Random Testing of Interrupt-Driven Software John Regehr University of Utah
Random interrupt testing Source-source transformation Static stack analysis Genetic algorithms Semantics of interrupts Del...
<ul><li>Goal: Stress testing and debugging for interrupt-driven embedded software </li></ul><ul><li>Why? </li></ul><ul><ul...
<ul><li>Specific case: Sensor network nodes running TinyOS </li></ul><ul><ul><li>Strongly interrupt-driven </li></ul></ul>...
<ul><li>Obvious stress testing technique: </li></ul><ul><ul><li>Random interrupt testing – fire interrupts at random times...
time request  ADC ADC int. random ADC int. aberrant interrupt crash!
<ul><li>Many embedded systems permit reentrant interrupts </li></ul>time random network interrupts crash! stack overflow
<ul><li>Problem: Interrupts arriving at inconvenient times break applications </li></ul><ul><li>Solution: Restrict interru...
<ul><li>Restricted Interrupt Discipline (RID): </li></ul><ul><ul><li>Requested interrupts – only permit when a request is ...
Implementing RID <ul><li>Annotate interrupt requests </li></ul><ul><li>Ensure that device initialization code leaves each ...
RID in TinyOS <ul><li>Implemented RID for five interrupt vectors </li></ul><ul><li>Only bottom-level device driver files m...
Without RID With RID
RID Benefits <ul><li>Enables random testing by suppressing aberrant and reentrant interrupts </li></ul><ul><li>Hardens emb...
Back to Random Testing  Generate interrupt schedule Cycle accurate simulation with interrupt scheduling support Problem? D...
Interrupt Schedules <ul><li>List of pairs </li></ul><ul><ul><li>(vector #, firing time) </li></ul></ul><ul><li>Schedule ge...
Simulator Support <ul><li>We hacked Avrora – sensor net simulator from UCLA </li></ul><ul><ul><li>Our interrupt scheduling...
Detecting Failure <ul><li>Ask the application – See if it responds to network packets  </li></ul><ul><li>Ask the simulator...
TinyOS Oscilloscope Bug <ul><li>Interrupt stores data into array </li></ul><ul><li>dataTask resets buffer pointer </li></u...
TinyOS Oscilloscope Bug <ul><li>Buffer overrun kills the system unless dataTask runs on time </li></ul>time random ADC req...
<ul><li>Original interrupt schedule that triggers bug is > 300,000 interrupts </li></ul><ul><ul><li>Hard to tell what went...
<ul><li>Problem: Stack overflow kills sensor network programs </li></ul><ul><li>Solution: Compute WC stack depth through s...
Stack Depth w/o Random
Stack Depth w/Random
Finding Deep Stacks <ul><li>Pure random testing doesn’t cut it </li></ul><ul><ul><li>Program behavior surprisingly sensiti...
Revising a Stack Depth Bound
Conclusions <ul><li>Random interrupt testing: Good </li></ul><ul><li>Restricted Interrupt Discipline  makes it work </li><...
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  1. 1. Random Testing of Interrupt-Driven Software John Regehr University of Utah
  2. 2. Random interrupt testing Source-source transformation Static stack analysis Genetic algorithms Semantics of interrupts Delta debugging Integrated stress testing and debugging
  3. 3. <ul><li>Goal: Stress testing and debugging for interrupt-driven embedded software </li></ul><ul><li>Why? </li></ul><ul><ul><li>Interrupts hard to get right </li></ul></ul><ul><ul><li>Regular testing typically exercises small part of state space </li></ul></ul><ul><ul><li>Stress testing tends to improve software quality </li></ul></ul><ul><ul><li>Interrupt-driven software used in safety-critical applications </li></ul></ul>
  4. 4. <ul><li>Specific case: Sensor network nodes running TinyOS </li></ul><ul><ul><li>Strongly interrupt-driven </li></ul></ul><ul><ul><li>Application code runs in interrupt mode </li></ul></ul><ul><ul><li>Highly resource constrained </li></ul></ul><ul><ul><li>Distributed and opaque – magnifies effects of bugs </li></ul></ul>
  5. 5. <ul><li>Obvious stress testing technique: </li></ul><ul><ul><li>Random interrupt testing – fire interrupts at random times </li></ul></ul><ul><li>Potential show stoppers: </li></ul><ul><ul><li>Random interrupts can violate application semantics </li></ul></ul><ul><ul><li>Interrupts can reenter and overflow the stack </li></ul></ul>
  6. 6. time request ADC ADC int. random ADC int. aberrant interrupt crash!
  7. 7. <ul><li>Many embedded systems permit reentrant interrupts </li></ul>time random network interrupts crash! stack overflow
  8. 8. <ul><li>Problem: Interrupts arriving at inconvenient times break applications </li></ul><ul><li>Solution: Restrict interrupt arrivals </li></ul><ul><li>First classify each interrupt vector </li></ul><ul><ul><li>Requested – arrives in response to an action taken by the system </li></ul></ul><ul><ul><li>Spontaneous – may arrive at any time </li></ul></ul>
  9. 9. <ul><li>Restricted Interrupt Discipline (RID): </li></ul><ul><ul><li>Requested interrupts – only permit when a request is outstanding </li></ul></ul><ul><ul><li>Spontaneous interrupts – only permit when the interrupt isn’t already running </li></ul></ul>
  10. 10. Implementing RID <ul><li>Annotate interrupt requests </li></ul><ul><li>Ensure that device initialization code leaves each interrupt disabled </li></ul><ul><li>Run system through a source-to-source translator </li></ul><ul><ul><li>Enable interrupt upon request </li></ul></ul><ul><ul><li>Disable requested interrupts upon interrupt </li></ul></ul><ul><ul><li>Suppress reentrant interrupts </li></ul></ul>
  11. 11. RID in TinyOS <ul><li>Implemented RID for five interrupt vectors </li></ul><ul><li>Only bottom-level device driver files modified </li></ul><ul><ul><li>A few LOC modified per vector </li></ul></ul><ul><ul><li>Normal developers don’t touch these files </li></ul></ul><ul><li>Use custom CIL extension for src-src translation of C code output by nesC compiler </li></ul>
  12. 12. Without RID With RID
  13. 13. RID Benefits <ul><li>Enables random testing by suppressing aberrant and reentrant interrupts </li></ul><ul><li>Hardens embedded system with respect to unexpected interrupts after deployment </li></ul><ul><ul><li>SW bugs can cause these </li></ul></ul><ul><ul><li>So can loose wires, EMI, or other HW problems </li></ul></ul>
  14. 14. Back to Random Testing Generate interrupt schedule Cycle accurate simulation with interrupt scheduling support Problem? Debug! No Yes
  15. 15. Interrupt Schedules <ul><li>List of pairs </li></ul><ul><ul><li>(vector #, firing time) </li></ul></ul><ul><li>Schedule generator parameterized by density for each interrupt vector </li></ul>
  16. 16. Simulator Support <ul><li>We hacked Avrora – sensor net simulator from UCLA </li></ul><ul><ul><li>Our interrupt scheduling patches now included in the distribution </li></ul></ul>
  17. 17. Detecting Failure <ul><li>Ask the application – See if it responds to network packets </li></ul><ul><li>Ask the simulator – Avrora reports illegal memory access and illegal instructions </li></ul>
  18. 18. TinyOS Oscilloscope Bug <ul><li>Interrupt stores data into array </li></ul><ul><li>dataTask resets buffer pointer </li></ul><ul><li>No interlock between interrupt and task </li></ul>time ADC request and int. dataTask
  19. 19. TinyOS Oscilloscope Bug <ul><li>Buffer overrun kills the system unless dataTask runs on time </li></ul>time random ADC requests and interrupts crash!
  20. 20. <ul><li>Original interrupt schedule that triggers bug is > 300,000 interrupts </li></ul><ul><ul><li>Hard to tell what went wrong! </li></ul></ul><ul><li>Used “delta debugging” algorithm to minimize schedule </li></ul><ul><ul><li>Can trigger bug with just 75 interrupts </li></ul></ul><ul><ul><li>Bug much easier to find now </li></ul></ul><ul><li>Fixing the bug: Easy – add array bounds check </li></ul>
  21. 21. <ul><li>Problem: Stack overflow kills sensor network programs </li></ul><ul><li>Solution: Compute WC stack depth through static analysis of binaries </li></ul><ul><li>Lingering questios: </li></ul><ul><ul><li>Is the bound actually conservative? </li></ul></ul><ul><ul><li>If so, how pessimistic is the bound? </li></ul></ul><ul><li>Answer: Testing </li></ul>data, BSS stack crash!
  22. 22. Stack Depth w/o Random
  23. 23. Stack Depth w/Random
  24. 24. Finding Deep Stacks <ul><li>Pure random testing doesn’t cut it </li></ul><ul><ul><li>Program behavior surprisingly sensitive to interrupt schedule density and structure </li></ul></ul><ul><ul><li>Even running overnight did not find schedules that make deep stacks </li></ul></ul><ul><li>Solution: Genetic algorithm evolves better interrupt schedules </li></ul><ul><ul><li>About 100 generations to find deepest stack </li></ul></ul><ul><ul><li>3 hours CPU time </li></ul></ul>
  25. 25. Revising a Stack Depth Bound
  26. 26. Conclusions <ul><li>Random interrupt testing: Good </li></ul><ul><li>Restricted Interrupt Discipline makes it work </li></ul><ul><ul><li>Src-src transformation makes RID easy to implement </li></ul></ul><ul><ul><li>GA does directed search for interesting schedules </li></ul></ul><ul><ul><li>Delta finds interesting subsets of large interrupt schedules </li></ul></ul>
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