extracted error frame handling to function

ros-industrial · Oct 16, 2018 · 56b7a70 · 56b7a70
1 parent 2c09211
commit 56b7a70
Showing 1 changed file with 7 additions and 4 deletions.
diff --git a/socketcan_interface/include/socketcan_interface/socketcan.h b/socketcan_interface/include/socketcan_interface/socketcan.h
@@ -197,13 +197,11 @@ class SocketCANInterface : public AsioDriver<boost::asio::posix::stream_descript
             }
 
             if(frame_.can_id & CAN_ERR_FLAG){ // error message
-                input_.id = frame_.can_id & CAN_EFF_MASK;
+                input_.id = frame.can_id & CAN_EFF_MASK;
                 input_.is_error = 1;
-
                 LOG("error: " << input_.id);
-                setInternalError(input_.id);
-                setNotReady();
 
+                handleErrorFrame(frame_);
             }else{
                 input_.is_extended = (frame_.can_id & CAN_EFF_FLAG) ? 1 :0;
                 input_.id = frame_.can_id & (input_.is_extended ? CAN_EFF_MASK : CAN_SFF_MASK);
@@ -214,6 +212,11 @@ class SocketCANInterface : public AsioDriver<boost::asio::posix::stream_descript
         }
         frameReceived(error);
     }
+
+    virtual void handleErrorFrame(const can_frame& frame){
+        setInternalError(input_.id);
+        setNotReady();
+    }
 private:
     boost::mutex send_mutex_;
 };