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Developing an operating system (OS) for low-end embedded devices requirescontinuous adaptation to new hardware architectures and components, whileserviceability of features needs to be assured for each individual platformunder tight resource constraints. It is challenging to design a versatile andaccurate heterogeneous test environment that is agile enough to cover acontinuous evolution of the code base and platforms. This mission is evenmorehallenging when organized in an agile open-source community process withmany contributors such as for the RIOT OS. Hardware in the Loop (HiL) testingand Continuous Integration (CI) are automatable approaches to verifyfunctionality, prevent regressions, and improve the overall quality atdevelopment speed in large community projects. In this paper, we present PHiLIP(Primitive Hardware in the Loop Integration Product), an open-source externalreference device together with tools that validate the system software while itcontrols hardware and interprets physical signals. Instead of focusing on aspecific test setting, PHiLIP takes the approach of a tool-assisted agile HiLtest process, designed for continuous evolution and deployment cycles. Weexplain its design, describe how it supports HiL tests, evaluate performancemetrics, and report on practical experiences of employing PHiLIP in anautomated CI test infrastructure. Our initial deployment comprises 22 uniqueplatforms, each of which executes 98 peripheral tests every night. PHiLIPallows for easy extension of low-cost, adaptive testing infrastructures butserves testing techniques and tools to a much wider range of applications.

PHiLIP on the HiL: Automated Multi-platform OS Testing with External Reference Devices