Replace previous function with getLatestMessageOfEveryReceivedArbId()

REVrobotics · Nov 10, 2024 · f98f277 · f98f277
1 parent 1f79afe
commit f98f277
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Showing 4 changed files with 20 additions and 10 deletions.
diff --git 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
@@ -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
@@ -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
@@ -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