-#include <obd2/obd2.h>
+#include <uds/uds.h>
#include <check.h>
#include <stdint.h>
#include <stdio.h>
START_TEST (test_receive_wrong_arb_id)
{
DiagnosticRequest request = {
- arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID,
+ arbitration_id: 0x100,
mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST
};
DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
START_TEST (test_send_diag_request_with_payload)
{
DiagnosticRequest request = {
- arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID,
+ arbitration_id: 0x100,
mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST,
payload: {0x12, 0x34},
- payload_length: 2
+ payload_length: 2,
+ no_frame_padding: true
};
DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
response_received_handler);
}
END_TEST
-START_TEST (test_send_diag_request)
+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);
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_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);
+ 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_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: 2,
+ 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_size, 4);
+}
+END_TEST
+
START_TEST (test_request_pid_standard)
{
uint16_t arb_id = OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST;
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]);
START_TEST (test_request_pid_enhanced)
{
- uint16_t arb_id = OBD2_FUNCTIONAL_BROADCAST_ID;
+ uint16_t arb_id = 0x100;
DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
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]);
START_TEST (test_wrong_mode_response)
{
- uint16_t arb_id = OBD2_FUNCTIONAL_BROADCAST_ID;
+ uint16_t arb_id = 0x100;
DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
}
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 = OBD2_FUNCTIONAL_BROADCAST_ID;
+ uint16_t arb_id = 0x100;
DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
}
END_TEST
-START_TEST (test_handle_completed)
+START_TEST (test_wrong_pid_then_right_completes)
{
- DiagnosticRequest request = {
- arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID,
- mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST
- };
- DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
- response_received_handler);
+ 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);
- 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);
-
- response = diagnostic_receive_can_frame(&SHIMS, &handle,
- request.arbitration_id + 0x8, can_data, sizeof(can_data));
- fail_if(response.success);
- fail_if(response.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);
-
- 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);
- ck_assert_int_eq(last_response_received.pid, 0);
- ck_assert_int_eq(last_response_received.payload_length, 1);
- ck_assert_int_eq(last_response_received.payload[0], can_data[2]);
+ 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: OBD2_FUNCTIONAL_BROADCAST_ID,
+ arbitration_id: 0x100,
mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST
};
DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
}
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
+
Suite* testSuite(void) {
- Suite* s = suite_create("obd2");
+ 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_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_handle_completed);
+ 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);
// TODO these are future work:
// TODO test request MIL