硬件:

canable v2.0(slcan固件，支持canfd)
一个j1900小主机

系统：

Ubuntu24.04（在Ubuntu和xubuntu上都可）
python3.12

用到的Python库：

cantools==39.3.0
mqtt==0.0.1
paho-mqtt==1.6.1
pyserial==3.5
python-can==4.2.0

食用方法：

1、挂载内核模块和apt下载包

挂载内核模块：

sudo modprobe can
sudo modprobe can_raw
sudo modprobe slcan

安装can-utils

sudo apt install can-utils

（玄学但有用，不进行以上操作可能会导致没有数据输出）

安装pip和python-venv

sudo apt install python3-pip
sudo apt install python3-venv

2、激活虚拟环境

直接pip install 在python3.12中会报错：

error: externally-managed-environment
 
× This environment is externally managed
╰─> To install Python packages system-wide, try apt install
    python3-xyz, where xyz is the package you are trying to
    install.
    
    If you wish to install a non-Debian-packaged Python package,
    create a virtual environment using python3 -m venv path/to/venv.
    Then use path/to/venv/bin/python and path/to/venv/bin/pip. Make
    sure you have python3-full installed.
    
    If you wish to install a non-Debian packaged Python application,
    it may be easiest to use pipx install xyz, which will manage a
    virtual environment for you. Make sure you have pipx installed.
    
    See /usr/share/doc/python3.11/README.venv for more information.
 
note: If you believe this is a mistake, please contact your Python installation or OS distribution provider. You can override this, at the risk of breaking your Python installation or OS, by passing --break-system-packages.
hint: See PEP 668 for the detailed specification.

那就整个venv干：

mkdir -p $HOME/.env && python3 -m venv $HOME/.env/default  #以default为例
$HOME/.env/default  /bin/python -m pip install -r ./requirements.txt
$HOME/.env/default  /bin/python ./test.py

这样python脚本就好跑了。
在此之前，记得给你用的canable给了777：

sudo chmod 777 /dev/ttyACM0

附：python代码：

# This is a sample Python script.
import asyncio
import time
from typing import List
import can
from can.notifier import MessageRecipient
import cantools
import serial.tools.list_ports

import paho.mqtt.client as mqtt
import json

client = mqtt.Client()
db = cantools.database.load_file('.\test.dbc')


def on_connect(client, userdata, flags, rc):
    print(f"Connected with result code {rc}")


async def main() -> None:

    client.on_connect = on_connect
    client.username_pw_set(username="publisher", password="123456")
    client.connect("127.0.0.1", 1883, 60)
    """The main function that runs in the loop."""
    
    with can.interface.Bus(bustype='slcan', channel='/dev/ttyACM0', bitrate=500000, ) as bus:
        reader = can.AsyncBufferedReader()
        listeners: List[MessageRecipient] = [
            reader,
        ]
        loop = asyncio.get_running_loop()
        notifier = can.Notifier(bus, listeners, loop=loop)
        while True:
            msg = await reader.get_message()
            try:
                print(msg)
                encodeMsg = db.decode_message(msg.arbitration_id, msg.data)
                print(encodeMsg)
                sendData={'id':msg.arbitration_id,'data':encodeMsg}
                client.publish("/payload",json.dump(encodeMsg))
            except Exception as ex:
                print(ex)
                pass
            pass


if __name__ == "__main__":
    asyncio.run(main())