.. _showcase-sense-tutorial-devicetests: ====================== 9. Run on-device tests ====================== .. _mock or stub: https://stackoverflow.com/a/17810004 :ref:`Host tests ` are the best way to test hardware-independent logic in your codebase because they are much easier to scale. Eventually, however, you need to tests parts of your codebase that interact with hardware. Sometimes you can `mock or stub`_ the hardware logic and still run the tests host-side. Other times you really do need to run the tests on-device. Pigweed provides robust and automated solutions for running hardware-in-the-loop tests. .. note:: This step requires the :ref:`full hardware setup ` and must be run over a terminal. .. note:: This section requires the VS Code terminal because there's currently no way to run wildcard tests from the **Bazel Targets** UI. Wildcard tests will be explained more in a moment. .. _showcase-sense-tutorial-devicetests-setup: -------------------- Set up your hardware -------------------- #. Set up your hardware to match the :ref:`full setup `. On-device tests only work with the full setup. You can skip ahead to :ref:`showcase-sense-tutorial-pico-rpc` if you don't have the full setup hardware. .. _showcase-sense-tutorial-devicetests-run: ------------------- Run on-device tests ------------------- .. _Command Palette: https://code.visualstudio.com/docs/getstarted/userinterface#_command-palette .. _terminal: https://code.visualstudio.com/docs/terminal/basics #. Open a terminal: .. tab-set:: .. tab-item:: VS Code :sync: vsc #. Open the `Command Palette`_. #. Run the ``Pigweed: Set Bazelisk Path`` command and then select **Use the version built in to the Pigweed extension** option. #. Open the Command Palette again and run the ``Pigweed: Activate Bazelisk In Terminal`` command. You should see a terminal open like this: .. code-block:: text export PATH="/home/kayce/.vscode/extensions/pigweed.pigweed-1.3.3/node_modules/@bazel/bazelisk:${PATH}" kayce@kayce0:~/tmp/sense$ export PATH="/home/kayce/.vscode/extensions/pigweed.pigweed-1.3.3/node_modules/@bazel/bazelisk:${PATH}" kayce@kayce0:~/tmp/sense$ .. tab-item:: CLI :sync: cli Just follow your normal workflow for opening a terminal window or tab. #. Start a test runner. .. tab-set:: .. tab-item:: Pico 1 (RP2040) :sync: rp2040 .. code-block:: console bazelisk run \ @pigweed//targets/rp2040/py:unit_test_server \ -- --debug-probe-only --chip RP2040 .. tab-item:: Pico 2 (RP2350) :sync: rp2040 .. code-block:: console bazelisk run \ @pigweed//targets/rp2040/py:unit_test_server \ -- --debug-probe-only --chip RP2350 .. note:: The ``rp2040`` part of the previous command is not a typo. In :ref:`docs-glossary-upstream` there is a single hardware target named ``rp2040`` that can control both RP2040 and RP2350 chips. Admittedly, the confusion would be avoided if this target had a more general name, e.g. ``rp2xxx``. You should see output like this: .. code-block:: text INFO: Analyzed target @@pigweed~//targets/rp2040/py:unit_test_server (134 packages loaded, 13872 targets configured). INFO: Found 1 target... Target @@pigweed~//targets/rp2040/py:unit_test_server up-to-date: bazel-bin/external/pigweed~/targets/rp2040/py/unit_test_server INFO: Elapsed time: 32.497s, Critical Path: 18.71s INFO: 177 processes: 12 internal, 165 linux-sandbox. INFO: Build completed successfully, 177 total actions INFO: Running command line: bazel-bin/external/pigweed~/targets/rp2040/py/unit_test_server 20240806 18:22:29 OUT [370633] 2024/08/06 18:22:29 Parsed server configuration from /tmp/tmparhr7i8o 20240806 18:22:29 OUT [370633] 2024/08/06 18:22:29 Registered ExecDeviceRunner /home/kayce/.cache/bazel/_bazel_kayce/12747149b267f61f52f2c26162a31942/execroot/_main/bazel-out/k8-fastbuild/bin/external/pigweed~/targets/rp2040/py/rpc_unit_test_runner with args [--usb-bus 3 --usb-port 6] 20240806 18:22:29 OUT [370633] 2024/08/06 18:22:29 Starting gRPC server on [::]:34172 20240806 18:22:29 OUT [370633] [ServerWorkerPool] 2024/08/06 18:22:29 Starting 1 workers 20240806 18:22:29 OUT [370633] [ExecDeviceRunner 0] 2024/08/06 18:22:29 Starting worker The test runner essentially orchestrates how all the unit tests should be run. Leave this server running and proceed to the next step. #. Open another terminal tab and run the tests. .. tab-set:: .. tab-item:: Pico 1 (RP2040) :sync: rp2040 .. code-block:: console bazelisk test --config=rp2040 //... .. tab-item:: Pico 2 (RP2350) :sync: rp2040 .. code-block:: console bazelisk test --config=rp2350 //... .. code-block:: text # ... INFO: Found 134 targets and 10 test targets... INFO: Elapsed time: 131.231s, Critical Path: 60.93s INFO: 2368 processes: 423 internal, 1945 linux-sandbox. INFO: Build completed successfully, 2368 total actions //modules/pubsub:service_test SKIPPED //modules/air_sensor:air_sensor_test PASSED in 30.2s //modules/blinky:blinky_test PASSED in 14.3s //modules/buttons:manager_test PASSED in 41.0s //modules/edge_detector:hysteresis_edge_detector_test PASSED in 7.3s //modules/lerp:lerp_test PASSED in 26.0s //modules/morse_code:encoder_test PASSED in 35.6s //modules/pubsub:pubsub_events_test PASSED in 18.2s //modules/pubsub:pubsub_test PASSED in 22.1s //modules/state_manager:state_manager_test PASSED in 38.5s Executed 9 out of 10 tests: 9 tests pass and 1 was skipped. .. note:: The ``//...`` in this command is what makes this a wildcard test. ``//...`` means "run all tests defined thoughout the project". The ``--config`` option specifies what hardware the tests will run on. #. Go to the terminal that the test runner is running in and press :kbd:`Control+C` to close it. .. _showcase-sense-tutorial-devicetests-flash: ----------------------------------------- Flash the blinky app onto your Pico again ----------------------------------------- You're done with the on-device tests. Flash the ``blinky`` app back onto your Pico again: .. tab-set:: .. tab-item:: VS Code :sync: vsc .. tab-set:: .. tab-item:: Pico 1 (RP2040) :sync: rp2040 In **Bazel Targets** expand **//apps/blinky**, then right-click **:flash_rp2040 (native binary)**, then select **Run target**. .. tab-item:: Pico 2 (RP2350) :sync: rp2350 In **Bazel Targets** expand **//apps/blinky**, then right-click **:flash_rp2350 (native binary)**, then select **Run target**. .. tab-item:: CLI :sync: cli .. tab-set:: .. tab-item:: Pico 1 (RP2040) :sync: rp2040 .. code-block:: console bazelisk run //apps/blinky:flash_rp2040 .. tab-item:: Pico 2 (RP2350) :sync: rp2350 .. code-block:: console bazelisk run //apps/blinky:flash_rp2350 If you've got both a Pico and a Debug Probe connected to your development host and you see the ``Please select a serial port device`` prompt, remember to select the Debug Probe, not the Pico. The flashing command passes through the Debug Probe to the Pico. .. _showcase-sense-tutorial-devicetests-summary: ------- Summary ------- :ref:`Host tests ` are a great way to verify that hardware-agnostic application logic is correct. For any logic that's intimately connected to hardware, however, on-device tests are necessary. Pigweed provides robust support for extensive automation of hardware-in-the-loop tests. Next, head over to :ref:`showcase-sense-tutorial-pico-rpc` to explore how to communicate with your Pico from your host.