Using ISO-TP Dispatcher functionality about pyvit HOT 1 OPEN

#!/usr/bin/env python3

import threading
from multiprocessing import Queue

from pyvit.hw import socketcan
from pyvit.dispatch import Dispatcher
from pyvit.proto.isotp import IsotpInterface

dev = socketcan.SocketCanDev("vcan0")
disp = Dispatcher(dev)
recv_queue = Queue()
disp.add_receiver(recv_queue)

# set up an isotp interface Sender/Receiver arb id
sender = IsotpInterface(disp, 0x7DF, 0x7E8)
receiver = IsotpInterface(disp, 0x7E8, 0x7DF)
disp.start()


def vin():
    payload = [0x49, 0x02, 0x01, 0x31, 0x41, 0x31, 0x4A, 0x43, 0x35, 0x34, 0x34, 0x34, 0x52, 0x37, 0x32, 0x35, 0x32, 0x33, 0x36, 0x37]
    tx_thread = threading.Thread(target=sender.send, args=(payload,))
    tx_thread.start()
    resp = receiver.recv()
    print(resp)
    # resp
    # tx_thread.join()
    resp = []
    print("finished")


while True:
    CanFrameRecv = IsotpInterface.recv(receiver) # This works
    print(CanFrameRecv)

    if CanFrameRecv == [0x09, 0x02]:
        print("It is!")
        vin()