From 8133f839be5468d978b9f177be3e4f4975d9c10f Mon Sep 17 00:00:00 2001
From: NoahAndrews <10224994+NoahAndrews@users.noreply.github.com.>
Date: Thu, 7 Nov 2024 19:23:02 -0600
Subject: [PATCH] Replace previous function with
 getLatestMessageOfEveryReceivedArbId()

---
 lib/binding.ts    |  6 +++---
 src/addon.cc      |  4 ++--
 src/canWrapper.cc | 18 ++++++++++++++----
 src/canWrapper.h  |  2 +-
 4 files changed, 20 insertions(+), 10 deletions(-)

diff --git a/lib/binding.ts b/lib/binding.ts
index dd7e912..1910844 100644
--- a/lib/binding.ts
+++ b/lib/binding.ts
@@ -75,9 +75,9 @@ export class CanBridge {
     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
+     * @return Object that maps arbitration IDs to the last-received message with that ID
      */
-    getTimestampsForAllReceivedMessages: (descriptor: string) => Record<number, number>;
+    getLatestMessageOfEveryReceivedArbId: (descriptor: string) => Record<number, CanMessage>;
 
     constructor() {
         try {
@@ -107,7 +107,7 @@ export class CanBridge {
             this.startRevCommonHeartbeat = addon.startRevCommonHeartbeat;
             this.ackHeartbeats = addon.ackHeartbeats;
             this.stopHeartbeats = addon.stopHeartbeats;
-            this.getTimestampsForAllReceivedMessages = addon.getTimestampsForAllReceivedMessages;
+            this.getLatestMessageOfEveryReceivedArbId = addon.getLatestMessageOfEveryReceivedArbId;
         } catch (e: any) {
             throw new CanBridgeInitializationError(e);
         }
diff --git a/src/addon.cc b/src/addon.cc
index 6ecc3e0..296db51 100644
--- a/src/addon.cc
+++ b/src/addon.cc
@@ -50,8 +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));
+    exports.Set(Napi::String::New(env, "getLatestMessageOfEveryReceivedArbId"),
+                Napi::Function::New(env, getLatestMessageOfEveryReceivedArbId));
     return exports;
 }
 
diff --git a/src/canWrapper.cc b/src/canWrapper.cc
index 6c75d50..f7cc7a9 100644
--- a/src/canWrapper.cc
+++ b/src/canWrapper.cc
@@ -724,7 +724,7 @@ Napi::Array getImageElements(const Napi::CallbackInfo& info) {
     return elements;
 }
 
-Napi::Object getTimestampsForAllReceivedMessages(const Napi::CallbackInfo& info) {
+Napi::Object getLatestMessageOfEveryReceivedArbId(const Napi::CallbackInfo& info) {
     Napi::Env env = info.Env();
     std::string descriptor = info[0].As<Napi::String>().Utf8Value();
 
@@ -751,9 +751,19 @@ Napi::Object getTimestampsForAllReceivedMessages(const Napi::CallbackInfo& info)
     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);
+        auto message = m.second;
+
+        size_t messageSize = message->GetSize();
+        const uint8_t* messageData = message->GetData();
+        Napi::Array napiMessage = Napi::Array::New(env, messageSize);
+        for (int i = 0; i < messageSize; i++) {
+            napiMessage[i] =  messageData[i];
+        }
+        Napi::Object messageInfo = Napi::Object::New(env);
+        messageInfo.Set("messageID", message->GetMessageId());
+        messageInfo.Set("timeStamp", message->GetTimestampUs());
+        messageInfo.Set("data", napiMessage);
+        result.Set(arbId, messageInfo);
     }
 
     return result;
diff --git a/src/canWrapper.h b/src/canWrapper.h
index 6de1b79..ced4460 100644
--- a/src/canWrapper.h
+++ b/src/canWrapper.h
@@ -28,5 +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);
+Napi::Object getLatestMessageOfEveryReceivedArbId(const Napi::CallbackInfo& info);
 #endif