Testing and QA notes from DevSummit workshop

#1

These are the notes from June 19 DevSummit core maintainer/core dev workshop. The session was chaired by @LorenzMeier, and the following notes captures the session topic and action items that needs to be followed up.

Overview of current state

Current State of automated testing

  1. Compile tests
  2. Unit tests
  3. SITL tests (go through verification of outcome vs ground truth)
  4. On-HW tests (unit)
  5. On-HW tests (HITL)
  6. Linters (coverity)

@LorenzMeier describes above as product soak testing

Discussion

What is coverage by current tests? You can add a feature that is not covered by tests.

Test categories

  • Product quality soak testing
  • Regulatory testing
  • Product contribution testing (make sure test coverage goes not down

Unit tests

  • Now easily possible with new framework by @MaEtUgR
  • Mostly agreement that only new features with unit tests are accepted
  • Community contributions: how can we enforce unit testing
    • Idea for approach: enforces unit tests from contributor; if feature is really important core team adds unit tests if the contributor does not follow up
  • Core maintainers need to do refactoring to show other contributors how tests should be done
  • First integration test coverage should get increased to be able to refactor
  • Currently developers are scared to put in features due to low test coverage
  • Can we do job sharing: 1 person writes feature; the other writes tests; currently do not have bandwidth for that

Adversarial testing

Can you make a drone crash with a RC?
Can we capture such flight data and put it into SITL tests?

Nuttx Upgrade

Example: I2C bug issue: currently no instrumentation to capture it (CPU coverage) on the hardware test rack

→ performance metric

Next steps ideas

  • Modernize architecture to use SDK
    • Match it to regulatory requirements
  • Enforce in CI that code coverage does not go down
  • Integrate test tooling in github
  • SITL testing can be used outdoors (including automated and verification)
  • Map of what is tested
  • Format for test spec; test procedure; result checker to be able to keep it revisioned
    • Could be done with test case management tool integrated into github
    • Need to be able to have offset/pattern that is relative
  • Feed logs from adversarial testing into SITL testing
  • Performance metric monitoring on test rack
  • Jerk monitoring on SITL/outside tests
  • Peripheral testing on test rack
    • Full coverage of every interface
    • Connector level test
  • Internal quality audit

Actions

  1. Requirements → Result Automation (Test case tool)
  2. Move existing int. Testing
  3. Policy change on PR testing
  4. Formalizing HW testing setup / Projectize test rack
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PX4 Dev Call: July 3, 2019