diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-decoder.cpp | 1 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message.cpp | 26 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-message.hpp | 9 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-signals.cpp | 5 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-signals.hpp | 1 |
5 files changed, 32 insertions, 10 deletions
diff --git a/CAN-binder/low-can-binding/can/can-decoder.cpp b/CAN-binder/low-can-binding/can/can-decoder.cpp index b0d7bb8a..aa1f57ed 100644 --- a/CAN-binder/low-can-binding/can/can-decoder.cpp +++ b/CAN-binder/low-can-binding/can/can-decoder.cpp @@ -172,6 +172,7 @@ openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, const can_m *send = false; } signal.set_last_value(value); + signal.set_timestamp(message.get_timestamp()); signal.get_message()->set_last_value(message); return decoded_value; } diff --git a/CAN-binder/low-can-binding/can/can-message.cpp b/CAN-binder/low-can-binding/can/can-message.cpp index 66a4f4fe..772734d7 100644 --- a/CAN-binder/low-can-binding/can/can-message.cpp +++ b/CAN-binder/low-can-binding/can/can-message.cpp @@ -27,7 +27,7 @@ /// Constructor about can_message_t class. /// can_message_t::can_message_t() - : maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::INVALID}, rtr_flag_{false}, flags_{0} + : maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::INVALID}, rtr_flag_{false}, flags_{0}, timestamp_{0} {} can_message_t::can_message_t(uint8_t maxdlen, @@ -36,14 +36,16 @@ can_message_t::can_message_t(uint8_t maxdlen, can_message_format_t format, bool rtr_flag, uint8_t flags, - std::vector<uint8_t> data) + std::vector<uint8_t> data, + uint64_t timestamp) : maxdlen_{maxdlen}, id_{id}, length_{length}, format_{format}, rtr_flag_{rtr_flag}, flags_{flags}, - data_{data} + data_{data}, + timestamp_{timestamp} {} /// @@ -119,6 +121,16 @@ uint8_t can_message_t::get_length() const return length_; } +uint64_t can_message_t::get_timestamp() const +{ + return timestamp_; +} + +void can_message_t::set_timestamp(uint64_t timestamp) +{ + timestamp_ = timestamp; +} + /// /// @brief Control whether the object is correctly initialized /// to be sent over the CAN bus @@ -162,7 +174,7 @@ void can_message_t::set_format(const can_message_format_t new_format) /// /// @return A can_message_t object fully initialized with canfd_frame values. /// -can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes) +can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp) { uint8_t maxdlen, length, flags = (uint8_t)NULL; uint32_t id; @@ -239,10 +251,10 @@ can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); } - return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data); + return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp); } -can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes) +can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes, uint64_t timestamp) { uint8_t maxdlen, length, flags = (uint8_t)NULL; uint32_t id; @@ -310,7 +322,7 @@ can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, s // id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); } - return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data); + return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp); } /// diff --git a/CAN-binder/low-can-binding/can/can-message.hpp b/CAN-binder/low-can-binding/can/can-message.hpp index 3fde5f1a..910b3e9f 100644 --- a/CAN-binder/low-can-binding/can/can-message.hpp +++ b/CAN-binder/low-can-binding/can/can-message.hpp @@ -51,10 +51,11 @@ private: bool rtr_flag_; /*!< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/ uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/ std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/ + uint64_t timestamp_; /*!< timestamp_ - timestamp of the received message*/ public: can_message_t(); - can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t> data); + can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t> data, uint64_t timestamp); uint32_t get_id() const; bool get_rtr_flag_() const; @@ -63,13 +64,15 @@ public: const uint8_t* get_data() const; const std::vector<uint8_t> get_data_vector() const; uint8_t get_length() const; + uint64_t get_timestamp() const; + void set_timestamp(uint64_t timestamp); void set_format(const can_message_format_t new_format); bool is_correct_to_send(); - static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes); - static can_message_t convert_from_frame(const can_frame& frame, size_t nbytes); + static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp); + static can_message_t convert_from_frame(const can_frame& frame, size_t nbytes, uint64_t timestamp); struct canfd_frame convert_to_canfd_frame(); struct can_frame convert_to_can_frame(); diff --git a/CAN-binder/low-can-binding/can/can-signals.cpp b/CAN-binder/low-can-binding/can/can-signals.cpp index 024855c0..9a876136 100644 --- a/CAN-binder/low-can-binding/can/can-signals.cpp +++ b/CAN-binder/low-can-binding/can/can-signals.cpp @@ -215,6 +215,11 @@ void can_signal_t::set_last_value(float val) last_value_ = val; } +void can_signal_t::set_timestamp(uint64_t timestamp) +{ + frequency_.tick(timestamp); +} + /// @brief Create a RX_SETUP receive job used by the BCM socket. /// /// @return 0 if ok else -1 diff --git a/CAN-binder/low-can-binding/can/can-signals.hpp b/CAN-binder/low-can-binding/can/can-signals.hpp index e4077c2b..cc4b6da3 100644 --- a/CAN-binder/low-can-binding/can/can-signals.hpp +++ b/CAN-binder/low-can-binding/can/can-signals.hpp @@ -154,6 +154,7 @@ public: void set_prefix(std::string val); void set_received(bool r); void set_last_value(float val); + void set_timestamp(uint64_t timestamp); int create_rx_filter(); }; |