Added timestamp to received CAN messages

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

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 (file)
--- 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;
        }