CAN identifier message sync issue - c++

Question

I am struggling with a CAN code. with Arduino I am sending two signals with 2 different identifiers and my code checks the identifier id and then interprets the message as eithr state-of-charge or a Voltage message. The code works fine with a single SOC or volt message.
The problem im getting is that when there are multiple message, the code reads the identifier once and then reads all messages given. This means, it reads id 0x140, then reads all signals even the ones that are associated with other ids.
I don't know if its problem with my code or have to activate some flags or something.
//WORKS FINE FOR A SINGLE CAN MESSAGE, BUT HAVE ID - MESSAGE SYN ISSUES
//WITH MULTIPLE MESSAGES//
#include "pin_info.h"
#include <stdio.h>
#include <stdlib.h>
#include <Time.h>
#include <SPI.h> //for CAN
#include "mcp_can.h"
//#include "canLib.h"
#include "FreeMono9pt7b.h"
const int spiCSPin = 3;
MCP_CAN CAN(spiCSPin);
unsigned char len = 0;
unsigned char temp_buf[8];
unsigned char soc_buf[8]={0};
unsigned char volt_buf[8]={0};
unsigned char soc_mean[2], soc_min[2], soc_max[2] ={0,0};
float s_mean, s_min, s_max;
unsigned char volt_mean[2], volt_max[2], volt_min[2]= {0,0};
float v_mean, v_min, v_max;
int len_= sizeof(soc_mean);
const char Message[]= "CAN Message: " ;
const char Name[]= "foxBMS";
//enum type{soc,SOC, volt, VOLT};
void setup()
{
/*FOR CAN*/
Serial.begin(115200);
pinMode(LED_BUILTIN,OUTPUT);
while (CAN_OK != CAN.begin(CAN_500KBPS))
{
Serial.println("CAN BUS Init Failed");
delay(100);
}
Serial.println("CAN BUS Init OK!");
/* set mask, set both the mask to 0x3ff*/
CAN.init_Mask(0, 0, 0x3ff); // there are 2 mask in mcp2515, you need to set both of them
CAN.init_Mask(1, 0, 0x3ff);
/*set filter, we can receive id from 0x140 & 0x170 */
CAN.init_Filt(0, 0, 0x140); // there are 6 filter in mcp2515
CAN.init_Filt(1, 0, 0x170); // there are 6 filter in mcp2515
}
void loop()
{
if(CAN_MSGAVAIL == CAN.checkReceive())
{
unsigned long canId = CAN.getCanId();
CAN.readMsgBuf(&len, temp_buf);
assign(temp_buf,canId);
serialDisplay(canId);
//CAN.checkClearRxStatus(temp_buf);
CAN.clearBufferTransmitIfFlags();
}
else
{ Serial.print("No message received \n");
}
}
void assign(unsigned char buf[], unsigned long id)
{
if(id==0x00)
{}
else if(id==0x140)
{
for (int i=0; i<len; i++)
{
if (i<2)
soc_mean[i]= buf[i];
else if (i<4 && i>=2)
soc_min[i-2]= buf[i];
else if (i<6 && i>=4)
soc_max[i-4]= buf[i];
}
}
else if(id==0x170)
{
for (int i=0; i<len; i++)
{
if (i<2)
volt_mean[i]= buf[i];
else if (i<4 && i>=2)
volt_min[i-2]= buf[i];
else if (i<6 && i>=4)
volt_max[i-4]= buf[i];
}
}
}
void serialDisplay(unsigned long id)
{
Serial.println("-----------------------------");
Serial.print("Data from ID: ");
Serial.print(id,HEX); Serial.println("- CAN0_MSG");
for(int i = 0; i<len; i++)
{
Serial.print(temp_buf[i], HEX); Serial.print("\t");
}
Serial.print("\n");
}