OpenXC custom command to send CAN message

config.json

{   "buses": {
        "hs": {
            "controller": 1,
            "speed": 500000,
             "raw_writable": true
        }
    },
    "commands": [
        {"name": "my_custom_command",
            "handler": "sendMyCanMessage"
        }
    ]
}

custom_command.cpp

// When our command is received over USB or Bluetooth on the VI, this function is called.
// We don't need any parameters from our command so we ignore the 'value' and 'event'
// parameters
void sendMyCanMessage(const char* name, openxc_DynamicField* value,
        openxc_DynamicField* event, CanSignal* signals, int signalCount) {
    
    // First, build a CanMessage object representing the message you want to send.
    CanMessage message = {
        id: 42,
        format: CanMessageFormat::STANDARD, // STANDARD as opposed to an extended ID frame
        data: {0x12, 0x34, 0x56, 0x78, 0x9a, 0xbc, 0xde, 0xef}
    };

    // Next, grab a reference to the CAN bus you want the message to be sent on. We want bus 1, which we can expect to be at index 0.
    CanBus bus = getCanBuses()[0];
    
    // Finally, enqueue the message to send on the bus - it will be sent out ASAP.
    can::write::enqueueMessage(&bus, &message);
}