Began implementing python-can communication in CANBus interface class

src/net/canbus.py

@@ -1,8 +1,42 @@
+import can
+
 class CANBusNet:
-    """ Placeholder CANBus interface class. """
+    """ The CANBus interface class allows for communication to occur between
+    the CANBus and systems project. """
 
     def __init__(self):
-        pass
+        """ Creates and initializes an instance of the bus object.
+
+        interface - The name of the interface that the bus is using.
+        channel - The default channel used.
+        bitrate - The bitrate in bits/s to use by default.
+        """
+
+        self.bus = can.interface.Bus(bustype='socketcan', channel='vcan0', bitrate=50000)
+
+    def send_message(self, a_id, is_extended, dataset):
+        """ Creates and sends a CAN message to the CANBus.
+
+        a_id - A frame identifier used by the CANBus for arbitration.
+        is_extended - Controls the size of the arbitration_id.
+        dataset - This parameter may consist of bytes or a list of integers to be sent.
+        """
+
+        message = can.Message(arbitration_id=a_id, is_extended_id=is_extended, data=dataset)
+        try:
+            self.bus.send(message)
+            print("Message sent on {}".format(self.bus.channel_info))
+        except can.CanError:
+            print("Message not sent")
+
+    def receive_message(self):
+        """ Accepts and returns a message that is sent from the CANBus. """
+
+        message = self.bus.recv()
+        print(message)
+        return message
 
     def stop(self):
-        pass
+        """ Shuts the bus down and carries out interface clean up. """
+
+        self.bus.shutdown()