KR101013415B1 - Apparatus and mehtod for testing rtc module - Google Patents

Abstract

PURPOSE: An apparatus for testing a module which meets an RTC(Robot Technology Component) standards is provided to reduce time, work load, and costs related to the test by automatizing a test process. CONSTITUTION: A test user interface(210) provides a hierarchical test performing environment for sequentially testing a robot hardware module, a robot hardware API(Application Programming Interface), and robot software component. A test engine(240) performs a test based on the stored information in a test resource storage(220) and a robot component storage(230). The test engine analyzes the result of the test.

Description

Apparatus and method for testing a module conforming to the ＲＴＣ (Ｒｏｂｏｔ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏｍｐｏｎｅｎｔ] specification {APPARATUS AND MEHTOD FOR TESTING RTC MODULE}

The disclosed technology relates to an apparatus and method for testing modules that conform to the RTC specification.

The Robot Technology Component (RTC) is a standard specification for software components of robots adopted by the Object Management Group (OMG). Robot software components include device components for controlling hardware, such as various sensors or actuators present in the robot, and application components for developing various robotic applications using these device components.

On the other hand, in the development of a robot using a module that complies with the RTC standard (hereinafter, referred to as an RTC module), a large part of development cost and development time is spent in the test process, but due to the short development period and insufficient manpower, The research about this is not actively discussed.

Under this background, it is required to develop a system that automatically handles test tasks in order to reduce the time and cost required for testing RTC modules.

An object of the present invention is to provide an apparatus and method for testing an RTC module.

A first aspect of the disclosed technology to achieve the above technical problem is a user interface that provides an environment for performing a hierarchical test in the order of a robot hardware module, a robot hardware application programming interface (API) and a robot software component; Test resource repository; Robotic component storage; And a test engine configured to perform a test based on contents stored in the test resource repository and the robot component repository and to analyze a result of the test.

According to a second aspect of the disclosed technology, a test automation device having a user interface, a test resource store, and a robot component store tests an RTC module, and includes a test object and a test item through the user interface. Receiving input number of test executions and test environment setting information; Importing a test code, a test procedure, and a performance measurement metric from the test resource repository based on the received information, and importing a component source file of a component to be tested from the robot component repository; Performing a test on a component to be tested based on the received information, the test code, a test procedure, a performance measurement metric, and a component source file; And analyzing the test results according to the performance measurement metrics provided from the test resource repository, wherein the user interface is divided into robot hardware modules, robot hardware application programming interfaces (APIs), and robot software components to perform hierarchical testing. The present invention provides a method of testing an RTC (Robot Technology Component) module that provides an environment capable of performing the method.

Embodiments of the disclosed technology can have the effect of including the following advantages. However, the embodiments of the disclosed technology are not meant to include all of them, and thus the scope of the disclosed technology should not be understood as being limited thereto.

The test automation device and test method of the disclosed technology provide an environment in which robot software components, robot hardware APIs, and robot hardware modules are hierarchically tested. Therefore, when an error occurs, there is an advantage that it is possible to clearly determine whether it is a software problem, an interface problem or a hardware problem.

In addition, the disclosed technology provides an apparatus and method for automatically testing an RTC module. Thus, the time, effort, and cost of the test can be saved.

Description of the disclosed technology is only an embodiment for structural or functional description, the scope of the disclosed technology should not be construed as limited by the embodiments described in the text. That is, the embodiments may be variously modified and may have various forms, and thus the scope of the disclosed technology should be understood to include equivalents capable of realizing the technical idea.

On the other hand, the meaning of the terms described in the present application should be understood as follows.

The terms " first ", " second ", and the like are used to distinguish one element from another and should not be limited by these terms. For example, the first component may be named a second component, and similarly, the second component may also be named a first component.

When a component is referred to as being "connected" to another component, it should be understood that there may be other components in between, although it may be directly connected to the other component. On the other hand, when an element is referred to as being "directly connected" to another element, it should be understood that there are no other elements in between. On the other hand, other expressions describing the relationship between the components, such as "between" and "immediately between" or "neighboring to" and "directly neighboring to", should be interpreted as well.

Singular expressions should be understood to include plural expressions unless the context clearly indicates otherwise, and terms such as "include" or "have" refer to features, numbers, steps, operations, components, parts, or parts thereof described. It is to be understood that the present invention is intended to indicate that there is a combination, and does not preclude the presence or addition of one or more other features or numbers, steps, operations, components, parts or combinations thereof.

Each step may occur differently from the stated order unless the context clearly dictates the specific order. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. Terms defined in commonly used dictionaries should be interpreted to be consistent with meaning in the context of the relevant art and can not be construed as having ideal or overly formal meaning unless expressly defined in the present application.

1 is a view for explaining a hierarchical model for testing a module conforming to the Robot Technology Component (RTC) standard.

Referring to FIG. 1, the test procedure is performed in the order of unit testing, integration testing, and system testing, as shown in the left side of FIG. 1. In the present invention, the test procedure is applied to a module (hereinafter, referred to as an RTC module) conforming to the RTC standard, and tests are performed hierarchically in the order of a robot hardware module, a robot hardware API (application programming interface), and a robot software component. In this specification, an RTC module is a concept including a robot software component, a robot hardware API, and a robot hardware module that conforms to the RTC standard.

The robotic system is closely connected with hardware modules as well as software components. When testing software components that are closely related to hardware, it is not known whether the software component itself is faulty or defective. Therefore, in order to test the robot software component, a test for the robot hardware module, an application programming interface (API), which is an interface between the robot hardware module and the robot software component, and the robot software component should be performed hierarchically.

2 is a block diagram illustrating an apparatus for testing an RTC module according to an embodiment of the disclosed technology. Referring to FIG. 2, the RTC module test apparatus 200 includes a user interface 210, a test resource repository 220, a robot component repository 230, and a test engine 240.

According to an embodiment, the test engine 240 performs a test based on contents stored in the test resource repository 220 and the robot component repository 230 according to the test setup information received through the user interface 210. The result of the test may be analyzed and output through the user interface 210.

FIG. 3 is a block diagram illustrating the user interface of FIG. 2. The user interface 210 tests a first user interface 310, which is an interface used when testing a robot hardware module, a second user interface 320, which is an interface used when testing a robot hardware API, and a robot software component. Including a third user interface 330 to be used, it provides an environment that can perform a hierarchical test in the order of a robot hardware module, a robot hardware application programming interface (API), and a robot software component.

For example, when the user tests the robot hardware module, the user may input test setting information through the first user interface 310. The test setting information may include a test target, a test item, a test execution count, and test environment setting information.

The test object may be an identifier of a robot hardware module (in case of testing a robot software component, the robot software component) to be tested. The test item may be a subdivided test item of the test target. For example, assuming that the robot hardware module is a distance sensor module, the test item may be the accuracy of the value measured by the distance sensor module. The number of test executions may be a number of tests performed on a test item or a number of tests performed for each test case. The test environment setting information may include an initial value of the test bed, an input / output variable, a condition required for the test execution, and the like, when the test is performed.

In addition, testing of the robot hardware module may include document testing, performance testing, and performance evaluation. The document test is a test to evaluate the suitability of documents such as data sheets and specification documents related to robot hardware modules through document test surveys of practitioners. A performance test is a test of the performance of a hardware module, for example, testing the accuracy of a distance measurement in a distance sensor module. Performance evaluation refers to analyzing performance test results by referring to performance evaluation metrics.

Likewise, when testing the robot hardware API, the user inputs test setting information through the second user interface 320, and when testing the robot software component, the user sets the test setting information through the third user interface 330. You can enter

The robot hardware API is implemented by connecting to a software component, and is an interface that provides a language, a message format, and the like used for communication between the hardware module and the software component. Testing of the robot hardware API is done by software component. Testing of the robot hardware API may include an interface test. The interface test tests the robot hardware API format or the accuracy of data input / output values passed between hardware and software through the robot hardware API. Testing a robot software component may include a functional test that tests the functionality of a robot software component that conforms to the RTC specification.

4 is a block diagram illustrating a test resource store of FIG. 2. The test resource repository 220 is a repository for storing test resources required for testing. The test resource repository 220 according to an embodiment may store a test code 410, a test procedure 420, a test case 430, a document test questionnaire 440, and a performance measurement metric 450.

The test code 410 is a code for preparing a basic framework for executing a test, and the test procedure 420 is a procedure for test plan and test progress. The test case 430 refers to test data selected to verify whether a hardware module, a robot hardware API, or a software component is operating properly. The document test questionnaire 440 is a questionnaire for practitioners in order to test whether the document such as the specification document, data sheet, etc. is properly prepared by referring to the specification document, data sheet, etc. of the RTC module. The performance measurement metric 450 is an index for evaluating the performance of the hardware module, robot hardware API, or software component to determine whether the properties, such as functionality, reliability and efficiency meet the required level. For example, the performance measurement metric 450 may include the accuracy of the measurement distance in the distance sensor module, the accuracy of the ultrasonic sensitivity, and the like.

FIG. 5 is a block diagram illustrating the robot component store of FIG. 2. Robot component store 230 is a store where files related to robot software components are stored. The robot component store 230 according to an embodiment may store a component source file 510, a component information file 520, and a component execution environment file 530.

Component source file 510 is a source file of a robot software component. The component information file 520 is a file including information on a component source file. For example, the component information file 520 may include a library type, a language used, and an execution type of a corresponding robot software component. The component execution environment file 530 is a file including information on the environment in which the corresponding robot software component is used. For example, the component execution environment file 530 includes information on which hardware module the robot software component can be used.

FIG. 6 is a block diagram illustrating the test engine of FIG. 2. The test engine 240 performs a test based on the contents stored in the test resource repository 220 and the robot component repository 230, and analyzes the results of the test. The test engine 240 according to an embodiment includes a test manager 610, a test data generator 620, a test execution unit 630, and a test monitor 640.

The test manager 610 provides a test data generation command to the test data generator 620. When the test setting information is input through the user interface 210, the test manager 610 generates a test data generation command and provides the test data generation command to the test data generation unit 620. The test manager 610 receives the information (eg, test code, test procedure, performance evaluation metric) necessary for generating test data based on the input test setting information from the test resource repository 220 and generates test data. It may transmit to the unit 620.

The test data generator 620 generates a test case in response to receiving the test data generation command. The test case may be generated based on, for example, an equivalent partitioning test or a boundary value test technique according to the performance evaluation metric 450. The test data generator 620 transmits test data including information about the generated test case to the test manager 610.

The test manager 610 generates a test execution command in response to receiving the test data from the test data generator 620. The test manager receives the necessary information (eg, a source file of the robot software component to be tested) from the robot component repository 230 based on the input test setting information and the test execution unit 230 together with the test execution command. ) Can be sent. In this case, the test manager 610 may also transmit the received test case, the test code 410 provided from the test resource repository 220, the test procedure 420, and the like.

The test execution unit 630 executes a test in response to receiving the test execution command from the test manager 610. According to an embodiment of the present disclosure, when the test target is a robot hardware module, the test execution unit 630 may interwork with the robot hardware test bed on which the robot hardware module as the test target is mounted to perform the test. The test execution unit 630 may test the robot hardware module using a test driver based on the test code 410, the test procedure 420, and the performance measurement metric 450 provided without the robot software component. You can also test using test drivers built on robot software components that control the robot hardware modules.

According to another embodiment, when the test target is a robot software component, the test execution unit 630 may interoperate with a robot hardware test bed equipped with a robot hardware module on which a simulator or a test target robot software component is executed. have. In this case, the simulator refers to a program that provides an environment for testing the robot software component by implementing the operation of the robot hardware module on which the robot software component under test is executed in software.

The test monitor 640 monitors the progress of the test. The test monitor 640 may monitor a test progress including a test elapsed time, a test progress stage, a state of a variable value, and the like, and output the test progress through the user interface 210.

7 is a flowchart illustrating a method of testing an RTC module according to an embodiment of the disclosed technology. FIG. 7 illustrates a method for testing the RTC module by the apparatus 200 for testing the RTC module of FIG. 2. A method of testing the RTC module of FIG. 7 will be described with reference to FIG. 2. Also, since the embodiment of FIG. 2 is implemented in a time series, the description of the apparatus 200 for testing the RTC module of FIG. 2 applies to the present embodiment as it is.

The test engine 240 receives test setting information including a test target, a test item, a test execution count, and test environment setting information through the user interface 210 (S710). The test engine 240 requests a test resource including a test code, a test procedure, a performance measurement metric, and the like from the test resource repository 220 based on the received test setup information (S720), and the test resource repository 220 ) Provides a test resource to the test engine 240 (S730). In addition, the test engine 240 requests files for the component of the component to be tested from the robot component repository 230 (S740). The robot component repository 230 provides the test engine 240 with the requested files among the component source file, the component information file, and the component execution environment files (S750).

The test engine 240 performs a test based on the test setting information received through the user interface 210 and the information provided from the test resource storage 220 and the robot component storage 230 (S760). The process of performing the test may be monitored by the test engine 240 and output through the user interface 210 (S770). After the test is finished, the test engine 240 analyzes the test result with reference to the performance evaluation metric (S780). The analyzed test result may be output through the user interface 210 (S790).

FIG. 8 is a flowchart for describing operation S760 of FIG. 7 in detail. 8 illustrates a method in which the test engine 240 performs a test and monitors a test process.

Referring to FIGS. 2 and 7 to 8, when the test setting information is input through the user interface 210, the test manager 610 generates a test case generation command (S810). In addition, the test manager 610 obtains test codes, test procedures, performance evaluation metrics, etc. related to the RTC module to be tested from the test resource repository according to the test configuration information, and the robot software components to be tested are robots. Taken from the component repository.

The test manager 610 transmits the generated test case generation command to the test data generation unit 620 (S820), and the test data generation unit 620 receives the received test setting information according to the received test case generation command and A test case is generated based on the provided performance measurement metrics, component source code, etc. (S830). Test data including the generated test case is transmitted to the test manager 610.

The test manager 610 generates a test execution command in response to receiving the test data, and generates the test execution command, the test data, and the imported test code, test procedure, and component source file generated in the test execution unit 630. Transmit (S850).

The test execution unit 630 performs a test based on the test data and the provided test code, test procedure, and component source file according to the test execution command (S860). When the test target 630 is a robot hardware module, the test execution unit 630 may be linked with the robot hardware test bed to perform a test. When the test object is a robot software component or a robot hardware API, the test execution unit 630 may be connected to a simulator or a robot hardware test bed. Test can be performed in conjunction.

The test monitoring unit 640 monitors the test progress while the test is in progress (S870). The test monitor 640 may monitor the test elapsed time, the test progress step, the state of the variable value, and the like, and provide the test interface 640 to the user interface 210.

FIG. 9 is a diagram for describing a test apparatus of FIG. 2, which tests a robot hardware module by the test method of FIGS. 7 to 8. 9, a user may input a test target, a test item, a test execution count, test environment setting information, and the like through the user interface 210. The test engine 240 performs a test according to the input test setting information with reference to the data stored in the test resource repository 220 and the robot component repository 230. The test execution unit 630 may execute a test in connection with a robot hardware test bed equipped with a robot hardware module, and the test execution process and the test result may be output through the user interface 210.

The disclosed method and apparatus have been described with reference to the embodiments shown in the drawings for ease of understanding, but these are merely exemplary, and various modifications and equivalent other embodiments are possible to those skilled in the art. Will understand. Therefore, the true technical protection scope of the disclosed technology should be defined by the appended claims.

1 is a view for explaining a hierarchical model for testing a module conforming to the Robot Technology Component (RTC) standard.

2 is a block diagram illustrating an apparatus for testing an RTC module according to an embodiment of the disclosed technology.

FIG. 3 is a block diagram illustrating the user interface of FIG. 2.

4 is a block diagram illustrating a test resource store of FIG. 2.

FIG. 5 is a block diagram illustrating the robot component store of FIG. 2.

FIG. 6 is a block diagram illustrating the test engine of FIG. 2.

7 is a flowchart illustrating a method of testing an RTC module according to an embodiment of the disclosed technology.

FIG. 8 is a flowchart for describing operation S760 of FIG. 7 in detail.

FIG. 9 is a diagram for describing a test apparatus of FIG. 2, which tests a robot hardware module by the test method of FIGS. 7 to 8.

Claims (10)

A user interface providing an environment in which hierarchical tests can be performed in order of a robot hardware module, a robot hardware application programming interface (API), and a robot software component; Test resource repository; Robotic component storage; And And a test engine configured to perform a test based on contents stored in the test resource repository and the robot component repository, and to analyze a result of the test. The method of claim 1, wherein the test engine, When test setting information is input through the user interface, a test code, a test procedure, and a performance evaluation metric are provided from the test resource repository, and a component source file of a test target component is provided from the robot component repository to perform a test. Device to test the RTC module. The method of claim 1, wherein the test engine, A test data generator for generating test data in response to receiving the test data generation command; A test manager which provides the test data generation command to the test data generation unit and generates a test execution command in response to receiving the generated test data from the test data generation unit; A test execution unit executing a test in response to receiving the test execution command from the test manager; And Apparatus for testing the RTC module including a test monitor for monitoring the progress of the test. The method of claim 1, wherein the test engine, Apparatus for testing the RTC module to test the robot hardware module in conjunction with the robot hardware test bed equipped with the robot hardware module. The method of claim 1, wherein the test engine, Apparatus for testing the RTC module to test the robot software component in conjunction with a simulator or a robot hardware test bed equipped with the robot hardware module. The method of claim 1, wherein the user interface, A first user interface for receiving test configuration information for testing a robot software component, a second user interface for receiving test configuration information for testing a robot hardware API, and a second configuration for receiving test configuration information for testing a robot hardware module. 3 user interface, The test setting information may include at least one of a test target, a test item, a test execution count, and test environment setting information. The method of claim 1, wherein the test resource repository, Device for testing an RTC module that includes at least one of test code, test procedures, test cases, test questionnaires, and performance measurement metrics. The apparatus of claim 1, wherein the robot component repository stores at least one of a component source file, a component information file, and a component execution environment file. A test automation device having a user interface, a test resource repository, and a robot component repository, for testing an RTC module, Receiving a test object, a test item, a test execution count, and test environment setting information through the user interface; Importing a test code, a test procedure, and a performance measurement metric from the test resource repository based on the received information, and importing a component source file of a component to be tested from the robot component repository; Performing a test on a component to be tested based on the received information, the test code, a test procedure, a performance measurement metric, and a component source file; And Analyzing the test result according to the performance measurement metric provided from the test resource repository, The user interface is divided into a robot hardware module, a robot hardware application programming interface (API) and a robot software component to test a robot technology component (RTC) module that provides an environment in which a hierarchical test can be performed. 10. The method of claim 9, Performing the test, Generating test data based on the received information and the performance measurement metric; Performing a test based on the generated test data and the test code, test procedure, and component source file; And Monitoring the progress of the test.

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