slcan doesn't receive corresponding response after sending can message.

import can
from can.interfaces.slcan import slcanBus
import threading


class SLCANBusWithErrorCheck(slcanBus):
    def __init__(self, *args, **kwargs):
        super().__init__(*args, **kwargs)
        self._tx_lock = threading.Lock()

    def send(self, msg, timeout=None):
        if timeout != self.serialPortOrig.write_timeout:
            self.serialPortOrig.write_timeout = timeout

        if msg.is_remote_frame:
            if msg.is_extended_id:
                sendStr = f"R{msg.arbitration_id:08X}{msg.dlc:d}"
            else:
                sendStr = f"r{msg.arbitration_id:03X}{msg.dlc:d}"
        else:
            if msg.is_extended_id:
                sendStr = f"T{msg.arbitration_id:08X}{msg.dlc:d}"
            else:
                sendStr = f"t{msg.arbitration_id:03X}{msg.dlc:d}"
            sendStr += msg.data.hex().upper()

        with self._tx_lock:
            # Drain any leftover bytes from a previous error before sending
            self.serialPortOrig.reset_input_buffer()
            self._buffer.clear()

            self._write(sendStr)
            response = self._read(timeout=max(timeout or 0, 2.0))

        if response is None:
            raise can.CanError("TX timeout - no response from adapter")
        if self._ERROR.decode() in response:
            raise can.CanError("TX failed - BEL received (no ACK on bus)")

    def recv(self, timeout=None):
        if self._tx_lock.locked():
            return None
        return super().recv(timeout=timeout)

I know following are the errors in the provided solution:

• If we are mid receive, then any call to send can create race condition (clear the serial buffers mid receive)
• the timeout logic is also incorrect (additional 2.0 second for timeout < 2.0 second, patch for some other problem)
• Receive fails immediately if transmission is going on

Any solution i came up for these problems seemed patchy as best. So, expecting it to solve inside of python-can itself or provide a better solution than locking.