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Part 4: Surely we need integration tests for the Mars rover!

Recently, “Guest” commented about my Agile 2009 tutorial, Integration Tests Are A Scam. “Guest” wrote this:

A Mars rover mission failed because of a lack of integration tests. The parachute system was successfully tested. The system that detaches the parachute after the landing was successfully – but independently – tested. On Mars when the parachute successfully opened the deceleration “jerked” the lander, then the detachment system interpreted the jerking as a landing and successfully detached the parachute. Oops. Integration tests may be costly but they are absolutely necessary.

I don’t doubt the necessity of integration tests. I depend on them to solve difficult system-level problems. By contrast, I routinely see teams using them to detect unexpected consequences, and I don’t think we need them for that purpose. I prefer to use them to confirm an uneasy feeling that an unintended consequence lurks.

Let’s consider a clean implementation of the situation my commenter describes. I see this design, comprising the lander, the parachute, the detachment system, an accelerometer and an altimeter. A controller connects all these things together. Let’s look at the “code”, which I’ve written in a fantasy language that looks a little like Java/C# and a little like Ruby.

Ashley Moran has posted a working Ruby version of this example. If you speak Ruby, then I highly recommend looking at that example after you’ve read this.}

Controller.initialize() {
  parachute = Parachute.new(lander)
  detachment_system = DetachmentSystem.new(parachute)
  accelerometer = Accelerometer.new()
  lander = Lander.new(accelerometer, Altimeter.new())
  accelerometer.add_observer(detachment_system)
}
          
Parachute {
  needs a lander
  
  open() {
    lander.decelerate()
  }
  
  detach() {
    if (lander.has_landed == false)
      raise "You broke the lander, idiot."
  }
}
                        
AccelerationObserver is a role {
  handle_acceleration_report(acceleration) {
    raise "Subclass responsibility"
  }
}
                        
DetachmentSystem acts as AccelerationObserver {
  needs a parachute
  
  handle_acceleration_report(acceleration) {}
    if (acceleration <= -50.ms2) {
      parachute.detach()
    }
  }
}
 
Accelerometer acts as Observable {
  manages many acceleration_observers
                                    
  report_acceleration(acceleration) {
    acceleration_observers.each() {
      each.handle_acceleration_report(acceleration)
    }
  }
}
 
Lander {
  needs an accelerometer
  needs an altimeter
  
  decelerate() {
    // I know how much to decelerate by
    accelerometer.report_acceleration(how_much)
  }
}
 
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I need to test what happens when I open the parachute. The lander should decelerate.

testOpenParachute() {
  parachute = Parachute.new(lander = mock(Lander))
  lander.expects().decelerate()
  
  parachute.open()
}
 
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Since this test expects the lander to decelerate, I have to test that. When the lander decelerates, the accelerometer should report its deceleration.

testLanderDecelerates() {
  accelerometer = mock(Accelerometer)
  lander = Lander.new(accelerometer)
  accelerometer.expects().report_acceleration(-50.ms2)
  
  lander.decelerate()
}
 
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Since this test shows that the accelerometer can report acceleration of -50 m/s2, I have to test that.

testAccelerometerCanReportRapidAcceleration() {
  accelerometer = Accelerometer.new()
  accelerometer.add_observer(observer = mock(AccelerationObserver))
  observer.expects().handle_acceleration_report(-50.ms2)
  
  accelerometer.report_acceleration(-50.ms2)
}
 
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Since this test shows that any acceleration observer must be prepared to handle an acceleration report of -50 m/s2, I have to test that.

First, the general test for the contract of the interface:

AccelerationObserverTest {
  testAccelerationObserverCanHandleRapidAcceleration() {
    observer = create_acceleration_observer() // subclass responsibility
    this_block {
      observer.handle_acceleration_report(-50.ms2)
    }.should execute_without_incident
  }
}
 
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Now the test for DetachmentSystem, which acts as an AccelerationObserver. What should it do if it detects such sudden deceleration? It should detach the parachute.

DetachmentSystemTest extends AccelerationObserverTest {
  // I inherit testAccelerationObserverCanHandleRapidAcceleration()
  
  create_acceleration_observer() {
    DetachmentSystem.new(parachute = mock(Parachute))
    parachute.expects().detach()
  }
}
 
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You might find that easier to read this way, by inlining the method create_acceleration_observer():

DetachmentSystemTest {
  testRespondsToRapidAcceleration() {
    detachment_system = DetachmentSystem.new(parachute = mock(Parachute))
    parachute.expects().detach()
    this_block {
      detachment_system.handle_acceleration_report(-50.ms2)
    }.should execute_without_incident
  }
}
 
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Since this test expects the parachute to be able to detach, I have to test that. Now, detaching only works if we’ve landed. (I’ve simplified on purpose. Suppose the parachute can’t survive a drop from any height. It’s easy to add that detail in later.)

ParachuteTest {
  testDetachingWhileLanded() {
    parachute = Parachute.new(lander = mock(Lander))
    lander.stubs().has_landed().to_return(true)
    this_block {
      parachute.detach()
    }.should execute_without_incident
  }
  
  testDetachingWhileNotLanded() {
    parachute = Parachute.new(lander = mock(Lander))
    lander.stubs().has_landed().to_return(false)
    this_block {
      parachute.detach()
    }.should raise("You broke the lander, idiot.")
  }
}
 
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Hm. I notice that parachute.detach() might fail. But I just wrote a test that uses parachute.detach() and doesn’t yet show how it handles that method failing. I have to test that.

DetachmentSystemTest {
  testRespondsToDetachFailing() {
    detachment_system = DetachmentSystem.new(parachute = mock(Parachute))
    parachute.stubs().detach().to_raise(AnyException)
 
    this_block {
      detachment_system.handle_acceleration_report(-50.ms2)
    }.should raise(AnyException)
  }
}
 
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Hm. So handling an acceleration report of -50 m/s2 can fail. Who might issue such a right? The accelerometer. Since the detach system doesn’t handle this failure, I have to test what the accelerometer does when issuing an acceleration report might fail.

testAccelerometerCanRespondToFailureWhenReportingAcceleration() {
  accelerometer = Accelerometer.new()
  accelerometer.add_observer(observer = mock(AccelerationObserver))
  observer.stubs().handle_acceleration_report().to_raise(AnyException)
 
  this_block {
    accelerometer.report_acceleration(-50.ms2)
  }.should raise(AnyException)
}
 
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It turns out that the accelerometer might fail when reporting acceleration of -50 m/s2. When might it do that? When the lander decelerates. What happens then?

testLanderDeceleratesRespondsToFailure() {
  accelerometer = mock(Accelerometer)
  lander = Lander.new(accelerometer)
  accelerometer.stubs().report_acceleration().to_raise(AnyException)
 
  this_block {
    lander.decelerate()
  }.should raise(AnyException)
}
 
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Hm. So decelerating could fail! All right, who causes the lander to decelerate? That code might fail. Oh yes… the parachute opening!

testOpenParachuteRespondsToFailure() {
  parachute = Parachute.new(lander = mock(Lander))
  lander.stubs().decelerate().to_raise(AnyException)
  
  this_block {
    parachute.open()
  }.should raise(AnyException)
}
 
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So opening the parachute could fail! We probably want to nail down when that happens. We have a test that shows us when:

testDetachingWhileNotLanded() {
  parachute = Parachute.new(lander = mock(Lander))
  lander.stubs().has_landed().to_return(false)
  this_block {
    parachute.detach()
  }.should raise("You broke the lander, idiot.")
}
 
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So the parachute opening could cause it to detach because the lander hasn’t landed yet. I don’t know about you, but I think the parachute provides the most value when its helps the lander land, and not once it has landed. That tells me that someone, somewhere needs to handle the exception that detach() would raise, or at least prevent detach() from happening while the altimeter reads above a few meters off the ground.

testDoNotDetachWhenTheLanderIsTooHighUp() {
  altimeter = mock(Altimeter)
  altimeter.stubs().altitude().to_return(5.m)
  
  DetachmentSystem.new(parachute = mock(Parachute))
  parachute.expects(no_invocations_of).detach()
  
  detachment_system.handle_acceleration_report(-50.ms2)
  
  // ???
}
 
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In writing this test, I see that in order to stop the detachment system from telling the parachute to detach, it needs access to the altimeter.

Integration problem detected. When I wire the detachment system up to the altimeter, even the collaboration test shows how to ensure that the parachute doesn’t detach in this kind of dangerous situation.

testDoNotDetachWhenTheLanderIsTooHighUp() {
  DetachmentSystem.new(parachute = mock(Parachute), altimeter = mock(Altimeter))
  altimeter.stubs().altitude().to_return(5.m)
  parachute.expects(no_invocations_of).detach()
  
  detachment_system.handle_acceleration_report(-50.ms2)
}
 
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This means I have to add the following production behavior.

DetachmentSystem acts as AccelerationObserver {
  needs a parachute
  needs an altimeter // NEW!
  
  handle_acceleration_report(acceleration) {}
    if (acceleration <= -50.ms2 and altimeter.altitude() < 5.m) {
      parachute.detach()
    }
  }
}
 
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Integration problem solved with no integration tests. Instead, I have a bunch of collaboration tests, one important contract test, and the ability to notice things a systematic approach to choosing the next test, which I describe in the comments below. Any questions?

Dan Fabulich rightly jumped on me for using the phrase “an ability to notice things” just a little earlier in this article. I choose that phrase lazily because I didn’t want to patronize you by writing, “an ability to perform basic reasoning”. Oops. I thought about how I choose the next test, and I decided to take the time to include that here. Enjoy.

In this example, I used no magic to choose the next test; but rather some fundamental reasoning.

Every time I say “I need a thing to do X” I introduce an interface. In my current test, I end up stubbing or mocking one of those tests.

(See A sign you’re mocking too much for more about when I avoid interfaces and when I routinely create them.)

Every time I stub a method, I make an assumption about what values that method can return. To check that assumption, I have to write a test that expects the return value I’ve just stubbed. I use only basic logic there: if A depends on B returning x, then I have to know that B can return x, so I have to write a test for that.

Every time I mock a method, I make an assumption about a service the interface provides. To check that assumption, I have to write a test that tries to invoke that method with the parameters I just expected. Again, I use only basic logic there: if A causes B to invoke c(d, e, f) then I have to know that I’ve tested what happens when B invokes c(d, e, f), so I have to write a test for that.

Every time I introduce a method on an interface, I make a decision about its behavior, which forms the contract of that method. To justify that decision, I have to write tests that help me implement that behavior correctly whenever I implement that interface. I write contract tests for that. Once again, I use only basic logic there: if A claims to be able to do c(d, e, f) with outcomes x, y, and z, then when B implements A, it must be able to do c(d, e, f) with outcomes x, y, and z (and possibly other non-destructive outcomes).

I simply kept applying these points over and over again until I stopped needing tests. Along the way, I found a problem and fixed it before it left my hands.

If I can describe the steps well enough for others to follow – and I posit I’ve just done that here – then I don’t agree to labeling it “magic”.

The Code Whisperer: Detecting anemic class hierarchies

When I remove duplication from the siblings in a class hierarchy, I extract some code out to collaborators and pull some code up into the superclass. This often results in a kind of degenerate class hierarchy where the subclasses only override methods that return values or constants. They look like this:

class FindAllUsersRequest extends GetRequest {
    public FindAllUsersRequest(parameters) {
        super(parameters);
    }
 
    public URL getRequestUrl() {
        return URL.create("http://www.jbrains.ca/users/all");
    }
}
 
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Here we could replace class FindAllUsersRequest with a method on a GetRequestFactory—an instance where I find a factory appropriate.

class GetRequestFactory {
    static GetRequest findAllUsers(parameters) {
        return new GetRequest(requestUrl: URL.create("http://www.jbrains.ca/users/all"), parameters);
    }
}
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In this case, we go from a class hierarchy with high duplication in the methods to a class hierarchy with duplication in which methods they override and that they override them to return simple values we could store (and memoize!). From here, we remove the subclasses, as they don’t pull their weight.

So the next you refactor a class hierarchy, watch to see whether your hierarchy wants to become a degenerate one like the example here. If so, I recommend you consider collapsing it.

libxml2: Can't upgrade it; can't downgrade it

It started simply enough: I wanted to use webrat to write view specs with its Matchers to add some specs to this very weblog. I swear, that’s all I wanted to do.

When I managed to run those specs properly, I’d get this message:

HI. You’re using libxml2 version 2.6.16 which is over 4 years old and has plenty of bugs. We suggest that for maximum HTML/XML parsing pleasure, you upgrade your version of libxml2 and re-install nokogiri. If you like using libxml2 version 2.6.16, but don’t like this warning, please define the constant I_KNOW_I_AM_USING_AN_OLD_AND_BUGGY_VERSION_OF_LIBXML2 before requring nokogiri.

Very well: let me upgrade libxml2. Big mistake.

I tried downloading libxml2 version 2.7, then I went through the usual motions: configure, make, sudo make install.

Then I couldn’t run anything. Sometimes I couldn’t even boot. I kept seeing the wrong architecture message when I tried to run various programs on my MacBook.

I tried deleting libxml from /usr/lib and rebuilding, but then I couldn’t even sudo. I didn’t know what the hell was going on.

Finally, I booted from my backup disk (thank you, SuperDuper!) and copied /usr/lib/libxml* back onto my internal hard disk. I booted from my internal disk and all returned to normal, including the annoying nokogiri message. I suppose I’ll have to live with the message for now.

Still… has anyone successfully upgraded libxml to version 2.7 on Mac OS 10.5.7? I’d like to know.

August 13, 2009 08:00 rails, ruby, mac, adventures in RSpec

Code Retreat 1 in Ann Arbor, Michigan

I took some time off to attend the first Code Retreat in Ann Arbor on January 24, 2009, the purpose of which was to practice and discussing coding techniques. I would like to thank the organizers for making me feel welcome and driving me around.

I found a related video. Enjoy.

I was glad to see familiar faces: Bill Wake, Pat Welsh, Ron Jeffries, Chet Hendrickson and Corey Haines. I hope to come back some day.

Happy New Year

describe "Year 2008" do
    it "should be happy" do
        Date.new(2008, 1, 1).year.should be_happy
    end
end

Best wishes to all my readers for a happy 2008!

January 02, 2008 03:33 ruby, people, adventures in RSpec, emotional health
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