WO2023116647A1

WO2023116647A1 - Software in-the-loop testing method and apparatus, electronic device system, and storage medium

Info

Publication number: WO2023116647A1
Application number: PCT/CN2022/140157
Authority: WO
Inventors: 高旭
Original assignee: 北京罗克维尔斯科技有限公司
Priority date: 2021-12-23
Filing date: 2022-12-19
Publication date: 2023-06-29
Also published as: CN115437913A

Abstract

The present invention relates to a software in-the-loop testing method, apparatus and system, and a storage medium, applied to the technical field of testing. The method comprises: receiving first test data sent by the software in-the-loop testing system, the first test data being generated according to a test message and a message structure corresponding to the test message, the software in-the-loop testing system comprising a message structure respectively corresponding to each test message, and the message structure being a data type supported by software to be tested; converting the first test data into second test data according to the message structure of the first test data; sending the second test data to said software, such that said software performs automated testing according to the second test data, so as to obtain and return a first test result; and converting, according to the message structure, the first test result into a second test result that can be identified by the software in-the-loop testing system, and sending the second test result to the software in-the-loop testing system.

Description

Software-in-the-loop testing method, device, electronic equipment system, and storage medium

Cross References to Related Applications

This application is based on a Chinese patent application with application number 202111588888.1 and a filing date of December 23, 2021, and claims the priority of this Chinese patent application. The entire content of this Chinese patent application is hereby incorporated by reference into this application.

technical field

The present disclosure relates to the technical field of testing, and in particular to a software-in-the-loop testing method, device, system and storage medium.

Background technique

At present, the functional testing of the vehicle controller includes: model-in-the-loop testing, SIL (Software In Loop, software-in-the-loop) testing and hardware-in-the-loop testing. The software-in-the-loop test system is a stable automotive software test system, which is widely used in major car manufacturers. However, the software-in-the-loop test system cannot test the software developed in some systems, that is, the applicability of the software-in-the-loop test system is low.

Contents of the invention

In order to solve the above technical problems, the present disclosure provides a software-in-the-loop testing method, device, system and storage medium.

According to a first aspect of the present disclosure, a software-in-the-loop testing method is provided, which is applied to testing services, and the method includes:

Receiving the first test data sent by the software-in-the-loop test system, the first test data is generated according to the test message and the message structure corresponding to the test message, and the software-in-the-loop test system includes a message corresponding to each test message A structure, the message structure is a data type supported by the software to be tested;

converting the first test data into second test data according to the message structure of the first test data;

Sending the second test data to the software under test, so that the software under test performs an automated test according to the second test data, obtains and returns a first test result;

converting the first test result into a second test result recognizable by the software-in-the-loop test system according to the message structure, and sending the second test result to the software-in-the-loop test system.

In some embodiments, the message structure is generated according to the test message and the data types supported by the software under test.

In some embodiments, the sending the second test data to the software under test includes:

Send the first message data to the software-in-the-loop test system through socket communication; the message header of the first message data contains the data type information corresponding to the second test result, and the first message data The message body of the text data includes the second test result.

In some embodiments, the message body of the first message data further includes verification data of the second test result, and the verification data is used to make the software-in-the-loop test system verify the second test validity of the results.

In some embodiments, the software to be tested is software developed under a target system, and the target system includes: a robot operating system or a data distribution service system.

According to a second aspect of the present disclosure, a software-in-the-loop testing method is provided, which is applied to a software-in-the-loop testing system, and the method includes:

Generate first test data according to the test message and the message structure corresponding to the test message, the software-in-the-loop test system includes a message structure corresponding to each test message, and the message structure is supported by the software to be tested data type;

sending the first test data to a test service, so that the test service obtains a test result according to the first test data;

The test result returned by the test service is received.

In some embodiments, the sending the first test data to the test service includes:

Send the second message data to the test service through socket communication, wherein the message header of the second message data includes the data type information of the first test data, and the message header of the second message data A text contains the first test data.

In some embodiments, the message body of the second message data further includes check data of the first test data, and the check data is used to enable the test service to verify the validity of the first test data sex.

According to a third aspect of the present disclosure, a software-in-the-loop testing device is provided, which is applied to testing services, and the device includes:

The first test data receiving module is used to receive the first test data sent by the software-in-the-loop test system, the first test data is generated according to the test message and the message structure corresponding to the test message, and the software-in-the-loop test system Including a message structure corresponding to each test message, the message structure is a data type supported by the software to be tested;

A test data conversion module, configured to convert the first test data into second test data according to the message structure of the first test data;

A second test data sending module, configured to send the second test data to the software under test, so that the software under test performs an automated test according to the second test data, and obtains and returns a first test result;

A test result conversion module, configured to convert the first test result into a second test result recognizable by the software-in-the-loop test system according to the message structure;

A test result sending module, configured to send the second test result to the software-in-the-loop test system.

In some embodiments, the second test data sending module is specifically configured to send the first message data to the software-in-the-loop test system through socket communication; the message header of the first message data The data type information corresponding to the second test result is included, and the message body of the first message data includes the second test result.

According to a fourth aspect of the present disclosure, a software-in-the-loop testing device is provided, which is applied to a software-in-the-loop testing system, and the device includes:

The first test data generation module is configured to generate first test data according to the test message and the message structure corresponding to the test message, wherein the software-in-the-loop test system includes a message structure corresponding to each test message, The message structure is a data type supported by the software to be tested;

A first test data sending module, configured to send the first test data to a test service, so that the test service can obtain a test result according to the first test data;

The test result receiving module is configured to receive the test result returned by the test service.

In some embodiments, the first test data sending module is specifically configured to send the second packet data to the test service through socket communication, wherein the header of the second packet data contains the first Data type information of test data, the message body of the second message data includes the first test data.

According to a fifth aspect of the present disclosure, a testing system is provided, including: a software-in-the-loop testing system and an electronic control unit, the electronic control unit including a testing service and software to be tested;

The software-in-the-loop testing system is configured to generate first test data according to a test message and a message structure corresponding to the test message, and send the first test data to the test service, wherein the software-in-the-loop The test system includes a message structure corresponding to each test message, and the message structure is a data type supported by the software to be tested;

The test service is configured to convert the first test data into second test data according to the message structure of the first test data; send the second test data to the software under test;

The software under test is used to perform an automated test according to the second test data, obtain a first test result, and return the first test result to the test service;

The test service is further configured to convert the first test result into a second test result recognizable by the software-in-the-loop test system according to the message structure, and send the Second test result.

In some embodiments, the software-in-the-loop test system is specifically configured to send the second message data to the test service through socket communication, wherein the message header of the second message data contains the first The data type information of the test data, the message body of the second message data includes the first test data.

In some embodiments, the test service is specifically configured to send the first message data to the software-in-the-loop test system through socket communication; the message header of the first message data includes the first The data type information corresponding to the second test result, the message body of the first message data includes the second test result.

According to a sixth aspect of the present disclosure, there is provided an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, when the processor executes the computer program , implementing the method described in the first aspect or the second aspect.

According to a seventh aspect of the present disclosure, there is provided a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method described in the first aspect or the second aspect is implemented.

According to an eighth aspect of the present disclosure, there is provided a computer program product, which causes the computer to execute the method described in the first aspect or the second aspect when the computer program product is run on a computer.

The software-in-the-loop testing system includes a message structure corresponding to each test message, and the message structure is a data type supported by the software to be tested. The software-in-the-loop testing system can generate the first test data according to the test message and the message structure corresponding to the test message, and send the first test data to the test service. The test service converts the first test data from the software-in-the-loop test system into the second test data according to the message structure of the first test data, so that the software under test can perform automated testing according to the second test data, and returns the first Test Results. Similarly, the test service converts the first test result from the software under test into a second test result that can be recognized by the software-in-the-loop test system. It can be seen that after the software-in-the-loop test system sends a test signal, the processing result of the software to be tested can be obtained, that is, when the software-in-the-loop test system cannot test the software to be tested, the software-in-the-loop test system and the test service Combined, the automated software-in-the-loop testing of the software to be tested is realized, thereby increasing the testing range of the software-in-the-loop testing system and improving the applicability of the software-in-the-loop testing system.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings without paying creative labor.

FIG. 1 shows a schematic diagram of a system architecture of an exemplary application environment of a software-in-the-loop testing method that can be applied to an embodiment of the present disclosure;

FIG. 2 is a flowchart of a software-in-the-loop testing method in an embodiment of the present disclosure;

FIG. 3 is a flowchart of a method for generating a test service and a software-in-the-loop test system in an embodiment of the present disclosure;

FIG. 4 is another flowchart of a software-in-the-loop testing method in an embodiment of the present disclosure;

FIG. 5 is an interactive flowchart of a software-in-the-loop testing method in an embodiment of the present disclosure;

FIG. 6A is a schematic structural diagram of a software-in-the-loop testing device in an embodiment of the present disclosure;

FIG. 6B is another schematic structural diagram of a software-in-the-loop testing device in an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of a test system in an embodiment of the present disclosure;

FIG. 8 is a schematic structural diagram of an electronic device in an embodiment of the present disclosure.

Detailed ways

In order to more clearly understand the above objects, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, in the case of no conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

In the following description, many specific details are set forth in order to fully understand the present disclosure, but the present disclosure can also be implemented in other ways than described here; obviously, the embodiments in the description are only some of the embodiments of the present disclosure, and Not all examples.

FIG. 1 shows a schematic diagram of a system architecture of an exemplary application environment of a software-in-the-loop testing method that can be applied to an embodiment of the present disclosure.

Among them, the software-in-the-loop test refers to simulating various sensor signals required by the controller by running the vehicle model in the system environment and the I/O (input/output) model in the virtual ECU (Electronic Control Unit, electronic control unit) , and receive the signal of the bench sensor and the control signal sent by the virtual ECU, so as to connect with the code information (including basic software and hardware parameters, etc.) of the virtual ECU under test and the system environment model, and finally realize the closed-loop simulation to test the control system verify.

As shown in FIG. 1 , the system architecture 100 may include a software-in-the-loop testing system 101 , a testing service 102 and a software to be tested 103 , and the testing service 102 and the software to be tested 103 may be located in the same electronic control unit 104 . The software-in-the-loop test method provided by the embodiment of the present disclosure can be executed by the software-in-the-loop test system 101, the test service 102, and the software under test 103, and the test service 102 can convert the data from the software-in-the-loop test system 101 into the software under test 103 identifiable data, and convert the data from the software-to-be-tested 103 into data recognizable by the software-in-the-loop testing system 101, thereby realizing the software-in-the-loop testing system 101 to perform software-in-the-loop automated testing on the software-to-be-tested 103, and improving the software-in-the-loop testing system 101 Ring test system 101 suitability.

The software-in-the-loop testing method of the embodiment of the present disclosure is firstly introduced below on the testing service side.

Referring to FIG. 2 , FIG. 2 is a flowchart of a software-in-the-loop testing method in an embodiment of the present disclosure, which is applied to testing services and may include the following steps S210 to S240.

Step S210, receiving first test data sent by the software-in-the-loop test system, where the first test data is generated according to the test message and the message structure corresponding to the test message.

The software-in-the-loop test system is an automotive software testing system that can test the application software in the car. The software-in-the-loop test system uses Message data to test the application software, and the code corresponding to the application software is generally an I/O model. In some systems, the software-in-the-loop test system cannot test the application software developed under the system using Message data. The software to be tested refers to the software that the software-in-the-loop test system cannot test. In some embodiments, the software to be tested is software developed under the target system, and the target system can include: ROS (Robot Operating System, robot operating system) system or DDS (data distribution service, data distribution service) system.

Among them, the ROS system is a highly flexible software architecture for writing robot software programs. In related technologies, application software testing under the ROS system needs to be connected to test cases written based on the ROS software architecture, and the test cases need to be run in the ROS environment. Therefore, very high requirements are put forward for software testers to write test cases. The test environment And the test case requirements are relatively limited, which cannot be adapted to the general software-in-the-loop testing framework.

In order to carry out the software-in-the-loop test for the software to be tested, the message structures corresponding to each test message can be compiled into the software-in-the-loop test system in advance, so that the software-in-the-loop test system includes a message structure corresponding to each test message respectively, The message structure is the data type supported by the software to be tested, and the data types supported by the software to be tested may include int, bool, float, unit, etc. In this way, the software-in-the-loop test system can generate the first test data according to the test message and the message structure corresponding to the test message, that is, according to the data type supported by the software to be tested, the original Message data is converted into a test structure type data.

Step S220, converting the first test data into second test data according to the message structure of the first test data.

Since the first test data is test data of a structure type, and different first test data correspond to different message structures, after receiving the first test data, the test service can send the first test data to the message structure according to the message structure of the first test data. A test data is converted into a second test data. The second test data may be non-structure type test data, and the second test data may be recognized by the software to be tested.

For example, if the software to be tested is software developed under the ROS system, the software services can start the subscribed topic, server, action and other services in the software to be tested, and simulate the source that provides data or services for the software to be tested. The first test data received by the test system is converted into a ROS-related Message signal.

Step S230 , sending the second test data to the software under test, so that the software under test performs an automated test according to the second test data, and obtains and returns the first test result.

After the test service performs data conversion to obtain the second test data, it can send the second test data to the software under test. In this way, the software under test can perform an automated test according to the identifiable second test data, obtain the first test result, and return the first test result to the test service.

Step S240, converting the first test result into a second test result recognizable by the software-in-the-loop test system according to the message structure, and sending the second test result to the software-in-the-loop test system.

In the embodiment of the present disclosure, the software-in-the-loop testing system cannot recognize the first test result received by the testing service. Contrary to the data conversion process in the aforementioned step S220, the test service may convert the first test result into a second test result recognizable by the SIL test system according to the message structure of the first test data. It can be seen that after the software-in-the-loop test system sends the first test data, the corresponding test results can be obtained through the data conversion of the test service, so that software developed under different systems can be tested.

In the software-in-the-loop testing method of the embodiment of the disclosure, the software-in-the-loop testing system includes a message structure corresponding to each test message, and the message structure is a data type supported by the software to be tested. The software-in-the-loop testing system can generate the first test data according to the test message and the message structure corresponding to the test message, and send the first test data to the test service. The test service converts the first test data from the software-in-the-loop test system into the second test data according to the message structure of the first test data, so that the software under test can perform automated testing according to the second test data, and returns the first Test Results. Similarly, the test service converts the first test result from the software under test into a second test result that can be recognized by the software-in-the-loop test system. It can be seen that after the software-in-the-loop test system sends a test signal, the processing result of the software to be tested can be obtained, that is, when the software-in-the-loop test system cannot test the software to be tested, the software-in-the-loop test system and the test service Combined, the automated software-in-the-loop testing of the software to be tested is realized, thereby increasing the testing range of the software-in-the-loop testing system and improving the applicability of the software-in-the-loop testing system.

In the embodiment of the present disclosure, the message structure is generated according to the test message and the data type supported by the software to be tested. Referring to FIG. 3 , FIG. 3 is a flowchart of a method for generating a test service and a software-in-the-loop test system in an embodiment of the present disclosure, which may include the following steps S310 to S340 .

Step S310, obtaining various test messages and data type files; wherein, the data type files include data types supported by the software to be tested.

The test message refers to the message used by the software-in-the-loop test system for testing, and different test messages are used to test different functions. For example, for a test message whose file name is door.msg, the test message may contain the following content:

#Vehicle speed out

float32 veh_spd 0

#Front Left Door Status Left Front Door Status Signal

uint8 fldoor_sts 0

#Front Right Door Status Right Front Door Status Signal

uint8 frdoor_sts 0

#Rear Left Door Status Left rear door status signal

uint8 rldoor_sts 0

#Rear Right Door Status Right rear door status signal

uint8 rrdoor_sts 0

The above test message is used to test the speed of the vehicle and the state of each door.

Datatype files are files describing datatypes that can be used to generate source code in different languages. The data type file includes all data types supported by the software under test, such as int, bool, float, unit, etc. For example, for the data type file of the ROS system, a simplified message description language can be used to describe the data published by the ROS node.

Step S320, generating a message structure corresponding to a single test message according to the data type and the single test message.

According to the data type in the data type file, the message structure corresponding to each test message can be generated. In some embodiments, a pre-written script file may be used to generate a message structure corresponding to the single test message according to the data type and the single test message, so as to improve the efficiency of generating the message structure.

For example, the above test message door.msg can generate a message structure door.hpp, which can be expressed as follows:

Step S330, adding the message structure to the test service code, compiling and generating the test service.

Step S340, adding the message structure to the software-in-the-loop test system code, compiling and generating the software-in-the-loop test system.

The generated message structure is added to the test service code and the software-in-the-loop test system code, and the test service and the software-in-the-loop test system can be compiled and generated. It should be noted that, when a new test message is added to the software-in-the-loop test system, a new message structure can be generated according to the newly added test message and the data type in the data type file, and the new message structure can be added to To test service code and software-in-the-loop test system code, recompile and generate new test service and new software-in-the-loop test system.

The software-in-the-loop testing method of the embodiment of the present disclosure can use scripts to automatically generate structured data types for use by the software-in-the-loop testing system and testing services, and realize the unification of the memory arrangement with the data types of the software to be tested, thereby facilitating The flow of data between various systems finally realizes that the software-in-the-loop test system can test the software to be tested.

Referring to FIG. 4 , FIG. 4 is another flow chart of a software-in-the-loop testing method in an embodiment of the present disclosure, which is applied to a software-in-the-loop testing system and may include the following steps S410 to S430.

Step S410, generate first test data according to the test message and the message structure corresponding to the test message, the software-in-the-loop test system includes a message structure corresponding to each test message, and the message structure is a data type supported by the software to be tested .

Step S420, sending the first test data to the test service, so that the test service can obtain test results according to the first test data.

Step S430, receiving the test result returned by the test service.

The above-mentioned embodiment in FIG. 4 is a software-in-the-loop testing method on the side of the software-in-the-loop testing system corresponding to the embodiment in FIG.

Referring to FIG. 5 , FIG. 5 is an interactive flowchart of a software-in-the-loop testing method in an embodiment of the present disclosure, which may include the following steps S510 to S580.

Step S510, generate first test data according to the test message and the message structure corresponding to the test message, the software-in-the-loop test system includes a message structure corresponding to each test message, and the message structure is a data type supported by the software to be tested .

As mentioned above, according to the data type file and each test message, a message structure corresponding to each test message can be generated. According to the test message and the message structure corresponding to the test message, the first test data can be generated. For example, according to the test message door.msg and the message structure door.hpp, the following first test data can be generated:

door.veh_spd = 100;

door.fldoor_sts = 1;

door.frdoor_sts = 2;

door.rldoor_sts = 3;

door.rrdoor_sts = 4;

In the first test data, the speed of the vehicle is 100, and the states of each door are 1, 2, 3, and 4 respectively.

Step S520, sending the first test data to the test service.

In the embodiment of the present disclosure, the communication mode between the software-in-the-loop test system and the test service may include a socket (socket) communication mode. The software-in-the-loop test system can send the second message data to the test service through socket communication, wherein the message header of the second message data contains the data type information of the first test data, and the message body of the second message data contains first test data. The test service can correctly analyze according to the data type information in the message header, and obtain the first test data sent by the software-in-the-loop test system.

In some embodiments, the message body of the second message data may further include verification data of the first test data, and the verification data is used to enable the test service to verify the validity of the first test data. The verification data may be a crc (cyclic redundancy check) code, etc. In this way, the test service further checks the parsed data to judge the validity of the data.

Step S530, converting the first test data into second test data according to the message structure of the first test data.

The test service can convert the first test data received from the software-in-the-loop test system into the second test data according to the message structure. For example, for the following first test data:

door.veh_spd = 100;

door.fldoor_sts = 1;

door.frdoor_sts = 2;

door.rldoor_sts = 3;

door.rrdoor_sts = 4;

According to the message structure door.hpp, the following second test data can be generated:

veh_spd=100;

fldoor_sts = 1;

frdoor_sts = 2;

rldoor_sts = 3;

rrdoor_sts = 4;

The above-mentioned second test data is data recognizable by the software under test. It can be seen that the data type of the second test data received by the software to be tested is different from the first test data sent by the software-in-the-loop test system, but the data content is the same.

Step S540, sending the second test data to the software under test.

In step S550, the software under test performs an automated test according to the second test data to obtain a first test result.

Step S560, the software under test sends the first test result to the test service.

Step S570, converting the first test result into a second test result recognizable by the software-in-the-loop test system according to the message structure.

Step S580, sending the second test result to the software-in-the-loop testing system.

Similar to step S520, the test service can send the first message data to the software-in-the-loop test system through socket communication; wherein, the message header of the first message data contains the data type information corresponding to the second test result, and the first report The message body of the text data includes the second test result. The software-in-the-loop test system can correctly analyze according to the data type information in the message header, and obtain the second test result.

In some embodiments, the message body of the first message data may further include verification data of the second test result, and the verification data is used to enable the software-in-the-loop test system to verify the validity of the second test result. In this way, the software-in-the-loop test system further checks the parsed data to judge the validity of the data.

The software-in-the-loop testing method of the embodiment of the present disclosure can compile the pre-generated message structure including the data types supported by the software to be tested to the test service and the software-in-the-loop test system for the test service and the software-in-the-loop test system to share use. The software-in-the-loop test system can generate the first test data according to the test message and the message structure corresponding to the test message, fill the data type information of the first test data into the message header, and fill the first test data and verification data into the message body Sent to the test service later. The test service can accurately parse out the first test data according to the data type information in the packet header, and can also verify the validity of the first test data according to the verification data. Afterwards, the first test data is converted into the second test data, so that the software under test can perform automated testing according to the second test data, and return the first test result. Similarly, the test service converts the first test result from the software under test into a second test result that can be recognized by the software-in-the-loop test system. It can be seen that when the software-in-the-loop test system cannot test the software to be tested, by combining the software-in-the-loop test system and software services, the automatic software-in-the-loop test of the software to be tested is realized, thereby increasing the size of the software-in-the-loop test system. The test range improves the applicability of the software-in-the-loop test system.

Corresponding to the above-mentioned method embodiment, the embodiment of the present disclosure also provides a software-in-the-loop test device, which is applied to test services. Referring to FIG. 6A, the software-in-the-loop test device includes: a first test data receiving module 602, a test data conversion module 604 , a second test data sending module 606 , a test result conversion module 608 and a test result sending module 610 .

The first test data receiving module 602 is used to receive the first test data sent by the software-in-the-loop test system. The first test data is generated according to the test message and the message structure corresponding to the test message. The software-in-the-loop test system includes information related to each test message. Corresponding message structure, the message structure is the data type supported by the software under test;

A test data conversion module 604, configured to convert the first test data into second test data according to the message structure of the first test data;

The second test data sending module 606 is configured to send the second test data to the software under test, so that the software under test performs automated testing according to the second test data, and obtains and returns the first test result;

A test result conversion module 608, configured to convert the first test result into a second test result recognizable by the software-in-the-loop test system according to the message structure;

The test result sending module 610 is configured to send the second test result to the software-in-the-loop test system.

In some embodiments, the message structure is generated according to the test message and the data types supported by the software to be tested.

In some embodiments, the second test data sending module 606 is specifically configured to send the first message data to the software-in-the-loop test system through socket communication; the message header of the first message data includes the second test result Corresponding to the data type information, the message body of the first message data includes the second test result.

In some embodiments, the message body of the first message data further includes verification data of the second test result, and the verification data is used to enable the software-in-the-loop test system to verify the validity of the second test result.

In some embodiments, the software to be tested is software developed under the target system, and the target system includes: a robot operating system or a data distribution service system.

An embodiment of the present disclosure also provides a software-in-the-loop test device, which is applied to a software-in-the-loop test system. Referring to FIG. 6B, the software-in-the-loop test device includes: a first test data generation module 612, a first test data sending module 614 Test result receiving module 616 .

The first test data generation module 612 is configured to generate first test data according to the test message and the message structure corresponding to the test message, wherein the software-in-the-loop test system includes a message structure corresponding to each test message, and the message structure is the data type supported by the software under test;

The first test data sending module 614 is configured to send the first test data to the test service, so that the test service can obtain a test result according to the first test data;

The test result receiving module 616 is configured to receive the test result returned by the test service.

In some embodiments, the first test data sending module 614 is specifically configured to send the second message data to the test service through socket communication, where the header of the second message data contains the data of the first test data Type information, the message body of the second message data includes the first test data.

In some embodiments, the message body of the second message data further includes verification data of the first test data, and the verification data is used to enable the test service to verify the validity of the first test data.

The specific details of each module or unit in the above device have been described in detail in the corresponding method, so details are not repeated here.

An embodiment of the present disclosure also provides a test system. Referring to FIG. 7 , the test system 700 includes: a software-in-the-loop test system 710 and an electronic control unit 720, and the electronic control unit 720 includes a test service 722 and a software to be tested 724;

The software-in-the-loop test system 710 is configured to generate first test data according to the test message and the message structure corresponding to the test message, and send the first test data to the test service, wherein the software-in-the-loop test system includes The message structure, the message structure is the data type supported by the software under test;

The test service 722 is used to convert the first test data into the second test data according to the message structure of the first test data; send the second test data to the software under test;

The software to be tested 724 is used to perform automated testing according to the second test data, obtain the first test result, and return the first test result to the test service;

The test service 722 is further configured to convert the first test result into a second test result recognizable by the software-in-the-loop test system according to the message structure, and send the second test result to the software-in-the-loop test system.

In some embodiments, the software-in-the-loop testing system 710 is specifically configured to send the second message data to the test service through socket communication, wherein the header of the second message data includes the data type of the first test data information, the message body of the second message data contains the first test data.

In some embodiments, the test service 722 is specifically configured to send the first message data to the software-in-the-loop test system through socket communication; the message header of the first message data includes the data type corresponding to the second test result information, the message body of the first message data includes the second test result.

In some embodiments, the software to be tested 724 is software developed under the target system, and the target system includes: a robot operating system or a data distribution service system.

It should be noted that although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. Actually, according to the embodiment of the present disclosure, the features and functions of two or more modules or units described above may be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided to be embodied by a plurality of modules or units.

In an exemplary embodiment of the present disclosure, there is also provided an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein, the processor is configured to execute the above-mentioned software-in-the-loop in this exemplary embodiment Test Methods.

FIG. 8 is a schematic structural diagram of an electronic device in an embodiment of the present disclosure. It should be noted that the electronic device 800 shown in FIG. 8 is only an example, and should not limit the functions and application scope of the embodiments of the present disclosure.

As shown in FIG. 8 , an electronic device 800 includes a central processing unit (CPU) 801, which can operate according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage section 808 into a random access memory (RAM) 803 Instead, various appropriate actions and processes are performed. In RAM 803, various programs and data necessary for system operation are also stored. The central processing unit 801, ROM 802, and RAM 803 are connected to each other through a bus 804. An input/output (I/O) interface 805 is also connected to the bus 804 .

The following components are connected to the I/O interface 805: an input section 806 including a keyboard, a mouse, etc.; an output section 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 808 including a hard disk, etc. and a communication section 809 including a network interface card such as a local area network (LAN) card, a modem, or the like. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I/O interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is mounted on the drive 810 as necessary so that a computer program read therefrom is installed into the storage section 808 as necessary.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, where the computer program includes program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via communication portion 809 and/or installed from removable media 811 . When the computer program is executed by the central processing unit 801, various functions defined in the apparatus of the present disclosure are performed.

In an embodiment of the present disclosure, there is also provided a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the foregoing software-in-the-loop testing method is implemented.

It should be noted that the computer-readable storage medium shown in the present disclosure may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, electrical connections with one or more conductors, portable computer diskettes, hard disks, random access memory, read-only memory, erasable programmable read-only memory (EPROM) or flash memory), fiber optics, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. Program code contained on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wires, optical cables, radio frequency, etc., or any suitable combination of the above.

In an embodiment of the present disclosure, a computer program product is also provided, which enables the computer to execute the above software-in-the-loop testing method when the computer program product runs on the computer.

It should be noted that in this article, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The above descriptions are only specific implementation manners of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

A software-in-the-loop testing method applied to testing services, comprising:

Receiving the first test data sent by the software-in-the-loop test system, the first test data is generated according to the test message and the message structure corresponding to the test message, and the software-in-the-loop test system includes a message corresponding to each test message A structure, the message structure is a data type supported by the software to be tested;

converting the first test data into second test data according to the message structure of the first test data;

Sending the second test data to the software under test, so that the software under test performs an automated test according to the second test data, obtains and returns a first test result;

converting the first test result into a second test result recognizable by the software-in-the-loop test system according to the message structure, and sending the second test result to the software-in-the-loop test system.
The method according to claim 1, wherein the message structure is generated according to the test message and the data type supported by the software under test.
The method according to claim 1, wherein the sending the second test data to the software under test comprises:

Send the first message data to the software-in-the-loop test system through socket communication; the message header of the first message data contains the data type information corresponding to the second test result, and the first message data The message body of the text data includes the second test result.
The method according to claim 3, wherein the message body of the first message data further includes verification data of the second test result, and the verification data is used to verify the software-in-the-loop test system the validity of the second test result.
The method according to claim 1, wherein the software to be tested is software developed under a target system, and the target system includes: a robot operating system or a data distribution service system.
A software-in-the-loop testing method, wherein, applied to a software-in-the-loop testing system, comprising:

Generate first test data according to the test message and the message structure corresponding to the test message, the software-in-the-loop test system includes a message structure corresponding to each test message, and the message structure is supported by the software to be tested data type;

sending the first test data to a test service, so that the test service obtains a test result according to the first test data;

The test result returned by the test service is received.
The method according to claim 6, wherein the message structure is generated according to the test message and the data type supported by the software under test.
The method according to claim 6, wherein said sending said first test data to a test service comprises:

Send the second message data to the test service through socket communication, wherein the message header of the second message data includes the data type information of the first test data, and the message header of the second message data A text contains the first test data.
The method according to claim 8, wherein the message body of the second message data further includes verification data of the first test data, and the verification data is used to make the test service verify the first 1. Test the validity of the data.
A software-in-the-loop testing device, which is applied to testing services, includes:

The first test data receiving module is used to receive the first test data sent by the software-in-the-loop test system, the first test data is generated according to the test message and the message structure corresponding to the test message, and the software-in-the-loop test system Including a message structure corresponding to each test message, the message structure is a data type supported by the software to be tested;

A test data conversion module, configured to convert the first test data into second test data according to the message structure of the first test data;

A second test data sending module, configured to send the second test data to the software under test, so that the software under test performs an automated test according to the second test data, and obtains and returns a first test result;

A test result conversion module, configured to convert the first test result into a second test result recognizable by the software-in-the-loop test system according to the message structure;

A test result sending module, configured to send the second test result to the software-in-the-loop test system.
The device according to claim 10, wherein the message structure is generated according to the test message and the data type supported by the software under test.
The device according to claim 10, wherein the second test data sending module is used for:

Send the first message data to the software-in-the-loop test system through socket communication; the message header of the first message data contains the data type information corresponding to the second test result, and the first message data The message body of the text data includes the second test result.
The device according to claim 12, wherein the message body of the first message data further includes verification data of the second test result, and the verification data is used to verify the software-in-the-loop test system the validity of the second test result.
The device according to claim 10, wherein the software to be tested is software developed under a target system, and the target system includes: a robot operating system or a data distribution service system.
A software-in-the-loop testing device, which is applied to a software-in-the-loop testing system, comprising:

The first test data generation module is configured to generate first test data according to the test message and the message structure corresponding to the test message, wherein the software-in-the-loop test system includes a message structure corresponding to each test message, The message structure is a data type supported by the software to be tested;

A first test data sending module, configured to send the first test data to a test service, so that the test service can obtain a test result according to the first test data;

The test result receiving module is configured to receive the test result returned by the test service.
The device according to claim 15, wherein the message structure is generated according to the test message and the data type supported by the software to be tested.
The device according to claim 15, wherein the first test data sending module is used for:

Send the second message data to the test service through socket communication, wherein the message header of the second message data includes the data type information of the first test data, and the message header of the second message data A text contains the first test data.
The device according to claim 17, wherein the message body of the second message data further includes verification data of the first test data, and the verification data is used to enable the test service to verify the first 1. Test the validity of the data.
A testing system, comprising: a software-in-the-loop testing system and an electronic control unit, the electronic control unit including testing services and software to be tested;

The software-in-the-loop testing system is configured to generate first test data according to a test message and a message structure corresponding to the test message, and send the first test data to the test service, wherein the software-in-the-loop The test system includes a message structure corresponding to each test message, and the message structure is a data type supported by the software to be tested;

The test service is configured to convert the first test data into second test data according to the message structure of the first test data; send the second test data to the software under test;

The software under test is used to perform an automated test according to the second test data, obtain a first test result, and return the first test result to the test service;

The test service is further configured to convert the first test result into a second test result recognizable by the software-in-the-loop test system according to the message structure, and send the Second test result.
An electronic device, comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, when the processor executes the computer program, any one of claims 1 to 5 is realized The steps of the method described in claim 6, or the steps of the method described in any one of claims 6 to 9.
A computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are realized, or claims 6 to 9 are realized The steps of any one of the methods.
A computer program product, when the computer program product runs on a computer, it causes the computer to execute the steps of the method described in any one of claims 1 to 5, or to execute the steps described in any one of claims 6 to 9 steps of the method.