Commit 9de9f81

import time

import can

import threading

def time_millis():

return int(round(time.time() * 1000))

def send_cyclic(bus, msg, stop_event):

print("Start to send a message every 1s")

start_time = time_millis()

while not stop_event.is_set():

msg.timestamp = time_millis() - start_time

bus.send(msg)

print("tx: {}".format(tx_msg))

time.sleep(1)

print("Stopped sending messages")

def receive(bus, stop_event):

print("Start receiving messages")

while not stop_event.is_set():

rx_msg = bus.recv(1)

if rx_msg is not None:

print("rx: {}".format(rx_msg))

print("Stopped receiving messages")

if __name__ == "__main__":

bus = can.interface.Bus(bustype='serial', channel='/dev/ttyACM0')

tx_msg = can.Message(arbitration_id=0x01, data=[0x11, 0x22, 0x33, 0x44,

0x55, 0x66, 0x77, 0x88])

# Thread for sending and receiving messages

stop_event = threading.Event()

t_send_cyclic = threading.Thread(target=send_cyclic, args=(bus, tx_msg,

stop_event))

t_receive = threading.Thread(target=receive, args=(bus, stop_event))

t_receive.start()

t_send_cyclic.start()

try:

while True:

pass

except KeyboardInterrupt:

pass

stop_event.set()

bus.shutdown()

print("Stopped script")