?)"
                        flash_error = True
                        with open(d_log, "w") as dlog_fp:
                            dlog_fp.write(stderr.decode())
                        halt_monitor_evt.set()
                except subprocess.TimeoutExpired:
                    logger.warning("Flash operation timed out.")
                    self.terminate(proc)
                    (stdout, stderr) = proc.communicate()
                    self.instance.status = "error"
                    self.instance.reason = "Device issue (Timeout)"
                    flash_error = True

            with open(d_log, "w") as dlog_fp:
                dlog_fp.write(stderr.decode())

        except subprocess.CalledProcessError:
            halt_monitor_evt.set()
            self.instance.status = "error"
            self.instance.reason = "Device issue (Flash error)"
            flash_error = True

        if post_flash_script:
            self.run_custom_script(post_flash_script, 30)

        if not flash_error:
            t.join(self.timeout)
        else:
            # When the flash error is due exceptions,
            # twister tell the monitor serial thread
            # to close the serial. But it is necessary
            # for this thread being run first and close
            # have the change to close the serial.
            t.join(0.1)

        if t.is_alive():
            logger.debug("Timed out while monitoring serial output on {}".format(self.instance.platform.name))

        if ser.isOpen():
            ser.close()

        if serial_pty:
            ser_pty_process.terminate()
            outs, errs = ser_pty_process.communicate()
            logger.debug("Process {} terminated outs: {} errs {}".format(serial_pty, outs, errs))

        handler_time = time.time() - start_time

        if harness.is_pytest:
            harness.pytest_run(self.log)

        self.instance.execution_time = handler_time
        if harness.state:
            self.instance.status = harness.state
            if harness.state == "failed":
                self.instance.reason = "Failed"
        elif not flash_error:
            self.instance.status = "error"
            self.instance.reason = "No Console Output(Timeout)"

        if self.instance.status == "error":
            self.instance.add_missing_case_status("blocked", self.instance.reason)

        if not flash_error:
            self._final_handle_actions(harness, handler_time)

        if post_script:
            self.run_custom_script(post_script, 30)

        if serial_pty:
            self.make_device_available(serial_pty)
        else:
            self.make_device_available(serial_device)

class QEMUHandler(Handler):
    """Spawns a thread to monitor QEMU output from pipes

    We pass QEMU_PIPE to 'make run' and monitor the pipes for output.
    We need to do this as once qemu starts, it runs forever until killed.
    Test cases emit special messages to the console as they run, we check
    for these to collect whether the test passed or failed.
    """

    def __init__(self, instance, type_str):
        """Constructor

        @param instance Test instance
        """

        super().__init__(instance, type_str)
        self.fifo_fn = os.path.join(instance.build_dir, "qemu-fifo")

        self.pid_fn = os.path.join(instance.build_dir, "qemu.pid")

        if "ignore_qemu_crash" in instance.testsuite.tags:
            self.ignore_qemu_crash = True
            self.ignore_unexpected_eof = True
        else:
            self.ignore_qemu_crash = False
            self.ignore_unexpected_eof = False

    @staticmethod
    def _get_cpu_time(pid):
        """get process CPU time.

        The guest virtual time in QEMU icount mode isn't host time and
        it's maintained by counting guest instructions, so we use QEMU
        process execution time to mostly simulate the time of guest OS.
        """
        proc = psutil.Process(pid)
        cpu_time = proc.cpu_times()
        return cpu_time.user + cpu_time.system

    @staticmethod
    def _thread(handler, timeout, outdir, logfile, fifo_fn, pid_fn, results, harness,
                ignore_unexpected_eof=False):
        fifo_in = fifo_fn + ".in"
        fifo_out = fifo_fn + ".out"

        # These in/out nodes are named from QEMU's perspective, not ours
        if os.path.exists(fifo_in):
            os.unlink(fifo_in)
        os.mkfifo(fifo_in)
        if os.path.exists(fifo_out):
            os.unlink(fifo_out)
        os.mkfifo(fifo_out)

        # We don't do anything with out_fp but we need to open it for
        # writing so that QEMU doesn't block, due to the way pipes work
        out_fp = open(fifo_in, "wb")
        # Disable internal buffering, we don't
        # want read() or poll() to ever block if there is data in there
        in_fp = open(fifo_out, "rb", buffering=0)
        log_out_fp = open(logfile, "wt")

        start_time = time.time()
        timeout_time = start_time + timeout
        p = select.poll()
        p.register(in_fp, select.POLLIN)
        out_state = None

        line = ""
        timeout_extended = False

        pid = 0
        if os.path.exists(pid_fn):
            pid = int(open(pid_fn).read())

        while True:
            this_timeout = int((timeout_time - time.time()) * 1000)
            if this_timeout < 0 or not p.poll(this_timeout):
                try:
                    if pid and this_timeout > 0:
                        #there's possibility we polled nothing because
                        #of not enough CPU time scheduled by host for
                        #QEMU process during p.poll(this_timeout)
                        cpu_time = QEMUHandler._get_cpu_time(pid)
                        if cpu_time < timeout and not out_state:
                            timeout_time = time.time() + (timeout - cpu_time)
                            continue
                except ProcessLookupError:
                    out_state = "failed"
                    break

                if not out_state:
                    out_state = "timeout"
                break

            if pid == 0 and os.path.exists(pid_fn):
                pid = int(open(pid_fn).read())

            if harness.is_pytest:
                harness.handle(None)
                out_state = harness.state
                break

            try:
                c = in_fp.read(1).decode("utf-8")
            except UnicodeDecodeError:
                # Test is writing something weird, fail
                out_state = "unexpected byte"
                break

            if c == "":
                # EOF, this shouldn't happen unless QEMU crashes
                if not ignore_unexpected_eof:
                    out_state = "unexpected eof"
                break
            line = line + c
            if c != "\n":
                continue

            # line contains a full line of data output from QEMU
            log_out_fp.write(line)
            log_out_fp.flush()
            line = line.strip()
            logger.debug(f"QEMU ({pid}): {line}")

            harness.handle(line)
            if harness.state:
                # if we have registered a fail make sure the state is not
                # overridden by a false success message coming from the
                # testsuite
                if out_state not in ['failed', 'unexpected eof', 'unexpected byte']:
                    out_state = harness.state

                # if we get some state, that means test is doing well, we reset
                # the timeout and wait for 2 more seconds to catch anything
                # printed late. We wait much longer if code
                # coverage is enabled since dumping this information can
                # take some time.
                if not timeout_extended or harness.capture_coverage:
                    timeout_extended = True
                    if harness.capture_coverage:
                        timeout_time = time.time() + 30
                    else:
                        timeout_time = time.time() + 2
            line = ""

        if harness.is_pytest:
            harness.pytest_run(logfile)
            out_state = harness.state

        handler_time = time.time() - start_time
        logger.debug(f"QEMU ({pid}) complete ({out_state}) after {handler_time} seconds")

        handler.instance.execution_time = handler_time
        if out_state == "timeout":
            handler.instance.status = "failed"
            handler.instance.reason = "Timeout"
        elif out_state == "failed":
            handler.instance.status = "failed"
            handler.instance.reason = "Failed"
        elif out_state in ['unexpected eof', 'unexpected byte']:
            handler.instance.status = "failed"
            handler.instance.reason = out_state
        else:
            handler.instance.status = out_state
            handler.instance.reason = "Unknown"

        log_out_fp.close()
        out_fp.close()
        in_fp.close()
        if pid:
            try:
                if pid:
                    os.kill(pid, signal.SIGTERM)
            except ProcessLookupError:
                # Oh well, as long as it's dead! User probably sent Ctrl-C
                pass

        os.unlink(fifo_in)
        os.unlink(fifo_out)

    def handle(self):
        self.results = {}
        self.run = True

        # We pass this to QEMU which looks for fifos with .in and .out
        # suffixes.

        if self.instance.testsuite.sysbuild:
            # Load domain yaml to get default domain build directory
            # Note: for targets using QEMU, we assume that the target will
            # have added any additional images to the run target manually
            domain_path = os.path.join(self.build_dir, "domains.yaml")
            domains = Domains.from_file(domain_path)
            logger.debug("Loaded sysbuild domain data from %s" % (domain_path))
            build_dir = domains.get_default_domain().build_dir
        else:
            build_dir = self.build_dir

        # QEMU fifo will use main build dir
        self.fifo_fn = os.path.join(self.instance.build_dir, "qemu-fifo")
        # PID file will be created in the main sysbuild app's build dir
        self.pid_fn = os.path.join(build_dir, "qemu.pid")

        if os.path.exists(self.pid_fn):
            os.unlink(self.pid_fn)

        self.log_fn = self.log

        harness_import = HarnessImporter(self.instance.testsuite.harness.capitalize())
        harness = harness_import.instance
        harness.configure(self.instance)

        self.thread = threading.Thread(name=self.name, target=QEMUHandler._thread,
                                       args=(self, self.timeout, self.build_dir,
                                             self.log_fn, self.fifo_fn,
                                             self.pid_fn, self.results, harness,
                                             self.ignore_unexpected_eof))

        self.thread.daemon = True
        logger.debug("Spawning QEMUHandler Thread for %s" % self.name)
        self.thread.start()
        if sys.stdout.isatty():
            subprocess.call(["stty", "sane"], stdin=sys.stdout)

        logger.debug("Running %s (%s)" % (self.name, self.type_str))
        command = [self.generator_cmd]
        command += ["-C", build_dir, "run"]

        is_timeout = False
        qemu_pid = None

        with subprocess.Popen(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, cwd=self.build_dir) as proc:
            logger.debug("Spawning QEMUHandler Thread for %s" % self.name)

            try:
                proc.wait(self.timeout)
            except subprocess.TimeoutExpired:
                # sometimes QEMU can't handle SIGTERM signal correctly
                # in that case kill -9 QEMU process directly and leave
                # twister to judge testing result by console output

                is_timeout = True
                self.terminate(proc)
                if harness.state == "passed":
                    self.returncode = 0
                else:
                    self.returncode = proc.returncode
            else:
                if os.path.exists(self.pid_fn):
                    qemu_pid = int(open(self.pid_fn).read())
                logger.debug(f"No timeout, return code from QEMU ({qemu_pid}): {proc.returncode}")
                self.returncode = proc.returncode
            # Need to wait for harness to finish processing
            # output from QEMU. Otherwise it might miss some
            # error messages.
            self.thread.join(0)
            if self.thread.is_alive():
                logger.debug("Timed out while monitoring QEMU output")

            if os.path.exists(self.pid_fn):
                qemu_pid = int(open(self.pid_fn).read())
                os.unlink(self.pid_fn)

        logger.debug(f"return code from QEMU ({qemu_pid}): {self.returncode}")

        if (self.returncode != 0 and not self.ignore_qemu_crash) or not harness.state:
            self.instance.status = "failed"
            if is_timeout:
                self.instance.reason = "Timeout"
            else:
                if not self.instance.reason:
                    self.instance.reason = "Exited with {}".format(self.returncode)
            self.instance.add_missing_case_status("blocked")

        self._final_handle_actions(harness, 0)

    def get_fifo(self):
        return self.fifo_fn