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import asyncio
import can
def print_message(msg):
"""Regular callback function. Can also be a coroutine."""
print(msg)
async def main():
can0 = can.Bus('vcan0', bustype='virtual', receive_own_messages=True)
reader = can.AsyncBufferedReader()
logger = can.Logger('logfile.asc')
listeners = [
print_message, # Callback function
reader, # AsyncBufferedReader() listener
logger # Regular Listener object
]
# Create Notifier with an explicit loop to use for scheduling of callbacks
loop = asyncio.get_event_loop()
notifier = can.Notifier(can0, listeners, loop=loop)
# Start sending first message
can0.send(can.Message(arbitration_id=0))
print('Bouncing 10 messages...')
for _ in range(10):
# Wait for next message from AsyncBufferedReader
msg = await reader.get_message()
# Delay response
await asyncio.sleep(0.5)
msg.arbitration_id += 1
can0.send(msg)
# Wait for last message to arrive
await reader.get_message()
print('Done!')
# Clean-up
notifier.stop()
can0.shutdown()
# Get the default event loop
loop = asyncio.get_event_loop()
# Run until main coroutine finishes
loop.run_until_complete(main())
loop.close()
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