clear

.gitignore

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+# Python-generated files
+__pycache__/
+*.py[oc]
+build/
+dist/
+wheels/
+*.egg-info
+
+# Virtual environments
+.venv

.python-version

@@ -0,0 +1 @@
+[email protected]

hello.py

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+import can
+import time
+import threading
+
+class CanController:
+    def __init__(self) -> None:
+        self.bus = can.interface.Bus(bustype='socketcan', channel='can0', bitrate=500000)
+
+        self.message_to_send: dict[int, bytearray] = {}
+        self.message_received: dict[int, bytearray] = {}
+        self._sender_flag = True
+        self._receiver_flag = True
+
+        self.sender_thread = threading.Thread(target=self.run_sender)
+        self.sender_thread.start()
+        self.receiver_thread = threading.Thread(target=self.run_receiver)
+        self.receiver_thread.start()
+
+    def close(self):
+        self._sender_flag = False
+        self._receiver_flag = False
+        self.sender_thread.join()
+        self.receiver_thread.join()
+        self.bus.shutdown()
+
+    def run_sender(self):
+        while self._sender_flag:
+            for msg_id, msg_data in self.message_to_send.items():
+                msg = can.Message(arbitration_id=msg_id, data=msg_data)
+                self.bus.send(msg)
+            time.sleep(0.05)
+
+    def run_receiver(self):
+        while self._receiver_flag:
+            for i, msg in enumerate(self.bus):
+                self.message_received[msg.arbitration_id] = msg.data
+                if i > 20:
+                    break
+            time.sleep(0.05)
+
+def main():
+    controller = CanController()
+
+    try:
+        while True:
+            time.sleep(0.1)
+    except KeyboardInterrupt:
+        controller.close()
+        print("Exit")
+
+
+if __name__ == "__main__":
+    main()

pyproject.toml

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+[project]
+name = "seminar2024-pixkit-can"
+version = "0.1.0"
+description = "Add your description here"
+readme = "README.md"
+requires-python = ">=3.8"
+dependencies = [
+    "pygame>=2.6.1",
+    "python-can>=4.4.2",
+]