pycyphal

py.py

import pycyphal
import pycyphal.application

import uavcan.node  # noqa
import uavcan.si.sample.temperature  # noqa
import uavcan.si.unit.temperature  # noqa
import uavcan.si.unit.voltage  # noqa

import asyncio

async def main() -> None:    
    software_version = uavcan.node.Version_1_0(major=1, minor=0)
    node_info2 = uavcan.node.GetInfo_1_0.Response(
                software_version,
                name="co.raccoonlab.spec_checker"
            )
    
    cyphal_node = pycyphal.application.make_node(node_info2)
    cyphal_node.heartbeat_publisher.mode = uavcan.node.Mode_1_0.OPERATIONAL
    cyphal_node.start()

    await asyncio.sleep(1)
    
    heartbeat_sub = cyphal_node.make_subscriber(uavcan.node.Heartbeat_1_0)
    heartbeat_sub.receive_in_background(heartbeat_callback)

    await asyncio.sleep(5)

    print('finicio')

async def heartbeat_callback( data, transfer_from):
        print(transfer_from,data)
if __name__ == "__main__":
    try:
        asyncio.run(main())
    except KeyboardInterrupt:
        pass