The underlaying CANlib library is initialized when the module canlib.canlib is imported. This will initialize the CANlib library and enumerate all currently available CAN channels.
Strictly speaking it is not necessary to clean up anything before terminating the application. If the application quits unexpectedly, the device driver will ensure the CAN controller is deactivated and the driver will also ensure the firmware (if any) is left in a consistent state.
To reinitialize the library in an orderly fashion you may want to call .canlib.Channel.writeSync with a short timeout for each open handle before closing them with .canlib.Channel.close, to ensure the transmit queues are empty. You can then start afresh by calling .canlib.reinitializeLibrary.
Note
When calling .canlib.reinitializeLibrary, all previously opened CAN handles (.canlib.Channel) will be closed and invalidated.
The function .canlib.enumerate_hardware scans all currently connected devices and creates a completely new set of CANlib channel numbers, while still keeping all currently opened channel handles valid and usable. This can be viewed upon as a replacement for calling .canlib.reinitializeLibrary which do invalidate all open channel handles.
One thing to keep in mind when using this functionality is to never track devices based on their CANlib channel number, since this number may change anytime .enumerate_hardware is called. To retrieve information about a specific channel use .Channel.channel_data to get a safe ~canlib.canlib.ChannelData, instead of relying on an old ~canlib.canlib.ChannelData object created from a channel number.
Note
On Linux, no re-enumeration is needed since enumeration takes place when a device is plugged in or unplugged.