Separation Generator to a dedicated repo

Change-Id: Id94831651c3266861435272a6e36c7884bef2c45
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

13 files changed, 1882 insertions, 0 deletions

diff --git a/low-can-binding/can/can-bus.cpp b/low-can-binding/can/can-bus.cpp
new file mode 100644
index 00000000..61673350
--- /dev/null
+++ b/low-can-binding/can/can-bus.cpp
@@ -0,0 +1,337 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <net/if.h>
+#include <sys/socket.h>
+#include <json-c/json.h>
+#include <linux/can/raw.h>
+#include <map>
+#include <cerrno>
+#include <vector>
+#include <string>
+#include <algorithm>
+
+#include "can-bus.hpp"
+
+#include "can-signals.hpp"
+#include "can-decoder.hpp"
+#include "../binding/application.hpp"
+#include "../utils/signals.hpp"
+#include "../utils/openxc-utils.hpp"
+
+/// @brief Class constructor
+///
+/// @param[in] conf_file - handle to the json configuration file.
+can_bus_t::can_bus_t(utils::config_parser_t conf_file)
+	: conf_file_{conf_file}
+{}
+
+/// @brief Take a decoded message to determine if its value comply with the wanted
+/// filtering values.
+///
+/// @param[in] vehicle_message - A decoded message to analyze
+/// @param[in] can_subscription - the subscription which will be notified depending
+///  on its filtering values. Filtering values are stored in the event_filtermember.
+///
+/// @return True if the value is compliant with event filter values, false if not...
+bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription)
+{
+	bool send = false;
+	if(is_valid(vehicle_message))
+	{
+		float min = std::isnan(can_subscription->get_min()) ? -INFINITY : can_subscription->get_min();
+		float max = std::isnan(can_subscription->get_max()) ? INFINITY : can_subscription->get_max();
+		double value = get_numerical_from_DynamicField(vehicle_message);
+		send = (value < min && value > max) ? false : true;
+	}
+	return send;
+}
+
+/// @brief Will make the decoding operation on a classic CAN message. It will not
+/// handle CAN commands nor diagnostic messages that have their own method to get
+/// this happens.
+///
+/// It will add to the vehicle_message queue the decoded message and tell the event push
+/// thread to process it.
+///
+/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
+///
+/// @return How many signals has been decoded.
+void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+	int subscription_id = can_message.get_sub_id();
+	openxc_DynamicField decoded_message;
+	openxc_VehicleMessage vehicle_message;
+
+	// First we have to found which can_signal_t it is
+	std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
+
+	if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
+	{
+		bool send = true;
+		decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send);
+		openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
+		vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
+
+		if(send && apply_filter(vehicle_message, sig))
+		{
+			std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+			push_new_vehicle_message(subscription_id, vehicle_message);
+			DEBUG("%s CAN signals processed.",  sig->get_name().c_str());
+		}
+	}
+}
+
+/// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
+/// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
+/// the event push thread to process it.
+///
+/// @param[in] manager - the diagnostic manager object that handle diagnostic communication
+/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
+///
+/// @return How many signals has been decoded.
+void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+	int subscription_id = can_message.get_sub_id();
+
+	openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
+	if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
+		s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
+	{
+		if (apply_filter(vehicle_message, s[subscription_id]))
+		{
+			std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+			push_new_vehicle_message(subscription_id, vehicle_message);
+			DEBUG("%s CAN signals processed.",  s[subscription_id]->get_name().c_str());
+		}
+	}
+}
+
+/// @brief thread to decoding raw CAN messages.
+///
+///  Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
+///  then decoding a diagnostic message else use classic CAN signals decoding functions.
+///
+/// It will take from the can_message_q_ queue the next can message to process then it search
+///  about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
+///  subscription has been made. Can message will be decoded using translateSignal that will pass it to the
+///  corresponding decoding function if there is one assigned for that signal. If not, it will be the default
+///  noopDecoder function that will operate on it.
+///
+///  TODO: make diagnostic messages parsing optionnal.
+void can_bus_t::can_decode_message()
+{
+	utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+
+	while(is_decoding_)
+	{
+		std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
+		new_can_message_cv_.wait(can_message_lock);
+		while(!can_message_q_.empty())
+		{
+			const can_message_t can_message = next_can_message();
+			can_message_lock.unlock();
+
+			{
+				std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+				std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
+				if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
+					{process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message, s);}
+				else
+					{process_can_signals(can_message, s);}
+			}
+			can_message_lock.lock();
+		}
+	new_decoded_can_message_.notify_one();
+	can_message_lock.unlock();
+	}
+}
+
+/// @brief thread to push events to suscribers. It will read subscribed_signals map to look
+/// which are events that has to be pushed.
+void can_bus_t::can_event_push()
+{
+	openxc_SimpleMessage s_message;
+	json_object* jo;
+	utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+
+	while(is_pushing_)
+	{
+		std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+		new_decoded_can_message_.wait(decoded_can_message_lock);
+		while(!vehicle_message_q_.empty())
+		{
+			std::pair<int, openxc_VehicleMessage> v_message = next_vehicle_message();
+			decoded_can_message_lock.unlock();
+			{
+				std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+				std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
+				s_message = get_simple_message(v_message.second);
+				if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event()))
+				{
+					jo = json_object_new_object();
+					jsonify_simple(s_message, jo);
+					if(afb_event_push(s[v_message.first]->get_event(), jo) == 0)
+					{
+						if(v_message.second.has_diagnostic_response)
+							{on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid, s);}
+						else
+							{on_no_clients(s[v_message.first], s);}
+					}
+				}
+			}
+			decoded_can_message_lock.lock();
+		}
+		decoded_can_message_lock.unlock();
+	}
+}
+
+/// @brief Will initialize threads that will decode
+///  and push subscribed events.
+void can_bus_t::start_threads()
+{
+	is_decoding_ = true;
+	th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
+	th_decoding_.detach();
+
+	is_pushing_ = true;
+	th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
+	th_pushing_.detach();
+}
+
+/// @brief Will stop all threads holded by can_bus_t object
+///  which are decoding and pushing then will wait that's
+/// they'll finish their job.
+void can_bus_t::stop_threads()
+{
+	is_decoding_ = false;
+	is_pushing_ = false;
+}
+
+/// @brief return new_can_message_cv_ member
+///
+/// @return  return new_can_message_cv_ member
+std::condition_variable& can_bus_t::get_new_can_message_cv()
+{
+	return new_can_message_cv_;
+}
+
+/// @brief return can_message_mutex_ member
+///
+/// @return  return can_message_mutex_ member
+std::mutex& can_bus_t::get_can_message_mutex()
+{
+	return can_message_mutex_;
+}
+
+/// @brief Return first can_message_t on the queue
+///
+/// @return a can_message_t
+const can_message_t can_bus_t::next_can_message()
+{
+	can_message_t can_msg;
+
+	if(!can_message_q_.empty())
+	{
+		can_msg = can_message_q_.front();
+		can_message_q_.pop();
+		DEBUG("Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", can_msg.get_id(), can_msg.get_length(),
+			can_msg.get_data()[0], can_msg.get_data()[1], can_msg.get_data()[2], can_msg.get_data()[3], can_msg.get_data()[4], can_msg.get_data()[5], can_msg.get_data()[6], can_msg.get_data()[7]);
+		return can_msg;
+	}
+
+	return can_msg;
+}
+
+/// @brief Push a can_message_t into the queue
+///
+/// @param[in] can_msg - the const reference can_message_t object to push into the queue
+void can_bus_t::push_new_can_message(const can_message_t& can_msg)
+{
+	can_message_q_.push(can_msg);
+}
+
+/// @brief Return first openxc_VehicleMessage on the queue
+///
+/// @return a openxc_VehicleMessage containing a decoded can message
+std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message()
+{
+	std::pair<int, openxc_VehicleMessage> v_msg;
+
+	if(! vehicle_message_q_.empty())
+	{
+		v_msg = vehicle_message_q_.front();
+		vehicle_message_q_.pop();
+		DEBUG("next vehicle message poped");
+		return v_msg;
+	}
+
+	return v_msg;
+}
+
+/// @brief Push a openxc_VehicleMessage into the queue
+///
+/// @param[in] v_msg - const reference openxc_VehicleMessage object to push into the queue
+void can_bus_t::push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg)
+{
+	vehicle_message_q_.push(std::make_pair(subscription_id, v_msg));
+}
+
+/// @brief Fills the CAN device map member with value from device
+/// mapping configuration file read at initialization.
+void can_bus_t::set_can_devices()
+{
+	can_devices_ = conf_file_.get_devices_name();
+
+	if(can_devices_.empty())
+	{
+		ERROR("No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.",
+			conf_file_.filepath().c_str());
+	}
+}
+
+
+/// @brief Return the CAN device index from the map
+/// map are sorted so index depend upon alphabetical sorting.
+int can_bus_t::get_can_device_index(const std::string& bus_name) const
+{
+	int i = 0;
+	for(const auto& d: can_devices_)
+	{
+		if(d.first == bus_name)
+			break;
+		i++;
+	}
+	return i;
+}
+
+/// @brief Return CAN device name from a logical CAN device name gotten from
+/// the signals.json description file which comes from a CAN databases file in
+/// general.
+const std::string can_bus_t::get_can_device_name(const std::string& id_name) const
+{
+	std::string ret;
+	for(const auto& d: can_devices_)
+	{
+		if(d.first == id_name)
+		{
+			ret = d.second;
+			break;
+		}
+	}
+	return ret;
+}
diff --git a/low-can-binding/can/can-bus.hpp b/low-can-binding/can/can-bus.hpp
new file mode 100644
index 00000000..a76d3e87
--- /dev/null
+++ b/low-can-binding/can/can-bus.hpp
@@ -0,0 +1,94 @@
+/*
+ * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loïc Collignon" <loic.collignon@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <utility>
+#include <mutex>
+#include <queue>
+#include <thread>
+#include <linux/can.h>
+#include <condition_variable>
+
+#include "openxc.pb.h"
+#include "can-message.hpp"
+#include "../utils/config-parser.hpp"
+#include "../binding/low-can-hat.hpp"
+#include "../binding/low-can-subscription.hpp"
+
+// TODO actual max is 32 but dropped to 24 for memory considerations
+#define MAX_ACCEPTANCE_FILTERS 24
+// TODO this takes up a ton of memory
+#define MAX_DYNAMIC_MESSAGE_COUNT 12
+
+#define CAN_ACTIVE_TIMEOUT_S 30
+
+class diagnostic_manager_t;
+
+/// @brief Object used to handle decoding and manage event queue to be pushed.
+///
+/// This object is also used to initialize can_bus_dev_t object after reading
+/// json conf file describing the CAN devices to use. Thus, those object will read
+/// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
+///
+/// That queue will be later used to be decoded and pushed to subscribers.
+class can_bus_t
+{
+private:
+	utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects.
+
+	bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription);
+	void process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+	void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+
+	void can_decode_message();
+	std::thread th_decoding_; ///< thread that'll handle decoding a can frame
+	bool is_decoding_ = false; ///< boolean member controling thread while loop
+
+	void can_event_push();
+	std::thread th_pushing_; ///< thread that'll handle pushing decoded can frame to subscribers
+	bool is_pushing_ = false; ///< boolean member controling thread while loop
+
+	std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read
+	std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ queue.
+	std::queue <can_message_t> can_message_q_; ///< queue that'll store can_message_t to decoded
+
+	std::condition_variable new_decoded_can_message_; ///< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_
+	std::mutex decoded_can_message_mutex_;  ///< mutex protecting the vehicle_message_q_ queue.
+	std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed
+
+	std::vector<std::pair<std::string, std::string> > can_devices_; ///< can_devices_ - holds a mapping between logical CAN devices names and linux CAN devices names.
+public:
+	explicit can_bus_t(utils::config_parser_t conf_file);
+	can_bus_t(can_bus_t&&);
+
+	void set_can_devices();
+	int get_can_device_index(const std::string& bus_name) const;
+	const std::string get_can_device_name(const std::string& id_name) const;
+
+	void start_threads();
+	void stop_threads();
+
+	const can_message_t next_can_message();
+	void push_new_can_message(const can_message_t& can_msg);
+	std::mutex& get_can_message_mutex();
+	std::condition_variable& get_new_can_message_cv();
+
+	std::pair<int, openxc_VehicleMessage> next_vehicle_message();
+	void push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg);
+};
diff --git a/low-can-binding/can/can-command.hpp b/low-can-binding/can/can-command.hpp
new file mode 100644
index 00000000..4cf20cb5
--- /dev/null
+++ b/low-can-binding/can/can-command.hpp
@@ -0,0 +1,55 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include "openxc.pb.h"
+#include "can-signals.hpp"
+
+///
+/// @brief The type signature for a function to handle a custom OpenXC command.
+///
+/// @param[in] name - the name of the received command.
+/// @param[in] value - the value of the received command, in a DynamicField. The actual type
+///		may be a number, string or bool.
+/// @param[in] event - an optional event from the received command, in a DynamicField. The
+///		actual type may be a number, string or bool.
+/// @param[in] signals - The list of all signals.
+/// @param[in] signalCount - The length of the signals array.
+///
+typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
+		openxc_DynamicField* event, can_signal_t* signals, int signalCount);
+
+/// @struct CanCommand
+/// @brief The structure to represent a supported custom OpenXC command.
+///
+/// For completely customized CAN commands without a 1-1 mapping between an
+/// OpenXC message from the host and a CAN signal, you can define the name of the
+/// command and a custom function to handle it in the VI. An example is
+/// the "turn_signal_status" command in OpenXC, which has a value of "left" or
+/// "right". The vehicle may have separate CAN signals for the left and right
+/// turn signals, so you will need to implement a custom command handler to send
+/// the correct signals.
+///
+/// Command handlers are also useful if you want to trigger multiple CAN messages
+/// or signals from a signal OpenXC message.
+///
+typedef struct {
+	const char* generic_name; /*!< generic_name - The name of the command.*/
+	CommandHandler handler; /*!< handler - An function to process the received command's data and perform some
+ 							 *	action.*/
+} CanCommand;
diff --git a/low-can-binding/can/can-decoder.cpp b/low-can-binding/can/can-decoder.cpp
new file mode 100644
index 00000000..61bfe753
--- /dev/null
+++ b/low-can-binding/can/can-decoder.cpp
@@ -0,0 +1,244 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "can-decoder.hpp"
+
+#include "canutil/read.h"
+#include "../utils/openxc-utils.hpp"
+#include "can-message-definition.hpp"
+#include "../binding/low-can-hat.hpp"
+
+/// @brief Parse the signal's bitfield from the given data and return the raw
+/// value.
+///
+/// @param[in] signal - The signal to parse from the data.
+/// @param[in] message - can_message_t to parse
+///
+/// @return Returns the raw value of the signal parsed as a bitfield from the given byte
+/// array.
+///
+float decoder_t::parseSignalBitfield(can_signal_t& signal, const can_message_t& message)
+{
+	 return bitfield_parse_float(message.get_data(), CAN_MESSAGE_SIZE,
+			signal.get_bit_position(), signal.get_bit_size(), signal.get_factor(),
+			signal.get_offset());
+}
+
+/// @brief Wrap a raw CAN signal value in a DynamicField without modification.
+///
+/// This is an implementation of the SignalDecoder type signature, and can be
+/// used directly in the can_signal_t.decoder field.
+///
+/// @param[in] signal - The details of the signal that contains the state mapping.
+/// @param[in] signals - The list of all signals
+/// @param[in] value - The numerical value that will be wrapped in a DynamicField.
+/// @param[out] send - An output argument that will be set to false if the value should
+///     not be sent for any reason.
+///
+/// @return Returns a DynamicField with the original, unmodified raw CAN signal value as
+/// its numeric value. The 'send' argument will not be modified as this decoder
+/// always succeeds.
+///
+openxc_DynamicField decoder_t::noopDecoder(can_signal_t& signal,
+		const std::vector<std::shared_ptr<can_signal_t> >& signals, float value, bool* send)
+{
+	openxc_DynamicField decoded_value = build_DynamicField(value);
+
+	return decoded_value;
+}
+/// @brief Coerces a numerical value to a boolean.
+///
+/// This is an implementation of the SignalDecoder type signature, and can be
+/// used directly in the can_signal_t.decoder field.
+///
+/// @param[in] signal  - The details of the signal that contains the state mapping.
+/// @param[in] signals - The list of all signals
+/// @param[in] value - The numerical value that will be converted to a boolean.
+/// @param[out] send - An output argument that will be set to false if the value should
+///     not be sent for any reason.
+///
+/// @return Returns a DynamicField with a boolean value of false if the raw signal value
+/// is 0.0, otherwise true. The 'send' argument will not be modified as this
+/// decoder always succeeds.
+///
+openxc_DynamicField decoder_t::booleanDecoder(can_signal_t& signal,
+		const std::vector<std::shared_ptr<can_signal_t> >& signals, float value, bool* send)
+{
+	openxc_DynamicField decoded_value = build_DynamicField(value == 0.0 ? false : true);
+
+	return decoded_value;
+}
+/// @brief Update the metadata for a signal and the newly received value.
+///
+/// This is an implementation of the SignalDecoder type signature, and can be
+/// used directly in the can_signal_t.decoder field.
+///
+/// This function always flips 'send' to false.
+///
+/// @param[in] signal  - The details of the signal that contains the state mapping.
+/// @param[in] signals - The list of all signals.
+/// @param[in] value - The numerical value that will be converted to a boolean.
+/// @param[out] send - This output argument will always be set to false, so the caller will
+///      know not to publish this value to the pipeline.
+///
+/// @return Return value is undefined.
+///
+openxc_DynamicField decoder_t::ignoreDecoder(can_signal_t& signal,
+		const std::vector<std::shared_ptr<can_signal_t> >& signals, float value, bool* send)
+{
+	if(send)
+	  *send = false;
+
+	openxc_DynamicField decoded_value;
+
+	return decoded_value;
+}
+
+/// @brief Find and return the corresponding string state for a CAN signal's
+/// raw integer value.
+///
+/// This is an implementation of the SignalDecoder type signature, and can be
+/// used directly in the can_signal_t.decoder field.
+///
+/// @param[in] signal  - The details of the signal that contains the state mapping.
+/// @param[in] signals - The list of all signals.
+/// @param[in] value - The numerical value that should map to a state.
+/// @param[out] send - An output argument that will be set to false if the value should
+///     not be sent for any reason.
+///
+/// @return Returns a DynamicField with a string value if a matching state is found in
+/// the signal. If an equivalent isn't found, send is sent to false and the
+/// return value is undefined.
+///
+openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal,
+		const std::vector<std::shared_ptr<can_signal_t> >& signals, float value, bool* send)
+{
+	const std::string signal_state = signal.get_states((uint8_t)value);
+	openxc_DynamicField decoded_value = build_DynamicField(signal_state);
+	if(signal_state.size() <= 0)
+	{
+		*send = false;
+		ERROR("No state found with index: %d", (int)value);
+	}
+	return decoded_value;
+}
+
+
+/// @brief Parse a signal from a CAN message, apply any required transforations
+///      to get a human readable value and public the result to the pipeline.
+///
+/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value
+/// will be passed to the decoder before publishing.
+///
+/// @param[in] signal - The details of the signal to decode and forward.
+/// @param[in] message - The received CAN message that should contain this signal.
+/// @param[in] signals - an array of all active signals.
+/// @param[out] send - An output parameter that will be flipped to false if the value could
+///      not be decoded.
+///
+/// The decoder returns an openxc_DynamicField, which may contain a number,
+/// string or boolean.
+///
+openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, const can_message_t& message,
+	const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send)
+{
+	float value = decoder_t::parseSignalBitfield(signal, message);
+	DEBUG("Decoded message from parseSignalBitfield: %f", value);
+
+	// Must call the decoders every time, regardless of if we are going to
+	// decide to send the signal or not.
+	openxc_DynamicField decoded_value = decoder_t::decodeSignal(signal,
+			value, signals, send);
+
+	signal.set_received(true);
+
+	// Don't send if they is no changes
+	if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send )
+	{
+		*send = false;
+	}
+	signal.set_last_value(value);
+	signal.set_timestamp(message.get_timestamp());
+	signal.get_message()->set_last_value(message);
+	return decoded_value;
+}
+
+/// @brief Parse a signal from a CAN message and apply any required
+/// transforations to get a human readable value.
+///
+/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value
+/// will be passed to the decoder before returning.
+///
+/// @param[in] signal - The details of the signal to decode and forward.
+/// @param[in] value - The numerical value that will be converted to a boolean.
+/// @param[in] signals - an array of all active signals.
+/// @param[out] send - An output parameter that will be flipped to false if the value could
+///      not be decoded.
+///
+/// @return The decoder returns an openxc_DynamicField, which may contain a number,
+/// string or boolean. If 'send' is false, the return value is undefined.
+///
+openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal,
+		float value, const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send)
+{
+	SignalDecoder decoder = signal.get_decoder() == nullptr ?
+							noopDecoder : signal.get_decoder();
+	openxc_DynamicField decoded_value = decoder(signal, signals,
+			value, send);
+	return decoded_value;
+}
+
+/// @brief Decode a transformed, human readable value from an raw CAN signal
+/// already parsed from a CAN message.
+///
+/// This is the same as decodeSignal but you must parse the bitfield value of the signal from the CAN
+/// message yourself. This is useful if you need that raw value for something
+/// else.
+///
+/// @param[in] signal - The details of the signal to decode and forward.
+/// @param[in] message - Raw CAN message to decode
+/// @param[in] signals - an array of all active signals.
+/// @param[out] send - An output parameter that will be flipped to false if the value could
+///      not be decoded.
+///
+openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal,
+		const can_message_t& message, const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send)
+{
+	float value = parseSignalBitfield(signal, message);
+	return decodeSignal(signal, value, signals, send);
+}
+
+
+///
+/// @brief Decode the payload of an OBD-II PID.
+///
+/// This function matches the type signature for a DiagnosticResponseDecoder, so
+/// it can be used as the decoder for a DiagnosticRequest. It returns the decoded
+/// value of the PID, using the standard formulas (see
+/// http://en.wikipedia.org/wiki/OBD-II_PIDs#Mode_01).
+///
+/// @param[in] response - the received DiagnosticResponse (the data is in response.payload,
+///  a byte array). This is most often used when the byte order is
+///  signiticant, i.e. with many OBD-II PID formulas.
+/// @param[in] parsed_payload - the entire payload of the response parsed as an int.
+///
+/// @return Float decoded value.
+///
+float decoder_t::decode_obd2_response(const DiagnosticResponse* response, float parsed_payload)
+{
+	return diagnostic_decode_obd2_pid(response);
+}
\ No newline at end of file
diff --git a/low-can-binding/can/can-decoder.hpp b/low-can-binding/can/can-decoder.hpp
new file mode 100644
index 00000000..7eaa4a72
--- /dev/null
+++ b/low-can-binding/can/can-decoder.hpp
@@ -0,0 +1,49 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include "can-signals.hpp"
+#include "can-message.hpp"
+#include "openxc.pb.h"
+
+class decoder_t
+{
+public:
+	static float parseSignalBitfield(can_signal_t& signal, const can_message_t& message);
+
+	static openxc_DynamicField stateDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> >& signals,
+			float value, bool* send);
+	static openxc_DynamicField booleanDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> >& signals,
+			float value, bool* send);
+	static openxc_DynamicField ignoreDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> >& signals,
+			float value, bool* send);
+	static openxc_DynamicField noopDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> >& signals,
+			float value, bool* send);
+
+	static openxc_DynamicField translateSignal(can_signal_t& signal, const can_message_t& message,
+		const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send);
+
+	static openxc_DynamicField decodeSignal(can_signal_t& signal, const can_message_t& message,
+			const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send);
+
+	static openxc_DynamicField decodeSignal(can_signal_t& signal, float value,
+		const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send);
+
+	static float decode_obd2_response(const DiagnosticResponse* response, float parsed_payload);
+
+};
\ No newline at end of file
diff --git a/low-can-binding/can/can-message-definition.cpp b/low-can-binding/can/can-message-definition.cpp
new file mode 100644
index 00000000..28d45fe5
--- /dev/null
+++ b/low-can-binding/can/can-message-definition.cpp
@@ -0,0 +1,100 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "can-message-definition.hpp"
+
+#include "../binding/application.hpp"
+
+can_message_definition_t::can_message_definition_t(const std::string bus)
+	: parent_{nullptr}, bus_{bus}, last_value_{CAN_MESSAGE_SIZE}
+{}
+
+can_message_definition_t::can_message_definition_t(
+	const std::string bus,
+	uint32_t id,
+	frequency_clock_t frequency_clock,
+	bool force_send_changed)
+	: parent_{nullptr},
+	  bus_{bus},
+	  id_{id},
+	  frequency_clock_{frequency_clock},
+	  force_send_changed_{force_send_changed},
+	  last_value_{CAN_MESSAGE_SIZE}
+{}
+
+can_message_definition_t::can_message_definition_t(
+	const std::string bus,
+	uint32_t id,
+	can_message_format_t format,
+	frequency_clock_t frequency_clock,
+	bool force_send_changed)
+	: parent_{nullptr},
+	bus_{bus},
+	id_{id},
+	format_{format},
+	frequency_clock_{frequency_clock},
+	force_send_changed_{force_send_changed},
+	last_value_{CAN_MESSAGE_SIZE}
+{}
+
+can_message_definition_t::can_message_definition_t(
+	const std::string bus,
+	uint32_t id,
+	can_message_format_t format,
+	frequency_clock_t frequency_clock,
+	bool force_send_changed,
+	const std::vector<std::shared_ptr<can_signal_t> >& can_signals)
+	:  parent_{nullptr},
+	bus_{bus},
+	id_{id},
+	format_{format},
+	frequency_clock_{frequency_clock},
+	force_send_changed_{force_send_changed},
+	last_value_{CAN_MESSAGE_SIZE},
+	can_signals_{can_signals}
+{}
+
+const std::string can_message_definition_t::get_bus_name() const
+{
+	return bus_;
+}
+
+const std::string can_message_definition_t::get_bus_device_name() const
+{
+	return application_t::instance().get_can_bus_manager()
+		.get_can_device_name(bus_);
+}
+
+uint32_t can_message_definition_t::get_id() const
+{
+	return id_;
+}
+
+std::vector<std::shared_ptr<can_signal_t> >& can_message_definition_t::get_can_signals()
+{
+	return can_signals_;
+}
+
+void can_message_definition_t::set_parent(can_message_set_t* parent)
+{
+	parent_= parent;
+}
+
+void can_message_definition_t::set_last_value(const can_message_t& cm)
+{
+	last_value_= cm.get_data_vector();
+}
\ No newline at end of file
diff --git a/low-can-binding/can/can-message-definition.hpp b/low-can-binding/can/can-message-definition.hpp
new file mode 100644
index 00000000..6d0f17d6
--- /dev/null
+++ b/low-can-binding/can/can-message-definition.hpp
@@ -0,0 +1,71 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/**
+ * @class can_message_definition_t
+ *
+ * @brief The definition of a CAN message. This includes a lot of metadata, so
+ * to save memory this struct should not be used for storing incoming and
+ * outgoing CAN messages.
+ */
+
+#pragma once
+
+#include <vector>
+#include <memory>
+
+#include "can-signals.hpp"
+#include "can-message.hpp"
+#include "can-message-set.hpp"
+#include "../utils/timer.hpp"
+
+class can_message_set_t;
+
+/// @brief The definition of a CAN message. This includes a lot of metadata, so
+///  to save memory this class gets the can_signal_t object related to a CAN message.
+class can_message_definition_t
+{
+private:
+	can_message_set_t* parent_; ///< parent_ - Pointer to the CAN message set holding this CAN message definition */
+	std::string bus_; ///< bus_ - Address of CAN bus device. */
+	uint32_t id_; ///< id_ - The ID of the message.*/
+	can_message_format_t format_; ///< format_ - the format of the message's ID.*/
+	frequency_clock_t frequency_clock_; ///<  clock_ - an optional frequency clock to control the output of this
+							///      message, if sent raw, or simply to mark the max frequency for custom
+							///      handlers to retrieve.*/
+	bool force_send_changed_; ///< force_send_changed_ - If true, regardless of the frequency, it will send CAN
+							///	message if it has changed when using raw passthrough.*/
+	std::vector<uint8_t> last_value_; ///< last_value_ - The last received value of the message. Defaults to undefined.
+										///	This is required for the forceSendChanged functionality, as the stack
+										///	needs to compare an incoming CAN message with the previous frame.*/
+	std::vector<std::shared_ptr<can_signal_t> > can_signals_; ///< can_signals_ - Vector holding can_signal_t object which share the same arbitration ID */
+
+public:
+	//can_message_definition_t(const can_message_definition_t& b);
+	can_message_definition_t(const std::string bus);
+	can_message_definition_t(const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed);
+	can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed);
+	can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed, const std::vector<std::shared_ptr<can_signal_t> >& can_signals);
+
+	const std::string get_bus_name() const;
+	const std::string get_bus_device_name() const;
+	uint32_t get_id() const;
+	std::vector<std::shared_ptr<can_signal_t> >& get_can_signals();
+
+	void set_parent(can_message_set_t* parent);
+	void set_last_value(const can_message_t& cm);
+};
diff --git a/low-can-binding/can/can-message-set.cpp b/low-can-binding/can/can-message-set.cpp
new file mode 100644
index 00000000..c31dec62
--- /dev/null
+++ b/low-can-binding/can/can-message-set.cpp
@@ -0,0 +1,59 @@
+/*
+ * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loïc Collignon" <loic.collignon@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "can-message-set.hpp"
+
+#include "../can/can-message-definition.hpp"
+
+can_message_set_t::can_message_set_t(
+		uint8_t index,
+		const std::string& name,
+		const std::vector<std::shared_ptr<can_message_definition_t> >& can_messages_definition,
+		const std::vector<std::shared_ptr<diagnostic_message_t> >& diagnostic_messages)
+	: index_{index}
+	, name_{name}
+	, can_messages_definition_{can_messages_definition}
+	, diagnostic_messages_{diagnostic_messages}
+{}
+
+/// @brief Return vector holding all message definition handled by this message set.
+std::vector<std::shared_ptr<can_message_definition_t> >& can_message_set_t::get_can_message_definition()
+{
+	return can_messages_definition_;
+}
+
+std::vector<std::shared_ptr<can_signal_t> > can_message_set_t::get_all_can_signals() const
+{
+	std::vector<std::shared_ptr<can_signal_t> > can_signals;
+	for(const auto& cmd: can_messages_definition_)
+	{
+		std::vector<std::shared_ptr<can_signal_t> >& cmd_signals = cmd->get_can_signals();
+		can_signals.insert( can_signals.end(),
+							cmd_signals.begin(),
+							cmd_signals.end()
+		);
+	}
+
+	return can_signals;
+}
+
+/// @brief Return vector holding all diagnostic messages definitions handled by this message set.
+std::vector<std::shared_ptr<diagnostic_message_t> >& can_message_set_t::get_diagnostic_messages()
+{
+	return diagnostic_messages_;
+}
\ No newline at end of file
diff --git a/low-can-binding/can/can-message-set.hpp b/low-can-binding/can/can-message-set.hpp
new file mode 100644
index 00000000..2a7cb53c
--- /dev/null
+++ b/low-can-binding/can/can-message-set.hpp
@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loïc Collignon" <loic.collignon@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <cstdint>
+#include <string>
+#include <vector>
+#include <memory>
+
+class can_signal_t;
+class can_message_definition_t;
+class diagnostic_message_t;
+
+/// @brief A parent wrapper for a particular set of CAN messages and diagnostic messages 
+/// (e.g. a vehicle or program).
+class can_message_set_t
+{
+private:
+	uint8_t index_; /// < A numerical ID for the message set, ideally the index in an array for fast lookup
+	const std::string name_; /// < The name of the message set.
+	std::vector<std::shared_ptr<can_message_definition_t> > can_messages_definition_; ///< Vector holding all message definition handled by this message set.
+	std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages_; ///< Vector holding all diagnostics messages from JSON signals description file. First vector map to message set
+
+public:
+	can_message_set_t(
+			uint8_t index,
+			const std::string& name,
+			const std::vector<std::shared_ptr<can_message_definition_t> >& can_messages_definition,
+			const std::vector<std::shared_ptr<diagnostic_message_t> >& diagnostic_messages);
+
+	std::vector<std::shared_ptr<can_message_definition_t> >& get_can_message_definition();
+	std::vector<std::shared_ptr<can_signal_t> > get_all_can_signals() const;
+	std::vector<std::shared_ptr<diagnostic_message_t> >& get_diagnostic_messages();
+};
diff --git a/low-can-binding/can/can-message.cpp b/low-can-binding/can/can-message.cpp
new file mode 100644
index 00000000..057bc71f
--- /dev/null
+++ b/low-can-binding/can/can-message.cpp
@@ -0,0 +1,389 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "can-message.hpp"
+
+#include <cstring>
+
+#include "../binding/low-can-hat.hpp"
+
+///
+/// @brief Class constructor
+///
+/// Constructor about can_message_t class.
+///
+can_message_t::can_message_t()
+	: maxdlen_{0},
+	 id_{0},
+	 length_{0},
+	 format_{can_message_format_t::INVALID},
+	 rtr_flag_{false},
+	 flags_{0},
+	 timestamp_{0},
+	 sub_id_{-1}
+{}
+
+can_message_t::can_message_t(uint8_t maxdlen,
+	uint32_t id,
+	uint8_t length,
+	can_message_format_t format,
+	bool rtr_flag,
+	uint8_t flags,
+	std::vector<uint8_t>& data,
+	uint64_t timestamp)
+	:  maxdlen_{maxdlen},
+	id_{id},
+	length_{length},
+	format_{format},
+	rtr_flag_{rtr_flag},
+	flags_{flags},
+	data_{data},
+	timestamp_{timestamp},
+	sub_id_{-1}
+{}
+
+///
+/// @brief Retrieve id_ member value.
+///
+/// @return id_ class member
+///
+uint32_t can_message_t::get_id() const
+{
+	return id_;
+}
+
+int can_message_t::get_sub_id() const
+{
+	return sub_id_;
+}
+
+///
+/// @brief Retrieve RTR flag member.
+///
+/// @return rtr_flags_ class member
+///
+bool can_message_t::get_rtr_flag_() const
+{
+	return rtr_flag_;
+}
+
+///
+/// @brief Retrieve format_ member value.
+///
+/// @return format_ class member. Default to INVALID.
+///
+can_message_format_t can_message_t::get_format() const
+{
+	if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED)
+		return can_message_format_t::INVALID;
+	return format_;
+}
+
+///
+/// @brief Retrieve flags_ member value.
+///
+/// @return flags_ class member
+///
+uint8_t can_message_t::get_flags() const
+{
+	return flags_;
+}
+
+///
+/// @brief Retrieve data_ member value.
+///
+/// @return pointer to the first element
+///  of class member data_
+///
+const uint8_t* can_message_t::get_data() const
+{
+	return data_.data();
+}
+
+///
+/// @brief Retrieve data_ member whole vector
+///
+/// @return the vector as is
+///
+const std::vector<uint8_t> can_message_t::get_data_vector() const
+{
+	return data_;
+}
+
+///
+/// @brief Retrieve length_ member value.
+///
+/// @return length_ class member
+///
+uint8_t can_message_t::get_length() const
+{
+	return length_;
+}
+
+void can_message_t::set_sub_id(int sub_id)
+{
+	sub_id_ = sub_id;
+}
+
+uint64_t can_message_t::get_timestamp() const
+{
+	return timestamp_;
+}
+
+void can_message_t::set_timestamp(uint64_t timestamp)
+{
+	timestamp_ = timestamp;
+}
+
+/// @brief Control whether the object is correctly initialized
+///  to be sent over the CAN bus
+///
+/// @return True if object correctly initialized and false if not.
+bool can_message_t::is_correct_to_send()
+{
+	if (id_ != 0 && length_ != 0 && format_ != can_message_format_t::INVALID)
+	{
+		int i;
+		for(i=0;i<CAN_MESSAGE_SIZE;i++)
+			if(data_[i] != 0)
+				return true;
+	}
+	return false;
+}
+
+/// @brief Set format_ member value.
+///
+/// Preferred way to initialize these members by using
+/// convert_from_canfd_frame method.
+///
+/// @param[in] new_format - class member
+void can_message_t::set_format(const can_message_format_t new_format)
+{
+	if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::INVALID)
+		format_ = new_format;
+	else
+		ERROR("Can set format, wrong format chosen");
+}
+
+/// @brief Take a canfd_frame struct to initialize class members
+///
+/// This is the preferred way to initialize class members.
+///
+/// @param[in] frame - canfd_frame to convert coming from a read of CAN socket
+/// @param[in] nbytes - bytes read from socket read operation.
+///
+/// @return A can_message_t object fully initialized with canfd_frame values.
+can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
+{
+	uint8_t maxdlen, length, flags = (uint8_t)NULL;
+	uint32_t id;
+	can_message_format_t format;
+	bool rtr_flag;
+	std::vector<uint8_t> data;
+
+	switch(nbytes)
+	{
+		case CANFD_MTU:
+			DEBUG("Got an CAN FD frame");
+			maxdlen = CANFD_MAX_DLEN;
+			break;
+		case CAN_MTU:
+			DEBUG("Got a legacy CAN frame");
+			maxdlen = CAN_MAX_DLEN;
+			break;
+		default:
+			ERROR("unsupported CAN frame");
+			break;
+	}
+
+	if (frame.can_id & CAN_ERR_FLAG)
+	{
+		format = can_message_format_t::INVALID;
+		id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+	}
+	else if (frame.can_id & CAN_EFF_FLAG)
+	{
+		format = can_message_format_t::EXTENDED;
+		id = frame.can_id & CAN_EFF_MASK;
+	}
+	else
+	{
+		format = can_message_format_t::STANDARD;
+		id = frame.can_id & CAN_SFF_MASK;
+	}
+
+	/* Overwrite length_ if RTR flags is detected.
+	 * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
+	if (frame.can_id & CAN_RTR_FLAG)
+	{
+		rtr_flag = true;
+		if(frame.len && frame.len <= CAN_MAX_DLC)
+		{
+			if(rtr_flag)
+				length = frame.len& 0xF;
+			else
+			{
+				length = (frame.len > maxdlen) ? maxdlen : frame.len;
+			}
+		}
+	}
+	else
+	{
+		length = (frame.len > maxdlen) ? maxdlen : frame.len;
+
+		/* Flags field only present for CAN FD frames*/
+		if(maxdlen == CANFD_MAX_DLEN)
+				flags = frame.flags & 0xF;
+
+		if (data.capacity() < maxdlen)
+			data.reserve(maxdlen);
+				int i;
+
+			data.clear();
+			/* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
+			for(i=0;i<maxdlen;i++)
+			{
+				data.push_back(frame.data[i]);
+			};
+
+		DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
+								id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
+	}
+
+	return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
+}
+
+/// @brief Take a can_frame struct to initialize class members
+///
+/// This is the preferred way to initialize class members.
+///
+/// @param[in] frame - can_frame to convert coming from a read of CAN socket
+/// @param[in] nbytes - bytes read from socket read operation.
+///
+/// @return A can_message_t object fully initialized with can_frame values.
+can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes, uint64_t timestamp)
+{
+	uint8_t maxdlen, length, flags = (uint8_t)NULL;
+	uint32_t id;
+	can_message_format_t format;
+	bool rtr_flag;
+	std::vector<uint8_t> data;
+
+	if(nbytes <= CAN_MTU)
+	{
+			DEBUG("Got a legacy CAN frame");
+			maxdlen = CAN_MAX_DLEN;
+	}
+	else
+	{
+			ERROR("unsupported CAN frame");
+	}
+
+	if (frame.can_id & CAN_ERR_FLAG)
+	{
+		format = can_message_format_t::INVALID;
+		id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+	}
+	else if (frame.can_id & CAN_EFF_FLAG)
+	{
+		format = can_message_format_t::EXTENDED;
+		id = frame.can_id & CAN_EFF_MASK;
+	}
+	else
+	{
+		format = can_message_format_t::STANDARD;
+		id = frame.can_id & CAN_SFF_MASK;
+	}
+
+	/* Overwrite length_ if RTR flags is detected.
+	 * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
+	if (frame.can_id & CAN_RTR_FLAG)
+	{
+		rtr_flag = true;
+		if(frame.can_dlc && frame.can_dlc <= CAN_MAX_DLC)
+		{
+			if(rtr_flag)
+				length = frame.can_dlc& 0xF;
+			else
+			{
+				length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
+			}
+		}
+	}
+	else
+	{
+		length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
+
+		if (data.capacity() < maxdlen)
+			data.reserve(maxdlen);
+				int i;
+
+			data.clear();
+			/* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
+			for(i=0;i<maxdlen;i++)
+			{
+				data.push_back(frame.data[i]);
+			};
+
+//		DEBUG("Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
+//								id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
+	}
+
+	return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp);
+}
+
+/// @brief Take all initialized class's members and build an
+/// canfd_frame struct that can be use to send a CAN message over
+/// the bus.
+///
+/// @return canfd_frame struct built from class members.
+struct canfd_frame can_message_t::convert_to_canfd_frame()
+{
+	canfd_frame frame;
+
+	if(is_correct_to_send())
+	{
+		frame.can_id = get_id();
+		frame.len = get_length();
+		::memcpy(frame.data, get_data(), length_);
+	}
+	else
+		ERROR("can_message_t not correctly initialized to be sent");
+
+	return frame;
+}
+
+/// @brief Take all initialized class's members and build an
+/// can_frame struct that can be use to send a CAN message over
+/// the bus.
+///
+/// @return can_frame struct built from class members.
+struct can_frame can_message_t::convert_to_can_frame()
+{
+	can_frame frame;
+
+	if(is_correct_to_send())
+	{
+		frame.can_id = get_id();
+		frame.can_dlc = get_length();
+		::memcpy(frame.data, get_data(), length_);
+	}
+	else
+		ERROR("can_message_t not correctly initialized to be sent");
+
+	return frame;
+}
diff --git a/low-can-binding/can/can-message.hpp b/low-can-binding/can/can-message.hpp
new file mode 100644
index 00000000..b206ebdb
--- /dev/null
+++ b/low-can-binding/can/can-message.hpp
@@ -0,0 +1,80 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <vector>
+#include <string>
+#include <cstdint>
+#include <linux/can.h>
+
+#include "../utils/timer.hpp"
+
+#define CAN_MESSAGE_SIZE 8
+
+/**
+ * @enum can_message_format_t
+ * @brief The ID format for a CAN message.
+ */
+enum class can_message_format_t {
+	STANDARD, ///< STANDARD - standard 11-bit CAN arbitration ID. */
+	EXTENDED, ///< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
+	INVALID,    ///< INVALID - INVALID code used at initialization to signify that it isn't usable'*/
+};
+
+/// @class can_message_t
+///
+/// @brief A compact representation of a single CAN message, meant to be used in in/out
+/// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes.
+class can_message_t {
+private:
+	uint8_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
+	uint32_t id_; ///< id_ - The ID of the message. */
+	uint8_t length_; ///< length_ - the length of the data array (max 8). */
+	can_message_format_t format_; ///< format_ - the format of the message's ID.*/
+	bool rtr_flag_; ///< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
+	uint8_t flags_; ///< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
+	std::vector<uint8_t> data_; ///< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
+	uint64_t timestamp_; ///< timestamp_ - timestamp of the received message*/
+	int sub_id_; ///< sub_id_ - Subscription index. */
+
+public:
+	can_message_t();
+	can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
+
+	uint32_t get_id() const;
+	int get_sub_id() const;
+	bool get_rtr_flag_() const;
+	can_message_format_t get_format() const;
+	uint8_t get_flags() const;
+	const uint8_t* get_data() const;
+	const std::vector<uint8_t> get_data_vector() const;
+	uint8_t get_length() const;
+	uint64_t get_timestamp() const;
+
+	void set_sub_id(int sub_id);
+	void set_timestamp(uint64_t timestamp);
+	void set_format(const can_message_format_t new_format);
+
+	bool is_correct_to_send();
+
+	static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
+	static can_message_t convert_from_frame(const can_frame& frame, size_t nbytes, uint64_t timestamp);
+
+	struct canfd_frame convert_to_canfd_frame();
+	struct can_frame convert_to_can_frame();
+};
diff --git a/low-can-binding/can/can-signals.cpp b/low-can-binding/can/can-signals.cpp
new file mode 100644
index 00000000..fe74115c
--- /dev/null
+++ b/low-can-binding/can/can-signals.cpp
@@ -0,0 +1,203 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <fnmatch.h>
+
+#include "can-signals.hpp"
+
+#include "../binding/application.hpp"
+#include "../utils/signals.hpp"
+#include "can-decoder.hpp"
+#include "can-message.hpp"
+#include "can-bus.hpp"
+#include "../diagnostic/diagnostic-message.hpp"
+#include "canutil/write.h"
+
+std::string can_signal_t::prefix_ = "messages";
+
+can_signal_t::can_signal_t(
+	std::string generic_name,
+	uint8_t bit_position,
+	uint8_t bit_size,
+	float factor,
+	float offset,
+	float min_value,
+	float max_value,
+	frequency_clock_t frequency,
+	bool send_same,
+	bool force_send_changed,
+	std::map<uint8_t, std::string> states,
+	bool writable,
+	SignalDecoder decoder,
+	SignalEncoder encoder,
+	bool received)
+	: parent_{nullptr},
+	 generic_name_{ generic_name }
+	, bit_position_{ bit_position }
+	, bit_size_{ bit_size }
+	, factor_{ factor }
+	, offset_{ offset }
+	, min_value_{min_value}
+	, max_value_{max_value}
+	, frequency_{frequency}
+	, send_same_{send_same}
+	, force_send_changed_{force_send_changed}
+	, states_{states}
+	, writable_{writable}
+	, decoder_{decoder}
+	, encoder_{encoder}
+	, received_{received}
+	, last_value_{.0f}
+{}
+
+can_message_definition_t* can_signal_t::get_message() const
+{
+	return parent_;
+}
+
+const std::string can_signal_t::get_generic_name() const
+{
+	return generic_name_;
+}
+
+const std::string can_signal_t::get_name() const
+{
+	return prefix_ + "." + generic_name_;
+}
+
+const std::string can_signal_t::get_prefix() const
+{
+	return prefix_;
+}
+
+uint8_t can_signal_t::get_bit_position() const
+{
+	return bit_position_;
+}
+
+uint8_t can_signal_t::get_bit_size() const
+{
+	return bit_size_;
+}
+
+float can_signal_t::get_factor() const
+{
+	return factor_;
+}
+
+float can_signal_t::get_offset() const
+{
+	return offset_;
+}
+
+float can_signal_t::get_min_value() const
+{
+	return min_value_;
+}	
+
+float can_signal_t::get_max_value() const
+{
+	return max_value_;
+}
+
+frequency_clock_t& can_signal_t::get_frequency()
+{
+	return frequency_;
+}
+
+bool can_signal_t::get_send_same() const
+{
+	return send_same_;
+}
+
+bool can_signal_t::get_force_send_changed() const
+{
+	return force_send_changed_;
+}
+
+const std::map<uint8_t, std::string>& can_signal_t::get_states() const
+{
+	return states_;
+}
+
+const std::string can_signal_t::get_states(uint8_t value)
+{
+	if (value < states_.size())
+		return states_[value];
+	return std::string();
+}
+
+size_t can_signal_t::get_state_count() const
+{
+	return states_.size();
+}
+
+bool can_signal_t::get_writable() const
+{
+	return writable_;
+}
+
+SignalDecoder& can_signal_t::get_decoder()
+{
+	return decoder_;
+}
+
+SignalEncoder& can_signal_t::get_encoder()
+{
+	return encoder_;
+}
+
+bool can_signal_t::get_received() const
+{
+	return received_;
+}
+
+float can_signal_t::get_last_value() const
+{
+	return last_value_;
+}
+
+std::pair<float, uint64_t> can_signal_t::get_last_value_with_timestamp() const
+{
+	return std::make_pair(last_value_, frequency_.get_last_tick());
+}
+
+void can_signal_t::set_parent(can_message_definition_t* parent)
+{
+	parent_ = parent;
+}
+
+void can_signal_t::set_prefix(std::string val)
+{
+	prefix_ = val;
+}
+
+void can_signal_t::set_received(bool r)
+{
+	received_ = r;
+}
+
+void can_signal_t::set_last_value(float val)
+{
+	last_value_ = val;
+}
+
+void can_signal_t::set_timestamp(uint64_t timestamp)
+{
+	frequency_.tick(timestamp);
+}
+
diff --git a/low-can-binding/can/can-signals.hpp b/low-can-binding/can/can-signals.hpp
new file mode 100644
index 00000000..a56fc8cd
--- /dev/null
+++ b/low-can-binding/can/can-signals.hpp
@@ -0,0 +1,151 @@
+///
+/// Copyright (C) 2015, 2016 "IoT.bzh"
+/// Author "Romain Forlot" <romain.forlot@iot.bzh>
+///
+/// Licensed under the Apache License, Version 2.0 (the "License");
+/// you may not use this file except in compliance with the License.
+/// You may obtain a copy of the License at
+///
+///	 http://www.apache.org/licenses/LICENSE-2.0
+///
+/// Unless required by applicable law or agreed to in writing, software
+/// distributed under the License is distributed on an "AS IS" BASIS,
+/// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+/// See the License for the specific language governing permissions and
+/// limitations under the License.
+///
+
+#pragma once
+
+#include <map>
+#include <mutex>
+#include <vector>
+#include <string>
+#include <memory>
+
+#include "openxc.pb.h"
+#include "can-message-definition.hpp"
+#include "../utils/timer.hpp"
+#include "../utils/socketcan-bcm.hpp"
+#include "can-message.hpp"
+#include "../diagnostic/diagnostic-message.hpp"
+
+#define MESSAGE_SET_ID 0
+
+class can_signal_t;
+///
+/// @brief The type signature for a CAN signal decoder.
+///
+/// A SignalDecoder transforms a raw floating point CAN signal into a number,
+/// string or boolean.
+///
+/// @param[in] signal - The CAN signal that we are decoding.
+/// @param[in] signals - The list of all signals.
+/// @param[in] signalCount - The length of the signals array.
+/// @param[in] value - The CAN signal parsed from the message as a raw floating point
+///	value.
+/// @param[out] send - An output parameter. If the decoding failed or the CAN signal should
+///	not send for some other reason, this should be flipped to false.
+///
+/// @return a decoded value in an openxc_DynamicField struct.
+///
+typedef openxc_DynamicField (*SignalDecoder)(can_signal_t& signal,
+		const std::vector<std::shared_ptr<can_signal_t> >& signals, float value, bool* send);
+
+///
+/// @brief: The type signature for a CAN signal encoder.
+///
+/// A SignalEncoder transforms a number, string or boolean into a raw floating
+/// point value that fits in the CAN signal.
+///
+/// @param[in] signal - The CAN signal to encode. 
+/// @param[in] value - The dynamic field to encode.
+/// @param[out] send - An output parameter. If the encoding failed or the CAN signal should
+/// not be encoded for some other reason, this will be flipped to false.
+///
+typedef uint64_t (*SignalEncoder)(can_signal_t* signal,
+		openxc_DynamicField* value, bool* send);
+
+class can_signal_t
+{
+private:
+	can_message_definition_t* parent_; /*!< parent_ - pointer to the parent message definition holding this signal*/
+	std::string generic_name_; /*!< generic_name_ - The name of the signal to be output.*/
+	static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol.
+						  * which make easier to sort message when the come in.*/
+	uint8_t bit_position_; /*!< bitPosition_ - The starting bit of the signal in its CAN message (assuming
+										*	non-inverted bit numbering, i.e. the most significant bit of
+										*	each byte is 0) */
+	uint8_t bit_size_; /*!< bit_size_ - The width of the bit field in the CAN message. */
+	float factor_; /*!< factor_ - The final value will be multiplied by this factor. Use 1 if you
+							*	don't need a factor. */
+	float offset_; /*!< offset_ - The final value will be added to this offset. Use 0 if you
+							*	don't need an offset. */
+	float min_value_; /*!< min_value_ - The minimum value for the processed signal.*/
+	float max_value_; /*!< max_value_ - The maximum value for the processed signal. */
+	frequency_clock_t frequency_; /*!< frequency_ - A frequency_clock_t struct to control the maximum frequency to
+								*	process and send this signal. To process every value, set the
+								*	clock's frequency to 0. */
+	bool send_same_; /*!< send_same_ - If true, will re-send even if the value hasn't changed.*/
+	bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send the
+							   * value if it has changed. */
+	std::map<uint8_t, std::string> states_; /*!< states_ - A map of CAN signal state describing the mapping
+										 * between numerical and string values for valid states. */
+	bool writable_; /*!< writable - True if the signal is allowed to be written from the USB host
+					 *	back to CAN. Defaults to false.*/
+	SignalDecoder decoder_; /*!< decoder_ - An optional function to decode a signal from the bus to a human
+							 * readable value. If NULL, the default numerical decoder is used. */
+	SignalEncoder encoder_; /*!< encoder_ - An optional function to encode a signal value to be written to
+							 * CAN into a byte array. If NULL, the default numerical encoder
+							 * is used. */
+	bool received_; /*!< received_ - True if this signal has ever been received.*/
+	float last_value_; /*!< lastValue_ - The last received value of the signal. If 'received' is false,
+						*	this value is undefined. */
+
+public:
+	can_signal_t(
+		std::string generic_name,
+		uint8_t bit_position,
+		uint8_t bit_size,
+		float factor,
+		float offset,
+		float min_value,
+		float max_value,
+		frequency_clock_t frequency,
+		bool send_same,
+		bool force_send_changed,
+		std::map<uint8_t, std::string> states,
+		bool writable,
+		SignalDecoder decoder,
+		SignalEncoder encoder,
+		bool received);
+
+	can_message_definition_t* get_message() const;
+	const std::string get_generic_name() const;
+	const std::string get_name() const;
+	const std::string get_prefix() const;
+	uint8_t get_bit_position() const;
+	uint8_t get_bit_size() const;
+	float get_factor() const;
+	float get_offset() const;
+	float get_min_value() const;
+	float get_max_value() const;
+	frequency_clock_t& get_frequency();
+	bool get_send_same() const;
+	bool get_force_send_changed() const;
+	const std::map<uint8_t, std::string>& get_states() const;
+	const std::string get_states(uint8_t value);
+	size_t get_state_count() const;
+	bool get_writable() const;
+	SignalDecoder& get_decoder();
+	SignalEncoder& get_encoder();
+	bool get_received() const;
+	float get_last_value() const;
+	std::pair<float, uint64_t> get_last_value_with_timestamp() const;
+
+	void set_parent(can_message_definition_t* parent);
+	void set_prefix(std::string val);
+	void set_received(bool r);
+	void set_last_value(float val);
+	void set_timestamp(uint64_t timestamp);
+};