From 1f79afe22d0803d6b18145e2fe7f4443a0259368 Mon Sep 17 00:00:00 2001
From: NoahAndrews <10224994+NoahAndrews@users.noreply.github.com.>
Date: Wed, 6 Nov 2024 19:23:47 -0600
Subject: [PATCH] Add getTimestampsForAllReceivedMessages() function

---
 lib/binding.ts                 | 27 +++++---------------------
 scripts/download-CanBridge.mjs |  2 +-
 src/addon.cc                   |  2 ++
 src/canWrapper.cc              | 35 ++++++++++++++++++++++++++++++++++
 src/canWrapper.h               |  1 +
 5 files changed, 44 insertions(+), 23 deletions(-)

diff --git a/lib/binding.ts b/lib/binding.ts
index 56de42c..dd7e912 100644
--- a/lib/binding.ts
+++ b/lib/binding.ts
@@ -74,6 +74,10 @@ export class CanBridge {
     startRevCommonHeartbeat: (descriptor: string) => void;
     stopHeartbeats: (descriptor: string, sendDisabledHeartbeatsFirst: boolean) => void;
     ackHeartbeats: () => void;
+    /**
+     * @return Object that maps arbitration IDs to the timestamp a message with that ID was last received at
+     */
+    getTimestampsForAllReceivedMessages: (descriptor: string) => Record<number, number>;
 
     constructor() {
         try {
@@ -103,30 +107,9 @@ export class CanBridge {
             this.startRevCommonHeartbeat = addon.startRevCommonHeartbeat;
             this.ackHeartbeats = addon.ackHeartbeats;
             this.stopHeartbeats = addon.stopHeartbeats;
+            this.getTimestampsForAllReceivedMessages = addon.getTimestampsForAllReceivedMessages;
         } catch (e: any) {
             throw new CanBridgeInitializationError(e);
         }
     }
 }
-
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diff --git a/scripts/download-CanBridge.mjs b/scripts/download-CanBridge.mjs
index c26898a..7530a91 100644
--- a/scripts/download-CanBridge.mjs
+++ b/scripts/download-CanBridge.mjs
@@ -3,7 +3,7 @@ import * as path from "path";
 import axios from 'axios';
 import AdmZip from 'adm-zip';
 
-const canBridgeTag = "v2.5.1";
+const canBridgeTag = "v2.6.0";
 const canBridgeReleaseAssetUrlPrefix = `https://github.com/REVrobotics/CANBridge/releases/download/${canBridgeTag}`;
 
 const externalCompileTimeDepsPath = 'externalCompileTimeDeps';
diff --git a/src/addon.cc b/src/addon.cc
index 10bc0bf..6ecc3e0 100644
--- a/src/addon.cc
+++ b/src/addon.cc
@@ -50,6 +50,8 @@ Napi::Object Init(Napi::Env env, Napi::Object exports) {
                 Napi::Function::New(env, stopHeartbeats));
     exports.Set(Napi::String::New(env, "ackHeartbeats"),
                 Napi::Function::New(env, ackHeartbeats));
+    exports.Set(Napi::String::New(env, "getTimestampsForAllReceivedMessages"),
+                Napi::Function::New(env, getTimestampsForAllReceivedMessages));
     return exports;
 }
 
diff --git a/src/canWrapper.cc b/src/canWrapper.cc
index c8fb1ae..6c75d50 100644
--- a/src/canWrapper.cc
+++ b/src/canWrapper.cc
@@ -724,6 +724,41 @@ Napi::Array getImageElements(const Napi::CallbackInfo& info) {
     return elements;
 }
 
+Napi::Object getTimestampsForAllReceivedMessages(const Napi::CallbackInfo& info) {
+    Napi::Env env = info.Env();
+    std::string descriptor = info[0].As<Napi::String>().Utf8Value();
+
+    std::shared_ptr<rev::usb::CANDevice> device;
+
+    { // This block exists to define how long we hold canDevicesMtx
+        std::scoped_lock lock{canDevicesMtx};
+        auto deviceIterator = canDeviceMap.find(descriptor);
+        if (deviceIterator == canDeviceMap.end()) {
+            if (devicesRegisteredToHal.find(descriptor) != devicesRegisteredToHal.end()) return receiveHalMessage(info);
+            Napi::Error::New(env, DEVICE_NOT_FOUND_ERROR).ThrowAsJavaScriptException();
+            return Napi::Object::New(env);
+        }
+        device = deviceIterator->second;
+    }
+
+    std::map<uint32_t, std::shared_ptr<rev::usb::CANMessage>> messages;
+    bool success = device->CopyReceivedMessagesMap(messages);
+    if (!success) {
+        Napi::Error::New(env, "Failed to copy the map of received messages").ThrowAsJavaScriptException();
+        return Napi::Object::New(env);
+    }
+
+    Napi::Object result = Napi::Object::New(env);
+    for (auto& m: messages) {
+        uint32_t arbId = m.first;
+        // GetTimestampUs() actually returns timestamps in milliseconds
+        uint32_t timestampMs = m.second->GetTimestampUs();
+        result.Set(arbId, timestampMs);
+    }
+
+    return result;
+}
+
 void cleanupHeartbeatsRunning() {
     // Erase removed CAN buses from heartbeatsRunning
     std::scoped_lock lock{watchdogMtx, canDevicesMtx};
diff --git a/src/canWrapper.h b/src/canWrapper.h
index 6629980..6de1b79 100644
--- a/src/canWrapper.h
+++ b/src/canWrapper.h
@@ -28,4 +28,5 @@ void setSparkMaxHeartbeatData(const Napi::CallbackInfo& info);
 void startRevCommonHeartbeat(const Napi::CallbackInfo& info);
 void stopHeartbeats(const Napi::CallbackInfo& info);
 void ackHeartbeats(const Napi::CallbackInfo& info);
+Napi::Object getTimestampsForAllReceivedMessages(const Napi::CallbackInfo& info);
 #endif