uds-c-master.rar

#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