scripts: west_commands: fix argument handling with runners.yaml

Refactor the code to support the new runners.yaml file created by the
build system.

Compared to fishing around in the CMake cache, this makes it trivial
to put all the command line arguments to a runner-based command on
equal footing, regardless of if they're defined in the runners package
proper or defined in run_common.py.

This allows board.cmake files to do things like this:

   board_set_runner_args(foo
     --bin-file=${PROJECT_BINARY_DIR}/my-signed.bin)

While at it, make some other cleanups:

- Stop using the obsolete and deprecated west.cmake module while we're
  here in favor of the zcmake.py module which was added to Zephyr a long
  time ago. Yikes. I had forgotten this was still here.

- Stop using west.util's wrap function in favor of raw use of
  textwrap. The west function splits on hyphens, which is breaking
  runner names like "em-starterkit".

- Clean up the --context output a bit

Fixes: #22563
Signed-off-by: Martí Bolívar <marti.bolivar@nordicsemi.no>
diff --git a/scripts/west_commands/run_common.py b/scripts/west_commands/run_common.py
index c9f22e4..5c50cee 100644
--- a/scripts/west_commands/run_common.py
+++ b/scripts/west_commands/run_common.py
@@ -13,17 +13,16 @@
 import textwrap
 import traceback
 
-from west import cmake
 from west import log
-from west import util
 from build_helpers import find_build_dir, is_zephyr_build, \
     FIND_BUILD_DIR_DESCRIPTION
 from west.commands import CommandError
 from west.configuration import config
+import yaml
 
 from runners import get_runner_cls, ZephyrBinaryRunner, MissingProgram
-
-from zephyr_ext_common import cached_runner_config
+from runners.core import RunnerConfig
+import zcmake
 
 # Context-sensitive help indentation.
 # Don't change this, or output from argparse won't match up.
@@ -70,12 +69,17 @@
         else:
             log.dbg(fmt, level=log.VERBOSE_EXTREME)
 
-def add_parser_common(parser_adder, command):
-    parser = parser_adder.add_parser(
-        command.name,
-        formatter_class=argparse.RawDescriptionHelpFormatter,
-        help=command.help,
-        description=command.description)
+def command_verb(command):
+    return "flash" if command.name == "flash" else "debug"
+
+def add_parser_common(command, parser_adder=None, parser=None):
+    if parser_adder is not None:
+        parser = parser_adder.add_parser(
+            command.name,
+            formatter_class=argparse.RawDescriptionHelpFormatter,
+            help=command.help,
+            description=command.description,
+            epilog=FIND_BUILD_DIR_DESCRIPTION)
 
     # Remember to update scripts/west-completion.bash if you add or remove
     # flags
@@ -85,88 +89,130 @@
                         help; this may be combined with --runner to restrict
                         output to a given runner.''')
 
-    group = parser.add_argument_group(title='General Options')
+    group = parser.add_argument_group(title='General options')
 
-    group.add_argument('-d', '--build-dir',
-                       help='Build directory to obtain runner information ' +
-                       'from. ' + FIND_BUILD_DIR_DESCRIPTION)
-    group.add_argument('-c', '--cmake-cache',
-                       help='''Path to CMake cache file containing runner
-                       configuration (this is generated by the Zephyr
-                       build system when compiling binaries);
-                       default: {}.
-
-                       If this is a relative path, it is assumed relative to
-                       the build directory. An absolute path can also be
-                       given instead.'''.format(cmake.DEFAULT_CACHE))
+    group.add_argument('-d', '--build-dir', metavar='DIR',
+                       help='zephyr build directory')
+    group.add_argument('-c', '--cmake-cache', metavar='FILE',
+                       help='override the default CMake cache file')
     group.add_argument('-r', '--runner',
-                       help='''If given, overrides any cached {}
-                       runner.'''.format(command.name))
+                       help=f'overrides the default {command.name} runner')
     group.add_argument('--skip-rebuild', action='store_true',
-                       help='''If given, do not rebuild the application
-                       before running {} commands.'''.format(command.name))
+                       help='do not rebuild the application first')
 
-    group = parser.add_argument_group(
-        title='Configuration overrides',
-        description=textwrap.dedent('''\
-        These values usually come from the Zephyr build system itself
-        as stored in the CMake cache; providing these options
-        overrides those settings.'''))
+    group = parser.add_argument_group(title='Common runner options')
 
-    # Important:
-    #
-    # 1. The destination variables of these options must match
-    #    the RunnerConfig slots.
-    # 2. The default values for all of these must be None.
-    #
-    # This is how we detect if the user provided them or not when
-    # overriding values from the cached configuration.
-
-    command_verb = "flash" if command.name == "flash" else "debug"
-
-    group.add_argument('--board-dir',
-                       help='Zephyr board directory')
-    group.add_argument('--elf-file',
-                       help='Path to elf file to {0}'.format(command_verb))
-    group.add_argument('--hex-file',
-                       help='Path to hex file to {0}'.format(command_verb))
-    group.add_argument('--bin-file',
-                       help='Path to binary file to {0}'.format(command_verb))
-    group.add_argument('--gdb',
-                       help='Path to GDB, if applicable')
-    group.add_argument('--openocd',
-                       help='Path to OpenOCD, if applicable')
+    group.add_argument('--board-dir', metavar='DIR',
+                       help='zephyr board directory')
+    # FIXME: we should just have a single --file argument.
+    group.add_argument('--elf-file', metavar='FILE', help='path to zephyr.elf')
+    group.add_argument('--hex-file', metavar='FILE', help='path to zephyr.hex')
+    group.add_argument('--bin-file', metavar='FILE', help='path to zephyr.bin')
+    # FIXME: these are runner-specific. Remove them from this location.
+    group.add_argument('--gdb', help='path to GDB, if applicable')
+    group.add_argument('--openocd', help='path to OpenOCD, if applicable')
     group.add_argument(
-        '--openocd-search',
-        help='Path to add to OpenOCD search path, if applicable')
+        '--openocd-search', metavar='DIR',
+        help='path to add to OpenOCD search path, if applicable')
 
     return parser
 
-
 def desc_common(command_name):
-    return textwrap.dedent('''\
-    Any options not recognized by this command are passed to the
-    back-end {command} runner (run "west {command} --context"
-    for help on available runner-specific options).
+    return textwrap.dedent(f'''\
+    Only common "west {command_name}" options are listed here.
+    To get help on available runner-specific options, run:
 
-    If you need to pass an option to a runner which has the
-    same name as one recognized by this command, you can
-    end argument parsing with a '--', like so:
+      west {command_name} --context -d BUILD_DIR
+    ''')
 
-    west {command} --{command}-arg=value -- --runner-arg=value2
-    '''.format(**{'command': command_name}))
+def do_run_common(command, args, unknown_args):
+    # This is the main routine for all the "west flash", "west debug",
+    # etc. commands.
 
+    if args.context:
+        dump_context(command, args, unknown_args)
+        return
 
-def _override_config_from_namespace(cfg, namespace):
-    '''Override a RunnerConfig's contents with command-line values.'''
-    for var in cfg.__slots__:
-        if var in namespace:
-            val = getattr(namespace, var)
-            if val is not None:
-                setattr(cfg, var, val)
+    command_name = command.name
+    build_dir = get_build_dir(args)
+    cache = load_cmake_cache(build_dir, args)
+    board = cache['CACHED_BOARD']
+    if not args.skip_rebuild:
+        rebuild(command, build_dir, args)
 
+    # Load runners.yaml.
+    runners_yaml = runners_yaml_path(cache)
+    runner_config = load_runners_yaml(runners_yaml, args)
 
-def _build_dir(args, die_if_none=True):
+    # Get a concrete ZephyrBinaryRunner subclass to use based on
+    # runners.yaml and command line arguments.
+    runner_cls = use_runner_cls(command, board, args, runner_config)
+    runner_name = runner_cls.name()
+
+    # Set up runner logging to delegate to west.log commands.
+    logger = logging.getLogger('runners')
+    logger.setLevel(LOG_LEVEL)
+    logger.addHandler(WestLogHandler())
+
+    # If the user passed -- to force the parent argument parser to stop
+    # parsing, it will show up here, and needs to be filtered out.
+    runner_args = [arg for arg in unknown_args if arg != '--']
+
+    # Arguments are provided in this order to allow the specific to
+    # override the general:
+    #
+    # - common runners.yaml arguments
+    # - runner-specific runners.yaml arguments
+    # - command line arguments
+    final_argv = (runner_config['args']['common'] +
+                  runner_config['args'][runner_name] +
+                  runner_args)
+
+    # At this point, 'args' contains parsed arguments which are both:
+    #
+    # 1. provided on the command line
+    # 2. handled by add_parser_common()
+    #
+    # This doesn't include runner specific arguments on the command line or
+    # anything from runners.yaml.
+    #
+    # We therefore have to re-parse now that we know everything,
+    # including the final runner.
+    parser = argparse.ArgumentParser(prog=runner_name)
+    add_parser_common(command, parser=parser)
+    runner_cls.add_parser(parser)
+    final_args, unknown = parser.parse_known_args(args=final_argv)
+    if unknown:
+        log.die(f'runner {runner_name} received unknown arguments: {unknown}')
+
+    # Create the RunnerConfig from the values assigned to common
+    # arguments. This is a hacky way to go about this; probably
+    # ZephyrBinaryRunner should define what it needs to make this
+    # happen by itself. That would be a larger refactoring of the
+    # runners package than there's time for right now, though.
+    #
+    # Use that RunnerConfig to create the ZephyrBinaryRunner instance
+    # and call its run().
+    runner = runner_cls.create(runner_cfg_from_args(final_args,
+                                                    build_dir),
+                               final_args)
+    try:
+        runner.run(command_name)
+    except ValueError as ve:
+        log.err(str(ve), fatal=True)
+        dump_traceback()
+        raise CommandError(1)
+    except MissingProgram as e:
+        log.die('required program', e.filename,
+                'not found; install it or add its location to PATH')
+    except RuntimeError as re:
+        if not args.verbose:
+            log.die(re)
+        else:
+            log.err('verbose mode enabled, dumping stack:', fatal=True)
+            raise
+
+def get_build_dir(args, die_if_none=True):
     # Get the build directory for the given argument list and environment.
     if args.build_dir:
         return args.build_dir
@@ -189,6 +235,76 @@
     else:
         return None
 
+def load_cmake_cache(build_dir, args):
+    cache_file = path.join(build_dir, args.cmake_cache or zcmake.DEFAULT_CACHE)
+    try:
+        return zcmake.CMakeCache(cache_file)
+    except FileNotFoundError:
+        log.die(f'no CMake cache found (expected one at {cache_file})')
+
+def rebuild(command, build_dir, args):
+    _banner(f'west {command.name}: rebuilding')
+    try:
+        zcmake.run_build(build_dir)
+    except CalledProcessError:
+        if args.build_dir:
+            log.die(f're-build in {args.build_dir} failed')
+        else:
+            log.die(f're-build in {build_dir} failed (no --build-dir given)')
+
+def runners_yaml_path(cache):
+    try:
+        return cache['ZEPHYR_RUNNERS_YAML']
+    except KeyError:
+        board = cache.get('CACHED_BOARD')
+        log.die(f'either a pristine build is needed, or board {board} '
+                "doesn't support west flash/debug "
+                '(no ZEPHYR_RUNNERS_YAML in CMake cache)')
+
+def load_runners_yaml(path, args):
+    # Load runners.yaml using its location in the CMake cache,
+    # allowing a command line override for the cache file location.
+
+    try:
+        with open(path, 'r') as f:
+            config = yaml.safe_load(f.read())
+    except FileNotFoundError:
+        log.die(f'runners.yaml file not found: {path}')
+
+    if not config.get('runners'):
+        log.wrn(f'no pre-configured runners in {path}; '
+                "this probably won't work")
+
+    return config
+
+def use_runner_cls(command, board, args, runner_config):
+    # Get the ZephyrBinaryRunner class from its name, and make sure it
+    # supports the command. Print a message about the choice, and
+    # return the class.
+
+    runner = args.runner or runner_config.get(command.runner_key)
+    if runner is None:
+        log.die(f'no {command.name} runner available for board {board}. '
+                "Check the board's documentation for instructions.")
+
+    _banner(f'west {command.name}: using runner {runner}')
+
+    available = runner_config.get('runners', [])
+    if runner not in available:
+        log.wrn(f'runner {runner} is not configured for use with {board}, '
+                'this may not work')
+    runner_cls = get_runner_cls(runner)
+    if command.name not in runner_cls.capabilities().commands:
+        log.die(f'runner {runner} does not support command {command.name}')
+
+    return runner_cls
+
+def runner_cfg_from_args(args, build_dir):
+    return RunnerConfig(build_dir, args.board_dir, args.elf_file,
+                        args.hex_file, args.bin_file,
+                        gdb=args.gdb, openocd=args.openocd,
+                        openocd_search=args.openocd_search)
+
 def dump_traceback():
     # Save the current exception to a file and return its path.
     fd, name = tempfile.mkstemp(prefix='west-exc-', suffix='.txt')
@@ -197,274 +313,83 @@
         traceback.print_exc(file=f)
     log.inf("An exception trace has been saved in", name)
 
-def do_run_common(command, args, runner_args, cached_runner_var):
-    if args.context:
-        _dump_context(command, args, runner_args, cached_runner_var)
-        return
-
-    command_name = command.name
-    build_dir = _build_dir(args)
-
-    if not args.skip_rebuild:
-        _banner('west {}: rebuilding'.format(command_name))
-        try:
-            cmake.run_build(build_dir)
-        except CalledProcessError:
-            if args.build_dir:
-                log.die('cannot run {}, build in {} failed'.format(
-                    command_name, args.build_dir))
-            else:
-                log.die('cannot run {}; no --build-dir given and build in '
-                        'current directory {} failed'.format(command_name,
-                                                             build_dir))
-
-    # Runner creation, phase 1.
-    #
-    # Get the default runner name from the cache, allowing a command
-    # line override. Get the ZephyrBinaryRunner class by name, and
-    # make sure it supports the command.
-
-    cache_file = path.join(build_dir, args.cmake_cache or cmake.DEFAULT_CACHE)
-    try:
-        cache = cmake.CMakeCache(cache_file)
-    except FileNotFoundError:
-        log.die('no CMake cache found (expected one at {})'.format(cache_file))
-    board = cache['CACHED_BOARD']
-    available = cache.get_list('ZEPHYR_RUNNERS')
-    if not available:
-        log.wrn('No cached runners are available in', cache_file)
-    runner = args.runner or cache.get(cached_runner_var)
-
-    if runner is None:
-        log.die('No', command_name, 'runner available for board', board,
-                '({} is not in the cache).'.format(cached_runner_var),
-                "Check your board's documentation for instructions.")
-
-    _banner('west {}: using runner {}'.format(command_name, runner))
-    if runner not in available:
-        log.wrn('Runner {} is not configured for use with {}, '
-                'this may not work'.format(runner, board))
-    runner_cls = get_runner_cls(runner)
-    if command_name not in runner_cls.capabilities().commands:
-        log.die('Runner {} does not support command {}'.format(
-            runner, command_name))
-
-    # Runner creation, phase 2.
-    #
-    # At this point, the common options above are already parsed in
-    # 'args', and unrecognized arguments are in 'runner_args'.
-    #
-    # - Set up runner logging to delegate to west.
-    # - Pull the RunnerConfig out of the cache
-    # - Override cached values with applicable command-line options
-
-    logger = logging.getLogger('runners')
-    logger.setLevel(LOG_LEVEL)
-    logger.addHandler(WestLogHandler())
-    cfg = cached_runner_config(build_dir, cache)
-    _override_config_from_namespace(cfg, args)
-
-    # Runner creation, phase 3.
-    #
-    # - Pull out cached runner arguments, and append command-line
-    #   values (which should override the cache)
-    # - Construct a runner-specific argument parser to handle cached
-    #   values plus overrides given in runner_args
-    # - Parse arguments and create runner instance from final
-    #   RunnerConfig and parsed arguments.
-
-    cached_runner_args = cache.get_list(
-        'ZEPHYR_RUNNER_ARGS_{}'.format(cmake.make_c_identifier(runner)))
-    assert isinstance(runner_args, list), runner_args
-    # If the user passed -- to force the parent argument parser to stop
-    # parsing, it will show up here, and needs to be filtered out.
-    runner_args = [arg for arg in runner_args if arg != '--']
-    final_runner_args = cached_runner_args + runner_args
-    parser = argparse.ArgumentParser(prog=runner)
-    runner_cls.add_parser(parser)
-    parsed_args, unknown = parser.parse_known_args(args=final_runner_args)
-    if unknown:
-        log.die('Runner', runner, 'received unknown arguments:', unknown)
-    runner = runner_cls.create(cfg, parsed_args)
-    try:
-        runner.run(command_name)
-    except ValueError as ve:
-        log.err(str(ve), fatal=True)
-        dump_traceback()
-        raise CommandError(1)
-    except MissingProgram as e:
-        log.die('required program', e.filename,
-                'not found; install it or add its location to PATH')
-    except RuntimeError as re:
-        if not args.verbose:
-            log.die(re)
-        else:
-            log.err('verbose mode enabled, dumping stack:', fatal=True)
-            raise
-
-
 #
-# Context-specific help
+# west {command} --context
 #
 
-def _dump_context(command, args, runner_args, cached_runner_var):
-    build_dir = _build_dir(args, die_if_none=False)
-
-    # Try to figure out the CMake cache file based on the build
-    # directory or an explicit argument.
-    if build_dir is not None:
-        cache_file = path.abspath(
-            path.join(build_dir, args.cmake_cache or cmake.DEFAULT_CACHE))
-    elif args.cmake_cache:
-        cache_file = path.abspath(args.cmake_cache)
+def dump_context(command, args, unknown_args):
+    build_dir = get_build_dir(args, die_if_none=False)
+    if build_dir is None:
+        log.wrn('no --build-dir given or found; output will be limited')
+        runner_config = None
     else:
-        cache_file = None
+        cache = load_cmake_cache(build_dir, args)
+        board = cache['CACHED_BOARD']
+        runners_yaml = runners_yaml_path(cache)
+        runner_config = load_runners_yaml(runners_yaml, args)
 
-    # Load the cache itself, if possible.
-    if cache_file is None:
-        log.wrn('No build directory (--build-dir) or CMake cache '
-                '(--cmake-cache) given or found; output will be limited')
-        cache = None
-    else:
-        try:
-            cache = cmake.CMakeCache(cache_file)
-        except Exception:
-            log.die('Cannot load cache {}.'.format(cache_file))
-
-    # If we have a build directory, try to ensure build artifacts are
-    # up to date. If that doesn't work, still try to print information
-    # on a best-effort basis.
+    # Re-build unless asked not to, to make sure the output is up to date.
     if build_dir and not args.skip_rebuild:
-        try:
-            cmake.run_build(build_dir)
-        except CalledProcessError:
-            msg = 'Failed re-building application; cannot load context. '
-            if args.build_dir:
-                msg += 'Is {} the right --build-dir?'.format(args.build_dir)
-            else:
-                msg += textwrap.dedent('''\
-                Use --build-dir (-d) to specify a build directory; the one
-                used was {}.'''.format(build_dir))
-            log.die('\n'.join(textwrap.wrap(msg, initial_indent='',
-                                            subsequent_indent=INDENT,
-                                            break_on_hyphens=False)))
-
-    if cache is None:
-        _dump_no_context_info(command, args)
-        if not args.runner:
-            return
+        rebuild(command, build_dir, args)
 
     if args.runner:
-        # Just information on one runner was requested.
-        _dump_one_runner_info(cache, args, build_dir, INDENT)
-        return
+        try:
+            cls = get_runner_cls(args.runner)
+        except ValueError:
+            log.die(f'invalid runner name {args.runner}; choices: ' +
+                    ', '.join(cls.name() for cls in
+                              ZephyrBinaryRunner.get_runners()))
+    else:
+        cls = None
 
-    board = cache['CACHED_BOARD']
+    if runner_config is None:
+        dump_context_no_config(command, cls)
+    else:
+        log.inf(f'build configuration:', colorize=True)
+        log.inf(f'{INDENT}build directory: {build_dir}')
+        log.inf(f'{INDENT}board: {board}')
+        log.inf(f'{INDENT}runners.yaml: {runners_yaml}')
+        if cls:
+            dump_runner_context(command, cls, runner_config)
+        else:
+            dump_all_runner_context(command, runner_config, board, build_dir)
 
-    all_cls = {cls.name(): cls for cls in ZephyrBinaryRunner.get_runners() if
-               command.name in cls.capabilities().commands}
-    available = [r for r in cache.get_list('ZEPHYR_RUNNERS') if r in all_cls]
-    available_cls = {r: all_cls[r] for r in available if r in all_cls}
-
-    default_runner = cache.get(cached_runner_var)
-    cfg = cached_runner_config(build_dir, cache)
-
-    log.inf('All Zephyr runners which support {}:'.format(command.name),
-            colorize=True)
-    for line in util.wrap(', '.join(all_cls.keys()), INDENT):
-        log.inf(line)
-    log.inf('(Not all may work with this build, see available runners below.)',
-            colorize=True)
-
-    if cache is None:
-        log.wrn('Missing or invalid CMake cache; there is no context.',
-                'Use --build-dir to specify the build directory.')
-        return
-
-    log.inf('Build directory:', colorize=True)
-    log.inf(INDENT + build_dir)
-    log.inf('Board:', colorize=True)
-    log.inf(INDENT + board)
-    log.inf('CMake cache:', colorize=True)
-    log.inf(INDENT + cache_file)
-
-    if not available:
-        # Bail with a message if no runners are available.
-        msg = ('No runners available for {}. '
-               'Consult the documentation for instructions on how to run '
-               'binaries on this target.').format(board)
-        for line in util.wrap(msg, ''):
-            log.inf(line, colorize=True)
-        return
-
-    log.inf('Available {} runners:'.format(command.name), colorize=True)
-    log.inf(INDENT + ', '.join(available))
-    log.inf('Additional options for available', command.name, 'runners:',
-            colorize=True)
-    for runner in available:
-        _dump_runner_opt_help(runner, all_cls[runner])
-    log.inf('Default {} runner:'.format(command.name), colorize=True)
-    log.inf(INDENT + default_runner)
-    _dump_runner_config(cfg, '', INDENT)
-    log.inf('Runner-specific information:', colorize=True)
-    for runner in available:
-        log.inf('{}{}:'.format(INDENT, runner), colorize=True)
-        _dump_runner_cached_opts(cache, runner, INDENT * 2, INDENT * 3)
-        _dump_runner_caps(available_cls[runner], INDENT * 2)
-
-    if len(available) > 1:
-        log.inf('(Add -r RUNNER to just print information about one runner.)',
+def dump_context_no_config(command, cls):
+    if not cls:
+        all_cls = {cls.name(): cls for cls in ZephyrBinaryRunner.get_runners()
+                   if command.name in cls.capabilities().commands}
+        log.inf('all Zephyr runners which support {}:'.format(command.name),
                 colorize=True)
+        dump_wrapped_lines(', '.join(all_cls.keys()), INDENT)
+        log.inf()
+        log.inf('Note: use -r RUNNER to limit information to one runner.')
+    else:
+        # This does the right thing with runner_config=None.
+        dump_runner_context(command, cls, None)
 
+def dump_runner_context(command, cls, runner_config, indent=''):
+    dump_runner_caps(cls, indent)
+    dump_runner_option_help(cls, indent)
 
-def _dump_no_context_info(command, args):
-    all_cls = {cls.name(): cls for cls in ZephyrBinaryRunner.get_runners() if
-               command.name in cls.capabilities().commands}
-    log.inf('All Zephyr runners which support {}:'.format(command.name),
-            colorize=True)
-    for line in util.wrap(', '.join(all_cls.keys()), INDENT):
-        log.inf(line)
-    if not args.runner:
-        log.inf('Add -r RUNNER to print more information about any runner.',
-                colorize=True)
-
-
-def _dump_one_runner_info(cache, args, build_dir, indent):
-    runner = args.runner
-    cls = get_runner_cls(runner)
-
-    if cache is None:
-        _dump_runner_opt_help(runner, cls)
-        _dump_runner_caps(cls, '')
+    if runner_config is None:
         return
 
-    available = runner in cache.get_list('ZEPHYR_RUNNERS')
-    cfg = cached_runner_config(build_dir, cache)
+    if cls.name() in runner_config['runners']:
+        dump_runner_args(cls.name(), runner_config, indent)
+    else:
+        log.wrn(f'support for runner {cls.name()} is not configured '
+                f'in this build directory')
 
-    log.inf('Build directory:', colorize=True)
-    log.inf(INDENT + build_dir)
-    log.inf('Board:', colorize=True)
-    log.inf(INDENT + cache['CACHED_BOARD'])
-    log.inf('CMake cache:', colorize=True)
-    log.inf(INDENT + cache.cache_file)
-    log.inf(runner, 'is available:', 'yes' if available else 'no',
-            colorize=True)
-    _dump_runner_opt_help(runner, cls)
-    _dump_runner_config(cfg, '', indent)
-    if available:
-        _dump_runner_cached_opts(cache, runner, '', indent)
-    _dump_runner_caps(cls, '')
-    if not available:
-        log.wrn('Runner', runner, 'is not configured in this build.')
+def dump_runner_caps(cls, indent=''):
+    # Print RunnerCaps for the given runner class.
 
+    log.inf(f'{indent}{cls.name()} capabilities:', colorize=True)
+    log.inf(f'{indent}{INDENT}{cls.capabilities()}')
 
-def _dump_runner_caps(cls, base_indent):
-    log.inf('{}Capabilities:'.format(base_indent), colorize=True)
-    log.inf('{}{}'.format(base_indent + INDENT, cls.capabilities()))
+def dump_runner_option_help(cls, indent=''):
+    # Print help text for class-specific command line options for the
+    # given runner class.
 
-
-def _dump_runner_opt_help(runner, cls):
-    # Construct and print the usage text
     dummy_parser = argparse.ArgumentParser(prog='', add_help=False)
     cls.add_parser(dummy_parser)
     formatter = dummy_parser._get_formatter()
@@ -481,31 +406,53 @@
         formatter.add_arguments(actions)
         formatter.end_section()
     # Get the runner help, with the "REMOVE ME" string gone
-    runner_help = '\n'.join(formatter.format_help().splitlines()[1:])
+    runner_help = f'\n{indent}'.join(formatter.format_help().splitlines()[1:])
 
-    log.inf('{} options:'.format(runner), colorize=True)
-    log.inf(runner_help)
+    log.inf(f'{indent}{cls.name()} options:', colorize=True)
+    log.inf(indent + runner_help)
 
+def dump_runner_args(group, runner_config, indent=''):
+    msg = f'{indent}{group} arguments from runners.yaml:'
+    args = runner_config['args'][group]
+    if args:
+        log.inf(msg, colorize=True)
+        for arg in args:
+            log.inf(f'{indent}{INDENT}{arg}')
+    else:
+        log.inf(f'{msg} (none)', colorize=True)
 
-def _dump_runner_config(cfg, initial_indent, subsequent_indent):
-    log.inf('{}Cached common runner configuration:'.format(initial_indent),
+def dump_all_runner_context(command, runner_config, board, build_dir):
+    all_cls = {cls.name(): cls for cls in ZephyrBinaryRunner.get_runners() if
+               command.name in cls.capabilities().commands}
+    available = runner_config['runners']
+    available_cls = {r: all_cls[r] for r in available if r in all_cls}
+    default_runner = runner_config[command.runner_key]
+
+    log.inf(f'zephyr runners which support "west {command.name}":',
             colorize=True)
-    for var in cfg.__slots__:
-        log.inf('{}--{}={}'.format(subsequent_indent, var, getattr(cfg, var)))
+    dump_wrapped_lines(', '.join(all_cls.keys()), INDENT)
+    log.inf()
+    dump_wrapped_lines('Note: not all may work with this board and build '
+                       'directory. Available runners are listed below.',
+                       INDENT)
 
-
-def _dump_runner_cached_opts(cache, runner, initial_indent, subsequent_indent):
-    runner_args = _get_runner_args(cache, runner)
-    if not runner_args:
-        return
-
-    log.inf('{}Cached runner-specific options:'.format(initial_indent),
+    log.inf(f'available runners in runners.yaml:',
             colorize=True)
-    for arg in runner_args:
-        log.inf('{}{}'.format(subsequent_indent, arg))
+    dump_wrapped_lines(', '.join(available), INDENT)
+    log.inf(f'default runner in runners.yaml:', colorize=True)
+    log.inf(INDENT + default_runner)
+    dump_runner_args('common', runner_config)
+    log.inf('runner-specific context:', colorize=True)
+    for cls in available_cls.values():
+        dump_runner_context(command, cls, runner_config, INDENT)
 
+    if len(available) > 1:
+        log.inf()
+        log.inf('Note: use -r RUNNER to limit information to one runner.')
 
-def _get_runner_args(cache, runner):
-    runner_ident = cmake.make_c_identifier(runner)
-    args_var = 'ZEPHYR_RUNNER_ARGS_{}'.format(runner_ident)
-    return cache.get_list(args_var)
+def dump_wrapped_lines(text, indent):
+    for line in textwrap.wrap(text, initial_indent=indent,
+                              subsequent_indent=indent,
+                              break_on_hyphens=False,
+                              break_long_words=False):
+        log.inf(line)