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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;
void response_received_handler(const DiagnosticResponse* response) {
last_response_was_received = true;
// TODO not sure if we can copy the struct like this
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)
{
DiagnosticRequest request = {
arbitration_id: 0x7df,
mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST
};
DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
response_received_handler);
fail_if(handle.completed);
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));
fail_unless(last_response_was_received);
fail_if(last_response_received.success);
}
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_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);
// 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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