就像@TimRoberts说的，我传递函数的方式错误。
这是一个即使没有CAN硬件也能工作和测试的代码。

from time import sleep
import can

bus1 = can.interface.Bus(channel = 'test', bustype = 'virtual')
bus2 = can.interface.Bus('test', bustype='virtual')

msg = can.Message(arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5, 6, 7])

def parseData(can):
        print( can.arbitration_id )

notifier = can.Notifier(bus2,[parseData])

while (1):
    bus1.send(msg)
    sleep(1)

由于互联网上关于此主题的信息不多，因此我在此发表了自己的意见，请按照我的脚本帮助社区。我正在使用带有CAN驱动程序的工业计算机采集CAN J1939数据，这些数据由VECTOR设备使用CANNalyzer SW生成。此代码对我来说非常有效，并且以良好的采样率（ms）收集数据。

import cantools
import can
from ctypes import *
import logging
import time

# Logger config
logger = logging.getLogger(__name__)

# CAN filter
can_filter = [
    {"can_id": 0xCF00400, "can_mask": 0xFFFFFFF, "extended": True},
    {"can_id": 0xCF00300, "can_mask": 0xFFFFFFF, "extended": True},
    {"can_id": 0x10FD5200, "can_mask": 0x1FFFFFFF, "extended": True},
    {"can_id": 0x1CFE8800, "can_mask": 0x1FFFFFFF, "extended": True},
]

def main():
    """main _summary_"""
    can_bus = can.interface.Bus(bustype="socketcan", channel="can1", bitrate=500000, can_filters=can_filter)  # type: ignore
    log_filename = time.strftime("%d-%m-%Y_%H-%M", time.localtime())
    listener = can.Logger(filename=f"can_listener_{log_filename}.log", mode="a")  # type: ignore
    notifier = can.Notifier(can_bus, [listener])  # type: ignore

    try:
        while True:
            continue
    except Exception as e:
        print(e)
    finally:
        notifier.stop()

if __name__ == "__main__":
    try:
        main()
    except KeyboardInterrupt:
        print("can reciever stopped")
    except Exception as e:
        print(e)