CN109799728B - Fault-tolerant CPS simulation test method based on hierarchical adaptive strategy - Google Patents
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Abstract
The invention discloses a fault-tolerant CPS simulation test method based on a hierarchical self-adaptive strategy, which comprises the following steps of: establishing a fault-tolerant CPS simulation resource model and distributing test resources, wherein the establishing comprises establishing a hierarchical model of the fault-tolerant CPS simulation resources and self-adaptive distribution of the test resources; fault-tolerant CPS simulation test, including inter-layer message transmission and collaborative simulation timing advance; and detecting the activity of the nodes based on the sliding window. The invention is used for simulation test of the fault-tolerant CPS system, can realize effective distribution of test resources, improve test efficiency, save time and cost, carry out dynamic self-adaptation aiming at CPS systems of different scales, construct a telescopic test platform, and carry out effective test execution aiming at the characteristic of multi-mode redundancy of the fault-tolerant CPS system, efficiently judge the consistency of the tested master node and the slave node, and ensure the effectiveness of a redundancy strategy.
Description
Technical Field
The invention relates to a fault-tolerant CPS simulation test method in the field of computers, in particular to a fault-tolerant CPS simulation test method based on a hierarchical self-adaptive strategy.
Background
CPS (Cyber Physical System) is short for, Chinese meaning is an information Physical fusion System, and is a networked embedded System fusing a computing process and a Physical environment; CPS are usually deployed in some security-critical infrastructure and fields with high requirements on security and reliability, such as power systems, traffic management systems, military, life monitoring, aerospace systems, etc., and thus have extremely high requirements on reliability, fault tolerance, etc.
The fault-tolerant strategy is widely applied to a Safety Critical (Safety Critical) system to improve the credibility of the system. The basis of fault tolerance is redundancy, which generally includes hardware redundancy, which refers to the physical backup of a hardware module, and software redundancy, which refers to the existence of multiple software modules with the same function in a system. Hardware redundancy is fast in execution speed and simple to implement, only the same physical backup is needed, software redundancy is slow in speed and complex to implement, and therefore hardware multimode redundancy (NMR) technology is mostly used in the safety critical CPS.
With the development of computer software and hardware technology, the simulation test technology has also been developed rapidly and widely applied. The method can be used as a test and verification means in the final stage of software development, and can also be applied to the stages of scheme demonstration, design and the like in the early stage. In order to ensure the effectiveness and reliability of the fault-tolerant CPS, simulation testing is an important commonly adopted means at present.
At present, when a simulation test for a fault-tolerant CPS is developed, the following problems exist:
(1) the problem of efficient allocation of resources is tested. The types of protocols used by the measured CPS node and the external device in communication are many, such as: RS232/422/485, I/O, CAN, 1553B, Ethernet, AD, DA and the like, the traditional simulation test means needs to allocate test resources according to the interface characteristics of the tested node and possible failure modes, and if the test resources are improperly allocated, the test method is incorrect or the efficiency of the test environment is not high, thereby causing waste in time and cost.
(2) Adaptive problem of CPS system of different scale. Due to the inherent heterogeneity of the CPS, the nodes vary with the system function and scale, with few nodes and many dozens of hundreds of nodes, and there is a huge challenge to build a matched test platform according to the scale of the system: for a system with a small scale, a large-scale test platform undoubtedly brings huge platform construction time cost and resource idle waste, for a system with a large scale, the small-scale test platform is adopted to test nodes one by one, on one hand, the efficiency is low, on the other hand, the system-level global function cannot be tested due to the fact that the scale is small and the complete coverage is difficult, and the performance of the test platform is also difficult to be competent.
(3) The fault-tolerant CPS system simulation is easy to implement. Due to the adoption of the multi-mode redundancy technology, the effectiveness and reliability of the main node and the corresponding redundant node are respectively tested, the consistency of the main node and the auxiliary node is also required to be tested, and the effectiveness of a redundancy strategy is ensured. The adopted traditional simulation test means needs testers to fully know the multi-mode redundancy backup, the interface corresponding relation and the node type judgment of each node of the CPS, and the testers are difficult to stand at the top layer to design test cases aiming at system-level service logic, so that the designed test cases lack the globality and the wholeness, the workload of the testers is increased, and the test sufficiency is difficult to ensure; meanwhile, the test of the master node and the slave node is difficult to be carried out simultaneously, and the test efficiency is seriously reduced. These all add challenges to the implementation of the test.
Therefore, a new fault-tolerant CPS simulation test method needs to be invented, which is used for simulation test of a fault-tolerant CPS system, can realize effective distribution of test resources, improve test efficiency, save time and cost, carry out dynamic self-adaptation aiming at CPS systems of different scales, construct a telescopic test platform, carry out effective test execution aiming at the characteristic of multi-mode redundancy of the fault-tolerant CPS system, efficiently judge the consistency of tested master and slave nodes, and ensure that a redundancy strategy is effective.
Disclosure of Invention
The invention aims to solve the problems and provide a fault-tolerant CPS simulation test method based on a hierarchical self-adaptive strategy.
The invention realizes the purpose through the following technical scheme:
a fault-tolerant CPS simulation test method based on a hierarchical self-adaptive strategy comprises the following steps:
step 1: the establishment of the fault-tolerant CPS simulation resource model and the distribution of the test resources comprise the following steps:
step 1.1: establishing a layered model of fault-tolerant CPS simulation resources;
step 1.2: testing the adaptive allocation of resources;
step 2: the fault-tolerant CPS simulation test comprises the following steps:
step 2.1: inter-layer messaging;
step 2.2: performing collaborative simulation time sequence advancing;
step 2.3: and detecting the activity of the nodes based on the sliding window.
Preferably, the specific method of step 1.1 comprises the following steps:
step 1.1.1: abstracting information of a CPS main node at the top layer, shielding node backup detail information, and automatically completing test execution and feedback of each backup node at the bottom layer;
step 1.1.2: dividing resources into a physical layer, an aggregation layer and a system layer, wherein the physical layer is a set gamma ({ I) } composed of physical hardware test interfaces in a test unit set omega1,I2,...,IsAnd uniquely representing the test interface as a triple I by adopting a three-level addressing mode for each test interfacei＝(TUid,Type,Order)，TUidThe method comprises the steps of representing the unique number of a test unit where an interface is located, representing the Type number of the interface by Type, representing the number of the Type interface in the same test unit by Order, and forming a set pi (X) by physical hardware interfaces to be tested in a node set phi to be tested1,X2,...,XtEvery detected physical interface is uniquely represented as a quadruple Xi＝(Nid,NMRnum,Type,Order)，NidIndicating the node under test, NMR, at which the physical interface under test is locatednumN indicating the location of the interfaceidThe number of the redundant backup node of (1); the aggregation layer is used for abstracting and aggregating the physical layer, and aggregating and abstracting all physical layer resources connected to the same tested node into one node, wherein the tested node can be a main node or a redundant backup node; the system layer is a set of main nodes in the aggregation layer, and all backup nodes are further simplified into the main nodes.
Preferably, the specific method of step 1.2 is as follows: summing the total number of each type of interface resource of the fault-tolerant CPS to be tested with the arithmetic number of each node on the corresponding dimension component of the resource vector, and finding out the minimum combination number of the test units capable of covering all the test interfaces through an optimization algorithm to realize the self-adaptive optimal distribution of the test resources; further, the optimization algorithm is: firstly, the total resource interface number is obtained, then the minimum combination number of the test units is initialized to be 0, then all interface types are traversed, the number of the test units required by the current type is calculated, and the maximum value is obtained by continuous updating, namely the minimum combination number of the test units.
Preferably, the specific method of step 2.1 is as follows: when the main node of the aggregation layer sends a test message to the backup sub-nodes, the test message needs to be sent to all the sub-nodes of the node so as to drive each node to carry out test excitation at the same time, and a storage forwarding message transmission strategy is adopted to ensure that each sub-node can receive the test excitation message; when the messages are transmitted from bottom to top, the child nodes only need to transmit the test feedback messages to the only father node, and the father node assembles the messages from the child nodes and then transmits the messages to the father node on the upper layer.
Preferably, the specific method of step 2.2 is as follows: giving a command of simulating node time advance according to the time by controlling a global logic time; for each simulation node of the physical layer, a time advancing request is firstly provided, and the advancing of the local logic time is completed after the time advancing request is authorized; further, when the physical layer simulates a node delay, a time advance, i.e., simulation step size, is defined for a prediction of the future behavior of the simulation node, and the time is advanced to the next step size segment if and only if all simulation activities associated with the current step size are finished.
Preferably, the specific method of step 2.3 is as follows: firstly, analyzing a test case to determine test interface resource information needed to be used currently, and matching the test unit node with the interface resource information; then taking the node set as a window node, sending heartbeat information to the nodes in the window, judging the activity of the nodes, if all the test nodes in the window are online, carrying out next test execution operation, if any node is not online, defining the window as a 'dead window', and carrying out error reporting processing if the test can not be executed; and after the execution of the current window node is finished, the window slides to the node window of the next test case.
The invention has the beneficial effects that:
the method is used for simulation test of the fault-tolerant CPS system, can realize effective distribution of test resources, improve test efficiency, save time and cost, carry out dynamic self-adaptation aiming at CPS systems of different scales, construct a telescopic test platform, and carry out effective test execution aiming at the characteristic of multi-mode redundancy of the fault-tolerant CPS system, efficiently judge the consistency of the tested master node and the slave node and ensure the effectiveness of a redundancy strategy; the method has the following specific advantages:
1. the invention adopts the layered model of the fault-tolerant CPS simulation resource, so that a tester only needs to pay attention to the system-level test service logic and test design without regard to the corresponding relation of the interfaces at the bottom layer, node type judgment and the concurrency and synchronization of the master node and the slave node. The testing personnel sends the test cases to the aggregation layer according to the corresponding master nodes after designing the test cases on the system layer, the aggregation layer quickly finds the peer slave nodes through the index relationship between the master nodes and the slave nodes, forwards the test cases, and then sends the test cases to the corresponding physical layer interfaces and applies test excitation at the same time, so that the test effects of 'separation of test views and synchronization of test execution' of the master nodes and the slave nodes are realized;
2. the self-adaptive allocation method of the test resources is adopted, the minimum combination number of the test units which can cover all the test interfaces is found out through an optimization algorithm, and the self-adaptive optimal allocation of the test resources is realized;
3. the interlayer message transfer mechanism adopted by the invention can effectively meet the requirement that the test excitation information is transferred from the system layer to the physical layer of the resource layering model, the test feedback information needs to be transferred from the physical layer to the system layer, and the message transfer is carried out between different nodes of the layering model;
4. the node activity detection mechanism based on the sliding window is adopted, network congestion and delay caused by 'wide broadcast network' type broadcast node heartbeat information are avoided through the sliding window node activity detection, the pertinence of the heartbeat information is improved, the utilization rate of the limited network bandwidth of the integrated console is effectively improved, and the real-time performance and the reliability of the test information of the simulation test platform are ensured.
Drawings
FIG. 1 is a schematic general flow chart of a fault-tolerant CPS simulation test method based on a hierarchical adaptive strategy according to the present invention;
FIG. 2 is a schematic structural diagram of a hierarchical model of the fault tolerant CPS simulation resource of the present invention;
FIG. 3 is a flow chart illustrating adaptive allocation of test resources according to the present invention;
FIG. 4 is a flow diagram illustrating inter-layer messaging in accordance with the present invention;
FIG. 5 is a schematic flow chart of the collaborative simulation timing advance according to the present invention;
fig. 6 is a schematic flow chart of node activity detection based on a sliding window according to the present invention.
Detailed Description
The invention is further illustrated by the following examples and figures:
example (b):
the fault-tolerant system adopted in the embodiment is a hardware multi-mode redundancy CPS system, obviously, the described embodiment is only a part of specific embodiment of the invention, and the method can also be popularized to other fault-tolerant systems. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the present embodiment, belong to the protection scope of the present invention.
As shown in FIG. 1, the simulation test process of the fault-tolerant CPS is divided into a test preparation stage and a test execution stage, a resource layering model and a self-adaptive allocation strategy are adopted to perform test resource allocation and modeling in the test preparation stage, and test execution control is realized through a message transmission mechanism, a simulation timing advance strategy and a node activity detection mechanism in the test execution stage; the overall method comprises the following steps:
step 1: the establishment of the fault-tolerant CPS simulation resource model and the distribution of the test resources comprise the following steps:
step 1.1: establishing a layered model of fault-tolerant CPS simulation resources;
step 1.2: testing the adaptive allocation of resources;
step 2: the fault-tolerant CPS simulation test comprises the following steps:
step 2.1: inter-layer messaging;
step 2.2: performing collaborative simulation time sequence advancing;
step 2.3: and detecting the activity of the nodes based on the sliding window.
As shown in fig. 2, the specific method of step 1.1 includes the following steps:
step 1.1.1: abstracting information of a CPS main node at the top layer, shielding node backup detail information, and automatically completing test execution and feedback of each backup node at the bottom layer;
step 1.1.2: dividing resources into a physical layer, an aggregation layer and a system layer, wherein the physical layer is a set gamma ({ I) } composed of physical hardware test interfaces in a test unit set omega1,I2,...,IsAnd uniquely representing the test interface as a triple I by adopting a three-level addressing mode for each test interfacei＝(TUid,Type,Order)，TUidThe method comprises the steps of representing the unique number of a test unit where an interface is located, representing the Type number of the interface by Type, representing the number of the Type interface in the same test unit by Order, and forming a set pi (X) by physical hardware interfaces to be tested in a node set phi to be tested1,X2,...,XtDue to existence of redundant backup, each detected physical interface is uniquely represented as a quadruple Xi＝(Nid,NMRnum,Type,Order)，NidIndicating the node under test, NMR, at which the physical interface under test is locatednumN indicating the location of the interfaceidThe number of the redundant backup node of (1); the aggregation layer abstracts and aggregates the physical layer, aggregates all physical layer resources connected to the same node to be tested into one node, thereby realizing the transparency of the cross-linking condition of the bottom layer physical interface to the testers,the tested node can be a main node or a redundant backup node; more formally described, the aggregation layer is a set Δ ═ Y1,...,YpTherein of
The polymerized layer satisfies f (Y)i).NMRnumThe node 1 is called a master node, and f (Y) is set toi).NMRnumNodes > 1 are called slave nodes, f (Y)i) Node aggregation with the same Nid can quickly find the slave node through the master node, and the forwarding and execution of the master-slave node test case are realized; the system layer is a set of main nodes in the aggregation layer, all backup nodes are further simplified into the main nodes, so that transparency of the backup nodes to testers is achieved, the node topological structure of the system layer is consistent with the node topology of the original fault-tolerant CPS system, the system layer has the advantages that the testers are liberated from complicated node type judgment and master-slave node concurrent synchronization, and the system layer and the interface layer are more concerned with service layer test design of the system level and the interface level.
As shown in fig. 3, the specific method of step 1.2 is:
the method can realize the full coverage of the test interface of each node of the system to be tested in different scales by combining different numbers of test units so as to realize the test excitation of an interface level and a system level, and the aim is to realize the full coverage of the system to be tested by using the minimum combination of the test units. The method is easy to obtain, the total number of each type of interface resource of the fault-tolerant CPS to be tested is the arithmetic summation of all nodes on the corresponding dimension component of the resource vector, the minimum combination number of the test units capable of covering all the test interfaces is found out through an optimization algorithm, the self-adaptive optimization distribution of the test resources is realized, and the combination number T of the test units capable of covering all the test interfaces needs to meet the following requirements:
the minimum T is the minimum combination number of the test units for realizing the full coverage of the system to be tested, and the minimum combination number of the test units can be dynamically and adaptively solved by the algorithm flow according to different scales of the CPS system to be tested. Specifically, the total resource interface number is obtained, then the minimum combination number of the test units is initialized to 0, then all interface types are traversed, the number of the test units required by the current type is calculated, and the maximum value is obtained by continuous updating, namely the minimum combination number of the test units.
As shown in fig. 4, the specific method of step 2.1 is:
the test excitation information needs to be transmitted from the system layer to the physical layer of the resource hierarchical model, the test feedback information needs to be transmitted from the physical layer to the system layer, the message is transmitted among different nodes of the hierarchical model, and a good message transmission mechanism is important for the correct execution of the test and the effective judgment of the test result. As shown in fig. 3, the nodes of the hierarchical resource model are organized in a tree structure, where a root node SP represents a fault-tolerant CPS system, a first-level child node represents a system-level node that is consistent with the fault-tolerant CPS topology, a second-level child node represents an aggregation-level node, and a leaf node represents a physical-level node. The tree structure associates the fault-tolerant CPS to be tested with the resource model in a parent-child node mode, the projection of the topology structure of the fault-tolerant CPS to be tested on the logical view is consistent with the topology of the nodes of the system layer, the association is reasonable, and meanwhile, the test model and the system model are organically associated together, so that the correctness of the model is further verified.
The message delivery is divided into a top-down test execution message and a bottom-up test feedback message. Due to the characteristics of the fault-tolerant CPS system, when the main node of the aggregation layer sends a test message to the backup child node, the test message needs to be sent to all the child nodes of the node to drive each node to carry out test excitation simultaneously, so that a storage forwarding message transmission strategy is adopted to ensure that each child node can receive the test excitation message. Specifically, in passing messages from top to bottom, when a message arrives at intermediate node a, a places the entire message in its message buffer, and then a selects a set of all children nodes { a1, a2, …, Ak } for a, a sends the message to the various children nodes when the path from a to the various children nodes is free and the message buffers for the children nodes are available. When the messages are transmitted from bottom to top, the child nodes only need to transmit the test feedback messages to the only father node, and the father node assembles the messages from the child nodes and then transmits the messages to the father node on the upper layer.
As shown in fig. 5, the specific method of step 2.2 is:
giving a command of simulating node time advance according to the time by controlling a global logic time; for each simulation node of the physical layer, a time advancing request is firstly provided, and the advancing of the local logic time is completed after the time advancing request is authorized; further, when the physical layer simulates a node delay, a time advance, i.e., simulation step size, is defined for a prediction of the future behavior of the simulation node, and the time is advanced to the next step size segment if and only if all simulation activities associated with the current step size are finished.
More specifically, the delay of the physical layer simulation node is mainly composed of three parts: the test execution message is transmitted to each test unit node through the network, and the network transmission has a legacy time delay Tnetdelay; each physical layer test unit receives the test execution message, needs to analyze the message, distributes the test excitation to each physical interface resource, executes the corresponding test action, has processing delay in the whole processing process, and has an independent processing delay Tprocess; and when the physical interface node applies a test stimulus to send test data to the system interface to be tested, the data interaction delay Texchange exists.
Because the initialized Tpushahead is a sequence of fixed time values, with the progress of the simulation, the Tpushahead array needs to be updated in real time according to Tnetdelay, Tprocess and Texchange to ensure the orderly progress of the simulation.
As shown in fig. 6, the specific method of step 2.3 is:
firstly, analyzing a test case to determine test interface resource information needed to be used currently, matching the node of a test unit where the test interface resource information is located through the interface resource information, taking a set of nodes as a window node, sending heartbeat information to the nodes in the window, judging the activity of the nodes, carrying out next test execution operation if all the test nodes in the window are online, defining the window as a 'dead window' if the nodes are not online, carrying out the test and carrying out error reporting processing if the nodes are not online. And after the execution of the current window node is finished, the window slides to the node window of the next test case. Network congestion and delay caused by 'wide broadcast network' type broadcast node heartbeat information are avoided through activity detection of sliding window nodes, pertinence of the heartbeat information is improved, the utilization rate of limited network bandwidth of an integrated console is effectively improved, and instantaneity and reliability of test messages of a simulation test platform are guaranteed.
Description of the drawings: the above-mentioned contents are not exactly the same as those of fig. 1 to 6, but their meanings are different from each other because the contents of the technical solution need to be expressed more accurately on one hand, and on the other hand, the schematic representation modes commonly used in the industry are adopted in the drawings.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, so long as the technical solutions can be realized on the basis of the above embodiments without creative efforts, which should be considered to fall within the protection scope of the patent of the present invention.
Claims (1)
1. A fault-tolerant CPS simulation test method based on a hierarchical self-adaptive strategy is characterized by comprising the following steps: the method comprises the following steps:
step 1: the establishment of the fault-tolerant CPS simulation resource model and the distribution of the test resources comprise the following steps:
step 1.1: establishing a layered model of fault-tolerant CPS simulation resources;
step 1.2: testing the adaptive allocation of resources;
step 2: the fault-tolerant CPS simulation test comprises the following steps:
step 2.1: inter-layer messaging;
step 2.2: performing collaborative simulation time sequence advancing;
step 2.3: detecting the activity of the nodes based on the sliding window;
the specific method of step 1.1 comprises the following steps:
step 1.1.1: abstracting information of a CPS main node at the top layer, shielding node backup detail information, and automatically completing test execution and feedback of each backup node at the bottom layer;
step 1.1.2: dividing resources into a physical layer, an aggregation layer and a system layer, wherein the physical layer is a set gamma ({ I) } composed of physical hardware test interfaces in a test unit set omega1,I2,...,IsAnd uniquely representing the test interface as a triple I by adopting a three-level addressing mode for each test interfacei＝(TUid,Type,Order)，TUidThe method comprises the steps of representing the unique number of a test unit where an interface is located, representing the Type number of the interface by Type, representing the number of the Type interface in the same test unit by Order, and forming a set pi (X) by physical hardware interfaces to be tested in a node set phi to be tested1,X2,...,XtEvery detected physical interface is uniquely represented as a quadruple Xi＝(Nid,NMRnum,Type,Order)，NidIndicating the node under test, NMR, at which the physical interface under test is locatednumN indicating the location of the interfaceidThe number of the redundant backup node of (1); the aggregation layer is used for abstracting and aggregating the physical layer, and aggregating and abstracting all physical layer resources connected to the same tested node into one node, wherein the tested node can be a main node or a redundant backup node; the system layer is a set of main nodes in the aggregation layer, and all backup nodes are further simplified into the main nodes;
the specific method of the step 1.2 is as follows: summing the total number of each type of interface resource of the fault-tolerant CPS to be tested with the arithmetic number of each node on the corresponding dimension component of the resource vector, and finding out the minimum combination number of the test units capable of covering all the test interfaces through an optimization algorithm to realize the self-adaptive optimal distribution of the test resources; the optimization algorithm is: firstly, obtaining the total resource interface number, then initializing the minimum combination number of the test units to be 0, traversing all interface types, calculating the number of the test units required by the current type, and continuously updating to obtain the maximum value, namely the minimum combination number of the test units;
the specific method of the step 2.1 is as follows: when the main node of the aggregation layer sends a test message to the backup sub-nodes, the test message needs to be sent to all the sub-nodes of the node so as to drive each node to carry out test excitation at the same time, and a storage forwarding message transmission strategy is adopted to ensure that each sub-node can receive the test excitation message; when messages are transmitted from bottom to top, the child nodes only need to transmit the test feedback messages to the only father node, and the father node assembles the messages from the child nodes and then transmits the messages to the father node on the upper layer;
the specific method of the step 2.2 is as follows: giving a command of simulating node time advance according to the time by controlling a global logic time; for each simulation node of the physical layer, a time advancing request is firstly provided, and the advancing of the local logic time is completed after the time advancing request is authorized; defining a time advance quantity, namely a simulation step length, when the physical layer simulation node is delayed, and using the time advance quantity to predict the future behavior of the simulation node, and advancing the time to the next step length if and only if all simulation activities related to the current step length are finished;
the specific method of the step 2.3 is as follows: firstly, analyzing a test case to determine test interface resource information needed to be used currently, and matching the test unit node with the interface resource information; then taking the node set as a window node, sending heartbeat information to the nodes in the window, judging the activity of the nodes, if all the test nodes in the window are online, carrying out next test execution operation, if any node is not online, defining the window as a 'dead window', and carrying out error reporting processing if the test can not be executed; and after the execution of the current window node is finished, the window slides to the node window of the next test case.
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