feat: com aux able to receive timestamps (#466)

* feat: com aux able to receive timestamps

---------

Co-authored-by: Sebastian Clerson <58192998+sebclrsn@users.noreply.github.com>

docs/whats_new/version_ongoing.rst

@@ -1,6 +1,12 @@
 Version ongoing
 ---------------
 
+Communication Auxiliary
+^^^^^^^^^^^^^^^^^^^^^^^
+
+Receive method of the Communication Auxiliary can now also return the message timestamp
+if the corresponding parameter is set to True.
+
 PCAN Connector
 ^^^^^^^^^^^^^^
 

src/pykiso/lib/auxiliaries/communication_auxiliary.py

@@ -27,7 +27,7 @@
 import queue
 import threading
 from contextlib import ContextDecorator
-from typing import Any, Optional
+from typing import Any, Optional, Tuple
 
 from pykiso import CChannel, Message
 from pykiso.auxiliary import AuxiliaryInterface, close_connector, open_connector
@@ -136,11 +136,13 @@ def receive_message(
         self,
         blocking: bool = True,
         timeout_in_s: float = None,
-    ) -> Optional[bytes]:
+        receive_timestamp: bool = False,
+    ) -> Optional[bytes | Tuple[bytes, int] | Tuple[bytes, int, float]]:
         """Receive a raw message.
 
         :param blocking: wait for message till timeout elapses?
         :param timeout_in_s: maximum time in second to wait for a response
+        :param receive_timestamp: True if timestamp should be returned, False otherwise
 
         :returns: raw message
         """
@@ -167,9 +169,12 @@ def receive_message(
 
         msg = response.get("msg")
         remote_id = response.get("remote_id")
+        timestamp = response.get("timestamp")
 
         # stay with the old return type to not making a breaking change
-        if remote_id is not None:
+        if receive_timestamp:
+            return (msg, remote_id, timestamp)
+        elif remote_id and not receive_timestamp:
             return (msg, remote_id)
         return msg
 

tests/test_com_aux.py

@@ -12,10 +12,7 @@
 import pytest
 
 from pykiso import Message
-from pykiso.lib.auxiliaries.communication_auxiliary import (
-    CommunicationAuxiliary,
-    queue,
-)
+from pykiso.lib.auxiliaries.communication_auxiliary import CommunicationAuxiliary, queue
 from pykiso.test_setup.dynamic_loader import DynamicImportLinker
 
 
@@ -97,17 +94,46 @@ def test_com_aux_receive_messaging_without_contextmanager(caplog, com_aux_inst,
     com_aux_inst.delete_instance()
 
 
+def test_com_aux_receive_with_id_messaging_without_contextmanager(caplog, com_aux_inst, mocker):
+    msg = {"remote_id": 1, "msg": "test"}
+    mocker.patch.object(com_aux_inst.channel, "_cc_receive", return_value=msg)
+
+    com_aux_inst.create_instance()
+
+    payload, remote_id = com_aux_inst.receive_message()
+
+    assert payload == msg.get("msg")
+    assert remote_id== msg.get("remote_id")
+    com_aux_inst.delete_instance()
+
+
+def test_com_aux_receive_with_timestamp_messaging_without_contextmanager(caplog, com_aux_inst, mocker):
+    msg = {"timestamp": 1005, "msg": "test"}
+    mocker.patch.object(com_aux_inst.channel, "_cc_receive", return_value=msg)
+
+    com_aux_inst.create_instance()
+
+    payload, remote_id, timestamp = com_aux_inst.receive_message(receive_timestamp=True)
+
+    assert payload == msg["msg"]
+    assert timestamp == msg["timestamp"]
+    assert remote_id == None
+    com_aux_inst.delete_instance()
+
+
 def test_com_aux_receive_full_messaging_with_contextmanager(
     caplog, com_aux_inst, mocker
 ):
-    msg = {"id": 1, "msg": "test"}
+    msg = {"remote_id": 1, "msg": "test", "timestamp": 52265}
     mocker.patch.object(com_aux_inst.channel, "_cc_receive", return_value=msg)
     com_aux_inst.create_instance()
 
     with com_aux_inst.collect_messages():
-        ret = com_aux_inst.receive_message()
+        payload, remote_id, timestamp = com_aux_inst.receive_message(receive_timestamp=True)
 
-    assert ret == msg["msg"]
+    assert payload == msg["msg"]
+    assert remote_id == msg["remote_id"]
+    assert timestamp == msg["timestamp"]
     com_aux_inst.delete_instance()