✅ Add unit testing framework

.github/workflows/test-builds.yml

@@ -180,3 +180,47 @@ jobs:
     - name: Run ${{ matrix.test-platform }} Tests
       run: |
         make tests-single-ci TEST_TARGET=${{ matrix.test-platform }}
+
+  # This runs all unit tests as a single job. While it should be possible to break this up into
+  # multiple jobs, they currently run quickly and finish long before the compilation tests.
+  run_unit_tests:
+    name: Run All Unit Tests
+    # These tests will only be able to run on the bugfix-2.1.x branch, until the next release
+    # pulls them into additional branches.
+    if: github.repository == 'MarlinFirmware/Marlin' && github.ref == 'refs/heads/bugfix-2.1.x'
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Check out the PR
+      uses: actions/checkout@v4
+
+    - name: Cache pip
+      uses: actions/cache@v4
+      with:
+        path: ~/.cache/pip
+        key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }}
+        restore-keys: |
+          ${{ runner.os }}-pip-
+
+    - name: Cache PlatformIO
+      uses: actions/cache@v4
+      with:
+        path: ~/.platformio
+        key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }}
+
+    - name: Select Python 3.9
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.9'
+        architecture: 'x64'
+
+    - name: Install PlatformIO
+      run: |
+        pip install -U platformio
+        pio upgrade --dev
+        pio pkg update --global
+
+    - name: Run All Unit Tests
+      run: |
+        make tests-code-all-local

.gitignore

@@ -107,6 +107,7 @@ applet/
 .clang_complete
 .gcc-flags.json
 /lib/
+test/tmp*c
 
 # Secure Credentials
 Configuration_Secure.h

Makefile

@@ -12,7 +12,12 @@ help:
 	@echo "make tests-single-local-docker : Run a single test locally, using docker"
 	@echo "make tests-all-local           : Run all tests locally"
 	@echo "make tests-all-local-docker    : Run all tests locally, using docker"
-	@echo "make setup-local-docker        : Build the local docker image"
+#	@echo "make tests-code-single-ci      : Run a single code test from inside the CI"
+#	@echo "make tests-code-single-local   : Run a single code test locally"
+#	@echo "make tests-code-single-local-docker : Run a single code test locally, using docker-compose"
+	@echo "make tests-code-all-local      : Run all code tests locally"
+	@echo "make tests-code-all-local-docker : Run all code tests locally, using docker-compose"
+	@echo "make setup-local-docker        : Setup local docker-compose"
 	@echo ""
 	@echo "Options for testing:"
 	@echo "  TEST_TARGET          Set when running tests-single-*, to select the"
@@ -54,8 +59,29 @@ tests-all-local-docker:
 	@if ! $(CONTAINER_RT_BIN) images -q $(CONTAINER_IMAGE) > /dev/null ; then $(MAKE) setup-local-docker ; fi
 	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS) $(CONTAINER_IMAGE) $(MAKE) tests-all-local VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD)
 
+#tests-code-single-ci:
+#	export GIT_RESET_HARD=true
+#	$(MAKE) tests-code-single-local TEST_TARGET=$(TEST_TARGET)
+
+# TODO: How can we limit tests with ONLY_TEST with platformio?
+#tests-code-single-local:
+#	@if ! test -n "$(TEST_TARGET)" ; then echo "***ERROR*** Set TEST_TARGET=<your-module> or use make tests-code-all-local" ; return 1; fi
+#	platformio run -t marlin_$(TEST_TARGET)
+
+#tests-code-single-local-docker:
+#	@if ! test -n "$(TEST_TARGET)" ; then echo "***ERROR*** Set TEST_TARGET=<your-module> or use make tests-code-all-local-docker" ; return 1; fi
+#	@if ! $(CONTAINER_RT_BIN) images -q $(CONTAINER_IMAGE) > /dev/null ; then $(MAKE) setup-local-docker ; fi
+#	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS)  $(CONTAINER_IMAGE) $(MAKE) tests-code-single-local TEST_TARGET=$(TEST_TARGET) ONLY_TEST="$(ONLY_TEST)"
+
+tests-code-all-local:
+	platformio run -t test-marlin -e linux_native_test
+
+tests-code-all-local-docker:
+	@if ! $(CONTAINER_RT_BIN) images -q $(CONTAINER_IMAGE) > /dev/null ; then $(MAKE) setup-local-docker ; fi
+	$(CONTAINER_RT_BIN) run $(CONTAINER_RT_OPTS)  $(CONTAINER_IMAGE) $(MAKE) tests-code-all-local
+
 setup-local-docker:
-	$(CONTAINER_RT_BIN) build -t $(CONTAINER_IMAGE) -f docker/Dockerfile .
+	$(CONTAINER_RT_BIN) buildx build -t $(CONTAINER_IMAGE) -f docker/Dockerfile .
 
 PINS := $(shell find Marlin/src/pins -mindepth 2 -name '*.h')
 

Marlin/src/HAL/LINUX/hardware/Timer.cpp

@@ -37,7 +37,10 @@ Timer::Timer() {
 }
 
 Timer::~Timer() {
-  timer_delete(timerid);
+  if (timerid != 0) {
+    timer_delete(timerid);
+    timerid = 0;
+  }
 }
 
 void Timer::init(uint32_t sig_id, uint32_t sim_freq, callback_fn* fn) {

Marlin/src/HAL/LINUX/main.cpp

@@ -21,6 +21,7 @@
  */
 
 #ifdef __PLAT_LINUX__
+#ifndef UNIT_TEST
 
 //#define GPIO_LOGGING // Full GPIO and Positional Logging
 
@@ -135,4 +136,5 @@ int main() {
   read_serial.join();
 }
 
+#endif // UNIT_TEST
 #endif // __PLAT_LINUX__

Marlin/src/gcode/queue.cpp

@@ -331,64 +331,6 @@ FORCE_INLINE bool is_M29(const char * const cmd) {  // matches "M29" & "M29 ", b
   return m29 && !NUMERIC(m29[3]);
 }
 
-#define PS_NORMAL 0
-#define PS_EOL    1
-#define PS_QUOTED 2
-#define PS_PAREN  3
-#define PS_ESC    4
-
-inline void process_stream_char(const char c, uint8_t &sis, char (&buff)[MAX_CMD_SIZE], int &ind) {
-
-  if (sis == PS_EOL) return;    // EOL comment or overflow
-
-  #if ENABLED(PAREN_COMMENTS)
-    else if (sis == PS_PAREN) { // Inline comment
-      if (c == ')') sis = PS_NORMAL;
-      return;
-    }
-  #endif
-
-  else if (sis >= PS_ESC)       // End escaped char
-    sis -= PS_ESC;
-
-  else if (c == '\\') {         // Start escaped char
-    sis += PS_ESC;
-    if (sis == PS_ESC) return;  // Keep if quoting
-  }
-
-  #if ENABLED(GCODE_QUOTED_STRINGS)
-
-    else if (sis == PS_QUOTED) {
-      if (c == '"') sis = PS_NORMAL; // End quoted string
-    }
-    else if (c == '"')          // Start quoted string
-      sis = PS_QUOTED;
-
-  #endif
-
-  else if (c == ';') {          // Start end-of-line comment
-    sis = PS_EOL;
-    return;
-  }
-
-  #if ENABLED(PAREN_COMMENTS)
-    else if (c == '(') {        // Start inline comment
-      sis = PS_PAREN;
-      return;
-    }
-  #endif
-
-  // Backspace erases previous characters
-  if (c == 0x08) {
-    if (ind) buff[--ind] = '\0';
-  }
-  else {
-    buff[ind++] = c;
-    if (ind >= MAX_CMD_SIZE - 1)
-      sis = PS_EOL;             // Skip the rest on overflow
-  }
-}
-
 /**
  * Handle a line being completed. For an empty line
  * keep sensor readings going and watchdog alive.

Marlin/src/gcode/queue.h

@@ -28,6 +28,66 @@
 
 #include "../inc/MarlinConfig.h"
 
+
+#define PS_NORMAL 0
+#define PS_EOL    1
+#define PS_QUOTED 2
+#define PS_PAREN  3
+#define PS_ESC    4
+
+inline void process_stream_char(const char c, uint8_t &sis, char (&buff)[MAX_CMD_SIZE], int &ind) {
+
+  if (sis == PS_EOL) return;    // EOL comment or overflow
+
+  #if ENABLED(PAREN_COMMENTS)
+    else if (sis == PS_PAREN) { // Inline comment
+      if (c == ')') sis = PS_NORMAL;
+      return;
+    }
+  #endif
+
+  else if (sis >= PS_ESC)       // End escaped char
+    sis -= PS_ESC;
+
+  else if (c == '\\') {         // Start escaped char
+    sis += PS_ESC;
+    if (sis == PS_ESC) return;  // Keep if quoting
+  }
+
+  #if ENABLED(GCODE_QUOTED_STRINGS)
+
+    else if (sis == PS_QUOTED) {
+      if (c == '"') sis = PS_NORMAL; // End quoted string
+    }
+    else if (c == '"')          // Start quoted string
+      sis = PS_QUOTED;
+
+  #endif
+
+  else if (c == ';') {          // Start end-of-line comment
+    sis = PS_EOL;
+    return;
+  }
+
+  #if ENABLED(PAREN_COMMENTS)
+    else if (c == '(') {        // Start inline comment
+      sis = PS_PAREN;
+      return;
+    }
+  #endif
+
+  // Backspace erases previous characters
+  if (c == 0x08) {
+    if (ind) buff[--ind] = '\0';
+  }
+  else {
+    buff[ind++] = c;
+    if (ind >= MAX_CMD_SIZE - 1)
+      sis = PS_EOL;             // Skip the rest on overflow
+  }
+}
+
+
 class GCodeQueue {
 public:
   /**

Marlin/tests/README.md

@@ -0,0 +1,7 @@
+These test files are executed through the unit-tests built from the <root>/test folder.
+
+By placing these outside of the main PlatformIO test folder, we are able to collect
+all test files and compile them into multiple PlatformIO test binaries. This enables
+tests to be executed against a variety of Marlin configurations.
+
+To execute these tests, refer to the top-level Makefile.

Marlin/tests/gcode/test_gcode.cpp

@@ -0,0 +1,37 @@
+#include "../test/marlin_tests.h"
+#include <src/gcode/gcode.h>
+#include <src/gcode/parser.h>
+
+MARLIN_TEST(gcode, process_parsed_command) {
+  GcodeSuite suite;
+  parser.command_letter = 'G';
+  parser.codenum = 0;
+  suite.process_parsed_command(false);
+}
+
+MARLIN_TEST(gcode, parse_g1_xz)
+{
+  char current_command[] = "G0 X10 Z30";
+  parser.command_letter = -128;
+  parser.codenum = -1;
+  parser.parse(current_command);
+  TEST_ASSERT_EQUAL('G', parser.command_letter);
+  TEST_ASSERT_EQUAL(0, parser.codenum);
+  TEST_ASSERT_TRUE(parser.seen('X'));
+  TEST_ASSERT_FALSE(parser.seen('Y'));
+  TEST_ASSERT_TRUE(parser.seen('Z'));
+  TEST_ASSERT_FALSE(parser.seen('E'));
+}
+
+MARLIN_TEST(gcode, parse_g1_nxz) {
+  char current_command[] = "N123 G0 X10 Z30";
+  parser.command_letter = -128;
+  parser.codenum = -1;
+  parser.parse(current_command);
+  TEST_ASSERT_EQUAL('G', parser.command_letter);
+  TEST_ASSERT_EQUAL(0, parser.codenum);
+  TEST_ASSERT_TRUE(parser.seen('X'));
+  TEST_ASSERT_FALSE(parser.seen('Y'));
+  TEST_ASSERT_TRUE(parser.seen('Z'));
+  TEST_ASSERT_FALSE(parser.seen('E'));
+}

Marlin/tests/queue/test_parse_line.cpp

@@ -0,0 +1,44 @@
+#include "../test/marlin_tests.h"
+#include <unity.h>
+#include <src/gcode/queue.h>
+
+static void test_parse_line(const char *command, const char *expected) {
+  char buffer[MAX_CMD_SIZE];
+  int buffer_index = 0;
+  uint8_t input_state = PS_NORMAL;
+
+  for (int position = 0 ; command[position] ; position++) {
+    process_stream_char(command[position], input_state, buffer, buffer_index);
+  }
+  buffer[buffer_index] = 0;
+
+  TEST_ASSERT_EQUAL_STRING(expected, buffer);
+}
+
+MARLIN_TEST(parse_line, g1_x_and_parenthesis_comment)
+{
+#if ENABLED(PAREN_COMMENTS)
+  test_parse_line("G0 X10 (Z30)", "G0 X10 ");
+#else
+  test_parse_line("G0 X10 (Z30)", "G0 X10 (Z30)");
+#endif
+}
+
+MARLIN_TEST(parse_line, g1_x_and_parenthesis_inline_comment)
+{
+#if ENABLED(PAREN_COMMENTS)
+  test_parse_line("G0 X10 (Y20) Z30", "G0 X10  Z30");
+#else
+  test_parse_line("G0 X10 (Y20) Z30", "G0 X10 (Y20) Z30");
+#endif
+}
+
+MARLIN_TEST(parse_line, g1_xz)
+{
+  test_parse_line("G0 X10 Z30", "G0 X10 Z30");
+}
+
+MARLIN_TEST(parse_line, g1_x_and_comment)
+{
+  test_parse_line("G0 X10 ; Z30", "G0 X10 ");
+}

Marlin/tests/runout/test_runout_sensor.cpp

@@ -0,0 +1,14 @@
+#include "../test/marlin_tests.h"
+
+#if ENABLED(FILAMENT_RUNOUT_SENSOR)
+
+#include <src/feature/runout.h>
+
+MARLIN_TEST(runout, poll_runout_states)
+{
+  FilamentSensorBase sensor;
+  // Expected default value is one bit set for each extruder
+  uint8_t expected = static_cast<uint8_t>(~(~0u << NUM_RUNOUT_SENSORS));
+  TEST_ASSERT_EQUAL(expected, sensor.poll_runout_states());
+}
+#endif