Feasibility of model-based testing in hardware in the loop environment: Master's thesis

Model-based testing (MBT) provides software testing automation by deriving test cases automatically from models that represent abstract reference implementations of the system under test and its behavior. Hardware in the loop (HIL) simulation is a technique that is used in the development and testing of complex real-time embedded systems. HIL enables testing of components under development while communicating with software models that simulate a part or the rest of the system. A HIL platform is a simulation environment in which the embedded system under testing assumes to be operating with real-world inputs and outputs. In this thesis, model-based testing is combined with HIL simulation methodology in order to explore the feasibility of model-based testing in HIL environment. A model-based testing in hardware in the loop platform was implemented with two use cases: the first case utilized online MBT and the second case utilized offline MBT. A control algorithm was developed for assessing the pros and cons of the MBT in HIL platform. The control algorithm was used as an object for testing when executing software testing with the MBT in HIL platform. Through the use of mutation testing, it was shown that the MBT in HIL platform can find errors from a SUT in both use cases. However, as experienced during testing, model-based conformance testing does not cover all kinds of possible faults in HIL-related SUTs. The thesis provided insight into the feasibility of MBT in HIL environment by eliciting benefits and problems in utilizing the MBT in HIL platform. Special attention was paid to observing differences between online and offline model-based testing in the HIL environment. Ideas for future work to enhance the feasibility of the MBT in HIL platform arose during the thesis work.