tcpcan is a library to transmit or send messages via TCP method. Forked by python-can.So if you want to use more interfaces such as USBcan, Socketcan, you can see python-can
import can
bus = can.interface.Bus(bustype='tcpcan', channel="192.168.1.10:4001")
msg = can.Message(arbitration_id=id,
data=data,
extended_id=False,
is_remote_frame=False,
)
# send a meassage
bus.send(msg)
# receive a meassage
recv_msg = bus.recv()