Bring Over Changes from Core Repos

include/socketcan_adapter/socketcan_adapter.hpp

@@ -156,6 +156,11 @@ class SocketcanAdapter : public std::enable_shared_from_this<SocketcanAdapter>
   /// @return optional error string filled with an error message if any
   std::optional<socket_error_string_t> send(const std::shared_ptr<const CanFrame> frame);
 
+  /// @brief Transmit a can frame via socket
+  /// @param frame Linux CAN frame to send
+  /// @return optional error string filled with an error message if any
+  std::optional<socket_error_string_t> send(const can_frame & frame);
+
   /// @brief Set receive timeout
   /// @param reecive_timeout_s std::chrono::duration<float> sets receive timeout in seconds
   void set_receive_timeout(const std::chrono::duration<float> & recive_timeout_s);

src/socketcan_adapter.cpp

@@ -25,6 +25,7 @@
 
 #include <cerrno>
 #include <cstring>
+#include <future>
 #include <memory>
 #include <optional>
 #include <string>
@@ -226,6 +227,11 @@ std::optional<SocketcanAdapter::socket_error_string_t> SocketcanAdapter::send(
            : std::nullopt;
 }
 
+std::optional<SocketcanAdapter::socket_error_string_t> SocketcanAdapter::send(const can_frame & frame)
+{
+  return send(polymath::socketcan::CanFrame(frame));
+}
+
 std::optional<SocketcanAdapter::socket_error_string_t> SocketcanAdapter::sendFilters()
 {
   socket_error_string_t error_output("");
@@ -326,20 +332,15 @@ bool SocketcanAdapter::joinReceptionThread(const std::chrono::duration<float> &
 {
   stop_thread_requested_ = true;
 
-  auto start_time = std::chrono::steady_clock::now();
-  // Check thread running to tell when to join the thread
-  while (thread_running_ && ((std::chrono::steady_clock::now() - start_time) < timeout_s)) {
-    std::this_thread::sleep_for(std::chrono::milliseconds(100));
-  }
-
-  // Attempt to force joining at this point
-
   if (can_receive_thread_.joinable()) {
-    can_receive_thread_.join();
-    return true;
-  } else {
-    return false;
+    // Use std::async to wait asynchronously for the thread to stop
+    std::future<void> join_future = std::async(std::launch::async, [this] { can_receive_thread_.join(); });
+
+    // Wait for the thread to stop within the timeout period
+    return join_future.wait_for(timeout_s) == std::future_status::ready;
   }
+
+  return false;
 }
 
 std::string SocketcanAdapter::get_interface()