Traffic forecasting uses recent measurements by sensors installed at chosen locations to forecast the future road traffic. Existing work either assumes all locations are equipped with sensors or focuses on short-term forecast. This paper studies partial sensing traffic forecast of long-term traffic, assuming sensors only at some locations. The study is important in lowering the infrastructure investment cost in traffic management since deploying sensors at all locations could incur prohibitively high cost. However, the problem is challenging due to the unknown distribution at unsensed locations, the intricate spatio-temporal correlation in long-term forecasting, as well as noise in data and irregularities in traffic patterns (e.g., road closure). We propose a Spatio-Temporal Partial Sensing (STPS) forecast model for long-term traffic prediction, with several novel contributions, including a rank-based embedding technique to capture irregularities and overcome noise, a spatial transfer matrix to overcome the spatial distribution shift from permanently sensed locations to unsensed locations, and a multi-step training process that utilizes all available data to successively refine the model parameters for better accuracy. Extensive experiments on several real-world traffic datasets demonstrate that STPS outperforms the state-of-the-art and achieves superior accuracy in partial sensing long-term forecasting.