From 00f36d15f55358bca32fd949c014c6168df1bd1c Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Mon, 28 May 2018 14:47:40 +0200
Subject: [PATCH 01/22] added a ThreadSafeBus based on the wrapt library

---
 can/bus.py             |  6 +--
 can/thread_safe_bus.py | 96 ++++++++++++++++++++++++++++++++++++++++++
 setup.py               |  1 +
 3 files changed, 100 insertions(+), 3 deletions(-)
 create mode 100644 can/thread_safe_bus.py

diff --git a/can/bus.py b/can/bus.py
index 9e70cb67e..9271c0030 100644
--- a/can/bus.py
+++ b/can/bus.py
@@ -169,10 +169,10 @@ def send_periodic(self, msg, period, duration=None):
             least *duration* seconds.
 
         """
-        if not hasattr(self, "_lock"):
+        if not hasattr(self, "_lock_send_periodic"):
             # Create a send lock for this bus
-            self._lock = threading.Lock()
-        return ThreadBasedCyclicSendTask(self, self._lock, msg, period, duration)
+            self._lock_send_periodic = threading.Lock()
+        return ThreadBasedCyclicSendTask(self, self._lock_send_periodic, msg, period, duration)
 
     def __iter__(self):
         """Allow iteration on messages as they are received.
diff --git a/can/thread_safe_bus.py b/can/thread_safe_bus.py
new file mode 100644
index 000000000..10bc2c0f1
--- /dev/null
+++ b/can/thread_safe_bus.py
@@ -0,0 +1,96 @@
+#!/usr/bin/env python
+# coding: utf-8
+
+"""
+"""
+
+from __future__ import print_function, absolute_import
+
+from threading import RLock
+
+from wrapt import ObjectProxy, synchronized
+
+from can import Bus, BusABC
+
+
+class NullContextManager(object):
+    """
+    A context manager that does nothing at all.
+    """
+
+    def __init__(self, resource=None):
+        self.resource = resource
+
+    def __enter__(self):
+        return self.resource
+
+    def __exit__(self, *args):
+        pass
+
+
+class ThreadSafeBus(ObjectProxy, BusABC):
+    """
+    Contains a thread safe :class:`can.BusABC` implementation that
+    wraps around an existing interface instance. All public methods
+    of that base class are now safe to be called from multiple threads.
+
+    Use this as a drop in replacement for :class:`~can.BusABC`.
+
+    .. note::
+
+        This approach assumes that both :meth:`~can.BusABC.send` and
+        :meth:`~can.BusABC._recv_internal` of the underlying bus instance can be
+        called simultaneously, and that the methods uses :meth:`~can.BusABC._recv_internal`
+        instead of :meth:`~can.BusABC.recv` directly.
+    """
+
+    # init locks for sending and receiving
+    _lock_send = RLock()
+    _lock_recv = RLock()
+
+    def __init__(self, *args, **kwargs):
+        # now, BusABC.send_periodic() does not need a lock anymore, but the
+        # implementation still requires a context manager
+        self.__wrapped__._lock_send_periodic = NullContextManager()
+
+    def recv(self, timeout=None, *args, **kwargs):
+        with self._lock_recv:
+            return self.__wrapped__.recv(timeout=timeout, *args, **kwargs)
+
+    def send(self, msg, timeout=None, *args, **kwargs):
+        with self._lock_send:
+            return self.__wrapped__.send(msg, timeout=timeout, *args, **kwargs)
+
+    # send_periodic does not need a lock, see that method and the comment in this __init__
+
+    @property
+    def filters(self):
+        with self._lock_recv:
+            return self.__wrapped__.filters
+
+    @filters.setter
+    def filters(self, filters):
+        with self._lock_recv:
+            self.__wrapped__.filters = filters
+
+    def set_filters(self, can_filters=None, *args, **kwargs):
+        with self._lock_recv:
+            return self.__wrapped__.set_filters(can_filters=can_filters, *args, **kwargs)
+
+    def flush_tx_buffer(self, *args, **kwargs):
+        with self._lock_send:
+            return self.__wrapped__.flush_tx_buffer(*args, **kwargs)
+
+    def shutdown(self, *args, **kwargs):
+        with self._lock_send, self._lock_recv:
+            return self.__wrapped__.shutdown(*args, **kwargs)
+
+    @property
+    def state(self):
+        with self._lock_send, self._lock_recv:
+            return self.__wrapped__.state
+
+    @state.setter
+    def state(self, new_state):
+        with self._lock_send, self._lock_recv:
+            self.__wrapped__.state = new_state
diff --git a/setup.py b/setup.py
index 0af5e8577..c70c985ea 100644
--- a/setup.py
+++ b/setup.py
@@ -56,6 +56,7 @@
     python_requires=">=2.7,!=3.0,!=3.1,!=3.2,!=3.3",
     install_requires=[
         'setuptools',
+        'wrapt ~= 1.10',
     ] + (['subprocess32 ~= 3.2.7'] if version_info.major < 3 else []),
     extras_require={
         'serial': ['pyserial >= 3.0'],

From e9370834476ff7765c5416eebb720021fbd48dd0 Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Mon, 28 May 2018 15:03:22 +0200
Subject: [PATCH 02/22] add TheradSafeBus to root __init__.py

---
 can/__init__.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/can/__init__.py b/can/__init__.py
index ce126ff95..3fa8c01d1 100644
--- a/can/__init__.py
+++ b/can/__init__.py
@@ -34,6 +34,7 @@ class CanError(IOError):
 
 from .message import Message
 from .bus import BusABC
+from .thread_safe_bus import ThreadSafeBus
 from .notifier import Notifier
 from .interfaces import VALID_INTERFACES
 from . import interface

From 62ecb4ec69e2be6da0e12f403562d27dc0b4096b Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Mon, 28 May 2018 15:28:28 +0200
Subject: [PATCH 03/22] added tests for ThreadSafeBus

---
 can/thread_safe_bus.py |  3 +-
 test/back2back_test.py | 71 +++++++++++++++++++++++++++++++++++-------
 2 files changed, 61 insertions(+), 13 deletions(-)

diff --git a/can/thread_safe_bus.py b/can/thread_safe_bus.py
index 10bc2c0f1..1b7d6aae2 100644
--- a/can/thread_safe_bus.py
+++ b/can/thread_safe_bus.py
@@ -10,7 +10,8 @@
 
 from wrapt import ObjectProxy, synchronized
 
-from can import Bus, BusABC
+from .interface import Bus
+from .bus import BusABC
 
 
 class NullContextManager(object):
diff --git a/test/back2back_test.py b/test/back2back_test.py
index 304bec690..e9ebc698a 100644
--- a/test/back2back_test.py
+++ b/test/back2back_test.py
@@ -10,10 +10,11 @@
 import sys
 import unittest
 from time import sleep
+from multiprocessing.dummy import Pool as ThreadPool 
 
-import can
+import pytest
 
-from .data.example_data import generate_message
+import can
 
 from .config import *
 from .data.example_data import generate_message
@@ -35,16 +36,16 @@ class Back2BackTestCase(unittest.TestCase):
     """
 
     def setUp(self):
-        self.bus1 = can.interface.Bus(channel=CHANNEL_1,
-                                      bustype=INTERFACE_1,
-                                      bitrate=BITRATE,
-                                      fd=TEST_CAN_FD,
-                                      single_handle=True)
-        self.bus2 = can.interface.Bus(channel=CHANNEL_2,
-                                      bustype=INTERFACE_2,
-                                      bitrate=BITRATE,
-                                      fd=TEST_CAN_FD,
-                                      single_handle=True)
+        self.bus1 = can.Bus(channel=CHANNEL_1,
+                            bustype=INTERFACE_1,
+                            bitrate=BITRATE,
+                            fd=TEST_CAN_FD,
+                            single_handle=True)
+        self.bus2 = can.Bus(channel=CHANNEL_2,
+                            bustype=INTERFACE_2,
+                            bitrate=BITRATE,
+                            fd=TEST_CAN_FD,
+                            single_handle=True)
 
     def tearDown(self):
         self.bus1.shutdown()
@@ -170,5 +171,51 @@ def test_basics(self):
         notifier.stop()
 
 
+class TestThreadSafeBus(Back2BackTestCase):
+    """Does some testing that is better than nothing.
+    """
+
+    def setUp(self):
+        self.bus1 = can.ThreadSafeBus(channel=CHANNEL_1,
+                                      bustype=INTERFACE_1,
+                                      bitrate=BITRATE,
+                                      fd=TEST_CAN_FD,
+                                      single_handle=True)
+        self.bus2 = can.ThreadSafeBus(channel=CHANNEL_2,
+                                      bustype=INTERFACE_2,
+                                      bitrate=BITRATE,
+                                      fd=TEST_CAN_FD,
+                                      single_handle=True)
+
+    @pytest.mark.timeout(5.0)
+    def test_concurrent_writes(self):
+        sender_pool = ThreadPool(100)
+        receiver_pool = ThreadPool(100)
+
+        message = can.Message(
+            arbitration_id=0x123,
+            extended_id=True,
+            timestamp=121334.365,
+            data=[254, 255, 1, 2]
+        )
+        workload = 1000 * [message]
+
+        def sender(msg):
+            self.bus1.send(msg)
+
+        def receiver(_):
+            result = self.bus2.recv(timeout=2.0)
+            self.assertIsNotNone(result)
+            self.assertEqual(result, message)
+
+        sender_pool.map_async(sender, workload)
+        receiver_pool.map_async(receiver, len(workload) * [None])
+
+        sender_pool.close()
+        sender_pool.join()
+        receiver_pool.close()
+        receiver_pool.join()
+
+
 if __name__ == '__main__':
     unittest.main()

From cd147dc4647a16d5c889c97ecf48e2a7a1e65352 Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Mon, 28 May 2018 15:40:07 +0200
Subject: [PATCH 04/22] try to fix constructor of ThreadSafeBus

---
 can/thread_safe_bus.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/can/thread_safe_bus.py b/can/thread_safe_bus.py
index 1b7d6aae2..2ffb8eda7 100644
--- a/can/thread_safe_bus.py
+++ b/can/thread_safe_bus.py
@@ -50,6 +50,8 @@ class ThreadSafeBus(ObjectProxy, BusABC):
     _lock_recv = RLock()
 
     def __init__(self, *args, **kwargs):
+        super(ThreadSafeBus, self).__init__(Bus(*args, **kwargs))
+
         # now, BusABC.send_periodic() does not need a lock anymore, but the
         # implementation still requires a context manager
         self.__wrapped__._lock_send_periodic = NullContextManager()

From 1b8414e6ca9879be551690847fff2e7ae8644943 Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Mon, 28 May 2018 15:53:09 +0200
Subject: [PATCH 05/22] try to use metaclasses correctly

---
 can/thread_safe_bus.py | 3 ++-
 setup.py               | 1 +
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/can/thread_safe_bus.py b/can/thread_safe_bus.py
index 2ffb8eda7..133d118b1 100644
--- a/can/thread_safe_bus.py
+++ b/can/thread_safe_bus.py
@@ -8,6 +8,7 @@
 
 from threading import RLock
 
+import six
 from wrapt import ObjectProxy, synchronized
 
 from .interface import Bus
@@ -29,7 +30,7 @@ def __exit__(self, *args):
         pass
 
 
-class ThreadSafeBus(ObjectProxy, BusABC):
+class ThreadSafeBus(six.with_metaclass(ObjectProxy, BusABC)):
     """
     Contains a thread safe :class:`can.BusABC` implementation that
     wraps around an existing interface instance. All public methods
diff --git a/setup.py b/setup.py
index c70c985ea..9acfa1934 100644
--- a/setup.py
+++ b/setup.py
@@ -57,6 +57,7 @@
     install_requires=[
         'setuptools',
         'wrapt ~= 1.10',
+        'six ~= 1.11',
     ] + (['subprocess32 ~= 3.2.7'] if version_info.major < 3 else []),
     extras_require={
         'serial': ['pyserial >= 3.0'],

From 7b1f5c2f479324a95239eaa1a89fa4a776384245 Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Mon, 28 May 2018 16:00:45 +0200
Subject: [PATCH 06/22] explicitly require pytest

---
 setup.py | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/setup.py b/setup.py
index 9acfa1934..e124b505e 100644
--- a/setup.py
+++ b/setup.py
@@ -21,10 +21,11 @@
 
 # Dependencies
 tests_require = [
-    'mock >= 2.0.0',
-    'nose >= 1.3.7',
-    'pytest-timeout >= 1.2.1',
-    'pyserial >= 3.0'
+    'mock ~= 2.0',
+    'nose ~= 1.3.7',
+    'pytest ~= 3.6',
+    'pytest-timeout ~= 1.2',
+    'pyserial ~= 3.0'
 ]
 
 setup(

From b66c610728d009b7e23d663c94e906a7dc54c5d9 Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Mon, 28 May 2018 17:26:41 +0200
Subject: [PATCH 07/22] attempt to fix metaclass in ThreadSafeBus

---
 can/thread_safe_bus.py | 8 +++++---
 setup.py               | 1 -
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/can/thread_safe_bus.py b/can/thread_safe_bus.py
index 133d118b1..507aa5b28 100644
--- a/can/thread_safe_bus.py
+++ b/can/thread_safe_bus.py
@@ -6,10 +6,10 @@
 
 from __future__ import print_function, absolute_import
 
+from abc import ABCMeta
 from threading import RLock
 
-import six
-from wrapt import ObjectProxy, synchronized
+from wrapt import ObjectProxy
 
 from .interface import Bus
 from .bus import BusABC
@@ -30,7 +30,7 @@ def __exit__(self, *args):
         pass
 
 
-class ThreadSafeBus(six.with_metaclass(ObjectProxy, BusABC)):
+class ThreadSafeBus(ObjectProxy, BusABC):
     """
     Contains a thread safe :class:`can.BusABC` implementation that
     wraps around an existing interface instance. All public methods
@@ -46,6 +46,8 @@ class ThreadSafeBus(six.with_metaclass(ObjectProxy, BusABC)):
         instead of :meth:`~can.BusABC.recv` directly.
     """
 
+    __metaclass__ = ABCMeta
+
     # init locks for sending and receiving
     _lock_send = RLock()
     _lock_recv = RLock()
diff --git a/setup.py b/setup.py
index e124b505e..04dab4463 100644
--- a/setup.py
+++ b/setup.py
@@ -58,7 +58,6 @@
     install_requires=[
         'setuptools',
         'wrapt ~= 1.10',
-        'six ~= 1.11',
     ] + (['subprocess32 ~= 3.2.7'] if version_info.major < 3 else []),
     extras_require={
         'serial': ['pyserial >= 3.0'],

From 458e0542e59dc6b7eda31e9e050e8f14e594742c Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Mon, 28 May 2018 17:30:01 +0200
Subject: [PATCH 08/22] removed BusABC from ThreadSafeBus parent class

---
 can/thread_safe_bus.py | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/can/thread_safe_bus.py b/can/thread_safe_bus.py
index 507aa5b28..4238f8eb5 100644
--- a/can/thread_safe_bus.py
+++ b/can/thread_safe_bus.py
@@ -30,7 +30,7 @@ def __exit__(self, *args):
         pass
 
 
-class ThreadSafeBus(ObjectProxy, BusABC):
+class ThreadSafeBus(ObjectProxy):
     """
     Contains a thread safe :class:`can.BusABC` implementation that
     wraps around an existing interface instance. All public methods
@@ -46,8 +46,6 @@ class ThreadSafeBus(ObjectProxy, BusABC):
         instead of :meth:`~can.BusABC.recv` directly.
     """
 
-    __metaclass__ = ABCMeta
-
     # init locks for sending and receiving
     _lock_send = RLock()
     _lock_recv = RLock()

From b1761d58965958206b4939d724a5071a8903a4d6 Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Mon, 28 May 2018 18:08:53 +0200
Subject: [PATCH 09/22] doc

---
 can/thread_safe_bus.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/can/thread_safe_bus.py b/can/thread_safe_bus.py
index 4238f8eb5..e62efc24e 100644
--- a/can/thread_safe_bus.py
+++ b/can/thread_safe_bus.py
@@ -46,7 +46,7 @@ class ThreadSafeBus(ObjectProxy):
         instead of :meth:`~can.BusABC.recv` directly.
     """
 
-    # init locks for sending and receiving
+    # init locks for sending and receiving separately
     _lock_send = RLock()
     _lock_recv = RLock()
 

From bd6c5d6b147cf61964f4b72f3e8b086afc34e19c Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Wed, 30 May 2018 18:51:14 +0200
Subject: [PATCH 10/22] added documentation

---
 can/bus.py             |  4 ++++
 can/thread_safe_bus.py |  8 +++++---
 doc/api.rst            |  6 ++++--
 doc/bus.rst            | 20 ++++++++++++++++++--
 4 files changed, 31 insertions(+), 7 deletions(-)

diff --git a/can/bus.py b/can/bus.py
index 9271c0030..ffe48280b 100644
--- a/can/bus.py
+++ b/can/bus.py
@@ -191,6 +191,10 @@ def __iter__(self):
 
     @property
     def filters(self):
+        """
+        Modify the filters of this bus. See :meth:`~can.BusABC.set_filters`
+        for details.
+        """
         return self._filters
 
     @filters.setter
diff --git a/can/thread_safe_bus.py b/can/thread_safe_bus.py
index e62efc24e..b161d47c9 100644
--- a/can/thread_safe_bus.py
+++ b/can/thread_safe_bus.py
@@ -35,14 +35,15 @@ class ThreadSafeBus(ObjectProxy):
     Contains a thread safe :class:`can.BusABC` implementation that
     wraps around an existing interface instance. All public methods
     of that base class are now safe to be called from multiple threads.
+    The send and receive methods are synchronized separately.
 
-    Use this as a drop in replacement for :class:`~can.BusABC`.
+    Use this as a drop-in replacement for :class:`~can.BusABC`.
 
     .. note::
 
         This approach assumes that both :meth:`~can.BusABC.send` and
         :meth:`~can.BusABC._recv_internal` of the underlying bus instance can be
-        called simultaneously, and that the methods uses :meth:`~can.BusABC._recv_internal`
+        called simultaneously, and that the methods use :meth:`~can.BusABC._recv_internal`
         instead of :meth:`~can.BusABC.recv` directly.
     """
 
@@ -65,7 +66,8 @@ def send(self, msg, timeout=None, *args, **kwargs):
         with self._lock_send:
             return self.__wrapped__.send(msg, timeout=timeout, *args, **kwargs)
 
-    # send_periodic does not need a lock, see that method and the comment in this __init__
+    # send_periodic does not need a lock, since the underlying
+    # `send` method is already synchronized
 
     @property
     def filters(self):
diff --git a/doc/api.rst b/doc/api.rst
index 3eca7ddc8..13adb2903 100644
--- a/doc/api.rst
+++ b/doc/api.rst
@@ -25,9 +25,12 @@ Utilities
 .. automodule:: can.util
     :members:
 
+.. automethod:: can.detect_available_configs
 
 .. _notifier:
-   
+
+
+
 Notifier
 --------
 
@@ -35,4 +38,3 @@ The Notifier object is used as a message distributor for a bus.
 
 .. autoclass:: can.Notifier
     :members:
-
diff --git a/doc/bus.rst b/doc/bus.rst
index d00cd211e..c71662289 100644
--- a/doc/bus.rst
+++ b/doc/bus.rst
@@ -4,7 +4,9 @@ Bus
 ---
 
 The :class:`~can.Bus` class, as the name suggests, provides an abstraction of a CAN bus.
-The bus provides a wrapper around a physical or virtual CAN Bus.
+The bus provides an abstract wrapper around a physical or virtual CAN Bus.
+
+A thread safe bus wrapper is also available, see "Thread safe bus".
 
 
 Filtering
@@ -37,10 +39,24 @@ Receiving
 '''''''''
 
 Reading from the bus is achieved by either calling the :meth:`~can.BusABC.recv` method or
-by directly iterating over the bus::
+by directly iterating over the bus:
 
     for msg in bus:
         print(msg.data)
 
 Alternatively the :class:`~can.Listener` api can be used, which is a list of :class:`~can.Listener`
 subclasses that receive notifications when new messages arrive.
+
+Thread safe bus
+---------------
+
+This thread safe version of the bus class can be used by multiple threads at once.
+Sending and receiving is locked seperatly to avoid unnessesary delays.
+
+It can be used exactly like the normal :class:`~can.Bus` class:
+
+    my_bus = can.Bus(interface='socketcan', channel='vcan0')
+    my_bus.send(...)
+
+.. autoclass:: can.ThreadSafeBus
+    :members:

From 78368f33af7696aa1e7b4e9bfbf1d7af5f63bd62 Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Wed, 6 Jun 2018 23:39:24 +0200
Subject: [PATCH 11/22] fix proposed doc chnages

---
 doc/bus.rst | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/doc/bus.rst b/doc/bus.rst
index c71662289..621baed8f 100644
--- a/doc/bus.rst
+++ b/doc/bus.rst
@@ -39,7 +39,7 @@ Receiving
 '''''''''
 
 Reading from the bus is achieved by either calling the :meth:`~can.BusABC.recv` method or
-by directly iterating over the bus:
+by directly iterating over the bus::
 
     for msg in bus:
         print(msg.data)
@@ -55,7 +55,7 @@ Sending and receiving is locked seperatly to avoid unnessesary delays.
 
 It can be used exactly like the normal :class:`~can.Bus` class:
 
-    my_bus = can.Bus(interface='socketcan', channel='vcan0')
+    my_bus = can.ThreadSafeBus(interface='socketcan', channel='vcan0')
     my_bus.send(...)
 
 .. autoclass:: can.ThreadSafeBus

From c82eea69e22e899019c6f01573abc47c83f6356a Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Wed, 6 Jun 2018 23:44:19 +0200
Subject: [PATCH 12/22] remove setuptools dependency

---
 setup.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/setup.py b/setup.py
index 04dab4463..34a952850 100644
--- a/setup.py
+++ b/setup.py
@@ -56,7 +56,6 @@
     # see https://www.python.org/dev/peps/pep-0345/#version-specifiers
     python_requires=">=2.7,!=3.0,!=3.1,!=3.2,!=3.3",
     install_requires=[
-        'setuptools',
         'wrapt ~= 1.10',
     ] + (['subprocess32 ~= 3.2.7'] if version_info.major < 3 else []),
     extras_require={

From efa99dc3249e2b5914955191fb25abfc42d78f88 Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Wed, 6 Jun 2018 23:44:37 +0200
Subject: [PATCH 13/22] debugging commit for CI server

---
 can/interfaces/socketcan/socketcan_common.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/can/interfaces/socketcan/socketcan_common.py b/can/interfaces/socketcan/socketcan_common.py
index 4e904f774..54412d04e 100644
--- a/can/interfaces/socketcan/socketcan_common.py
+++ b/can/interfaces/socketcan/socketcan_common.py
@@ -10,7 +10,7 @@
 import errno
 import struct
 import sys
-if sys.version_info[0] < 3 and os.name == 'posix':
+if False: # TODO (sys.version_info[0] < 3 and os.name == 'posix'):
     import subprocess32 as subprocess
 else:
     import subprocess

From b68afa4ea4b7ca6af17942e72ec281c7fa3da246 Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Wed, 6 Jun 2018 23:53:16 +0200
Subject: [PATCH 14/22] removed the subprocess32 dependency

---
 can/interfaces/socketcan/socketcan_common.py | 5 +----
 setup.py                                     | 2 +-
 2 files changed, 2 insertions(+), 5 deletions(-)

diff --git a/can/interfaces/socketcan/socketcan_common.py b/can/interfaces/socketcan/socketcan_common.py
index 54412d04e..1b3cec9e5 100644
--- a/can/interfaces/socketcan/socketcan_common.py
+++ b/can/interfaces/socketcan/socketcan_common.py
@@ -10,10 +10,7 @@
 import errno
 import struct
 import sys
-if False: # TODO (sys.version_info[0] < 3 and os.name == 'posix'):
-    import subprocess32 as subprocess
-else:
-    import subprocess
+import subprocess
 import re
 
 from can.interfaces.socketcan.socketcan_constants import CAN_EFF_FLAG
diff --git a/setup.py b/setup.py
index 34a952850..60fee70d4 100644
--- a/setup.py
+++ b/setup.py
@@ -57,7 +57,7 @@
     python_requires=">=2.7,!=3.0,!=3.1,!=3.2,!=3.3",
     install_requires=[
         'wrapt ~= 1.10',
-    ] + (['subprocess32 ~= 3.2.7'] if version_info.major < 3 else []),
+    ],
     extras_require={
         'serial': ['pyserial >= 3.0'],
         'neovi': ['python-ics >= 2.8'],

From fdd5d2ae4e42b5117e6cac139fbdb1a193a4dbd2 Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Wed, 6 Jun 2018 23:53:55 +0200
Subject: [PATCH 15/22] fix typo in test file name

---
 test/{sockectan_helpers.py => socketcan_helpers.py} | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)
 rename test/{sockectan_helpers.py => socketcan_helpers.py} (96%)

diff --git a/test/sockectan_helpers.py b/test/socketcan_helpers.py
similarity index 96%
rename from test/sockectan_helpers.py
rename to test/socketcan_helpers.py
index 846de8647..a8e3488d8 100644
--- a/test/sockectan_helpers.py
+++ b/test/socketcan_helpers.py
@@ -21,7 +21,7 @@ class TestSocketCanHelpers(unittest.TestCase):
     def test_error_code_to_str(self):
         """
         Check that the function does not crash & always
-        returns a least one character.
+        returns at least one character.
         """
 
         # all possible & also some invalid error codes

From 976276f7c03b79b428d5c60173a17794d993dbf7 Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Thu, 7 Jun 2018 00:01:42 +0200
Subject: [PATCH 16/22] debugging commit

---
 test/socketcan_helpers.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/test/socketcan_helpers.py b/test/socketcan_helpers.py
index a8e3488d8..8ec52d5fe 100644
--- a/test/socketcan_helpers.py
+++ b/test/socketcan_helpers.py
@@ -17,6 +17,9 @@
 
 class TestSocketCanHelpers(unittest.TestCase):
 
+    def test_nothing(self):
+        pass # added so that this TestCase gets recognized
+
     @unittest.skipUnless(IS_LINUX, "socketcan is only available on Linux")
     def test_error_code_to_str(self):
         """

From 06bc2a100f0dd72eadb063f6ddfa53491ddbf0a3 Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Thu, 7 Jun 2018 00:11:25 +0200
Subject: [PATCH 17/22] undo last debugging commit

---
 test/socketcan_helpers.py | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/test/socketcan_helpers.py b/test/socketcan_helpers.py
index 8ec52d5fe..a8e3488d8 100644
--- a/test/socketcan_helpers.py
+++ b/test/socketcan_helpers.py
@@ -17,9 +17,6 @@
 
 class TestSocketCanHelpers(unittest.TestCase):
 
-    def test_nothing(self):
-        pass # added so that this TestCase gets recognized
-
     @unittest.skipUnless(IS_LINUX, "socketcan is only available on Linux")
     def test_error_code_to_str(self):
         """

From f3cae06614c68f4b3cc20af122adeba41effe7b1 Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Fri, 8 Jun 2018 15:17:27 +0200
Subject: [PATCH 18/22] renamed socketcan helpers test

---
 test/{socketcan_helpers.py => test_socketcan_helpers.py} | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename test/{socketcan_helpers.py => test_socketcan_helpers.py} (100%)

diff --git a/test/socketcan_helpers.py b/test/test_socketcan_helpers.py
similarity index 100%
rename from test/socketcan_helpers.py
rename to test/test_socketcan_helpers.py

From 26ffd06dd09913d8c5878023ec89b0f7b9b5e88b Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Fri, 8 Jun 2018 15:26:07 +0200
Subject: [PATCH 19/22] documentation improvements

---
 doc/bus.rst | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/doc/bus.rst b/doc/bus.rst
index 621baed8f..4aca097bb 100644
--- a/doc/bus.rst
+++ b/doc/bus.rst
@@ -6,7 +6,7 @@ Bus
 The :class:`~can.Bus` class, as the name suggests, provides an abstraction of a CAN bus.
 The bus provides an abstract wrapper around a physical or virtual CAN Bus.
 
-A thread safe bus wrapper is also available, see "Thread safe bus".
+A thread safe bus wrapper is also available, see `Thread safe bus`_.
 
 
 Filtering
@@ -16,7 +16,6 @@ Message filtering can be set up for each bus. Where the interface supports it, t
 out in the hardware or kernel layer - not in Python.
 
 
-
 API
 ''''
 
@@ -35,6 +34,7 @@ Transmitting
 Writing to the bus is done by calling the :meth:`~can.BusABC.send()` method and
 passing a :class:`~can.Message` object.
 
+
 Receiving
 '''''''''
 
@@ -47,16 +47,20 @@ by directly iterating over the bus::
 Alternatively the :class:`~can.Listener` api can be used, which is a list of :class:`~can.Listener`
 subclasses that receive notifications when new messages arrive.
 
+
 Thread safe bus
 ---------------
 
-This thread safe version of the bus class can be used by multiple threads at once.
+This thread safe version of the :class:`~can.Bus` class can be used by multiple threads at once.
 Sending and receiving is locked seperatly to avoid unnessesary delays.
+Conflicting calls are executed by blocking until the bus is accessible.
 
-It can be used exactly like the normal :class:`~can.Bus` class:
+It can be used exactly like the normal :class:`~can.Bus`:
 
+    # 'socketcan' is only an exemple interface, it works with all the others too
     my_bus = can.ThreadSafeBus(interface='socketcan', channel='vcan0')
     my_bus.send(...)
+    my_bus.recv(...)
 
 .. autoclass:: can.ThreadSafeBus
     :members:

From db0b20cd780debe73f3567c28773b5da3c3bb1d0 Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Fri, 8 Jun 2018 15:27:27 +0200
Subject: [PATCH 20/22] corrected unit test

---
 test/test_socketcan_helpers.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test/test_socketcan_helpers.py b/test/test_socketcan_helpers.py
index a8e3488d8..bc28806ac 100644
--- a/test/test_socketcan_helpers.py
+++ b/test/test_socketcan_helpers.py
@@ -25,7 +25,7 @@ def test_error_code_to_str(self):
         """
 
         # all possible & also some invalid error codes
-        test_data = range(0, 256) + (-1, 256, 5235, 346264)
+        test_data = [range(0, 256)] + (-1, 256, 5235, 346264)
 
         for error_code in test_data:
             string = error_code_to_str(error_code)

From 3737bb38f75bcbeae8569ac3baa9d6d020ec8c6f Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Fri, 8 Jun 2018 15:42:15 +0200
Subject: [PATCH 21/22] fix unit test #2

---
 test/test_socketcan_helpers.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test/test_socketcan_helpers.py b/test/test_socketcan_helpers.py
index bc28806ac..8cd1066d3 100644
--- a/test/test_socketcan_helpers.py
+++ b/test/test_socketcan_helpers.py
@@ -25,7 +25,7 @@ def test_error_code_to_str(self):
         """
 
         # all possible & also some invalid error codes
-        test_data = [range(0, 256)] + (-1, 256, 5235, 346264)
+        test_data = [range(0, 256)] + [-1, 256, 5235, 346264]
 
         for error_code in test_data:
             string = error_code_to_str(error_code)

From 0142bb8db905eeccbcdfdc9fad21b8111cfad48b Mon Sep 17 00:00:00 2001
From: Felix Divo <felix.divo@gmail.com>
Date: Fri, 8 Jun 2018 15:52:49 +0200
Subject: [PATCH 22/22] fix unit test #3

---
 test/test_socketcan_helpers.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test/test_socketcan_helpers.py b/test/test_socketcan_helpers.py
index 8cd1066d3..f33a4e28a 100644
--- a/test/test_socketcan_helpers.py
+++ b/test/test_socketcan_helpers.py
@@ -25,7 +25,7 @@ def test_error_code_to_str(self):
         """
 
         # all possible & also some invalid error codes
-        test_data = [range(0, 256)] + [-1, 256, 5235, 346264]
+        test_data = list(range(0, 256)) + [-1, 256, 5235, 346264]
 
         for error_code in test_data:
             string = error_code_to_str(error_code)