Skip to content

OPCUA-3371 Refactor subscriber method to simplify CAN frame reading logic #106

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
luismiguensfernandez merged 1 commit into from
Jun 8, 2026
Merged

OPCUA-3371 Refactor subscriber method to simplify CAN frame reading logic #106

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
35 changes: 16 additions & 19 deletions src/main/CanVendorSocketCan.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -388,25 +388,22 @@ int CanVendorSocketCan::subscriber() noexcept {
}
}

for (int i = 0; i < nfds; ++i) {
if (events[i].data.fd == m_socket_fd) {
struct can_frame canFrame;
int nbytes = ::read(m_socket_fd, &canFrame, sizeof(struct can_frame));
if (nbytes < 0) {
LOG(Log::ERR, CanLogIt::h())
<< "Unexpected error reading from socket, exiting";
return -1;
}

if (nbytes == sizeof(canFrame)) {
LOG(Log::DBG, CanLogIt::h()) << "Received CAN frame via SocketCAN";

CanFrame frame = translate(canFrame);
received(
frame); // Call the received method with the translated frame
} else {
LOG(Log::ERR, CanLogIt::h()) << "Corrupted CanFrame received";
}
if (nfds > 0 && events[0].data.fd == m_socket_fd) {
struct can_frame canFrame;
int nbytes = ::read(m_socket_fd, &canFrame, sizeof(struct can_frame));
if (nbytes < 0) {
LOG(Log::ERR, CanLogIt::h())
<< "Unexpected error reading from socket, exiting";
return -1;
}

if (nbytes == sizeof(canFrame)) {
LOG(Log::DBG, CanLogIt::h()) << "Received CAN frame via SocketCAN";

CanFrame frame = translate(canFrame);
received(frame); // Call the received method with the translated frame
} else {
LOG(Log::ERR, CanLogIt::h()) << "Corrupted CanFrame received";
}
}
}
Expand Down
Loading