Software Testing by Standard Software Metrics Method; Study Case Mission Planner as UAV Ground Station Software

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1 Softwre Testing by Stndrd Softwre Metrics Method; Study Cse Mission Plnner s UAV Ground Sttion Softwre Adi Susil Puter 1, Ftw Rmdni 2 1 Fculty of Computer Science, Brwijy University, Mlng, Indonesi. 2 Geoinformtics Reserch Group, Fculty of Computer Science, Brwijy University, Mlng, Indonesi. dhie @gmil.com Abstrct This pper explins the testing of complexity of softwre nd complexity of flight dt from Mission Plnner s UAV Ground Sttion softwre. Tests were conducted using the softwre metric method. The nlysis, testing, nd clcultions were pplied using the method of softwre metric to investigte the complexity of the softwre nd the flight dt on Mission Plnner. The tests were performed on three different OS (opertion systems); Windows, Linux, nd Mc. The result shows tht Windows OS hs the most relible softwre environment nd flight dt thn the other two softwre. Index Terms Ground Sttion; Mission Plnner; Softwre Metric; Complexity Softwre; Windows; Linux; MAC OS I. INTRODUCTION In generl, ground sttion softwre is used to monitor the UAV behvior when it is operted. Flight pln cn be defined with the strting point coordintes, while the pth nd the coordinted pth will be observed. The monitoring process cn be ccessed from telemetry connection, which is plced on the ground for the purpose of monitoring nd observing the condition of UAV. The Mission Plnner (MP) is softwre for utopilot of the ircrfts, helicopters, or rovers. This softwre is comptible with Windows. In ddition, MP cn be used for monitoring the sitution nd condition of utopilot on the ground nd to receive dt from telemetry for the production of mny commnds tht control the flight prmeters of UAV. Some of the things tht cn be done with the MP re controlling the vehicle (Auto Pilot), optimizing performnce, sving nd loding utopilot utonomy mission with simple point-nd-click, s well s nlyzing the mission logs nd flight simultor. With the telemetry hrdwre we cn monitor the sttus of the operted UAV. Telemetry logs will record ll informtion onbord log utopilot, view nd nlyze telemetry logs from the ground sttion. Softwre module complexity ssessment is crucil in softwre engineering study [1].This study will use MP softwre to ssess the softwre complexity s well s its dt complexity on three different operting systems (OS). The testing phse itself is done using the clcultion of the impliction by using the softwre metric method. [1] The initil testing phse is determined bsed on Metric stndrd qulity nd vlidtion[2], which clcultes the impliction softwre nd dt bsed on Metrics for specifiction qulity, Design model metrics, System Size, Depth, stripe nd AN rtio.[3] The results of the test, the impliction softwre nd the dt on MP cn help us know the Institutionliztion indictors impliction on three OS tht were tested. The rchitecture of the MP softwre is shown in Figure 1. Softwre testing will illustrte the efficiency nd relibility in wy tht is mesured. This pper is imed t clculting the metric softwre for testing s well s the complexity, efficiency nd relibility of MP softwre. II. METHODOLOGY The testing phse is done using severl stges of the testing phse with the poching Softwre Metrics. In the testing phse tht uses the method of clcultion of the metric impliction on MP softwre, the test ws conducted to know the indictors of the complexity of the MP softwre. This test is done on three different OS (i.e., Windows, Linux, nd MAC OSX) to know how the complexity of the softwre when it is tested nd running on three different OS. The MP softwre is open source tht runs on on Windows OS, Linux nd MAC. It cn be downloded nd lernt by nyone. To generte the rel flight dt, we used fixed-wing type UAV (Unmnned Aeril Vehicle) with APM 2.6 utopilot. We used the MP softwre s the ground sttion to monitor the UAV behvior nd finlly get the detiled flight informtion. The softwre testing is done with the process of loding the dt through the MP softwre. The dt inputted cn be seen nd monitored through MP softwre Grphicl User Interfce (GUI).[4] III. PREVIOUS RESEARCH There re mny studies nd discussions relted to the topic of this reserch nd the common testing method used is the metric clcultion. Stndrd softwre metric ssessment hd previously been discussed in Fenton nd Neil [5] focuses on testing the softwre control of ground sttion. However, the softwre used is not open source. Softwre nd monitoring hve n importnt role in the opertion of the ground sttion. In this pper, the development phse of the monitoring nd control softwre verifies the test nd system rchitecture using metric, system size, nd depth metric. The testing phse is done with the nlysis nd verified bsed on metric softwre. e-issn: Vol. 1 No

2 Journl of Telecommuniction, Electronic nd Computer Engineering Monitoring dn Control Softwre MISSON PLANER FLIGHT DATA SCREEN H U D(Hed Up Disply) Gris Speed Cross Trck Heding direction Brek Angle Wireles Telemetry Architecture Monitor Control Are Quick PreFight Action Guges Sttus Mp Jlur Flight Koordint Awl Stelit Terhubung GPS GPS Time Altitude Air Speed Ground Speed Bttery Sttus Scrips Servo Telemtry logs Dt Flsh Log Messnge Ketinggin Pet FLIGHT PLAN INITIAL SETUP CONFIG/TUNING SIMULATION TERMINAL Mp Disply Distnce Mp Zoom Titik Koordint Longitude Attitude Action Pnel titik Koordint Dt Stelit LodWpFile SveWpFile RelWpS WyPoint Mission Filght WP Rdius Loiter Rdius Defult ALT DRAFT WIZARD Instl Firmwre Optionl Hrdwre WriteWpS Home Loction Very Height Add Bellow Commnd detil SIX Rdio PX4 FLOW Bluetooth Setup Atene Plner/Config Flight Video device Video Formt USD Color Speech UI Lnguge Joystick Disc Units Telemtry Rte HUD Log Pth Trck Leght Mp Pth Theme Lyout Simultion Flght Home Loction Options Advnced user Only Selected Firmwre Run Configurtion Autopilot Connect Show Setting Setup Rdio Test Log Downlod Log Browser Figure 1: Softwre Architecture of Mission Plnner Hmyun nd Soomro [6] reveled tht the overll complexity of softwre cn be tested, but there hs been no explntion of the test evlution tests on softwre reported by ll the literture. They tend to focus only on when the testing process nd the results of loding dt re in ccordnce with the commnd in the input on unmnned ircrft. The development of the Automtic Voice identifier (ASR messge)[7] on MP softwre is system tht cn be integrted on the ground control sttion from MAVs to know the ctivities nd voice commnd. There re two ppers tht relte to this work. The first one is bout the design of n ppliction erospce with voice commnd nd the second pper focuses on the development nd integrtion of the bility of messge of ASR ginst the Ground Sttions. In reltion to the test using the lgorithm bove nd the development of integrtion on typicl ground sttion nd on MP bsed on MAV, the pper concludes tht the evlution of the voice mil messge ASR lbortory nd discussion bout the steps should be dpted to form system tht cn cope with the rel ppliction scenrios. Bukhri et l. [8] discussed some of the proposed metrics for the softwre development process nd qulity evlution of the softwre. In this pper, we reviewed the metrics proposed for the selection. The metric ws bsed on the externl mesurement s the first step towrd the determintion of the model method metric softwre. With respect to the softwre metric, the sme pproch in the stge of development nd evlution of the softwre to mesure the qulity of the softwre hs been used. The determintion of metric softwre in the softwre testing is importnt for the purpose of choosing the most pproprite metrics for the evlution nd ssessment of the softwre. The determintion of the method nd method selection softwre metric is bsed on the externl mesurements nd determintion of testing nd nlysis softwre. In ddition to using it s test nd monitoring the flight ground sttion[9], it cn lso be mde prt of ground sttion tht cn be used s nno nd pico stellites. Flight line testing on grndsttions re locted t the frequencies VHF, UHF, nd S-bnd round songs MHz, 435MHz, nd 2.3GHz. Ground sttions re idel nd suitble for some mission tht llow for flight nd semless pth of the ground flight sttions to the flight ground sttions. A ground sttion is designed in some modulr so tht it cn be tested in vrious conditions nd pths of the different flights. Flight sfety [1] involves the time to get ttention on the UAV. The pper focuses on the development sttus, predicting errors nd UAV flight mngement. Monitoring the UAV flight simultion systems includes determining the low stte, nlyzing rel-time, modelling security systems, nd monitoring mbient conditions. This pper focuses on reserch relted to the UAV flight monitoring system in rel time. In this cse, during the occurnce of unexpected conditions, the commndo commnds instruction to the system, which quickly intervene the sitution by providing remote control, nd mde the recording process tht cn be stored nd nlyzed for the entire flight process. This pper proposes the development of UAV technology tht is ble to be controlled [11]. The proposed process is ble to fly independently nd trck the position of the flight. The proposed mthemticl models include rtificil technology consisting of rtificil lgorithm fed with predetermined process, such s the blity to wlk independently, trck the trjectory, brek ccurtely, nd record t ll stges. The PID loop is designed to chieve stbility t ll stges of the 124 e-issn: Vol. 1 No. 1-8

3 Softwre Testing by Stndrd Softwre Metrics Method; Study Cse Mission Plnner s UAV Ground Sttion Softwre process. In the nlysis process, it ws found tht the UAV system ws unstble. All the frequency reference functions to explin the results of the nlysis nd testing phse. The multitude of testing using the MP is to test the softwre only. The complexity of the MP in terms of the qulity of the softwre nd the dt is not known. Therefore, this reserch ws done in order to know the complexity of both the softwre nd dt on MP. IV. SOFTWARE AND HARDWARE USED IN THE STUDY A. Softwre The testing process in this pper uses MP softwre, n open source nd esy to use softwre. MP softwre is equipped with complete tools nd GUI-bsed. The commnd on the unmnned ircrft determines the order of execution. MP softwre provides users with the opportunity to work on one ppliction for the process of the progrm, testing nd monitoring, nd tools. It not only llows the development of user-friendly nd grphics GUI, but lso gives progrmmers the freedom in choosing wht to disply to the user t specific time. B. Hrdwre In this study, we employed Ardu Pilot Meg (APM 2.6), hrdwre IMU utopilot bsed on the Arduino Meg pltform. This utopilot hrdwre cn control fixed-wing, multi-rotor helicopter s well s trditionl helicopter. The utopilot hrdwre hs the bility to stbilize the UAV nvigtion point nd two-wy telemetry with Xbee wireless module. It lso supports 8 chnnel RC with 4 seril port. APM consists of the min bord processor nd shield IMU. The open source control softwre is constntly updted with new fetures nd improved by tem of round 3 core developers, supported by communities of more thn 1, members [12]. We instlled the APM 2.6 in the fixed-wing UAV type, nd flew it for 15 minutes to generte the rel flight dtset. The result cn be downloded through MP log informtion. The formt of the flight dt is [dot] log. C. UAV nvigtion point Metrics for specifiction qulity The development of the softwre consists of severl steps: The first step in the process of the development of the softwre is the model of nlysis described by the qulity of the specifiction greed by the consumers nd the developers [15]; the metric hs been brought down to the qulity of the model specifiction nlysis. MP softwre process tht shows the trnsition digrm cn be seen in Figure 2. r (1) f where: r = totl vrible needs, f = the number of functionl needs, nd nf = the number of non-functionl requirements. Both of these prmeters re generlly clculted bsed on the requirements in the engineering project phse. nf Figure 2: Stte trnsition digrm of MP softwre. Metrics for vgueness in rchitecture Bsed on the bove sttistic, [13] derived vrious quotients for the specific qulity. The metric to determine the mbiguity in this nlysis ws developed by [13]. These metrics provide the size of the entire softwre requirements specifiction. ui Ki (2) r where r is the number of the totl needed, nd ui is the require ents inferred by the developer tem. b. Metric for completeness Another other spect of model nlysis stted tht ll functionl requirements must be identified. K2 gives us the completeness of functionl softwre system. K u i (3) i * s where u specifies the number of unique functionl requirement, i is figure denoting number of inputs nd s shows the mount of stte specificlly. c. Vlidtion metrics The metric defined for the vlidtion is s shown in eqution 4: Ki * c (4) c where, c shows the correct vlidtion sttement, nv shows the sttement of vlidtion filed or is not executed until the specified time. D. Design model metrics Once the updted nlysis model is completed, the next step is still under construction with the softwre models of the design. The design or rchitecture model stresses on the structure nd the effects of the module tht re different from the previous models. Metric design cn come without knowing the internl working principles of the module. The design metrics re closely linked to the complex ecology softwre, nd there re three fruit metrics considered importnt in the metric development of this softwre [14] nv e-issn: Vol. 1 No

4 K2=u/(i*s) K1=f/nf Vlue Journl of Telecommuniction, Electronic nd Computer Engineering The structurl complexity is defined s: S(j) = fout 2 (j) (5) where f out shows the number of the module in the module j. This is lso referred to s the fn-out. The complexity of the dt gives the interior of the complexity of the interfce on the module j. D(j) = V(j) [fout(j) + 1] where, V(j) shows the number of vribles I/ P nd O/ P vribles ginst the module j. The totl complexity is the number of combintion of the structurl complexity S(j) of the MP softwre S(j) nd complexity of the dt D(j). It is given by the folllowing eqution: (6) T(j) = S(j) + D(j) (7) E. System Size, Depth, Width nd AN rtio The complexity of the softwre cn lso be defined with mthemticl models using the metric s described in [15]. The simplest wy in the process of the clcultion of the metric is by describing the complete system tht knows the process tht rn nd filed. The next stge is dividing the system nd subsystems in describing the relted vribles, s shown in Figure 2. The clcultion of the specifiction cn be mesured nd clculted from the mount of nodes nd grph output on ech node. where: n = numbers of node, = rcs Size = n + (8) The system depth is wy of determining the complexity of the verticl direction. It specifies the number of the module from the top to below or vice vers. The complexity of the softwre is defined ccording to horizontl direction. This shows tht the number of the module on the level of the vribles is the sme s the softwre. Rtio n shows the relibility of designing the whole connectivity of the system nd the softwre specifictions Figure 3: Metric for specifiction qulity. Vgueness The implementtion of Eqution 2 of ech OS is shown in Figure 4. Figure 4: Vgueness of MP softwre on three different OS. The idel vlues of the specifiction K 1 must be the sme with 1. It will never be greter thn 1. 9 b. Completeness Eqution 3 is used to determine the completeness of MP softwre. The result is shown in Figure Windows Mc Linux f(fungsionl) r(non fungsionl) Totl Vguenes K1 AN rtio, n = α n V. RESULTS AND DISCUSSIONS (9).1 K2. Completeness Figure 5: Completeness of MP softwre on three different OS Softwre metrics re defined nd described in section V nd pplied to obtin the results of the following section: A. Metrics for Specifiction Qulity Softwre specifictions on the development phse re needed in the nlysis, design specifiction, ssessment, testing nd verifiction of SOW (Sttement of Work) tht cn be built nd received by the third prty. The result is shown in Figure 3 below. c. Vlidtion Eqution 4 is used to implement vlidtion s shown in Figure e-issn: Vol. 1 No. 1-8

5 ( )= ( )/([ ( )+1]) AN = nf/f ( )= ^2 ( ) Totl complexity K3 = c/c+nv T = S + D Softwre Testing by Stndrd Softwre Metrics Method; Study Cse Mission Plnner s UAV Ground Sttion Softwre Figure 6: Vlidtion of MP softwre on three different OS. B. Design Metrics.9.95 Vlidtion.895. Structurl Complexity Figure 7 shows the results for the ppliction of Eqution 5. Figure 7 depicts the structurl complexity of the MP softwre on three different OS Figure 7: Structurl complexity of MP softwre on three different OS b. Dt Complexity Ech module subsystem hs different input specifiction processes nd outputs on the MP softwre. The commnd inputted with the vlue specified by the user is relted to the commnd specifiction on the softwre. The result is shown in Figure Figure 8: Structurl complexity of MP softwre on three different OS c. Totl complexity The totl complexity is minly dependent on the structurl complexity. Figure 9 shows n imge of the totl complexity of MP softwre on three different OS. The grph is similr to the structurl complexity. C. System Size, Depth, Width nd AN rtio The next stge determines the size system, depth system, width nd AN rtio. This stge employs Eqution 8 nd 9. MP softwre specifiction comprison using metric nd its ppliction on three different OS is shown in Figure 1 nd Structurl complexity 14 Dt complexity K Figure 9: The totl complexity of MP softwre on three different OS Figure 1: Size, depth, nd width of MP softwre on three different OS Figure 11: AN rtio of MP softwre on three different OS. D. Dt Complexity Testing Totl complexity Size Depth Width.24 Complexity of the softwre. Dt Lod Grphic Complexity on OS Windows In Window OS, the stored dt diling phse process is running one time process only, lthough there re disply of the informtion. The stored dt cn be clled s well s its disply nd results re presented in the grph. b. Dt Lod Grphic Complexity on MAC OSX Dt diling on MAC OSX is lmost the sme s on the Windows OS, s the itertion dt diling process one time only. However, there ws n error t the time of the clling dt with the process nd disply of the grph for lrge dt s the bug error process is more thn one time. In this cse, the process of clling nd rises the impliction grph requires long witing time which influences the performnce from the MAC OS nd softwre. The dt shows more detil nd complex informtion which is confusing for the reding process nd viewing the dt impliction through grphic. Further, the detils of the dt tble on MAC re more complex thn on the Linux nd Windows nd it is difficult to understnd..22 OS System.18 e-issn: Vol. 1 No

6 Journl of Telecommuniction, Electronic nd Computer Engineering c. Dt Lod Grphic Complexity on Linux Dt diling on Linux is different compred to other OS becuse it not directly clled, but use the commnds inputted in terminl in Linux. At the time of the first diling, filure occurred resulting in up to four times testing. This sitution shows tht it does not fcilitte to use of MP softwre using Linux OS. d. Complexity of Mission Plnner Using the Windows OS, Linux nd MAC OSX, this system cn be run nd the dt cn be clled on Linux nd Mc OS, lthough there re some commnds nd different processes. Clling the dt on the Windows nd MAC is esier thn on Linux. The structurl complexity of MP softwre on the Windows OS is more efficient nd esy to use, s it is bsed on the GUI. Instlltion process on Windows OS is much fster process thn on MAC OSX or OS LINUX. VI. CONCLUSION In the system testing phse, the performnce of the MP pplictions were tested nd verified in three different OS; Windows OS, Linux OS, nd MAC OSX. The testing phse nlyzed the clcultion of mtrix. The testing softwre does not only clculte the structurl complexity but lso the complexity of dt. This is to ensure the relibility nd wstge of MP softwre. Clculting the complexity is to know the efficiency, relibility, nd speed, but the most importnt nd often overlooked is prmeter from clrity nd complexity tht describes the stge nd development process nd the required function of the softwre. This pper discusses ll vlidtion metrics clcultion. This clcultion cn lso be used by interctive upside down to ensure tht the lgorithm used to produce the result in the restrictions cn be ccepted. The test, which mesures the impliction of the dt on the softwre ws conducted to identify the complexity of the existing dt. Clling dt tht cn ffect the impliction on MP softwre, lthough dt sved on Windows OS cn be used to open MP instlled on OS Linux nd Mc OS. However, when dt ws diled in MAC, there were error severl times. This study shows tht the development of MP on the Mc OS nd Linux re less developed thn in Windows OS. Users re recommended to use Windows OS when operting MP to get the most relible flight dt visuliztion but esier to understnd. REFERENCE [1] Pizzi, N. J. (211). Mpping Softwre Metrics to Module Complexity: A Pttern Clssifiction Approch. Journl of Softwre Engineering nd Applictions, 4(7), [2] Srinivsn, K. P., & Devi, T. (214). Softwre Metrics Vlidtion Methodologies In Softwre Engineering. Interntionl Journl of Softwre Engineering & Applictions, 5(6), [3] Fenton, N. nd Biemn, J. (214). Softwre Metrics. 3rd ed. Hoboken: Tylor nd Frncis. [4] Mission Plnner Home Mission Plnner documenttion.ardupilot.org.. Mission Plnner Home Mission Plnner documenttion. Avilble t: [5] Fenton, N. E., & Neil, M. (2). Softwre metrics. Proceedings of the Conference on The Future of Softwre Engineering - ICSE, [6] Humyun, S., & Soomro, M. H. (213). Appliction of Stndrd Softwre Metrics [7] Rhul, D. K., Veen, S., Lokesh, H., Viny, S., Kumr, B. P., Annd, C. M., & Durdi, V. B. (216). Development of Voice Activted Ground Control Sttion. Procedi Computer Science, 89, [8] Bukhri, Z., Yhy, J., & Dermn, A. (215). Softwre metric selection methods: A review. Proceedings - 5th Interntionl Conference on Electricl Engineering nd Informtics: Bridging the Knowledge between Acdemic, Industry, nd Community, ICEEI 215, [9] Fischer, M., & Scholtz, A. L. (21). Design of multi-mission stellite ground sttion for eduction nd reserch. 2nd Interntionl Conference on Advnces in Stellite nd Spce Communictions, SPACOMM 21, [1] Pengbo, X., Guodong, J., Libin, L., Lining, T., & Jign, N. (216). The Key Technology And Simultion Of UAV Flight Monitoring System, [11] Mllick, T. C., Ariful, M., Bhuyn, I., & Munn, M. S. (216). Design & Implementtion of n UAV ( Drone ) with Flight Dt Record. [12] APM Plnner 2 Home APM Plnner 2 documenttion, Ardupilot.org, 217. Avilble: [13] A. Dvis, et l., "Identifying nd Mesuring Qulity in Softwre Requirements Specifiction", Proc. of First Int.. Softwre Metrics Symposium, pp , 1993 [14] D.N. Crd nd R.L. Glss, Mesuring Softwre Design Qulity. Prentice Hll, 199 [15] Fenton, N. E., & Neil, M. (2). Softwre metrics. Proceedings of the Conference on The Future of Softwre Engineering - ICSE, e-issn: Vol. 1 No. 1-8