Add 'CAN-binder/libs/uds-c/' from commit 'ca20db3dd978871bbb9f01f3c862b510c03d1dc4'

git-subtree-dir: CAN-binder/libs/uds-c
git-subtree-mainline: 3102ec9ce009d0f28355c5b7df9c5bd5013e6e75
git-subtree-split: ca20db3dd978871bbb9f01f3c862b510c03d1dc4

2 files changed, 569 insertions, 0 deletions

diff --git a/CAN-binder/libs/uds-c/tests/common.c b/CAN-binder/libs/uds-c/tests/common.c
new file mode 100644
index 00000000..fd1e4b2c
--- /dev/null
+++ b/CAN-binder/libs/uds-c/tests/common.c
@@ -0,0 +1,43 @@
+#include <uds/uds.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <string.h>
+
+DiagnosticShims SHIMS;
+
+uint32_t last_can_frame_sent_arb_id;
+uint8_t last_can_payload_sent[8];
+uint8_t last_can_payload_size;
+bool can_frame_was_sent;
+
+DiagnosticResponse last_response_received;
+bool last_response_was_received;
+
+void debug(const char* format, ...) {
+    va_list args;
+    va_start(args, format);
+    vprintf(format, args);
+    printf("\r\n");
+    va_end(args);
+}
+
+bool mock_send_can(const uint32_t arbitration_id, const uint8_t* data,
+        const uint8_t size) {
+    can_frame_was_sent = true;
+    last_can_frame_sent_arb_id = arbitration_id;
+    last_can_payload_size = size;
+    if(size > 0) {
+        memcpy(last_can_payload_sent, data, size);
+    }
+    return true;
+}
+
+void setup() {
+    SHIMS = diagnostic_init_shims(debug, mock_send_can, NULL);
+    memset(last_can_payload_sent, 0, sizeof(last_can_payload_sent));
+    can_frame_was_sent = false;
+    last_response_was_received = false;
+}
+
diff --git a/CAN-binder/libs/uds-c/tests/test_core.c b/CAN-binder/libs/uds-c/tests/test_core.c
new file mode 100644
index 00000000..81200cca
--- /dev/null
+++ b/CAN-binder/libs/uds-c/tests/test_core.c
@@ -0,0 +1,526 @@
+#include <uds/uds.h>
+#include <check.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdbool.h>
+
+extern bool can_frame_was_sent;
+extern void setup();
+extern bool last_response_was_received;
+extern DiagnosticResponse last_response_received;
+extern DiagnosticShims SHIMS;
+extern uint16_t last_can_frame_sent_arb_id;
+extern uint8_t last_can_payload_sent[8];
+extern uint8_t last_can_payload_size;
+
+void response_received_handler(const DiagnosticResponse* response) {
+    last_response_was_received = true;
+    last_response_received = *response;
+}
+
+START_TEST (test_receive_wrong_arb_id)
+{
+    DiagnosticRequest request = {
+        arbitration_id: 0x100,
+        mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST
+    };
+    DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
+            response_received_handler);
+
+    fail_if(last_response_was_received);
+    const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23};
+    diagnostic_receive_can_frame(&SHIMS, &handle, request.arbitration_id,
+            can_data, sizeof(can_data));
+    fail_if(last_response_was_received);
+}
+END_TEST
+
+START_TEST (test_send_diag_request_with_payload)
+{
+    DiagnosticRequest request = {
+        arbitration_id: 0x100,
+        mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST,
+        payload: {0x12, 0x34},
+        payload_length: 2,
+        no_frame_padding: true
+    };
+    DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
+            response_received_handler);
+
+    fail_if(handle.completed);
+    // TODO it'd be better to check the ISO-TP message instead of the CAN frame,
+    // but we don't have a good way to do that
+    ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
+    ck_assert_int_eq(last_can_payload_sent[1], request.mode);
+    ck_assert_int_eq(last_can_payload_size, 4);
+    ck_assert_int_eq(last_can_payload_sent[2], request.payload[0]);
+    ck_assert_int_eq(last_can_payload_sent[3], request.payload[1]);
+}
+END_TEST
+
+START_TEST (test_send_functional_request)
+{
+    DiagnosticRequest request = {
+        arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID,
+        mode: OBD2_MODE_EMISSIONS_DTC_REQUEST,
+        no_frame_padding: true
+    };
+    DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
+            response_received_handler);
+
+    fail_if(handle.completed);
+    ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
+    ck_assert_int_eq(last_can_payload_sent[1], request.mode);
+    ck_assert_int_eq(last_can_payload_size, 2);
+
+    fail_if(last_response_was_received);
+    const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23};
+    for(uint16_t filter = OBD2_FUNCTIONAL_RESPONSE_START; filter <
+            OBD2_FUNCTIONAL_RESPONSE_START + OBD2_FUNCTIONAL_RESPONSE_COUNT;
+            filter++) {
+        DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS,
+                &handle, filter, can_data, sizeof(can_data));
+        fail_unless(response.success);
+        fail_unless(response.completed);
+        fail_unless(handle.completed);
+        ck_assert(last_response_received.success);
+        ck_assert_int_eq(last_response_received.arbitration_id,
+                filter);
+        ck_assert_int_eq(last_response_received.mode, request.mode);
+        fail_if(last_response_received.has_pid);
+        ck_assert_int_eq(last_response_received.payload_length, 1);
+        ck_assert_int_eq(last_response_received.payload[0], can_data[2]);
+    }
+}
+END_TEST
+
+START_TEST (test_sent_message_no_padding)
+{
+    DiagnosticRequest request = {
+        arbitration_id: 0x100,
+        mode: OBD2_MODE_EMISSIONS_DTC_REQUEST,
+        no_frame_padding: true
+    };
+    DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
+            response_received_handler);
+
+    fail_if(handle.completed);
+    ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
+    ck_assert_int_eq(last_can_payload_size, 2);
+}
+END_TEST
+
+START_TEST (test_sent_message_is_padded_by_default)
+{
+    DiagnosticRequest request = {
+        arbitration_id: 0x100,
+        mode: OBD2_MODE_EMISSIONS_DTC_REQUEST
+    };
+    DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
+            response_received_handler);
+
+    fail_if(handle.completed);
+    ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
+    ck_assert_int_eq(last_can_payload_size, 8);
+}
+END_TEST
+
+START_TEST (test_sent_message_is_padded)
+{
+    DiagnosticRequest request = {
+        arbitration_id: 0x100,
+        mode: OBD2_MODE_EMISSIONS_DTC_REQUEST,
+        no_frame_padding: false
+    };
+    DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
+            response_received_handler);
+
+    fail_if(handle.completed);
+    ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
+    ck_assert_int_eq(last_can_payload_size, 8);
+}
+END_TEST
+
+START_TEST (test_send_diag_request)
+{
+    DiagnosticRequest request = {
+        arbitration_id: 0x100,
+        mode: OBD2_MODE_EMISSIONS_DTC_REQUEST,
+        no_frame_padding: true
+    };
+    DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
+            response_received_handler);
+
+    fail_if(handle.completed);
+    fail_unless(can_frame_was_sent);
+    ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
+    ck_assert_int_eq(last_can_payload_sent[1], request.mode);
+    ck_assert_int_eq(last_can_payload_size, 2);
+
+    fail_if(last_response_was_received);
+    const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23};
+    DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle,
+            request.arbitration_id + 0x8, can_data, sizeof(can_data));
+    fail_unless(response.success);
+    fail_unless(response.completed);
+    fail_unless(handle.completed);
+    ck_assert(last_response_received.success);
+    ck_assert_int_eq(last_response_received.arbitration_id,
+            request.arbitration_id + 0x8);
+    ck_assert_int_eq(last_response_received.mode, request.mode);
+        fail_if(last_response_received.has_pid);
+    ck_assert_int_eq(last_response_received.payload_length, 1);
+    ck_assert_int_eq(last_response_received.payload[0], can_data[2]);
+}
+END_TEST
+
+START_TEST (test_generate_then_send_request)
+{
+    DiagnosticRequest request = {
+        arbitration_id: 0x100,
+        mode: OBD2_MODE_EMISSIONS_DTC_REQUEST,
+        no_frame_padding: true
+    };
+    DiagnosticRequestHandle handle = generate_diagnostic_request(&SHIMS,
+            &request, response_received_handler);
+
+    fail_if(handle.completed);
+    fail_if(can_frame_was_sent);
+
+    start_diagnostic_request(&SHIMS, &handle);
+    fail_unless(can_frame_was_sent);
+    ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
+    ck_assert_int_eq(last_can_payload_sent[1], request.mode);
+    ck_assert_int_eq(last_can_payload_size, 2);
+
+    fail_if(last_response_was_received);
+    const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23};
+    DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle,
+            request.arbitration_id + 0x8, can_data, sizeof(can_data));
+    fail_unless(response.success);
+    fail_unless(response.completed);
+    fail_unless(handle.completed);
+    ck_assert(last_response_received.success);
+    ck_assert_int_eq(last_response_received.arbitration_id,
+            request.arbitration_id + 0x8);
+    ck_assert_int_eq(last_response_received.mode, request.mode);
+        fail_if(last_response_received.has_pid);
+    ck_assert_int_eq(last_response_received.payload_length, 1);
+    ck_assert_int_eq(last_response_received.payload[0], can_data[2]);
+}
+END_TEST
+
+START_TEST (test_generate_diag_request)
+{
+    DiagnosticRequest request = {
+        arbitration_id: 0x100,
+        mode: OBD2_MODE_EMISSIONS_DTC_REQUEST,
+        no_frame_padding: true
+    };
+    DiagnosticRequestHandle handle = generate_diagnostic_request(&SHIMS,
+            &request, response_received_handler);
+
+    fail_if(handle.completed);
+    fail_if(can_frame_was_sent);
+}
+END_TEST
+
+START_TEST (test_autoset_pid_length)
+{
+    uint16_t arb_id = OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST;
+    diagnostic_request_pid(&SHIMS, DIAGNOSTIC_STANDARD_PID, arb_id, 0x2,
+            response_received_handler);
+
+    ck_assert_int_eq(last_can_frame_sent_arb_id, arb_id);
+    ck_assert_int_eq(last_can_payload_sent[1], 0x1);
+    ck_assert_int_eq(last_can_payload_sent[2], 0x2);
+    // padding is on for the diagnostic_request_pid helper function - if you
+    // need to turn it off, use the more manual diagnostic_request(...)
+    ck_assert_int_eq(last_can_payload_size, 8);
+
+    DiagnosticRequest request = {
+        arbitration_id: 0x100,
+        mode: 0x22,
+        has_pid: true,
+        pid: 0x1234,
+        no_frame_padding: true
+    };
+    diagnostic_request(&SHIMS, &request, response_received_handler);
+
+    ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
+    ck_assert_int_eq(last_can_payload_sent[1], request.mode);
+    ck_assert_int_eq(last_can_payload_sent[2], (request.pid & 0xFF00) >> 8);
+    ck_assert_int_eq(last_can_payload_sent[3], request.pid & 0xFF);
+    ck_assert_int_eq(last_can_payload_size, 4);
+
+    request.arbitration_id = 0x101;
+    request.pid = 0x12;
+
+    diagnostic_request(&SHIMS, &request, response_received_handler);
+
+    ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
+    ck_assert_int_eq(last_can_payload_sent[1], request.mode);
+    ck_assert_int_eq(last_can_payload_sent[2], request.pid);
+    ck_assert_int_eq(last_can_payload_size, 3);
+}
+END_TEST
+
+START_TEST (test_request_pid_standard)
+{
+    uint16_t arb_id = OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST;
+    DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
+            DIAGNOSTIC_STANDARD_PID, arb_id, 0x2, response_received_handler);
+
+    fail_if(last_response_was_received);
+    const uint8_t can_data[] = {0x3, 0x1 + 0x40, 0x2, 0x45};
+    diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8,
+            can_data, sizeof(can_data));
+    fail_unless(last_response_was_received);
+    ck_assert(last_response_received.success);
+    ck_assert_int_eq(last_response_received.arbitration_id,
+            arb_id + 0x8);
+    ck_assert_int_eq(last_response_received.mode, 0x1);
+    fail_unless(last_response_received.has_pid);
+    ck_assert_int_eq(last_response_received.pid, 0x2);
+    ck_assert_int_eq(last_response_received.payload_length, 1);
+    ck_assert_int_eq(last_response_received.payload[0], can_data[3]);
+}
+END_TEST
+
+START_TEST (test_request_pid_enhanced)
+{
+    uint16_t arb_id = 0x100;
+    DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
+            DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler);
+
+    fail_if(last_response_was_received);
+    const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x12, 0x34, 0x45};
+    diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
+            sizeof(can_data));
+    fail_unless(last_response_was_received);
+    ck_assert(last_response_received.success);
+    ck_assert_int_eq(last_response_received.arbitration_id,
+            arb_id + 0x8);
+    ck_assert_int_eq(last_response_received.mode, 0x22);
+    fail_unless(last_response_received.has_pid);
+    ck_assert_int_eq(last_response_received.pid, 0x1234);
+    ck_assert_int_eq(last_response_received.payload_length, 1);
+    ck_assert_int_eq(last_response_received.payload[0], can_data[4]);
+}
+END_TEST
+
+START_TEST (test_wrong_mode_response)
+{
+    uint16_t arb_id = 0x100;
+    DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
+            DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler);
+
+    fail_if(last_response_was_received);
+    const uint8_t can_data[] = {0x4, 0x1 + 0x40, 0x12, 0x34, 0x45};
+    diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
+            sizeof(can_data));
+    fail_if(last_response_was_received);
+    fail_if(handle.completed);
+}
+END_TEST
+
+START_TEST (test_missing_pid)
+{
+    uint16_t arb_id = 0x100;
+    DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
+            DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler);
+
+    fail_if(last_response_was_received);
+    const uint8_t can_data[] = {0x1, 0x22 + 0x40};
+    diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
+            sizeof(can_data));
+    fail_if(last_response_was_received);
+    fail_if(handle.completed);
+}
+END_TEST
+
+START_TEST (test_wrong_pid_response)
+{
+    uint16_t arb_id = 0x100;
+    DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
+            DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler);
+
+    fail_if(last_response_was_received);
+    const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x12, 0x33, 0x45};
+    diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
+            sizeof(can_data));
+    fail_if(last_response_was_received);
+    fail_if(handle.completed);
+}
+END_TEST
+
+START_TEST (test_wrong_pid_then_right_completes)
+{
+    uint16_t arb_id = 0x100;
+    DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
+            DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler);
+
+    fail_if(last_response_was_received);
+    uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x12, 0x33, 0x45};
+    diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
+            sizeof(can_data));
+    fail_if(last_response_was_received);
+    fail_if(handle.completed);
+
+    can_data[3] = 0x34;
+    diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
+            sizeof(can_data));
+    fail_unless(last_response_was_received);
+    fail_unless(handle.completed);
+    fail_unless(handle.success);
+    fail_unless(last_response_received.success);
+    ck_assert_int_eq(last_response_received.pid, 0x1234);
+}
+END_TEST
+
+START_TEST (test_negative_response)
+{
+    DiagnosticRequest request = {
+        arbitration_id: 0x100,
+        mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST
+    };
+    DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
+            response_received_handler);
+    const uint8_t can_data[] = {0x3, 0x7f, request.mode,
+        NRC_SERVICE_NOT_SUPPORTED};
+    DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle,
+            request.arbitration_id + 0x8, can_data, sizeof(can_data));
+    fail_unless(response.completed);
+    fail_if(response.success);
+    fail_unless(handle.completed);
+
+    fail_if(last_response_received.success);
+    ck_assert_int_eq(last_response_received.arbitration_id,
+            request.arbitration_id + 0x8);
+    ck_assert_int_eq(last_response_received.mode, request.mode);
+    ck_assert_int_eq(last_response_received.pid, 0);
+    ck_assert_int_eq(last_response_received.negative_response_code,
+            NRC_SERVICE_NOT_SUPPORTED);
+    ck_assert_int_eq(last_response_received.payload_length, 0);
+}
+END_TEST
+
+START_TEST (test_payload_to_integer)
+{
+    uint16_t arb_id = OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST;
+    DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
+            DIAGNOSTIC_STANDARD_PID, arb_id, 0x2, response_received_handler);
+
+    fail_if(last_response_was_received);
+    const uint8_t can_data[] = {0x4, 0x1 + 0x40, 0x2, 0x45, 0x12};
+    DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle,
+            arb_id + 0x8, can_data, sizeof(can_data));
+    ck_assert_int_eq(diagnostic_payload_to_integer(&response), 0x4512);
+}
+END_TEST
+
+START_TEST (test_response_multi_frame)
+{
+    DiagnosticRequest request = {
+        arbitration_id: 0x100,
+        mode: OBD2_MODE_VEHICLE_INFORMATION,
+        has_pid: true,
+        pid: 0x2
+    };
+    DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
+            response_received_handler);
+
+    const uint8_t can_data[] = {0x10, 0x14, 0x9 + 0x40, 0x2, 0x1, 0x31, 0x46, 0x4d};
+    DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle,
+            request.arbitration_id + 0x8, can_data, sizeof(can_data));
+
+    fail_unless(can_frame_was_sent);
+    fail_unless(!response.success);
+    fail_unless(!response.completed);
+    fail_unless(response.multi_frame);
+    ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
+    ck_assert_int_eq(last_can_payload_sent[0], 0x30);
+
+    const uint8_t can_data_1[] = {0x21, 0x43, 0x55, 0x39, 0x4a, 0x39, 0x34, 0x48};
+    response = diagnostic_receive_can_frame(&SHIMS, &handle,
+            request.arbitration_id + 0x8, can_data_1, sizeof(can_data_1));
+    fail_unless(!response.success);
+    fail_unless(!response.completed);
+    fail_unless(response.multi_frame);
+
+    const uint8_t can_data_2[] = {0x22, 0x55, 0x41, 0x30, 0x34, 0x35, 0x32, 0x34};
+    response = diagnostic_receive_can_frame(&SHIMS, &handle,
+            request.arbitration_id + 0x8, can_data_2, sizeof(can_data_2));
+    fail_unless(response.success);
+    fail_unless(response.completed);
+    fail_unless(response.multi_frame);
+    ck_assert_int_eq(response.mode, OBD2_MODE_VEHICLE_INFORMATION);
+    ck_assert_int_eq(response.pid, 0x2);
+    ck_assert_int_eq(response.payload_length, 18);
+    ck_assert_int_eq(response.payload[0], 0x01);
+    ck_assert_int_eq(response.payload[1], 0x31);
+    ck_assert_int_eq(response.payload[2], 0x46);
+    ck_assert_int_eq(response.payload[3], 0x4d);
+    ck_assert_int_eq(response.payload[4], 0x43);
+    ck_assert_int_eq(response.payload[5], 0x55);
+    ck_assert_int_eq(response.payload[6], 0x39);
+    ck_assert_int_eq(response.payload[7], 0x4a);
+    ck_assert_int_eq(response.payload[8], 0x39);
+    ck_assert_int_eq(response.payload[9], 0x34);
+    ck_assert_int_eq(response.payload[10], 0x48);
+    ck_assert_int_eq(response.payload[11], 0x55);
+    ck_assert_int_eq(response.payload[12], 0x41);
+    ck_assert_int_eq(response.payload[13], 0x30);
+    ck_assert_int_eq(response.payload[14], 0x34);
+    ck_assert_int_eq(response.payload[15], 0x35);
+    ck_assert_int_eq(response.payload[16], 0x32);
+    ck_assert_int_eq(response.payload[17], 0x34);
+}
+END_TEST
+
+Suite* testSuite(void) {
+    Suite* s = suite_create("uds");
+    TCase *tc_core = tcase_create("core");
+    tcase_add_checked_fixture(tc_core, setup, NULL);
+    tcase_add_test(tc_core, test_sent_message_no_padding);
+    tcase_add_test(tc_core, test_sent_message_is_padded);
+    tcase_add_test(tc_core, test_sent_message_is_padded_by_default);
+    tcase_add_test(tc_core, test_generate_diag_request);
+    tcase_add_test(tc_core, test_generate_then_send_request);
+    tcase_add_test(tc_core, test_send_diag_request);
+    tcase_add_test(tc_core, test_send_functional_request);
+    tcase_add_test(tc_core, test_send_diag_request_with_payload);
+    tcase_add_test(tc_core, test_receive_wrong_arb_id);
+    tcase_add_test(tc_core, test_autoset_pid_length);
+    tcase_add_test(tc_core, test_request_pid_standard);
+    tcase_add_test(tc_core, test_request_pid_enhanced);
+    tcase_add_test(tc_core, test_wrong_mode_response);
+    tcase_add_test(tc_core, test_wrong_pid_response);
+    tcase_add_test(tc_core, test_missing_pid);
+    tcase_add_test(tc_core, test_wrong_pid_then_right_completes);
+    tcase_add_test(tc_core, test_negative_response);
+    tcase_add_test(tc_core, test_payload_to_integer);
+    tcase_add_test(tc_core, test_response_multi_frame);
+
+    // TODO these are future work:
+    // TODO test request MIL
+    // TODO test request VIN
+    // TODO test request DTC
+    // TODO test clear DTC
+    // TODO test enumerate PIDs
+    suite_add_tcase(s, tc_core);
+
+    return s;
+}
+
+int main(void) {
+    int numberFailed;
+    Suite* s = testSuite();
+    SRunner *sr = srunner_create(s);
+    // Don't fork so we can actually use gdb
+    srunner_set_fork_status(sr, CK_NOFORK);
+    srunner_run_all(sr, CK_NORMAL);
+    numberFailed = srunner_ntests_failed(sr);
+    srunner_free(sr);
+    return (numberFailed == 0) ? 0 : 1;
+}