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Add CANMessage timestamp #684

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73b5d56
Add CANMessage::timestamp_us
wsilverio Apr 17, 2026
5b42b97
Add unit tests for CANMessage::timestamp_us
wsilverio Apr 17, 2026
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15 changes: 13 additions & 2 deletions isobus/include/isobus/isobus/can_message.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,13 +60,15 @@ namespace isobus
/// @param[in] source The source control function of the message
/// @param[in] destination The destination control function of the message
/// @param[in] CANPort The CAN channel index associated with the message
/// @param[in] timestamp_us The microsecond timestamp of the originating CAN frame, or 0 if unknown
CANMessage(Type type,
CANIdentifier identifier,
const std::uint8_t *dataBuffer,
std::uint32_t length,
std::shared_ptr<ControlFunction> source,
std::shared_ptr<ControlFunction> destination,
std::uint8_t CANPort);
std::uint8_t CANPort,
std::uint64_t timestamp_us = 0);

/// @brief Construct a CAN message from the parameters supplied
/// @param[in] type The type of the CAN message
Expand All @@ -75,12 +77,14 @@ namespace isobus
/// @param[in] source The source control function of the message
/// @param[in] destination The destination control function of the message
/// @param[in] CANPort The CAN channel index associated with the message
/// @param[in] timestamp_us The microsecond timestamp of the originating CAN frame, or 0 if unknown
CANMessage(Type type,
CANIdentifier identifier,
std::vector<std::uint8_t> data,
std::shared_ptr<ControlFunction> source,
std::shared_ptr<ControlFunction> destination,
std::uint8_t CANPort);
std::uint8_t CANPort,
std::uint64_t timestamp_us = 0);

/// @brief Returns the CAN message type
/// @returns The type of the CAN message
Expand Down Expand Up @@ -141,6 +145,12 @@ namespace isobus
/// @returns The CAN channel index associated with the message
std::uint8_t get_can_port_index() const;

/// @brief Returns the microsecond timestamp of the message.
/// @details For single-frame messages, this is the timestamp of the originating CAN frame.
/// For multi-frame messages, this is the timestamp of the last data-transfer frame.
/// @returns The microsecond timestamp of the message, or 0 if unset.
std::uint64_t get_timestamp_us() const;

/// @brief Sets the message data to the value supplied. Creates a copy.
/// @param[in] dataBuffer The data payload
/// @param[in] length the length of the data payload in bytes
Expand Down Expand Up @@ -262,6 +272,7 @@ namespace isobus
std::shared_ptr<ControlFunction> source; ///< The source control function of the message
std::shared_ptr<ControlFunction> destination; ///< The destination control function of the message
std::uint8_t CANPortIndex; ///< The CAN channel index associated with the message
std::uint64_t timestamp_us; ///< The microsecond timestamp of the originating frame
};

} // namespace isobus
Expand Down
3 changes: 2 additions & 1 deletion isobus/src/can_extended_transport_protocol.cpp
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Expand Up @@ -486,7 +486,8 @@ namespace isobus
std::move(data),
source,
destination,
0);
0,
message.get_timestamp_us());

canMessageReceivedCallback(completedMessage);
close_session(session, true);
Expand Down
17 changes: 13 additions & 4 deletions isobus/src/can_message.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,13 +20,15 @@ namespace isobus
std::uint32_t length,
std::shared_ptr<ControlFunction> source,
std::shared_ptr<ControlFunction> destination,
std::uint8_t CANPort) :
std::uint8_t CANPort,
std::uint64_t timestamp_us) :
messageType(type),
identifier(identifier),
data(dataBuffer, dataBuffer + length),
source(source),
destination(destination),
CANPortIndex(CANPort)
CANPortIndex(CANPort),
timestamp_us(timestamp_us)
{
}

Expand All @@ -35,13 +37,15 @@ namespace isobus
std::vector<std::uint8_t> data,
std::shared_ptr<ControlFunction> source,
std::shared_ptr<ControlFunction> destination,
std::uint8_t CANPort) :
std::uint8_t CANPort,
std::uint64_t timestamp_us) :
messageType(type),
identifier(identifier),
data(std::move(data)),
source(source),
destination(destination),
CANPortIndex(CANPort)
CANPortIndex(CANPort),
timestamp_us(timestamp_us)
{
}

Expand Down Expand Up @@ -115,6 +119,11 @@ namespace isobus
return CANPortIndex;
}

std::uint64_t CANMessage::get_timestamp_us() const
{
return timestamp_us;
}

void CANMessage::set_data(const std::uint8_t *dataBuffer, std::uint32_t length)
{
assert(length <= ABSOLUTE_MAX_MESSAGE_LENGTH && "CANMessage::set_data() called with length greater than maximum supported");
Expand Down
9 changes: 6 additions & 3 deletions isobus/src/can_network_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -296,7 +296,8 @@ namespace isobus
rxFrame.dataLength,
get_control_function(rxFrame.channel, identifier.get_source_address()),
get_control_function(rxFrame.channel, identifier.get_destination_address()),
rxFrame.channel);
rxFrame.channel,
rxFrame.timestamp_us);

update_busload(rxFrame.channel, rxFrame.get_number_bits_in_message());

Expand All @@ -317,7 +318,8 @@ namespace isobus
txFrame.dataLength,
get_control_function(txFrame.channel, identifier.get_source_address()),
get_control_function(txFrame.channel, identifier.get_destination_address()),
txFrame.channel);
txFrame.channel,
txFrame.timestamp_us);

if (initialized)
{
Expand Down Expand Up @@ -536,7 +538,8 @@ namespace isobus
message.get_data(),
message.get_source_control_function(),
message.get_destination_control_function(),
i);
i,
message.get_timestamp_us());
this->protocol_message_callback(message);
};
transportProtocols.at(i).reset(new TransportProtocolManager(send_frame_callback, receive_message_callback, &configuration));
Expand Down
3 changes: 2 additions & 1 deletion isobus/src/can_transport_protocol.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -559,7 +559,8 @@ namespace isobus
std::move(data),
source,
destination,
0);
0,
message.get_timestamp_us());

canMessageReceivedCallback(completedMessage);
close_session(session, true);
Expand Down
3 changes: 2 additions & 1 deletion isobus/src/nmea2000_fast_packet_protocol.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -369,7 +369,8 @@ namespace isobus
std::move(data),
message.get_source_control_function(),
message.get_destination_control_function(),
message.get_can_port_index());
message.get_can_port_index(),
message.get_timestamp_us());

// Find the appropriate callback and let them know
for (const auto &callback : parameterGroupNumberCallbacks)
Expand Down
70 changes: 70 additions & 0 deletions test/can_message_tests.cpp
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Expand Up @@ -14,8 +14,11 @@ using namespace isobus;
std::uint64_t value64;
std::uint16_t value16;

constexpr std::uint64_t EXPECTED_TIMESTAMP = 1000000;

void callback(const CANMessage &message, void *)
{
EXPECT_EQ(EXPECTED_TIMESTAMP, message.get_timestamp_us());
value16 = message.get_int16_at(0);
EXPECT_EQ(value16, 513);
value16 = message.get_int16_at(0, CANMessage::ByteFormat::BigEndian);
Expand Down Expand Up @@ -66,8 +69,75 @@ TEST(CAN_MESSAGE_TESTS, DataCorrectnessTest)
CANNetworkManager::CANNetwork.process_receive_can_message_frame(testFrame);
CANNetworkManager::CANNetwork.update();
testFrame.identifier = 0x18E1FFAA;
testFrame.timestamp_us = EXPECTED_TIMESTAMP;
CANNetworkManager::CANNetwork.process_receive_can_message_frame(testFrame);
CANNetworkManager::CANNetwork.update();
CANNetworkManager::CANNetwork.remove_global_parameter_group_number_callback(0xE100, callback, nullptr);
CANHardwareInterface::stop();
}

TEST(CAN_MESSAGE_TESTS, DefaultTimestampIsZero)
{
{
const std::uint8_t data[] = { 0x01, 0x02 };

CANMessage message{
CANMessage::Type::Receive,
CANIdentifier{ 0x18E1FFAA },
data,
sizeof(data),
nullptr,
nullptr,
0,
};

EXPECT_EQ(0, message.get_timestamp_us());
}

{
const CANMessage message{
CANMessage::Type::Receive,
CANIdentifier{ 0x18E1FFAA },
std::vector<std::uint8_t>{ 0x01, 0x02 },
nullptr,
nullptr,
0,
};

EXPECT_EQ(0, message.get_timestamp_us());
}
}

TEST(CAN_MESSAGE_TESTS, ExplicitTimestampIsPreserved)
{
{
const std::uint8_t data[] = { 0x01, 0x02 };

CANMessage message{
CANMessage::Type::Receive,
CANIdentifier{ 0x18E1FFAA },
data,
sizeof(data),
nullptr,
nullptr,
0,
EXPECTED_TIMESTAMP,
};

EXPECT_EQ(EXPECTED_TIMESTAMP, message.get_timestamp_us());
}

{
CANMessage message{
CANMessage::Type::Receive,
CANIdentifier{ 0x18FEFFFE },
std::vector<std::uint8_t>{ 0x01, 0x02 },
nullptr,
nullptr,
0,
EXPECTED_TIMESTAMP,
};

EXPECT_EQ(EXPECTED_TIMESTAMP, message.get_timestamp_us());
}
}
20 changes: 12 additions & 8 deletions test/helpers/messaging_helpers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -62,17 +62,18 @@ namespace test_helpers
return identifier;
}

isobus::CANMessage create_message(std::uint8_t priority, std::uint32_t parameterGroupNumber, std::shared_ptr<isobus::ControlFunction> destination, std::shared_ptr<isobus::ControlFunction> source, std::initializer_list<std::uint8_t> data)
isobus::CANMessage create_message(std::uint8_t priority, std::uint32_t parameterGroupNumber, std::shared_ptr<isobus::ControlFunction> destination, std::shared_ptr<isobus::ControlFunction> source, std::initializer_list<std::uint8_t> data, std::uint64_t timestamp_us)
{
return create_message(priority, parameterGroupNumber, destination, source, data.begin(), data.size());
return create_message(priority, parameterGroupNumber, destination, source, data.begin(), data.size(), timestamp_us);
}

CANMessage create_message(std::uint8_t priority,
std::uint32_t parameterGroupNumber,
std::shared_ptr<ControlFunction> destination,
std::shared_ptr<ControlFunction> source,
const std::uint8_t *dataBuffer,
std::uint32_t dataLength)
std::uint32_t dataLength,
std::uint64_t timestamp_us)
{
EXPECT_NE(source, nullptr);
EXPECT_TRUE(source->get_address_valid());
Expand All @@ -86,20 +87,22 @@ namespace test_helpers
dataLength,
source,
destination,
0); //! TODO: hack for now, will be fixed when we remove CANNetwork Singleton
0, //! TODO: hack for now, will be fixed when we remove CANNetwork Singleton
timestamp_us);
return message;
}

isobus::CANMessage create_message_broadcast(std::uint8_t priority, std::uint32_t parameterGroupNumber, std::shared_ptr<isobus::ControlFunction> source, std::initializer_list<std::uint8_t> data)
isobus::CANMessage create_message_broadcast(std::uint8_t priority, std::uint32_t parameterGroupNumber, std::shared_ptr<isobus::ControlFunction> source, std::initializer_list<std::uint8_t> data, std::uint64_t timestamp_us)
{
return create_message_broadcast(priority, parameterGroupNumber, source, data.begin(), data.size());
return create_message_broadcast(priority, parameterGroupNumber, source, data.begin(), data.size(), timestamp_us);
}

CANMessage create_message_broadcast(std::uint8_t priority,
std::uint32_t parameterGroupNumber,
std::shared_ptr<ControlFunction> source,
const std::uint8_t *dataBuffer,
std::uint32_t dataLength)
std::uint32_t dataLength,
std::uint64_t timestamp_us)
{
EXPECT_NE(source, nullptr);
EXPECT_TRUE(source->get_address_valid());
Expand All @@ -111,7 +114,8 @@ namespace test_helpers
dataLength,
source,
nullptr,
0); //! TODO: hack for now, will be fixed when we remove CANNetwork Singleton
0, //! TODO: hack for now, will be fixed when we remove CANNetwork Singleton
timestamp_us);
return message;
}

Expand Down
12 changes: 8 additions & 4 deletions test/helpers/messaging_helpers.hpp
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Expand Up @@ -19,25 +19,29 @@ namespace test_helpers
std::uint32_t parameterGroupNumber,
std::shared_ptr<isobus::ControlFunction> destination,
std::shared_ptr<isobus::ControlFunction> source,
std::initializer_list<std::uint8_t> data);
std::initializer_list<std::uint8_t> data,
std::uint64_t timestamp_us = 0);

isobus::CANMessage create_message(std::uint8_t priority,
std::uint32_t parameterGroupNumber,
std::shared_ptr<isobus::ControlFunction> destination,
std::shared_ptr<isobus::ControlFunction> source,
const std::uint8_t *dataBuffer,
std::uint32_t dataLength);
std::uint32_t dataLength,
std::uint64_t timestamp_us = 0);

isobus::CANMessage create_message_broadcast(std::uint8_t priority,
std::uint32_t parameterGroupNumber,
std::shared_ptr<isobus::ControlFunction> source,
std::initializer_list<std::uint8_t> data);
std::initializer_list<std::uint8_t> data,
std::uint64_t timestamp_us = 0);

isobus::CANMessage create_message_broadcast(std::uint8_t priority,
std::uint32_t parameterGroupNumber,
std::shared_ptr<isobus::ControlFunction> source,
const std::uint8_t *dataBuffer,
std::uint32_t dataLength);
std::uint32_t dataLength,
std::uint64_t timestamp_us = 0);

isobus::CANMessageFrame create_message_frame_raw(std::uint32_t identifier,
std::initializer_list<std::uint8_t> data);
Expand Down
5 changes: 4 additions & 1 deletion test/transport_protocol_tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@ TEST_F(TransportProtocolTest, BroadcastMessageReceiving)
{
constexpr std::uint32_t pgnToReceive = 0xFEEC;
constexpr std::array<std::uint8_t, 17> dataToReceive = { 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E, 0x0F, 0x10, 0x11 };
constexpr std::uint64_t lastDTTimestamp = 1000000;

auto originator = test_helpers::create_mock_control_function(0x01);

Expand All @@ -40,6 +41,7 @@ TEST_F(TransportProtocolTest, BroadcastMessageReceiving)
{
EXPECT_EQ(message.get_data()[i], dataToReceive[i]);
}
EXPECT_EQ(lastDTTimestamp, message.get_timestamp_us());
messageCount++;
};

Expand Down Expand Up @@ -111,7 +113,8 @@ TEST_F(TransportProtocolTest, BroadcastMessageReceiving)
0xFF,
0xFF,
0xFF,
}));
},
lastDTTimestamp));

// We now expect the message to be received
ASSERT_EQ(messageCount, 1);
Expand Down
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