npm install can4linux

var Can = require('can4linux');

var can = new Can({
  device: '/dev/can0', //CAN device to use, can be omitted
  self: false, // turn to true to see message send by this device (with false only incomming messages are shown), can be omitted
});

can.on('data', function(data){
  console.log(data.id);   // CAN id
  console.log(data.ext);  // Is this extended id?
  console.log(data.rtr);  // Is this RTR message
  console.log(data.data); // Array with CAN data
  console.log(data.self); // Is this message send by this device?
  console.log(data.timestamp.sec + "s " + data.timestamp.usec + "us") // Timestamp
});

can.on('error', function(err){
  console.log("Error received", err);
  can.close();
});

can.send({
  id: 5,          // CAN id
  ext: false,     // Is this extended id?
  rtr: false,     // Is this RTR message
  data: [1,2,3]   // Max 8 bytes unless you have CAN FD enabled, can be omitted
});