tests/test_core.c

   1 #include <uds/uds.h>
   2 #include <check.h>
   3 #include <stdint.h>
   4 #include <stdio.h>
   5 #include <stdbool.h>
   6
   7 extern bool can_frame_was_sent;
   8 extern void setup();
   9 extern bool last_response_was_received;
  10 extern DiagnosticResponse last_response_received;
  11 extern DiagnosticShims SHIMS;
  12 extern uint16_t last_can_frame_sent_arb_id;
  13 extern uint8_t last_can_payload_sent[8];
  14 extern uint8_t last_can_payload_size;
  15
  16 void response_received_handler(const DiagnosticResponse* response) {
  17     last_response_was_received = true;
  18     last_response_received = *response;
  19 }
  20
  21 START_TEST (test_receive_wrong_arb_id)
  22 {
  23     DiagnosticRequest request = {
  24         arbitration_id: 0x100,
  25         mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST
  26     };
  27     DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
  28             response_received_handler);
  29
  30     fail_if(last_response_was_received);
  31     const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23};
  32     diagnostic_receive_can_frame(&SHIMS, &handle, request.arbitration_id,
  33             can_data, sizeof(can_data));
  34     fail_if(last_response_was_received);
  35 }
  36 END_TEST
  37
  38 START_TEST (test_send_diag_request_with_payload)
  39 {
  40     DiagnosticRequest request = {
  41         arbitration_id: 0x100,
  42         mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST,
  43         payload: {0x12, 0x34},
  44         payload_length: 2,
  45         no_frame_padding: true
  46     };
  47     DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
  48             response_received_handler);
  49
  50     fail_if(handle.completed);
  51     // TODO it'd be better to check the ISO-TP message instead of the CAN frame,
  52     // but we don't have a good way to do that
  53     ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
  54     ck_assert_int_eq(last_can_payload_sent[1], request.mode);
  55     ck_assert_int_eq(last_can_payload_size, 4);
  56     ck_assert_int_eq(last_can_payload_sent[2], request.payload[0]);
  57     ck_assert_int_eq(last_can_payload_sent[3], request.payload[1]);
  58 }
  59 END_TEST
  60
  61 START_TEST (test_send_functional_request)
  62 {
  63     DiagnosticRequest request = {
  64         arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID,
  65         mode: OBD2_MODE_EMISSIONS_DTC_REQUEST,
  66         no_frame_padding: true
  67     };
  68     DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
  69             response_received_handler);
  70
  71     fail_if(handle.completed);
  72     ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
  73     ck_assert_int_eq(last_can_payload_sent[1], request.mode);
  74     ck_assert_int_eq(last_can_payload_size, 2);
  75
  76     fail_if(last_response_was_received);
  77     const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23};
  78     for(uint16_t filter = OBD2_FUNCTIONAL_RESPONSE_START; filter <
  79             OBD2_FUNCTIONAL_RESPONSE_START + OBD2_FUNCTIONAL_RESPONSE_COUNT;
  80             filter++) {
  81         DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS,
  82                 &handle, filter, can_data, sizeof(can_data));
  83         fail_unless(response.success);
  84         fail_unless(response.completed);
  85         fail_unless(handle.completed);
  86         ck_assert(last_response_received.success);
  87         ck_assert_int_eq(last_response_received.arbitration_id,
  88                 filter);
  89         ck_assert_int_eq(last_response_received.mode, request.mode);
  90         fail_if(last_response_received.has_pid);
  91         ck_assert_int_eq(last_response_received.payload_length, 1);
  92         ck_assert_int_eq(last_response_received.payload[0], can_data[2]);
  93     }
  94 }
  95 END_TEST
  96
  97 START_TEST (test_sent_message_no_padding)
  98 {
  99     DiagnosticRequest request = {
 100         arbitration_id: 0x100,
 101         mode: OBD2_MODE_EMISSIONS_DTC_REQUEST,
 102         no_frame_padding: true
 103     };
 104     DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
 105             response_received_handler);
 106
 107     fail_if(handle.completed);
 108     ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
 109     ck_assert_int_eq(last_can_payload_size, 2);
 110 }
 111 END_TEST
 112
 113 START_TEST (test_sent_message_is_padded_by_default)
 114 {
 115     DiagnosticRequest request = {
 116         arbitration_id: 0x100,
 117         mode: OBD2_MODE_EMISSIONS_DTC_REQUEST
 118     };
 119     DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
 120             response_received_handler);
 121
 122     fail_if(handle.completed);
 123     ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
 124     ck_assert_int_eq(last_can_payload_size, 8);
 125 }
 126 END_TEST
 127
 128 START_TEST (test_sent_message_is_padded)
 129 {
 130     DiagnosticRequest request = {
 131         arbitration_id: 0x100,
 132         mode: OBD2_MODE_EMISSIONS_DTC_REQUEST,
 133         no_frame_padding: false
 134     };
 135     DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
 136             response_received_handler);
 137
 138     fail_if(handle.completed);
 139     ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
 140     ck_assert_int_eq(last_can_payload_size, 8);
 141 }
 142 END_TEST
 143
 144 START_TEST (test_send_diag_request)
 145 {
 146     DiagnosticRequest request = {
 147         arbitration_id: 0x100,
 148         mode: OBD2_MODE_EMISSIONS_DTC_REQUEST,
 149         no_frame_padding: true
 150     };
 151     DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
 152             response_received_handler);
 153
 154     fail_if(handle.completed);
 155     fail_unless(can_frame_was_sent);
 156     ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
 157     ck_assert_int_eq(last_can_payload_sent[1], request.mode);
 158     ck_assert_int_eq(last_can_payload_size, 2);
 159
 160     fail_if(last_response_was_received);
 161     const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23};
 162     DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle,
 163             request.arbitration_id + 0x8, can_data, sizeof(can_data));
 164     fail_unless(response.success);
 165     fail_unless(response.completed);
 166     fail_unless(handle.completed);
 167     ck_assert(last_response_received.success);
 168     ck_assert_int_eq(last_response_received.arbitration_id,
 169             request.arbitration_id + 0x8);
 170     ck_assert_int_eq(last_response_received.mode, request.mode);
 171         fail_if(last_response_received.has_pid);
 172     ck_assert_int_eq(last_response_received.payload_length, 1);
 173     ck_assert_int_eq(last_response_received.payload[0], can_data[2]);
 174 }
 175 END_TEST
 176
 177 START_TEST (test_generate_then_send_request)
 178 {
 179     DiagnosticRequest request = {
 180         arbitration_id: 0x100,
 181         mode: OBD2_MODE_EMISSIONS_DTC_REQUEST,
 182         no_frame_padding: true
 183     };
 184     DiagnosticRequestHandle handle = generate_diagnostic_request(&SHIMS,
 185             &request, response_received_handler);
 186
 187     fail_if(handle.completed);
 188     fail_if(can_frame_was_sent);
 189
 190     start_diagnostic_request(&SHIMS, &handle);
 191     fail_unless(can_frame_was_sent);
 192     ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
 193     ck_assert_int_eq(last_can_payload_sent[1], request.mode);
 194     ck_assert_int_eq(last_can_payload_size, 2);
 195
 196     fail_if(last_response_was_received);
 197     const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23};
 198     DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle,
 199             request.arbitration_id + 0x8, can_data, sizeof(can_data));
 200     fail_unless(response.success);
 201     fail_unless(response.completed);
 202     fail_unless(handle.completed);
 203     ck_assert(last_response_received.success);
 204     ck_assert_int_eq(last_response_received.arbitration_id,
 205             request.arbitration_id + 0x8);
 206     ck_assert_int_eq(last_response_received.mode, request.mode);
 207         fail_if(last_response_received.has_pid);
 208     ck_assert_int_eq(last_response_received.payload_length, 1);
 209     ck_assert_int_eq(last_response_received.payload[0], can_data[2]);
 210 }
 211 END_TEST
 212
 213 START_TEST (test_generate_diag_request)
 214 {
 215     DiagnosticRequest request = {
 216         arbitration_id: 0x100,
 217         mode: OBD2_MODE_EMISSIONS_DTC_REQUEST,
 218         no_frame_padding: true
 219     };
 220     DiagnosticRequestHandle handle = generate_diagnostic_request(&SHIMS,
 221             &request, response_received_handler);
 222
 223     fail_if(handle.completed);
 224     fail_if(can_frame_was_sent);
 225 }
 226 END_TEST
 227
 228 START_TEST (test_autoset_pid_length)
 229 {
 230     uint16_t arb_id = OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST;
 231     diagnostic_request_pid(&SHIMS, DIAGNOSTIC_STANDARD_PID, arb_id, 0x2,
 232             response_received_handler);
 233
 234     ck_assert_int_eq(last_can_frame_sent_arb_id, arb_id);
 235     ck_assert_int_eq(last_can_payload_sent[1], 0x1);
 236     ck_assert_int_eq(last_can_payload_sent[2], 0x2);
 237     // padding is on for the diagnostic_request_pid helper function - if you
 238     // need to turn it off, use the more manual diagnostic_request(...)
 239     ck_assert_int_eq(last_can_payload_size, 8);
 240
 241     DiagnosticRequest request = {
 242         arbitration_id: 0x100,
 243         mode: 0x22,
 244         has_pid: true,
 245         pid: 2,
 246         no_frame_padding: true
 247     };
 248     diagnostic_request(&SHIMS, &request, response_received_handler);
 249
 250     ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
 251     ck_assert_int_eq(last_can_payload_sent[1], request.mode);
 252     ck_assert_int_eq(last_can_payload_size, 4);
 253 }
 254 END_TEST
 255
 256 START_TEST (test_request_pid_standard)
 257 {
 258     uint16_t arb_id = OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST;
 259     DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
 260             DIAGNOSTIC_STANDARD_PID, arb_id, 0x2, response_received_handler);
 261
 262     fail_if(last_response_was_received);
 263     const uint8_t can_data[] = {0x3, 0x1 + 0x40, 0x2, 0x45};
 264     diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8,
 265             can_data, sizeof(can_data));
 266     fail_unless(last_response_was_received);
 267     ck_assert(last_response_received.success);
 268     ck_assert_int_eq(last_response_received.arbitration_id,
 269             arb_id + 0x8);
 270     ck_assert_int_eq(last_response_received.mode, 0x1);
 271     fail_unless(last_response_received.has_pid);
 272     ck_assert_int_eq(last_response_received.pid, 0x2);
 273     ck_assert_int_eq(last_response_received.payload_length, 1);
 274     ck_assert_int_eq(last_response_received.payload[0], can_data[3]);
 275 }
 276 END_TEST
 277
 278 START_TEST (test_request_pid_enhanced)
 279 {
 280     uint16_t arb_id = 0x100;
 281     DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
 282             DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
 283
 284     fail_if(last_response_was_received);
 285     const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x0, 0x2, 0x45};
 286     diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
 287             sizeof(can_data));
 288     fail_unless(last_response_was_received);
 289     ck_assert(last_response_received.success);
 290     ck_assert_int_eq(last_response_received.arbitration_id,
 291             arb_id + 0x8);
 292     ck_assert_int_eq(last_response_received.mode, 0x22);
 293     fail_unless(last_response_received.has_pid);
 294     ck_assert_int_eq(last_response_received.pid, 0x2);
 295     ck_assert_int_eq(last_response_received.payload_length, 1);
 296     ck_assert_int_eq(last_response_received.payload[0], can_data[4]);
 297 }
 298 END_TEST
 299
 300 START_TEST (test_wrong_mode_response)
 301 {
 302     uint16_t arb_id = 0x100;
 303     DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
 304             DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
 305
 306     fail_if(last_response_was_received);
 307     const uint8_t can_data[] = {0x4, 0x1 + 0x40, 0x0, 0x2, 0x45};
 308     diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
 309             sizeof(can_data));
 310     fail_if(last_response_was_received);
 311     fail_if(handle.completed);
 312 }
 313 END_TEST
 314
 315 START_TEST (test_missing_pid)
 316 {
 317     uint16_t arb_id = 0x100;
 318     DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
 319             DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
 320
 321     fail_if(last_response_was_received);
 322     const uint8_t can_data[] = {0x1, 0x22 + 0x40};
 323     diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
 324             sizeof(can_data));
 325     fail_if(last_response_was_received);
 326     fail_if(handle.completed);
 327 }
 328 END_TEST
 329
 330 START_TEST (test_wrong_pid_response)
 331 {
 332     uint16_t arb_id = 0x100;
 333     DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
 334             DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
 335
 336     fail_if(last_response_was_received);
 337     const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x0, 0x3, 0x45};
 338     diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
 339             sizeof(can_data));
 340     fail_if(last_response_was_received);
 341     fail_if(handle.completed);
 342 }
 343 END_TEST
 344
 345 START_TEST (test_wrong_pid_then_right_completes)
 346 {
 347     uint16_t arb_id = 0x100;
 348     DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
 349             DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
 350
 351     fail_if(last_response_was_received);
 352     uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x0, 0x3, 0x45};
 353     diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
 354             sizeof(can_data));
 355     fail_if(last_response_was_received);
 356     fail_if(handle.completed);
 357
 358     can_data[3] = 0x2;
 359     diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
 360             sizeof(can_data));
 361     fail_unless(last_response_was_received);
 362     fail_unless(handle.completed);
 363     fail_unless(handle.success);
 364     fail_unless(last_response_received.success);
 365     ck_assert_int_eq(last_response_received.pid, 0x2);
 366 }
 367 END_TEST
 368
 369 START_TEST (test_negative_response)
 370 {
 371     DiagnosticRequest request = {
 372         arbitration_id: 0x100,
 373         mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST
 374     };
 375     DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
 376             response_received_handler);
 377     const uint8_t can_data[] = {0x3, 0x7f, request.mode,
 378         NRC_SERVICE_NOT_SUPPORTED};
 379     DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle,
 380             request.arbitration_id + 0x8, can_data, sizeof(can_data));
 381     fail_unless(response.completed);
 382     fail_if(response.success);
 383     fail_unless(handle.completed);
 384
 385     fail_if(last_response_received.success);
 386     ck_assert_int_eq(last_response_received.arbitration_id,
 387             request.arbitration_id + 0x8);
 388     ck_assert_int_eq(last_response_received.mode, request.mode);
 389     ck_assert_int_eq(last_response_received.pid, 0);
 390     ck_assert_int_eq(last_response_received.negative_response_code,
 391             NRC_SERVICE_NOT_SUPPORTED);
 392     ck_assert_int_eq(last_response_received.payload_length, 0);
 393 }
 394 END_TEST
 395
 396 START_TEST (test_payload_to_integer)
 397 {
 398     uint16_t arb_id = OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST;
 399     DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
 400             DIAGNOSTIC_STANDARD_PID, arb_id, 0x2, response_received_handler);
 401
 402     fail_if(last_response_was_received);
 403     const uint8_t can_data[] = {0x4, 0x1 + 0x40, 0x2, 0x45, 0x12};
 404     DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle,
 405             arb_id + 0x8, can_data, sizeof(can_data));
 406     ck_assert_int_eq(diagnostic_payload_to_integer(&response), 0x4512);
 407 }
 408 END_TEST
 409
 410 Suite* testSuite(void) {
 411     Suite* s = suite_create("uds");
 412     TCase *tc_core = tcase_create("core");
 413     tcase_add_checked_fixture(tc_core, setup, NULL);
 414     tcase_add_test(tc_core, test_sent_message_no_padding);
 415     tcase_add_test(tc_core, test_sent_message_is_padded);
 416     tcase_add_test(tc_core, test_sent_message_is_padded_by_default);
 417     tcase_add_test(tc_core, test_generate_diag_request);
 418     tcase_add_test(tc_core, test_generate_then_send_request);
 419     tcase_add_test(tc_core, test_send_diag_request);
 420     tcase_add_test(tc_core, test_send_functional_request);
 421     tcase_add_test(tc_core, test_send_diag_request_with_payload);
 422     tcase_add_test(tc_core, test_receive_wrong_arb_id);
 423     tcase_add_test(tc_core, test_autoset_pid_length);
 424     tcase_add_test(tc_core, test_request_pid_standard);
 425     tcase_add_test(tc_core, test_request_pid_enhanced);
 426     tcase_add_test(tc_core, test_wrong_mode_response);
 427     tcase_add_test(tc_core, test_wrong_pid_response);
 428     tcase_add_test(tc_core, test_missing_pid);
 429     tcase_add_test(tc_core, test_wrong_pid_then_right_completes);
 430     tcase_add_test(tc_core, test_negative_response);
 431     tcase_add_test(tc_core, test_payload_to_integer);
 432
 433     // TODO these are future work:
 434     // TODO test request MIL
 435     // TODO test request VIN
 436     // TODO test request DTC
 437     // TODO test clear DTC
 438     // TODO test enumerate PIDs
 439     suite_add_tcase(s, tc_core);
 440
 441     return s;
 442 }
 443
 444 int main(void) {
 445     int numberFailed;
 446     Suite* s = testSuite();
 447     SRunner *sr = srunner_create(s);
 448     // Don't fork so we can actually use gdb
 449     srunner_set_fork_status(sr, CK_NOFORK);
 450     srunner_run_all(sr, CK_NORMAL);
 451     numberFailed = srunner_ntests_failed(sr);
 452     srunner_free(sr);
 453     return (numberFailed == 0) ? 0 : 1;
 454 }