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()