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#include <uds/uds.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: 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);
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_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: 2,
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_size, 4);
}
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, 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);
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[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, 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));
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, 0x2, 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, 0x2, response_received_handler);
fail_if(last_response_was_received);
const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x0, 0x3, 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, 0x2, response_received_handler);
fail_if(last_response_was_received);
uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x0, 0x3, 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] = 0x2;
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, 0x2);
}
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_float)
{
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_float(&response), 0x4512);
}
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_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_float);
// 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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