CN103064787A - Embedded assembly modeling and testing method based on expansion interface automata model - Google Patents

Embedded assembly modeling and testing method based on expansion interface automata model Download PDF

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CN103064787A
CN103064787A CN201210564499XA CN201210564499A CN103064787A CN 103064787 A CN103064787 A CN 103064787A CN 201210564499X A CN201210564499X A CN 201210564499XA CN 201210564499 A CN201210564499 A CN 201210564499A CN 103064787 A CN103064787 A CN 103064787A
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CN103064787B (en
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白晓颖
张任伟
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Tsinghua University
Xian Aeronautics Computing Technique Research Institute of AVIC
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Abstract

An embedded assembly modeling and testing method based on an expansion interface automata model relates to the field of software testing and testing automation based on a model and is applicable to testing of an embedded assembly. The embedded assembly modeling and testing method is characterized in that the automata model with constraint conditions is used for description aiming at assembly interface operation, data and behaviors, and a testing case set is generated on the basis of the graph searching and constraint solving technology. The embedded assembly modeling and testing method includes: (1) constructing the expansion interface automata model of the embedded assembly and (2) defining a testing coverage rate goal on the basis of the automata model and generating a normal function testing case and a robustness testing case which achieve the testing coverage rate goal.

Description

A kind of built-in module modeling and method of testing of extension-based Interface Automata model
Technical field:
The present invention relates to computer software fields, particularly the model-based testing automatic field.
Background technology:
Embedded system has been widely used in the every field such as Aeronautics and Astronautics, electronics, machinery.For the development trend that the embedded software scale increases substantially, the construction cycle shortens, quality requirements promotes, in recent years, the development approach of built-in module has been proposed, by the decomposition of function, the encapsulation of component interface, the reuse technology of standard package, improve development efficiency and quality, reduce cost, improve the maintainability of system.
Built-in module is the elementary cell that consists of embedded system, is the base unit of System Construction, exploitation, assembling, checking, assessment and maintenance, and the credibility of assembly is the basis of system credibility.Assembly is the module of stand-alone development, usually adopts the supplying method of black box, has hidden data and implementation method, and inner realization is invisible to the user; External characteristic and behavior with good definition, usually abideing by interface specification externally provides service; Can be integrated by specific mode, interface protocol and other assemblies and the system by standard carries out mutual and cooperates.In embedded system, usually adopt the assembly of software and hardware one, comprise hardware, operating system software and application software.Generally include the parts such as signal processing, network control software such as Intelligent Sensorsystem, by stable standardized communications network interface, provide output signal.Built-in module is being built in the process of complication system, usually need to carrying out in detail time domain and the codomain of CNI interface, precise definition.In new integrated environment, confirm the robustness of precondition to guarantee to operate of assembly, and assembly is fully tested.This accurate interface specification is the foundation of module testing and affirmation.
U.S. University of California, the Luca de Alfaro of Berkeley and Thomas A. Henzinger have proposed a kind of embedded software component interface model of lightweight in calendar year 2001: Interface Automata model (Interface Automata, IA).IA state-based machine model can be described for the combination behavior of component interface, assembly behavior and inter-module, and supports composability and consistency checks between the different component interface models.
In the basic Interface Automata, lack the description to constraint and dependence between the component interface, such as input between two interface operations, export the dependence between the data, and interface operation preposition/postcondition constraint etc.The present invention has expanded the Interface Automata model, introduces interface parameters definition and constraint definition, for description, understanding and analytic unit provide abundanter behavior semantic information, and provides the Test Auto-generation method of the Interface Automata model of extension-based.The present invention is for comprising two parts: the Interface Automata definition of (1) expansion; (2) the test generation method of the Interface Automata model of extension-based.
Test is the important method of built-in module quality assurance, the Interface Automata model of expansion can be assisted the built-in module analysis and understanding, the model-based testing automatic technology can improve efficient and the quality of built-in module test, and is significant to the development approach research of embedded system component-based.
Summary of the invention
The present invention adopts the software testing technology based on model, based on the automaton theory of belt restraining, provides a kind of modeling method of interface operation, data and behavior of built-in module; Based on graph search and constraint theory of solving, provide a kind of model-based testing automatic generation method.Method requires embedded system to meet the following conditions for the embedded system of present widespread use: (1) adopts the embedded system development method of component-based; (1) has clear and definite built-in module interface definition.
The inventive method is carried out modeling and test for built-in module E according to following steps:
Step (1) system initialization
Input: the interface definition of built-in module, comprising: the input/output parameters of interface operation, operation, operation preposition/the anticipatory behavior information of postcondition and assembly.
Step (2) is set up the expansion interface automaton model on the built-in module according to the following steps:
Step (2.1) makes up state set S E, and definition original state set wherein
Figure BDA0000263096481
, and
Figure BDA0000263096482
Step (2.2) makes up interface operation data and variables collection V E, and
Figure BDA0000263096483
, wherein,
Figure BDA0000263096484
,
Figure BDA0000263096485
,
Figure BDA0000263096486
Expression is inputted data, is exported data and include the overall situation and the internal data of local variable respectively.
Step (2.3) makes up the interface operation set A E, and
Figure BDA0000263096487
, wherein,
Figure BDA0000263096488
,
Figure BDA0000263096489
, Represent respectively input behavior, output behavior and middle behavior, for any interface behavior a ∈ A E, with a (v) expression interface operation and parameter thereof, v ∈ V E
Step (2.4) makes up the constrain set C corresponding to the precondition/postcondition of each state E, precondition adopts logical expression to describe with preCond, postcondition postCond statement, every constraint, is used for judging boolean's value.
Step (2.5) makes up the set τ=S of state transitions relation E* A E* S E, the τ that concerns of any one state transitions is had:
Figure BDA00002630964811
If expression assembly E satisfies precondition preCond, by state s 1Can by operation a (v), transfer to state s 2, and satisfy postcondition postCond, finish again corresponding renewal update and process.
Step (3) is according to the result of step (2), according to the following steps generating test use case:
Step (3.1) defines the test coverage target of expansion interface automaton model with the abundant degree of quantitative measurement software test case set, the coverage rate definition of adopting state-based to shift, and the coverage criterion of testing with total state represents.
Step (3.2) adopts the algorithm of graph search, generates according to the following steps the abstract test use-case set T of above-mentioned test coverage target E={ tc i}:
Each test case definition is a group interface sequence of operation, tc i=＜a I, 1, a I, 2..., a I, k.. 〉, i is the sequence number of test case, the sequence number of each operation of k, k=1,2 ..., k ... K, K is the operation number;
For each the operation a in the described test case I, k∈ A E, have two state: s I, k∈ S EAnd s I, k+1∈ S E, s I, kFor being the test case tc of i in sequence number iK operation a I, kFront system state, s I, k+1For being the test case tc of i in sequence number iK operation a I, kAfter system state, namely satisfy transfer relationship (s I, k, a I, k, s I, k+1);
For any one the continuous operation subsequence＜a in the test case I, 1, a I, 2..., a I, m..., a I, M, there is one group of state transitions set { (s I, 1, a I, 1, s I, 2), (s I, 2, a I, 2, s I, 3) ... .., (s I, m, a I, m, s I, m+1) ... .., (s I, M-1, a I, M, s I, M), then correspond to the paths that the expansion interface state of automata shifts usefulness, the sequence number that m changes for operation, m=1,2 ..., m ... M, M are the numbers that operates in this sequence.
Step (3.3) makes up each paths in the described state transition diagram from original state, make up one and satisfy the abstract test use-case set that total state covers.
Step (3.4) is extracted the set of the constraint expression formula on all state transitions on this path to resulting each paths of step (3.2), obtains the data set of following two class testing-cases:
For the data that satisfy constraint condition, add described test case set to, consist of the set of functional test use-case;
For the data that do not satisfy constraint condition, add described abstract test use-case set to, consist of abnormality test and be also referred to as the set of robustness test case.
Two class testing-cases that produce in step (4) the root step (3.4) are integrated in the tested system to be carried out, to detect the correctness of tested built-in module interface function.
The method is a kind of Black-box Testing method of component interface test, with the method for testing effective supplement based on code, emphatically from user perspective, detecting built-in module externally provides the correctness of function, can be used for assembly module test and integration testing, is the system detection method that is based upon on the component internal unit testing.The integrating process that is particularly useful for the extensive embedded system of component-based assembling mode exploitation.
Description of drawings
Fig. 1 illustrates primary structure and the step of the inventive method;
Fig. 2 illustrates primary structure and the step of expansion interface automat modeling in the inventive method;
Fig. 3 illustrates primary structure and the step that test case generates in the inventive method;
Fig. 4 illustrates the key step in the inventive method;
Fig. 5 provides an example of the inventive method.
Embodiment
As shown in Figure 1, the present invention is mainly for the Interface Automata model of built-in module foundation with data and constraint, search element and constraint solution technique by state machine diagram, according to the set of model generation interface testing use-case, comprise the normal function test of legal input and the robustness test of unusual input.Described method takes following steps to carry out:
Step (1) initialization
Built-in module is the elementary cell that consists of embedded system, is the relatively complete software module of function, has clear and definite function and communication interface.Initialization procedure obtains the interface definition of built-in module, comprises the input/output parameters of interface operation, operation, the pre-post condition of operation, the information such as anticipatory behavior of assembly.
Step (2) is set up the expansion interface automaton model
As shown in Figure 2, need to make up from the following aspects the expansion interface automaton model of built-in module E:
Step (2.1) makes up state set.In the example, comprise original state as shown in Figure 5, and A, B, C, D one of four states.
Step (2.2) makes up data acquisition.In the example, the identification parameter data comprise input data v as shown in Figure 5 1And v 2, and output data v 3And v 4
Step (2.3) makes up the interface operation set.In the example, comprise two input operation Op as shown in Figure 5 1And Op 2, and two output functions! Op 3With! Op 4Each operation is respectively with input and output parameter, i.e. Op 1(v 1), Op 2(v 2), Op 3(v 3) and Op 4(v 4).
Step (2.4) constrain set.As shown in Figure 5 in the example, the precondition preCond of state B and postcondition postCond.
Step (2.5) makes up the state transitions relation.In the example, there are transfer relationship init → A, init → C, A → B, A → C, C → D and B → D as shown in Figure 5.Further identify operation, data and the constraint condition of transfer relationship, as
Step (3) extension-based Interface Automata model, generating test use case
As shown in Figure 3, the step of generating test use case is as follows:
The test coverage target of step (3.1) definition expansion interface automaton model.
The abundant degree of coverage rate quantitative measurement software test collection.Traditional coverage rate mainly contains coverage rate index and the need-based based on code.Assessment is applicable in the white-box testing based on the adequacy of code, and the implementation status in the statement by observation program in test process, branch, path etc. is assessed the abundant degree of Test coverage.Adequacy assessment based on function is usually used in the Black-box Testing, with the level of coverage of assessment software systems for functional requirement.
Adopt the coverage rate standard based on model in this method, the model coverage criterion is for the characterizing definition of meta-model, and for assessment of one group of rule of the abundant degree of covering of test case set pair model, it can be applied to any example based on meta-model.The model coverage criterion is applied to specific test model, can obtain one group of this model about model element (state, transfer, event etc.) or the test result of model element combination.The typical Test coverage criterion that state machine model uses is as follows:
● total state covers (All-States): test use cases covers each state of state machine.
● total transfer covers (All-Transitions): test use cases covers every kind of state transitions of state machine.
● total event covers (All-Events): test use cases covers the trigger event of each state transitions.
● the n degree of depth covers (Depth-n): from original state, to being not more than arbitrarily the running process of length n, exist at least a test case to comprise sequence take this running process as subset.
● all n degree of depth shift and cover (All-n-Transitions): from any one state s, for each running process that is no more than length n, have at least a test case to comprise sequence take this running process as subset.All 0 degree of depth shift and cover namely is that total state covers.
● complete trails covers (All-Paths): test use cases covers all possible state transitions sequence in the state machine.
Step (3.2) is according to the test coverage target, the path of search condition transition diagram.
This can be converted into typical search problem, and searching algorithm commonly used comprises hill-climbing algorithm, simulated annealing, genetic algorithm and ant group algorithm etc.Can adopt the graph search technology in this method, according to the test coverage target, the objective function of optimization is searched in definition, obtains to satisfy the set of paths of coverage rate target by search procedure.For example, for satisfying the total transfer coverage criteria, can obtain following set of paths:
<(init,?Op 2,A),(A,?Op 1,B),(B,!Op 4,D)>
<(init,?Op 2,A),(A,?Op 2,B),(B,!Op 3,D)>
<(init,?Op 1,C),(C,?Op 3,D)>
Step (3.3) makes up the set of abstract test use-case.
Can correspond to a test case by resulting each paths in the step (3.2), be consisted of by the sequence of operation.For example, the test use cases corresponding with the set of paths that satisfies power transfer covering is combined into:
<?Op 2,?Op 1,!Op 4>
<?Op 2,?Op 2,!Op 3>
<?Op 1,!Op 3>
Step (3.4) constraint solving test data.
As shown in Figure 3, for resulting each path in the step (2), extract the set of the constraint expression formula on all state transitions on this path, by the constraint solving technology, obtain the data set of test case.Test case can be divided into two classes: satisfy the normal function test of constraint condition, and the abnormality test (also becoming the robustness test) of running counter to constraint condition.
For example, suppose that transfer constraint condition is as follows in Fig. 5 example:
Figure BDA00002630964813
，
Figure BDA00002630964814
Figure BDA00002630964815
Then for path＜(init, Op 2, A), (A, Op 1, B), (B,! Op 4, D)〉test case＜Op 2, Op 1,! Op 4, its input data need satisfy following constraint condition:
v 1 + v 2 > 200 v 1 + v 2 &le; 400 v 1 &GreaterEqual; 0 v 2 &GreaterEqual; 0
Adopt Boundary value method design test data, then produce one group and satisfy constraint test data and test case, for example:
{ v 1=201, v 2=0 }, i.e. test case＜Op 2(0),〉Op 1(201),! Op 4(v 4)
{ v 1=400, v 2=0 }, i.e. test case＜Op 2(0),〉Op 1(400),! Op 4(v 4)
{ v 1=0, v 2=400 }, i.e. test case＜Op 2(400),〉Op 1(0),! Op 4(v 4)
{ v 1=0, v 2=201 }, i.e. test case＜Op 2(201),〉Op 1(0),! Op 4(v 4)
And can produce one group of robustness test data and test case that does not satisfy constraint, for example:
{ v 1=200, v 2=0 }, i.e. test case＜Op 2(0),〉Op 1(200),! Op 4(v 4)
{ v 1=401, v 2=0 }, i.e. test case＜Op 2(0),〉Op 1(401),! Op 4(v 4)
{ v 1=0, v 2=101 }, i.e. test case＜Op 2(401),〉Op 1(0),! Op 4(v 4)
{ v 1=0, v 2=200 }, i.e. test case＜Op 2(200),〉Op 1(0),! Op 4(v 4)
Step (4) is carried out test
The test case that produces in the step (3) is carried out at system under test (SUT), to detect the correctness of tested built-in module interface function.
Above embodiment only is used for explanation the present invention, but not limitation of the present invention.The those of ordinary skill of correlative technology field in the situation that do not break away from the spirit and scope of the present invention, can also make a variety of changes and be out of shape.Therefore, all technical schemes that are equal to also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
The present invention is directed to the formalized description method of the operational semantics of interface, the accurately interface operation of built-in module, data and behavioural characteristic are for understanding and the test suite functional characteristic provides support.Still lack at present method of testing and technology for component-level in the traditional test, the present invention is on the basis of expansion interface automaton model, but back-up system ground, robotization ground, generating test use case intelligently improve efficient and the validity of built-in module test.Efficient refers to by automatic test, compares with manually designing and developing test case, can reduce the test duration, reduces test originally; Validity refers to, by strictly constraint definition and constraint solution technique generate test data, the Flaw detectability (being the ratio of number of defects/test case number) of raising test case.

Claims (1)

1.一种基于扩展接口自动机模型的嵌入式组件建模与测试方法，其特征在于,是在一个计算机中，依次按以下步骤实现的:1. a kind of embedded component modeling and testing method based on the extended interface automata model, it is characterized in that, in a computer, realize by following steps successively: 步骤（1） 系统初始化Step (1) System initialization 输入：嵌入式组件的接口定义，其中包括：接口操作、操作的输入/输出参数、操作的前置/后置条件以及组件的预期行为信息，Input: The interface definition of the embedded component, which includes: interface operations, input/output parameters of the operations, pre/post conditions of the operations, and expected behavior information of the components, 步骤（2） 按以下步骤建立嵌入式组件上的扩展接口自动机模型：Step (2) Establish the extended interface automaton model on the embedded component according to the following steps: 步骤（2.1）构建状态集合SE，并定义其中的初始状态集合，且，Step (2.1) Construct the state set S E , and define the initial state set in it ,and , 步骤（2.2）构建接口操作数据和变量集合VE，且
Figure FDA0000263096473
，其中，
Figure FDA0000263096474
、
Figure FDA0000263096475
、
Figure FDA0000263096476
分别表示输入数据、输出数据和包括有全局和局部变量的内部数据，Step (2.2) constructs the interface operation data and variable set V E , and
Figure FDA0000263096473
,in,
Figure FDA0000263096474
,
Figure FDA0000263096475
,
Figure FDA0000263096476
represent input data, output data, and internal data including global and local variables, respectively, 步骤（2.3）构建接口操作集合AE，且
Figure FDA0000263096477
，其中，
Figure FDA0000263096478
、
Figure FDA0000263096479
、
Figure FDA00002630964710
分别表示输入行为、输出行为和中间行为，对于任意一接口行为a∈AE，用a(v)表示接口操作及其参数，v∈VE，Step (2.3) builds a set of interface operations A E , and
Figure FDA0000263096477
,in,
Figure FDA0000263096478
,
Figure FDA0000263096479
,
Figure FDA00002630964710
Represent input behavior, output behavior and intermediate behavior, for any interface behavior a∈A E , use a(v) to represent the interface operation and its parameters, v∈VE , 步骤（2.4）构建对应于每个状态的前置条件/后置条件的约束集合CE，前置条件用preCond、后置条件postCond表述，每条约束采用逻辑表达式描述，用于判定布尔取值，Step (2.4) Construct the constraint set C E corresponding to the pre-conditions/post-conditions of each state. The pre-conditions are expressed by preCond and post-conditions postCond. Each constraint is described by a logical expression, which is used to determine the Boolean value, 步骤（2.5）构建状态转移关系的集合τ=SE×AE×SE，对任意一个状态转移的关系τ有：
Figure FDA00002630964711
，表示组件E若满足前置条件preCond，由状态s1会通过操作a(v)，转移到状态s2，且满足后置条件postCond，再完成相应的更新update处理,Step (2.5) Construct a set of state transition relations τ=S E ×A E ×S E , for any state transition relation τ:
Figure FDA00002630964711
, which means that if the component E satisfies the precondition preCond, the state s 1 will transfer to the state s 2 through the operation a(v), and the postcondition postCond is satisfied, and then complete the corresponding update process, 步骤（3）根据步骤（2）的结果，按以下步骤生成测试用例：Step (3) According to the results of step (2), generate test cases according to the following steps: 步骤（3.1）定义扩展接口自动机模型的测试覆盖率目标以定量度量软件测试用例集合的充分程度，采用基于状态转移的覆盖率定义，用全状态测试的覆盖准则表示，Step (3.1) Define the test coverage target of the extended interface automaton model to quantitatively measure the adequacy of the software test case set, adopt the definition of coverage based on state transition, and express it with the coverage criterion of full-state test, 步骤（3.2）采用图搜索的算法，按以下步骤生成上述测试覆盖率目标的抽象测试用例集合TE={tci}：Step (3.2) uses the graph search algorithm to generate the abstract test case set TE={tc i } for the above test coverage target according to the following steps: 每个测试用例定义为一组接口操作序列，tci=<ai,1,ai,2,…,ai,k,…>，i为测试用例的序号，k每一个操作的序号，k=1,2,…,k,…K，K为操作数目，Each test case is defined as a set of interface operation sequences, tc i = <a i,1 ,a i,2 ,…,a i,k ,…> , i is the serial number of the test case, k is the serial number of each operation, k=1,2,…,k,…K, K is the number of operations, 对于所述测试用例中的每一个操作ai,k∈AE，存在两个状态：si,k∈SE和si,k+1∈SE, si,k为在序号为i的测试用例tci第k个操作ai,k前的系统状态，si,k+1为在序号为i的测试用例tci第k个操作ai,k后的系统状态，即满足转移关系(si,k,ai,k,si,k+1)，For each operation a i,k ∈ A E in the test case, there are two states: s i,k ∈ S E and s i,k+1 ∈ S E , s i,k is s i ,k+1 is the system state after the kth operation a i, k of the test case tc i with the sequence number i, which satisfies the transition relation(s i,k ,a i,k ,s i,k+1 ), 对于测试用例中的任意一个连续的操作子序列<ai,1,ai,2,…,ai,m,…,ai,M>，存在一组状态转移集合{(si,1,ai,1,si,2),(si,2,ai,2,si,3),…..,(si,m,ai,m,si,m+1),…..,(si,M-1,ai,M,si,M)，则对应为扩展接口自动机状态转移用的一条路径，m为操作变化的序号，m=1,2,…,m,…M，M是本序列中操作的个数，For any continuous operation subsequence <a i,1 ,a i,2 ,…,a i,m ,…,a i,M > in the test case, there is a set of state transition {(s i,1 ,a i,1 ,s i,2 ),(s i,2 ,a i,2 ,s i,3 ),…..,(s i,m ,a i,m , s i,m+1 ),…..,(s i,M-1 ,a i,M ,s i,M ), it corresponds to a path for the state transition of the extended interface automaton, m is the sequence number of the operation change, m=1, 2,...,m,...M, M is the number of operations in this sequence, 步骤（3.3）从初始状态开始，组合所述状态转移图中的各条路径，构建一个满足全状态覆盖的抽象测试用例集合，Step (3.3) Starting from the initial state, combine the various paths in the state transition diagram to construct an abstract test case set that satisfies full state coverage, 步骤（3.4）对步骤（3.2）所得到的每一条路径，提取该路径上所有状态转移上的约束表达式集合，获得下述两类测试用例的数据集：Step (3.4) For each path obtained in step (3.2), extract the set of constraint expressions on all state transitions on the path, and obtain the following two types of test case datasets: 对于满足约束条件的数据，添加到所述测试用例集合，构成功能测试用例集合；For the data satisfying the constraints, add to the test case set to form a functional test case set; 对于不满足约束条件的数据，添加到所述抽象测试用例集合，构成异常测试也称为鲁棒性测试用例集合，For data that does not satisfy the constraint conditions, add to the abstract test case set to form an exception test, also known as a robustness test case set, 步骤（4）根步骤（3.4）中产生的两类测试用例集合在被测试系统上执行，以检测被测嵌入式组件接口功能的正确性。Step (4) The two types of test case sets generated in step (3.4) are executed on the system under test to detect the correctness of the interface function of the embedded component under test.
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CN117173431A (en) * 2023-07-26 2023-12-05 清华大学 Robust enhancement method and system for visual intelligent detection based on state machine

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CN104714829A (en) * 2013-12-15 2015-06-17 中国航空工业集团公司第六三一研究所 Compiling linkage method for ensuring consistency of object code and source code
CN104714829B (en) * 2013-12-15 2017-11-28 中国航空工业集团公司第六三一研究所 A kind of compiling link method for ensureing object code and source code consistency
WO2016004657A1 (en) * 2014-07-11 2016-01-14 电子科技大学 Device for automatically generating test cases for embedded software and method thereof
CN104899136A (en) * 2015-05-15 2015-09-09 百度在线网络技术（北京）有限公司 Method and device used for generating test case
CN108139893A (en) * 2015-07-16 2018-06-08 容毅 Software systems and development approach based on component
CN108139893B (en) * 2015-07-16 2021-08-06 山东程序元软件有限公司 Software system based on component and development method
CN107066382A (en) * 2017-03-09 2017-08-18 北京航空航天大学 A kind of Space Vehicle System automated testing method based on model
CN107729010A (en) * 2017-10-25 2018-02-23 广州优视网络科技有限公司 View display methods, device, computing device and storage medium
CN112463578A (en) * 2019-09-09 2021-03-09 南华大学 System test case generation method based on step-by-step solution of component contract
CN112463578B (en) * 2019-09-09 2022-04-22 南华大学 A system test case generation method based on step-by-step solution of component contracts
CN114385475A (en) * 2020-10-16 2022-04-22 腾讯科技（深圳）有限公司 Test method and related device
CN114385475B (en) * 2020-10-16 2024-08-06 腾讯科技（深圳）有限公司 Test method and related device
CN117173431A (en) * 2023-07-26 2023-12-05 清华大学 Robust enhancement method and system for visual intelligent detection based on state machine
CN117173431B (en) * 2023-07-26 2024-11-19 清华大学 Method and system for enhancing robustness of visual intelligent detection based on state machine

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