fix canbus send config (#5585)

Co-authored-by: Samuel Sieb <samuel@sieb.net>

esphome/components/canbus/__init__.py

@@ -17,6 +17,7 @@ CONF_ON_FRAME = "on_frame"
 
 
 def validate_id(config):
+    if CONF_CAN_ID in config:
         can_id = config[CONF_CAN_ID]
         id_ext = config[CONF_USE_EXTENDED_ID]
         if not id_ext:
@@ -151,22 +152,18 @@ async def canbus_action_to_code(config, action_id, template_arg, args):
     if can_id := config.get(CONF_CAN_ID):
         can_id = await cg.templatable(can_id, args, cg.uint32)
         cg.add(var.set_can_id(can_id))
-    use_extended_id = await cg.templatable(
-        config[CONF_USE_EXTENDED_ID], args, cg.uint32
-    )
-    cg.add(var.set_use_extended_id(use_extended_id))
+        cg.add(var.set_use_extended_id(config[CONF_USE_EXTENDED_ID]))
 
-    remote_transmission_request = await cg.templatable(
-        config[CONF_REMOTE_TRANSMISSION_REQUEST], args, bool
+    cg.add(
+        var.set_remote_transmission_request(config[CONF_REMOTE_TRANSMISSION_REQUEST])
     )
-    cg.add(var.set_remote_transmission_request(remote_transmission_request))
 
     data = config[CONF_DATA]
-    if isinstance(data, bytes):
-        data = [int(x) for x in data]
     if cg.is_template(data):
         templ = await cg.templatable(data, args, cg.std_vector.template(cg.uint8))
         cg.add(var.set_data_template(templ))
     else:
+        if isinstance(data, bytes):
+            data = [int(x) for x in data]
         cg.add(var.set_data_static(data))
     return var

tests/test1.yaml

@@ -3326,6 +3326,10 @@ text_sensor:
           canbus_id: mcp2515_can
           can_id: 23
           data: [0x10, 0x20, 0x30]
+      - canbus.send:
+          canbus_id: mcp2515_can
+          can_id: 23
+          data: !lambda return {0x10, 0x20, 0x30};
       - canbus.send:
           canbus_id: esp32_internal_can
           can_id: 23