import can


def main():
    bus1 = can.Bus(
        interface="pcan", channel="PCAN_USBBUS1", bitrate=500000, receive_own_messages=True
    )
    bus2 = can.Bus(
        interface="pcan", channel="PCAN_USBBUS2", bitrate=500000, receive_own_messages=False
    )

    msg1 = can.Message(arbitration_id=0x123, is_fd=False, data=b'hello')
    msg2 = can.Message(arbitration_id=0x123, is_fd=False, data=b'world')
    bus1.send(msg1)
    
    print(bus1.recv(0.1))
    print(bus1.recv(0.1))
    print(bus2.recv(0.1))
    print(bus2.recv(0.1))
    
    bus2.send(msg2)
    
    print(bus1.recv(0.1))
    print(bus1.recv(0.1))
    print(bus2.recv(0.1))
    print(bus2.recv(0.1))


if __name__ == "__main__":
    main()

Timestamp: 1705482812.765127    ID: 00000123    X Rx                DL:  5    68 65 6c 6c 6f              'hello'
None
Timestamp: 1705482812.765166    ID: 00000123    X Rx                DL:  5    68 65 6c 6c 6f              'hello'
None
Timestamp: 1705482812.970332    ID: 00000123    X Rx                DL:  5    77 6f 72 6c 64              'world'
None
None
None