Merge #734

734: QoL + fixes for `xtasks` r=korken89 a=datdenkikniet

Preferably merge this before #732

Draft till I get around to fixing "no package" -> "all packages" on `xtask build` (and probably others)

Co-authored-by: datdenkikniet <jcdra1@gmail.com>

8 files changed, 855 insertions, 345 deletions

diff --git a/.cargo/config.toml b/.cargo/config.toml
index d70faef..0a62466 100644
--- a/.cargo/config.toml
+++ b/.cargo/config.toml
@@ -1,5 +1,6 @@
 [alias]
 xtask = "run --package xtask --"
+pxtask = "run --package xtask --features rayon --"
 
 [target.thumbv6m-none-eabi]
 runner = "qemu-system-arm -cpu cortex-m3 -machine lm3s6965evb -nographic -semihosting-config enable=on,target=native -kernel"
@@ -10,4 +11,4 @@ runner = "qemu-system-arm -cpu cortex-m3 -machine lm3s6965evb -nographic -semiho
 [target.'cfg(all(target_arch = "arm", target_os = "none"))']
 rustflags = [
   "-C", "link-arg=-Tlink.x",
-]
\ No newline at end of file
+]
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index aadb0a9..f2bec7d 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -31,8 +31,8 @@ jobs:
       - name: Cache Dependencies
         uses: Swatinem/rust-cache@v2
 
-      - name: cargo xtask format-check
-        run:  cargo xtask --verbose format-check
+      - name: cargo xtask fmt
+        run:  cargo xtask --verbose fmt -c
 
   # Compilation check
   check:
@@ -251,7 +251,7 @@ jobs:
           tool: lychee
 
       - name: Remove cargo-config
-        run: rm -f .cargo/config
+        run: rm -f .cargo/config.toml
 
       - name: Build docs
         # TODO: Any difference between backends?
diff --git a/Cargo.toml b/Cargo.toml
index 888a6ee..6fccc1d 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,4 +1,12 @@
 [workspace]
+default-members = [
+    "rtic",
+    "rtic-sync",
+    "rtic-common",
+    "rtic-macros",
+    "rtic-monotonics",
+    "rtic-time",
+]
 members = [
     "rtic",
     "rtic-sync",
diff --git a/xtask/Cargo.toml b/xtask/Cargo.toml
index 3c72bf1..9e565fa 100644
--- a/xtask/Cargo.toml
+++ b/xtask/Cargo.toml
@@ -6,10 +6,8 @@ publish = false
 
 [dependencies]
 anyhow = "1.0.43"
-os_pipe = "1.1.2"
 clap = { version = "4", features = ["derive"] }
-env_logger = "0.10.0"
+pretty_env_logger = "0.4.0"
 log = "0.4.17"
-rayon = "1.6.1"
+rayon = { version = "1.6.1", optional = true }
 diffy = "0.3.0"
-exitcode = "1.1.2"
diff --git a/xtask/src/argument_parsing.rs b/xtask/src/argument_parsing.rs
index c0538e2..3ee9e34 100644
--- a/xtask/src/argument_parsing.rs
+++ b/xtask/src/argument_parsing.rs
@@ -1,4 +1,4 @@
-use crate::{command::CargoCommand, ARMV6M, ARMV7M, ARMV8MBASE, ARMV8MMAIN, DEFAULT_FEATURES};
+use crate::{command::CargoCommand, Target, ARMV6M, ARMV7M, ARMV8MBASE, ARMV8MMAIN};
 use clap::{Args, Parser, Subcommand};
 use core::fmt;
 
@@ -29,6 +29,64 @@ impl Package {
             Package::RticTime => "rtic-time",
         }
     }
+
+    pub fn all() -> Vec<Self> {
+        vec![
+            Self::Rtic,
+            Self::RticCommon,
+            Self::RticMacros,
+            Self::RticMonotonics,
+            Self::RticSync,
+            Self::RticTime,
+        ]
+    }
+
+    /// Get the features needed given the selected package
+    ///
+    /// Without package specified the features for RTIC are required
+    /// With only a single package which is not RTIC, no special
+    /// features are needed
+    pub fn features(
+        &self,
+        target: Target,
+        backend: Backends,
+        partial: bool,
+    ) -> Vec<Option<String>> {
+        match self {
+            Package::Rtic => vec![Some(target.and_features(backend.to_rtic_feature()))],
+            Package::RticMacros => {
+                vec![Some(backend.to_rtic_macros_feature().to_string())]
+            }
+            Package::RticMonotonics => {
+                let features = if partial {
+                    &["cortex-m-systick", "rp2040", "nrf52840"][..]
+                } else {
+                    &[
+                        "cortex-m-systick",
+                        "cortex-m-systick,systick-100hz",
+                        "cortex-m-systick,systick-10khz",
+                        "rp2040",
+                        "nrf52810",
+                        "nrf52811",
+                        "nrf52832",
+                        "nrf52833",
+                        "nrf52840",
+                        "nrf5340-app",
+                        "nrf5340-net",
+                        "nrf9160",
+                    ][..]
+                };
+
+                features
+                    .into_iter()
+                    .map(ToString::to_string)
+                    .map(Some)
+                    .chain(std::iter::once(None))
+                    .collect()
+            }
+            _ => vec![None],
+        }
+    }
 }
 
 pub struct TestMetadata {}
@@ -37,12 +95,12 @@ impl TestMetadata {
     pub fn match_package(package: Package, backend: Backends) -> CargoCommand<'static> {
         match package {
             Package::Rtic => {
-                let features = Some(format!(
-                    "{},{},{}",
-                    DEFAULT_FEATURES,
+                let features = format!(
+                    "{},{}",
                     backend.to_rtic_feature(),
-                    backend.to_rtic_uitest_feature(),
-                ));
+                    backend.to_rtic_uitest_feature()
+                );
+                let features = Some(backend.to_target().and_features(&features));
                 CargoCommand::Test {
                     package: Some(package),
                     features,
@@ -89,7 +147,7 @@ pub enum Backends {
 
 impl Backends {
     #[allow(clippy::wrong_self_convention)]
-    pub fn to_target(&self) -> &str {
+    pub fn to_target(&self) -> Target<'static> {
         match self {
             Backends::Thumbv6 => ARMV6M,
             Backends::Thumbv7 => ARMV7M,
@@ -99,7 +157,7 @@ impl Backends {
     }
 
     #[allow(clippy::wrong_self_convention)]
-    pub fn to_rtic_feature(&self) -> &str {
+    pub fn to_rtic_feature(&self) -> &'static str {
         match self {
             Backends::Thumbv6 => "thumbv6-backend",
             Backends::Thumbv7 => "thumbv7-backend",
@@ -108,14 +166,14 @@ impl Backends {
         }
     }
     #[allow(clippy::wrong_self_convention)]
-    pub fn to_rtic_macros_feature(&self) -> &str {
+    pub fn to_rtic_macros_feature(&self) -> &'static str {
         match self {
             Backends::Thumbv6 | Backends::Thumbv8Base => "cortex-m-source-masking",
             Backends::Thumbv7 | Backends::Thumbv8Main => "cortex-m-basepri",
         }
     }
     #[allow(clippy::wrong_self_convention)]
-    pub fn to_rtic_uitest_feature(&self) -> &str {
+    pub fn to_rtic_uitest_feature(&self) -> &'static str {
         match self {
             Backends::Thumbv6 | Backends::Thumbv8Base => "rtic-uitestv6",
             Backends::Thumbv7 | Backends::Thumbv8Main => "rtic-uitestv7",
@@ -130,12 +188,10 @@ pub enum BuildOrCheck {
     Build,
 }
 
-#[derive(Parser)]
-#[command(author, version, about, long_about = None)]
-/// RTIC xtask powered testing toolbox
-pub struct Cli {
+#[derive(Parser, Clone)]
+pub struct Globals {
     /// For which backend to build (defaults to thumbv7)
-    #[arg(value_enum, short, long)]
+    #[arg(value_enum, short, long, global = true)]
     pub backend: Option<Backends>,
 
     /// List of comma separated examples to include, all others are excluded
@@ -144,7 +200,7 @@ pub struct Cli {
     ///
     /// Example: `cargo xtask --example complex,spawn,init`
     /// would include complex, spawn and init
-    #[arg(short, long, group = "example_group")]
+    #[arg(short, long, group = "example_group", global = true)]
     pub example: Option<String>,
 
     /// List of comma separated examples to exclude, all others are included
@@ -153,25 +209,44 @@ pub struct Cli {
     ///
     /// Example: `cargo xtask --excludeexample complex,spawn,init`
     /// would exclude complex, spawn and init
-    #[arg(long, group = "example_group")]
+    #[arg(long, group = "example_group", global = true)]
     pub exampleexclude: Option<String>,
 
     /// Enable more verbose output, repeat up to `-vvv` for even more
-    #[arg(short, long, action = clap::ArgAction::Count)]
+    #[arg(short, long, action = clap::ArgAction::Count, global = true)]
     pub verbose: u8,
 
+    /// Enable `stderr` inheritance on child processes.
+    ///
+    /// If this flag is enabled, the output of `stderr` produced by child
+    /// processes is printed directly to `stderr`. This will cause a lot of
+    /// clutter, but can make debugging long-running processes a lot easier.
+    #[arg(short, long, global = true)]
+    pub stderr_inherited: bool,
+
+    /// Don't build/check/test all feature combinations that are available, only
+    /// a necessary subset.
+    #[arg(long, global = true)]
+    pub partial: bool,
+}
+
+#[derive(Parser)]
+#[command(author, version, about, long_about = None)]
+/// RTIC xtask powered testing toolbox
+pub struct Cli {
+    #[clap(flatten)]
+    pub globals: Globals,
+
     /// Subcommand selecting operation
     #[command(subcommand)]
     pub command: Commands,
 }
 
-#[derive(Debug, Subcommand)]
+#[derive(Debug, Clone, Subcommand)]
 pub enum Commands {
-    /// Check formatting
-    FormatCheck(PackageOpt),
-
     /// Format code
-    Format(PackageOpt),
+    #[clap(alias = "fmt")]
+    Format(FormatOpt),
 
     /// Run clippy
     Clippy(PackageOpt),
@@ -227,16 +302,44 @@ pub enum Commands {
     Book(Arg),
 }
 
-#[derive(Args, Debug)]
+#[derive(Args, Debug, Clone)]
+pub struct FormatOpt {
+    #[clap(flatten)]
+    pub package: PackageOpt,
+    /// Check-only, do not apply formatting fixes.
+    #[clap(short, long)]
+    pub check: bool,
+}
+
+#[derive(Args, Debug, Clone)]
 /// Restrict to package, or run on whole workspace
 pub struct PackageOpt {
     /// For which package/workspace member to operate
     ///
     /// If omitted, work on all
-    pub package: Option<Package>,
+    package: Option<Package>,
+}
+
+impl PackageOpt {
+    #[cfg(not(feature = "rayon"))]
+    pub fn packages(&self) -> impl Iterator<Item = Package> {
+        self.package
+            .map(|p| vec![p])
+            .unwrap_or(Package::all())
+            .into_iter()
+    }
+
+    #[cfg(feature = "rayon")]
+    pub fn packages(&self) -> impl rayon::prelude::ParallelIterator<Item = Package> {
+        use rayon::prelude::*;
+        self.package
+            .map(|p| vec![p])
+            .unwrap_or(Package::all())
+            .into_par_iter()
+    }
 }
 
-#[derive(Args, Debug)]
+#[derive(Args, Debug, Clone)]
 pub struct QemuAndRun {
     /// If expected output is missing or mismatching, recreate the file
     ///
@@ -245,7 +348,7 @@ pub struct QemuAndRun {
     pub overwrite_expected: bool,
 }
 
-#[derive(Debug, Parser)]
+#[derive(Debug, Parser, Clone)]
 pub struct Arg {
     /// Options to pass to `cargo size`
     #[command(subcommand)]
@@ -258,3 +361,13 @@ pub enum ExtraArguments {
     #[command(external_subcommand)]
     Other(Vec<String>),
 }
+
+impl core::fmt::Display for ExtraArguments {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        match self {
+            ExtraArguments::Other(args) => {
+                write!(f, "{}", args.join(" "))
+            }
+        }
+    }
+}
diff --git a/xtask/src/cargo_commands.rs b/xtask/src/cargo_commands.rs
index 7ac7aea..9cbdaef 100644
--- a/xtask/src/cargo_commands.rs
+++ b/xtask/src/cargo_commands.rs
@@ -1,55 +1,143 @@
 use crate::{
-    argument_parsing::{Backends, BuildOrCheck, ExtraArguments, Package, PackageOpt, TestMetadata},
+    argument_parsing::{Backends, BuildOrCheck, ExtraArguments, Globals, PackageOpt, TestMetadata},
     command::{BuildMode, CargoCommand},
-    command_parser, package_feature_extractor, DEFAULT_FEATURES,
+    command_parser, RunResult,
 };
 use log::error;
+
+#[cfg(feature = "rayon")]
 use rayon::prelude::*;
 
+use iters::*;
+
+pub enum FinalRunResult<'c> {
+    Success(CargoCommand<'c>, RunResult),
+    Failed(CargoCommand<'c>, RunResult),
+    CommandError(anyhow::Error),
+}
+
+fn run_and_convert<'a>(
+    (global, command, overwrite): (&Globals, CargoCommand<'a>, bool),
+) -> FinalRunResult<'a> {
+    // Run the command
+    let result = command_parser(global, &command, overwrite);
+    match result {
+        // If running the command succeeded without looking at any of the results,
+        // log the data and see if the actual execution was succesfull too.
+        Ok(result) => {
+            if result.exit_status.success() {
+                FinalRunResult::Success(command, result)
+            } else {
+                FinalRunResult::Failed(command, result)
+            }
+        }
+        // If it didn't and some IO error occured, just panic
+        Err(e) => FinalRunResult::CommandError(e),
+    }
+}
+
+pub trait CoalescingRunner<'c> {
+    /// Run all the commands in this iterator, and coalesce the results into
+    /// one error (if any individual commands failed)
+    fn run_and_coalesce(self) -> Vec<FinalRunResult<'c>>;
+}
+
+#[cfg(not(feature = "rayon"))]
+mod iters {
+    use super::*;
+
+    pub fn examples_iter(examples: &[String]) -> impl Iterator<Item = &String> {
+        examples.into_iter()
+    }
+
+    impl<'g, 'c, I> CoalescingRunner<'c> for I
+    where
+        I: Iterator<Item = (&'g Globals, CargoCommand<'c>, bool)>,
+    {
+        fn run_and_coalesce(self) -> Vec<FinalRunResult<'c>> {
+            self.map(run_and_convert).collect()
+        }
+    }
+}
+
+#[cfg(feature = "rayon")]
+mod iters {
+    use super::*;
+
+    pub fn examples_iter(examples: &[String]) -> impl ParallelIterator<Item = &String> {
+        examples.into_par_iter()
+    }
+
+    impl<'g, 'c, I> CoalescingRunner<'c> for I
+    where
+        I: ParallelIterator<Item = (&'g Globals, CargoCommand<'c>, bool)>,
+    {
+        fn run_and_coalesce(self) -> Vec<FinalRunResult<'c>> {
+            self.map(run_and_convert).collect()
+        }
+    }
+}
+
 /// Cargo command to either build or check
-pub fn cargo(
+pub fn cargo<'c>(
+    globals: &Globals,
     operation: BuildOrCheck,
-    cargoarg: &Option<&str>,
-    package: &PackageOpt,
+    cargoarg: &'c Option<&'c str>,
+    package: &'c PackageOpt,
     backend: Backends,
-) -> anyhow::Result<()> {
-    let features = package_feature_extractor(package, backend);
+) -> Vec<FinalRunResult<'c>> {
+    let runner = package
+        .packages()
+        .flat_map(|package| {
+            let target = backend.to_target();
+            let features = package.features(target, backend, globals.partial);
 
-    let command = match operation {
-        BuildOrCheck::Check => CargoCommand::Check {
-            cargoarg,
-            package: package.package,
-            target: backend.to_target(),
-            features,
-            mode: BuildMode::Release,
-        },
-        BuildOrCheck::Build => CargoCommand::Build {
-            cargoarg,
-            package: package.package,
-            target: backend.to_target(),
-            features,
-            mode: BuildMode::Release,
-        },
-    };
-    command_parser(&command, false)?;
-    Ok(())
+            #[cfg(feature = "rayon")]
+            {
+                features.into_par_iter().map(move |f| (package, target, f))
+            }
+
+            #[cfg(not(feature = "rayon"))]
+            {
+                features.into_iter().map(move |f| (package, target, f))
+            }
+        })
+        .map(move |(package, target, features)| {
+            let command = match operation {
+                BuildOrCheck::Check => CargoCommand::Check {
+                    cargoarg,
+                    package: Some(package),
+                    target,
+                    features,
+                    mode: BuildMode::Release,
+                },
+                BuildOrCheck::Build => CargoCommand::Build {
+                    cargoarg,
+                    package: Some(package),
+                    target,
+                    features,
+                    mode: BuildMode::Release,
+                },
+            };
+
+            (globals, command, false)
+        });
+
+    runner.run_and_coalesce()
 }
 
 /// Cargo command to either build or check all examples
 ///
 /// The examples are in rtic/examples
-pub fn cargo_example(
+pub fn cargo_example<'c>(
+    globals: &Globals,
     operation: BuildOrCheck,
-    cargoarg: &Option<&str>,
+    cargoarg: &'c Option<&'c str>,
     backend: Backends,
-    examples: &[String],
-) -> anyhow::Result<()> {
-    examples.into_par_iter().for_each(|example| {
-        let features = Some(format!(
-            "{},{}",
-            DEFAULT_FEATURES,
-            backend.to_rtic_feature()
-        ));
+    examples: &'c [String],
+) -> Vec<FinalRunResult<'c>> {
+    let runner = examples_iter(examples).map(|example| {
+        let features = Some(backend.to_target().and_features(backend.to_rtic_feature()));
 
         let command = match operation {
             BuildOrCheck::Check => CargoCommand::ExampleCheck {
@@ -67,184 +155,178 @@ pub fn cargo_example(
                 mode: BuildMode::Release,
             },
         };
-
-        if let Err(err) = command_parser(&command, false) {
-            error!("{err}");
-        }
+        (globals, command, false)
     });
-
-    Ok(())
+    runner.run_and_coalesce()
 }
 
 /// Run cargo clippy on selected package
-pub fn cargo_clippy(
-    cargoarg: &Option<&str>,
-    package: &PackageOpt,
+pub fn cargo_clippy<'c>(
+    globals: &Globals,
+    cargoarg: &'c Option<&'c str>,
+    package: &'c PackageOpt,
     backend: Backends,
-) -> anyhow::Result<()> {
-    let features = package_feature_extractor(package, backend);
-    command_parser(
-        &CargoCommand::Clippy {
-            cargoarg,
-            package: package.package,
-            target: backend.to_target(),
-            features,
-        },
-        false,
-    )?;
-    Ok(())
+) -> Vec<FinalRunResult<'c>> {
+    let runner = package
+        .packages()
+        .flat_map(|package| {
+            let target = backend.to_target();
+            let features = package.features(target, backend, globals.partial);
+
+            #[cfg(feature = "rayon")]
+            {
+                features.into_par_iter().map(move |f| (package, target, f))
+            }
+
+            #[cfg(not(feature = "rayon"))]
+            {
+                features.into_iter().map(move |f| (package, target, f))
+            }
+        })
+        .map(move |(package, target, features)| {
+            (
+                globals,
+                CargoCommand::Clippy {
+                    cargoarg,
+                    package: Some(package),
+                    target,
+                    features,
+                },
+                false,
+            )
+        });
+
+    runner.run_and_coalesce()
 }
 
 /// Run cargo fmt on selected package
-pub fn cargo_format(
-    cargoarg: &Option<&str>,
-    package: &PackageOpt,
+pub fn cargo_format<'c>(
+    globals: &Globals,
+    cargoarg: &'c Option<&'c str>,
+    package: &'c PackageOpt,
     check_only: bool,
-) -> anyhow::Result<()> {
-    command_parser(
-        &CargoCommand::Format {
-            cargoarg,
-            package: package.package,
-            check_only,
-        },
-        false,
-    )?;
-    Ok(())
+) -> Vec<FinalRunResult<'c>> {
+    let runner = package.packages().map(|p| {
+        (
+            globals,
+            CargoCommand::Format {
+                cargoarg,
+                package: Some(p),
+                check_only,
+            },
+            false,
+        )
+    });
+    runner.run_and_coalesce()
 }
 
 /// Run cargo doc
-pub fn cargo_doc(
-    cargoarg: &Option<&str>,
+pub fn cargo_doc<'c>(
+    globals: &Globals,
+    cargoarg: &'c Option<&'c str>,
     backend: Backends,
-    arguments: &Option<ExtraArguments>,
-) -> anyhow::Result<()> {
-    let features = Some(format!(
-        "{},{}",
-        DEFAULT_FEATURES,
-        backend.to_rtic_feature()
-    ));
-
-    command_parser(
-        &CargoCommand::Doc {
-            cargoarg,
-            features,
-            arguments: arguments.clone(),
-        },
-        false,
-    )?;
-    Ok(())
+    arguments: &'c Option<ExtraArguments>,
+) -> Vec<FinalRunResult<'c>> {
+    let features = Some(backend.to_target().and_features(backend.to_rtic_feature()));
+
+    let command = CargoCommand::Doc {
+        cargoarg,
+        features,
+        arguments: arguments.clone(),
+    };
+
+    vec![run_and_convert((globals, command, false))]
 }
 
-/// Run cargo test on the selcted package or all packages
+/// Run cargo test on the selected package or all packages
 ///
 /// If no package is specified, loop through all packages
-pub fn cargo_test(package: &PackageOpt, backend: Backends) -> anyhow::Result<()> {
-    if let Some(package) = package.package {
-        let cmd = TestMetadata::match_package(package, backend);
-        command_parser(&cmd, false)?;
-    } else {
-        // Iterate over all workspace packages
-        for package in [
-            Package::Rtic,
-            Package::RticCommon,
-            Package::RticMacros,
-            Package::RticMonotonics,
-            Package::RticSync,
-            Package::RticTime,
-        ] {
-            let mut error_messages = vec![];
-            let cmd = &TestMetadata::match_package(package, backend);
-            if let Err(err) = command_parser(cmd, false) {
-                error_messages.push(err);
-            }
-
-            if !error_messages.is_empty() {
-                for err in error_messages {
-                    error!("{err}");
-                }
-            }
-        }
-    }
-    Ok(())
+pub fn cargo_test<'c>(
+    globals: &Globals,
+    package: &'c PackageOpt,
+    backend: Backends,
+) -> Vec<FinalRunResult<'c>> {
+    package
+        .packages()
+        .map(|p| (globals, TestMetadata::match_package(p, backend), false))
+        .run_and_coalesce()
 }
 
 /// Use mdbook to build the book
-pub fn cargo_book(arguments: &Option<ExtraArguments>) -> anyhow::Result<()> {
-    command_parser(
-        &CargoCommand::Book {
+pub fn cargo_book<'c>(
+    globals: &Globals,
+    arguments: &'c Option<ExtraArguments>,
+) -> Vec<FinalRunResult<'c>> {
+    vec![run_and_convert((
+        globals,
+        CargoCommand::Book {
             arguments: arguments.clone(),
         },
         false,
-    )?;
-    Ok(())
+    ))]
 }
 
 /// Run examples
 ///
 /// Supports updating the expected output via the overwrite argument
-pub fn run_test(
-    cargoarg: &Option<&str>,
+pub fn run_test<'c>(
+    globals: &Globals,
+    cargoarg: &'c Option<&'c str>,
     backend: Backends,
-    examples: &[String],
+    examples: &'c [String],
     overwrite: bool,
-) -> anyhow::Result<()> {
-    examples.into_par_iter().for_each(|example| {
-        let cmd = CargoCommand::ExampleBuild {
-            cargoarg: &Some("--quiet"),
-            example,
-            target: backend.to_target(),
-            features: Some(format!(
-                "{},{}",
-                DEFAULT_FEATURES,
-                backend.to_rtic_feature()
-            )),
-            mode: BuildMode::Release,
-        };
-        if let Err(err) = command_parser(&cmd, false) {
-            error!("{err}");
-        }
+) -> Vec<FinalRunResult<'c>> {
+    let target = backend.to_target();
+    let features = Some(target.and_features(backend.to_rtic_feature()));
 
-        let cmd = CargoCommand::Qemu {
-            cargoarg,
-            example,
-            target: backend.to_target(),
-            features: Some(format!(
-                "{},{}",
-                DEFAULT_FEATURES,
-                backend.to_rtic_feature()
-            )),
-            mode: BuildMode::Release,
-        };
+    examples_iter(examples)
+        .map(|example| {
+            let cmd = CargoCommand::ExampleBuild {
+                cargoarg: &Some("--quiet"),
+                example,
+                target,
+                features: features.clone(),
+                mode: BuildMode::Release,
+            };
 
-        if let Err(err) = command_parser(&cmd, overwrite) {
-            error!("{err}");
-        }
-    });
+            if let Err(err) = command_parser(globals, &cmd, false) {
+                error!("{err}");
+            }
+
+            let cmd = CargoCommand::Qemu {
+                cargoarg,
+                example,
+                target,
+                features: features.clone(),
+                mode: BuildMode::Release,
+            };
 
-    Ok(())
+            (globals, cmd, overwrite)
+        })
+        .run_and_coalesce()
 }
 
 /// Check the binary sizes of examples
-pub fn build_and_check_size(
-    cargoarg: &Option<&str>,
+pub fn build_and_check_size<'c>(
+    globals: &Globals,
+    cargoarg: &'c Option<&'c str>,
     backend: Backends,
-    examples: &[String],
-    arguments: &Option<ExtraArguments>,
-) -> anyhow::Result<()> {
-    examples.into_par_iter().for_each(|example| {
+    examples: &'c [String],
+    arguments: &'c Option<ExtraArguments>,
+) -> Vec<FinalRunResult<'c>> {
+    let target = backend.to_target();
+    let features = Some(target.and_features(backend.to_rtic_feature()));
+
+    let runner = examples_iter(examples).map(|example| {
         // Make sure the requested example(s) are built
         let cmd = CargoCommand::ExampleBuild {
             cargoarg: &Some("--quiet"),
             example,
-            target: backend.to_target(),
-            features: Some(format!(
-                "{},{}",
-                DEFAULT_FEATURES,
-                backend.to_rtic_feature()
-            )),
+            target,
+            features: features.clone(),
             mode: BuildMode::Release,
         };
-        if let Err(err) = command_parser(&cmd, false) {
+        if let Err(err) = command_parser(globals, &cmd, false) {
             error!("{err}");
         }
 
@@ -252,18 +334,12 @@ pub fn build_and_check_size(
             cargoarg,
             example,
             target: backend.to_target(),
-            features: Some(format!(
-                "{},{}",
-                DEFAULT_FEATURES,
-                backend.to_rtic_feature()
-            )),
+            features: features.clone(),
             mode: BuildMode::Release,
             arguments: arguments.clone(),
         };
-        if let Err(err) = command_parser(&cmd, false) {
-            error!("{err}");
-        }
+        (globals, cmd, false)
     });
 
-    Ok(())
+    runner.run_and_coalesce()
 }
diff --git a/xtask/src/command.rs b/xtask/src/command.rs
index 6e91a52..b62724a 100644
--- a/xtask/src/command.rs
+++ b/xtask/src/command.rs
@@ -1,7 +1,15 @@
-use crate::{debug, ExtraArguments, Package, RunResult, TestRunError};
+use log::{error, info, Level};
+
+use crate::{
+    argument_parsing::Globals, cargo_commands::FinalRunResult, ExtraArguments, Package, RunResult,
+    Target, TestRunError,
+};
 use core::fmt;
-use os_pipe::pipe;
-use std::{fs::File, io::Read, process::Command};
+use std::{
+    fs::File,
+    io::Read,
+    process::{Command, Stdio},
+};
 
 #[allow(dead_code)]
 #[derive(Debug, Clone, Copy, PartialEq)]
@@ -10,6 +18,21 @@ pub enum BuildMode {
     Debug,
 }
 
+#[derive(Debug, Clone, Copy, PartialEq)]
+pub enum OutputMode {
+    PipedAndCollected,
+    Inherited,
+}
+
+impl From<OutputMode> for Stdio {
+    fn from(value: OutputMode) -> Self {
+        match value {
+            OutputMode::PipedAndCollected => Stdio::piped(),
+            OutputMode::Inherited => Stdio::inherit(),
+        }
+    }
+}
+
 #[derive(Debug)]
 pub enum CargoCommand<'a> {
     // For future embedded-ci
@@ -17,49 +40,49 @@ pub enum CargoCommand<'a> {
     Run {
         cargoarg: &'a Option<&'a str>,
         example: &'a str,
-        target: &'a str,
+        target: Target<'a>,
         features: Option<String>,
         mode: BuildMode,
     },
     Qemu {
         cargoarg: &'a Option<&'a str>,
         example: &'a str,
-        target: &'a str,
+        target: Target<'a>,
         features: Option<String>,
         mode: BuildMode,
     },
     ExampleBuild {
         cargoarg: &'a Option<&'a str>,
         example: &'a str,
-        target: &'a str,
+        target: Target<'a>,
         features: Option<String>,
         mode: BuildMode,
     },
     ExampleCheck {
         cargoarg: &'a Option<&'a str>,
         example: &'a str,
-        target: &'a str,
+        target: Target<'a>,
         features: Option<String>,
         mode: BuildMode,
     },
     Build {
         cargoarg: &'a Option<&'a str>,
         package: Option<Package>,
-        target: &'a str,
+        target: Target<'a>,
         features: Option<String>,
         mode: BuildMode,
     },
     Check {
         cargoarg: &'a Option<&'a str>,
         package: Option<Package>,
-        target: &'a str,
+        target: Target<'a>,
         features: Option<String>,
         mode: BuildMode,
     },
     Clippy {
         cargoarg: &'a Option<&'a str>,
         package: Option<Package>,
-        target: &'a str,
+        target: Target<'a>,
         features: Option<String>,
     },
     Format {
@@ -83,14 +106,216 @@ pub enum CargoCommand<'a> {
     ExampleSize {
         cargoarg: &'a Option<&'a str>,
         example: &'a str,
-        target: &'a str,
+        target: Target<'a>,
         features: Option<String>,
         mode: BuildMode,
         arguments: Option<ExtraArguments>,
     },
 }
 
+impl core::fmt::Display for CargoCommand<'_> {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        let p = |p: &Option<Package>| {
+            if let Some(package) = p {
+                format!("package {package}")
+            } else {
+                format!("default package")
+            }
+        };
+
+        let feat = |f: &Option<String>| {
+            if let Some(features) = f {
+                format!("\"{features}\"")
+            } else {
+                format!("no features")
+            }
+        };
+
+        let carg = |f: &&Option<&str>| {
+            if let Some(cargoarg) = f {
+                format!("{cargoarg}")
+            } else {
+                format!("no cargo args")
+            }
+        };
+
+        let details = |target: &Target,
+                       mode: &BuildMode,
+                       features: &Option<String>,
+                       cargoarg: &&Option<&str>| {
+            let feat = feat(features);
+            let carg = carg(cargoarg);
+            if cargoarg.is_some() {
+                format!("({target}, {mode}, {feat}, {carg})")
+            } else {
+                format!("({target}, {mode}, {feat})")
+            }
+        };
+
+        match self {
+            CargoCommand::Run {
+                cargoarg,
+                example,
+                target,
+                features,
+                mode,
+            } => write!(
+                f,
+                "Run example {example} {}",
+                details(target, mode, features, cargoarg)
+            ),
+            CargoCommand::Qemu {
+                cargoarg,
+                example,
+                target,
+                features,
+                mode,
+            } => write!(
+                f,
+                "Run example {example} in QEMU {}",
+                details(target, mode, features, cargoarg)
+            ),
+            CargoCommand::ExampleBuild {
+                cargoarg,
+                example,
+                target,
+                features,
+                mode,
+            } => write!(
+                f,
+                "Build example {example} {}",
+                details(target, mode, features, cargoarg)
+            ),
+            CargoCommand::ExampleCheck {
+                cargoarg,
+                example,
+                target,
+                features,
+                mode,
+            } => write!(
+                f,
+                "Check example {example} {}",
+                details(target, mode, features, cargoarg)
+            ),
+            CargoCommand::Build {
+                cargoarg,
+                package,
+                target,
+                features,
+                mode,
+            } => {
+                let package = p(package);
+                write!(
+                    f,
+                    "Build {package} {}",
+                    details(target, mode, features, cargoarg)
+                )
+            }
+            CargoCommand::Check {
+                cargoarg,
+                package,
+                target,
+                features,
+                mode,
+            } => {
+                let package = p(package);
+                write!(
+                    f,
+                    "Check {package} {}",
+                    details(target, mode, features, cargoarg)
+                )
+            }
+            CargoCommand::Clippy {
+                cargoarg,
+                package,
+                target,
+                features,
+            } => {
+                let package = p(package);
+                let features = feat(features);
+                let carg = carg(cargoarg);
+                if cargoarg.is_some() {
+                    write!(f, "Clippy {package} ({target}, {features}, {carg})")
+                } else {
+                    write!(f, "Clippy {package} ({target}, {features})")
+                }
+            }
+            CargoCommand::Format {
+                cargoarg,
+                package,
+                check_only,
+            } => {
+                let package = p(package);
+                let carg = carg(cargoarg);
+
+                let carg = if cargoarg.is_some() {
+                    format!("(cargo args: {carg})")
+                } else {
+                    format!("")
+                };
+
+                if *check_only {
+                    write!(f, "Check format for {package} {carg}")
+                } else {
+                    write!(f, "Format {package} {carg}")
+                }
+            }
+            CargoCommand::Doc {
+                cargoarg,
+                features,
+                arguments,
+            } => {
+                let feat = feat(features);
+                let carg = carg(cargoarg);
+                let arguments = arguments
+                    .clone()
+                    .map(|a| format!("{a}"))
+                    .unwrap_or_else(|| "no extra arguments".into());
+                if cargoarg.is_some() {
+                    write!(f, "Document ({feat}, {carg}, {arguments})")
+                } else {
+                    write!(f, "Document ({feat}, {arguments})")
+                }
+            }
+            CargoCommand::Test {
+                package,
+                features,
+                test,
+            } => {
+                let p = p(package);
+                let test = test
+                    .clone()
+                    .map(|t| format!("test {t}"))
+                    .unwrap_or("all tests".into());
+                let feat = feat(features);
+                write!(f, "Run {test} in {p} (features: {feat})")
+            }
+            CargoCommand::Book { arguments: _ } => write!(f, "Build the book"),
+            CargoCommand::ExampleSize {
+                cargoarg,
+                example,
+                target,
+                features,
+                mode,
+                arguments: _,
+            } => {
+                write!(
+                    f,
+                    "Compute size of example {example} {}",
+                    details(target, mode, features, cargoarg)
+                )
+            }
+        }
+    }
+}
+
 impl<'a> CargoCommand<'a> {
+    pub fn as_cmd_string(&self) -> String {
+        let executable = self.executable();
+        let args = self.args().join(" ");
+        format!("{executable} {args}")
+    }
+
     fn command(&self) -> &str {
         match self {
             CargoCommand::Run { .. } | CargoCommand::Qemu { .. } => "run",
@@ -135,7 +360,13 @@ impl<'a> CargoCommand<'a> {
                 if let Some(cargoarg) = cargoarg {
                     args.extend_from_slice(&[cargoarg]);
                 }
-                args.extend_from_slice(&[self.command(), "--example", example, "--target", target]);
+                args.extend_from_slice(&[
+                    self.command(),
+                    "--example",
+                    example,
+                    "--target",
+                    target.triple(),
+                ]);
 
                 if let Some(feature) = features {
                     args.extend_from_slice(&["--features", feature]);
@@ -156,7 +387,13 @@ impl<'a> CargoCommand<'a> {
                 if let Some(cargoarg) = cargoarg {
                     args.extend_from_slice(&[cargoarg]);
                 }
-                args.extend_from_slice(&[self.command(), "--example", example, "--target", target]);
+                args.extend_from_slice(&[
+                    self.command(),
+                    "--example",
+                    example,
+                    "--target",
+                    target.triple(),
+                ]);
 
                 if let Some(feature) = features {
                     args.extend_from_slice(&["--features", feature]);
@@ -178,7 +415,7 @@ impl<'a> CargoCommand<'a> {
                     args.extend_from_slice(&[cargoarg]);
                 }
 
-                args.extend_from_slice(&[self.command(), "--target", target]);
+                args.extend_from_slice(&[self.command(), "--target", target.triple()]);
 
                 if let Some(package) = package {
                     args.extend_from_slice(&["--package", package.name()]);
@@ -326,7 +563,13 @@ impl<'a> CargoCommand<'a> {
                 if let Some(cargoarg) = cargoarg {
                     args.extend_from_slice(&[cargoarg]);
                 }
-                args.extend_from_slice(&[self.command(), "--example", example, "--target", target]);
+                args.extend_from_slice(&[
+                    self.command(),
+                    "--example",
+                    example,
+                    "--target",
+                    target.triple(),
+                ]);
 
                 if let Some(feature) = features {
                     args.extend_from_slice(&["--features", feature]);
@@ -347,7 +590,13 @@ impl<'a> CargoCommand<'a> {
                 if let Some(cargoarg) = cargoarg {
                     args.extend_from_slice(&[cargoarg]);
                 }
-                args.extend_from_slice(&[self.command(), "--example", example, "--target", target]);
+                args.extend_from_slice(&[
+                    self.command(),
+                    "--example",
+                    example,
+                    "--target",
+                    target.triple(),
+                ]);
 
                 if let Some(feature) = features {
                     args.extend_from_slice(&["--features", feature]);
@@ -369,7 +618,13 @@ impl<'a> CargoCommand<'a> {
                 if let Some(cargoarg) = cargoarg {
                     args.extend_from_slice(&[cargoarg]);
                 }
-                args.extend_from_slice(&[self.command(), "--example", example, "--target", target]);
+                args.extend_from_slice(&[
+                    self.command(),
+                    "--example",
+                    example,
+                    "--target",
+                    target.triple(),
+                ]);
 
                 if let Some(feature_name) = features {
                     args.extend_from_slice(&["--features", feature_name]);
@@ -411,24 +666,18 @@ impl fmt::Display for BuildMode {
     }
 }
 
-pub fn run_command(command: &CargoCommand) -> anyhow::Result<RunResult> {
-    let (mut reader, writer) = pipe()?;
-    let (mut error_reader, error_writer) = pipe()?;
-    debug!("👟 {} {}", command.executable(), command.args().join(" "));
+pub fn run_command(command: &CargoCommand, stderr_mode: OutputMode) -> anyhow::Result<RunResult> {
+    log::info!("👟 {command}");
 
-    let mut handle = Command::new(command.executable())
+    let result = Command::new(command.executable())
         .args(command.args())
-        .stdout(writer)
-        .stderr(error_writer)
-        .spawn()?;
-
-    // retrieve output and clean up
-    let mut stdout = String::new();
-    reader.read_to_string(&mut stdout)?;
-    let exit_status = handle.wait()?;
+        .stdout(Stdio::piped())
+        .stderr(stderr_mode)
+        .output()?;
 
-    let mut stderr = String::new();
-    error_reader.read_to_string(&mut stderr)?;
+    let exit_status = result.status;
+    let stderr = String::from_utf8(result.stderr).unwrap_or("Not displayable".into());
+    let stdout = String::from_utf8(result.stdout).unwrap_or("Not displayable".into());
 
     Ok(RunResult {
         exit_status,
@@ -463,3 +712,68 @@ pub fn run_successful(run: &RunResult, expected_output_file: &str) -> Result<(),
         Ok(())
     }
 }
+
+pub fn handle_results(globals: &Globals, results: Vec<FinalRunResult>) -> anyhow::Result<()> {
+    let errors = results.iter().filter_map(|r| {
+        if let FinalRunResult::Failed(c, r) = r {
+            Some((c, r))
+        } else {
+            None
+        }
+    });
+
+    let successes = results.iter().filter_map(|r| {
+        if let FinalRunResult::Success(c, r) = r {
+            Some((c, r))
+        } else {
+            None
+        }
+    });
+
+    let log_stdout_stderr = |level: Level| {
+        move |(command, result): (&CargoCommand, &RunResult)| {
+            let stdout = &result.stdout;
+            let stderr = &result.stderr;
+            if !stdout.is_empty() && !stderr.is_empty() {
+                log::log!(
+                    level,
+                    "Output for \"{command}\"\nStdout:\n{stdout}\nStderr:\n{stderr}"
+                );
+            } else if !stdout.is_empty() {
+                log::log!(
+                    level,
+                    "Output for \"{command}\":\nStdout:\n{}",
+                    stdout.trim_end()
+                );
+            } else if !stderr.is_empty() {
+                log::log!(
+                    level,
+                    "Output for \"{command}\"\nStderr:\n{}",
+                    stderr.trim_end()
+                );
+            }
+        }
+    };
+
+    successes.clone().for_each(log_stdout_stderr(Level::Debug));
+    errors.clone().for_each(log_stdout_stderr(Level::Error));
+
+    successes.for_each(|(cmd, _)| {
+        if globals.verbose > 0 {
+            info!("✅ Success: {cmd}\n    {}", cmd.as_cmd_string());
+        } else {
+            info!("✅ Success: {cmd}");
+        }
+    });
+
+    errors.clone().for_each(|(cmd, _)| {
+        error!("❌ Failed: {cmd}\n    {}", cmd.as_cmd_string());
+    });
+
+    let ecount = errors.count();
+    if ecount != 0 {
+        Err(anyhow::anyhow!("{ecount} commands failed."))
+    } else {
+        Ok(())
+    }
+}
diff --git a/xtask/src/main.rs b/xtask/src/main.rs
index a7fd1d3..2bfe851 100644
--- a/xtask/src/main.rs
+++ b/xtask/src/main.rs
@@ -3,9 +3,9 @@ mod build;
 mod cargo_commands;
 mod command;
 
-use anyhow::bail;
-use argument_parsing::{ExtraArguments, Package};
+use argument_parsing::{ExtraArguments, Globals, Package};
 use clap::Parser;
+use command::OutputMode;
 use core::fmt;
 use diffy::{create_patch, PatchFormatter};
 use std::{
@@ -14,32 +14,60 @@ use std::{
     fs::File,
     io::prelude::*,
     path::{Path, PathBuf},
-    process,
     process::ExitStatus,
     str,
 };
 
-use env_logger::Env;
-use log::{debug, error, info, log_enabled, trace, Level};
+use log::{error, info, log_enabled, trace, Level};
 
 use crate::{
-    argument_parsing::{Backends, BuildOrCheck, Cli, Commands, PackageOpt},
+    argument_parsing::{Backends, BuildOrCheck, Cli, Commands},
     build::init_build_dir,
     cargo_commands::{
         build_and_check_size, cargo, cargo_book, cargo_clippy, cargo_doc, cargo_example,
         cargo_format, cargo_test, run_test,
     },
-    command::{run_command, run_successful, CargoCommand},
+    command::{handle_results, run_command, run_successful, CargoCommand},
 };
 
-// x86_64-unknown-linux-gnu
-const _X86_64: &str = "x86_64-unknown-linux-gnu";
-const ARMV6M: &str = "thumbv6m-none-eabi";
-const ARMV7M: &str = "thumbv7m-none-eabi";
-const ARMV8MBASE: &str = "thumbv8m.base-none-eabi";
-const ARMV8MMAIN: &str = "thumbv8m.main-none-eabi";
+#[derive(Debug, Clone, Copy)]
+pub struct Target<'a> {
+    triple: &'a str,
+    has_std: bool,
+}
+
+impl<'a> Target<'a> {
+    const DEFAULT_FEATURES: &str = "test-critical-section";
+
+    pub const fn new(triple: &'a str, has_std: bool) -> Self {
+        Self { triple, has_std }
+    }
+
+    pub fn triple(&self) -> &str {
+        self.triple
+    }
+
+    pub fn has_std(&self) -> bool {
+        self.has_std
+    }
 
-const DEFAULT_FEATURES: &str = "test-critical-section";
+    pub fn and_features(&self, features: &str) -> String {
+        format!("{},{}", Self::DEFAULT_FEATURES, features)
+    }
+}
+
+impl core::fmt::Display for Target<'_> {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
+        write!(f, "{}", self.triple)
+    }
+}
+
+// x86_64-unknown-linux-gnu
+const _X86_64: Target = Target::new("x86_64-unknown-linux-gnu", true);
+const ARMV6M: Target = Target::new("thumbv6m-none-eabi", false);
+const ARMV7M: Target = Target::new("thumbv7m-none-eabi", false);
+const ARMV8MBASE: Target = Target::new("thumbv8m.base-none-eabi", false);
+const ARMV8MMAIN: Target = Target::new("thumbv8m.main-none-eabi", false);
 
 #[derive(Debug, Clone)]
 pub struct RunResult {
@@ -96,7 +124,9 @@ fn main() -> anyhow::Result<()> {
     // check the name of `env::current_dir()` because people might clone it into a different name)
     let probably_running_from_repo_root = Path::new("./xtask").exists();
     if !probably_running_from_repo_root {
-        bail!("xtasks can only be executed from the root of the `rtic` repository");
+        return Err(anyhow::anyhow!(
+            "xtasks can only be executed from the root of the `rtic` repository"
+        ));
     }
 
     let examples: Vec<_> = std::fs::read_dir("./rtic/examples")?
@@ -108,26 +138,28 @@ fn main() -> anyhow::Result<()> {
 
     let cli = Cli::parse();
 
-    let env_logger_default_level = match cli.verbose {
-        0 => Env::default().default_filter_or("info"),
-        1 => Env::default().default_filter_or("debug"),
-        _ => Env::default().default_filter_or("trace"),
+    let globals = &cli.globals;
+
+    let env_logger_default_level = match globals.verbose {
+        0 => "info",
+        1 => "debug",
+        _ => "trace",
     };
-    env_logger::Builder::from_env(env_logger_default_level)
-        .format_module_path(false)
-        .format_timestamp(None)
+
+    pretty_env_logger::formatted_builder()
+        .parse_filters(&std::env::var("RUST_LOG").unwrap_or(env_logger_default_level.into()))
         .init();
 
-    trace!("default logging level: {0}", cli.verbose);
+    trace!("default logging level: {0}", globals.verbose);
 
-    let backend = if let Some(backend) = cli.backend {
+    let backend = if let Some(backend) = globals.backend {
         backend
     } else {
         Backends::default()
     };
 
-    let example = cli.example;
-    let exampleexclude = cli.exampleexclude;
+    let example = globals.example.clone();
+    let exampleexclude = globals.exampleexclude.clone();
 
     let examples_to_run = {
         let mut examples_to_run = examples.clone();
@@ -164,10 +196,10 @@ fn main() -> anyhow::Result<()> {
                     \n{examples:#?}\n\
              By default if example flag is emitted, all examples are tested.",
             );
-            process::exit(exitcode::USAGE);
+            return Err(anyhow::anyhow!("Incorrect usage"));
         } else {
+            examples_to_run
         }
-        examples_to_run
     };
 
     init_build_dir()?;
@@ -185,104 +217,91 @@ fn main() -> anyhow::Result<()> {
         Some("--quiet")
     };
 
-    match cli.command {
-        Commands::FormatCheck(args) => {
-            info!("Running cargo fmt --check: {args:?}");
-            let check_only = true;
-            cargo_format(&cargologlevel, &args, check_only)?;
-        }
-        Commands::Format(args) => {
-            info!("Running cargo fmt: {args:?}");
-            let check_only = false;
-            cargo_format(&cargologlevel, &args, check_only)?;
-        }
+    let final_run_results = match &cli.command {
+        Commands::Format(args) => cargo_format(globals, &cargologlevel, &args.package, args.check),
         Commands::Clippy(args) => {
             info!("Running clippy on backend: {backend:?}");
-            cargo_clippy(&cargologlevel, &args, backend)?;
+            cargo_clippy(globals, &cargologlevel, &args, backend)
         }
         Commands::Check(args) => {
             info!("Checking on backend: {backend:?}");
-            cargo(BuildOrCheck::Check, &cargologlevel, &args, backend)?;
+            cargo(globals, BuildOrCheck::Check, &cargologlevel, &args, backend)
         }
         Commands::Build(args) => {
             info!("Building for backend: {backend:?}");
-            cargo(BuildOrCheck::Build, &cargologlevel, &args, backend)?;
+            cargo(globals, BuildOrCheck::Build, &cargologlevel, &args, backend)
         }
         Commands::ExampleCheck => {
             info!("Checking on backend: {backend:?}");
             cargo_example(
+                globals,
                 BuildOrCheck::Check,
                 &cargologlevel,
                 backend,
                 &examples_to_run,
-            )?;
+            )
         }
         Commands::ExampleBuild => {
             info!("Building for backend: {backend:?}");
             cargo_example(
+                globals,
                 BuildOrCheck::Build,
                 &cargologlevel,
                 backend,
                 &examples_to_run,
-            )?;
+            )
         }
         Commands::Size(args) => {
             // x86_64 target not valid
             info!("Measuring for backend: {backend:?}");
-            build_and_check_size(&cargologlevel, backend, &examples_to_run, &args.arguments)?;
+            build_and_check_size(
+                globals,
+                &cargologlevel,
+                backend,
+                &examples_to_run,
+                &args.arguments,
+            )
         }
         Commands::Qemu(args) | Commands::Run(args) => {
             // x86_64 target not valid
             info!("Testing for backend: {backend:?}");
             run_test(
+                globals,
                 &cargologlevel,
                 backend,
                 &examples_to_run,
                 args.overwrite_expected,
-            )?;
+            )
         }
         Commands::Doc(args) => {
             info!("Running cargo doc on backend: {backend:?}");
-            cargo_doc(&cargologlevel, backend, &args.arguments)?;
+            cargo_doc(globals, &cargologlevel, backend, &args.arguments)
         }
         Commands::Test(args) => {
             info!("Running cargo test on backend: {backend:?}");
-            cargo_test(&args, backend)?;
+            cargo_test(globals, &args, backend)
         }
         Commands::Book(args) => {
             info!("Running mdbook");
-            cargo_book(&args.arguments)?;
+            cargo_book(globals, &args.arguments)
         }
-    }
+    };
 
-    Ok(())
+    handle_results(globals, final_run_results)
 }
 
-/// Get the features needed given the selected package
-///
-/// Without package specified the features for RTIC are required
-/// With only a single package which is not RTIC, no special
-/// features are needed
-fn package_feature_extractor(package: &PackageOpt, backend: Backends) -> Option<String> {
-    let default_features = Some(format!(
-        "{},{}",
-        DEFAULT_FEATURES,
-        backend.to_rtic_feature()
-    ));
-    if let Some(package) = package.package {
-        debug!("\nTesting package: {package}");
-        match package {
-            Package::Rtic => default_features,
-            Package::RticMacros => Some(backend.to_rtic_macros_feature().to_owned()),
-            _ => None,
-        }
+// run example binary `example`
+fn command_parser(
+    glob: &Globals,
+    command: &CargoCommand,
+    overwrite: bool,
+) -> anyhow::Result<RunResult> {
+    let output_mode = if glob.stderr_inherited {
+        OutputMode::Inherited
     } else {
-        default_features
-    }
-}
+        OutputMode::PipedAndCollected
+    };
 
-// run example binary `example`
-fn command_parser(command: &CargoCommand, overwrite: bool) -> anyhow::Result<()> {
     match *command {
         CargoCommand::Qemu { example, .. } | CargoCommand::Run { example, .. } => {
             let run_file = format!("{example}.run");
@@ -295,7 +314,7 @@ fn command_parser(command: &CargoCommand, overwrite: bool) -> anyhow::Result<()>
 
             // cargo run <..>
             info!("Running example: {example}");
-            let cargo_run_result = run_command(command)?;
+            let cargo_run_result = run_command(command, output_mode)?;
             info!("{}", cargo_run_result.stdout);
 
             // Create a file for the expected output if it does not exist or mismatches
@@ -315,8 +334,9 @@ fn command_parser(command: &CargoCommand, overwrite: bool) -> anyhow::Result<()>
                 };
             } else {
                 run_successful(&cargo_run_result, &expected_output_file)?;
-            }
-            Ok(())
+            };
+
+            Ok(cargo_run_result)
         }
         CargoCommand::Format { .. }
         | CargoCommand::ExampleCheck { .. }
@@ -328,28 +348,8 @@ fn command_parser(command: &CargoCommand, overwrite: bool) -> anyhow::Result<()>
         | CargoCommand::Test { .. }
         | CargoCommand::Book { .. }
         | CargoCommand::ExampleSize { .. } => {
-            let cargo_result = run_command(command)?;
-            if let Some(exit_code) = cargo_result.exit_status.code() {
-                if exit_code != exitcode::OK {
-                    error!("Exit code from command: {exit_code}");
-                    if !cargo_result.stdout.is_empty() {
-                        info!("{}", cargo_result.stdout);
-                    }
-                    if !cargo_result.stderr.is_empty() {
-                        error!("{}", cargo_result.stderr);
-                    }
-                    process::exit(exit_code);
-                } else {
-                    if !cargo_result.stdout.is_empty() {
-                        info!("{}", cargo_result.stdout);
-                    }
-                    if !cargo_result.stderr.is_empty() {
-                        info!("{}", cargo_result.stderr);
-                    }
-                }
-            }
-
-            Ok(())
+            let cargo_result = run_command(command, output_mode)?;
+            Ok(cargo_result)
         }
     }
 }