Added timestamp to received CAN messages

and store into frequency_clock_t.

Change-Id: If209070298bd9df49297fdcbed554770e1bc0e4a
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

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 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();
 };