update

core/driver/socketcan/socket_can.cpp

@@ -90,6 +90,15 @@ void SocketCan::initialize(shared_ptr<SocketCanConfig> socketCanConfig) {  //
 
   socketcanInitialize();
 }
+SocketCan::~SocketCan() {
+  if (m_thread) {
+    endListenThread();
+  }
+  if (m_socketCanFd > 0) {
+    close(m_socketCanFd);
+    m_socketCanFd = -1;
+  }
+}
 
 void SocketCan::startListen() { startListenThread(); }
 
@@ -375,7 +384,9 @@ void SocketCan::socketCanReadThreadLoop() {
 
     if (canframe.can_id & CAN_ERR_FLAG) {
       // /usr/include/linux/can/error.h
-      logger->error("rx can-bus error event {:x},{}", canframe.can_id, StringUtils().bytesToString(canframe.data, canframe.len));
+      // logger->error("rx can-bus error event {:x},{}", canframe.can_id, StringUtils().bytesToString(canframe.data, canframe.len));
+      m_canTriggerError = true;
+      break;
     } else {
       // logger->info("TX:{} {} {}", canframe.can_id, canframe.__res0, canframe.__res1);
       if (!tryUpdateTxState(canframe)) {

core/driver/socketcan/socket_can.hpp

@@ -75,7 +75,6 @@ class SocketCan : public enable_shared_from_this<SocketCan> {
 
  private:
   unique_ptr<Thread> m_thread;
-  unique_ptr<Thread> m_monitorThread;
   int                m_socketCanFd = -1;
   bool               m_startListen = false;
   SocketCanUtils     m_socketCanUtils;
@@ -83,6 +82,7 @@ class SocketCan : public enable_shared_from_this<SocketCan> {
   shared_ptr<SocketCanConfig> m_socketCanConfig;
 
   TxState m_txState;
+  bool    m_canTriggerError;
 
  public:
   typedef enum {
@@ -122,8 +122,10 @@ class SocketCan : public enable_shared_from_this<SocketCan> {
   nod::signal<void(shared_ptr<SocketCanFrame>)> onSocketCanFrame;
 
   SocketCan(){};
+  ~SocketCan();
 
   void initialize(shared_ptr<SocketCanConfig> socketCanConfig);
+  bool isError() { return m_canTriggerError; }
 
   void startListen();