diff options
Diffstat (limited to 'CAN-binder/libs/uds-c/tests')
| -rw-r--r-- | CAN-binder/libs/uds-c/tests/common.c | 43 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/tests/test_core.c | 526 |
2 files changed, 0 insertions, 569 deletions
diff --git a/CAN-binder/libs/uds-c/tests/common.c b/CAN-binder/libs/uds-c/tests/common.c deleted file mode 100644 index fd1e4b2..0000000 --- a/CAN-binder/libs/uds-c/tests/common.c +++ /dev/null @@ -1,43 +0,0 @@ -#include <uds/uds.h> -#include <stdint.h> -#include <stdio.h> -#include <stdlib.h> -#include <stdarg.h> -#include <string.h> - -DiagnosticShims SHIMS; - -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; - -DiagnosticResponse last_response_received; -bool last_response_was_received; - -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 setup() { - SHIMS = diagnostic_init_shims(debug, mock_send_can, NULL); - memset(last_can_payload_sent, 0, sizeof(last_can_payload_sent)); - can_frame_was_sent = false; - last_response_was_received = false; -} - diff --git a/CAN-binder/libs/uds-c/tests/test_core.c b/CAN-binder/libs/uds-c/tests/test_core.c deleted file mode 100644 index 81200cc..0000000 --- a/CAN-binder/libs/uds-c/tests/test_core.c +++ /dev/null @@ -1,526 +0,0 @@ -#include <uds/uds.h> -#include <check.h> -#include <stdint.h> -#include <stdio.h> -#include <stdbool.h> - -extern bool can_frame_was_sent; -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); - fail_unless(can_frame_was_sent); - 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_generate_then_send_request) -{ - DiagnosticRequest request = { - arbitration_id: 0x100, - mode: OBD2_MODE_EMISSIONS_DTC_REQUEST, - no_frame_padding: true - }; - DiagnosticRequestHandle handle = generate_diagnostic_request(&SHIMS, - &request, response_received_handler); - - fail_if(handle.completed); - fail_if(can_frame_was_sent); - - start_diagnostic_request(&SHIMS, &handle); - fail_unless(can_frame_was_sent); - 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_generate_diag_request) -{ - DiagnosticRequest request = { - arbitration_id: 0x100, - mode: OBD2_MODE_EMISSIONS_DTC_REQUEST, - no_frame_padding: true - }; - DiagnosticRequestHandle handle = generate_diagnostic_request(&SHIMS, - &request, response_received_handler); - - fail_if(handle.completed); - fail_if(can_frame_was_sent); -} -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: 0x1234, - 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_sent[2], (request.pid & 0xFF00) >> 8); - ck_assert_int_eq(last_can_payload_sent[3], request.pid & 0xFF); - ck_assert_int_eq(last_can_payload_size, 4); - - request.arbitration_id = 0x101; - request.pid = 0x12; - - 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_sent[2], request.pid); - ck_assert_int_eq(last_can_payload_size, 3); -} -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, 0x1234, response_received_handler); - - fail_if(last_response_was_received); - const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x12, 0x34, 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, 0x1234); - 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, 0x1234, response_received_handler); - - fail_if(last_response_was_received); - const uint8_t can_data[] = {0x4, 0x1 + 0x40, 0x12, 0x34, 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, 0x1234, 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, 0x1234, response_received_handler); - - fail_if(last_response_was_received); - const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x12, 0x33, 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, 0x1234, response_received_handler); - - fail_if(last_response_was_received); - uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x12, 0x33, 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] = 0x34; - 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, 0x1234); -} -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_integer) -{ - 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_integer(&response), 0x4512); -} -END_TEST - -START_TEST (test_response_multi_frame) -{ - DiagnosticRequest request = { - arbitration_id: 0x100, - mode: OBD2_MODE_VEHICLE_INFORMATION, - has_pid: true, - pid: 0x2 - }; - DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, - response_received_handler); - - const uint8_t can_data[] = {0x10, 0x14, 0x9 + 0x40, 0x2, 0x1, 0x31, 0x46, 0x4d}; - DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle, - request.arbitration_id + 0x8, can_data, sizeof(can_data)); - - fail_unless(can_frame_was_sent); - fail_unless(!response.success); - fail_unless(!response.completed); - fail_unless(response.multi_frame); - ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id); - ck_assert_int_eq(last_can_payload_sent[0], 0x30); - - const uint8_t can_data_1[] = {0x21, 0x43, 0x55, 0x39, 0x4a, 0x39, 0x34, 0x48}; - response = diagnostic_receive_can_frame(&SHIMS, &handle, - request.arbitration_id + 0x8, can_data_1, sizeof(can_data_1)); - fail_unless(!response.success); - fail_unless(!response.completed); - fail_unless(response.multi_frame); - - const uint8_t can_data_2[] = {0x22, 0x55, 0x41, 0x30, 0x34, 0x35, 0x32, 0x34}; - response = diagnostic_receive_can_frame(&SHIMS, &handle, - request.arbitration_id + 0x8, can_data_2, sizeof(can_data_2)); - fail_unless(response.success); - fail_unless(response.completed); - fail_unless(response.multi_frame); - ck_assert_int_eq(response.mode, OBD2_MODE_VEHICLE_INFORMATION); - ck_assert_int_eq(response.pid, 0x2); - ck_assert_int_eq(response.payload_length, 18); - ck_assert_int_eq(response.payload[0], 0x01); - ck_assert_int_eq(response.payload[1], 0x31); - ck_assert_int_eq(response.payload[2], 0x46); - ck_assert_int_eq(response.payload[3], 0x4d); - ck_assert_int_eq(response.payload[4], 0x43); - ck_assert_int_eq(response.payload[5], 0x55); - ck_assert_int_eq(response.payload[6], 0x39); - ck_assert_int_eq(response.payload[7], 0x4a); - ck_assert_int_eq(response.payload[8], 0x39); - ck_assert_int_eq(response.payload[9], 0x34); - ck_assert_int_eq(response.payload[10], 0x48); - ck_assert_int_eq(response.payload[11], 0x55); - ck_assert_int_eq(response.payload[12], 0x41); - ck_assert_int_eq(response.payload[13], 0x30); - ck_assert_int_eq(response.payload[14], 0x34); - ck_assert_int_eq(response.payload[15], 0x35); - ck_assert_int_eq(response.payload[16], 0x32); - ck_assert_int_eq(response.payload[17], 0x34); -} -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_generate_diag_request); - tcase_add_test(tc_core, test_generate_then_send_request); - 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_integer); - tcase_add_test(tc_core, test_response_multi_frame); - - // 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; -} |