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Testing on Raspberry Pi Pico using PlatformIO with Arduino-Pico core and ThrowTheSwitch Unity testing framework

platformio.ini

; ... 
; Base [env] should have all the base flags and stuff, [env:pico] will inherit;
; don't forget about upload tool & port, and monitor.

[env:pico]
platform = https://github.com/maxgerhardt/platform-raspberrypi.git
board = pico
framework = arduino
board_build.core = earlephilhower

test_framework = unity
test_build_src = yes
test_filter =
	common/*
	embedded/*

If test_build_src = yes, make sure guard your main/setup/loop with #ifndef PIO_UNIT_TESTING, as most likely you will have the testing code should implement those.

Test hierarchy

Have good read about PlatformIO test hierarchy. I use test/common/* for tests that could run on both native (your PC) and target board; then test/embedded/* for test strictly for target board, including test/embedded/interactive/* for those which will require external user input to perform and hopefully succeed.

Unity (testing framework)

You can use unity_config.h file to put extra configuration. Care: it should be C-style header, as it will be included by Unity build process which most likely will use C. You might want to guard for extern "C" where necessary.

If you have some functions that need to be accessible for Unity (like me if you see sections below), in some source file (I use unity_config.cpp) you can put the implementation, but make sure to use extern "C" again for those functions.

See unity_config.h and unity_config.cpp for my implementation.

Arduino-Pico

Unity Testing framework uses standard output by default.

Option A) Define DEBUG_RP2040_PORT

When using the Earle Philhower's Arduino-Pico core for Raspberry Pi Pico (RP2040) if you want to use stdout things you have to specify custom Arduino Print-compatible target DEBUG_RP2040_PORT (usually Serial, or Serial1/2). Other method is using as Arduino has Print::printf extension which is used by the logging library by default. See this comment and this comment at Arduino-Pico issue about printf. Also you can visit standard output related _write implementation using DEBUG_RP2040_PORT in the Arduino-Pico sources.

You need to define the DEBUG_RP2040_PORT in the whole environment for whole project (easy, but then your normal logging also should go via standard output ways) OR figure out to do that only when running tests - which most likely (I didn't research this way enough) requires to use extra scripts.

Option B) Configure Unity to use Arduino Serial

In your unity_config.h, you can define UNITY_OUTPUT_CHAR(c), UNITY_OUTPUT_FLUSH(), UNITY_OUTPUT_START() and UNITY_OUTPUT_COMPLETE() which Unity will use to print stuff. With right macros it will be used only when building for target board, and will be omitted for native build.

Delay before testing on target board

Also, UNITY_OUTPUT_START() is good place to add extra delay. I use 2500 ms.

See unity_config.h and unity_config.cpp for my implementation.

Showing execution time (or using clock at all)

Unity can be configured with UNITY_INCLUDE_EXEC_TIME to printing execution time of each test. Problem is, that Pico doesn't implement _clock for standard library clock to be working which the Unity needs by default. Fortunately, you can define UNITY_CLOCK_MS to provide your function for returning time in milliseconds.

See unity_config.h and unity_config.cpp for my implementation.

Writing the tests

Don't forget to add the setUp and tearDown (even if empty):

void setUp(void) {}

void tearDown(void) {}

If using Arduino-Pico you should also use setup and loop, including in shared tests. Then, since shared test run both native (local PC) and target board, we need main for native code that will run the setup and loop. Also, the Arduino might expect C-style while linking those, so use extern "C":

See unity_config.h and unity_config.cpp for my implementation.

The Arduino-Pico framework will add main when building for Pico (and do some setup for serial ports and so on).

I put the test in the setup:

extern "C" void setup()
{
	UNITY_BEGIN();
	RUN_TEST(test_basic);
	UNITY_END();
}

extern "C" void loop() {}

If you put it in loop it still should work - the test runner will just get first result from the logs and proceed with other tests.

Unresponsive Pico issue

If you ended up with unresponsive Pico, reasons might include:

  • You implemented main somewhere by accident, and Arduino-Pico own main (with all the important setup) was not executed.
  • The code might hung-up on infinite loop, and there is no watchdog setup to reset the Pico (or it itself results in infinite restart loop).

Solution: You might want to build and manually put valid UF2 file (even simple blink) onto your Pico, by pressing the BOOTSEL button while powering up the board.

Running the tests

Aside from PlatformIO general "Test" button, you can use command line for more options.

pio test --help

Usage: pio test [OPTIONS]

Options:
  -e, --environment TEXT
  -f, --filter PATTERN         Filter tests by a pattern
  -i, --ignore PATTERN         Ignore tests by a pattern
  --upload-port TEXT
  --test-port TEXT
  -d, --project-dir DIRECTORY
  -c, --project-conf FILE
  --without-building
  --without-uploading
  --without-testing
  --no-reset
  --monitor-rts INTEGER RANGE  Set initial RTS line state for Serial Monitor
                               [0<=x<=1]
  --monitor-dtr INTEGER RANGE  Set initial DTR line state for Serial Monitor
                               [0<=x<=1]
  -a, --program-arg TEXT       A program argument (multiple are allowed)    
  --list-tests
  --json-output
  --json-output-path PATH
  --junit-output-path PATH
  -v, --verbose                Increase verbosity level, maximum is 3 levels
                               (-vvv), see docs for details
  -h, --help                   Show this message and exit.

Aside from the button I usually use pio test -e pico -v --filter embedded/interactive/* (or even more specific). At least single -v is required if you want see the log from the target device and the execution times for given tests.

To run ignored test (test_ignore set in platformio.ini), use something like pio test -e pico --filter embedded/interactive/other/* --ignore NONE -v.

Debugging

Debugging the tests is possible. Aside from setting debug_tool = cmsis-dap, use debug_test = embedded/interactive/ui/app/test_VoltageGraph and start the debugging from VS Code. Only one test at the time can be debugged. You might want to delete/comment it before committing to Git, or if you want to go back to main application code.