可以使用 SocketCAN 接口库来实现对 can0 接口的数据帧读取，使用 SocketCAN 接口，将其绑定到 can0 接口，并循环读取接收到的 CAN 数据帧。

#include <iostream>
#include <cstring>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <linux/can.h>
#include <linux/can/raw.h>int main() {// 创建 SocketCAN 套接字int soc = socket(PF_CAN, SOCK_RAW, CAN_RAW);if (soc == -1) {std::cerr << "Error opening socket." << std::endl;return 1;}// 设置 CAN 接口名称struct ifreq ifr;std::strcpy(ifr.ifr_name, "can0");ioctl(soc, SIOCGIFINDEX, &ifr);// 将套接字绑定到 CAN 接口struct sockaddr_can addr;addr.can_family = AF_CAN;addr.can_ifindex = ifr.ifr_ifindex;if (bind(soc, reinterpret_cast<struct sockaddr*>(&addr), sizeof(addr)) == -1) {std::cerr << "Error binding socket to interface." << std::endl;close(soc);return 1;}while (true) {struct can_frame frame;ssize_t nbytes = read(soc, &frame, sizeof(struct can_frame));if (nbytes < 0) {std::cerr << "Error reading from socket." << std::endl;break;}if (nbytes < sizeof(struct can_frame)) {std::cerr << "Incomplete CAN frame received." << std::endl;continue;}// 处理接收到的 CAN 数据帧std::cout << "Received CAN frame ID: " << frame.can_id << ", Data: ";for (int i = 0; i < frame.can_dlc; ++i) {std::cout << std::hex << static_cast<int>(frame.data[i]) << " ";}std::cout << std::dec << std::endl;}// 关闭套接字close(soc);return 0;
}