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-rw-r--r--src/obd2/obd2.c84
-rw-r--r--src/obd2/obd2.h2
-rw-r--r--src/obd2/obd2_types.h4
-rw-r--r--tests/test_core.c89
4 files changed, 99 insertions, 80 deletions
diff --git a/src/obd2/obd2.c b/src/obd2/obd2.c
index 25b00e7..513c7d7 100644
--- a/src/obd2/obd2.c
+++ b/src/obd2/obd2.c
@@ -30,9 +30,20 @@ DiagnosticShims diagnostic_init_shims(LogShim log,
}
static void setup_receive_handle(DiagnosticRequestHandle* handle) {
- handle->isotp_receive_handle = isotp_receive(&handle->isotp_shims,
- handle->request.arbitration_id + ARBITRATION_ID_OFFSET,
- NULL);
+ if(handle->request.arbitration_id == OBD2_FUNCTIONAL_BROADCAST_ID) {
+ for(uint16_t 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);
+ }
}
@@ -185,43 +196,46 @@ DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims,
if(!handle->isotp_send_handle.completed) {
isotp_continue_send(&handle->isotp_shims,
&handle->isotp_send_handle, arbitration_id, data, size);
- } else if(!handle->isotp_receive_handle.completed) {
- IsoTpMessage message = isotp_continue_receive(&handle->isotp_shims,
- &handle->isotp_receive_handle, arbitration_id, data, size);
-
- if(message.completed) {
- if(message.size > 0) {
- response.mode = message.payload[0];
- if(handle_negative_response(&message, &response, shims)) {
- shims->log("Received a negative response to mode %d on arb ID 0x%x",
- response.mode, response.arbitration_id);
- handle->success = true;
- handle->completed = true;
- } else if(handle_positive_response(handle, &message, &response,
- shims)) {
- shims->log("Received a positive mode %d response on arb ID 0x%x",
- response.mode, response.arbitration_id);
- handle->success = true;
- handle->completed = true;
+ } else {
+ for(uint8_t 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);
+
+ // TODO as of now we're completing the handle as soon as one
+ // broadcast response is received....need to hang on for 100ms
+ if(message.completed) {
+ if(message.size > 0) {
+ response.mode = message.payload[0];
+ if(handle_negative_response(&message, &response, shims)) {
+ shims->log("Received a negative response to mode %d on arb ID 0x%x",
+ response.mode, response.arbitration_id);
+ handle->success = true;
+ handle->completed = true;
+ } else if(handle_positive_response(handle, &message, &response,
+ shims)) {
+ shims->log("Received a positive mode %d response on arb ID 0x%x",
+ response.mode, response.arbitration_id);
+ handle->success = true;
+ handle->completed = true;
+ } else {
+ shims->log("Response was for a mode 0x%x request (pid 0x%x), not our mode 0x%x request (pid 0x%x)",
+ MAX(0, response.mode - MODE_RESPONSE_OFFSET),
+ response.pid, handle->request.mode,
+ handle->request.pid);
+ // TODO just leave handles open until the user decides
+ // to be done with it - keep a count of valid responses
+ // received.
+ }
} else {
- shims->log("Response was for a mode 0x%x request (pid 0x%x), not our mode 0x%x request (pid 0x%x)",
- MAX(0, response.mode - MODE_RESPONSE_OFFSET),
- response.pid, handle->request.mode,
- handle->request.pid);
- setup_receive_handle(handle);
+ shims->log("Received an empty response on arb ID 0x%x",
+ response.arbitration_id);
}
- } else {
- shims->log("Received an empty response on arb ID 0x%x",
- response.arbitration_id);
- }
- if(handle->completed && handle->callback != NULL) {
- handle->callback(&response);
+ if(handle->completed && handle->callback != NULL) {
+ handle->callback(&response);
+ }
}
}
- } else {
- shims->log("Mode %d request to arb ID 0x%x is already completed",
- handle->request.mode, handle->request.arbitration_id);
}
return response;
}
diff --git a/src/obd2/obd2.h b/src/obd2/obd2.h
index b301138..bcd6e76 100644
--- a/src/obd2/obd2.h
+++ b/src/obd2/obd2.h
@@ -6,6 +6,8 @@
#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" {
diff --git a/src/obd2/obd2_types.h b/src/obd2/obd2_types.h
index 5260fa8..0699fc4 100644
--- a/src/obd2/obd2_types.h
+++ b/src/obd2/obd2_types.h
@@ -12,6 +12,7 @@ extern "C" {
// TODO This isn't true for multi frame messages - we may need to dynamically
// allocate this in the future
#define MAX_OBD2_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
@@ -149,7 +150,8 @@ typedef struct {
// Private
IsoTpShims isotp_shims;
IsoTpSendHandle isotp_send_handle;
- IsoTpReceiveHandle isotp_receive_handle;
+ IsoTpReceiveHandle isotp_receive_handles[MAX_RESPONDING_ECU_COUNT];
+ uint8_t isotp_receive_handle_count;
DiagnosticResponseReceived callback;
// DiagnosticMilStatusReceived mil_status_callback;
// DiagnosticVinReceived vin_callback;
diff --git a/tests/test_core.c b/tests/test_core.c
index be4d141..182f268 100644
--- a/tests/test_core.c
+++ b/tests/test_core.c
@@ -20,7 +20,7 @@ void response_received_handler(const DiagnosticResponse* response) {
START_TEST (test_receive_wrong_arb_id)
{
DiagnosticRequest request = {
- arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID,
+ arbitration_id: 0x100,
mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST
};
DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
@@ -37,7 +37,7 @@ END_TEST
START_TEST (test_send_diag_request_with_payload)
{
DiagnosticRequest request = {
- arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID,
+ arbitration_id: 0x100,
mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST,
payload: {0x12, 0x34},
payload_length: 2
@@ -56,7 +56,7 @@ START_TEST (test_send_diag_request_with_payload)
}
END_TEST
-START_TEST (test_send_diag_request)
+START_TEST (test_send_functional_request)
{
DiagnosticRequest request = {
arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID,
@@ -72,6 +72,41 @@ START_TEST (test_send_diag_request)
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);
+ 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_send_diag_request)
+{
+ 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_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);
@@ -110,7 +145,7 @@ END_TEST
START_TEST (test_request_pid_enhanced)
{
- uint16_t arb_id = OBD2_FUNCTIONAL_BROADCAST_ID;
+ uint16_t arb_id = 0x100;
DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
@@ -131,7 +166,7 @@ END_TEST
START_TEST (test_wrong_mode_response)
{
- uint16_t arb_id = OBD2_FUNCTIONAL_BROADCAST_ID;
+ uint16_t arb_id = 0x100;
DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
@@ -146,7 +181,7 @@ END_TEST
START_TEST (test_missing_pid)
{
- uint16_t arb_id = OBD2_FUNCTIONAL_BROADCAST_ID;
+ uint16_t arb_id = 0x100;
DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
@@ -161,7 +196,7 @@ END_TEST
START_TEST (test_wrong_pid_response)
{
- uint16_t arb_id = OBD2_FUNCTIONAL_BROADCAST_ID;
+ uint16_t arb_id = 0x100;
DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
@@ -176,7 +211,7 @@ END_TEST
START_TEST (test_wrong_pid_then_right_completes)
{
- uint16_t arb_id = OBD2_FUNCTIONAL_BROADCAST_ID;
+ uint16_t arb_id = 0x100;
DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
@@ -198,44 +233,10 @@ START_TEST (test_wrong_pid_then_right_completes)
}
END_TEST
-START_TEST (test_handle_completed)
-{
- DiagnosticRequest request = {
- arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID,
- 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: OBD2_FUNCTIONAL_BROADCAST_ID,
+ arbitration_id: 0x100,
mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST
};
DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
@@ -262,6 +263,7 @@ Suite* testSuite(void) {
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_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_request_pid_standard);
@@ -270,7 +272,6 @@ Suite* testSuite(void) {
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_handle_completed);
tcase_add_test(tc_core, test_negative_response);
// TODO these are future work: