Added timestamp to received CAN messages

and store into frequency_clock_t.

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

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