C++ program design on a ultrasonic parking sensor

I need to design a CAN bus application so anyone with automotive experience would be helpful. The application chosen is a Sharp GP2D12 and need a program to run this. I have all the testing of this sensor and the specification of the board, all is required is the following below:- I need to develop a c++ program that will output messages from a node onto a can bus system. Initially the data output in the CAN message should be a constant value to aid in debugging at the recieving node. The final implementation the data should idealy come fro measured parameters such as analogue inputs or other input sources such as push button, switches, serial input or genertaed from the processor. The CAN messages should use a specific range of ID numbers that are documented along with the specification of the data contents of the messages. The output messages should be either periodic and/or event driven with/without an inhibit time. Recieved messages should be filtered and processed. Make use of frame requests!