"sample_canbus_logger" source code

I want to use some interface/device in application in Tegra A to send & receive can messages through Aurix can device, because Tegra A has just one can (can0), it needs anther can device to farward can message. And I found it works using “sample_canbus_logger”, but it just print message content to the terminal, while I want to get the messages in an application
Could someone please tell me where is the source code of “sample_canbus_logger”? I want to know how “sample_canbus_logger” get the messages.
By the way, is there any other other ways?
Thank you very much!

Dear sunyongjian,

All DriveWorks source codes in /usr/local/driveworks-1.2/samples/src on Host PC.
Could you please refer to /usr/local/driveworks-1.2/samples/src/sensors/canbus/logger on your host PC for your topic? Thanks.