Moved the evetn and thread destruction to the class destructor instead of the close() function.

src/can/can.cpp

@@ -156,32 +156,6 @@ void CCAN::hard_close(void)
   // close the can device
   if(this->can_socket_fd!=-1)
     ::close(this->can_socket_fd);
-  // free all the resources
-  if(this->finish_can_thread_event_id!="")
-  {
-    this->event_server->set_event(this->finish_can_thread_event_id);
-    this->thread_server->end_thread(this->can_thread_id);
-    this->thread_server->detach_thread(this->can_thread_id);
-    this->thread_server->delete_thread(this->can_thread_id);
-    this->can_thread_id="";
-    this->event_server->delete_event(this->finish_can_thread_event_id);
-    this->finish_can_thread_event_id="";
-  }
-  if(this->new_frame_event_id!="")
-  {
-    this->event_server->delete_event(this->new_frame_event_id);
-    this->new_frame_event_id="";
-  }
-  if(this->frame_error_event_id!="")
-  {
-    this->event_server->delete_event(this->frame_error_event_id);
-    this->frame_error_event_id="";
-  }
-  if(this->data_requested_event_id!="")
-  {
-    this->event_server->delete_event(this->data_requested_event_id);
-    this->data_requested_event_id="";
-  }
 }
 
 void *CCAN::can_thread(void *param)
@@ -405,5 +379,31 @@ CCAN::~CCAN()
   // close the can device
   if(this->can_socket_fd!=-1)
     CComm::close();
+  // free all the resources
+  if(this->finish_can_thread_event_id!="")
+  {
+    this->event_server->set_event(this->finish_can_thread_event_id);
+    this->thread_server->end_thread(this->can_thread_id);
+    this->thread_server->detach_thread(this->can_thread_id);
+    this->thread_server->delete_thread(this->can_thread_id);
+    this->can_thread_id="";
+    this->event_server->delete_event(this->finish_can_thread_event_id);
+    this->finish_can_thread_event_id="";
+  }
+  if(this->new_frame_event_id!="")
+  {
+    this->event_server->delete_event(this->new_frame_event_id);
+    this->new_frame_event_id="";
+  }
+  if(this->frame_error_event_id!="")
+  {
+    this->event_server->delete_event(this->frame_error_event_id);
+    this->frame_error_event_id="";
+  }
+  if(this->data_requested_event_id!="")
+  {
+    this->event_server->delete_event(this->data_requested_event_id);
+    this->data_requested_event_id="";
+  }
 }
 

src/examples/CMakeLists.txt

@@ -16,6 +16,12 @@ ADD_EXECUTABLE(test_can_rx test_can_rx.cpp)
 # edit the following line to add the necessary libraries
 TARGET_LINK_LIBRARIES(test_can_rx ${IRIUTILS_LIBRARY} comm pthread)
 
+# edit the following line to add the source code for the example and the name of the executable
+ADD_EXECUTABLE(test_candump test_candump.cpp)
+
+# edit the following line to add the necessary libraries
+TARGET_LINK_LIBRARIES(test_candump ${IRIUTILS_LIBRARY} comm pthread)
+
 IF(BUILD_FTDI)
   ADD_EXECUTABLE(test_ftdi test_ftdi.cpp)
 

src/examples/test_rs232.cpp

@@ -7,7 +7,7 @@
 #include <string>
 #include <iostream>
 
-const std::string serial_dev="/dev/ttyS0";
+const std::string serial_dev="/dev/ttyUSB0";
 const std::string empty_string="";
 
 /**
@@ -65,7 +65,7 @@ int main(int argc,char *argv[])
   int num=0,total_length=0,i=0;
   TRS232_config serial_config;
 
-  serial_config.baud=9600;
+  serial_config.baud=1000000;
   serial_config.num_bits=8;
   serial_config.parity=none;
   serial_config.stop_bits=1;