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Add functions to disable specific error types in SocketCANInterface #302

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Add functions to disable specific error types in SocketCANInterface #302

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9 changes: 6 additions & 3 deletions socketcan_interface/include/socketcan_interface/socketcan.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand All @@ -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_;
};
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