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authorRomain Forlot <romain.forlot@iot.bzh>2017-05-19 12:15:07 +0200
committerRomain Forlot <romain.forlot@iot.bzh>2017-05-19 16:19:08 +0200
commite4a50a3e96aa39346ad7212cae984524276973dd (patch)
tree8a8ba1e7c4db73c5c94d025e0364e1fef87c04c6
parent7bde3f53dbbbf688506a32e89c27c8aa69a86a3f (diff)
Added timestamp to received CAN messages
and store into frequency_clock_t. Change-Id: If209070298bd9df49297fdcbed554770e1bc0e4a Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>
-rw-r--r--CAN-binder/low-can-binding/can/can-decoder.cpp1
-rw-r--r--CAN-binder/low-can-binding/can/can-message.cpp26
-rw-r--r--CAN-binder/low-can-binding/can/can-message.hpp9
-rw-r--r--CAN-binder/low-can-binding/can/can-signals.cpp5
-rw-r--r--CAN-binder/low-can-binding/can/can-signals.hpp1
-rw-r--r--CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp3
-rw-r--r--CAN-binder/low-can-binding/utils/socketcan-bcm.cpp7
-rw-r--r--CAN-binder/low-can-binding/utils/socketcan-raw.cpp5
-rw-r--r--CAN-binder/low-can-binding/utils/timer.cpp10
-rw-r--r--CAN-binder/low-can-binding/utils/timer.hpp7
10 files changed, 56 insertions, 18 deletions
diff --git a/CAN-binder/low-can-binding/can/can-decoder.cpp b/CAN-binder/low-can-binding/can/can-decoder.cpp
index b0d7bb8..aa1f57e 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 66a4f4f..772734d 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 3fde5f1..910b3e9 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 024855c..9a87613 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 e4077c2..cc4b6da 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();
};
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp
index 4b25426..1a382af 100644
--- a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp
+++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp
@@ -534,7 +534,8 @@ openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagn
else if(!response.completed && response.multi_frame)
{
// Reset the timeout clock while completing the multi-frame receive
- entry->get_timeout_clock().tick();
+ entry->get_timeout_clock().tick(
+ entry->get_timeout_clock().get_time_function()());
}
return build_VehicleMessage();
diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
index 7323565..38f4852 100644
--- a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
+++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
@@ -84,7 +84,12 @@ namespace utils
DEBUG(binder_interface, "read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, msg.msg_head.can_id, msg.frames.can_dlc,
msg.frames.data[0], msg.frames.data[1], msg.frames.data[2], msg.frames.data[3], msg.frames.data[4], msg.frames.data[5], msg.frames.data[6], msg.frames.data[7]);
- cm = ::can_message_t::convert_from_frame(msg.frames , nbytes-sizeof(struct bcm_msg_head));
+ struct timeval tv;
+ ioctl(s.socket(), SIOCGSTAMP, &tv);
+ uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
+ cm = ::can_message_t::convert_from_frame(msg.frames ,
+ nbytes-sizeof(struct bcm_msg_head),
+ timestamp);
return s;
}
diff --git a/CAN-binder/low-can-binding/utils/socketcan-raw.cpp b/CAN-binder/low-can-binding/utils/socketcan-raw.cpp
index d8cd906..a35a99d 100644
--- a/CAN-binder/low-can-binding/utils/socketcan-raw.cpp
+++ b/CAN-binder/low-can-binding/utils/socketcan-raw.cpp
@@ -78,7 +78,10 @@ namespace utils
DEBUG(binder_interface, "read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, frame.can_id, frame.len,
frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4], frame.data[5], frame.data[6], frame.data[7]);
- cm = ::can_message_t::convert_from_frame(frame , nbytes);
+ struct timeval tv;
+ ioctl(s.socket(), SIOCGSTAMP, &tv);
+ uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
+ cm = ::can_message_t::convert_from_frame(frame , nbytes, timestamp);
return s;
}
diff --git a/CAN-binder/low-can-binding/utils/timer.cpp b/CAN-binder/low-can-binding/utils/timer.cpp
index 3d90a00..9c22bd0 100644
--- a/CAN-binder/low-can-binding/utils/timer.cpp
+++ b/CAN-binder/low-can-binding/utils/timer.cpp
@@ -62,6 +62,12 @@ frequency_clock_t::frequency_clock_t(float frequency)
frequency_ = 1;
}
+frequency_clock_t::frequency_clock_t(float frequency, uint64_t last_tick, time_function_t time_function)
+ : unit_{1000000}, frequency_{frequency}, last_tick_{0}, time_function_{nullptr}
+{
+ if(frequency_ <= 0)
+ frequency_ = 1;
+}
/// @brief Return the period in ms given the frequency in hertz.
/// @param[in] frequency - Frequency to convert, in hertz
float frequency_clock_t::frequency_to_period() const
@@ -109,7 +115,7 @@ float frequency_clock_t::get_frequency() const
/// @brief Force the clock to tick, regardless of it its time has actually
/// elapsed.
-void frequency_clock_t::tick()
+void frequency_clock_t::tick(uint64_t timestamp)
{
- last_tick_ = get_time_function()();
+ last_tick_ = timestamp;
} \ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/timer.hpp b/CAN-binder/low-can-binding/utils/timer.hpp
index 8ea7476..432d513 100644
--- a/CAN-binder/low-can-binding/utils/timer.hpp
+++ b/CAN-binder/low-can-binding/utils/timer.hpp
@@ -18,6 +18,7 @@
#pragma once
#include <sys/time.h>
+#include <stdint.h>
/// @brief return epoch in milliseconds
///
@@ -36,13 +37,13 @@ class frequency_clock_t
private:
float unit_; ///< unit_ - multiplicator to make operation to be in the right unit (milli, micro, nano, etc)
float frequency_; ///< the clock frequency in Hz.
- unsigned long last_tick_; ///< the last time (in milliseconds since startup) that the clock ticked.
+ uint64_t last_tick_; ///< the last time (in microseconds since startup) that the clock ticked.
time_function_t time_function_; ///< a function returning current time
public:
frequency_clock_t();
frequency_clock_t(float frequency);
- frequency_clock_t(float frequency, unsigned long last_tick, time_function_t time_function);
+ frequency_clock_t(float frequency, uint64_t last_tick, time_function_t time_function);
float get_frequency() const;
const struct timeval get_timeval_from_period() const;
@@ -52,5 +53,5 @@ public:
time_function_t get_time_function();
bool elapsed(bool stagger);
- void tick();
+ void tick(uint64_t timestamp);
}; \ No newline at end of file