#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/stat.h>


#include "can_vca.h"

int main(int argc, char *args[]) {
	struct canmsg_t sendmsg = {0,0,5,0,8,{1,2,3,4,5,6,7,8}};
    vca_handle_t canhandle;

	int i;

	if(argc < 3) return 0;
    
    // open CAN handle on device /dev/can
    if (vca_open_handle(&canhandle, "/dev/can0", NULL, 0) != VCA_OK) {
		perror("open");
		printf("Error opening /dev/can0\n");
		exit(1);
	}
    
    // compose message from the command line
    // mesage format: id data_byte_1 ... data_byte_n
    sendmsg.id = strtol(args[1], 0, 0);
    sendmsg.length = argc - 2;
    for(i=2; i<argc; i++) {
        sendmsg.data[i-2] = strtol(args[i], 0, 0);
    }

	printf("Sending message %lu   ", sendmsg.id);
    for(i=0; i<sendmsg.length; i++) printf("%02x ", sendmsg.data[i]);
	printf("\n");

    // send composed message
    vca_send_msg_seq(canhandle, &sendmsg, 1);
    vca_close_handle(canhandle);

	return 0;
}