python-can使用过程的问题

核心点 received_msg = self.bus.recv() 不能在同一个线程中发送完can数据帧后，再立即接收数据，需要在线程中接收，才不会有较大的接收延时

os.system('echo 123456 |  sudo -S ip link set can0 type can bitrate 500000')
os.system('echo 123456 |  sudo -S ifconfig can0 up')
class CanCommunication(object):
    def __init__(self):
        self.bus = can.interface.Bus(channel='can0', bustype='socketcan', bitrate=500000)
        self.__control_thread = threading.Thread(target=self.__receive_messages)
        self.__control_thread.setDaemon(True)
        self.__control_thread.start()
        
    def __receive_messages(self):
        while True:
            received_msg = self.bus.recv()  # receive message
            if received_msg is not None:
                #print("get:%s   "%(datetime.datetime.now()), received_msg.data)
                self.__getMotorSpeed(received_msg)
                
    def vel_control(self):
        global l_speed_data,  check_speed_data
        try:
            self.__send_data(01, l_speed_data)
            self.__send_data(01, check_speed_data)
            time.sleep(0.02)
        except Exception as e:
            print("An error occurred: ", e)

if __name__ == "__main__":
    com = CanCommunication()
    while True:
        com.vel_control()
        time.sleep(0.02)