Method for hardware-in-the-loop automated testing, robot-framework test framework and in-the-loop simulation platform

Abstract

The application discloses a hardware-in-the-loop automatic testing method, a Robot- Framework testing framework and a loop simulation platform, and relates to the technical field of testing methods. The hardware-in-the-loop automatic testing method comprises the following steps: based on the Robot- Framework testing framework, a test suite of a measured controller of a vehicle is created, wherein the test suite corresponds to a subfunction of the measured controller; based on the Robot- Framework testing framework, an execution action of the test suite is called; based on the Robot- Framework testing framework, a test report of the measured controller is generated according to the execution action of the test suite; and the test report of the measured controller is output. The method can effectively improve the testing efficiency of the measured controller and the development efficiency of the test suite, and the generated test report has a clear structure, is easy to understand and has high readability.

Description

Technical Field

[0001] This invention relates to the field of hardware-in-the-loop simulation platform technology, and in particular to a method for automated hardware-in-the-loop testing, a Robot-Framework testing framework, and a hardware-in-the-loop simulation platform. Background Technology

[0002] Currently, hardware-in-the-loop (HIL) testing of vehicles is achieved through the automated software built into the controller under test (DUT). Different DUTs require different automated software for test case development and testing. Furthermore, test case development, management, and execution are all handled through different software, resulting in a cumbersome testing process for the DUT and reduced testing efficiency. In addition, test reports suffer from unclear structure and poor readability. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one objective of this invention is to propose a method for automated hardware-in-the-loop testing, which can effectively improve the testing efficiency of the controller under test and the development efficiency of test suites, and generate test reports with a clear structure, easy understanding, and high readability.

[0004] The second objective of this invention is to propose a Robot-Framework testing framework.

[0005] The third objective of this invention is to propose a hardware-in-the-loop simulation platform.

[0006] To address the aforementioned problems, a first aspect of this invention proposes a method for automated hardware-in-the-loop testing, comprising: creating a test suite for a vehicle's controller under test (DUT) based on the Robot Framework, wherein the test suite corresponds to a sub-function of the DUT; invoking the execution actions of the test suite based on the Robot Framework; generating a test report for the DUT based on the execution actions of the test suite based on the Robot Framework; and outputting the test report for the DUT.

[0007] The hardware-in-the-loop automated testing method according to embodiments of the present invention develops a test suite for the controller under test (DUT) using the Robot-Framework testing framework and controls the test suite to perform actions to generate a test report. Therefore, compared to the prior art that uses the DUT's built-in automated software for testing, this application integrates the creation, management, and execution of the DUT's test suite using the Robot-Framework testing framework, effectively improving the testing efficiency of the DUT and the development efficiency of the test suite. Furthermore, the test reports generated based on the Robot-Framework testing framework have a clear structure, are easy to understand, have high readability, and low testing costs.

[0008] In some embodiments, a test suite for a vehicle's controller under test (DUT) is created based on the Robot Framework testing framework, including: importing a keyword library containing multiple keywords, wherein the keywords are obtained by encapsulating interface data of a hardware-in-the-loop simulation platform using Python based on the Robot Framework testing framework, wherein the hardware-in-the-loop simulation platform is connected to the DUT and achieves real-time simulation and data acquisition of the DUT by running a virtual simulation model and controlling the input / output boards of the connected DUT; and creating test cases based on the keywords in the keyword library and the signal parameters of the DUT, wherein the test cases correspond to test points of the DUT, and the test suite is a collection of multiple test cases.

[0009] In some embodiments, the keyword is obtained by at least one of the following: encapsulating the API interface calling methods provided by the hardware-in-the-loop simulation platform into the keyword based on the Python language; and / or forming all input and output interfaces in the hardware-in-the-loop simulation platform into a Mapping file, and encapsulating the setting and reading of variables in the Mapping file into the keyword based on the Python language.

[0010] In some embodiments, based on the Robot-Framework testing framework, the execution actions of the test suite are invoked, including: based on the interface provided by the Robot-Framework testing framework, the execution actions of each test case in the test suite are invoked to complete the test operation on the hardware-in-the-loop simulation platform and return the test results.

[0011] In some embodiments, the execution actions of each test case in the test suite are called based on the interface provided by the Robot-Framework testing framework, including: calling the execution actions before the test suite runs based on the Suite Setup interface provided by the Robot-Framework testing framework.

[0012] In some embodiments, the execution actions of each test case in the test suite are called based on the interfaces provided by the Robot-Framework testing framework, including: calling the execution actions before and after the test case runs based on the Test Setup and Test Teardown interfaces provided by the Robot-Framework testing framework.

[0013] In some embodiments, the method further includes: selectively executing the test cases based on action tags.

[0014] In some embodiments, the execution actions of each test case in the test suite are called based on the interface provided by the Robot-Framework testing framework, including: calling the execution actions after the test suite runs based on the Suite Teardown interface provided by the Robot-Framework testing framework.

[0015] A second aspect of this invention proposes a Robot-Framework testing framework, comprising: a keyword library including multiple keywords, wherein the keywords are obtained by encapsulating interface data of a hardware-in-the-loop simulation platform using Python based on the Robot-Framework testing framework, wherein the hardware-in-the-loop simulation platform is connected to the controller under test (DUT) and achieves real-time simulation and data acquisition of the DUT by running a virtual simulation model and controlling the input / output boards of the connected DUT; a test case editing unit for creating test cases based on the keywords and signal parameters of the DUT, wherein multiple test cases constitute a test suite; and a test execution unit for invoking the execution actions of the test suite and generating a test report for the DUT based on the execution actions of the test suite.

[0016] The Robot-Framework testing framework according to embodiments of the present invention can effectively improve the testing efficiency of the controller under test and the development efficiency of the test suite, and generate test reports with clear structure, easy understanding and high readability.

[0017] A third aspect of this invention provides a hardware-in-the-loop simulation platform, comprising a programmable power supply, a real-time processor, a test host computer, and input / output boards; the real-time processor is adapted to be connected to the controller under test (DUT) and is used to run a virtual simulation model and control the input / output of the connected DUT's input / output boards to achieve real-time simulation and data acquisition of the DUT; the test host computer is configured with a Robot-Framework test framework and is connected to the real-time processor to implement the hardware-in-the-loop automated testing method described in the above embodiment.

[0018] The hardware-in-the-loop simulation platform according to embodiments of the present invention can effectively improve the testing efficiency of the controller under test and the development efficiency of the test kit, and generate test reports with clear structure, easy understanding and high readability.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a flowchart of a hardware-in-the-loop automated testing method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a test item according to an embodiment of the present invention; Figure 3 This is a flowchart of a hardware-in-the-loop automated testing method according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a Robot-Framework testing framework according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a hardware-in-the-loop simulation platform according to an embodiment of the present invention.

[0021] Figure label: Hardware-in-the-loop simulation platform 20; Robot-Framework test framework 10; Controller under test 1; Keyword library 2; Test case editing unit 3; Test execution unit 4; Programmable power supply 5; Real-time processor 6; Test host computer 7; Detailed Implementation The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0022] With continuous technological advancements and rapid societal development, the automotive industry is constantly innovating and improving. Automated testing, as an effective quality control method, is gradually gaining widespread application in the wheel industry. Hardware-in-the-loop (HIL) automated testing is one such application.

[0023] Currently, HIL (Hardware-In-Service) automated testing of vehicle electronic control units (ECUs) is mainly achieved through the automation software built into each HIL device. Different HIL devices implement automation in different ways, using different software for test case development, test management, and test case execution to generate test reports. The specific process is as follows: First, a .tcf file is created in the TCF (Test Configuration File Editor) software to call the LabCar project; second, a .tbc file is created in the TBC (Test Bench Configuration File Editor) software to configure the test tools; third, test cases are developed in spreadsheet software and executable automated sequences are generated in the ASB (Automation Sequence Builder) software; then, an automated test sequence is added to a project in the TM (Test Manager) software; finally, the test sequence is executed and a report is generated in the TH (Test Handle) software. The aforementioned automated testing process involves different software for test case development, management, and execution, resulting in a cumbersome testing process for the controller under test, reduced testing efficiency, and the need for developers to manually add test cases, which requires highly skilled technical expertise. This leads to insufficient convenience for secondary development of test cases. In addition, the test reports suffer from unclear structure and poor readability.

[0024] To address the aforementioned issues, the first aspect of this invention proposes a method for automated hardware-in-the-loop testing, which can effectively improve the testing efficiency of the controller under test and the development efficiency of test suites, and generate test reports with clear structure, easy understanding, and high readability.

[0025] The following is for reference. Figure 1 A method for automated hardware-in-the-loop testing according to embodiments of the present invention is described, such as... Figure 1 As shown, it includes: Step S1: Based on the Robot-Framework test framework, create a test kit for the vehicle's controller under test, where the test kit corresponds to a sub-function of the controller under test.

[0026] The controller under test (DUT) can be the entire vehicle controller system, such as an MCU (Microcontroller Unit), a motor controller, etc., without specific limitations. Robot-Framework is an open-source automated testing framework based on Python, supporting keyword-driven testing and suitable for automated testing of the device under test. This framework is known for its ease of use and extensibility, and can meet various testing needs by integrating multiple test libraries. A test suite is a collection of test cases, which can be divided according to the specific functions of the controller under test. For example... Figure 2 As shown, a test project includes sub-function 1 (test suite) under test function directory 1 and sub-functions under test function directory 2.

[0027] Specifically, based on the Robot Framework testing framework, test kits for the vehicle's controller under test are created using test files.

[0028] Step S2: Based on the Robot-Framework testing framework, invoke the execution actions of the test suite.

[0029] Specifically, the Robot-Framework testing framework uses command-line tools to invoke the execution actions of the test suite in order to control the operation of the test suite, that is, to control the operation of the sub-functions of the controller under test.

[0030] Step S3: Based on the Robot-Framework testing framework, generate a test report for the controller under test according to the execution actions of the test suite.

[0031] Specifically, since the test suite corresponds to a sub-function of the controller under test (DUT), the Robot-Framework testing framework uses command-line tools to invoke the execution actions of the test suite, thereby controlling its operation. This simulates the operation of the DUT's sub-functions, tests them, and generates a test report. Therefore, compared to existing technologies that rely on the DUT's built-in automation software for testing, this application integrates the creation, management, and execution of test suites within the Robot-Framework framework, effectively improving the efficiency of DUT testing and test suite development. Furthermore, the test reports generated using the Robot-Framework framework are clearly structured, easy to understand, and highly readable. Additionally, as an open-source testing tool, the Robot-Framework framework does not incur additional usage costs. Moreover, the Robot-Framework software is ready to use after installation, requiring no license, and offers good flexibility.

[0032] Step S4: Output the test report of the controller under test.

[0033] The hardware-in-the-loop automated testing method according to embodiments of the present invention develops a test suite for the controller under test (DUT) using the Robot-Framework testing framework and controls the test suite to perform actions to generate a test report. Therefore, compared to the prior art that uses the DUT's built-in automated software for testing, this application integrates the creation, management, and execution of the DUT's test suite using the Robot-Framework testing framework, effectively improving the testing efficiency of the DUT and the development efficiency of the test suite. Furthermore, the test reports generated based on the Robot-Framework testing framework have a clear structure, are easy to understand, have high readability, and low testing costs.

[0034] In some embodiments, a test suite for the vehicle's controller under test is created based on the Robot Framework testing framework, including: Import the keyword library, which includes multiple keywords. These keywords are obtained by encapsulating the interface data of the hardware-in-the-loop simulation platform using Python, which is based on the Robot Framework testing framework. The hardware-in-the-loop simulation platform is connected to the controller under test (DUT), and by running a virtual simulation model and controlling the input / output boards of the connected DUT, it achieves real-time simulation and data acquisition of the DUT.

[0035] The keyword library is the same as the function library. Keywords are functions that encapsulate sub-functions of the controller under test.

[0036] Specifically, the interface data of the hardware (i.e., the controller under test) in the hardware-in-the-loop (HIL) simulation platform is encapsulated as library keywords. These keywords allow for the invocation and control of the HIL simulation platform; that is, by importing keywords, the HIL simulation platform is invoked. Then, the HIL simulation platform runs the virtual simulation model. Before the test suite runs, the HIL simulation platform first downloads the virtual simulation model to the RTPC (Remote Test Procedure Call) for execution. It then interacts with the controller under test through the input / output boards, simulating the input information of the controller under test. Simultaneously, the input / output boards acquire the output information of the controller under test during the simulation. Thus, the HIL simulation platform runs the virtual simulation model through the RTPC and controls the input / output boards to simulate the input information of the controller under test, while simultaneously acquiring and measuring the output information of the controller under test.

[0037] Furthermore, test cases can be analyzed using keywords.

[0038] Test cases are created based on keywords in the keyword library and the signal parameters of the controller under test. Each test case corresponds to a test point of the controller under test, and a test suite is a collection of multiple test cases.

[0039] In this context, a test point can refer to a specific test target or object, typically corresponding to a specific functionality or test scenario. Test cases consist of keywords and parameters, and do not require compilation. This means that each test case verifies a specific test point, such as a particular function or operation of a controller under test. Figure 2 As shown, sub-function 1 under test function directory 1 includes test point 1 (test case), and sub-function 2 under test function directory 2 includes test point 2.

[0040] The signal parameters can be signals emitted by the controller under test, and these signal parameters can be pre-monitored and set.

[0041] Specifically, when testing the test points of the controller under test (DUT), test cases need to be written. When writing test cases, keywords corresponding to each test point are used, i.e., functions corresponding to the functions of each test point. Based on the signal parameters of the DUT, control instructions for each test point of the DUT are generated to form the test cases, which are then executed to test each test point of the DUT. Based on this, the functions of the DUT are encapsulated into library keywords using Python through interfaces provided by various types of hardware-in-the-loop (HIL) simulation platforms. The Robot-Framework testing framework can parse and recognize these keywords, thereby enabling the calling and control of the HIL simulation platform. Then, by developing and executing test cases within the Robot-Framework testing framework, a test report is generated, achieving the goal of automated testing of the DUT. Furthermore, adding keywords using Python, with its simple syntax, does not require developers to have extremely high technical skills, improving the convenience of secondary development of keywords.

[0042] In some embodiments, keywords are obtained through at least one of the following: encapsulating the API (Application Programming Interface) call methods provided by the hardware-in-the-loop simulation platform into keywords based on the Python language, which can be used to complete the call control of the controller under test in the hardware-in-the-loop simulation platform; and / or forming all input and output interfaces in the hardware-in-the-loop simulation platform into a mapping file, and encapsulating the setting and reading of variables in the mapping file into keywords based on the Python language, which can realize the setting and reading of variables in the hardware-in-the-loop simulation platform environment of the controller under test.

[0043] In some embodiments, based on the Robot-Framework testing framework, the execution actions of the test suite are invoked, including: invoking the execution actions of each test case in the test suite based on the interfaces provided by the Robot-Framework testing framework, to complete the testing operation on the hardware-in-the-loop simulation platform and return the test results. In other words, through the interfaces provided by the Robot-Framework testing framework, the execution actions of each test case in the test suite are invoked, i.e., the sub-functions of the controller under test are executed, to complete the testing operation on the hardware-in-the-loop simulation platform and return the test results.

[0044] In some embodiments, the execution actions of each test case in the test suite are invoked based on the interfaces provided by the Robot Framework testing framework. This includes invoking the execution actions before the test suite runs, based on the Suite Setup interface provided by the Robot Framework testing framework. In other words, before running the test suite, the test environment for the controller under test is designed through the Suite Setup interface. For example, before running the test suite, the simulation model of the controller under test is downloaded to an RTPC by the loop-in-the-loop simulation platform and run, thereby enabling automated testing of the controller under test.

[0045] In some embodiments, based on the interfaces provided by the Robot Framework testing framework, the execution actions of each test case in the test suite are invoked. This includes invoking the execution actions before and after the test cases run, based on the Test Setup and Test Teardown interfaces provided by the Robot Framework testing framework. In other words, each test case needs to perform corresponding tasks before and after execution. Specifically, to ensure the test cases run correctly, the execution actions before and after the test cases run need to be invoked. For example, before the test cases run, the execution action of completing high-voltage power-on is invoked; after the test cases run, the execution action of restoring all settings is invoked.

[0046] In some embodiments, test cases are selectively executed based on action tags.

[0047] In some embodiments, the execution actions of each test case in the test suite are invoked based on the interfaces provided by the Robot-Framework testing framework. This includes invoking the execution actions after the test suite runs, based on the Suite Teardown interface provided by the Robot-Framework testing framework. Specifically, the execution actions after the test suite runs mean that, for the test suite, the Suite Teardown interface of the Robot-Framework testing framework is used to invoke the execution actions after the test cases have run, such as disconnecting the RTPC connection after all test cases have run to perform the work after the test suite ends.

[0048] In this embodiment, the hardware-in-the-loop simulation platform is connected to the controller under test, and the two communicate via CAN (Controller Area Network) / LIN (Local Interconnect Network) / Ethernet.

[0049] The following is for reference. Figure 3 The method for automated hardware-in-the-loop testing according to an embodiment of the present invention is described below.

[0050] Step S5: Create a test suite.

[0051] Step S6: Import the keyword library.

[0052] Step S7: Create test cases and complete test case editing.

[0053] Step S8: Perform actions before running test case 1.

[0054] Step S9, Test Case 1 Test Steps.

[0055] Step S10: After test case 1 is run, the action is executed.

[0056] Step S11: Perform actions before running test case 2.

[0057] Step S12, Test Case 2 test steps.

[0058] Step S13: After test case 2 runs, the following actions are performed.

[0059] Step S14: Perform actions before running test case n.

[0060] Step S15, test case n test steps.

[0061] Step S16: After test case n runs, the action is executed.

[0062] Step S17: Perform actions after the test suite runs.

[0063] Step S18: Output the test report.

[0064] A second aspect of the present invention provides a Robot-Framework testing framework 10, such as... Figure 4 As shown, the Robot-Framework testing framework 10 includes: a keyword library 2, a test case editing unit 3, and a test execution unit 4.

[0065] The keyword library includes multiple keywords, which are obtained by encapsulating the interface data of the hardware-in-the-loop simulation platform using Python based on the Robot Framework testing framework. The hardware-in-the-loop simulation platform connects to the controller under test (DUT), runs a virtual simulation model, and controls the input / output boards of the connected DUT to achieve real-time simulation and data acquisition of the DUT. The test case editing unit is used to create test cases based on keywords and the signal parameters of the DUT. Multiple test cases form a test suite. The test execution unit is used to call the execution actions of the test suite and generate a test report for the DUT based on the execution actions of the test suite.

[0066] The Robot-Framework testing framework according to embodiments of the present invention can effectively improve the testing efficiency of the controller under test and the development efficiency of the test suite, and generate test reports with clear structure, easy understanding and high readability.

[0067] A third aspect of the present invention provides a hardware-in-the-loop simulation platform 20, such as... Figure 5 As shown, the hardware-in-the-loop simulation platform 20 includes a programmable power supply 5, a real-time processor 6, and a test host computer 7.

[0068] The real-time processor 6 is adapted to be connected to the controller under test 4 and is used to run a virtual simulation model and control the input and output of the input and output boards of the connected controller under test to realize real-time simulation and data acquisition of the controller under test; the host computer 7 is equipped with the Robot-Framework test framework and is connected to the real-time processor 6 to implement the hardware-in-the-loop automated testing method of the above embodiment.

[0069] The hardware-in-the-loop simulation platform according to embodiments of the present invention can effectively improve the testing efficiency of the controller under test and the development efficiency of the test kit, and generate test reports with clear structure, easy understanding and high readability.

[0070] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0071] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for automated hardware-in-the-loop testing, characterized in that, include: Based on the Robot Framework testing framework, a test suite for the vehicle's controller under test is created, wherein the test suite corresponds to a sub-function of the controller under test; Based on the Robot-Framework testing framework, the execution actions of the test suite are invoked; Based on the Robot-Framework testing framework, a test report for the controller under test is generated according to the execution actions of the test suite; Output the test report of the controller under test.

2. The method according to claim 1, characterized in that, Based on the Robot Framework testing framework, a test suite for the vehicle's controller under test was created, including: Import a keyword library, which includes multiple keywords. These keywords are obtained by encapsulating the interface data of the hardware-in-the-loop simulation platform using the Python language based on the Robot-Framework testing framework. The hardware-in-the-loop simulation platform is connected to the controller under test and achieves real-time simulation and data acquisition of the controller under test by running a virtual simulation model and controlling the input / output boards of the connected controller under test. Test cases are created based on keywords in the keyword library and signal parameters of the controller under test. The test cases correspond to test points of the controller under test, and the test suite is a collection of multiple test cases.

3. The method according to claim 2, characterized in that, The keyword is obtained by at least one of the following: The API interface calling methods provided by the hardware-in-the-loop simulation platform are encapsulated into the keywords using the Python language. And / or, all input / output interfaces in the hardware-in-the-loop simulation platform are formed into a Mapping file, and the setting and reading of variables in the Mapping file are encapsulated into the keywords based on the Python language.

4. The method according to claim 2, characterized in that, Based on the Robot-Framework testing framework, the execution actions of the test suite include: Based on the interfaces provided by the Robot-Framework testing framework, the execution actions of each test case in the test suite are called to complete the testing operation of the hardware-in-the-loop simulation platform and return the test results.

5. The method according to claim 4, characterized in that, Based on the interfaces provided by the Robot-Framework testing framework, the execution actions of each test case in the test suite are invoked, including: Based on the Suite Setup interface provided by the Robot-Framework testing framework, the execution actions before the test suite runs are called.

6. The method according to claim 4, characterized in that, Based on the interfaces provided by the Robot-Framework testing framework, the execution actions of each test case in the test suite are invoked, including: Based on the Test Setup and Test Teardown interfaces provided by the Robot-Framework testing framework, the execution actions before and after the test cases are called.

7. The method according to claim 6, characterized in that, The method further includes: selectively executing the test cases based on action tags.

8. The method according to claim 4, characterized in that, Based on the interfaces provided by the Robot-Framework testing framework, the execution actions of each test case in the test suite are invoked, including: Based on the Suite Teardown interface provided by the Robot-Framework testing framework, the execution actions after the test suite runs are called.

9. A Robot-Framework testing framework, characterized in that, include: The keyword library includes multiple keywords, which are obtained by encapsulating the interface data of the hardware-in-the-loop simulation platform using the Python language based on the Robot-Framework testing framework. The hardware-in-the-loop simulation platform is connected to the controller under test and achieves real-time simulation and data acquisition of the controller under test by running a virtual simulation model and controlling the input and output boards of the connected controller under test. A test case editing unit is used to create test cases based on the keywords and the signal parameters of the controller under test, and multiple test cases form a test suite. The test execution unit is used to invoke the execution actions of the test suite and generate a test report for the controller under test based on the execution actions of the test suite.

10. A hardware-in-the-loop simulation platform, characterized in that, Includes programmable power supply, real-time processor, test host computer, and input / output boards; The real-time processor is adapted to be connected to the controller under test and is used to run a virtual simulation model and control the input and output of the input and output board of the connected controller under test to realize real-time simulation and data acquisition of the controller under test. The host computer for testing is configured with the Robot-Framework test framework and is connected to the real-time processor to implement the hardware-in-the-loop automated testing method according to any one of claims 1-8.

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