Added timestamp to received CAN messages

[apps/agl-service-can-low-level.git] / CAN-binder / low-can-binding / can / can-decoder.cpp

diff --git a/CAN-binder/low-can-binding/can/can-decoder.cpp b/CAN-binder/low-can-binding/can/can-decoder.cpp
index 902484e..aa1f57e 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-decoder.cpp
+++ b/CAN-binder/low-can-binding/can/can-decoder.cpp
@@ -19,8 +19,8 @@
 
 #include "canutil/read.h"
 #include "../utils/openxc-utils.hpp"
-
-#include "../low-can-binding.hpp"
+#include "can-message-definition.hpp"
+#include "../binding/low-can-hat.hpp"
 
 /// @brief Parse the signal's bitfield from the given data and return the raw
 /// value.
@@ -54,7 +54,7 @@ float decoder_t::parseSignalBitfield(can_signal_t& signal, const can_message_t&
 /// always succeeds.
 ///
 openxc_DynamicField decoder_t::noopDecoder(can_signal_t& signal,
-               const std::vector<can_signal_t>& signals, float value, bool* send)
+               const std::vector<std::shared_ptr<can_signal_t> > signals, float value, bool* send)
 {
        openxc_DynamicField decoded_value = build_DynamicField(value);
 
@@ -76,7 +76,7 @@ openxc_DynamicField decoder_t::noopDecoder(can_signal_t& signal,
 /// decoder always succeeds.
 ///
 openxc_DynamicField decoder_t::booleanDecoder(can_signal_t& signal,
-               const std::vector<can_signal_t>& signals, float value, bool* send)
+               const std::vector<std::shared_ptr<can_signal_t> > signals, float value, bool* send)
 {
        openxc_DynamicField decoded_value = build_DynamicField(value == 0.0 ? false : true);
 
@@ -98,7 +98,7 @@ openxc_DynamicField decoder_t::booleanDecoder(can_signal_t& signal,
 /// @return Return value is undefined.
 ///
 openxc_DynamicField decoder_t::ignoreDecoder(can_signal_t& signal,
-               const std::vector<can_signal_t>& signals, float value, bool* send)
+               const std::vector<std::shared_ptr<can_signal_t> > signals, float value, bool* send)
 {
        if(send)
          *send = false;
@@ -125,7 +125,7 @@ openxc_DynamicField decoder_t::ignoreDecoder(can_signal_t& signal,
 /// return value is undefined.
 ///
 openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal,
-               const std::vector<can_signal_t>& signals, float value, bool* send)
+               const std::vector<std::shared_ptr<can_signal_t> > signals, float value, bool* send)
 {
        const std::string signal_state = signal.get_states((uint8_t)value);
        openxc_DynamicField decoded_value = build_DynamicField(signal_state);
@@ -147,24 +147,33 @@ openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal,
 /// @param[in] signal - The details of the signal to decode and forward.
 /// @param[in] message - The received CAN message that should contain this signal.
 /// @param[in] signals - an array of all active signals.
+/// @param[out] send - An output parameter that will be flipped to false if the value could
+///      not be decoded.
 ///
 /// The decoder returns an openxc_DynamicField, which may contain a number,
 /// string or boolean.
 ///
-openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, can_message_t& message,
-       const std::vector<can_signal_t>& signals)
+openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, const can_message_t& message,
+       const std::vector<std::shared_ptr<can_signal_t> > signals, bool* send)
 {
        float value = decoder_t::parseSignalBitfield(signal, message);
        DEBUG(binder_interface, "%s: Decoded message from parseSignalBitfield: %f", __FUNCTION__, value);
 
-       bool send = true;
        // Must call the decoders every time, regardless of if we are going to
        // decide to send the signal or not.
        openxc_DynamicField decoded_value = decoder_t::decodeSignal(signal,
-                       value, signals, &send);
+                       value, signals, send);
 
        signal.set_received(true);
+
+       // Don't send if they is no changes
+       if ((signal.get_last_value() == value && !signal.get_send_same()) || !send )
+       {
+               *send = false;
+       }
        signal.set_last_value(value);
+       signal.set_timestamp(message.get_timestamp());
+       signal.get_message()->set_last_value(message);
        return decoded_value;
 }
 
@@ -184,7 +193,7 @@ openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, can_message
 /// string or boolean. If 'send' is false, the return value is undefined.
 ///
 openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal,
-               float value, const std::vector<can_signal_t>& signals, bool* send)
+               float value, const std::vector<std::shared_ptr<can_signal_t> > signals, bool* send)
 {
        SignalDecoder decoder = signal.get_decoder() == nullptr ?
                                                        noopDecoder : signal.get_decoder();
@@ -207,7 +216,7 @@ openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal,
 ///      not be decoded.
 ///
 openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal,
-               const can_message_t& message, const std::vector<can_signal_t>& signals, bool* send)
+               const can_message_t& message, const std::vector<std::shared_ptr<can_signal_t> > signals, bool* send)
 {
        float value = parseSignalBitfield(signal, message);
        return decodeSignal(signal, value, signals, send);