gs_usb command-line support (and documentation updates and stability fixes)

can/interfaces/gs_usb.py

@@ -17,7 +17,7 @@ class GsUsbBus(can.BusABC):
     def __init__(
         self,
         channel,
-        bitrate,
+        bitrate: int = 500_000,
         index=None,
         bus=None,
         address=None,
@@ -33,18 +33,24 @@ def __init__(
         :param can_filters: not supported
         :param bitrate: CAN network bandwidth (bits/s)
         """
+        self._is_shutdown = False
         if (index is not None) and ((bus or address) is not None):
             raise CanInitializationError(
                 "index and bus/address cannot be used simultaneously"
             )
 
+        if index is None and address is None and bus is None:
+            index = channel
+
+        self._index = None
         if index is not None:
             devs = GsUsb.scan()
             if len(devs) <= index:
                 raise CanInitializationError(
                     f"Cannot find device {index}. Devices found: {len(devs)}"
                 )
             gs_usb = devs[index]
+            self._index = index
         else:
             gs_usb = GsUsb.find(bus=bus, address=address)
             if not gs_usb:
@@ -68,6 +74,7 @@ def __init__(
             brp=bit_timing.brp,
         )
         self.gs_usb.start()
+        self._bitrate = bitrate
 
         super().__init__(
             channel=channel,
@@ -102,7 +109,7 @@ def send(self, msg: can.Message, timeout: Optional[float] = None):
         frame = GsUsbFrame()
         frame.can_id = can_id
         frame.can_dlc = msg.dlc
-        frame.timestamp_us = int(msg.timestamp * 1000000)
+        frame.timestamp_us = 0  # timestamp frame field is only useful on receive
         frame.data = list(msg.data)
 
         try:
@@ -154,5 +161,21 @@ def _recv_internal(
         return msg, False
 
     def shutdown(self):
+        if self._is_shutdown:
+            return
+
         super().shutdown()
         self.gs_usb.stop()
+        if self._index is not None:
+            # Avoid errors on subsequent __init() by repeating the .scan() and .start() that would otherwise fail
+            # the next time the device is opened in __init__()
+            devs = GsUsb.scan()
+            if self._index < len(devs):
+                gs_usb = devs[self._index]
+                try:
+                    gs_usb.set_bitrate(self._bitrate)
+                    gs_usb.start()
+                    gs_usb.stop()
+                except usb.core.USBError:
+                    pass
+        self._is_shutdown = True

doc/interfaces/gs_usb.rst

@@ -8,13 +8,16 @@ and candleLight USB CAN interfaces.
 
 Install: ``pip install "python-can[gs_usb]"``
 
-Usage: pass device ``index`` (starting from 0) if using automatic device detection:
+Usage: pass device ``index`` or ``channel`` (starting from 0) if using automatic device detection:
 
 ::
 
     import can
+    import usb
+    dev = usb.core.find(idVendor=0x1D50, idProduct=0x606F)
 
     bus = can.Bus(interface="gs_usb", channel=dev.product, index=0, bitrate=250000)
+    bus = can.Bus(interface="gs_usb", channel=0, bitrate=250000)  # same
 
 Alternatively, pass ``bus`` and ``address`` to open a specific device. The parameters can be got by ``pyusb`` as shown below:
 
@@ -50,7 +53,7 @@ Windows, Linux and Mac.
    ``libusb`` must be installed.
 
    On Windows a tool such as `Zadig <https://zadig.akeo.ie/>`_ can be used to set the USB device driver to
-   ``libusb-win32``.
+   ``libusbK``.
 
 
 Supplementary Info