I've just been able to release SwiftCANLib that bridges Controller Area Network messages to Swift on Linux (Raspberry Pi Jesse & Buster in my specific instance). The Swift-ARM guys have been great getting Swift running well on Linux/Pi and allowing me to abandon C for all my CAN programming!
I specifically use the library as a co-processor to a race car data logger, listening to frames and computing temporal information (versus a typical math channel which can only compute parameters from others at the same point in time) and sends them to the datalogger for logging.