Simulation-based testing of highly configurable cyber-physical systems: automation, optimization and debugging

Sistema Ziber-Fisikoek sistema ziber digitalak sistema fisikoekin uztartzen dituzte. Sistema hauen aldakortasuna handitzen ari da erabiltzaileen hainbat behar betetzeko. Ondorioz, sistema ziber-fisikoa aldakorrak edota produktu lerroak ari dira garatzen eta sistema hauek milaka edo milioika konfiguraziotan konfiguratu daitezke. Sistema ziber-fisiko aldakorren test eta balidazioa prozesua garestia da, batez ere probatu beharreko konfigurazio kopuruaren ondorioz. Konfigurazio kopuru altuak sistemaren prototipo bat erabiltzea ezinezkoa egiten du. Horregatik, sistema ziber-fisiko aldagarriak simulazio modeloak erabilita probatzen dira. Hala ere, simulazio bidez sistema ziber-fisikoak probatzea erronka izaten jarraitzen du. Hasteko, simulazio denbora altua izaten da normalki, software-az aparte, sistema fisikoa simulatu behar delako. Sistema fisiko hau normalean modelo matematiko konplexuen bitartez modelatzen da, konputazionalki garestia delarik. Jarraitzeko, sistema ziber-fisikoek ingeniaritzaren domeinu ezberdinak dituzte tartean, adibidez mekanika edo elektronika. Domeinu bakoitzak bere simulazio erremienta erabiltzen du, eta erremienta guzti hauek interkonektatzeko ko-simulazioa erabiltzen da. Nahiz eta ko-simulazioa abantaila bat izan ematen duen flexibilitateagatik, simulagailu ezberdinen erabilerak simulazio denbora handiagotzen du. Azkenik, sistema ziber-fisikoak simulaziopean probatzean, probak maila ezberdinetan egin behar dira (adb., Model, Software eta Hardware-in-the-Loop mailak), eta honek, proba-kasuak exekutatzeko denbora handitzen du. Tesi honen helburua sistema ziber-fisiko aldakorren test jardunbideak hobetzea da, horretarako automatizazio, optimizazio eta arazketa metodoak proposatzen ditu. Automatizazioari dagokionez, lehenengo, erremienta-bidezko metodologia bat proposatzen da. Metodologia hau test sistema instantziak automatikoki sortzeko gai da, test sistema hauek sistema ziber-fisiko aldagarrien konfigurazioak automatikoki probatzeko gai dira (adb., test orakuluen bitartez). Bigarren, test frogak automatikoki sortzeko planteamendu bat proposatzen da helburu anitzeko bilaketa algoritmoak erabilita. Optimizazioari dagokionez, test frogen aukeraketarako planteamendu bat eta test frogen priorizaziorako beste planteamendu bat proposatzen dira, biak bilaketa alix goritmoak erabiliz, sistema ziber-fisiko aldakorrak test maila ezberdinetan probatzeko helburuarekin. Arazketari dagokionez, “espektroan oinarritutako falten lokalizazioa” izeneko teknika bat produktu lerroen testuingurura adaptatu da, eta faltak isolatzeko metodo bat proposatzen da. Honek, falta ezberdinak lokalizatzea errezten du ez bakarrik sistema ziber-fisiko aldakorretan, baizik eta edozein produktu lerrotan non “feature model” delako modeloak erabiltzen diren aldakortasuna kudeatzeko.Los sistemas cyber-físicos (CPSs) integran tecnologías digitales con procesos físicos. La variabilidad de estos sistemas está creciendo para responder a la demanda de diferentes clientes. Como consecuencia de ello, los CPSs están volviéndose configurables e incluso líneas de producto, lo que significa que pueden ser configurados en miles y millones de configuraciones. El testeo de sistemas cyber-físicos configurables es un proceso costoso, en general debido a la cantidad de configuraciones que han de ser testeadas. El número de configuraciones a testear hace imposible el uso de un prototipo del sistema. Por ello, los sistemas CPSs configurables están siendo testeadas utilizando modelos de simulación. Sin embargo, el testeo de sistemas cyber-físicos bajo simulación sigue siendo un reto. Primero, el tiempo de simulación es normalmente largo, ya que, además del software, la capa física del CPS ha de ser testeada. Esta capa física es típicamente modelada con modelos matemáticos complejos, lo cual es computacionalmente caro. Segundo, los sistemas cyber-físicos implican el uso de diferentes dominios de la ingeniería, como por ejemplo la mecánica o la electrónica. Por ello, para interconectar diferentes herramientas de modelado y simulación hace falta el uso de la co-simulación. A pesar de que la co-simulación es una ventaja en términos de flexibilidad para los ingenieros, el uso de diferentes simuladores hace que el tiempo de simulación sea más largo. Por último, al testear sistemas cyberfísicos haciendo uso de simulación, existen diferentes niveles (p.ej., Model, Software y Hardware-in-the-Loop), lo cual incrementa el tiempo para ejecutar casos de test. Esta tesis tiene como objetivo avanzar en la práctica actual del testeo de sistemas cyber-físicos configurables, proponiendo métodos para la automatización, optimización y depuración. En cuanto a la automatización, primero, se propone una metodología soportada por una herramienta para generar automáticamente instancias de sistemas de test que permiten testear automáticamente configuraciones del sistema CPS configurable (p.ej., haciendo uso de oráculos de test). Segundo, se propone un enfoque para generación de casos de test basado en algoritmos de búsqueda multiobjetivo, los cuales generan un conjunto de casos de test. En cuanto a la optimización, se propone un enfoque para selección y otro para priorización de casos de test, ambos basados en algoritmos de búsqueda, de cara a testear eficientemente sistemas cyberfísicos configurables en diferentes niveles de test. En cuanto a la depuración, se adapta una técnica llamada “Localización de Fallos Basada en Espectro” al contexto de líneas de productos y proponemos un método de aislamiento de fallos. Esto permite localizar bugs no solo en sistemas cyber-físicos configurables sino también en cualquier línea de producto donde se utilicen modelos de características para gestionar la variabilidad.Cyber-Physical Systems (CPSs) integrate digital cyber technologies with physical processes. The variability of these systems is increasing in order to give solution to the different customers demands. As a result, CPSs are becoming configurable or even product lines, which means that they can be set into thousands or millions of configurations. Testing configurable CPSs is a time consuming process, mainly due to the large amount of configurations that need to be tested. The large amount of configurations that need to be tested makes it infeasible to use a prototype of the system. As a result, configurable CPSs are being tested using simulation. However, testing CPSs under simulation is still challenging. First, the simulation time is usually long, since apart of the software, the physical layer needs to be simulated. This physical layer is typically modeled with complex mathematical models, which is computationally very costly. Second, CPSs involve different domains, such as, mechanical and electrical. Engineers of different domains typically employ different tools for modeling their subsystems. As a result, co-simulation is being employed to interconnect different modeling and simulation tools. Despite co-simulation being an advantage in terms of engineers flexibility, the use of different simulation tools makes the simulation time longer. Lastly, when testing CPSs employing simulation, different test levels exist (i.e., Model, Software and Hardware-in-the-Loop), what increases the time for executing test cases. This thesis aims at advancing the current practice on testing configurable CPSs by proposing methods for automation, optimization and debugging. Regarding automation, first, we propose a tool supported methodology to automatically generate test system instances that permit automatically testing configurations of the configurable CPS (e.g., by employing test oracles). Second, we propose a test case generation approach based on multi-objective search algorithms that generate cost-effective test suites. As for optimization, we propose a test case selection and a test case prioritization approach, both of them based on search algorithms, to cost-effectively test configurable CPSs at different test levels. Regarding debugging, we adapt a technique named Spectrum-Based Fault Localization to the product line engineering context and propose a fault isolation method. This permits localizing bugs not only in configurable CPSs but also in any product line where feature models are employed to model variability

Machine Learning-based Test Selection for Simulation-based Testing of Self-driving Cars Software

Simulation platforms facilitate the development of emerging Cyber-Physical Systems (CPS) like self-driving cars (SDC) because they are more efficient and less dangerous than field operational test cases. Despite this, thoroughly testing SDCs in simulated environments remains challenging because SDCs must be tested in a sheer amount of long-running test cases. Past results on software testing optimization have shown that not all the test cases contribute equally to establishing confidence in test subjects' quality and reliability, and the execution of "safe and uninformative" test cases can be skipped to reduce testing effort. However, this problem is only partially addressed in the context of SDC simulation platforms. In this paper, we investigate test selection strategies to increase the cost-effectiveness of simulation-based testing in the context of SDCs. We propose an approach called SDC-Scissor (SDC coSt-effeCtIve teSt SelectOR) that leverages Machine Learning (ML) strategies to identify and skip test cases that are unlikely to detect faults in SDCs before executing them. Our evaluation shows that SDC-Scissor outperforms the baselines. With the Logistic model, we achieve an accuracy of 70%, a precision of 65%, and a recall of 80% in selecting tests leading to a fault and improved testing cost-effectiveness. Specifically, SDC-Scissor avoided the execution of 50% of unnecessary tests as well as outperformed two baseline strategies. Complementary to existing work, we also integrated SDC-Scissor into the context of an industrial organization in the automotive domain to demonstrate how it can be used in industrial settings.Comment: arXiv admin note: substantial text overlap with arXiv:2111.0466

Software testing: test suite compilation and execution optimizations

The requirements and responsibilities assumed by software have increasingly rendered it to be large and complex. Testing to ensure that software meets all its requirements and is free from failures is a difficult and time-consuming task that necessitates the use of large test suites, containing many test cases. Time needed to compile and execute large test suites has become prohibitive. Current optimization techniques aim to reduce the test suite size by removing redundant test cases. However, as systems become larger, the number of essential test cases is still very large and affects the software life-cycle. In this thesis, we explore techniques for reducing the compilation and the execution time of test suites without removing any test cases or changing computing infrastructure. All of our proposed techniques can be used in conjunction with existing test suite optimisations. 1. For test suite compilation, we propose a data transformation that reduces the number of instructions in the test code, which in turn reduces compilation time. Using two well known compilers, GCC and Clang, we conduct empirical evaluations using subject programs from industry standard benchmarks and an industry provided program. We evaluate compilation speedup, execution time, scalability and correctness of the proposed test code transformation. 2. For test suite execution, we propose a novel approach to improve instruction locality across test case executions. Our approach measures the distance between test case executions (number of different instructions). We then schedule the test cases for execution so that the distance between neighboring test cases is minimised. We empirically evaluate our approach with 20 subject programs and test suites from the SIR repository, EEMBC suite and LLVM Symbolizer to compare execution times and cache misses with test case orderings using our approach versus a traditional ordering maximising coverage and random permutations. We also assess overhead of algorithms in generating orderings that optimise instruction cache locality. 3. In our final contribution, we target execution time of heterogeneous test suites and assess the effect of device-based test case scheduling. We propose a test case scheduling algorithm which improves the load balancing between multiple devices of a heterogeneous system in an attempt to reduce the overall test suite execution time. We conduct empirical evaluation on a large-scaled, industrial test suite targeting implementations of the SYCL standard which has been developed by Codeplay Software. The outcome of our research can be summarized as follows: 1. Our data transformation approach resulted in significant compilation speedups in the range of 1.3×to 69×. Our experiments show that the gains in compilation time allow significantly more test cases to be included in test suites, improving scalability of test code compilation. 2. Our instruction-based test case scheduling algorithms were able to achieve a maximum execution speedup of 29.48%. Performance gains were considerable for programs and test suites where the average number of different instructions executed between test cases was high. 3. Finally, we found that a maximum of 25.42% speed-up is achieved by our device based test scheduling algorithm when compared to parallel test case execution of a heterogeneous test suite without test scheduling. Our proposed techniques are able to significantly reduce the compilation as well as the execution time of test suites without eliminating any test cases or upgrading computing infrastructure. Our data transformation results in faster test code compilation while our test case scheduling algorithms achieve significant speed-ups for programs executing on single-CPU, multi-CPU as well as heterogeneous architectures. As systems get more complex, they require frequent and extensive testing. Our techniques provide safe and efficient means of compiling and executing test suites which, in combination with existing test suite optimisations, can significantly reduce the cost of software testing

Modellbasiertes Regressionstesten von Varianten und Variantenversionen

The quality assurance of software product lines (SPL) achieved via testing is a crucial and challenging activity of SPL engineering. In general, the application of single-software testing techniques for SPL testing is not practical as it leads to the individual testing of a potentially vast number of variants. Testing each variant in isolation further results in redundant testing processes by means of redundant test-case executions due to the shared commonality. Existing techniques for SPL testing cope with those challenges, e.g., by identifying samples of variants to be tested. However, each variant is still tested separately without taking the explicit knowledge about the shared commonality and variability into account to reduce the overall testing effort. Furthermore, due to the increasing longevity of software systems, their development has to face software evolution. Hence, quality assurance has also to be ensured after SPL evolution by testing respective versions of variants. In this thesis, we tackle the challenges of testing redundancy as well as evolution by proposing a framework for model-based regression testing of evolving SPLs. The framework facilitates efficient incremental testing of variants and versions of variants by exploiting the commonality and reuse potential of test artifacts and test results. Our contribution is divided into three parts. First, we propose a test-modeling formalism capturing the variability and version information of evolving SPLs in an integrated fashion. The formalism builds the basis for automatic derivation of reusable test cases and for the application of change impact analysis to guide retest test selection. Second, we introduce two techniques for incremental change impact analysis to identify (1) changing execution dependencies to be retested between subsequently tested variants and versions of variants, and (2) the impact of an evolution step to the variant set in terms of modified, new and unchanged versions of variants. Third, we define a coverage-driven retest test selection based on a new retest coverage criterion that incorporates the results of the change impact analysis. The retest test selection facilitates the reduction of redundantly executed test cases during incremental testing of variants and versions of variants. The framework is prototypically implemented and evaluated by means of three evolving SPLs showing that it achieves a reduction of the overall effort for testing evolving SPLs.Testen ist ein wichtiger Bestandteil der Entwicklung von Softwareproduktlinien (SPL). Aufgrund der potentiell sehr großen Anzahl an Varianten einer SPL ist deren individueller Test im Allgemeinen nicht praktikabel und resultiert zudem in redundanten Testfallausführungen, die durch die Gemeinsamkeiten zwischen Varianten entstehen. Existierende SPL-Testansätze adressieren diese Herausforderungen z.B. durch die Reduktion der Anzahl an zu testenden Varianten. Jedoch wird weiterhin jede Variante unabhängig getestet, ohne dabei das Wissen über Gemeinsamkeiten und Variabilität auszunutzen, um den Testaufwand zu reduzieren. Des Weiteren muss sich die SPL-Entwicklung mit der Evolution von Software auseinandersetzen. Dies birgt weitere Herausforderungen für das SPL-Testen, da nicht nur für Varianten sondern auch für ihre Versionen die Qualität sichergestellt werden muss. In dieser Arbeit stellen wir ein Framework für das modellbasierte Regressionstesten von evolvierenden SPL vor, das die Herausforderungen des redundanten Testens und der Software-Evolution adressiert. Das Framework vereint Testmodellierung, Änderungsauswirkungsanalyse und automatische Testfallselektion, um einen inkrementellen Testprozess zu definieren, der Varianten und Variantenversionen unter Ausnutzung des Wissens über gemeinsame Funktionalität und dem Wiederverwendungspotential von Testartefakten und -resultaten effizient testet. Für die Testmodellierung entwickeln wir einen Ansatz, der Variabilitäts- sowie Versionsinformation von evolvierenden SPL gleichermaßen für die Modellierung einbezieht. Für die Änderungsauswirkungsanalyse definieren wir zwei Techniken, um zum einen Änderungen in Ausführungsabhängigkeiten zwischen zu testenden Varianten und ihren Versionen zu identifizieren und zum anderen die Auswirkungen eines Evolutionsschrittes auf die Variantenmenge zu bestimmen und zu klassifizieren. Für die Testfallselektion schlagen wir ein Abdeckungskriterium vor, das die Resultate der Auswirkungsanalyse einbezieht, um automatisierte Entscheidungen über einen Wiederholungstest von wiederverwendbaren Testfällen durchzuführen. Die abdeckungsgetriebene Testfallselektion ermöglicht somit die Reduktion der redundanten Testfallausführungen während des inkrementellen Testens von Varianten und Variantenversionen. Das Framework ist prototypisch implementiert und anhand von drei evolvierenden SPL evaluiert. Die Resultate zeigen, dass eine Aufwandsreduktion für das Testen evolvierender SPL erreicht wird

Mapping the Structure and Evolution of Software Testing Research Over the Past Three Decades

Background: The field of software testing is growing and rapidly-evolving. Aims: Based on keywords assigned to publications, we seek to identify predominant research topics and understand how they are connected and have evolved. Method: We apply co-word analysis to map the topology of testing research as a network where author-assigned keywords are connected by edges indicating co-occurrence in publications. Keywords are clustered based on edge density and frequency of connection. We examine the most popular keywords, summarize clusters into high-level research topics, examine how topics connect, and examine how the field is changing. Results: Testing research can be divided into 16 high-level topics and 18 subtopics. Creation guidance, automated test generation, evolution and maintenance, and test oracles have particularly strong connections to other topics, highlighting their multidisciplinary nature. Emerging keywords relate to web and mobile apps, machine learning, energy consumption, automated program repair and test generation, while emerging connections have formed between web apps, test oracles, and machine learning with many topics. Random and requirements-based testing show potential decline. Conclusions: Our observations, advice, and map data offer a deeper understanding of the field and inspiration regarding challenges and connections to explore.Comment: To appear, Journal of Systems and Softwar

Accelerated test execution using GPUs

As product life-cycles become shorter and the scale and complexity of systems increase, accelerating the execution of large test suites gains importance. Existing research has primarily focussed on techniques that reduce the size of the test suite. By contrast, we propose a technique that accelerates test execution, allowing test suites to run in a fraction of the original time, by parallel execution with a Graphics Processing Unit (GPU). Program testing, which is in essence execution of the same program with multiple sets of test data, naturally exhibits the kind of data parallelism that can be exploited with GPUs. Our approach simultaneously executes the program with one test case per GPU thread. GPUs have severe limitations, and we discuss these in the context of our approach and define the scope of our applications. We observe speed-ups up to a factor of 27 compared to single-core execution on conventional CPUs with embedded systems benchmark programs

Exploring regression testing and software product line testing - research and state of practice

In large software organizations with a product line development approach a selective testing of product variants is necessary in order to keep pace with the decreased development time for new products, enabled by the systematic reuse. The close relationship between products in product line indicates an option to reduce the testing effort due to redundancy. In many cases test selection is performed manually, based on test leaders’ expertise. This makes the cost and quality of the testing highly dependent on the skills and experience of the test leaders. There is a need in industry for systematic approaches to test selection. The goal of our research is to improve the control of the testing and reduce the amount of redundant testing in the product line context by applying regression test selection strategies. In this thesis, the state of art of regression testing and software product line testing are explored. Two extensive systematic reviews are conducted as well as an industrial survey of regression testing state of practice and an industrial evaluation of a pragmatic regression test selection strategy. Regression testing is not an isolated one-off activity, but rather an activity of varying scope and preconditions, strongly dependent on the context in which it is applied. Several techniques for regression test selection are proposed and evaluated empirically but in many cases the context is too specific for a technique to be easily applied directly by software developers. In order to improve the possibility for generalizing empirical results on regression test selection, guidelines for reporting the testing context are discussed in this thesis. Software product line testing is a relatively new research area. The understanding about challenges is well established but when looking for solutions to these challenges, we mostly find proposals, and empirical evaluations are sparse. Regression test selection strategies proposed in literature are not easily applicable in the product line context. Instead, control may be increased by increased visibility of the effects of testing and proper measurements of software quality. Focus of our future work will be on how to guide the planning and assessment of regression testing activities in large, complex reuse based systems, by visualizing the quality achieved in different parts of the system and evaluating the effects of different selection strategies when applied in various regression testing situations

AUTOMATED TESTING OF SIMULINK/STATEFLOW MODELS IN THE AUTOMOTIVE DOMAIN

Context. Simulink/Stateflow is an advanced system modeling platform which is prevalently used in the Cyber Physical Systems domain, e.g., automotive industry, to implement software con- trollers. Testing Simulink models is complex and poses several challenges to research and prac- tice. Simulink models often have mixed discrete-continuous behaviors and their correct behav- ior crucially depends on time. Inputs and outputs of Simulink models are signals, i.e., values evolving over time, rather than discrete values. Further, Simulink models are required to operate satisfactory for a large variety of hardware configurations. Finally, developing test oracles for Simulink models is challenging, particularly for requirements capturing their continuous aspects. In this dissertation, we focus on testing mixed discrete-continuous aspects of Simulink models, an important, yet not well-studied, problem. The existing Simulink testing techniques are more amenable to testing and verification of logical and state-based properties. Further, they are mostly incompatible with Simulink models containing time-continuos blocks, and floating point and non- linear computations. In addition, they often rely on the presence of formal specifications, which are expensive and rare in practice, to automate test oracles. Approach. In this dissertation, we propose a set of approaches based on meta-heuristic search and machine learning techniques to automate testing of software controllers implemented in Simulink. The work presented in this dissertation is motived by Simulink testing needs at Delphi Automotive Systems, a world leading part supplier to the automotive industry. To address the above-mentioned challenges, we rely on discrete-continuous output signals of Simulink models and provide output- based black-box test generation techniques to produce test cases with high fault-revealing ability. Our algorithms are black-box, hence, compatible with Simulink/Stateflow models in their en- tirety. Further, we do not rely on the presence of formal specifications to automate test oracles. Specifically, we propose two sets of test generation algorithms for closed-loop and open-loop con- trollers implemented in Simulink: (1) For closed-loop controllers, test oracles can be formalized and automated relying on the feedback received from the controlled system. We characterize the desired behavior of closed-loop controllers in a set of common requirements, and then use search to identify the worst-case test scenarios of the controller with respect to each requirement. (2) For open-loop controllers, we cannot automate test oracles since the feedback is not available, and test oracles are manual. Hence, we focus on providing test generation algorithms that develop small effective test suites with high fault revealing ability. We further provide a test case prioriti- zation algorithm to rank the generated test cases based on their fault revealing ability and lower the manual oracle cost. Our test generation and prioritization algorithms are evaluated with several industrial and publicly available Simulink models. Specifically, we showed that fault revealing ability of our our approach outperforms that of Simulink Design Verifier (SLDV), the only test generation toolbox of Simulink and a well-known commercial Simulink testing tool. In addition, using our approach, we were able to detect several real faults in Simulink models from our industry partner, Delphi, which had not been previously found by manual testing based on domain expertise and existing Simulink testing tools. Contributions. The main research contributions in this dissertation are: 1. An automated approach for testing closed-loop controllers that characterize the desired be- havior of such controllers in a set of common requirements, and combines random explo- ration and search to effectively identify the worst-case test scenarios of the controller with respect to each requirement. 2. An automated approach for testing highly configurable closed-loop controllers by account- ing for all their feasible configurations and providing strategies to scale the search to large multi-dimensional spaces relying on dimensionality reduction and surrogate modelling 3. A black-box output-based test generation algorithm for open-loop Simulink models which uses search to maximize the likelihood of presence of specific failure patterns (i.e., anti- patterns) in Simulink output signals. 4. A black-box output-based test generation algorithm for open-loop Simulink models that maximizes output diversity to develop small test suites with diverse output signal shapes and, hence, high fault revealing ability. 5. A test case prioritization algorithm which relies on output diversity of the generated test suites, in addition to the dynamic structural coverage achieved by individual tests, to rank test cases and help engineers identify faults faster by inspecting a few test cases. 6. Two test generation tools, namely CoCoTest and SimCoTest, that respectively implement our test generation approaches for closed-loop and open-loop controllers