diff options
Diffstat (limited to 'CAN-binder/libs/uds-c')
| -rw-r--r-- | CAN-binder/libs/uds-c/.gitignore | 5 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/.travis.yml | 8 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/CHANGELOG.mkd | 9 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/CMakeLists.txt | 41 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/LICENSE | 24 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/Makefile | 56 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/README.mkd | 196 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/runtests.sh | 17 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/src/uds/extras.c | 39 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/src/uds/extras.h | 71 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/src/uds/uds.c | 400 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/src/uds/uds.h | 165 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/src/uds/uds_types.h | 200 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/tests/common.c | 43 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/tests/test_core.c | 526 |
15 files changed, 0 insertions, 1800 deletions
diff --git a/CAN-binder/libs/uds-c/.gitignore b/CAN-binder/libs/uds-c/.gitignore deleted file mode 100644 index 834a305d..00000000 --- a/CAN-binder/libs/uds-c/.gitignore +++ /dev/null @@ -1,5 +0,0 @@ -*.o -.DS_Store -*~ -*.bin -build diff --git a/CAN-binder/libs/uds-c/.travis.yml b/CAN-binder/libs/uds-c/.travis.yml deleted file mode 100644 index 31bfdeb3..00000000 --- a/CAN-binder/libs/uds-c/.travis.yml +++ /dev/null @@ -1,8 +0,0 @@ -language: c -compiler: - - gcc -script: make test -before_install: - - git submodule update --init - - sudo apt-get update -qq - - sudo apt-get install check diff --git a/CAN-binder/libs/uds-c/CHANGELOG.mkd b/CAN-binder/libs/uds-c/CHANGELOG.mkd deleted file mode 100644 index 96eaa178..00000000 --- a/CAN-binder/libs/uds-c/CHANGELOG.mkd +++ /dev/null @@ -1,9 +0,0 @@ -# OBD-II Support Library in C - -## v0.2 - -* Add support for multi-frame diagnostic responses. - -## v0.1 - -* Initial release diff --git a/CAN-binder/libs/uds-c/CMakeLists.txt b/CAN-binder/libs/uds-c/CMakeLists.txt deleted file mode 100644 index 8f78fd6d..00000000 --- a/CAN-binder/libs/uds-c/CMakeLists.txt +++ /dev/null @@ -1,41 +0,0 @@ -########################################################################### -# Copyright 2015, 2016, 2017 IoT.bzh -# -# author: Fulup Ar Foll <fulup@iot.bzh> -# contrib: Romain Forlot <romain.forlot@iot.bzh> -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -########################################################################### - -# Add target to project dependency list -PROJECT_TARGET_ADD(uds-c) - - # Define project Target - add_library(${TARGET_NAME} STATIC - src/uds/extras.c - src/uds/uds.c) - - # Binder exposes a unique public entry point - SET_TARGET_PROPERTIES(${TARGET_NAME} PROPERTIES - OUTPUT_NAME ${TARGET_NAME} - ) - - # Define target includes - TARGET_INCLUDE_DIRECTORIES(${TARGET_NAME} - PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src - ) - - # Library dependencies (include updates automatically) - TARGET_LINK_LIBRARIES(${TARGET_NAME} - isotp-c - ${link_libraries}) diff --git a/CAN-binder/libs/uds-c/LICENSE b/CAN-binder/libs/uds-c/LICENSE deleted file mode 100644 index 330d61f4..00000000 --- a/CAN-binder/libs/uds-c/LICENSE +++ /dev/null @@ -1,24 +0,0 @@ -Copyright (c) 2013 Ford Motor Company -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of the <organization> nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/CAN-binder/libs/uds-c/Makefile b/CAN-binder/libs/uds-c/Makefile deleted file mode 100644 index 4adf3ceb..00000000 --- a/CAN-binder/libs/uds-c/Makefile +++ /dev/null @@ -1,56 +0,0 @@ -CC = gcc -INCLUDES = -Isrc -Ideps/bitfield-c/src -Ideps/isotp-c/src -CFLAGS = $(INCLUDES) -c -Wall -Werror -g -ggdb -std=gnu99 -coverage -LDFLAGS = -coverage -lm -LDLIBS = -lcheck - -TEST_DIR = tests -TEST_OBJDIR = build - -# Guard against \r\n line endings only in Cygwin -OSTYPE := $(shell uname) -ifneq ($(OSTYPE),Darwin) - OSTYPE := $(shell uname -o) - ifeq ($(OSTYPE),Cygwin) - TEST_SET_OPTS = igncr - endif -endif - -SRC = $(wildcard src/**/*.c) -SRC += $(wildcard deps/bitfield-c/src/**/*.c) -SRC += $(wildcard deps/isotp-c/src/**/*.c) -OBJS = $(patsubst %,$(TEST_OBJDIR)/%,$(SRC:.c=.o)) -TEST_SRC = $(wildcard $(TEST_DIR)/test_*.c) -TESTS=$(patsubst %.c,$(TEST_OBJDIR)/%.bin,$(TEST_SRC)) -TEST_SUPPORT_SRC = $(TEST_DIR)/common.c -TEST_SUPPORT_OBJS = $(patsubst %,$(TEST_OBJDIR)/%,$(TEST_SUPPORT_SRC:.c=.o)) - -all: $(OBJS) - -test: $(TESTS) - @set -o $(TEST_SET_OPTS) >/dev/null 2>&1 - @export SHELLOPTS - @sh runtests.sh $(TEST_OBJDIR)/$(TEST_DIR) - -COVERAGE_INFO_FILENAME = coverage.info -COVERAGE_INFO_PATH = $(TEST_OBJDIR)/$(COVERAGE_INFO_FILENAME) -coverage: - @lcov --base-directory . --directory src --zerocounters -q - @make clean - @make test - @lcov --base-directory . --directory $(TEST_OBJDIR) -c -o $(TEST_OBJDIR)/coverage.info - @lcov --remove $(COVERAGE_INFO_PATH) "deps/*" -o $(COVERAGE_INFO_PATH) - @genhtml -o $(TEST_OBJDIR)/coverage -t "isotp-c test coverage" --num-spaces 4 $(COVERAGE_INFO_PATH) - @$(BROWSER) $(TEST_OBJDIR)/coverage/index.html - @echo "$(GREEN)Coverage information generated in $(TEST_OBJDIR)/coverage/index.html.$(COLOR_RESET)" - -$(TEST_OBJDIR)/%.o: %.c - @mkdir -p $(dir $@) - $(CC) $(CFLAGS) $(CC_SYMBOLS) $(INCLUDES) -o $@ $< - -$(TEST_OBJDIR)/%.bin: $(TEST_OBJDIR)/%.o $(OBJS) $(TEST_SUPPORT_OBJS) - @mkdir -p $(dir $@) - $(CC) $(LDFLAGS) $(CC_SYMBOLS) $(INCLUDES) -o $@ $^ $(LDLIBS) - -clean: - rm -rf $(TEST_OBJDIR) diff --git a/CAN-binder/libs/uds-c/README.mkd b/CAN-binder/libs/uds-c/README.mkd deleted file mode 100644 index aa0d7fd7..00000000 --- a/CAN-binder/libs/uds-c/README.mkd +++ /dev/null @@ -1,196 +0,0 @@ -Unified Diagnostic Services (UDS) Support Library in C -====================================================== - -This is a platform agnostic C library that implements the Unified Diagnostics -Services protocol for automotive electronics. UDS is documented in ISO 14229 and -is the underpinning for the more well-known On-board Diagnostics (OBD) standard. -The library currently supports UDS running over CAN (ISO 15765-4), which uses -the ISO-TP (ISO 15765-2) protocol for message framing. - -This library doesn't assume anything about the source of your diagnostic message -requests or underlying interface to the CAN bus. It uses dependency injection to -give you complete control. - -## Usage - -First, create some shim functions to let this library use your lower level -system: - - // required, this must send a single CAN message with the given arbitration - // ID (i.e. the CAN message ID) and data. The size will never be more than 8 - // bytes. - bool send_can(const uint32_t arbitration_id, const uint8_t* data, - const uint8_t size) { - ... - } - - // optional, provide to receive debugging log messages - void debug(const char* format, ...) { - ... - } - - - // not used in the current version - void set_timer(uint16_t time_ms, void (*callback)) { - ... - } - -With your shims in place, create a `DiagnosticShims` object to pass them around: - - DiagnosticShims shims = diagnostic_init_shims(debug, send_can, set_timer); - -With your shims in hand, send a simple PID request to the standard broadcast -address, `0x7df` (we use the constant `OBD2_FUNCTIONAL_BROADCAST_ID` here): - - // Optional: This is your callback that will be called the response to your - // diagnostic request is received. - void response_received_handler(const DiagnosticResponse* response) { - // You received a response! Do something with it. - } - - DiagnosticRequestHandle handle = diagnostic_request_pid(&shims, - DIAGNOSTIC_STANDARD_PID, // this is a standard PID request, not an extended or enhanced one - OBD2_FUNCTIONAL_BROADCAST_ID, // the request is going out to the broadcast arbitration ID - 0x2, // we want PID 0x2 - response_received_handler); // our callback (optional, use NULL if you don't have one) - - if(handle.completed) { - if(!handle.success) { - // something happened and it already failed - possibly we aren't - // able to send CAN messages - return; - } else { - // this should never occur right away - you need to receive a fresh - // CAN message first - } - } else { - while(true) { - // Continue to read from CAN, passing off each message to the handle. - // This will return a 'completed' DiagnosticResponse when the when - // the request is completely sent and the response is received - // (which may take more than 1 CAN frames) - DiagnosticResponse response = diagnostic_receive_can_frame(&shims, - &handle, can_message_id, can_data, sizeof(can_data)); - - if(response.completed && handle.completed) { - if(handle.success) { - if(response.success) { - // The request was sent successfully, the response was - // received successfully, and it was a positive response - we - // got back some data! - } else { - // The request was sent successfully, the response was - // received successfully, BUT it was a negative response - // from the other node. - printf("This is the error code: %d", response.negative_response_code); - } - } else { - // Some other fatal error ocurred - we weren't able to send - // the request or receive the response. The CAN connection - // may be down. - } - } - } - } - -### Requests for other modes - -If you want to do more besides PID requests on mode 0x1 and 0x22, there's a -lower level API you can use. Here's how to make a mode 3 request to get DTCs. - - DiagnosticRequest request = { - arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID, - mode: OBD2_MODE_EMISSIONS_DTC_REQUEST - }; - DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, NULL); - - if(handle.completed) { - if(!handle.success) { - // something happened and it already failed - possibly we aren't - // able to send CAN messages - return; - } else { - // this should never occur right away - you need to receive a fresh - // CAN message first - } - } else { - while(true) { - // Continue to read from CAN, passing off each message to the handle. - // This will return a 'completed' DiagnosticResponse when the when - // the request is completely sent and the response is received - // (which may take more than 1 CAN frames) - DiagnosticResponse response = diagnostic_receive_can_frame(&shims, - &handle, can_message_id, can_data, sizeof(can_data)); - - if(response.completed && handle.completed) { - if(handle.success) { - if(response.success) { - // The request was sent successfully, the response was - // received successfully, and it was a positive response - we - // got back some data! - printf("The DTCs are: "); - for(int i = 0; i < response.payload_length; i++) { - printf("0x%x ", response.payload[i]); - } - } else { - // The request was sent successfully, the response was - // received successfully, BUT it was a negative response - // from the other node. - printf("This is the error code: %d", response.negative_response_code); - } - } else { - // Some other fatal error ocurred - we weren't able to send - // the request or receive the response. The CAN connection - // may be down. - } - } - } - } - -## Dependencies - -This library requires 2 dependencies: - -* [isotp-c](https://github.com/openxc/isotp-c) -* [bitfield-c](https://github.com/openxc/bitfield-c) - -## Testing - -The library includes a test suite that uses the `check` C unit test library. - - $ make test - -You can also see the test coverage if you have `lcov` installed and the -`BROWSER` environment variable set to your choice of web browsers: - - $ BROWSER=google-chrome-stable make coverage - -## OBD-II Basics - -TODO diagram out a request, response and error response - -* store the request arb id, mode, pid, and payload locally -* send a can message -* get all new can messages passed to it -* Check the incoming can message to see if it matches one of the standard ECU - response IDs, or our arb ID + 0x8 -* if it matches, parse the diagnostic response and call the callback - - -## Future Notes - -you're going to request a few PIDs over and over again at some frequency -you're going to request DTCs once and read the response -you're going to clear DTCs once - -we need another layer on top of that to handle the repeated requests. - -## Authors - -Chris Peplin cpeplin@ford.com - -## License - -Copyright (c) 2013 Ford Motor Company - -Licensed under the BSD license. diff --git a/CAN-binder/libs/uds-c/runtests.sh b/CAN-binder/libs/uds-c/runtests.sh deleted file mode 100644 index 4781636b..00000000 --- a/CAN-binder/libs/uds-c/runtests.sh +++ /dev/null @@ -1,17 +0,0 @@ -echo "Running unit tests:" - -for i in $1/*.bin -do - if test -f $i - then - if ./$i - then - echo $i PASS - else - echo "ERROR in test $i:" - exit 1 - fi - fi -done - -echo "${txtbld}$(tput setaf 2)All unit tests passed.$(tput sgr0)" diff --git a/CAN-binder/libs/uds-c/src/uds/extras.c b/CAN-binder/libs/uds-c/src/uds/extras.c deleted file mode 100644 index 2be6bdd8..00000000 --- a/CAN-binder/libs/uds-c/src/uds/extras.c +++ /dev/null @@ -1,39 +0,0 @@ -#include <uds/extras.h> -#include <uds/uds.h> - -// TODO everything below here is for future work...not critical for now. - -DiagnosticRequestHandle diagnostic_request_malfunction_indicator_status( - DiagnosticShims* shims, - DiagnosticMilStatusReceived callback) { - // TODO request malfunction indicator light (MIL) status - request mode 1 - // pid 1, parse first bit - DiagnosticRequestHandle handle; - return handle; -} - -DiagnosticRequestHandle diagnostic_request_vin(DiagnosticShims* shims, - DiagnosticVinReceived callback) { - DiagnosticRequestHandle handle; - return handle; -} - -DiagnosticRequestHandle diagnostic_request_dtc(DiagnosticShims* shims, - DiagnosticTroubleCodeType dtc_type, - DiagnosticTroubleCodesReceived callback) { - DiagnosticRequestHandle handle; - return handle; -} - -bool diagnostic_clear_dtc(DiagnosticShims* shims) { - return false; -} - -DiagnosticRequestHandle diagnostic_enumerate_pids(DiagnosticShims* shims, - DiagnosticRequest* request, DiagnosticPidEnumerationReceived callback) { - // before calling the callback, split up the received bytes into 1 or 2 byte - // chunks depending on the mode so the final pid list is actual 1 or 2 byte PIDs - // TODO request supported PIDs - request PID 0 and parse 4 bytes in response - DiagnosticRequestHandle handle; - return handle; -} diff --git a/CAN-binder/libs/uds-c/src/uds/extras.h b/CAN-binder/libs/uds-c/src/uds/extras.h deleted file mode 100644 index 126e5d42..00000000 --- a/CAN-binder/libs/uds-c/src/uds/extras.h +++ /dev/null @@ -1,71 +0,0 @@ -#ifndef __EXTRAS_H__ -#define __EXTRAS_H__ - -#include <uds/uds_types.h> - -#ifdef __cplusplus -extern "C" { -#endif - -// TODO everything in here is unused for the moment! - -typedef enum { - POWERTRAIN = 0x0, - CHASSIS = 0x1, - BODY = 0x2, - NETWORK = 0x3 -} DiagnosticTroubleCodeGroup; - -typedef struct { - DiagnosticTroubleCodeGroup group; - uint8_t group_num; - uint8_t code; -} DiagnosticTroubleCode; - - -/* Private: TODO unused for now - */ -typedef enum { - DTC_EMISSIONS, - DTC_DRIVE_CYCLE, - DTC_PERMANENT -} DiagnosticTroubleCodeType; - - -// TODO should we enumerate every OBD-II PID? need conversion formulas, too -typedef struct { - uint16_t pid; - uint8_t bytes_returned; - float min_value; - float max_value; -} DiagnosticParameter; - -typedef void (*DiagnosticMilStatusReceived)(bool malfunction_indicator_status); -typedef void (*DiagnosticVinReceived)(uint8_t vin[]); -typedef void (*DiagnosticTroubleCodesReceived)( - DiagnosticMode mode, DiagnosticTroubleCode* codes); -typedef void (*DiagnosticPidEnumerationReceived)( - const DiagnosticResponse* response, uint16_t* pids); - -DiagnosticRequestHandle diagnostic_request_malfunction_indicator_status( - DiagnosticShims* shims, - DiagnosticMilStatusReceived callback); - -DiagnosticRequestHandle diagnostic_request_vin(DiagnosticShims* shims, - DiagnosticVinReceived callback); - -DiagnosticRequestHandle diagnostic_request_dtc(DiagnosticShims* shims, - DiagnosticTroubleCodeType dtc_type, - DiagnosticTroubleCodesReceived callback); - -bool diagnostic_clear_dtc(DiagnosticShims* shims); - -DiagnosticRequestHandle diagnostic_enumerate_pids(DiagnosticShims* shims, - DiagnosticRequest* request, DiagnosticPidEnumerationReceived callback); - - -#ifdef __cplusplus -} -#endif - -#endif // __EXTRAS_H__ diff --git a/CAN-binder/libs/uds-c/src/uds/uds.c b/CAN-binder/libs/uds-c/src/uds/uds.c deleted file mode 100644 index 0114384d..00000000 --- a/CAN-binder/libs/uds-c/src/uds/uds.c +++ /dev/null @@ -1,400 +0,0 @@ -#include <uds/uds.h> -#include <bitfield/bitfield.h> -#include <canutil/read.h> -#include <string.h> -#include <limits.h> -#include <stddef.h> -#include <sys/param.h> -#include <inttypes.h> - -#define ARBITRATION_ID_OFFSET 0x8 -#define MODE_RESPONSE_OFFSET 0x40 -#define NEGATIVE_RESPONSE_MODE 0x7f -#define MAX_DIAGNOSTIC_PAYLOAD_SIZE 6 -#define MODE_BYTE_INDEX 0 -#define PID_BYTE_INDEX 1 -#define NEGATIVE_RESPONSE_MODE_INDEX 1 -#define NEGATIVE_RESPONSE_NRC_INDEX 2 - -#ifndef MAX -#define MAX(x, y) (((x) > (y)) ? (x) : (y)) -#endif - -DiagnosticShims diagnostic_init_shims(LogShim log, - SendCanMessageShim send_can_message, - SetTimerShim set_timer) { - DiagnosticShims shims = { - log: log, - send_can_message: send_can_message, - set_timer: set_timer - }; - return shims; -} - -static void setup_receive_handle(DiagnosticRequestHandle* handle) { - if(handle->request.arbitration_id == OBD2_FUNCTIONAL_BROADCAST_ID) { - uint32_t response_id; - for(response_id = 0; - response_id < OBD2_FUNCTIONAL_RESPONSE_COUNT; ++response_id) { - handle->isotp_receive_handles[response_id] = isotp_receive( - &handle->isotp_shims, - OBD2_FUNCTIONAL_RESPONSE_START + response_id, - NULL); - } - handle->isotp_receive_handle_count = OBD2_FUNCTIONAL_RESPONSE_COUNT; - } else { - handle->isotp_receive_handle_count = 1; - handle->isotp_receive_handles[0] = isotp_receive(&handle->isotp_shims, - handle->request.arbitration_id + ARBITRATION_ID_OFFSET, - NULL); - } -} - -static uint16_t autoset_pid_length(uint8_t mode, uint16_t pid, - uint8_t pid_length) { - if(pid_length == 0) { - if(mode <= 0xa || mode == 0x3e ) { - pid_length = 1; - } else if(pid > 0xffff || ((pid & 0xFF00) > 0x0)) { - pid_length = 2; - } else { - pid_length = 1; - } - } - return pid_length; -} - -static void send_diagnostic_request(DiagnosticShims* shims, - DiagnosticRequestHandle* handle) { - uint8_t payload[MAX_DIAGNOSTIC_PAYLOAD_SIZE] = {0}; - payload[MODE_BYTE_INDEX] = handle->request.mode; - if(handle->request.has_pid) { - handle->request.pid_length = autoset_pid_length(handle->request.mode, - handle->request.pid, handle->request.pid_length); - set_bitfield(handle->request.pid, PID_BYTE_INDEX * CHAR_BIT, - handle->request.pid_length * CHAR_BIT, payload, - sizeof(payload)); - } - - if(handle->request.payload_length > 0) { - memcpy(&payload[PID_BYTE_INDEX + handle->request.pid_length], - handle->request.payload, handle->request.payload_length); - } - - handle->isotp_send_handle = isotp_send(&handle->isotp_shims, - handle->request.arbitration_id, payload, - 1 + handle->request.payload_length + handle->request.pid_length, - NULL); - if(handle->isotp_send_handle.completed && - !handle->isotp_send_handle.success) { - handle->completed = true; - handle->success = false; - if(shims->log != NULL) { - shims->log("%s", "Diagnostic request not sent"); - } - } else if(shims->log != NULL) { - char request_string[128] = {0}; - diagnostic_request_to_string(&handle->request, request_string, - sizeof(request_string)); - shims->log("Sending diagnostic request: %s", request_string); - } -} - -bool diagnostic_request_sent(DiagnosticRequestHandle* handle) { - return handle->isotp_send_handle.completed; -} - -void start_diagnostic_request(DiagnosticShims* shims, - DiagnosticRequestHandle* handle) { - handle->success = false; - handle->completed = false; - send_diagnostic_request(shims, handle); - if(!handle->completed) { - setup_receive_handle(handle); - } -} - -DiagnosticRequestHandle generate_diagnostic_request(DiagnosticShims* shims, - DiagnosticRequest* request, DiagnosticResponseReceived callback) { - DiagnosticRequestHandle handle = { - request: *request, - callback: callback, - success: false, - completed: false - }; - - handle.isotp_shims = isotp_init_shims(shims->log, - shims->send_can_message, - shims->set_timer); - handle.isotp_shims.frame_padding = !request->no_frame_padding; - - return handle; - // TODO notes on multi frame: - // TODO what are the timers for exactly? - // - // when sending multi frame, send 1 frame, wait for a response - // if it says send all, send all right away - // if it says flow control, set the time for the next send - // instead of creating a timer with an async callback, add a process_handle - // function that's called repeatedly in the main loop - if it's time to - // send, we do it. so there's a process_handle_send and receive_can_frame - // that are just called continuously from the main loop. it's a waste of a - // few cpu cycles but it may be more natural than callbacks. - // - // what would a timer callback look like...it would need to pass the handle - // and that's all. seems like a context void* would be able to capture all - // of the information but arg, memory allocation. look at how it's done in - // the other library again - // -} - -DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims, - DiagnosticRequest* request, DiagnosticResponseReceived callback) { - DiagnosticRequestHandle handle = generate_diagnostic_request( - shims, request, callback); - start_diagnostic_request(shims, &handle); - return handle; -} - -DiagnosticRequestHandle diagnostic_request_pid(DiagnosticShims* shims, - DiagnosticPidRequestType pid_request_type, uint32_t arbitration_id, - uint16_t pid, DiagnosticResponseReceived callback) { - DiagnosticRequest request = { - arbitration_id: arbitration_id, - mode: pid_request_type == DIAGNOSTIC_STANDARD_PID ? 0x1 : 0x22, - has_pid: true, - pid: pid - }; - - return diagnostic_request(shims, &request, callback); -} - -static bool handle_negative_response(IsoTpMessage* message, - DiagnosticResponse* response, DiagnosticShims* shims) { - bool response_was_negative = false; - if(response->mode == NEGATIVE_RESPONSE_MODE) { - response_was_negative = true; - if(message->size > NEGATIVE_RESPONSE_MODE_INDEX) { - response->mode = message->payload[NEGATIVE_RESPONSE_MODE_INDEX]; - } - - if(message->size > NEGATIVE_RESPONSE_NRC_INDEX) { - response->negative_response_code = - message->payload[NEGATIVE_RESPONSE_NRC_INDEX]; - } - - response->success = false; - response->completed = true; - } - return response_was_negative; -} - -static bool handle_positive_response(DiagnosticRequestHandle* handle, - IsoTpMessage* message, DiagnosticResponse* response, - DiagnosticShims* shims) { - bool response_was_positive = false; - if(response->mode == handle->request.mode + MODE_RESPONSE_OFFSET) { - response_was_positive = true; - // hide the "response" version of the mode from the user - // if it matched - response->mode = handle->request.mode; - response->has_pid = false; - if(handle->request.has_pid && message->size > 1) { - response->has_pid = true; - if(handle->request.pid_length == 2) { - response->pid = get_bitfield(message->payload, message->size, - PID_BYTE_INDEX * CHAR_BIT, sizeof(uint16_t) * CHAR_BIT); - } else { - response->pid = message->payload[PID_BYTE_INDEX]; - } - - } - - if((!handle->request.has_pid && !response->has_pid) - || response->pid == handle->request.pid) { - response->success = true; - response->completed = true; - - uint8_t payload_index = 1 + handle->request.pid_length; - response->payload_length = MAX(0, message->size - payload_index); - if(response->payload_length > 0) { - memcpy(response->payload, &message->payload[payload_index], - response->payload_length); - } - } else { - response_was_positive = false; - } - } - return response_was_positive; -} - -DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims, - DiagnosticRequestHandle* handle, const uint32_t arbitration_id, - const uint8_t data[], const uint8_t size) { - - DiagnosticResponse response = { - arbitration_id: arbitration_id, - multi_frame: false, - success: false, - completed: false - }; - - if(!handle->isotp_send_handle.completed) { - isotp_continue_send(&handle->isotp_shims, - &handle->isotp_send_handle, arbitration_id, data, size); - } else { - uint8_t i; - for(i = 0; i < handle->isotp_receive_handle_count; ++i) { - IsoTpMessage message = isotp_continue_receive(&handle->isotp_shims, - &handle->isotp_receive_handles[i], arbitration_id, data, - size); - response.multi_frame = message.multi_frame; - - if(message.completed) { - if(message.size > 0) { - response.mode = message.payload[0]; - if(handle_negative_response(&message, &response, shims) || - handle_positive_response(handle, &message, - &response, shims)) { - if(shims->log != NULL) { - char response_string[128] = {0}; - diagnostic_response_to_string(&response, - response_string, sizeof(response_string)); - shims->log("Diagnostic response received: %s", - response_string); - } - - handle->success = true; - handle->completed = true; - } - } else { - if(shims->log != NULL) { - shims->log("Received an empty response on arb ID 0x%x", - response.arbitration_id); - } - } - - if(handle->completed && handle->callback != NULL) { - handle->callback(&response); - } - - break; - } - } - } - return response; -} - -int diagnostic_payload_to_integer(const DiagnosticResponse* response) { - return get_bitfield(response->payload, response->payload_length, 0, - response->payload_length * CHAR_BIT); -} - -float diagnostic_decode_obd2_pid(const DiagnosticResponse* response) { - // handles on the single number values, not the bit encoded ones - switch(response->pid) { - case 0xa: - return response->payload[0] * 3; - case 0xc: - return (response->payload[0] * 256 + response->payload[1]) / 4.0; - case 0xd: - case 0x33: - case 0xb: - return response->payload[0]; - case 0x10: - return (response->payload[0] * 256 + response->payload[1]) / 100.0; - case 0x11: - case 0x2f: - case 0x45: - case 0x4c: - case 0x52: - case 0x5a: - case 0x4: - return response->payload[0] * 100.0 / 255.0; - case 0x46: - case 0x5c: - case 0xf: - case 0x5: - return response->payload[0] - 40; - case 0x62: - return response->payload[0] - 125; - default: - return diagnostic_payload_to_integer(response); - } -} - -void diagnostic_response_to_string(const DiagnosticResponse* response, - char* destination, size_t destination_length) { - int bytes_used = snprintf(destination, destination_length, - "arb_id: 0x%lx, mode: 0x%x, ", - (unsigned long) response->arbitration_id, - response->mode); - - if(response->has_pid) { - bytes_used += snprintf(destination + bytes_used, - destination_length - bytes_used, - "pid: 0x%x, ", - response->pid); - } - - if(!response->success) { - bytes_used += snprintf(destination + bytes_used, - destination_length - bytes_used, - "nrc: 0x%x, ", - response->negative_response_code); - } - - if(response->payload_length > 0) { - snprintf(destination + bytes_used, destination_length - bytes_used, - "payload: 0x%02x%02x%02x%02x%02x%02x%02x", - response->payload[0], - response->payload[1], - response->payload[2], - response->payload[3], - response->payload[4], - response->payload[5], - response->payload[6]); - } else { - snprintf(destination + bytes_used, destination_length - bytes_used, - "no payload"); - } -} - -void diagnostic_request_to_string(const DiagnosticRequest* request, - char* destination, size_t destination_length) { - int bytes_used = snprintf(destination, destination_length, - "arb_id: 0x%lx, mode: 0x%x, ", - (unsigned long) request->arbitration_id, - request->mode); - - if(request->has_pid) { - bytes_used += snprintf(destination + bytes_used, - destination_length - bytes_used, - "pid: 0x%x, ", - request->pid); - } - - int remaining_space = destination_length - bytes_used; - if(request->payload_length > 0) { - snprintf(destination + bytes_used, remaining_space, - "payload: 0x%02x%02x%02x%02x%02x%02x%02x", - request->payload[0], - request->payload[1], - request->payload[2], - request->payload[3], - request->payload[4], - request->payload[5], - request->payload[6]); - } else { - snprintf(destination + bytes_used, remaining_space, "no payload"); - } -} - -bool diagnostic_request_equals(const DiagnosticRequest* ours, - const DiagnosticRequest* theirs) { - bool equals = ours->arbitration_id == theirs->arbitration_id && - ours->mode == theirs->mode; - equals &= ours->has_pid == theirs->has_pid; - equals &= ours->pid == theirs->pid; - return equals; -} diff --git a/CAN-binder/libs/uds-c/src/uds/uds.h b/CAN-binder/libs/uds-c/src/uds/uds.h deleted file mode 100644 index 43058342..00000000 --- a/CAN-binder/libs/uds-c/src/uds/uds.h +++ /dev/null @@ -1,165 +0,0 @@ -#ifndef __UDS_H__ -#define __UDS_H__ - -#include <uds/uds_types.h> -#include <stdint.h> -#include <stdbool.h> - -#define OBD2_FUNCTIONAL_BROADCAST_ID 0x7df -#define OBD2_FUNCTIONAL_RESPONSE_START 0x7e8 -#define OBD2_FUNCTIONAL_RESPONSE_COUNT 8 - -#ifdef __cplusplus -extern "C" { -#endif - -/* Public: Initialize an DiagnosticShims with the given callback functions. - * - * If any callbacks are not to be used, set them to NULL. For documentation of - * the function type signatures, see higher up in this header file. This struct - * is a handy encapsulation used to pass the shims around to the various - * diagnostic_* functions. - * - * Returns a struct with the fields initailized to the callbacks. - */ -DiagnosticShims diagnostic_init_shims(LogShim log, - SendCanMessageShim send_can_message, - SetTimerShim set_timer); - -/* Public: Generate a new diagnostic request, send the first CAN message frame - * and set up the handle required to process the response via - * diagnostic_receive_can_frame(...). - * - * shims - Low-level shims required to send CAN messages, etc. - * request - - * callback - an optional function to be called when the response is receved - * (use NULL if no callback is required). - * - * Returns a handle to be used with diagnostic_receive_can_frame to complete - * sending the request and receive the response. The 'completed' field in the - * returned DiagnosticRequestHandle will be true when the message is completely - * sent. The first frame of the message will already be sent. - */ -DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims, - DiagnosticRequest* request, DiagnosticResponseReceived callback); - -/* Public: Generate the handle for a new diagnostic request, but do not send any - * data to CAN yet - you must call start_diagnostic_request(...) on the handle - * returned from this function actually kick off the request. - * - * shims - Low-level shims required to send CAN messages, etc. - * request - - * callback - an optional function to be called when the response is receved - * (use NULL if no callback is required). - * - * Returns a handle to be used with start_diagnostic_request and then - * diagnostic_receive_can_frame to complete sending the request and receive the - * response. The 'completed' field in the returned DiagnosticRequestHandle will - * be true when the message is completely sent. - */ -DiagnosticRequestHandle generate_diagnostic_request(DiagnosticShims* shims, - DiagnosticRequest* request, DiagnosticResponseReceived callback); - -/* Public: Send the first frame of the request to CAN for the handle, generated - * by generate_diagnostic_request. - * - * You can also call this method to re-do the request for a handle that has - * already completed. - */ -void start_diagnostic_request(DiagnosticShims* shims, - DiagnosticRequestHandle* handle); - -/* Public: Request a PID from the given arbitration ID, determining the mode - * automatically based on the PID type. - * - * shims - Low-level shims required to send CAN messages, etc. - * pid_request_type - either DIAGNOSTIC_STANDARD_PID (will use mode 0x1 and 1 - * byte PIDs) or DIAGNOSTIC_ENHANCED_PID (will use mode 0x22 and 2 byte - * PIDs) - * arbitration_id - The arbitration ID to send the request to. - * pid - The PID to request from the other node. - * callback - an optional function to be called when the response is receved - * (use NULL if no callback is required). - * - * Returns a handle to be used with diagnostic_receive_can_frame to complete - * sending the request and receive the response. The 'completed' field in the - * returned DiagnosticRequestHandle will be true when the message is completely - * sent. - */ -DiagnosticRequestHandle diagnostic_request_pid(DiagnosticShims* shims, - DiagnosticPidRequestType pid_request_type, uint32_t arbitration_id, - uint16_t pid, DiagnosticResponseReceived callback); - -/* Public: Continue to send and receive a single diagnostic request, based on a - * freshly received CAN message. - * - * shims - Low-level shims required to send CAN messages, etc. - * handle - A DiagnosticRequestHandle previously returned by one of the - * diagnostic_request*(..) functions. - * arbitration_id - The arbitration_id of the received CAN message. - * data - The data of the received CAN message. - * size - The size of the data in the received CAN message. - * - * Returns true if the request was completed and response received, or the - * request was otherwise cancelled. Check the 'success' field of the handle to - * see if it was successful. - */ -DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims, - DiagnosticRequestHandle* handle, - const uint32_t arbitration_id, const uint8_t data[], - const uint8_t size); - -/* Public: Parse the entier payload of the reponse as a single integer. - * - * response - the received DiagnosticResponse. - */ -int diagnostic_payload_to_integer(const DiagnosticResponse* response); - -/* Public: Render a DiagnosticResponse as a string into the given buffer. - * - * response - the response to convert to a string, for debug logging. - * destination - the target string buffer. - * destination_length - the size of the destination buffer, i.e. the max size - * for the rendered string. - */ -void diagnostic_response_to_string(const DiagnosticResponse* response, - char* destination, size_t destination_length); - -/* Public: Render a DiagnosticRequest as a string into the given buffer. - * - * request - the request to convert to a string, for debug logging. - * destination - the target string buffer. - * destination_length - the size of the destination buffer, i.e. the max size - * for the rendered string. - */ -void diagnostic_request_to_string(const DiagnosticRequest* request, - char* destination, size_t destination_length); - -/* Public: For many OBD-II PIDs with a numerical result, translate a diagnostic - * response payload into a meaningful number using the standard formulas. - * - * Functions pulled from http://en.wikipedia.org/wiki/OBD-II_PIDs#Mode_01 - * - * Returns the translated value or 0 if the PID is not in the OBD-II standard or - * does not use a numerical value (e.g. VIN). - */ -float diagnostic_decode_obd2_pid(const DiagnosticResponse* response); - -/* Public: Returns true if the "fingerprint" of the two diagnostic messages - * matches - the arbitration_id, mode and pid (or lack of pid). - */ -bool diagnostic_request_equals(const DiagnosticRequest* ours, - const DiagnosticRequest* theirs); - -/* Public: Returns true if the request has been completely sent - if false, make - * sure you called start_diagnostic_request once to start it, and then pass - * incoming CAN messages to it with diagnostic_receive_can_frame(...) so it can - * continue the ISO-TP transfer. - */ -bool diagnostic_request_sent(DiagnosticRequestHandle* handle); - -#ifdef __cplusplus -} -#endif - -#endif // __UDS_H__ diff --git a/CAN-binder/libs/uds-c/src/uds/uds_types.h b/CAN-binder/libs/uds-c/src/uds/uds_types.h deleted file mode 100644 index 4ebc150c..00000000 --- a/CAN-binder/libs/uds-c/src/uds/uds_types.h +++ /dev/null @@ -1,200 +0,0 @@ -#ifndef __UDS_TYPES_H__ -#define __UDS_TYPES_H__ - -#include <isotp/isotp.h> -#include <stdint.h> -#include <stdbool.h> - -#ifdef __cplusplus -extern "C" { -#endif - -// TODO This still doesn't have enough space for the largest possible -// multiframe response. May need to dynamically allocate in the future. -#define MAX_UDS_RESPONSE_PAYLOAD_LENGTH 127 -#define MAX_UDS_REQUEST_PAYLOAD_LENGTH 7 -#define MAX_RESPONDING_ECU_COUNT 8 -#define VIN_LENGTH 17 - -/* Private: The four main types of diagnositc requests that determine how the - * request should be parsed and what type of callback should be used. - * - * TODO this may not be used...yet? - */ -typedef enum { - DIAGNOSTIC_REQUEST_TYPE_PID, - DIAGNOSTIC_REQUEST_TYPE_DTC, - DIAGNOSTIC_REQUEST_TYPE_MIL_STATUS, - DIAGNOSTIC_REQUEST_TYPE_VIN -} DiagnosticRequestType; - -/* Public: A container for a single diagnostic request. - * - * The only required fields are the arbitration_id and mode. - * - * arbitration_id - The arbitration ID to send the request. - * mode - The OBD-II mode for the request. - * has_pid - (optional) If the requests uses a PID, this should be true. - * pid - (optional) The PID to request, if the mode requires one. has_pid must - * be true. - * pid_length - The length of the PID field, either 1 (standard) or 2 bytes - * (extended). If 0, it will be set automatically based on the request - * mode. - * payload - (optional) The payload for the request, if the request requires - * one. If payload_length is 0 this field is ignored. - * payload_length - The length of the payload, or 0 if no payload is used. - * no_frame_padding - false if sent CAN payloads should *not* be padded out to a - * full 8 byte CAN frame. Many ECUs require this, but others require the - * size of the CAN message to only be the actual data. By default padding - * is enabled (so this struct value can default to 0). - * type - the type of the request (TODO unused) - */ -typedef struct { - uint32_t arbitration_id; - uint8_t mode; - bool has_pid; - uint16_t pid; - uint8_t pid_length; - uint8_t payload[MAX_UDS_REQUEST_PAYLOAD_LENGTH]; - uint8_t payload_length; - bool no_frame_padding; - DiagnosticRequestType type; -} DiagnosticRequest; - -/* Public: All possible negative response codes that could be received from a - * requested node. - * - * When a DiagnosticResponse is received and the 'completed' field is true, but - * the 'success' field is false, the 'negative_response_code' field will contain - * one of these values as reported by the requested node. - * - * Thanks to canbushack.com for the list of NRCs. - */ -typedef enum { - NRC_SUCCESS = 0x0, - NRC_SERVICE_NOT_SUPPORTED = 0x11, - NRC_SUB_FUNCTION_NOT_SUPPORTED = 0x12, - NRC_INCORRECT_LENGTH_OR_FORMAT = 0x13, - NRC_CONDITIONS_NOT_CORRECT = 0x22, - NRC_REQUEST_OUT_OF_RANGE = 0x31, - NRC_SECURITY_ACCESS_DENIED = 0x33, - NRC_INVALID_KEY = 0x35, - NRC_TOO_MANY_ATTEMPS = 0x36, - NRC_TIME_DELAY_NOT_EXPIRED = 0x37, - NRC_RESPONSE_PENDING = 0x78 -} DiagnosticNegativeResponseCode; - -/* Public: A partially or fully completed response to a diagnostic request. - * - * completed - True if the request is complete - some functions return a - * DiagnosticResponse even when it's only partially completed, so be sure - * to check this field. - * success - True if the request was successful. The value if this - * field isn't valid if 'completed' isn't true. If this is 'false', check - * the negative_response_code field for the reason. - * arbitration_id - The arbitration ID the response was received on. - * multi_frame - True if this response (whether completed or not) required - * multi-frame CAN support. Can be used for updating time-out functions. - * mode - The OBD-II mode for the original request. - * has_pid - If this is a response to a PID request, this will be true and the - * 'pid' field will be valid. - * pid - If the request was for a PID, this is the PID echo. Only valid if - * 'has_pid' is true. - * negative_response_code - If the request was not successful, 'success' will be - * false and this will be set to a DiagnosticNegativeResponseCode returned - * by the other node. - * payload - An optional payload for the response - NULL if no payload. - * payload_length - The length of the payload or 0 if none. - */ -typedef struct { - bool completed; - bool success; - bool multi_frame; - uint32_t arbitration_id; - uint8_t mode; - bool has_pid; - uint16_t pid; - DiagnosticNegativeResponseCode negative_response_code; - uint8_t payload[MAX_UDS_RESPONSE_PAYLOAD_LENGTH]; - uint8_t payload_length; -} DiagnosticResponse; - -/* Public: Friendly names for all OBD-II modes. - */ -typedef enum { - OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST = 0x1, - OBD2_MODE_POWERTRAIN_FREEZE_FRAME_REQUEST = 0x2, - OBD2_MODE_EMISSIONS_DTC_REQUEST = 0x3, - OBD2_MODE_EMISSIONS_DTC_CLEAR = 0x4, - // 0x5 is for non-CAN only - // OBD2_MODE_OXYGEN_SENSOR_TEST = 0x5, - OBD2_MODE_TEST_RESULTS = 0x6, - OBD2_MODE_DRIVE_CYCLE_DTC_REQUEST = 0x7, - OBD2_MODE_CONTROL = 0x8, - OBD2_MODE_VEHICLE_INFORMATION = 0x9, - OBD2_MODE_PERMANENT_DTC_REQUEST = 0xa, - // this one isn't technically in uds, but both of the enhanced standards - // have their PID requests at 0x22 - OBD2_MODE_ENHANCED_DIAGNOSTIC_REQUEST = 0x22 -} DiagnosticMode; - -/* Public: The signature for an optional function to be called when a diagnostic - * request is complete, and a response is received or there is a fatal error. - * - * response - the completed DiagnosticResponse. - */ -typedef void (*DiagnosticResponseReceived)(const DiagnosticResponse* response); - -/* Public: A handle for initiating and continuing a single diagnostic request. - * - * A diagnostic request requires one or more CAN messages to be sent, and one - * or more CAN messages to be received before it is completed. This struct - * encapsulates the local state required to track the request while it is in - * progress. - * - * request - The original DiagnosticRequest that this handle was created for. - * completed - True if the request was completed successfully, or was otherwise - * cancelled. - * success - True if the request send and receive process was successful. The - * value if this field isn't valid if 'completed' isn't true. - */ -typedef struct { - DiagnosticRequest request; - bool success; - bool completed; - - // Private - IsoTpShims isotp_shims; - IsoTpSendHandle isotp_send_handle; - IsoTpReceiveHandle isotp_receive_handles[MAX_RESPONDING_ECU_COUNT]; - uint8_t isotp_receive_handle_count; - DiagnosticResponseReceived callback; - // DiagnosticMilStatusReceived mil_status_callback; - // DiagnosticVinReceived vin_callback; -} DiagnosticRequestHandle; - -/* Public: The two major types of PIDs that determine the OBD-II mode and PID - * field length. - */ -typedef enum { - DIAGNOSTIC_STANDARD_PID, - DIAGNOSTIC_ENHANCED_PID -} DiagnosticPidRequestType; - -/* Public: A container for the 3 shim functions used by the library to interact - * with the wider system. - * - * Use the diagnostic_init_shims(...) function to create an instance of this - * struct. - */ -typedef struct { - LogShim log; - SendCanMessageShim send_can_message; - SetTimerShim set_timer; -} DiagnosticShims; - -#ifdef __cplusplus -} -#endif - -#endif // __UDS_TYPES_H__ diff --git a/CAN-binder/libs/uds-c/tests/common.c b/CAN-binder/libs/uds-c/tests/common.c deleted file mode 100644 index fd1e4b2c..00000000 --- a/CAN-binder/libs/uds-c/tests/common.c +++ /dev/null @@ -1,43 +0,0 @@ -#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 deleted file mode 100644 index 81200cca..00000000 --- a/CAN-binder/libs/uds-c/tests/test_core.c +++ /dev/null @@ -1,526 +0,0 @@ -#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; -} |