From b2dd3bb31fb3b65ab5c1a4c9de102fa3454edc8d Mon Sep 17 00:00:00 2001
From: Adrian Del Grosso <10929341+ad3154@users.noreply.github.com>
Date: Mon, 17 Jun 2024 18:12:54 -0600
Subject: [PATCH] [HW]: Fixed possibly dropping messages on Tx when Tx buffer
 is full

Fixed an issue where we weren't checking the return value of
the push into our Tx queue in our hardware interface.
This could have caused some frames to be accidentally dropped.
---
 hardware_integration/src/can_hardware_interface.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/hardware_integration/src/can_hardware_interface.cpp b/hardware_integration/src/can_hardware_interface.cpp
index 17b9d2da..f01c7dda 100644
--- a/hardware_integration/src/can_hardware_interface.cpp
+++ b/hardware_integration/src/can_hardware_interface.cpp
@@ -314,9 +314,9 @@ namespace isobus
 			return false;
 		}
 
-		if (channel->frameHandler->get_is_valid())
+		if ((channel->frameHandler->get_is_valid()) &&
+		    (channel->messagesToBeTransmittedQueue.push(frame)))
 		{
-			channel->messagesToBeTransmittedQueue.push(frame);
 #if !defined CAN_STACK_DISABLE_THREADS && !defined ARDUINO
 			updateThreadWakeupCondition.notify_all();
 #endif