From adfe2f4ff687fea6d76a4e422faf8544903e952d Mon Sep 17 00:00:00 2001
From: Matthias Loebach <matthias.loebach@enway.ai>
Date: Tue, 16 Oct 2018 15:55:18 +0200
Subject: [PATCH] extracted error frame handling to function

---
 .../include/socketcan_interface/socketcan.h              | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/socketcan_interface/include/socketcan_interface/socketcan.h b/socketcan_interface/include/socketcan_interface/socketcan.h
index 96845dbad..e75fa23eb 100644
--- a/socketcan_interface/include/socketcan_interface/socketcan.h
+++ b/socketcan_interface/include/socketcan_interface/socketcan.h
@@ -199,11 +199,9 @@ 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_.is_error = 1;
-
                 LOG("error: " << input_.id);
-                setInternalError(input_.id);
-                setNotReady();
 
+                handleErrorFrame();
             }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(){
+        setInternalError(input_.id);
+        setNotReady();
+    }
 private:
     boost::mutex send_mutex_;
 };