C2: Add message timestamp support

api/icsneoc2/icsneoc2messages.cpp

@@ -126,6 +126,28 @@ icsneoc2_error_t icsneoc2_message_data_get(icsneoc2_message_t* message, uint8_t*
 	return icsneoc2_error_success;
 }
 
+icsneoc2_error_t icsneoc2_message_timestamp_set(icsneoc2_message_t* message, uint64_t timestamp) {
+	if(!message) {
+		return icsneoc2_error_invalid_parameters;
+	}
+	if(!message->message) {
+		return icsneoc2_error_invalid_message;
+	}
+	message->message->timestamp = timestamp;
+	return icsneoc2_error_success;
+}
+
+icsneoc2_error_t icsneoc2_message_timestamp_get(icsneoc2_message_t* message, uint64_t* timestamp) {
+	if(!message || !timestamp) {
+		return icsneoc2_error_invalid_parameters;
+	}
+	if(!message->message) {
+		return icsneoc2_error_invalid_message;
+	}
+	*timestamp = message->message->timestamp;
+	return icsneoc2_error_success;
+}
+
 icsneoc2_error_t icsneoc2_message_can_create(icsneoc2_message_t** message) {
 	if(!message) {
 		return icsneoc2_error_invalid_parameters;

examples/c2/ethernet_receive/src/main.c

@@ -68,6 +68,7 @@ void print_mac(const char* label, const uint8_t* mac) {
 
 int process_ethernet_message(icsneoc2_message_t* message, size_t index) {
 	icsneoc2_netid_t netid = 0;
+	uint64_t timestamp = 0;
 	char netid_name[128] = {0};
 	size_t netid_name_length = 128;
 
@@ -79,6 +80,10 @@ int process_ethernet_message(icsneoc2_message_t* message, size_t index) {
 	if(res != icsneoc2_error_success) {
 		return print_error_code("\tFailed to get netid name", res);
 	}
+	res = icsneoc2_message_timestamp_get(message, &timestamp);
+	if(res != icsneoc2_error_success) {
+		return print_error_code("\tFailed to get timestamp", res);
+	}
 
 	/* Get data length first */
 	size_t data_length = 0;
@@ -88,6 +93,7 @@ int process_ethernet_message(icsneoc2_message_t* message, size_t index) {
 	}
 
 	printf("\t%zu) Ethernet Frame on %s (0x%x) - %zu bytes\n", index, netid_name, netid, data_length);
+	printf("\t  Timestamp: %" PRIu64 " ns since 2007-01-01 UTC\n", timestamp);
 
 	/* Get MAC addresses and EtherType if we have enough data */
 	uint8_t dst_mac[6] = {0};

examples/c2/lin/src/main.c

@@ -86,6 +86,8 @@ void process_lin_messages(icsneoc2_message_t** messages, size_t count) {
 
 		icsneoc2_netid_t netid = 0;
 		icsneoc2_message_netid_get(messages[i], &netid);
+		uint64_t timestamp = 0;
+		icsneoc2_message_timestamp_get(messages[i], &timestamp);
 		char netid_name[128] = {0};
 		size_t netid_name_length = 128;
 		icsneoc2_netid_name_get(netid, netid_name, &netid_name_length);
@@ -98,6 +100,7 @@ void process_lin_messages(icsneoc2_message_t** messages, size_t count) {
 		icsneoc2_message_lin_err_flags_get(messages[i], &err_flags);
 
 		printf("\t%s RX | ID: 0x%02x | Protected ID: 0x%02x\n", netid_name, id, protected_id);
+		printf("\tTimestamp: %" PRIu64 " ns since 2007-01-01 UTC\n", timestamp);
 		printf("\tData: [");
 		for(size_t x = 0; x < data_length; x++) {
 			printf(" 0x%02x", data[x]);

examples/c2/read_messages/src/main.c

@@ -244,6 +244,7 @@ int process_message(icsneoc2_message_t** messages, size_t messages_count) {
 
 		printf("\t%zd) network type: %s (%u)\n", i, network_type_name, network_type);
 		if(network_type == icsneoc2_network_type_can) {
+			uint64_t timestamp = 0;
 			uint64_t arbid = 0;
 			int32_t dlc = 0;
 			icsneoc2_netid_t netid = 0;
@@ -256,6 +257,7 @@ int process_message(icsneoc2_message_t** messages, size_t messages_count) {
 			bool is_tx = false;
 			icsneoc2_error_t result = icsneoc2_message_netid_get(message, &netid);
 			result += icsneoc2_netid_name_get(netid, netid_name, &netid_name_length);
+			result += icsneoc2_message_timestamp_get(message, &timestamp);
 			result += icsneoc2_message_can_props_get(message, &arbid, &can_flags);
 			result += icsneoc2_message_data_get(message, data, &data_length);
 			result += icsneoc2_message_is_transmit(message, &is_tx);
@@ -276,6 +278,7 @@ int process_message(icsneoc2_message_t** messages, size_t messages_count) {
 			dlc = (int32_t)data_length;
 
 			printf("\t  %s%s\n", is_tx ? "TX" : "RX", is_error ? " [Error]" : "");
+			printf("\t  Timestamp: %" PRIu64 " ns since 2007-01-01 UTC\n", timestamp);
 			printf("\t  NetID: %s (0x%x)\tArbID: 0x%llx\tDLC: %u\tLen: %zu\n", netid_name, netid, (unsigned long long)arbid, dlc, data_length);
 			printf("\t  Flags:%s%s%s%s%s%s%s%s\n",
 				is_remote ? " RTR" : "",

examples/c2/simple/src/main.c

@@ -426,6 +426,7 @@ int process_messages(icsneoc2_message_t** messages, size_t messages_count) {
 		printf("\t%zd) network type: %s (%u)\n", i, network_type_name, network_type);
 
 		if(network_type == icsneoc2_network_type_can) {
+			uint64_t timestamp = 0;
 			uint64_t arbid = 0;
 			int32_t dlc = 0;
 			icsneoc2_netid_t netid = 0;
@@ -436,6 +437,7 @@ int process_messages(icsneoc2_message_t** messages, size_t messages_count) {
 			size_t netid_name_length = 128;
 			icsneoc2_error_t result = icsneoc2_message_netid_get(message, &netid);
 			result += icsneoc2_netid_name_get(netid, netid_name, &netid_name_length);
+			result += icsneoc2_message_timestamp_get(message, &timestamp);
 			result += icsneoc2_message_can_props_get(message, &arbid, &can_flags);
 			result += icsneoc2_message_data_get(message, data, &data_length);
 			if(result != icsneoc2_error_success) {
@@ -452,6 +454,7 @@ int process_messages(icsneoc2_message_t** messages, size_t messages_count) {
 			bool tx_error = (can_flags & ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ERROR) != 0;
 			dlc = (int32_t)data_length;
 
+			printf("\t  Timestamp: %" PRIu64 " ns since 2007-01-01 UTC\n", timestamp);
 			printf("\t  NetID: %s (0x%x)\tArbID: 0x%llx\tDLC: %u\tLen: %zu\n", netid_name, netid, (unsigned long long)arbid, dlc, data_length);
 			printf("\t  Flags:%s%s%s%s%s%s%s%s\n",
 				is_remote ? " RTR" : "",

examples/c2/t1s_loopback/src/main.c

@@ -468,6 +468,7 @@ static int message_matches_loopback_frame(icsneoc2_message_t* message, const uin
 
 static int print_ethernet_message(icsneoc2_message_t* message, const char* direction_label) {
 	icsneoc2_netid_t netid = 0;
+	uint64_t timestamp = 0;
 	char netid_name[64] = {0};
 	uint8_t dst_mac[6] = {0};
 	uint8_t src_mac[6] = {0};
@@ -483,11 +484,14 @@ static int print_ethernet_message(icsneoc2_message_t* message, const char* direc
 	res = icsneoc2_message_netid_get(message, &netid);
 	if(res != icsneoc2_error_success) return print_error_code("Failed to get message netid", res);
 	if(get_netid_name(netid, netid_name, sizeof(netid_name)) != 0) return 1;
+	res = icsneoc2_message_timestamp_get(message, &timestamp);
+	if(res != icsneoc2_error_success) return print_error_code("Failed to get message timestamp", res);
 
 	res = icsneoc2_message_data_get(message, data, &data_length);
 	if(res != icsneoc2_error_success) return print_error_code("Failed to get Ethernet data", res);
 
 	printf("%s on %s: %zu bytes\n", direction_label, netid_name, data_length);
+	printf("  Timestamp: %" PRIu64 " ns since 2007-01-01 UTC\n", timestamp);
 
 	res = icsneoc2_message_eth_mac_get(message, dst_mac, src_mac);
 	if(res == icsneoc2_error_success) {
@@ -640,4 +644,4 @@ static int poll_for_loopback_messages(icsneoc2_device_t* device,
 
 	printf("Loopback complete: TX echo on %s and RX frame on %s were both observed.\n", tx_name, rx_name);
 	return 0;
-}
+}

include/icsneo/icsneoc2messages.h

@@ -118,9 +118,33 @@ icsneoc2_error_t icsneoc2_message_data_set(icsneoc2_message_t* message, uint8_t*
  *
  * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters otherwise.
  */
-icsneoc2_error_t icsneoc2_message_data_get(icsneoc2_message_t* message, uint8_t* data, size_t* data_length);
+icsneoc2_error_t icsneoc2_message_data_get(icsneoc2_message_t* message, uint8_t* data, size_t* data_length);
-
+
-#define ICSNEOC2_MESSAGE_CAN_FLAGS_RTR 0x01         // Remote Transmission Request
+/**
+ * Set the timestamp of a message.
+ *
+ * Timestamps are in nanoseconds since 2007-01-01 UTC.
+ *
+ * @param[in] message The message to modify.
+ * @param[in] timestamp The timestamp value to set.
+ *
+ * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or icsneoc2_error_invalid_message otherwise.
+ */
+icsneoc2_error_t icsneoc2_message_timestamp_set(icsneoc2_message_t* message, uint64_t timestamp);
+
+/**
+ * Get the timestamp of a message.
+ *
+ * Timestamps are in nanoseconds since 2007-01-01 UTC.
+ *
+ * @param[in] message The message to check.
+ * @param[out] timestamp Pointer to a uint64_t to copy the timestamp into.
+ *
+ * @return icsneoc2_error_t icsneoc2_error_success if successful, icsneoc2_error_invalid_parameters or icsneoc2_error_invalid_message otherwise.
+ */
+icsneoc2_error_t icsneoc2_message_timestamp_get(icsneoc2_message_t* message, uint64_t* timestamp);
+
+#define ICSNEOC2_MESSAGE_CAN_FLAGS_RTR 0x01         // Remote Transmission Request
 #define ICSNEOC2_MESSAGE_CAN_FLAGS_IDE 0x02         // Identifier Extension
 #define ICSNEOC2_MESSAGE_CAN_FLAGS_FDF 0x04         // FD Format Indicator
 #define ICSNEOC2_MESSAGE_CAN_FLAGS_BRS 0x08         // Bit Rate Switch (FD only)

test/unit/icsneoc2.cpp

@@ -161,6 +161,8 @@ TEST(icsneoc2, test_icsneoc2_error_invalid_parameters_and_invalid_device)
 
 	ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_data_get(NULL, NULL, NULL));
 	ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_data_set(NULL, NULL, 0));
+	ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_timestamp_get(NULL, NULL));
+	ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_timestamp_set(NULL, 0));
 
 	ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_netid_get(NULL, NULL));
 	ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_netid_set(NULL, 0));
@@ -1152,6 +1154,29 @@ TEST(icsneoc2, test_icsneoc2_message_can_props_get_can_tx_flags)
 		ICSNEOC2_MESSAGE_CAN_FLAGS_TX_ERROR);
 }
 
+TEST(icsneoc2, test_icsneoc2_message_timestamp_accessors)
+{
+	icsneoc2_message_t* message = nullptr;
+	ASSERT_EQ(icsneoc2_error_success, icsneoc2_message_can_create(&message));
+
+	uint64_t timestamp = 1;
+	ASSERT_EQ(icsneoc2_error_success, icsneoc2_message_timestamp_get(message, &timestamp));
+	ASSERT_EQ(0u, timestamp);
+
+	const uint64_t expected_timestamp = 1234567890123ULL;
+	ASSERT_EQ(icsneoc2_error_success, icsneoc2_message_timestamp_set(message, expected_timestamp));
+	ASSERT_EQ(icsneoc2_error_success, icsneoc2_message_timestamp_get(message, &timestamp));
+	ASSERT_EQ(expected_timestamp, timestamp);
+
+	ASSERT_EQ(icsneoc2_error_invalid_parameters, icsneoc2_message_timestamp_get(message, nullptr));
+
+	icsneoc2_message_free(message);
+
+	icsneoc2_message_t invalid_message;
+	ASSERT_EQ(icsneoc2_error_invalid_message, icsneoc2_message_timestamp_set(&invalid_message, expected_timestamp));
+	ASSERT_EQ(icsneoc2_error_invalid_message, icsneoc2_message_timestamp_get(&invalid_message, &timestamp));
+}
+
 TEST(icsneoc2, test_icsneoc2_message_can_error_props_get_invalid_type_for_can_message)
 {
 	icsneoc2_message_t message;