got socketcan working with detection of can device

down.sh

@@ -0,0 +1,13 @@
+#!/bin/bash
+
+# Check if can0 is already down
+if ! ip link show up | grep -q can0; then
+    echo "can0 is already down."
+else
+    echo "Bringing down can0..."
+
+    # Bring down can0 interface
+    sudo ip link set down can0
+
+    echo "can0 has been brought down."
+fi

py_data_acq/runner.py

@@ -28,6 +28,12 @@
     "local_can_usb_KV": [0, 'kvaser'],
     "local_debug": ["vcan0", 'socketcan']
 }
+def find_can_interface():
+    """Find a CAN interface by checking /sys/class/net/."""
+    for interface in os.listdir('/sys/class/net/'):
+        if interface.startswith('can'):
+            return interface
+    return None
 
 async def continuous_can_receiver(can_msg_decoder: cantools.db.Database, message_classes, queue, q2, can_bus):
     loop = asyncio.get_event_loop()
@@ -53,25 +59,6 @@ async def continuous_can_receiver(can_msg_decoder: cantools.db.Database, message
     notifier.stop()
 
 
-    # with can.Bus(
-    #     interface='socketcan', channel='vcan0', receive_own_messages=True
-    # ) as bus:
-    # # bus = can.Bus(interface='socketcan', channel='vcan0', receive_own_messages=True)  
-    #     reader = can.AsyncBufferedReader()
-    #     loop = asyncio.get_running_loop()
-    #     notifier = can.Notifier(bus, [reader], loop=loop)
-    #     while True:
-    #         msg = await reader.get_message()
-    #         decoded_msg = can_msg_decoder.decode_message(msg.arbitration_id, msg.data, decode_containers=True)
-    #         msg = can_msg_decoder.get_message_by_frame_id(msg.arbitration_id)
-    #         msg = pb_helpers.pack_protobuf_msg(decoded_msg, msg.name.lower(), message_classes)
-    #         print("received new messgae") 
-    #         data = QueueData(msg.DESCRIPTOR.name, msg)
-    #         await queue.put(data)
-    #         await q2.put(data)
-
-    #     notifier.stop()
-
 async def write_data_to_mcap(queue, mcap_writer):
     async with mcap_writer as mcw:
         while True:
@@ -86,7 +73,23 @@ async def run(logger):
 
     # for example, we will have CAN as our only input as of right now but we may need to add in 
     # a sensor that inputs over UART or ethernet
-    bus = can.Bus(interface='socketcan', channel='vcan0', receive_own_messages=True)
+
+    can_interface = find_can_interface()
+
+    if can_interface:
+        print(f"Found CAN interface: {can_interface}")
+        try:
+            # Attempt to initialize the CAN bus
+            bus = can.interface.Bus(channel=can_interface, bustype='socketcan')
+            print(f"Successfully initialized CAN bus on {can_interface}")
+            # Interface exists and bus is initialized, but this doesn't ensure the interface is 'up'
+        except can.CanError as e:
+            print(f"Failed to initialize CAN bus on {can_interface}: {e}")
+    else:
+
+        print("defaulting to using virtual can interface vcan0")
+        bus = can.Bus(interface='socketcan', channel='vcan0', receive_own_messages=True)
+
     queue = asyncio.Queue()
     queue2 = asyncio.Queue()
     path_to_bin = ""

up.sh

@@ -0,0 +1,20 @@
+#!/bin/bash
+
+# Check if can0 is up
+if ! ip link show up | grep -q can0; then
+    echo "Bringing up can0..."
+
+    # Load CAN related modules
+    sudo modprobe can
+    sudo modprobe can_raw
+
+    # Set the bitrate for can0
+    sudo ip link set can0 type can bitrate 5000000
+
+    # Bring up can0 interface
+    sudo ip link set up can0
+
+    echo "can0 setup complete."
+else
+    echo "can0 is already up."
+fi