crucihil 0.6.0

Bulletproof Hardware-in-the-Loop testing for firmware teams

CruciHiL

Bulletproof, easy-to-use Hardware-in-the-Loop (HiL) testing for firmware teams.

Write a test in Python. Run it against simulation before hardware exists. Deploy to real hardware with zero test changes. See results in CI/CD automatically. Ask AI what broke and why.

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Why CruciHiL

Legacy HiL tools (dSPACE, NI, Vector) are expensive, slow to configure, and hostile to modern dev workflows. CruciHiL is built for teams that move fast:

• Python-first — no proprietary scripting languages, full IDE support
• Simulation-to-hardware parity — same test file, swap a TOML config
• CI/CD native — runs headless, produces JUnit XML, integrates with GitHub Actions
• AI-powered analysis — MCP server connects Claude/GPT directly to test results and signal traces

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Architecture

Layer 6 — Interfaces        Web Dashboard · CLI · CI/CD webhooks
Layer 5 — AI Interface      MCP Server (FastMCP) — 11 tools, vendor-agnostic
Layer 4 — Cloud Control     FastAPI + PostgreSQL — orchestration and history
Layer 3 — Local Agent       Test runner · YAML executor · result reporter
Layer 2 — Rig HAL           rig.can / rig.sim / rig.someip / rig.doip / rig.ecu
Layer 1 — Hardware          CAN · Ethernet · GPIO · Power · ECUs

Test code only ever touches Layer 2. Hardware details live in TOML config, never in test code.

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Installation

pip install crucihil

Or from source:

git clone <repo>
cd crucihil
python -m venv .venv && source .venv/bin/activate
pip install -e ".[dev]"

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CLI Reference

crucihil --help

Commands:
  version   Show CruciHiL version
  run       Run a test suite against a rig
  agent     Start the persistent local agent daemon
  init      Interactive wizard — create a rig TOML and register with cloud
  discover  AI-assisted rig setup (probes hardware, generates TOML)

crucihil run — run tests locally

# Run against the virtual simulation rig (no hardware needed)
crucihil run --suite tests/suites/engine_validation.yaml --rig rigs/virtual.toml

# Run against real hardware
crucihil run --suite tests/suites/engine_validation.yaml --rig rigs/my_bench.toml

# With JUnit XML + HTML output
crucihil run --suite tests/suites/engine_validation.yaml --rig rigs/virtual.toml \
  --output results.xml --html results.html

crucihil init — set up a new rig

The interactive wizard for configuring a new rig. Run this on the bench machine:

crucihil init

It will:

1. Auto-detect CAN and Ethernet interfaces (ip link)
2. Prompt for bitrate, FD mode, power backend, DBC path
3. Write a validated rigs/<name>.toml
4. Optionally register the rig with the cloud control plane (self-registers, saves API key)

After crucihil init, start the agent with no further config:

crucihil agent --rig rigs/<name>.toml

crucihil agent — persistent agent daemon

Runs on the bench machine. Connects to the cloud via WebSocket, receives test run commands, streams results back.

crucihil agent --rig rigs/my_bench.toml

First boot auto-registration: if [rig.cloud] has a registration_token but no api_key, the agent registers itself, saves the key to ~/.crucihil/credentials.toml, and connects — no manual steps needed.

# rigs/my_bench.toml
[rig.cloud]
url                = "https://crucihil-server.fly.dev"
registration_token = "your-REGISTRATION_TOKEN-here"
# api_key is saved automatically after first boot

Options:

--rig, -r   PATH   Path to rig TOML config (required)
--cache     PATH   SQLite result cache path (default: ~/.crucihil/results.db)
--verbose   -v     Enable debug logging

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Writing Tests

async def test_engine_startup(rig: Rig):
    await rig.can.send(message="EngineControl", fields={"Throttle": 50.0, "Mode": 1.0})
    result = await rig.can.expect(
        signal="EngineData.RPM",
        condition=lambda v: v > 800,
        timeout=2.0,
    )
    assert result.passed, result.fail_msg

Switch from virtual to real hardware: change --rig rigs/virtual.toml to --rig rigs/my_bench.toml. The test is unchanged.

Fault injection

async def test_can_dropout_recovery(rig: Rig):
    async with rig.fault.inject(rig.fault.can_dropout(arb_id=0x100, duration=1.0)):
        await asyncio.sleep(1.0)
    result = await rig.can.expect("EngineData.RPM", lambda v: v > 0, timeout=3.0)
    assert result.passed, result.fail_msg

ECU firmware flash

async def test_firmware_update(rig: Rig):
    result = await rig.ecu.ecu_main.flash("builds/firmware_v2.1.bin")
    assert result.success, result.error

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Complete Rig Setup Workflow

This is the end-to-end process for bringing a new bench machine online.

Step 1 — Install CruciHiL on the bench machine

pip install crucihil

Step 2 — Run the setup wizard

crucihil init

Follow the prompts. At the end it will ask:

Connect this rig to a CruciHiL cloud server? [y/N]:

Answer y and provide:

• Server URL — https://crucihil-server.fly.dev (or your self-hosted URL)
• Registration token — the REGISTRATION_TOKEN from your server setup

The wizard registers the rig, saves the API key locally, and writes the [rig.cloud] section into the TOML. You won't need to handle the key manually.

Step 3 — Start the agent

crucihil agent --rig rigs/<name>.toml

The rig appears as connected in the dashboard within seconds. You can now trigger test runs from the dashboard, CLI, or via AI through the MCP server.

Step 4 (optional) — Install as a systemd service for production

sudo ./scripts/install-agent.sh \
  --rig rigs/my_bench.toml \
  --server https://crucihil-server.fly.dev \
  --key <api-key>

systemctl status crucihil-agent@my-bench
journalctl -u crucihil-agent@my-bench -f
systemctl restart crucihil-agent@my-bench

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Cloud Dashboard

The web dashboard is available at https://app.crucihil.io.

First-time setup (self-hosted)

Bootstrap your first org and admin account via the setup API (one-time only):

curl -X POST https://your-server/api/v1/setup \
  -H 'Content-Type: application/json' \
  -d '{"org_name":"Acme Corp","admin_email":"[e-mail]","admin_password":"strong-password"}'

Returns a JWT. Log in at the dashboard with the same email and password.

Inviting team members

Admins can invite members from Settings → Team → Invite member. An email is sent via Resend with a link to set their password. Members can view results and trigger runs; admins can also manage rigs and users.

Connecting an AI client (MCP)

Add to Claude Desktop claude_desktop_config.json:

{
  "mcpServers": {
    "crucihil": {
      "url": "https://crucihil-mcp.fly.dev/sse",
      "headers": {
        "Authorization": "Bearer <your-CRUCIHIL_API_KEY>"
      }
    }
  }
}

MCP Tool	What it does
list_rigs	List rigs with online/offline status
get_rig_config	Hardware summary for one rig
list_runs	Query run history
get_run_summary	Pass/fail counts and status for one run
run_test_suite	Trigger a test suite on a connected rig
cancel_run	Cancel an active run
get_results	Per-test results (filterable by status)
get_signal_trace	Signal telemetry recorded during a run
describe_failure	Full failure context in one call — errors + signals + logs
list_signals	Parse a DBC and return all signal names
list_tests	Parse a YAML manifest and return test metadata

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Self-Hosting with Docker

# Clone and configure
cp .env.example .env
# Edit .env — set POSTGRES_PASSWORD and SECRET_KEY

# Bootstrap everything in one command
./setup.sh

# Start the dashboard dev server (hot reload)
./dev.sh

Dashboard at http://localhost:5173.

./setup.sh --status    # service health
./setup.sh --restart   # restart containers
./dev.sh --rig rigs/my_bench.toml   # register and start a native rig agent

Deploy to Fly.io

fly deploy --config fly.server.toml   # control plane
fly deploy --config fly.mcp.toml      # MCP server

Set secrets (not in toml files):

fly secrets set SECRET_KEY="..." REGISTRATION_TOKEN="..." RESEND_API_KEY="re_..." --app crucihil-server

Dashboard deploys automatically to Vercel on push to main.

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Supported Hardware Backends

Bus	Backends
CAN	socketcan (Linux), peak (PEAK PCAN-USB), virtual
SOME/IP	vsomeip, virtual_someip
DoIP	python-doip, virtual
Power	gpio_relay, bench_psu, virtual_power
GPIO	linux_gpio, virtual_gpio
Custom	backend = "myorg.module:ClassName" via importlib

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Project Structure

crucihil/
├── hal/          Layer 2: Rig HAL (backends, BSE, namespaces, config)
├── agent/        Layer 3: Test runner, agent daemon, SQLite cache, init wizard
├── server/       Layer 4: FastAPI control plane + PostgreSQL
├── mcp/          Layer 5: MCP server (11 tools, FastMCP 3.x)
└── cli/          Layer 6: CLI entry point

rigs/             Rig TOML configs (hardware details — never in test code)
tests/
├── unit/         Unit tests (361 passing)
└── integration/  Integration tests against virtual rig
scripts/
├── release.sh    Cut a new release: ./scripts/release.sh 0.2.0
└── install-agent.sh  Install agent as systemd service on a bench machine

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Cutting a Release

./scripts/release.sh 0.2.0

Bumps pyproject.toml, commits, tags v0.2.0, pushes. GitHub Actions publishes to PyPI and creates a GitHub Release automatically.

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Requirements

• Python 3.11+
• Real hardware additionally requires: Linux (for SocketCAN/GPIO), vsomeip, python-doip, and relevant drivers