Add feature to build messages and fix some functions

Allows to build a message (J1939,BCM) with a signal and a value.

Bug-AGL: SPEC-2386

Signed-off-by: Arthur Guyader <arthur.guyader@iot.bzh>
Change-Id: Iadca13a927ff83f713f39da441c88356695a1285

22 files changed, 524 insertions, 133 deletions

diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp
index dbeaa555..9c21b675 100644
--- a/low-can-binding/binding/low-can-cb.cpp
+++ b/low-can-binding/binding/low-can-cb.cpp
@@ -197,7 +197,10 @@ static int subscribe_unsubscribe_diagnostic_messages(afb_req_t request,
 		event_filter.frequency = event_filter.frequency == 0 ? sig->get_frequency() : event_filter.frequency;
 		std::shared_ptr<low_can_subscription_t> can_subscription;
 
-		auto it =  std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return (! sub.second->get_diagnostic_message().empty());});
+		auto it =  std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
+		{
+			return (! sub.second->get_diagnostic_message().empty());
+		});
 		can_subscription = it != s.end() ?
 			it->second :
 			std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
@@ -250,7 +253,10 @@ static int subscribe_unsubscribe_signals(afb_req_t request,
 	int rets = 0;
 	for(const auto& sig: signals)
 	{
-		auto it =  std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return sub.second->is_signal_subscription_corresponding(sig, event_filter) ; });
+		auto it =  std::find_if(s.begin(), s.end(), [&sig, &event_filter](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub)
+		{
+			return sub.second->is_signal_subscription_corresponding(sig, event_filter) ;
+		});
 		std::shared_ptr<low_can_subscription_t> can_subscription;
 		if(it != s.end())
 			{can_subscription = it->second;}
@@ -374,14 +380,14 @@ static int process_one_subscribe_args(afb_req_t request, bool subscribe, json_ob
 
 	// 2 cases : ID(PGN) and event
 
-	json_bool test_event = json_object_object_get_ex(args,"event",&event);
+	json_object_object_get_ex(args,"event",&event);
 	json_bool test_id = json_object_object_get_ex(args,"id",&id);
 	if(!test_id)
 	{
-		json_object_object_get_ex(args,"pgn",&id);
+		test_id = json_object_object_get_ex(args,"pgn",&id);
 	}
 
-	if(	args == NULL || (!test_event && !id))
+	if(	args == NULL || (id && ((std::string)json_object_get_string(id)).compare("*") == 0))
 	{
 		rc = one_subscribe_unsubscribe_events(request, subscribe, "*", args);
 	}
@@ -467,55 +473,122 @@ void unsubscribe(afb_req_t request)
 	do_subscribe_unsubscribe(request, false);
 }
 
-static int send_frame(struct canfd_frame& cfd, const std::string& bus_name)
+/*
+static int send_frame(struct canfd_frame& cfd, const std::string& bus_name, socket_type type)
 {
-	if(bus_name.empty()) {
+	if(bus_name.empty())
+	{
 		return -1;
 	}
 
 	std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 
 	if( cd.count(bus_name) == 0)
-		{cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());}
+	{
+		cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
+	}
 
-	return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
-}
 
-static void write_raw_frame(afb_req_t request, const std::string& bus_name, json_object *json_value)
+	if(type == socket_type::BCM)
+	{
+		return low_can_subscription_t::tx_send(*cd[bus_name], cfd, bus_name);
+	}
+	else{
+		return -1;
+	}
+}
+*/
+static int send_message(message_t *message, const std::string& bus_name, socket_type type)
 {
-	struct canfd_frame cfd;
-	struct json_object *can_data = nullptr;
+	if(bus_name.empty())
+	{
+		return -1;
+	}
 
-	::memset(&cfd, 0, sizeof(cfd));
+	std::map<std::string, std::shared_ptr<low_can_subscription_t> >& cd = application_t::instance().get_can_devices();
 
-	if(wrap_json_unpack(json_value, "{si, si, so !}",
-			      "can_id", &cfd.can_id,
-			      "can_dlc", &cfd.len,
-			      "can_data", &can_data))
+	if( cd.count(bus_name) == 0)
 	{
-		afb_req_fail(request, "Invalid", "Frame object malformed");
-		return;
+		cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());
+	}
+
+
+	if(type == socket_type::BCM)
+	{
+		return low_can_subscription_t::tx_send(*cd[bus_name], message, bus_name);
+	}
+	else
+	{
+		return -1;
 	}
+}
+
 
-	if(cfd.len <= 8 && cfd.len > 0)
+static void write_raw_frame(afb_req_t request, const std::string& bus_name, message_t *message, struct json_object *can_data, socket_type type)
+{
+	if((message->get_length() <= 8 && message->get_length() > 0 && type == socket_type::BCM)
+#ifdef USE_FEATURE_J1939
+	|| (message->get_length() < J1939_MAX_DLEN && type == socket_type::J1939)
+#endif
+	)
 	{
-		for (int i = 0 ; i < cfd.len ; i++)
+
+		std::vector<uint8_t> data;
+		for (int i = 0 ; i < message->get_length() ; i++)
 		{
 			struct json_object *one_can_data = json_object_array_get_idx(can_data, i);
-			cfd.data[i] = (json_object_is_type(one_can_data, json_type_int)) ?
-					(uint8_t)json_object_get_int(one_can_data) : 0;
+			data.push_back((json_object_is_type(one_can_data, json_type_int)) ?
+					(uint8_t)json_object_get_int(one_can_data) : 0);
 		}
+		message->set_data(data);
 	}
 	else
 	{
-		afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values.");
+		if(type == socket_type::BCM)
+		{
+			afb_req_fail(request, "Invalid", "Data array must hold 1 to 8 values.");
+		}
+		else
+		{
+			afb_req_fail(request, "Invalid", "Invalid socket type");
+		}
 		return;
 	}
 
-	if(! send_frame(cfd, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name)))
+	if(! send_message(message, application_t::instance().get_can_bus_manager().get_can_device_name(bus_name),type))
+	{
 		afb_req_success(request, nullptr, "Message correctly sent");
+	}
 	else
+	{
 		afb_req_fail(request, "Error", "sending the message. See the log for more details.");
+	}
+}
+
+static void write_frame(afb_req_t request, const std::string& bus_name, json_object *json_value)
+{
+	message_t *message;
+	int id;
+	int length;
+	struct json_object *can_data = nullptr;
+	std::vector<uint8_t> data;
+
+	AFB_DEBUG("JSON content %s",json_object_get_string(json_value));
+
+	if(!wrap_json_unpack(json_value, "{si, si, so !}",
+			      "can_id", &id,
+			      "can_dlc", &length,
+			      "can_data", &can_data))
+	{
+		message = new can_message_t(CANFD_MAX_DLEN,(uint32_t)id,(uint32_t)length,message_format_t::STANDARD,false,0,data,0);
+		write_raw_frame(request,bus_name,message,can_data,socket_type::BCM);
+	}
+	else
+	{
+		afb_req_fail(request, "Invalid", "Frame object malformed");
+		return;
+	}
+	delete message;
 }
 
 static void write_signal(afb_req_t request, const std::string& name, json_object *json_value)
@@ -548,11 +621,39 @@ static void write_signal(afb_req_t request, const std::string& name, json_object
 			encoder(*sig, dynafield_value, &send) :
 			encoder_t::encode_DynamicField(*sig, dynafield_value, &send);
 
-	cfd = encoder_t::build_frame(sig, value);
-	if(! send_frame(cfd, sig->get_message()->get_bus_device_name()) && send)
+	socket_type type = socket_type::INVALID;
+
+	if(sig->get_message()->is_j1939())
+	{
+		type = socket_type::J1939;
+	}
+	else
+	{
+		type = socket_type::BCM;
+	}
+
+//	cfd = encoder_t::build_frame(sig, value);
+	message_t *message = encoder_t::build_message(sig,value);
+
+	if(! send_message(message, sig->get_message()->get_bus_device_name(), type) && send)
+	{
 		afb_req_success(request, nullptr, "Message correctly sent");
+	}
 	else
+	{
 		afb_req_fail(request, "Error", "Sending the message. See the log for more details.");
+	}
+
+	if(sig->get_message()->is_j1939())
+	{
+#ifdef USE_FEATURE_J1939
+		delete (j1939_message_t*) message;
+#endif
+	}
+	else
+	{
+		delete (can_message_t*) message;
+	}
 }
 
 void write(afb_req_t request)
@@ -566,7 +667,7 @@ void write(afb_req_t request)
 	if (args != NULL && ! wrap_json_unpack(args, "{ss, so !}",
 					       "bus_name", &name,
 					       "frame", &json_value))
-		write_raw_frame(request, name, json_value);
+		write_frame(request, name, json_value);
 
 	// Search signal then encode value.
 	else if(args != NULL &&
@@ -683,9 +784,13 @@ void list(afb_req_t request)
 		rc = -1;
 
 	if (rc >= 0)
+	{
 		afb_req_success(request, ans, NULL);
+	}
 	else
+	{
 		afb_req_fail(request, "error", NULL);
+	}
 }
 
 /// @brief Initialize the binding.
diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp
index c2f31a03..b31fe48e 100644
--- a/low-can-binding/binding/low-can-subscription.cpp
+++ b/low-can-binding/binding/low-can-subscription.cpp
@@ -427,9 +427,9 @@ int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscri
 	// If it's not an OBD2 CAN ID then just add a simple RX_SETUP job
 	// else monitor all standard 8 CAN OBD2 ID response.
 
-	std::shared_ptr<can_message_t> msg = std::make_shared<can_message_t>();
+	can_message_t msg = can_message_t();
 
-	msg->set_bcm_msg(bcm_msg);
+	msg.set_bcm_msg(bcm_msg);
 
 	if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
 	{
@@ -442,7 +442,7 @@ int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscri
 		for(uint8_t i = 0; i < 8; i++)
 		{
 			bcm_msg.msg_head.can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
-			msg->set_bcm_msg(bcm_msg);
+			msg.set_bcm_msg(bcm_msg);
 			subscription.socket_->write_message(msg);
 			if(! subscription.socket_)
 				return -1;
@@ -455,22 +455,23 @@ int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscri
 /// send a message
 ///
 /// @return 0 if ok else -1
-int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, struct canfd_frame& cfd, const std::string& bus_name)
+int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name)
 {
-	struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
+	can_message_t *cm = static_cast<can_message_t*>(message);
+
+	struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cm->get_id(),cm->get_flags());
+	canfd_frame cfd = cm->convert_to_canfd_frame();
 	subscription.add_one_bcm_frame(cfd, bcm_msg);
 
 	if(subscription.open_socket(subscription, bus_name) < 0)
 		{return -1;}
 
-
-	std::shared_ptr<can_message_t> msg = std::make_shared<can_message_t>();
-
-	msg->set_bcm_msg(bcm_msg);
-
-	subscription.socket_->write_message(msg);
+	cm->set_bcm_msg(bcm_msg);
+	subscription.socket_->write_message(*cm);
 	if(! subscription.socket_.get())
-		return -1;
+	{
+			return -1;
+	}
 
 	return 0;
-}
+}
\ No newline at end of file
diff --git a/low-can-binding/binding/low-can-subscription.hpp b/low-can-binding/binding/low-can-subscription.hpp
index 61c354d1..5ea1cf17 100644
--- a/low-can-binding/binding/low-can-subscription.hpp
+++ b/low-can-binding/binding/low-can-subscription.hpp
@@ -101,5 +101,5 @@ public:
 	static int create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<signal_t> sig);
 	static int create_rx_filter_bcm(low_can_subscription_t &subscription, bcm_msg& bcm_msg);
 
-	static int tx_send(low_can_subscription_t &subscription, struct canfd_frame& cfd, const std::string& bus_name);
+	static int tx_send(low_can_subscription_t &subscription, message_t *message, const std::string& bus_name);
 };
diff --git a/low-can-binding/can/can-encoder.cpp b/low-can-binding/can/can-encoder.cpp
index a11dedfc..ccd49722 100644
--- a/low-can-binding/can/can-encoder.cpp
+++ b/low-can-binding/can/can-encoder.cpp
@@ -51,10 +51,122 @@ const canfd_frame encoder_t::build_frame(const std::shared_ptr<signal_t>& signal
 					cf.data,
 					cf.len);
 	}
-
 	return cf;
 }
 
+
+/**
+ * @brief Allows to build a single frame message with correct data to be send
+ *
+ * @param signal The CAN signal to write, including the bit position and bit size.
+ * @param value The encoded integer value to write in the CAN signal.
+ * @param message A single frame message to complete
+ * @return message_t*  The message that is generated
+ */
+message_t* encoder_t::build_one_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message)
+{
+	signal->set_last_value((float)value);
+	uint8_t data_tab[message->get_length()];
+	::memset(&data_tab, 0, sizeof(data_tab));
+	std::vector<uint8_t> data;
+
+	for(const auto& sig: signal->get_message()->get_signals())
+	{
+		float last_value = sig->get_last_value();
+		bitfield_encode_float(last_value,
+					sig->get_bit_position(),
+					sig->get_bit_size(),
+					sig->get_factor(),
+					sig->get_offset(),
+					data_tab,
+					(uint8_t)message->get_length());
+	}
+
+	for (size_t i = 0; i < (uint8_t) message->get_length(); i++)
+	{
+		data.push_back(data_tab[i]);
+	}
+
+	message->set_data(data);
+	return message;
+}
+
+/**
+ * @brief Allows to build a multi frame message with correct data to be send
+ *
+ * @param signal The CAN signal to write, including the bit position and bit size.
+ * @param value The encoded integer value to write in the CAN signal.
+ * @param message A multi frame message to complete
+ * @return message_t*  The message that is generated
+ */
+message_t* encoder_t::build_multi_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message)
+{
+	signal->set_last_value((float)value);
+	std::vector<uint8_t> data;
+
+	uint32_t msgs_len = signal->get_message()->get_length(); // multi frame - number of bytes
+	int number_of_frame = (int) msgs_len / 8;
+
+	uint8_t data_tab[number_of_frame][8] = {0};
+
+	for(const auto& sig: signal->get_message()->get_signals())
+	{
+
+		int frame_position = (int) sig->get_bit_position() / 64;
+		float last_value = sig->get_last_value();
+		uint8_t bit_position = sig->get_bit_position() - ((uint8_t)(64 * frame_position));
+
+		bitfield_encode_float(last_value,
+					bit_position,
+					sig->get_bit_size(),
+					sig->get_factor(),
+					sig->get_offset(),
+					data_tab[frame_position],
+					8);
+	}
+
+	for (size_t i = 0; i < number_of_frame; i++)
+	{
+		for(size_t j = 0; j < 8 ; j++)
+		{
+			data.push_back(data_tab[i][j]);
+		}
+	}
+
+	message->set_data(data);
+	return message;
+}
+
+/**
+ * @brief Allows to build a message_t with correct data to be send
+ *
+ * @param signal The CAN signal to write, including the bit position and bit size.
+ * @param value The encoded integer value to write in the CAN signal.
+ * @return message_t* The message that is generated
+ */
+message_t* encoder_t::build_message(const std::shared_ptr<signal_t>& signal, uint64_t value)
+{
+	message_t *message;
+	std::vector<uint8_t> data;
+	if(signal->get_message()->is_fd())
+	{
+		message = new can_message_t(CANFD_MAX_DLEN,signal->get_message()->get_id(),CANFD_MAX_DLEN,signal->get_message()->get_format(),false,CAN_FD_FRAME,data,0);
+		return build_one_frame_message(signal,value,message);
+	}
+#ifdef USE_FEATURE_J1939
+	else if(signal->get_message()->is_j1939())
+	{
+		message = new j1939_message_t(J1939_MAX_DLEN,signal->get_message()->get_length(),signal->get_message()->get_format(),data,0,J1939_NO_NAME,signal->get_message()->get_id(),J1939_NO_ADDR);
+		return build_multi_frame_message(signal,value,message);
+	}
+#endif
+	else
+	{
+		message = new can_message_t(CAN_MAX_DLEN,signal->get_message()->get_id(),CAN_MAX_DLEN,signal->get_message()->get_format(),false,0,data,0);
+		return build_one_frame_message(signal,value,message);
+	}
+}
+
 /// @brief Encode a boolean into an integer, fit for a CAN signal bitfield.
 ///
 /// This is a shortcut for encodeDynamicField(CanSignal*, openxc_DynamicField*,
diff --git a/low-can-binding/can/can-encoder.hpp b/low-can-binding/can/can-encoder.hpp
index 6ae786a1..c37521f4 100644
--- a/low-can-binding/can/can-encoder.hpp
+++ b/low-can-binding/can/can-encoder.hpp
@@ -20,11 +20,18 @@
 #include "signals.hpp"
 #include "message/can-message.hpp"
 #include "openxc.pb.h"
+#include "message/can-message.hpp"
+#ifdef USE_FEATURE_J1939
+#include "message/j1939-message.hpp"
+#endif
 
 class encoder_t
 {
 public:
 	static const canfd_frame build_frame(const std::shared_ptr<signal_t>& signal, uint64_t value);
+	static message_t* build_message(const std::shared_ptr<signal_t>& signal, uint64_t value);
+	static message_t* build_one_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message);
+	static message_t* build_multi_frame_message(const std::shared_ptr<signal_t>& signal, uint64_t value, message_t *message);
 	static uint64_t encode_state(const signal_t& signal, const std::string& value, bool* send);
 	static uint64_t encode_boolean(const signal_t& signal, bool value, bool* send);
 	static uint64_t encode_number(const signal_t& signal, float value, bool* send);
diff --git a/low-can-binding/can/message-definition.cpp b/low-can-binding/can/message-definition.cpp
index efc72f07..064b2c17 100644
--- a/low-can-binding/can/message-definition.cpp
+++ b/low-can-binding/can/message-definition.cpp
@@ -102,3 +102,13 @@ void message_definition_t::set_last_value(std::shared_ptr<message_t> m)
 {
 	last_value_= m->get_data_vector();
 }
+
+uint32_t message_definition_t::get_length() const
+{
+	return length_;
+}
+
+message_format_t message_definition_t::get_format() const
+{
+	return format_;
+}
\ No newline at end of file
diff --git a/low-can-binding/can/message-definition.hpp b/low-can-binding/can/message-definition.hpp
index 1773e6b8..f39bb71e 100644
--- a/low-can-binding/can/message-definition.hpp
+++ b/low-can-binding/can/message-definition.hpp
@@ -86,6 +86,8 @@ public:
 	bool is_fd() const;
 	bool is_j1939() const;
 	std::vector<std::shared_ptr<signal_t>>& get_signals();
+	uint32_t get_length() const;
+	message_format_t get_format() const;
 
 	void set_parent(std::shared_ptr<message_set_t> parent);
 	void set_last_value(std::shared_ptr<message_t>  m);
diff --git a/low-can-binding/can/message/can-message.cpp b/low-can-binding/can/message/can-message.cpp
index b012bbe5..945c0ba7 100644
--- a/low-can-binding/can/message/can-message.cpp
+++ b/low-can-binding/can/message/can-message.cpp
@@ -28,22 +28,20 @@
 ///
 can_message_t::can_message_t()
 	: message_t(),
-	 maxdlen_{0},
 	 id_{0},
 	 rtr_flag_{false},
 	 flags_{0}
 {}
 
-can_message_t::can_message_t(uint8_t maxdlen,
+can_message_t::can_message_t(uint32_t maxdlen,
 	uint32_t id,
-	uint8_t length,
+	uint32_t length,
 	message_format_t format,
 	bool rtr_flag,
-	uint8_t flags,
+	uint32_t flags,
 	std::vector<uint8_t>& data,
 	uint64_t timestamp)
-	: message_t(length, format, data, timestamp),
-	maxdlen_{maxdlen},
+	: message_t(maxdlen, length, format, data, timestamp),
 	id_{id},
 	rtr_flag_{rtr_flag},
 	flags_{flags}
@@ -86,7 +84,8 @@ bool can_message_t::is_correct_to_send()
 /// @return A can_message_t object fully initialized with canfd_frame values.
 std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
 {
-	uint8_t maxdlen = 0, length = 0, flags = 0;
+	uint32_t maxdlen = 0, length = 0;
+	uint8_t flags = 0;
 	uint32_t id;
 	message_format_t format;
 	bool rtr_flag;
@@ -164,6 +163,47 @@ std::shared_ptr<can_message_t> can_message_t::convert_from_frame(const struct ca
 	return std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp));
 }
 
+/// @brief Take all initialized class members and build a
+/// 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 = (uint8_t) get_length();
+		::memcpy(frame.data, get_data(), length_);
+	}
+	else
+		AFB_ERROR("can_message_t not correctly initialized to be sent");
+
+	return frame;
+}
+
+/// @brief Take all initialized class members and build a
+/// 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 = (uint8_t) get_length();
+		::memcpy(frame.data, get_data(), length_);
+	}
+	else
+		AFB_ERROR("can_message_t not correctly initialized to be sent");
+
+	return frame;
+}
 
 bool can_message_t::is_set()
 {
@@ -192,3 +232,7 @@ void can_message_t::set_bcm_msg(struct bcm_msg bcm_msg)
 	bcm_msg_ = bcm_msg;
 }
 
+uint32_t can_message_t::get_flags()
+{
+	return flags_;
+}
\ No newline at end of file
diff --git a/low-can-binding/can/message/can-message.hpp b/low-can-binding/can/message/can-message.hpp
index df0d2a19..7625cc17 100644
--- a/low-can-binding/can/message/can-message.hpp
+++ b/low-can-binding/can/message/can-message.hpp
@@ -26,24 +26,26 @@
 /// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes.
 class can_message_t : public 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. */
 		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.*/
+		uint32_t flags_; ///< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
 		struct bcm_msg bcm_msg_;
 
 	public:
 		can_message_t();
-		can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
+		can_message_t(uint32_t maxdlen, uint32_t id, uint32_t length, message_format_t format, bool rtr_flag_, uint32_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
 
 		uint32_t get_id() const;
 
 		static std::shared_ptr<can_message_t> convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
+		struct canfd_frame convert_to_canfd_frame();
+		struct can_frame convert_to_can_frame();
+
 		bool is_correct_to_send();
 		bool is_set();
 		struct bcm_msg get_bcm_msg();
 		void set_bcm_msg(struct bcm_msg bcm_msg);
 
 		std::string get_debug_message();
-
+		uint32_t get_flags();
 };
diff --git a/low-can-binding/can/message/j1939-message.cpp b/low-can-binding/can/message/j1939-message.cpp
index dad8e7f1..08fc1302 100644
--- a/low-can-binding/can/message/j1939-message.cpp
+++ b/low-can-binding/can/message/j1939-message.cpp
@@ -16,14 +16,16 @@
  */
 
 #include <cstring>
+#include <sstream>
+#include <iomanip>
+#include <net/if.h>
 #include "../../binding/low-can-hat.hpp"
 #include "j1939-message.hpp"
 
-///
-/// @brief Class constructor
-///
-/// j1939_message_t class constructor.
-///
+/**
+ * @brief Construct a new j1939 message t::j1939 message t object
+ *
+ */
 j1939_message_t::j1939_message_t():
     message_t(),
     name_{0},
@@ -31,14 +33,27 @@ j1939_message_t::j1939_message_t():
     addr_{0}
 {}
 
-j1939_message_t::j1939_message_t(uint8_t length,
+/**
+ * @brief Construct a new j1939 message t::j1939 message t object
+ *
+ * @param maxdlen The max length of the message
+ * @param length The length of the message
+ * @param format The format of the message
+ * @param data The vector data of the message
+ * @param timestamp The timetamp of the message
+ * @param name The name of the message
+ * @param pgn The PGN of the message
+ * @param addr The address of the message
+ */
+j1939_message_t::j1939_message_t(uint32_t maxdlen,
+    uint32_t length,
     message_format_t format,
     std::vector<uint8_t>& data,
     uint64_t timestamp,
     name_t name,
     pgn_t pgn,
     uint8_t addr):
-    message_t(length, format, data, timestamp),
+    message_t(maxdlen,length, format, data, timestamp),
     name_{name},
     pgn_{pgn},
     addr_{addr}
@@ -71,6 +86,23 @@ uint8_t j1939_message_t::get_addr() const{
     return addr_;
 }
 
+/**
+ * @brief Convert hex data to string
+ *
+ * @param data An array of data
+ * @param length The length of the data
+ * @return std::string The string data
+ */
+std::string to_hex( uint8_t data[], const size_t length)
+{
+    std::stringstream stream;
+    stream << std::hex << std::setfill('0');
+    for(int i = 0; i < length; i++)
+    {
+        stream << std::hex << ((int) data[i]);
+    }
+    return stream.str();
+}
 
 /// @brief Take a sockaddr_can struct and array of data to initialize class members
 ///
@@ -84,9 +116,10 @@ uint8_t j1939_message_t::get_addr() const{
 /// @return A j1939_message_t object fully initialized with sockaddr_can and data values.
 std::shared_ptr<j1939_message_t> j1939_message_t::convert_from_addr(struct sockaddr_can& addr, uint8_t (&data)[128],size_t nbytes, uint64_t timestamp)
 {
-	uint8_t length = 0;
-	message_format_t format;
-	std::vector<uint8_t> dataVector;
+    int i;
+    uint32_t length = 0;
+    message_format_t format;
+    std::vector<uint8_t> data_vector;
 
     if(nbytes > J1939_MAX_DLEN)
     {
@@ -95,23 +128,27 @@ std::shared_ptr<j1939_message_t> j1939_message_t::convert_from_addr(struct socka
     }
     else
     {
-        AFB_DEBUG("Got a j1939 frame");
+        //AFB_DEBUG("Got a j1939 frame");
         format = message_format_t::J1939;
     }
 
-    length = (uint8_t) nbytes;
-    dataVector.reserve(length);
-    int i;
-    dataVector.clear();
+    length = (uint32_t) nbytes;
+    data_vector.reserve(length);
+
+    data_vector.clear();
+
+    std::string data_string;
+    data_string = to_hex(data,length);
+
     for(i=0;i<length;i++)
     {
-        dataVector.push_back(data[i]);
+        data_vector.push_back(data[i]);
     };
 
-    AFB_DEBUG("Found pgn: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
-                            addr.can_addr.j1939.pgn, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
+    AFB_DEBUG("Found pgn: %X, format: %X, length: %X, data %s",
+                            addr.can_addr.j1939.pgn, (uint8_t)format, length, data_string.c_str());
 
-	return std::make_shared<j1939_message_t>(j1939_message_t(length, format, dataVector, timestamp,addr.can_addr.j1939.name,addr.can_addr.j1939.pgn,addr.can_addr.j1939.addr));
+    return std::make_shared<j1939_message_t>(j1939_message_t(J1939_MAX_DLEN,length, format, data_vector, timestamp,addr.can_addr.j1939.name,addr.can_addr.j1939.pgn,addr.can_addr.j1939.addr));
 }
 
 /// @brief Test if members pgn_ and length are set.
@@ -143,7 +180,7 @@ std::string j1939_message_t::get_debug_message()
 ///
 uint32_t j1939_message_t::get_id() const
 {
-    AFB_WARNING("Prefer method get_pgn() for j1939 messages");
+    AFB_DEBUG("Prefer method get_pgn() for j1939 messages");
 	return get_pgn();
 }
 
diff --git a/low-can-binding/can/message/j1939-message.hpp b/low-can-binding/can/message/j1939-message.hpp
index 482f167d..aad62a1f 100644
--- a/low-can-binding/can/message/j1939-message.hpp
+++ b/low-can-binding/can/message/j1939-message.hpp
@@ -19,11 +19,12 @@
 
 #include <linux/can/j1939.h>
 #include "message.hpp"
-#include "../../utils/socketcan-j1939.hpp"
+
 
 #define J1939_MAX_MULTIPACKETS 255
 #define J1939_MAX_DLEN J1939_MAX_MULTIPACKETS * CAN_MAX_DLEN
 
+
 class j1939_message_t : public message_t
 {
     private:
@@ -54,12 +55,19 @@ class j1939_message_t : public message_t
 
 
         /* J1939 Address
+            0-255
          */
         uint8_t addr_;
 
+        /**
+         * @brief The sockanme to send a message to
+         * an other ECU
+         */
+        struct sockaddr_can sockname_;
+
     public:
         j1939_message_t();
-        j1939_message_t(uint8_t length, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp, name_t name, pgn_t pgn, uint8_t addr);
+        j1939_message_t(uint32_t maxdlen, uint32_t length, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp, name_t name, pgn_t pgn, uint8_t addr);
         uint64_t get_name() const;
         uint32_t get_pgn() const;
         uint8_t get_addr() const;
diff --git a/low-can-binding/can/message/message.cpp b/low-can-binding/can/message/message.cpp
index 2ae095cb..5384c021 100644
--- a/low-can-binding/can/message/message.cpp
+++ b/low-can-binding/can/message/message.cpp
@@ -21,29 +21,45 @@
 
 #include "../../binding/low-can-hat.hpp"
 
-///
-/// @brief Class constructor
-///
-/// message_t class constructor.
-///
+/**
+ * @brief Construct a new message t::message t object
+ *
+ */
 message_t::message_t()
-	: length_{0},
+	: maxdlen_{0},
+	 length_{0},
 	 format_{message_format_t::INVALID},
 	 timestamp_{0},
 	 sub_id_{-1}
 {}
 
-message_t::message_t(uint8_t length,
+/**
+ * @brief Construct a new message t::message t object
+ *
+ * @param maxdlen The maxdlen of a message
+ * @param length The length of the message
+ * @param format The format of the message
+ * @param data The data vector of the message
+ * @param timestamp The timestamp of the message
+ */
+message_t::message_t(uint32_t maxdlen,
+	uint32_t length,
 	message_format_t format,
 	std::vector<uint8_t>& data,
 	uint64_t timestamp)
-	: length_{length},
+	: maxdlen_{maxdlen},
+	length_{length},
 	format_{format},
 	data_{data},
 	timestamp_{timestamp},
 	sub_id_{-1}
 {}
 
+/**
+ * @brief Return the sub_id of the message
+ *
+ * @return int The sub_id of the message
+ */
 int message_t::get_sub_id() const
 {
 	return sub_id_;
@@ -75,21 +91,46 @@ const std::vector<uint8_t> message_t::get_data_vector() const
 ///
 /// @return length_ class member
 ///
-uint8_t message_t::get_length() const
+uint32_t message_t::get_length() const
 {
 	return length_;
 }
 
+/**
+ * @brief Set data vector of the message
+ *
+ * @param data A vector of data
+ */
+void message_t::set_data(std::vector<uint8_t> &data)
+{
+	data_ = data;
+}
+
+/**
+ * @brief Set sub_id of the message
+ *
+ * @param sub_id The sub_id to set
+ */
 void message_t::set_sub_id(int sub_id)
 {
 	sub_id_ = sub_id;
 }
 
+/**
+ * @brief Return the timestamp of the message
+ *
+ * @return uint64_t The timestamp
+ */
 uint64_t message_t::get_timestamp() const
 {
 	return timestamp_;
 }
 
+/**
+ * @brief Return the format of the message
+ *
+ * @return message_format_t The message format
+ */
 message_format_t message_t::get_msg_format()
 {
 	return format_;
diff --git a/low-can-binding/can/message/message.hpp b/low-can-binding/can/message/message.hpp
index e62b6c6b..5be1ff18 100644
--- a/low-can-binding/can/message/message.hpp
+++ b/low-can-binding/can/message/message.hpp
@@ -57,30 +57,32 @@ enum class message_format_t {
 /// buffers. It is a wrapper of a can_frame struct with some sugar around it for binding purposes.
 class message_t {
 protected:
-	uint8_t length_; ///< length_ - the length of the data array (max 8). */
+	uint32_t maxdlen_; ///< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
+	uint32_t length_; ///< length_ - the length of the data array. */
 	message_format_t format_; ///< format_ - the format of the message's ID.*/
 	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:
 	message_t();
-	message_t(uint8_t length, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp);
+	message_t(uint32_t maxdlen, uint32_t length, message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp);
+	virtual ~message_t() = default;
 
 	int get_sub_id() const;
 	const uint8_t* get_data() const;
 	const std::vector<uint8_t> get_data_vector() const;
-	uint8_t get_length() const;
+	uint32_t get_length() const;
 	uint64_t get_timestamp() const;
 
+	void set_data(std::vector<uint8_t> &data);
 	void set_sub_id(int sub_id);
 	void set_timestamp(uint64_t timestamp);
 	message_format_t get_msg_format();
 	virtual bool is_set() = 0;
 	virtual std::string get_debug_message() = 0;
 	virtual uint32_t get_id() const = 0;
-	virtual struct bcm_msg get_bcm_msg() = 0;
-	virtual void set_bcm_msg(struct bcm_msg bcm_msg) = 0;
 
 };
diff --git a/low-can-binding/diagnostic/diagnostic-manager.cpp b/low-can-binding/diagnostic/diagnostic-manager.cpp
index d78c7755..ad1f3a7f 100644
--- a/low-can-binding/diagnostic/diagnostic-manager.cpp
+++ b/low-can-binding/diagnostic/diagnostic-manager.cpp
@@ -124,9 +124,9 @@ bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8
 	bcm_msg.frames[0] = cf;
 
 
-	std::shared_ptr<can_message_t> msg = std::make_shared<can_message_t>();
+	can_message_t msg = can_message_t();
 
-	msg->set_bcm_msg(bcm_msg);
+	msg.set_bcm_msg(bcm_msg);
 
 	tx_socket.write_message(msg);
 	if(tx_socket)
@@ -473,7 +473,7 @@ openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_dia
 /// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
 openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, std::shared_ptr<message_t> m)
 {
-	DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), m->get_id(), m->get_data(), m->get_length());
+	DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), m->get_id(), m->get_data(), (uint8_t)m->get_length());
 	if(response.completed && entry->get_handle()->completed)
 	{
 		if(entry->get_handle()->success)
diff --git a/low-can-binding/utils/socketcan-bcm.cpp b/low-can-binding/utils/socketcan-bcm.cpp
index 0f6bc75c..df41fba2 100644
--- a/low-can-binding/utils/socketcan-bcm.cpp
+++ b/low-can-binding/utils/socketcan-bcm.cpp
@@ -25,12 +25,6 @@
 
 namespace utils
 {
-	/// @brief Connect the socket.
-	/// @return 0 if success.
-	int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len)
-	{
-		return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
-	}
 
  	/// @brief Open a raw socket CAN.
 	/// @param[in] device_name is the kernel network device name of the CAN interface.
@@ -104,19 +98,19 @@ namespace utils
 		return cm;
 	}
 
-	void socketcan_bcm_t::write_message(std::vector<std::shared_ptr<message_t>>& vobj)
+	int socketcan_bcm_t::write_message(message_t& m)
 	{
-		for(const auto& obj : vobj)
-			write_message(obj);
-	}
 
-	void socketcan_bcm_t::write_message(std::shared_ptr<message_t> m)
-	{
-		struct bcm_msg obj = m->get_bcm_msg();
+		can_message_t&  cm = reinterpret_cast<can_message_t&>(m);
+		struct bcm_msg obj = cm.get_bcm_msg();
 		size_t size = (obj.msg_head.flags & CAN_FD_FRAME) ?
 			(size_t)((char*)&obj.fd_frames[obj.msg_head.nframes] - (char*)&obj):
 			(size_t)((char*)&obj.frames[obj.msg_head.nframes] - (char*)&obj);
 		if (::sendto(socket(), &obj, size, 0, (const struct sockaddr*)&get_tx_address(), sizeof(get_tx_address())) < 0)
-			AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno));
+		{
+			AFB_ERROR("Error sending : %i %s", errno, ::strerror(errno));
+			return -1;
+		}
+		return 0;
 	}
 }
diff --git a/low-can-binding/utils/socketcan-bcm.hpp b/low-can-binding/utils/socketcan-bcm.hpp
index 5e86aa4f..1f5ec50c 100644
--- a/low-can-binding/utils/socketcan-bcm.hpp
+++ b/low-can-binding/utils/socketcan-bcm.hpp
@@ -30,11 +30,8 @@ namespace utils
 
 		virtual int open(std::string device_name);
 		virtual std::shared_ptr<message_t> read_message();
-		virtual void write_message(std::vector<std::shared_ptr<message_t>>& vobj);
-		virtual void write_message(std::shared_ptr<message_t> obj);
+		virtual int write_message(message_t& obj);
 
-	private:
-		int connect(const struct sockaddr* addr, socklen_t len);
 	};
 
 
diff --git a/low-can-binding/utils/socketcan-j1939.cpp b/low-can-binding/utils/socketcan-j1939.cpp
index 5f977f04..a7938d61 100644
--- a/low-can-binding/utils/socketcan-j1939.cpp
+++ b/low-can-binding/utils/socketcan-j1939.cpp
@@ -79,7 +79,8 @@ namespace utils
 			}
 			++filter_on;
 		}
-		if(filter_on){
+		if(filter_on)
+		{
 			setopt(SOL_CAN_J1939, SO_J1939_FILTER, &filter, sizeof(filter));
 		}
 	}
diff --git a/low-can-binding/utils/socketcan-j1939.hpp b/low-can-binding/utils/socketcan-j1939.hpp
index d3b01fc4..2b370179 100644
--- a/low-can-binding/utils/socketcan-j1939.hpp
+++ b/low-can-binding/utils/socketcan-j1939.hpp
@@ -34,6 +34,7 @@ namespace utils
 		virtual std::shared_ptr<message_t> read_message();
 		virtual void write_message(std::shared_ptr<message_t> obj);
 		virtual void write_message(std::vector<std::shared_ptr<message_t>>& vobj);
+		virtual int write_message(message_t& obj);
 
 	private:
 		int connect(const struct sockaddr* addr, socklen_t len);
diff --git a/low-can-binding/utils/socketcan-raw.cpp b/low-can-binding/utils/socketcan-raw.cpp
index 6bd41c3b..31387c72 100644
--- a/low-can-binding/utils/socketcan-raw.cpp
+++ b/low-can-binding/utils/socketcan-raw.cpp
@@ -22,12 +22,6 @@
 
 namespace utils
 {
-	/// @brief Bind the socket.
-	/// @return 0 if success.
-	int socketcan_raw_t::bind(const struct sockaddr* addr, socklen_t len)
-	{
-		return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
-	}
 
  	/// @brief Open a raw socket CAN.
 	/// @param[in] device_name is the kernel network device name of the CAN interface.
@@ -75,7 +69,7 @@ namespace utils
 		ifr.ifr_ifindex = addr.can_ifindex;
 		ioctl(socket(), SIOCGIFNAME, &ifr);
 
-		AFB_DEBUG("Data available: %i bytes read", (int)nbytes);
+		//AFB_DEBUG("Data available: %i bytes read", (int)nbytes);
 		AFB_DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, frame.can_id, frame.len,
 			frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4], frame.data[5], frame.data[6], frame.data[7]);
 
@@ -87,13 +81,9 @@ namespace utils
 		return cm;
 	}
 
-	void socketcan_raw_t::write_message(std::vector<std::shared_ptr<message_t>>& vobj)
-	{
-		AFB_WARNING("Not implemented");
-	}
-
-	void socketcan_raw_t::write_message(std::shared_ptr<message_t> cm)
+	int socketcan_raw_t::write_message(message_t& m)
 	{
 		AFB_WARNING("Not implemented");
+		return -1;
 	}
 }
diff --git a/low-can-binding/utils/socketcan-raw.hpp b/low-can-binding/utils/socketcan-raw.hpp
index 42e98746..966bf351 100644
--- a/low-can-binding/utils/socketcan-raw.hpp
+++ b/low-can-binding/utils/socketcan-raw.hpp
@@ -27,11 +27,7 @@ namespace utils
 		using socketcan_t::socketcan_t;
 		virtual int open(std::string device_name);
 		virtual std::shared_ptr<message_t> read_message();
-		virtual void write_message(std::shared_ptr<message_t> cm);
-		virtual void write_message(std::vector<std::shared_ptr<message_t>>& vobj);
-
-	private:
-		int bind(const struct sockaddr* addr, socklen_t len);
+		virtual int write_message(message_t& cm);
 	};
 
 }
diff --git a/low-can-binding/utils/socketcan.cpp b/low-can-binding/utils/socketcan.cpp
index b943d1d7..f542f4e8 100644
--- a/low-can-binding/utils/socketcan.cpp
+++ b/low-can-binding/utils/socketcan.cpp
@@ -96,4 +96,32 @@ namespace utils
 	{
 		return socket_;
 	}
+
+	/// @brief Connect the socket.
+	/// @return 0 if success.
+	int socketcan_t::connect(const struct sockaddr* addr, socklen_t len)
+	{
+		return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
+	}
+
+	/// @brief Bind the socket.
+	/// @return 0 if success.
+	int socketcan_t::bind(const struct sockaddr* addr, socklen_t len)
+	{
+		return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
+	}
+
+	int socketcan_t::write_message(std::vector<message_t>& vobj)
+	{
+		for(int i=0;i<vobj.size();i++)
+		{
+			if(write_message(vobj[i])<0)
+			{
+				AFB_ERROR("Error send message %d",i);
+				return -1;
+			}
+		}
+		return 0;
+	}
+
 }
diff --git a/low-can-binding/utils/socketcan.hpp b/low-can-binding/utils/socketcan.hpp
index fdf8c949..2a7077eb 100644
--- a/low-can-binding/utils/socketcan.hpp
+++ b/low-can-binding/utils/socketcan.hpp
@@ -28,6 +28,17 @@
 
 #define INVALID_SOCKET -1
 
+/**
+ * @enum socket_type
+ * @brief The type of socket
+ */
+enum class socket_type {
+	BCM, ///< BCM - Socket BCM
+	J1939_ADDR_CLAIM, ///< J1939 - Socket J1939
+	J1939, ///< J1939 - Socket J1939
+	INVALID
+};
+
 namespace utils
 {
 
@@ -48,13 +59,15 @@ namespace utils
 		int setopt(int level, int optname, const void* optval, socklen_t optlen);
 		virtual int close();
 		virtual std::shared_ptr<message_t> read_message() = 0;
-		virtual void write_message(std::shared_ptr<message_t> obj) = 0;
-		virtual void write_message(std::vector<std::shared_ptr<message_t>>& vobj) = 0;
+		virtual int write_message(message_t& obj) = 0;
+		virtual int write_message(std::vector<message_t>& vobj);
 
 	protected:
 		int socket_;
 		struct sockaddr_can tx_address_;
 		int open(int domain, int type, int protocol);
+		int bind(const struct sockaddr* addr, socklen_t len);
+		int connect(const struct sockaddr* addr, socklen_t len);
 	};