如何集成/单元测试软件硬件接口-Howtointegration/unittestsoftwarehardwareinterfaces

The interface between the robot and the software must be defined first ; not necessarily exhaustively, this could be done incrementally. Start small, for instance with basic moves (forward, backward), then, once it has been fully tested, both in isolation and integrated, add some behaviour (e.g. turn left, turn right), retest. That way, the whole team can use what it learned all along the project to extend the interface, possibly minimizing interface reworks.

必须首先定义机器人和软件之间的接口;不一定详尽无遗,这可以逐步完成。从小开始,例如基本移动(向前,向后),然后,一旦完全测试,无论是隔离还是集成,添加一些行为(例如左转,右转),重新测试。这样,整个团队可以使用它在整个项目中学到的东西来扩展界面,可能最大限度地减少界面返工。

The Progress before Hardware article describes such a process in greater details, focusing on the Test-Driven-Development (TDD) aspect.

硬件之前的进展文章更详细地描述了这样一个过程,重点是测试驱动开发(TDD)方面。

See also answers to the How to do TDD with hardware question.

另请参阅如何使用硬件问题进行TDD的答案。

I think it's a very interesting situation.

我认为这是一个非常有趣的情况。

I believe there's no problem with your testing process. If you mock your robot and test against this mock, it's all good.
If the hardware robot acts different as your mocked robot, there's another big problem: The communication.

我相信你的测试过程没有问题。如果你嘲笑你的机器人并对这个模拟器进行测试,这一切都很好。如果硬件机器人与你的模拟机器人不同,那就是另一个大问题:沟通。

The interface between the software and the hardware is the "protocol" specification. In my opinion it must not be changed without discussion. The hardware guys may not change it and you software guys not, too! You only may change it together. In your situation, everybody changes it on his own.

软件和硬件之间的接口是“协议”规范。在我看来,没有讨论就不能改变。硬件人员可能不会改变它,而软件人员也不会改变它!你只能一起改变它。在你的情况下,每个人都自己改变它。

In your situation, your teams seem to work against each other. So try to focus your efforts in your interface and especially your communication, not in your integration test that won't work anyway.

在您的情况下,您的团队似乎互相攻击。因此,请尽量将精力集中在您的界面上,尤其是您的沟通,而不是集成测试中无论如何都无法工作。

A suggestion of mine would be to use a robot's software mock as the one and only specification. So you can rely on your mock and there's a central point that defines the connection between hard- and software.
When the software guys want to change it, ok. They have to discuss it with you and you will change the software mock. If the hardware was changed and the mock not, you have an apology, because you develop against your specification.

我的建议是使用机器人的软件模拟作为唯一的规范。所以你可以依靠你的模拟,并且有一个中心点来定义硬件和软件之间的连接。当软件人想要改变它时,好吧。他们必须与您讨论,您将更改软件模拟。如果硬件被更改而模拟没有,那么您有道歉,因为您的规范是根据您的规范进行的。

Good luck!