4 files changed, 448 insertions, 0 deletions
diff --git a/libs/isotp-c/tests/common.c b/libs/isotp-c/tests/common.c
new file mode 100644
index 00000000..a9eed39e
--- /dev/null
+++ b/libs/isotp-c/tests/common.c
@@ -0,0 +1,91 @@
+#include <isotp/isotp.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <string.h>
+
+IsoTpShims SHIMS;
+IsoTpReceiveHandle RECEIVE_HANDLE;
+
+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;
+
+bool message_was_received;
+uint32_t last_message_received_arb_id;
+uint8_t last_message_received_payload[OUR_MAX_ISO_TP_MESSAGE_SIZE];
+uint8_t last_message_received_payload_size;
+
+uint32_t last_message_sent_arb_id;
+bool last_message_sent_status;
+uint8_t last_message_sent_payload[OUR_MAX_ISO_TP_MESSAGE_SIZE];
+uint8_t last_message_sent_payload_size;
+
+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 message_received(const IsoTpMessage* message) {
+    debug("Received ISO-TP message:");
+    message_was_received = true;
+    char str_message[48] = {0};
+    isotp_message_to_string(message, str_message, sizeof(str_message));
+    debug("%s", str_message);
+    last_message_received_arb_id = message->arbitration_id;
+    last_message_received_payload_size = message->size;
+    if(message->size > 0) {
+        memcpy(last_message_received_payload, message->payload, message->size);
+    }
+}
+
+void message_sent(const IsoTpMessage* message, const bool success) {
+    if(success) {
+        debug("Sent ISO-TP message:");
+    } else {
+        debug("Unable to send ISO-TP message:");
+    }
+    char str_message[48] = {0};
+    isotp_message_to_string(message, str_message, sizeof(str_message));
+    debug("%s", str_message);
+
+    last_message_sent_arb_id = message->arbitration_id;
+    last_message_sent_payload_size = message->size;
+    last_message_sent_status = success;
+    if(message->size > 0) {
+        memcpy(last_message_sent_payload, message->payload, message->size);
+    }
+}
+
+void can_frame_sent(const uint32_t arbitration_id, const uint8_t* payload,
+        const uint8_t size) {
+    debug("Sent CAN Frame with arb ID 0x%x and %d bytes", arbitration_id, size);
+}
+
+void setup() {
+    SHIMS = isotp_init_shims(debug, mock_send_can, NULL);
+    RECEIVE_HANDLE = isotp_receive(&SHIMS, 0x2a, message_received);
+    memset(last_message_sent_payload, 0, OUR_MAX_ISO_TP_MESSAGE_SIZE);
+    memset(last_message_received_payload, 0, OUR_MAX_ISO_TP_MESSAGE_SIZE);
+    memset(last_can_payload_sent, 0, sizeof(last_can_payload_sent));
+    last_message_sent_status = false;
+    message_was_received = false;
+    can_frame_was_sent = false;
+}
+
diff --git a/libs/isotp-c/tests/test_core.c b/libs/isotp-c/tests/test_core.c
new file mode 100644
index 00000000..73b47af0
--- /dev/null
+++ b/libs/isotp-c/tests/test_core.c
@@ -0,0 +1,78 @@
+#include <isotp/receive.h>
+#include <check.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+
+extern IsoTpShims SHIMS;
+
+extern void message_sent(const IsoTpMessage* message, const bool success);
+
+extern uint16_t last_can_frame_sent_arb_id;
+extern uint8_t last_can_payload_sent[8];
+extern uint8_t last_can_payload_size;
+extern bool can_frame_was_sent;
+
+extern bool message_was_received;
+extern uint16_t last_message_received_arb_id;
+extern uint8_t last_message_received_payload[];
+extern uint8_t last_message_received_payload_size;
+
+extern uint16_t last_message_sent_arb_id;
+extern bool last_message_sent_status;
+extern uint8_t last_message_sent_payload[];
+extern uint8_t last_message_sent_payload_size;
+
+extern void setup();
+
+START_TEST (test_default_frame_padding_on)
+{
+    ck_assert(SHIMS.frame_padding);
+    const uint8_t payload[] = {0x12, 0x34};
+    uint32_t arbitration_id = 0x2a;
+    isotp_send(&SHIMS, arbitration_id, payload, sizeof(payload), message_sent);
+    ck_assert_int_eq(last_message_sent_arb_id, arbitration_id);
+    fail_unless(last_message_sent_status);
+    ck_assert_int_eq(last_message_sent_payload_size, 2);
+    ck_assert_int_eq(last_can_payload_size, 8);
+
+}
+END_TEST
+
+START_TEST (test_disabled_frame_padding)
+{
+    SHIMS.frame_padding = false;
+    const uint8_t payload[] = {0x12, 0x34};
+    uint32_t arbitration_id = 0x2a;
+    isotp_send(&SHIMS, arbitration_id, payload, sizeof(payload), message_sent);
+    ck_assert_int_eq(last_message_sent_arb_id, arbitration_id);
+    fail_unless(last_message_sent_status);
+    ck_assert_int_eq(last_message_sent_payload_size, 2);
+    ck_assert_int_eq(last_can_payload_size, 3);
+
+}
+END_TEST
+
+Suite* testSuite(void) {
+    Suite* s = suite_create("iso15765");
+    TCase *tc_core = tcase_create("core");
+    tcase_add_checked_fixture(tc_core, setup, NULL);
+    tcase_add_test(tc_core, test_default_frame_padding_on);
+    tcase_add_test(tc_core, test_disabled_frame_padding);
+    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;
+}
diff --git a/libs/isotp-c/tests/test_receive.c b/libs/isotp-c/tests/test_receive.c
new file mode 100644
index 00000000..607f9061
--- /dev/null
+++ b/libs/isotp-c/tests/test_receive.c
@@ -0,0 +1,176 @@
+#include <isotp/isotp.h>
+#include <check.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+
+extern IsoTpShims SHIMS;
+extern IsoTpReceiveHandle RECEIVE_HANDLE;
+
+extern void message_sent(const IsoTpMessage* message, const bool success);
+
+extern uint16_t last_can_frame_sent_arb_id;
+extern uint8_t last_can_payload_sent;
+extern uint8_t last_can_payload_size;
+extern bool can_frame_was_sent;
+
+extern bool message_was_received;
+extern uint16_t last_message_received_arb_id;
+extern uint8_t last_message_received_payload[];
+extern uint8_t last_message_received_payload_size;
+
+extern uint16_t last_message_sent_arb_id;
+extern bool last_message_sent_status;
+extern uint8_t last_message_sent_payload[];
+extern uint8_t last_message_sent_payload_size;
+
+extern void setup();
+
+START_TEST (test_receive_empty_can_message)
+{
+    const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0};
+    fail_if(RECEIVE_HANDLE.completed);
+    IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x100, data, 0);
+    fail_if(message.completed);
+    fail_if(message_was_received);
+}
+END_TEST
+
+START_TEST (test_receive_wrong_id)
+{
+    const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0};
+    fail_if(RECEIVE_HANDLE.completed);
+    IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x100, data, 1);
+    fail_if(message.completed);
+    fail_if(message_was_received);
+}
+END_TEST
+
+START_TEST (test_receive_bad_pci)
+{
+    // 4 is a reserved number for the PCI field - only 0-3 are allowed
+    const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0x40};
+    IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data, 1);
+    fail_if(message.completed);
+    fail_if(message_was_received);
+}
+END_TEST
+
+START_TEST (test_receive_single_frame_empty_payload)
+{
+    const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0x00, 0x12, 0x34};
+    fail_if(RECEIVE_HANDLE.completed);
+    IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data, 3);
+    fail_unless(RECEIVE_HANDLE.completed);
+    fail_unless(message.completed);
+    fail_unless(message_was_received);
+    ck_assert_int_eq(last_message_received_arb_id, 0x2a);
+    ck_assert_int_eq(last_message_received_payload_size, 0);
+}
+END_TEST
+
+START_TEST (test_receive_single_frame)
+{
+    const uint8_t data[CAN_MESSAGE_BYTE_SIZE] = {0x02, 0x12, 0x34};
+    IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data, 3);
+    fail_unless(message.completed);
+    fail_unless(message_was_received);
+    ck_assert_int_eq(last_message_received_arb_id, 0x2a);
+    ck_assert_int_eq(last_message_received_payload_size, 2);
+    ck_assert_int_eq(last_message_received_payload[0], 0x12);
+    ck_assert_int_eq(last_message_received_payload[1], 0x34);
+}
+END_TEST
+
+START_TEST (test_receive_multi_frame)
+{
+    const uint8_t data0[CAN_MESSAGE_BYTE_SIZE] = {0x10, 0x14, 0x49, 0x02, 0x01, 0x31, 0x46, 0x4d};
+    IsoTpMessage message0 = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data0, 8);
+    fail_unless(!RECEIVE_HANDLE.completed);
+    fail_unless(!message0.completed);
+    fail_unless(!message_was_received);
+    fail_unless(message0.multi_frame);
+    //make sure flow control message has been sent.
+    ck_assert_int_eq(last_can_frame_sent_arb_id, 0x2a - 8);
+    ck_assert_int_eq(last_can_payload_sent, 0x30);
+
+    const uint8_t data1[CAN_MESSAGE_BYTE_SIZE] = {0x21, 0x43, 0x55, 0x39, 0x4a, 0x39, 0x34, 0x48};
+    IsoTpMessage message1 = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data1, 8);
+    fail_unless(!RECEIVE_HANDLE.completed);
+    fail_unless(!message1.completed);
+    fail_unless(!message_was_received);
+    fail_unless(message1.multi_frame);
+
+    const uint8_t data2[CAN_MESSAGE_BYTE_SIZE] = {0x22, 0x55, 0x41, 0x30, 0x34, 0x35, 0x32, 0x34};
+    IsoTpMessage message2 = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data2, 8);
+    fail_unless(RECEIVE_HANDLE.completed);
+    fail_unless(message2.completed);
+    fail_unless(message_was_received);
+    fail_unless(message2.multi_frame);
+
+    ck_assert_int_eq(last_message_received_arb_id, 0x2a);
+    ck_assert_int_eq(last_message_received_payload_size, 0x14);
+    ck_assert_int_eq(last_message_received_payload[0], 0x49);
+    ck_assert_int_eq(last_message_received_payload[1], 0x02);
+    ck_assert_int_eq(last_message_received_payload[2], 0x01);
+    ck_assert_int_eq(last_message_received_payload[3], 0x31);
+    ck_assert_int_eq(last_message_received_payload[4], 0x46);
+    ck_assert_int_eq(last_message_received_payload[5], 0x4d);
+    ck_assert_int_eq(last_message_received_payload[6], 0x43);
+    ck_assert_int_eq(last_message_received_payload[7], 0x55);
+    ck_assert_int_eq(last_message_received_payload[8], 0x39);
+    ck_assert_int_eq(last_message_received_payload[9], 0x4a);
+    ck_assert_int_eq(last_message_received_payload[10], 0x39);
+    ck_assert_int_eq(last_message_received_payload[11], 0x34);
+    ck_assert_int_eq(last_message_received_payload[12], 0x48);
+    ck_assert_int_eq(last_message_received_payload[13], 0x55);
+    ck_assert_int_eq(last_message_received_payload[14], 0x41);
+    ck_assert_int_eq(last_message_received_payload[15], 0x30);
+    ck_assert_int_eq(last_message_received_payload[16], 0x34);
+    ck_assert_int_eq(last_message_received_payload[17], 0x35);
+    ck_assert_int_eq(last_message_received_payload[18], 0x32);
+    ck_assert_int_eq(last_message_received_payload[19], 0x34);
+}
+END_TEST
+
+START_TEST (test_receive_large_multi_frame)
+{
+    const uint8_t data0[CAN_MESSAGE_BYTE_SIZE] = {0x10, 0x80, 0x49, 0x02, 0x01, 0x31, 0x46, 0x4d};
+    IsoTpMessage message = isotp_continue_receive(&SHIMS, &RECEIVE_HANDLE, 0x2a, data0, 8);
+    //Make sure we don't try to receive messages that are too large and don't send flow control.
+    fail_unless(!can_frame_was_sent);
+    fail_unless(!RECEIVE_HANDLE.completed);
+    fail_unless(!message.completed);
+    fail_unless(!message_was_received);
+    fail_unless(!message.multi_frame);
+}
+END_TEST
+
+Suite* testSuite(void) {
+    Suite* s = suite_create("iso15765");
+    TCase *tc_core = tcase_create("receive");
+    tcase_add_checked_fixture(tc_core, setup, NULL);
+    tcase_add_test(tc_core, test_receive_wrong_id);
+    tcase_add_test(tc_core, test_receive_bad_pci);
+    tcase_add_test(tc_core, test_receive_single_frame);
+    tcase_add_test(tc_core, test_receive_single_frame_empty_payload);
+    tcase_add_test(tc_core, test_receive_empty_can_message);
+    tcase_add_test(tc_core, test_receive_multi_frame);
+    tcase_add_test(tc_core, test_receive_large_multi_frame);
+    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;
+}
diff --git a/libs/isotp-c/tests/test_send.c b/libs/isotp-c/tests/test_send.c
new file mode 100644
index 00000000..29cf5dec
--- /dev/null
+++ b/libs/isotp-c/tests/test_send.c
@@ -0,0 +1,103 @@
+#include <isotp/receive.h>
+#include <check.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+
+extern IsoTpShims SHIMS;
+
+extern void message_sent(const IsoTpMessage* message, const bool success);
+
+extern uint16_t last_can_frame_sent_arb_id;
+extern uint8_t last_can_payload_sent[8];
+extern uint8_t last_can_payload_size;
+extern bool can_frame_was_sent;
+
+extern bool message_was_received;
+extern uint16_t last_message_received_arb_id;
+extern uint8_t last_message_received_payload[];
+extern uint8_t last_message_received_payload_size;
+
+extern uint16_t last_message_sent_arb_id;
+extern bool last_message_sent_status;
+extern uint8_t last_message_sent_payload[];
+extern uint8_t last_message_sent_payload_size;
+
+extern void setup();
+
+START_TEST (test_send_empty_payload)
+{
+    SHIMS.frame_padding = false;
+    uint16_t arbitration_id = 0x2a;
+    IsoTpSendHandle handle = isotp_send(&SHIMS, arbitration_id, NULL, 0, message_sent);
+    fail_unless(handle.success);
+    fail_unless(handle.completed);
+    ck_assert_int_eq(last_message_sent_arb_id, arbitration_id);
+    fail_unless(last_message_sent_status);
+    ck_assert_int_eq(last_message_sent_payload[0], '\0');
+    ck_assert_int_eq(last_message_sent_payload_size, 0);
+
+    ck_assert_int_eq(last_can_frame_sent_arb_id, arbitration_id);
+    fail_unless(can_frame_was_sent);
+    ck_assert_int_eq(last_can_payload_sent[0], 0x0);
+    ck_assert_int_eq(last_can_payload_size, 1);
+}
+END_TEST
+
+START_TEST (test_send_single_frame)
+{
+    SHIMS.frame_padding = false;
+    const uint8_t payload[] = {0x12, 0x34};
+    uint16_t arbitration_id = 0x2a;
+    isotp_send(&SHIMS, arbitration_id, payload, sizeof(payload), message_sent);
+    ck_assert_int_eq(last_message_sent_arb_id, arbitration_id);
+    fail_unless(last_message_sent_status);
+    ck_assert_int_eq(last_message_sent_payload[0], 0x12);
+    ck_assert_int_eq(last_message_sent_payload[1], 0x34);
+    ck_assert_int_eq(last_message_sent_payload_size, 2);
+
+    ck_assert_int_eq(last_can_frame_sent_arb_id, arbitration_id);
+    fail_unless(can_frame_was_sent);
+    ck_assert_int_eq(last_can_payload_sent[0], 0x2);
+    ck_assert_int_eq(last_can_payload_sent[1], 0x12);
+    ck_assert_int_eq(last_can_payload_sent[2], 0x34);
+    ck_assert_int_eq(last_can_payload_size, 3);
+}
+END_TEST
+
+START_TEST (test_send_multi_frame)
+{
+    const uint8_t payload[] = {0x12, 0x34, 0x56, 0x78, 0x90, 0x01, 0x23,
+            0x45, 0x67, 0x89};
+    uint16_t arbitration_id = 0x2a;
+    IsoTpSendHandle handle = isotp_send(&SHIMS, arbitration_id, payload, sizeof(payload),
+            message_sent);
+    fail_unless(handle.completed);
+    fail_if(handle.success);
+}
+END_TEST
+
+Suite* testSuite(void) {
+    Suite* s = suite_create("iso15765");
+    TCase *tc_core = tcase_create("send");
+    tcase_add_checked_fixture(tc_core, setup, NULL);
+    tcase_add_test(tc_core, test_send_empty_payload);
+    tcase_add_test(tc_core, test_send_single_frame);
+    tcase_add_test(tc_core, test_send_multi_frame);
+    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;
+}