--- /dev/null
+#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;
+}
Code Review / apps / low-level-can-service.git / blobdiff