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+############################################
+ Tests in ESP-IDF Projects with ESP Targets
+############################################
+
+.. note::
+
+   This guide only applies to ``--embedded-services esp,idf``.
+
+For projects which depend on ESP-IDF, a common use case is to run tests on different ESP targets. This guide will show you how to run tests locally, and on CI, on different ESP targets.
+
+*********************************************
+ Getting Started - Select the Target via CLI
+*********************************************
+
+Here's an example on a minimal project which based on ESP-IDF, with the following folder structure:
+
+.. code:: bash
+
+   project/
+   ├── CMakeLists.txt
+   └── main/
+       ├── CMakeLists.txt
+       └── main.c
+
+We could add a test case to the project. Usually we put it under the ``tests`` directory:
+
+.. code:: python
+
+   # test_hello_world.py
+   def test_hello_world(dut):
+       dut.expect('Hello World!')
+
+The current folder structure looks like this:
+
+.. code:: bash
+
+   project/
+   ├── CMakeLists.txt
+   ├── main/
+   │   ├── CMakeLists.txt
+   │   └── main.c
+   └── tests/
+       └── test_hello_world.py
+
+To run the test on ESP targets, we shall build the project first:
+
+.. code:: bash
+
+   idf.py set-target esp32 build
+
+The current folder structure looks like this:
+
+.. code:: bash
+
+   project/
+   ├── CMakeLists.txt
+   ├── build/  # built binaries for esp32
+   ├── main/
+   │   ├── CMakeLists.txt
+   │   └── main.c
+   └── tests/
+       └── test_hello_world.py
+
+Then we can run the test on ESP32 by passing the CLI argument:
+
+.. code:: bash
+
+   pytest --target esp32 --embedded-services esp,idf
+
+When running the same test on ESP32S2, we need to build the project again. In order to not overwrite the previous build, we can create a new build folder:
+
+.. code:: bash
+
+   idf.py -B build_esp32s2 set-target esp32s2 build
+
+The current folder structure looks like this:
+
+.. code:: bash
+
+   project/
+   ├── CMakeLists.txt
+   ├── build/          # built binaries for esp32
+   ├── build_esp32s2/  # built binaries for esp32s2
+   ├── main/
+   │   ├── CMakeLists.txt
+   │   └── main.c
+   └── tests/
+       └── test_hello_world.py
+
+Then we can run the test on ESP32S2 by passing the CLI argument:
+
+.. code:: bash
+
+   pytest --target esp32s2 --build-dir build_esp32s2 --embedded-services esp,idf
+
+The ``--build-dir`` argument is used to specify the build directory to flash to the target automatically.
+
+**********************************************
+ Simplify the CLI Call - Using ``pytest.ini``
+**********************************************
+
+You may notice that in the above example, we need to specify the ``-embedded-services esp,idf`` every time we run the test on a different target. To simplify this, we can create a ``pytest.ini`` file under the project's root directory:
+
+.. code:: ini
+
+   [pytest]
+   addopts =
+     --embedded-services esp,idf
+
+The current folder structure looks like this:
+
+.. code:: bash
+
+   project/
+   ├── CMakeLists.txt
+   ├── build/          # built binaries for esp32
+   ├── build_esp32s2/  # built binaries for esp32s2
+   ├── main/
+   │   ├── CMakeLists.txt
+   │   └── main.c
+   ├── tests/
+   │   └── test_hello_world.py
+   └── pytest.ini
+
+Then we can run the test on ESP32 by passing the CLI argument:
+
+.. code:: bash
+
+   pytest --target esp32
+
+****************************************************
+ One Step Further - Customizing the Build Directory
+****************************************************
+
+You may notice that in the above example, we need to specify the build directory every time we run the test on a different target. To simplify this, we can customize the a conftest.py file to set the build directory based on the target:
+
+.. code:: python
+
+   # conftest.py
+   def build_dir(request, target):
+       return f"build_{target}"
+
+Now when we're running the test case on ESP32S2, we can simply run:
+
+.. code:: bash
+
+   pytest --target esp32s2
+
+The build directory will be automatically set to ``build_esp32s2``.
+
+Run the test case on ESP32 will fail, since we built it under the ``build`` directory and the test case is expecting the binaries under the ``build_esp32`` directory. Don't forget to pass the ``-B`` argument to build the project under a different build directory, as what we did in the previous example for ESP32S2.
+
+***************
+ Running on CI
+***************
+
+To run the test on CI, you can use the same approach as running locally. Basically, you need two types of jobs: "build jobs" and "test jobs".
+
+In the build jobs, you build the project for different targets. Usually you can run it on linux machine, and build the project with the ESP-IDF docker image.
+
+Here we provide a GitHub Actions example:
+
+.. code:: yaml
+
+   name: Build and Test Application
+
+   on:
+     pull_request:
+       paths:
+         - "src/**/*.c"
+     push:
+       branches:
+         - main
+
+   env:
+     IDF_PATH: /opt/esp/idf
+
+   defaults:
+     run:
+       shell: bash
+
+   jobs:
+     build:
+       name: Build Test App
+       strategy:
+         fail-fast: false
+         matrix:
+           # choose the version of ESP-IDF to use for the build
+           idf-branch:
+             - release-v5.0
+             - latest
+           # choose the target to build for
+           target:
+             - esp32
+             - esp32c3
+       runs-on: ubuntu-22.04
+       container:
+         image: espressif/idf:${{ matrix.idf-branch }}
+       steps:
+         - uses: actions/checkout@v3
+         - name: Build Test Application with ESP-IDF
+           run: |
+             . $IDF_PATH/export.sh
+             idf.py -B build_${{ matrix.target }} set-target ${{ matrix.target }} build
+         - name: Upload files to artifacts for run-target job
+           uses: actions/upload-artifact@v4
+           with:
+             name: built_binaries_${{ matrix.target }}_${{ matrix.idf-branch }}
+             path: |
+               **/build**/bootloader/bootloader.bin
+               **/build**/partition_table/partition-table.bin
+               **/build**/*.bin
+               **/build**/*.elf
+               **/build**/flasher_args.json
+             if-no-files-found: error
+
+In the test jobs, you run the test cases on different targets. Usually you need to register a self-hosted runner that connects to the ESP targets, and run the test cases on the runner.
+
+Here we provide a GitHub Actions example:
+
+.. code:: yaml
+
+   name: Build and Test Application
+
+   on:
+     pull_request:
+       paths:
+         - "src/**/*.c"
+     push:
+       branches:
+         - main
+
+   env:
+     IDF_PATH: /opt/esp/idf
+     test_dirs: examples
+
+   defaults:
+     run:
+       shell: bash
+
+   jobs:
+     build:
+       .. # same as above
+     target-test:
+       name: Run Test App on ESP Target
+       needs: build
+       strategy:
+         fail-fast: false
+         matrix:
+           # choose the version of ESP-IDF to use for the build
+           idf-branch:
+             # - release-v5.0
+             # - release-v5.1
+             - latest
+           # choose the target to build for
+           target:
+             - esp32
+             - esp32c3
+       runs-on: ubuntu-22.04
+       container:
+         image: hfudev/qemu:main
+       steps:
+         - uses: actions/checkout@v3
+         - uses: actions/download-artifact@v2
+           with:
+             name: built_binaries_${{ matrix.target }}_${{ matrix.idf-branch }}
+         - name: Install Python packages
+           run: |
+             . $IDF_PATH/export.sh
+             pip install \
+               pytest-embedded-idf \
+               pytest-embedded-qemu
+         - name: Run Test App on target
+           run: |
+             . $IDF_PATH/export.sh
+             pytest ${{ env.test_dirs }} \
+               --target ${{ matrix.target }} \
+               --embedded-services idf,qemu \
+               --junit-xml test_${{ matrix.target }}_${{ matrix.idf-branch }}.xml \
+               --build-dir build_${{ matrix.target }}_${{ matrix.idf-branch }}
+         - uses: actions/upload-artifact@v2
+           if: always()
+           with:
+             name: test_${{ matrix.target }}_${{ matrix.idf-branch }}_junit
+             path: test_${{ matrix.target }}_${{ matrix.idf-branch }}.xml