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#!/usr/bin/env python3
"""
This example demonstrates how to use async IO with python-can.
"""
import asyncio
from typing import List
import can
from can.notifier import MessageRecipient
def print_message(msg: can.Message) -> None:
"""Regular callback function. Can also be a coroutine."""
print(msg)
async def main() -> None:
"""The main function that runs in the loop."""
with can.Bus(
interface="virtual", channel="my_channel_0", receive_own_messages=True
) as bus:
reader = can.AsyncBufferedReader()
logger = can.Logger("logfile.asc")
listeners: List[MessageRecipient] = [
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_running_loop()
notifier = can.Notifier(bus, listeners, loop=loop)
# Start sending first message
bus.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
bus.send(msg)
# Wait for last message to arrive
await reader.get_message()
print("Done!")
# Clean-up
notifier.stop()
if __name__ == "__main__":
asyncio.run(main())
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