doc: extensions: boards: add zephyr:board-supported-runners directive

Use runners.yaml from build metadata to gather info regarding board
supported runners, store the info in the board catalog, and allow
to display it as a table in a board's doc page using the
.. zephyr:board-supported-runner:: directive.

Signed-off-by: Benjamin Cabé <benjamin@zephyrproject.org>

doc/_extensions/zephyr/domain/__init__.py

@@ -16,6 +16,10 @@ Directives
 - ``zephyr:code-sample-listing::`` - Shows a listing of code samples found in a given category.
 - ``zephyr:board-catalog::`` - Shows a listing of boards supported by Zephyr.
 - ``zephyr:board::`` - Flags a document as being the documentation page for a board.
+- ``zephyr:board-supported-hw::`` - Shows a table of supported hardware features for all the targets
+  of the board documented in the current page.
+- ``zephyr:board-supported-runners::`` - Shows a table of supported runners for the board documented
+  in the current page.
 
 Roles
 -----
@@ -58,6 +62,7 @@ __version__ = "0.2.0"
 
 
 sys.path.insert(0, str(Path(__file__).parents[4] / "scripts/dts/python-devicetree/src"))
+sys.path.insert(0, str(Path(__file__).parents[4] / "scripts/west_commands"))
 sys.path.insert(0, str(Path(__file__).parents[3] / "_scripts"))
 
 from gen_boards_catalog import get_catalog
@@ -729,6 +734,9 @@ class BoardDirective(SphinxDirective):
             board_node["archs"] = board["archs"]
             board_node["socs"] = board["socs"]
             board_node["image"] = board["image"]
+            board_node["supported_runners"] = board["supported_runners"]
+            board_node["flash_runner"] = board["flash_runner"]
+            board_node["debug_runner"] = board["debug_runner"]
             return [board_node]
 
 
@@ -992,6 +1000,121 @@ class BoardSupportedHardwareDirective(SphinxDirective):
         return result_nodes
 
 
+class BoardSupportedRunnersDirective(SphinxDirective):
+    """A directive for showing the supported runners of a board."""
+
+    has_content = False
+    required_arguments = 0
+    optional_arguments = 0
+
+    def run(self):
+        env = self.env
+        docname = env.docname
+
+        matcher = NodeMatcher(BoardNode)
+        board_nodes = list(self.state.document.traverse(matcher))
+        if not board_nodes:
+            logger.warning(
+                "board-supported-runners directive must be used in a board documentation page.",
+                location=(docname, self.lineno),
+            )
+            return []
+
+        if not env.app.config.zephyr_generate_hw_features:
+            note = nodes.admonition()
+            note += nodes.title(text="Note")
+            note["classes"].append("warning")
+            note += nodes.paragraph(
+                text="The list of supported runners was not generated. Run a full documentation "
+                "build for the required metadata to be available."
+            )
+            return [note]
+
+        board_node = board_nodes[0]
+        runners = board_node["supported_runners"]
+        flash_runner = board_node["flash_runner"]
+        debug_runner = board_node["debug_runner"]
+
+        result_nodes = []
+
+        paragraph = nodes.paragraph()
+        paragraph += nodes.Text("The ")
+        paragraph += nodes.literal(text=board_node["id"])
+        paragraph += nodes.Text(
+            " board supports the runners and associated west commands listed below."
+        )
+        result_nodes.append(paragraph)
+
+        env_runners = env.domaindata["zephyr"]["runners"]
+        commands = ["flash", "debug"]
+        for runner in env_runners:
+            if runner in board_node["supported_runners"]:
+                for cmd in env_runners[runner].get("commands", []):
+                    if cmd not in commands:
+                        commands.append(cmd)
+
+        # create the table
+        table = nodes.table(classes=["colwidths-given", "runners-table"])
+        tgroup = nodes.tgroup(cols=len(commands) + 1)  # +1 for the Runner column
+
+        # Add colspec for Runner column
+        tgroup += nodes.colspec(colwidth=15, classes=["type"])
+        # Add colspecs for command columns
+        for _ in commands:
+            tgroup += nodes.colspec(colwidth=15, classes=["type"])
+
+        thead = nodes.thead()
+        row = nodes.row()
+        entry = nodes.entry()
+        row += entry
+        headers = [*commands]
+        for header in headers:
+            entry = nodes.entry(classes=[header.lower()])
+            entry += addnodes.literal_strong(text=header, classes=["command"])
+            row += entry
+        thead += row
+        tgroup += thead
+
+        tbody = nodes.tbody()
+
+        # add a row for each runner
+        for runner in sorted(runners):
+            row = nodes.row()
+            # First column - Runner name
+            entry = nodes.entry()
+
+            xref = addnodes.pending_xref(
+                "",
+                refdomain="std",
+                reftype="ref",
+                reftarget=f"runner_{runner}",
+                refexplicit=True,
+                refwarn=False,
+            )
+            xref += nodes.Text(runner)
+            entry += addnodes.literal_strong("", "", xref)
+            row += entry
+
+            # Add columns for each command
+            for command in commands:
+                entry = nodes.entry()
+                if command in env_runners[runner].get("commands", []):
+                    entry += nodes.Text("✅")
+                    if (command == "flash" and runner == flash_runner) or (
+                        command == "debug" and runner == debug_runner
+                    ):
+                        entry += nodes.Text(" (default)")
+                row += entry
+            tbody += row
+
+        tgroup += tbody
+        table += tgroup
+
+        result_nodes.append(table)
+
+        return result_nodes
+
+
 class ZephyrDomain(Domain):
     """Zephyr domain"""
 
@@ -1011,6 +1134,7 @@ class ZephyrDomain(Domain):
         "board-catalog": BoardCatalogDirective,
         "board": BoardDirective,
         "board-supported-hw": BoardSupportedHardwareDirective,
+        "board-supported-runners": BoardSupportedRunnersDirective,
     }
 
     object_types: dict[str, ObjType] = {
@@ -1247,6 +1371,7 @@ def load_board_catalog_into_domain(app: Sphinx) -> None:
     app.env.domaindata["zephyr"]["boards"] = board_catalog["boards"]
     app.env.domaindata["zephyr"]["vendors"] = board_catalog["vendors"]
     app.env.domaindata["zephyr"]["socs"] = board_catalog["socs"]
+    app.env.domaindata["zephyr"]["runners"] = board_catalog["runners"]
 
 
 def setup(app):

doc/_scripts/gen_boards_catalog.py

@@ -15,6 +15,7 @@ import list_hardware
 import yaml
 import zephyr_module
 from gen_devicetree_rest import VndLookup
+from runners.core import ZephyrBinaryRunner
 
 ZEPHYR_BASE = Path(__file__).parents[2]
 ZEPHYR_BINDINGS = ZEPHYR_BASE / "dts/bindings"
@@ -22,6 +23,10 @@ EDT_PICKLE_PATHS = [
     "zephyr/edt.pickle",
     "hello_world/zephyr/edt.pickle"  # for board targets using sysbuild
 ]
+RUNNERS_YAML_PATHS = [
+    "zephyr/runners.yaml",
+    "hello_world/zephyr/runners.yaml"  # for board targets using sysbuild
+]
 
 logger = logging.getLogger(__name__)
 
@@ -108,20 +113,25 @@ def guess_doc_page(board_or_shield):
     return doc_file
 
 
-def gather_board_devicetrees(twister_out_dir):
+def gather_board_build_info(twister_out_dir):
-    """Gather EDT objects for each board from twister output directory.
+    """Gather EDT objects and runners info for each board from twister output directory.
 
     Args:
         twister_out_dir: Path object pointing to twister output directory
 
     Returns:
-        A dictionary mapping board names to a dictionary of board targets and their EDT objects.
+        A tuple of two dictionaries:
-        The structure is: {board_name: {board_target: edt_object}}
+           - A dictionary mapping board names to a dictionary of board targets and their EDT.
+             objects.
+             The structure is: {board_name: {board_target: edt_object}}
+           - A dictionary mapping board names to a dictionary of board targets and their runners
+             info.
+             The structure is: {board_name: {board_target: runners_info}}
     """
     board_devicetrees = {}
-
+    board_runners = {}
     if not twister_out_dir.exists():
-        return board_devicetrees
+        return board_devicetrees, board_runners
 
     # Find all build_info.yml files in twister-out
     build_info_files = list(twister_out_dir.glob("*/**/build_info.yml"))
@@ -137,6 +147,13 @@ def gather_board_devicetrees(twister_out_dir):
         if not edt_pickle_file:
             continue
 
+        runners_yaml_file = None
+        for runners_yaml_path in RUNNERS_YAML_PATHS:
+            maybe_file = build_info_file.parent / runners_yaml_path
+            if maybe_file.exists():
+                runners_yaml_file = maybe_file
+                break
+
         try:
             with open(build_info_file) as f:
                 build_info = yaml.safe_load(f)
@@ -155,10 +172,17 @@ def gather_board_devicetrees(twister_out_dir):
                     edt = pickle.load(f)
                     board_devicetrees.setdefault(board_name, {})[board_target] = edt
 
+                if runners_yaml_file:
+                    with open(runners_yaml_file) as f:
+                        runners_yaml = yaml.safe_load(f)
+                        board_runners.setdefault(board_name, {})[board_target] = (
+                            runners_yaml
+                        )
+
         except Exception as e:
             logger.error(f"Error processing build info file {build_info_file}: {e}")
 
-    return board_devicetrees
+    return board_devicetrees, board_runners
 
 
 def run_twister_cmake_only(outdir):
@@ -174,6 +198,7 @@ def run_twister_cmake_only(outdir):
         "--all",
         "-M",
         *[arg for path in EDT_PICKLE_PATHS for arg in ('--keep-artifacts', path)],
+        *[arg for path in RUNNERS_YAML_PATHS for arg in ('--keep-artifacts', path)],
         "--cmake-only",
         "--outdir", str(outdir),
     ]
@@ -226,12 +251,13 @@ def get_catalog(generate_hw_features=False):
     systems = list_hardware.find_v2_systems(args_find_boards)
     board_catalog = {}
     board_devicetrees = {}
+    board_runners = {}
 
     if generate_hw_features:
         logger.info("Running twister in cmake-only mode to get Devicetree files for all boards")
         with tempfile.TemporaryDirectory() as tmp_dir:
             run_twister_cmake_only(tmp_dir)
-            board_devicetrees = gather_board_devicetrees(Path(tmp_dir))
+            board_devicetrees, board_runners = gather_board_build_info(Path(tmp_dir))
     else:
         logger.info("Skipping generation of supported hardware features.")
 
@@ -314,6 +340,15 @@ def get_catalog(generate_hw_features=False):
                 # Store features for this specific target
                 supported_features[board_target] = features
 
+        board_runner_info = {}
+        if board.name in board_runners:
+            # Assume all board targets have the same runners so only consider the runners
+            # for the first board target.
+            r = list(board_runners[board.name].values())[0]
+            board_runner_info["runners"] = r.get("runners")
+            board_runner_info["flash-runner"] = r.get("flash-runner")
+            board_runner_info["debug-runner"] = r.get("debug-runner")
+
         # Grab all the twister files for this board and use them to figure out all the archs it
         # supports.
         archs = set()
@@ -336,6 +371,10 @@ def get_catalog(generate_hw_features=False):
             "revision_default": board.revision_default,
             "supported_features": supported_features,
             "image": guess_image(board),
+            # runners
+            "supported_runners": board_runner_info.get("runners", []),
+            "flash_runner": board_runner_info.get("flash-runner", ""),
+            "debug_runner": board_runner_info.get("debug-runner", ""),
         }
 
     socs_hierarchy = {}
@@ -344,8 +383,16 @@ def get_catalog(generate_hw_features=False):
         series = soc.series or "<no series>"
         socs_hierarchy.setdefault(family, {}).setdefault(series, []).append(soc.name)
 
+    available_runners = {}
+    for runner in ZephyrBinaryRunner.get_runners():
+        available_runners[runner.name()] = {
+            "name": runner.name(),
+            "commands": runner.capabilities().commands,
+        }
+
     return {
         "boards": board_catalog,
         "vendors": {**vnd_lookup.vnd2vendor, "others": "Other/Unknown"},
         "socs": socs_hierarchy,
+        "runners": available_runners,
     }

doc/contribute/documentation/guidelines.rst

@@ -1266,6 +1266,21 @@ Boards
       (``zephyr_generate_hw_features`` config option set to ``True``). If disabled, a warning message
       will be shown instead of the hardware features tables.
 
+.. rst:directive:: .. zephyr:board-supported-runners::
+
+   This directive is used to show the supported runners for the board documented in the current
+   page, including which runner is the default for flashing and debugging.
+
+   The directive must be used in a document that also contains a :rst:dir:`zephyr:board` directive,
+   as it relies on the board information to generate the table.
+
+   .. note::
+
+      Similar to :rst:dir:`zephyr:board-supported-hw`, this directive requires hardware features
+      generation to be enabled (``zephyr_generate_hw_features`` config option set to ``True``) to
+      produce a complete table. If disabled, a warning message will be shown instead of the runners
+      tables.
+
 References
 **********
 

doc/develop/flash_debug/host-tools.rst

@@ -13,6 +13,7 @@ file declares that support properly. See :ref:`west-build-flash-debug` for
 more information on these commands.
 
 .. _atmel_sam_ba_bootloader:
+.. _runner_bossac:
 
 SAM Boot Assistant (SAM-BA)
 ***************************
@@ -207,6 +208,7 @@ Windows PATH. A specific bossac executable can be used by passing the
 
 
 .. _linkserver-debug-host-tools:
+.. _runner_linkserver:
 
 LinkServer Debug  Host Tools
 ****************************
@@ -282,6 +284,7 @@ LinkServer west runner   ``--probe`` option to pass the probe index.
    will need to add a breakpoint at ``main`` or the reset handler manually.
 
 .. _jlink-debug-host-tools:
+.. _runner_jlink:
 
 J-Link Debug Host Tools
 ***********************
@@ -312,6 +315,7 @@ required.
 Note that the J-Link GDB server does not yet support Zephyr RTOS-awareness.
 
 .. _openocd-debug-host-tools:
+.. _runner_openocd:
 
 OpenOCD Debug Host Tools
 ************************
@@ -339,6 +343,7 @@ Check if your SoC is listed in `OpenOCD Supported Devices`_.
    - Add ``C:\Program Files\OpenOCD\bin`` to 'PATH' environment variable
 
 .. _pyocd-debug-host-tools:
+.. _runner_pyocd:
 
 pyOCD Debug Host Tools
 **********************
@@ -358,6 +363,7 @@ These debug host tools are compatible with the following debug probes:
 Check if your SoC is listed in `pyOCD Supported Devices`_.
 
 .. _lauterbach-trace32-debug-host-tools:
+.. _runner_trace32:
 
 Lauterbach TRACE32 Debug Host Tools
 ***********************************
@@ -409,6 +415,7 @@ To enable Zephyr RTOS awareness follow the steps described in
 `Lauterbach TRACE32 Zephyr OS Awareness Manual`_.
 
 .. _nxp-s32-debug-host-tools:
+.. _runner_nxp_s32dbg:
 
 NXP S32 Debug Probe Host Tools
 ******************************
@@ -471,6 +478,8 @@ afterwards detach the debug session:
 
    west debug --tool-opt='--batch'
 
+.. _runner_probe_rs:
+
 probe-rs Debug Host Tools
 *************************
 
@@ -482,7 +491,7 @@ Check `probe-rs Installation`_ for more setup details.
 
 Check if your SoC is listed in `probe-rs Supported Devices`_.
 
-.. _stm32cubeprog-flash-host-tools:
+.. _runner_rfp:
 
 Renesas Flash Programmer (RFP) Host Tools
 *****************************************
@@ -503,6 +512,9 @@ to ``rfp-cli`` when flashing:
 
    west flash --rfp-cli ~/Downloads/RFP_CLI_Linux_V31800_x64/linux-x64/rfp-cli
 
+.. _stm32cubeprog-flash-host-tools:
+.. _runner_stm32cubeprogrammer:
+
 STM32CubeProgrammer Flash Host Tools
 ************************************
 

doc/templates/board.tmpl

@@ -29,6 +29,8 @@ to connect external components]
 Programming and Debugging
 *************************
 
+.. zephyr:board-supported-runners::
+
 Flashing
 ========
 [How to use this board with Zephyr and how to flash a Zephyr binary on this