add canmessages hook

example/can_message_hook.py

@@ -0,0 +1,51 @@
+import asyncio
+
+from carbus_async import CarBusDevice, CanMessage
+from isotp_async import open_isotp
+from uds_async import UdsClient
+import signal
+import logging
+
+
+async def wait_forever() -> None:
+    stop = asyncio.Event()
+    loop = asyncio.get_running_loop()
+
+    for sig in (signal.SIGINT, signal.SIGTERM):
+        try:
+            loop.add_signal_handler(sig, stop.set)
+        except NotImplementedError:
+            pass
+
+    try:
+        await stop.wait()
+    finally:
+        return
+
+
+async def main(is_debug=False):
+    dev = await CarBusDevice.open("COM6")
+
+    await dev.open_can_channel(
+        channel=1,
+        nominal_bitrate=500_000,
+    )
+
+    await dev.set_terminator(channel=1, enabled=True)
+
+    @dev.on_can_id(0x7E0)
+    async def hook(ch: int, msg: CanMessage):
+        print("RX", ch, hex(msg.can_id), bytes(msg.data).hex())
+
+    @dev.on_can_match(can_id=0x7E0, value=b"\x02\x3E\x00")
+    async def tp(ch: int, msg: CanMessage):
+        print("TesterPresent!")
+
+    print("Running. Press Ctrl+C to stop.")
+    try:
+        await wait_forever()
+    finally:
+        await dev.close()
+
+
+asyncio.run(main())