官方文档：SocketCAN
参考博文：python-can J1939 filter mask

can_transmit.py

import time
import can

bustype = 'socketcan'
channel = 'can1'

bus = can.interface.Bus(channel=channel, bustype=bustype)

msg = can.Message(arbitration_id=0x123,
                  data=[1, 2, 3, 4, 5, 6, 7, 8],
                  is_extended_id=False)
while True:
    bus.send(msg)
    print(msg)
    time.sleep(1)

can_receive.py

import can

can_interface = 'can0'

bus = can.interface.Bus(can_interface, bustype='socketcan')
while True:
    message = bus.recv()
    # print(getattr(message, "data").hex())
    print(message)

can_filter.py

import can

can_interface = 'can0'
can_filters = [{
    "can_id": 0x151,
    "can_mask": 0xFFFFFFF,
    "extended": False
}, {
    "can_id": 0x201,
    "can_mask": 0xFFFFFFF,
    "extended": False
}]
bus = can.interface.Bus(can_interface,
                        bustype='socketcan',
                        can_filters=can_filters)
while True:
    message = bus.recv()
    # print(getattr(message, "data").hex())
    print(message)