tests/test_core.c

   1 #include <obd2/obd2.h>
   2 #include <check.h>
   3 #include <stdint.h>
   4 #include <stdio.h>
   5 #include <stdbool.h>
   6
   7 extern void setup();
   8 extern bool last_response_was_received;
   9 extern DiagnosticResponse last_response_received;
  10 extern DiagnosticShims SHIMS;
  11 extern uint16_t last_can_frame_sent_arb_id;
  12 extern uint8_t last_can_payload_sent[8];
  13 extern uint8_t last_can_payload_size;
  14
  15 void response_received_handler(const DiagnosticResponse* response) {
  16     last_response_was_received = true;
  17     last_response_received = *response;
  18 }
  19
  20 START_TEST (test_receive_wrong_arb_id)
  21 {
  22     DiagnosticRequest request = {
  23         arbitration_id: 0x7df,
  24         mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST
  25     };
  26     DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
  27             response_received_handler);
  28
  29     fail_if(last_response_was_received);
  30     const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23};
  31     diagnostic_receive_can_frame(&SHIMS, &handle, request.arbitration_id,
  32             can_data, sizeof(can_data));
  33     fail_if(last_response_was_received);
  34 }
  35 END_TEST
  36
  37 START_TEST (test_send_diag_request_with_payload)
  38 {
  39     DiagnosticRequest request = {
  40         arbitration_id: 0x7df,
  41         mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST,
  42         payload: {0x12, 0x34},
  43         payload_length: 2
  44     };
  45     DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
  46             response_received_handler);
  47
  48     fail_if(handle.completed);
  49     // TODO it'd be better to check the ISO-TP message instead of the CAN frame,
  50     // but we don't have a good way to do that
  51     ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
  52     ck_assert_int_eq(last_can_payload_sent[1], request.mode);
  53     ck_assert_int_eq(last_can_payload_size, 4);
  54     ck_assert_int_eq(last_can_payload_sent[2], request.payload[0]);
  55     ck_assert_int_eq(last_can_payload_sent[3], request.payload[1]);
  56 }
  57 END_TEST
  58
  59 START_TEST (test_send_diag_request)
  60 {
  61     DiagnosticRequest request = {
  62         arbitration_id: 0x7df,
  63         mode: OBD2_MODE_EMISSIONS_DTC_REQUEST
  64     };
  65     DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
  66             response_received_handler);
  67
  68     fail_if(handle.completed);
  69     ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
  70     ck_assert_int_eq(last_can_payload_sent[1], request.mode);
  71     ck_assert_int_eq(last_can_payload_size, 2);
  72
  73     fail_if(last_response_was_received);
  74     const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23};
  75     DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle,
  76             request.arbitration_id + 0x8, can_data, sizeof(can_data));
  77     fail_unless(response.success);
  78     fail_unless(response.completed);
  79     fail_unless(handle.completed);
  80     ck_assert(last_response_received.success);
  81     ck_assert_int_eq(last_response_received.arbitration_id,
  82             request.arbitration_id + 0x8);
  83     ck_assert_int_eq(last_response_received.mode, request.mode);
  84     ck_assert_int_eq(last_response_received.pid, 0);
  85     ck_assert_int_eq(last_response_received.payload_length, 1);
  86     ck_assert_int_eq(last_response_received.payload[0], can_data[2]);
  87 }
  88 END_TEST
  89
  90 START_TEST (test_request_pid_standard)
  91 {
  92     // TODO need a constant for the 7df broadcast functional request
  93     uint16_t arb_id = 0x7df;
  94     DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
  95             DIAGNOSTIC_STANDARD_PID, arb_id, 0x2, response_received_handler);
  96
  97     fail_if(last_response_was_received);
  98     const uint8_t can_data[] = {0x3, 0x1 + 0x40, 0x2, 0x45};
  99     diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8,
 100             can_data, sizeof(can_data));
 101     fail_unless(last_response_was_received);
 102     ck_assert(last_response_received.success);
 103     ck_assert_int_eq(last_response_received.arbitration_id,
 104             arb_id + 0x8);
 105     ck_assert_int_eq(last_response_received.mode, 0x1);
 106     ck_assert_int_eq(last_response_received.pid, 0x2);
 107     ck_assert_int_eq(last_response_received.payload_length, 1);
 108     ck_assert_int_eq(last_response_received.payload[0], can_data[3]);
 109 }
 110 END_TEST
 111
 112 START_TEST (test_request_pid_enhanced)
 113 {
 114     uint16_t arb_id = 0x7df;
 115     DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
 116             DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
 117
 118     fail_if(last_response_was_received);
 119     const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x0, 0x2, 0x45};
 120     diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
 121             sizeof(can_data));
 122     fail_unless(last_response_was_received);
 123     ck_assert(last_response_received.success);
 124     ck_assert_int_eq(last_response_received.arbitration_id,
 125             arb_id + 0x8);
 126     ck_assert_int_eq(last_response_received.mode, 0x22);
 127     ck_assert_int_eq(last_response_received.pid, 0x2);
 128     ck_assert_int_eq(last_response_received.payload_length, 1);
 129     ck_assert_int_eq(last_response_received.payload[0], can_data[4]);
 130 }
 131 END_TEST
 132
 133 START_TEST (test_wrong_mode_response)
 134 {
 135     uint16_t arb_id = 0x7df;
 136     DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
 137             DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
 138
 139     fail_if(last_response_was_received);
 140     const uint8_t can_data[] = {0x4, 0x1 + 0x40, 0x0, 0x2, 0x45};
 141     diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
 142             sizeof(can_data));
 143     // TODO change this if we even re-request a message receipt on a mode or PID
 144     // mismatch
 145     fail_unless(last_response_was_received);
 146     fail_unless(handle.completed);
 147     fail_if(last_response_received.success);
 148 }
 149 END_TEST
 150
 151 START_TEST (test_handle_completed)
 152 {
 153     DiagnosticRequest request = {
 154         arbitration_id: 0x7df,
 155         mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST
 156     };
 157     DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
 158             response_received_handler);
 159
 160     fail_if(handle.completed);
 161
 162     const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23};
 163     DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle,
 164             request.arbitration_id + 0x8, can_data, sizeof(can_data));
 165     fail_unless(response.success);
 166     fail_unless(response.completed);
 167     fail_unless(handle.completed);
 168
 169     response = diagnostic_receive_can_frame(&SHIMS, &handle,
 170             request.arbitration_id + 0x8, can_data, sizeof(can_data));
 171     fail_if(response.success);
 172     fail_if(response.completed);
 173     fail_unless(handle.completed);
 174
 175     ck_assert(last_response_received.success);
 176     ck_assert_int_eq(last_response_received.arbitration_id,
 177             request.arbitration_id + 0x8);
 178     ck_assert_int_eq(last_response_received.mode, request.mode);
 179     ck_assert_int_eq(last_response_received.pid, 0);
 180     ck_assert_int_eq(last_response_received.payload_length, 1);
 181     ck_assert_int_eq(last_response_received.payload[0], can_data[2]);
 182 }
 183 END_TEST
 184
 185 START_TEST (test_negative_response)
 186 {
 187     DiagnosticRequest request = {
 188         arbitration_id: 0x7df,
 189         mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST
 190     };
 191     DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
 192             response_received_handler);
 193     const uint8_t can_data[] = {0x3, 0x7f, request.mode, NRC_SERVICE_NOT_SUPPORTED};
 194     DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle,
 195             request.arbitration_id + 0x8, can_data, sizeof(can_data));
 196     fail_unless(response.completed);
 197     fail_if(response.success);
 198     fail_unless(handle.completed);
 199
 200     fail_if(last_response_received.success);
 201     ck_assert_int_eq(last_response_received.arbitration_id,
 202             request.arbitration_id + 0x8);
 203     ck_assert_int_eq(last_response_received.mode, request.mode);
 204     ck_assert_int_eq(last_response_received.pid, 0);
 205     ck_assert_int_eq(last_response_received.negative_response_code, NRC_SERVICE_NOT_SUPPORTED);
 206     ck_assert_int_eq(last_response_received.payload_length, 0);
 207 }
 208 END_TEST
 209
 210 Suite* testSuite(void) {
 211     Suite* s = suite_create("obd2");
 212     TCase *tc_core = tcase_create("core");
 213     tcase_add_checked_fixture(tc_core, setup, NULL);
 214     tcase_add_test(tc_core, test_send_diag_request);
 215     tcase_add_test(tc_core, test_send_diag_request_with_payload);
 216     tcase_add_test(tc_core, test_receive_wrong_arb_id);
 217     tcase_add_test(tc_core, test_request_pid_standard);
 218     tcase_add_test(tc_core, test_request_pid_enhanced);
 219     tcase_add_test(tc_core, test_wrong_mode_response);
 220     tcase_add_test(tc_core, test_handle_completed);
 221     tcase_add_test(tc_core, test_negative_response);
 222
 223     // TODO these are future work:
 224     // TODO test request MIL
 225     // TODO test request VIN
 226     // TODO test request DTC
 227     // TODO test clear DTC
 228     // TODO test enumerate PIDs
 229     suite_add_tcase(s, tc_core);
 230
 231     return s;
 232 }
 233
 234 int main(void) {
 235     int numberFailed;
 236     Suite* s = testSuite();
 237     SRunner *sr = srunner_create(s);
 238     // Don't fork so we can actually use gdb
 239     srunner_set_fork_status(sr, CK_NOFORK);
 240     srunner_run_all(sr, CK_NORMAL);
 241     numberFailed = srunner_ntests_failed(sr);
 242     srunner_free(sr);
 243     return (numberFailed == 0) ? 0 : 1;
 244 }