The Case for Regression Tests
Well, it's finally done. They've handed me my degree. So now that it's over, what is it I regret not doing? Regression (or verification) tests. This small amount of additional work might possibly have saved me a few months as well as hundreds of hours spent in lab beating my head against the wall trying to solve the wrong problem.
What is regression testing? Regression tests are a suite of tests that allow a programmer to verify that the code is working. The tests may have been written by someone else. Or they may have been written by the same person at an earlier date. In either case, the tests reassure you that the code is doing the same thing today as it was three weeks ago. This is useful because anyone can modify the code and be reasonably confident the changes didn't break anything. This is very important once a project grows to be thousands, tens of thousands, or hundreds of thousands of lines of code. Think about it. No one remembers what
int foo_246(float *)
does. It's buried so deep in the code, even after it was found, there was a failed witch hunt to find the responsible party. But it's OK! As long as there is an extensive set of tests, you can muck around with the code all you like. Just make sure all the tests pass when you're done. You can optimize it, simplify it, prettify it, complexify it, or obscurify it - whatever you like. But make sure the tests pass.
Why is this important for embedded signal processing? After all, I wrote less than a thousand lines of code that just process a signal. First let's think about what I did right. Writing working numerical algorithms is very difficult, even in a high level language. It gets harder (or at least more work) when you have to do it closer to assembly language. Getting those algorithms to work in a real time environment on an external embedded device just makes the task ten times more challenging. The really frustrating part is that you may not be able to analyze your code in any way once it's on the embedded chip. This makes debugging already extremely complicated code near impossible. Now factor in memory constraints, optimization, noisy equipment, faulty equipment, and complicated algorithms which aren't well understood. Knowing all this, wouldn't you like to have some assurance that your code is working before it ever ends up on the DSP? I certainly would. And that's why I very carefully made sure my code was working at every stage up until the point it had to be loaded onto the signal processor. I made sure the code worked in a mex file driven by matlab. Then I made sure it worked in the emulator. Only once I was completely convinced that it worked would I even attempt to make it work on the DSP.
Great you say. So what's the problem? The trouble is I only used some temporary, not very well designed, tests to make sure my code was working at that point in time. It wasn't particularly easy to use these tests to verify that the code works. The tests weren't designed for and didn't encourage using them again at a later date. They also mostly only tested the complete algorithm instead of introspecting each of the individual pieces.
Ultimately what happened to me was this. My code would break and it would be extremely difficult to find the bug because I had to do it mostly by guess work or by stopping/recompiling/reloading/restarting the DSP repeatedly, each time looking at the tiny little bit of information that I'm able get onto the host computer. Usually this would take anywhere from a few hours to a few days. Well ok, that doesn't sound so bad. If the code breaks three of four, or even twenty times, it's not going to cost you so much time that it's worth spending several weeks writing a careful set of tests.
Here's the rub. While the time spent fixing the code was only ten or twenty times longer than fixing the usual bugs, the time wasted not even realizing I had a problem was at least an order of magnitude greater than that. At one point I spent several weeks trying to reduce electrical noise from the electronics and acoustic noise from the environment in order to get my project working. While those were serious problems that made testing my project a real pain, it turned out the real problem (as usually happens) was in software. Some of my code was mysteriously corrupted (don't ask me how these things happen). A variable in a mathematical expression disappeared. One variable! It cost me weeks (although I did learn a bit about noise). On another occasion, I had a memory allocation error due to a constant that was set incorrectly. This, at least in part, cost me months of delay. Later on I made the same mistake and it again cost me several hours. I can think of at least two more instances of corrupted code and incorrect constants costing me a significant amount of time. There was also the instance of my stack apparently running into the heap.
It's hard to believe something so trivial can cause so many problems. But when you have to worry about extra harmonics from low quality speakers, wide-band noise from your power supply and other interfering sources, a faulty hardware kit, a microphone array with bad and sometimes broken connections, and a quirky software development environment that often crashes, the last thing you need is for the code to break. Broken code can cause almost any imaginable behaviour. I was absolutely sure that something was wrong with the electronics when gain was consistently too low. But it was a memory allocation error. My guess is that the exponent was getting squashed.
So, here's what you do. As soon as something goes wrong, run all your tests. Ideally, it will take little or no effort on your part. You just run them and look at the results. Run them often. If you have even the slightest suspicion that something is wrong, run the tests. Remove the possibility that there is something wrong with your code. I implore you -- if you're going to do something that's even remotely complicated, build yourself some tests. You won't want to do it when you think the project's nearly done. Do it at the start. It could save you months.
Think back to the days before compilers. I know you weren't around then; I wasn't either. Imagine you're programming in assembly or (ug) machine code. Someone suggests something about writing code to help you write code? You think - What? It might eventually help, but for now it would just take up too much time. It's not worth it. But who doesn't use a compiler or interpreter of some type these days? You'd have to be a fool not to use one. It's a necessity. But there was a time when we didn't use them. I think of tests in the same way. It's a tool that will just make everything easier. One day we'll all be wondering what it was like to debug in the days before regression testing. That must have been painful. Oh, it was...
Testing tools might be useful.