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#include <obd2/obd2.h>
#include <check.h>
#include <stdint.h>
#include <stdio.h>
#include <stdbool.h>
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: 0x7df,
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: 0x7df,
mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST,
payload: {0x12, 0x34},
payload_length: 2
};
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_diag_request)
{
DiagnosticRequest request = {
arbitration_id: 0x7df,
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_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);
ck_assert_int_eq(last_response_received.pid, 0);
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_request_pid_standard)
{
// TODO need a constant for the 7df broadcast functional request
uint16_t arb_id = 0x7df;
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);
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 = 0x7df;
DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
fail_if(last_response_was_received);
const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x0, 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, 0x22);
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[4]);
}
END_TEST
START_TEST (test_wrong_mode_response)
{
uint16_t arb_id = 0x7df;
DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
fail_if(last_response_was_received);
const uint8_t can_data[] = {0x4, 0x1 + 0x40, 0x0, 0x2, 0x45};
diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
sizeof(can_data));
// TODO change this if we even re-request a message receipt on a mode or PID
// mismatch
fail_unless(last_response_was_received);
fail_unless(handle.completed);
fail_if(last_response_received.success);
}
END_TEST
START_TEST (test_handle_completed)
{
DiagnosticRequest request = {
arbitration_id: 0x7df,
mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST
};
DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
response_received_handler);
fail_if(handle.completed);
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);
response = diagnostic_receive_can_frame(&SHIMS, &handle,
request.arbitration_id + 0x8, can_data, sizeof(can_data));
fail_if(response.success);
fail_if(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);
ck_assert_int_eq(last_response_received.pid, 0);
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_negative_response)
{
DiagnosticRequest request = {
arbitration_id: 0x7df,
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
Suite* testSuite(void) {
Suite* s = suite_create("obd2");
TCase *tc_core = tcase_create("core");
tcase_add_checked_fixture(tc_core, setup, NULL);
tcase_add_test(tc_core, test_send_diag_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_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_handle_completed);
tcase_add_test(tc_core, test_negative_response);
// 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;
}
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