Are there any examples for using a CAN card via XNET on a real time system?

I am programming a real time application and I have a PXI 8512 card.  My first order of business is to get 5-byte messages from transducers that are broadcasting at 10 Hz on known message IDs.  There are no CAN/XNET samples in my "realtime" CVI sample folder.  I have found some in the nixnet folder but they are Windows based so I have to hack a lot of stuff out of them.
Thank you.
Michael Chadwell
Department of Engine and Vehicle R&D
Southwest Research Institute

In other words, I just need to do something very similar to this with no user interface:
NOTE: See attachment
Michael Chadwell
Department of Engine and Vehicle R&D
Southwest Research Institute
Attachments:
CAN Bus Monitor.jpg ‏83 KB

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