Add bench UART ports and cold-start reset to goTool autotest.

Bench configs define command and console serial paths; scenarios can
reset nodes via esptool before tests. Smoke resets all nodes then waits
for ESP-NOW join.

Co-authored-by: Cursor <cursoragent@cursor.com>

goTool/README.md

@@ -31,15 +31,16 @@ go run . -port /dev/ttyUSB0 clients
 
 ### Automated tests
 
-Bench **configs** (`testdata/configs/`) list master/slave MACs. **Scenarios** (`testdata/scenarios/`) run a sequence of the same UART commands with `input` / `expect` checks.
+Bench **configs** (`testdata/configs/`) list network, MACs, and serial ports (`uart.master` for commands, `*_console` for esptool reset). **Scenarios** run UART commands plus optional `reset` steps.
 
 ```bash
-go run . -port /dev/ttyUSB0 test -list-configs
+go run . test -list-configs
-go run . -port /dev/ttyUSB0 test -list-scenarios
+go run . test -config example-lab -scenario smoke
-go run . -port /dev/ttyUSB0 test -config example-lab -scenario smoke
+go run . test -config my-lab -scenario smoke -port /dev/ttyUSB1 -v
-go run . -port /dev/ttyUSB0 test -config testdata/configs/my-lab.json -scenario smoke -v
 ```
 
+With a complete bench config, `-port` is optional for `test` (uses `uart.master` from JSON).
+
 See [`testdata/README.md`](testdata/README.md) for the JSON schema.
 
 ```bash

goTool/autotest/config.go

@@ -7,12 +7,23 @@ import (
 	"strings"
 )
 
+// UARTConfig holds serial paths for gotool commands and per-node reset (USB console).
+type UARTConfig struct {
+	// Baud for uart.master (default 921600).
+	Baud uint `json:"baud,omitempty"`
+	// Master command UART (external adapter on GPIO2/3), e.g. /dev/ttyUSB0.
+	Master string `json:"master"`
+	// Master USB console / JTAG serial for esptool reset, e.g. /dev/ttyACM0.
+	MasterConsole string `json:"master_console,omitempty"`
+}
+
 // Config describes the bench: ESP-NOW network, master MAC, and known slaves.
 type Config struct {
 	ID          string      `json:"id"`
 	Description string      `json:"description,omitempty"`
 	Network     uint        `json:"network"`
 	MasterMAC   string      `json:"master_mac"`
+	UART        UARTConfig  `json:"uart"`
 	Slaves      []SlaveNode `json:"slaves"`
 }
 
@@ -20,6 +31,8 @@ type SlaveNode struct {
 	ID       string `json:"id"`
 	MAC      string `json:"mac"`
 	ClientID *uint  `json:"client_id,omitempty"`
+	// USB console port for esptool reset (optional), e.g. /dev/ttyACM1.
+	Console string `json:"console,omitempty"`
 }
 
 type Bench struct {
@@ -50,6 +63,12 @@ func NewBench(cfg Config) (*Bench, error) {
 	if cfg.Network < 1 || cfg.Network > 8 {
 		return nil, fmt.Errorf("config %q: network must be 1–8 (DIP / IO expander)", cfg.ID)
 	}
+	if cfg.UART.Master == "" {
+		return nil, fmt.Errorf("config %q: uart.master is required (gotool command port)", cfg.ID)
+	}
+	if cfg.UART.Baud == 0 {
+		cfg.UART.Baud = 921600
+	}
 
 	b := &Bench{Config: cfg, slaveByID: make(map[string]*SlaveNode)}
 	for i := range cfg.Slaves {

goTool/autotest/config_test.go

@@ -7,6 +7,9 @@ func TestNewBenchClientIDFromMAC(t *testing.T) {
 		ID:        "t",
 		Network:   1,
 		MasterMAC: "aa:bb:cc:dd:ee:ff",
+		UART: UARTConfig{
+			Master: "/dev/ttyUSB0",
+		},
 		Slaves: []SlaveNode{{
 			ID:  "pod",
 			MAC: "50:78:7d:18:01:10",

goTool/autotest/reset.go

@@ -0,0 +1,103 @@
+package autotest
+
+import (
+	"fmt"
+	"os"
+	"os/exec"
+	"time"
+)
+
+const defaultResetWaitMS = 2000
+
+// ResetESP32 toggles EN via esptool (USB-JTAG / ttyACM console port).
+func ResetESP32(port string) error {
+	if port == "" {
+		return fmt.Errorf("empty console port")
+	}
+
+	tries := [][]string{
+		{"python", "-m", "esptool", "--chip", "esp32s3", "-p", port,
+			"--before", "default_reset", "--after", "hard_reset", "chip_id"},
+		{"esptool.py", "--chip", "esp32s3", "-p", port,
+			"--before", "default_reset", "--after", "hard_reset", "chip_id"},
+		{"esptool", "--chip", "esp32s3", "-p", port,
+			"--before", "default_reset", "--after", "hard_reset", "chip_id"},
+	}
+
+	var lastErr error
+	for _, argv := range tries {
+		if _, err := exec.LookPath(argv[0]); err != nil {
+			lastErr = err
+			continue
+		}
+		cmd := exec.Command(argv[0], argv[1:]...)
+		cmd.Stdout = os.Stdout
+		cmd.Stderr = os.Stderr
+		if err := cmd.Run(); err != nil {
+			lastErr = err
+			continue
+		}
+		return nil
+	}
+	if lastErr != nil {
+		return fmt.Errorf("esptool reset on %s: %w (install ESP-IDF esptool or python -m esptool)", port, lastErr)
+	}
+	return fmt.Errorf("esptool not found; cannot reset %s", port)
+}
+
+func (b *Bench) resetNode(target string) (string, error) {
+	switch target {
+	case "master", "":
+		if b.UART.MasterConsole == "" {
+			return "", fmt.Errorf("uart.master_console not set in config %q", b.ID)
+		}
+		return b.UART.MasterConsole, nil
+	default:
+		s, err := b.Slave(target)
+		if err != nil {
+			return "", err
+		}
+		if s.Console == "" {
+			return "", fmt.Errorf("slave %q has no console port in config", target)
+		}
+		return s.Console, nil
+	}
+}
+
+func (b *Bench) ResetTargets(targets []string, waitMS int) error {
+	if waitMS <= 0 {
+		waitMS = defaultResetWaitMS
+	}
+	if len(targets) == 0 {
+		targets = []string{"master"}
+	}
+
+	for _, t := range targets {
+		port, err := b.resetNode(t)
+		if err != nil {
+			return err
+		}
+		if err := ResetESP32(port); err != nil {
+			return err
+		}
+		time.Sleep(time.Duration(waitMS) * time.Millisecond)
+	}
+	return nil
+}
+
+func (b *Bench) ResetAll(waitMS int) error {
+	// Slaves first, master last — master discover runs after slaves are booting.
+	var targets []string
+	for i := range b.Slaves {
+		if b.Slaves[i].Console != "" {
+			targets = append(targets, b.Slaves[i].ID)
+		}
+	}
+	if b.UART.MasterConsole != "" {
+		targets = append(targets, "master")
+	}
+	if len(targets) == 0 {
+		return fmt.Errorf("config %q: no console ports defined for reset", b.ID)
+	}
+	return b.ResetTargets(targets, waitMS)
+}

goTool/autotest/runner.go

@@ -92,11 +92,42 @@ func runStep(bench *Bench, step Step, client MasterClient) error {
 		return checkDeadzone(bench, step, client)
 	case "unicast_test", "unicast":
 		return checkUnicastTest(bench, step, client)
+	case "reset", "reboot":
+		return checkReset(bench, step)
 	default:
 		return fmt.Errorf("unknown command %q", step.Command)
 	}
 }
 
+type resetInput struct {
+	Target  string `json:"target"`
+	Slave   string `json:"slave"`
+	All     bool   `json:"all"`
+	WaitMS  int    `json:"wait_ms"`
+}
+
+func checkReset(bench *Bench, step Step) error {
+	var in resetInput
+	if len(step.Input) > 0 {
+		if err := json.Unmarshal(step.Input, &in); err != nil {
+			return fmt.Errorf("input: %w", err)
+		}
+	}
+
+	if in.All {
+		return bench.ResetAll(in.WaitMS)
+	}
+
+	target := in.Target
+	if in.Slave != "" {
+		target = in.Slave
+	}
+	if target == "" {
+		target = "master"
+	}
+	return bench.ResetTargets([]string{target}, in.WaitMS)
+}
+
 func checkVersion(step Step, client MasterClient) error {
 	ver, err := client.GetVersion()
 	if err != nil {

goTool/cmd_autotest.go

@@ -9,7 +9,7 @@ import (
 	"powerpod/gotool/autotest"
 )
 
-func runTest(sp *serialPort, args []string) error {
+func runTest(portOverride string, baudOverride int, args []string) error {
 	fs := flag.NewFlagSet("test", flag.ExitOnError)
 	configName := fs.String("config", "", "bench config id or path (testdata/configs/)")
 	scenarioName := fs.String("scenario", "", "scenario id or path (testdata/scenarios/)")
@@ -49,14 +49,37 @@ func runTest(sp *serialPort, args []string) error {
 		return fmt.Errorf("load scenario: %w", err)
 	}
 
+	port := portOverride
+	if port == "" {
+		port = bench.UART.Master
+	}
+	baud := baudOverride
+	if baud <= 0 {
+		baud = int(bench.UART.Baud)
+	}
+
+	sp, err := openSerial(port, baud)
+	if err != nil {
+		return fmt.Errorf("open %s: %w", port, err)
+	}
+	defer sp.Close()
+
 	if !*verbose {
 		log.SetOutput(io.Discard)
 	}
 
 	fmt.Printf("bench config %q (network %d, master %s)\n",
 		bench.ID, bench.Network, bench.MasterMAC)
+	fmt.Printf("  uart.master %s (baud %d)\n", bench.UART.Master, bench.UART.Baud)
+	if bench.UART.MasterConsole != "" {
+		fmt.Printf("  uart.master_console %s\n", bench.UART.MasterConsole)
+	}
 	for _, s := range bench.Slaves {
-		fmt.Printf("  slave %q mac=%s client_id=%d\n", s.ID, s.MAC, *s.ClientID)
+		line := fmt.Sprintf("  slave %q mac=%s client_id=%d", s.ID, s.MAC, *s.ClientID)
+		if s.Console != "" {
+			line += fmt.Sprintf(" console=%s", s.Console)
+		}
+		fmt.Println(line)
 	}
 	fmt.Printf("scenario %q (%d steps)\n\n", sc.ID, len(sc.Steps))
 

goTool/main.go

@@ -10,7 +10,8 @@ import (
 const defaultBaud = 921600
 
 func usage() {
-	fmt.Fprintf(os.Stderr, "usage: gotool -port /dev/ttyUSB0 <command>\n\n")
+	fmt.Fprintf(os.Stderr, "usage: gotool [-port /dev/ttyUSB0] <command>\n")
+	fmt.Fprintf(os.Stderr, "  test uses uart.master from bench config when -port is omitted\n\n")
 	fmt.Fprintf(os.Stderr, "commands:\n")
 	fmt.Fprintf(os.Stderr, "  version   firmware version and git hash\n")
 	fmt.Fprintf(os.Stderr, "  clients   registered ESP-NOW slaves on the master\n")
@@ -25,20 +26,28 @@ func main() {
 	baud := flag.Int("baud", defaultBaud, "UART baud rate")
 	flag.Parse()
 
-	if *portName == "" || flag.NArg() < 1 {
+	if flag.NArg() < 1 {
 		usage()
 		os.Exit(2)
 	}
 
 	cmd := flag.Arg(0)
 
+	var runErr error
+	switch cmd {
+	case "test", "autotest":
+		runErr = runTest(*portName, *baud, flag.Args()[1:])
+	case "version", "clients", "client-info", "deadzone", "accel-deadzone", "unicast-test", "unicast_test":
+		if *portName == "" {
+			fmt.Fprintf(os.Stderr, "command %q requires -port\n\n", cmd)
+			usage()
+			os.Exit(2)
+		}
 		sp, err := openSerial(*portName, *baud)
 		if err != nil {
 			log.Fatalf("open serial: %v", err)
 		}
 		defer sp.Close()
-
-	var runErr error
 		switch cmd {
 		case "version":
 			runErr = runVersion(sp)
@@ -48,8 +57,7 @@ func main() {
 			runErr = runDeadzone(sp, flag.Args()[1:])
 		case "unicast-test", "unicast_test":
 			runErr = runUnicastTest(sp, flag.Args()[1:])
-	case "test", "autotest":
+		}
-		runErr = runTest(sp, flag.Args()[1:])
 	default:
 		fmt.Fprintf(os.Stderr, "unknown command %q\n\n", cmd)
 		usage()

goTool/testdata/README.md

@@ -2,29 +2,35 @@
 
 ## Bench config (`configs/*.json`)
 
-Describes your hardware bench (for documentation and slave lookup in tests).
+Describes your hardware bench: network, MACs, and serial ports.
 
 | Field | Meaning |
 |-------|---------|
 | `id` | Config name; referenced by scenarios |
-| `network` | ESP-NOW network **1–8** (must match DIP/IO expander on all nodes) |
+| `network` | ESP-NOW network **1–8** (DIP / IO expander on all nodes) |
-| `master_mac` | Expected WiFi MAC of the master ESP (reference) |
+| `master_mac` | Master WiFi STA MAC (reference) |
-| `slaves[].id` | Short name used in scenario `input.slave` / `expect.slave` |
+| `uart.baud` | Command UART baud (default **921600**) |
-| `slaves[].mac` | Full slave STA MAC (must match `gotool clients`) |
+| `uart.master` | **gotool** port — external UART adapter on master GPIO2/3 (e.g. `/dev/ttyUSB0`) |
+| `uart.master_console` | Master USB-JTAG/console for **reset** via esptool (e.g. `/dev/ttyACM0`) |
+| `slaves[].id` | Short name for scenarios (`input.slave`, `expect.slave`) |
+| `slaves[].mac` | Slave STA MAC (must match `gotool clients`) |
 | `slaves[].client_id` | Optional; default = last MAC byte |
+| `slaves[].console` | Slave USB console for **reset** (optional, e.g. `/dev/ttyACM1`) |
 
-Copy `example-lab.json` to e.g. `my-lab.json` and set real MACs.
+Copy `example-lab.json` → `my-lab.json` and set real paths (`ls /dev/ttyUSB* /dev/ttyACM*`).
+
+`gotool test` uses `uart.master` when `-port` is omitted. Override with `-port /dev/…`.
 
 ## Scenario (`scenarios/*.json`)
 
-Ordered steps: UART commands with `input` and `expect`.
+Ordered steps: UART commands, delays, or esptool reset.
 
 | Step field | Meaning |
 |------------|---------|
 | `delay_ms` | Sleep only (no command) |
-| `command` | `version`, `clients`, `deadzone`, `unicast_test` |
+| `command` | See below |
-| `input` | Command arguments (see below) |
+| `input` | Command arguments |
-| `expect` | Assertions on the response |
+| `expect` | Assertions (UART commands only) |
 
 ### Commands
 
@@ -38,10 +44,25 @@ Ordered steps: UART commands with `input` and `expect`.
 **unicast_test** — `input`: `slave` or `client_id`, `seq`  
 `expect`: `success`, `seq`
 
+**reset** — esptool hard-reset via console port from bench config (no `expect`).  
+`input`: `target` (`master`) or `slave` (`pod-1`), or `all: true`; optional `wait_ms` after each reset (default 2000).
+
+Example reset steps:
+
+```json
+{ "name": "reset master", "command": "reset", "input": { "target": "master", "wait_ms": 3000 } },
+{ "name": "reset all", "command": "reset", "input": { "all": true, "wait_ms": 2500 } }
+```
+
+Requires `python -m esptool` or `esptool.py` on PATH (ESP-IDF).
+
+The `smoke` scenario resets every node with a configured `console` port, waits **10 s** for boot and ESP-NOW join, then runs the UART checks.
+
 ### Example
 
 ```bash
 cd goTool
-go run . -port /dev/ttyUSB0 test -config my-lab -scenario smoke
+go run . test -config example-lab -scenario smoke
-go run . -port /dev/ttyUSB0 test -list-configs
+go run . test -config my-lab -scenario smoke -port /dev/ttyUSB1
+go run . test -list-configs
 ```

goTool/testdata/configs/example-lab.json

@@ -1,13 +1,19 @@
 {
   "id": "example-lab",
-  "description": "Example bench — replace MACs and network with your hardware",
+  "description": "Example bench — replace MACs, network, and serial paths",
   "network": 1,
   "master_mac": "50:78:7d:18:00:10",
+  "uart": {
+    "baud": 921600,
+    "master": "/dev/ttyUSB0",
+    "master_console": "/dev/ttyACM0"
+  },
   "slaves": [
     {
       "id": "pod-1",
       "mac": "50:78:7d:18:01:10",
-      "client_id": 16
+      "client_id": 16,
+      "console": "/dev/ttyACM1"
     }
   ]
 }

goTool/testdata/scenarios/smoke.json

@@ -1,21 +1,29 @@
 {
   "id": "smoke",
-  "description": "Basic master UART checks (no slaves required for version)",
+  "description": "Cold-start smoke: reset all nodes, wait for join, then UART checks",
   "config": "example-lab",
   "steps": [
     {
-      "name": "firmware version",
+      "name": "reset all nodes",
+      "command": "reset",
+      "input": {
+        "all": true,
+        "wait_ms": 2500
+      }
+    },
+    {
+      "name": "boot and ESP-NOW join",
+      "delay_ms": 10000
+    },
+    {
+      "name": "master UART up",
       "command": "version",
       "expect": {
         "version_min": 1
       }
     },
     {
-      "name": "wait for ESP-NOW join",
+      "name": "slave registered",
-      "delay_ms": 5000
-    },
-    {
-      "name": "slave visible",
       "command": "clients",
       "expect": {
         "min_clients": 1,