- can_message.convert_from_canfd_frame(can_bus.read(interface));
- can_bus.push_new_can_message(can_message);
+ can_message.convert_from_canfd_frame(can_bus_dev.read());
+
+ {
+ std::lock_guard<std::mutex> can_message_lock(can_message_mutex);
+ can_bus.push_new_can_message(can_message);
+ }
+ new_can_message.notify_one();