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socketcan_go\n\nforked from https://github.com/atuleu/golang-socketcan\n1) add filter support\n2) only working on linux\n3) need cgo support\n\n## Install\n\n- go get github.com/yoursmengle/socketcan_go\n\n## Usage\n\n```go\npackage main\n\nimport (\n\t\"fmt\"\n\t\"time\"\n\n\tsocketcan \"github.com/yoursmengle/socketcan_go\"\n)\n\nfunc main() {\n\tfmt.Println(\"can1 start...\")\n\tsock_can, err := socketcan.NewCanItf(\"can1\")\n\tif err != nil {\n\t\tg_str_disp.Add(fmt.Sprintln(\"task_can1 init error:\", err))\n\t\treturn\n\t}\n\tdefer sock_can.Close()\n\n\t// step1, set filter for can1\n\terr = sock_can.AddfilterPass(recv_ids1, uint32(len(recv_ids1)))\n\tif err != nil {\n\t\treturn\n\t}\n\n\t//step2, create receive thread\n\tgo can1_recv(sock_can)\n\n\t//step3, send data periodically\n\tticker := time.NewTicker(10 * time.Millisecond)\n\tfor {\n\t\t\u003c-ticker.C // tick 10ms\n\n\t\tframe, need_send := fill_can1_frame()\n\t\tif !need_send {\n\t\t\tcontinue\n\t\t}\n\n        // send can frame\n\t\terr := sock_can.Send(frame)\n\t\tif err != nil {\n            fmt.Println(\"send error:\", err)\n\t\t}\n\t}\n}\n\n// can1 receive thread\nfunc can1_recv(sock_can *socketcan.RawInterface) {\n\tfor {\n\t\t// wait for receiving one can frame\n\t\tframe, err := sock_can.Receive()\n\t\tif err != nil {\n            fmt.Println(\"recv error:\", err)\n            continue\n\t\t}\n\n\t\tproc_can1_frame(\u0026frame)\n\t}\n}\n\n// receive can frame id list \nvar recv_ids1 []uint32 = []uint32{\n\t0x0cf00400 | socketcan.CAN_EFF_FLAG,  // ext id \n    0x0cf00401 | socketcan.CAN_EFF_FLAG,  // ext id\n\t0x67b,     // std id\n    0x67c,     // std id\n}\n\nfunc fill_can1_frame() (socketcan.CanFrame, bool) {\n\tframe_send := socketcan.CanFrame{}\n\tframe_send.ID = 0x1cf14717\n\tframe_send.Data = []byte{0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08}\n\tframe_send.Dlc = 8\n\tframe_send.Extended = true\n\n\treturn frame_send, true\n}\n\nfunc proc_can1_frame(pFrame *socketcan.CanFrame) 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