twister: sysbuild: Bluetooth: build harness apps with sysbuild for multiple boards testing

[JingsaiLu]

continue to promote this proposal, #83643
and accept all the comments in the v1 implementation, #83641

in this PR,

• build harness apps with sysbuild
• add one optional app_type for each image in domains.yaml (west flash will be able to flash the harness image into different boards with this flag)
• add one sample for samples/bluetooth/central_ht, which is usually tested with samples/bluetooth/peripheral_ht on HW boards

Test on both west and twister commands on different platforms (frdm_mcxw71 and qemu_cortex_m3)

• west build -p always -b frdm_mcxw71 samples/bluetooth/central_ht --sysbuild -DSB_CONFIG_HARNESS_APPS='"samples/bluetooth/peripheral_ht"'
• west twister --platform qemu_cortex_m3 -T samples/bluetooth/central_ht

[nordicjm]

Whilst the ability to flash multiple boards for tests is a good idea, this really isn't how sysbuild is designed, it is designed for building multiple images for one project on one board. So for example you can have your main image and a bootloader, now how is this going to work if you build for 2 different boards? Or if you enable a bootloader in the build? This will completely fall apart

[JingsaiLu]

Whilst the ability to flash multiple boards for tests is a good idea, this really isn't how sysbuild is designed, it is designed for building multiple images for one project on one board. So for example you can have your main image and a bootloader, now how is this going to work if you build for 2 different boards? Or if you enable a bootloader in the build? This will completely fall apart

hi @nordicjm , happy to know you also recognized this requirement, :)
for your questions,
I want to make this harness solution for tests as simple as possible,
so I suppose the DuT and harness devices will be the same boards, even if I see the sysbuild could config the different boards and bootloader apps.

and yes, I am also feeling that the sysbuild seems to be designed for multi-applications for one board,

may need to discuss more, as @PerMac commented in #83643 (comment)

[tejlmand]

and yes, I am also feeling that the sysbuild seems to be designed for multi-applications for one board,

Sysbuild itself was intended to be just the foundation from where we could extend.
First and most important part was to support build multiple images for a single board (SoC) and flash this, but the foundation should not prevent us from extending sysbuild to cover more complete systems.
From sysbuild perspective there is little difference between a board with multiple SoCs, and then multiple boards, each with single SoC, although it does require sysbuild itself to be extended when someone has the time.

Ref: #40555 (comment)

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