1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
|
#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
};
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
};
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_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);
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_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
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_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);
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);
// 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;
}
|
