Change can_message_t class usage for new j1939

This commit transforms the class can_message_t as the base class
and creates two derived classes: j1939_message_t and can_message_t.

Bug-AGL: SPEC-2386

Change-Id: I6d3afd8e4f5abff2cd0ec4e9910bd52a2893de76
Signed-off-by: Arthur Guyader <arthur.guyader@iot.bzh>
Signed-off-by: Stephane Desneux <stephane.desneux@iot.bzh>
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

27 files changed, 654 insertions, 231 deletions

diff --git a/low-can-binding/CMakeLists.txt b/low-can-binding/CMakeLists.txt
index 296fa7d4..5c0ef07e 100644
--- a/low-can-binding/CMakeLists.txt
+++ b/low-can-binding/CMakeLists.txt
@@ -30,7 +30,8 @@ PROJECT_TARGET_ADD(low-can)
 		can/can-bus.cpp
 		can/can-message-set.cpp
 		can/can-message-definition.cpp
-		can/can-message.cpp
+		can/message/message.cpp
+		can/message/can-message.cpp
 		can/can-signals.cpp
 		can/can-decoder.cpp
 		can/can-encoder.cpp
@@ -44,11 +45,13 @@ PROJECT_TARGET_ADD(low-can)
 		#utils/socketcan-raw.cpp
 		utils/socketcan-bcm.cpp
 		utils/config-parser.cpp
-		binding/application-generated.cpp)
+		binding/application-generated.cpp
+		)
 
 	if(WITH_FEATURE_J1939)
 		set(SOURCES_J1939
-		# Empty for the moment to not break the build until all modifications are set
+			can/message/j1939-message.cpp
+			utils/socketcan-j1939.cpp
 		)
 	endif()
 
diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp
index 6b869073..9515424a 100644
--- a/low-can-binding/binding/low-can-cb.cpp
+++ b/low-can-binding/binding/low-can-cb.cpp
@@ -32,7 +32,7 @@
 #include "../can/can-encoder.hpp"
 #include "../can/can-bus.hpp"
 #include "../can/can-signals.hpp"
-#include "../can/can-message.hpp"
+#include "../can/message/message.hpp"
 #include "../utils/signals.hpp"
 #include "../diagnostic/diagnostic-message.hpp"
 #include "../utils/openxc-utils.hpp"
@@ -70,12 +70,12 @@ void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std
 	s.erase(it);
 }
 
-static void push_n_notify(std::shared_ptr<can_message_t> m)
+static void push_n_notify(std::shared_ptr<message_t> m)
 {
 	can_bus_t& cbm = application_t::instance().get_can_bus_manager();
 	{
 		std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
-		cbm.push_new_can_message(*m);
+	 	cbm.push_new_can_message(m);
 	}
 	cbm.get_new_can_message_cv().notify_one();
 }
@@ -88,7 +88,7 @@ int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *
 	if ((revents & EPOLLIN) != 0)
 	{
 		std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket();
-		std::shared_ptr<can_message_t> message = s->read_message();
+		std::shared_ptr<message_t> message = s->read_message();
 
 		// Sure we got a valid CAN message ?
 		if (! message->get_id() == 0 && ! message->get_length() == 0)
@@ -413,7 +413,7 @@ static int send_frame(struct canfd_frame& cfd, const std::string& bus_name)
 	if( cd.count(bus_name) == 0)
 		{cd[bus_name] = std::make_shared<low_can_subscription_t>(low_can_subscription_t());}
 
-	return cd[bus_name]->tx_send(cfd, bus_name);
+	return cd[bus_name]->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)
diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp
index 09e9b807..27f4ebba 100644
--- a/low-can-binding/binding/low-can-subscription.cpp
+++ b/low-can-binding/binding/low-can-subscription.cpp
@@ -19,6 +19,11 @@
 #include "low-can-subscription.hpp"
 #include "application.hpp"
 #include "canutil/write.h"
+#include "../utils/socketcan-bcm.hpp"
+
+#ifdef USE_FEATURE_J1939
+	#include "../utils/socketcan-j1939.hpp"
+#endif
 
 low_can_subscription_t::low_can_subscription_t()
 	: index_{-1},
@@ -243,9 +248,9 @@ int low_can_subscription_t::open_socket(const std::string& bus_name)
 ///
 /// @returns a bcm_msg with the msg_head parts set and can_frame
 /// zeroed.
-struct utils::bcm_msg low_can_subscription_t::make_bcm_head(uint32_t opcode, uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
+struct bcm_msg low_can_subscription_t::make_bcm_head(uint32_t opcode, uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
 {
-	struct utils::bcm_msg bcm_msg;
+	struct bcm_msg bcm_msg;
 	::memset(&bcm_msg, 0, sizeof(bcm_msg));
 
 	bcm_msg.msg_head.opcode  = opcode;
@@ -262,7 +267,7 @@ struct utils::bcm_msg low_can_subscription_t::make_bcm_head(uint32_t opcode, uin
 /// @brief Take an existing bcm_msg struct and add a can_frame.
 /// Currently only 1 uniq can_frame can be added, it's not possible to build
 /// a multiplexed message with several can_frame.
-void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const
+void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg) const
 {
 	struct can_frame cf;
 
@@ -278,17 +283,31 @@ void low_can_subscription_t::add_one_bcm_frame(struct canfd_frame& cfd, struct u
 	bcm_msg.msg_head.nframes++;
 }
 
+#ifdef USE_FEATURE_J1939
+int low_can_subscription_t::create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<can_signal_t> sig)
+{
+	subscription.can_signal_= sig;
+
+	// Make sure that socket is opened.
+	if(subscription.open_socket() < 0)
+	{
+			return -1;
+	}
+	return 0;
+}
+#endif
+
 /// @brief Create a RX_SETUP receive job to be used by the BCM socket for a CAN signal
 /// subscription
 ///
 /// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
+int low_can_subscription_t::create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<can_signal_t> sig)
 {
 	uint32_t flags;
 	float val;
 	struct timeval freq, timeout = {0, 0};
 	struct canfd_frame cfd;
-	can_signal_= sig;
+	subscription.can_signal_= sig;
 
 	if (sig->get_message()->is_fd())
 	{
@@ -300,45 +319,83 @@ int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
 		flags = SETTIMER|RX_NO_AUTOTIMER;
 		cfd.len = CAN_MAX_DLEN;
 	}
-	val = (float)(1 << can_signal_->get_bit_size()) - 1;
+	val = (float)(1 << subscription.can_signal_->get_bit_size()) - 1;
 	if(! bitfield_encode_float(val,
-				   can_signal_->get_bit_position(),
-				   can_signal_->get_bit_size(),
+				   subscription.can_signal_->get_bit_position(),
+				   subscription.can_signal_->get_bit_size(),
 				   1,
-				   can_signal_->get_offset(),
+				   subscription.can_signal_->get_offset(),
 				   cfd.data,
 				   cfd.len))
 		return -1;
 
-	frequency_clock_t f = event_filter_.frequency == 0 ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
+	frequency_clock_t f = subscription.event_filter_.frequency == 0 ? subscription.can_signal_->get_frequency() : frequency_clock_t(subscription.event_filter_.frequency);
 	freq = f.get_timeval_from_period();
 
-	utils::bcm_msg bcm_msg = make_bcm_head(RX_SETUP, can_signal_->get_message()->get_id(), flags, timeout, freq);
-	add_one_bcm_frame(cfd, bcm_msg);
+	struct bcm_msg bcm_msg = subscription.make_bcm_head(RX_SETUP, subscription.can_signal_->get_message()->get_id(), flags, timeout, freq);
+	subscription.add_one_bcm_frame(cfd, bcm_msg);
 
-	return create_rx_filter(bcm_msg);
+	return create_rx_filter_bcm(subscription, bcm_msg);
+}
+
+int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
+{
+	#ifdef USE_FEATURE_J1939
+	if(sig->get_message()->is_j1939())
+	{
+		return low_can_subscription_t::create_rx_filter_j1939(*this, sig);
+	}
+	else
+	{
+	#endif
+		return low_can_subscription_t::create_rx_filter_can(*this, sig);
+	#ifdef USE_FEATURE_J1939
+	}
+	#endif
+}
+
+
+/// @brief Create a RX_SETUP receive job to be used by the BCM socket for a
+/// diagnostic message subscription.
+///
+/// @return 0 if ok else -1
+int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
+{
+	diagnostic_message_.push_back(sig);
+
+	struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
+	//struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
+	struct timeval timeout = {0,0};
+
+	struct bcm_msg bcm_msg =  make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
+	return create_rx_filter_bcm(*this, bcm_msg);
 }
 
 /// @brief Create a RX_SETUP receive job used by the BCM socket directly from
 /// a bcm_msg. The method should not be used directly but rather through the
-/// two previous method with can_signal_t or diagnostic_message_t object.
+/// two previous method with signal_t or diagnostic_message_t object.
 ///
 /// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
 /// to the 8 classics OBD2 functional response ID
 ///
 /// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter(utils::bcm_msg& bcm_msg)
+int low_can_subscription_t::create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg)
 {
 	// Make sure that socket is opened.
-	if(open_socket() < 0)
+	if(subscription.open_socket() < 0)
 		{return -1;}
 
 	// 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<message_t> msg = std::make_shared<can_message_t>();
+
+	msg->set_bcm_msg(bcm_msg);
+
 	if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID)
 	{
-		socket_->write_message(bcm_msg);
-			if(! socket_)
+		subscription.socket_->write_message(msg);
+			if(! subscription.socket_)
 				return -1;
 	}
 	else
@@ -346,46 +403,34 @@ int low_can_subscription_t::create_rx_filter(utils::bcm_msg& bcm_msg)
 		for(uint8_t i = 0; i < 8; i++)
 		{
 			bcm_msg.msg_head.can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
-
-			socket_->write_message(bcm_msg);
-			if(! socket_)
+			msg->set_bcm_msg(bcm_msg);
+			subscription.socket_->write_message(msg);
+			if(! subscription.socket_)
 				return -1;
 		}
 	}
-
 	return 0;
 }
 
-/// @brief Create a RX_SETUP receive job to be used by the BCM socket for a
-/// diagnostic message subscription.
-///
-/// @return 0 if ok else -1
-int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
-{
-	diagnostic_message_.push_back(sig);
-
-	struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
-	//struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
-	struct timeval timeout = {0,0};
-
-	utils::bcm_msg bcm_msg =  make_bcm_head(RX_SETUP, OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
-	return create_rx_filter(bcm_msg);
-}
-
 /// @brief Creates a TX_SEND job that is used by the BCM socket to
 /// send a message
 ///
 /// @return 0 if ok else -1
-int low_can_subscription_t::tx_send(struct canfd_frame& cfd, const std::string& bus_name)
+int low_can_subscription_t::tx_send(low_can_subscription_t &subscription, struct canfd_frame& cfd, const std::string& bus_name)
 {
-	struct utils::bcm_msg bcm_msg =  make_bcm_head(TX_SEND, cfd.can_id);
-	add_one_bcm_frame(cfd, bcm_msg);
+	struct bcm_msg bcm_msg = subscription.make_bcm_head(TX_SEND, cfd.can_id);
+	subscription.add_one_bcm_frame(cfd, bcm_msg);
 
-	if(open_socket(bus_name) < 0)
+	if(subscription.open_socket(bus_name) < 0)
 		{return -1;}
 
-	socket_->write_message(bcm_msg);
-	if(! socket_)
+
+	std::shared_ptr<message_t> msg = std::make_shared<can_message_t>();
+
+	msg->set_bcm_msg(bcm_msg);
+
+	subscription.socket_->write_message(msg);
+	if(! subscription.socket_.get())
 		return -1;
 
 	return 0;
diff --git a/low-can-binding/binding/low-can-subscription.hpp b/low-can-binding/binding/low-can-subscription.hpp
index ded600c5..c9cd2e3f 100644
--- a/low-can-binding/binding/low-can-subscription.hpp
+++ b/low-can-binding/binding/low-can-subscription.hpp
@@ -54,7 +54,7 @@ private:
 	std::shared_ptr<can_signal_t> can_signal_; ///< can_signal_ - the CAN signal subscribed
 	std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to receive OBD2
 										 /// responses. Normal diagnostic request and response are not tested for now.
-	std::shared_ptr<utils::socketcan_bcm_t> socket_; ///< socket_ - socket_ that receives CAN messages.
+	std::shared_ptr<utils::socketcan_t> socket_; ///< socket_ - socket_ that receives CAN messages.
 
 	int set_event();
 
@@ -89,14 +89,16 @@ public:
 	void set_min(float min);
 	void set_max(float max);
 
-	struct utils::bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}) const;
-	void add_one_bcm_frame(struct canfd_frame& cfd, struct utils::bcm_msg& bcm_msg) const;
+	struct bcm_msg make_bcm_head(uint32_t opcode, uint32_t can_id = 0, uint32_t flags = 0, const struct timeval& timeout = {0,0}, const struct timeval& frequency_thinning = {0,0}) const;
+	void add_one_bcm_frame(struct canfd_frame& cfd, struct bcm_msg& bcm_msg) const;
 
 	int open_socket(const std::string& bus_name = "");
 
 	int create_rx_filter(std::shared_ptr<can_signal_t> sig);
 	int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
-	int create_rx_filter(utils::bcm_msg& bcm_msg);
+	static int create_rx_filter_can(low_can_subscription_t &subscription, std::shared_ptr<can_signal_t> sig);
+	static int create_rx_filter_j1939(low_can_subscription_t &subscription, std::shared_ptr<can_signal_t> sig);
+	static int create_rx_filter_bcm(low_can_subscription_t &subscription, struct bcm_msg& bcm_msg);
 
-	int tx_send(struct canfd_frame& cfd, const std::string& bus_name);
+	static int tx_send(low_can_subscription_t &subscription, struct canfd_frame& cfd, const std::string& bus_name);
 };
diff --git a/low-can-binding/can/can-bus-device.hpp b/low-can-binding/can/can-bus-device.hpp
index c53e5f23..a5c9493c 100644
--- a/low-can-binding/can/can-bus-device.hpp
+++ b/low-can-binding/can/can-bus-device.hpp
@@ -26,7 +26,7 @@
 #include <condition_variable>
 
 #include "openxc.pb.h"
-#include "can-message.hpp"
+#include "message/can-message.hpp"
 #include "../utils/config-parser.hpp"
 #include "../binding/low-can-subscription.hpp"
 
diff --git a/low-can-binding/can/can-bus.cpp b/low-can-binding/can/can-bus.cpp
index e798618d..739e865c 100644
--- a/low-can-binding/can/can-bus.cpp
+++ b/low-can-binding/can/can-bus.cpp
@@ -81,9 +81,9 @@ bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::
 /// @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)
+void can_bus_t::process_signals(const message_t& message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 {
-	int subscription_id = can_message.get_sub_id();
+	int subscription_id = message.get_sub_id();
 	openxc_DynamicField decoded_message;
 	openxc_VehicleMessage vehicle_message;
 
@@ -93,9 +93,9 @@ void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<i
 		// First we have to found which can_signal_t it is
 		std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
 
-		decoded_message = decoder_t::translate_signal(*sig->get_can_signal(), can_message, &send);
+		decoded_message = decoder_t::translate_signal(*sig->get_can_signal(), message, &send);
 		openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
-		vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
+		vehicle_message = build_VehicleMessage(s_message, message.get_timestamp());
 
 		if(send && apply_filter(vehicle_message, sig))
 		{
@@ -114,13 +114,13 @@ void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<i
 /// @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)
+void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, std::shared_ptr<message_t> message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 {
-	int subscription_id = can_message.get_sub_id();
+	int subscription_id = message->get_sub_id();
 
-	openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
-	if (can_message.get_timestamp())
-		{vehicle_message.timestamp = can_message.get_timestamp();}
+	openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(message);
+	if (message->get_timestamp())
+		{vehicle_message.timestamp = message->get_timestamp();}
 	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()))
 	{
@@ -155,16 +155,18 @@ void can_bus_t::can_decode_message()
 		new_can_message_cv_.wait(can_message_lock);
 		while(!can_message_q_.empty())
 		{
-			const can_message_t can_message = next_can_message();
+			std::shared_ptr<message_t>  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);}
+				if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(message))
+				{
+					process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), message, s);
+				}
 				else
-					{process_can_signals(can_message, s);}
+					{process_signals(*message, s);}
 			}
 			can_message_lock.lock();
 		}
@@ -251,28 +253,28 @@ std::mutex& can_bus_t::get_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()
+std::shared_ptr<message_t> can_bus_t::next_can_message()
 {
-	can_message_t can_msg;
+	std::shared_ptr<message_t> msg;
 
 	if(!can_message_q_.empty())
 	{
-		can_msg = can_message_q_.front();
+		msg = can_message_q_.front();
 		can_message_q_.pop();
-		AFB_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;
+		std::string debug = msg->get_debug_message();
+		AFB_DEBUG(debug.c_str());
+		return msg;
 	}
 
-	return can_msg;
+	return msg;
 }
 
-/// @brief Push a can_message_t into the queue
+/// @brief Push a 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)
+/// @param[in] msg - the const reference message_t object to push into the queue
+void can_bus_t::push_new_can_message(std::shared_ptr<message_t> msg)
 {
-	can_message_q_.push(can_msg);
+	can_message_q_.push(msg);
 }
 
 /// @brief Return first openxc_VehicleMessage on the queue
diff --git a/low-can-binding/can/can-bus.hpp b/low-can-binding/can/can-bus.hpp
index f1eb690f..2a798ca6 100644
--- a/low-can-binding/can/can-bus.hpp
+++ b/low-can-binding/can/can-bus.hpp
@@ -24,9 +24,8 @@
 #include <thread>
 #include <linux/can.h>
 #include <condition_variable>
-
 #include "openxc.pb.h"
-#include "can-message.hpp"
+#include "message/can-message.hpp"
 #include "../utils/config-parser.hpp"
 #include "../binding/low-can-subscription.hpp"
 
@@ -47,8 +46,8 @@ 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 process_signals(const message_t& message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+	void process_diagnostic_signals(diagnostic_manager_t& manager, std::shared_ptr<message_t> message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
 
 	void can_decode_message();
 	std::thread th_decoding_; ///< thread that will handle decoding a can frame
@@ -60,7 +59,7 @@ private:
 
 	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 will store can_message_t to be decoded
+	std::queue <std::shared_ptr<message_t>> can_message_q_; ///< queue that will store can_message_t to be 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_
@@ -80,8 +79,8 @@ public:
 	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::shared_ptr<message_t> next_can_message();
+	void push_new_can_message(std::shared_ptr<message_t> can_msg);
 	std::mutex& get_can_message_mutex();
 	std::condition_variable& get_new_can_message_cv();
 
diff --git a/low-can-binding/can/can-decoder.cpp b/low-can-binding/can/can-decoder.cpp
index 763bfcb0..a2bf411b 100644
--- a/low-can-binding/can/can-decoder.cpp
+++ b/low-can-binding/can/can-decoder.cpp
@@ -31,7 +31,7 @@
 /// @return Returns the raw value of the signal parsed as a bitfield from the given byte
 /// array.
 ///
-float decoder_t::parse_signal_bitfield(can_signal_t& signal, const can_message_t& message)
+float decoder_t::parse_signal_bitfield(can_signal_t& signal, const message_t& message)
 {
 	 return bitfield_parse_float(message.get_data(), CAN_MESSAGE_SIZE,
 			signal.get_bit_position(), signal.get_bit_size(), signal.get_factor(),
@@ -144,7 +144,7 @@ openxc_DynamicField decoder_t::decode_state(can_signal_t& signal, float value, b
 /// The decoder returns an openxc_DynamicField, which may contain a number,
 /// string or boolean.
 ///
-openxc_DynamicField decoder_t::translate_signal(can_signal_t& signal, const can_message_t& message, bool* send)
+openxc_DynamicField decoder_t::translate_signal(can_signal_t& signal, const message_t& message, bool* send)
 {
 	float value = decoder_t::parse_signal_bitfield(signal, message);
 	AFB_DEBUG("Decoded message from parse_signal_bitfield: %f", value);
diff --git a/low-can-binding/can/can-decoder.hpp b/low-can-binding/can/can-decoder.hpp
index 7e7349db..ffc881f9 100644
--- a/low-can-binding/can/can-decoder.hpp
+++ b/low-can-binding/can/can-decoder.hpp
@@ -18,20 +18,20 @@
 #pragma once
 
 #include "can-signals.hpp"
-#include "can-message.hpp"
+#include "message/can-message.hpp"
 #include "openxc.pb.h"
 
 class decoder_t
 {
 public:
-	static float parse_signal_bitfield(can_signal_t& signal, const can_message_t& message);
+	static float parse_signal_bitfield(can_signal_t& signal, const message_t& message);
 
 	static openxc_DynamicField decode_state(can_signal_t& signal, float value, bool* send);
 	static openxc_DynamicField decode_boolean(can_signal_t& signal, float value, bool* send);
 	static openxc_DynamicField decode_ignore(can_signal_t& signal, float value, bool* send);
 	static openxc_DynamicField decode_noop(can_signal_t& signal, float value, bool* send);
 
-	static openxc_DynamicField translate_signal(can_signal_t& signal, const can_message_t& messag, bool* send);
+	static openxc_DynamicField translate_signal(can_signal_t& signal, const message_t& messag, bool* send);
 
 	static openxc_DynamicField decode_signal(can_signal_t& signal, const can_message_t& message, bool* send);
 
diff --git a/low-can-binding/can/can-encoder.hpp b/low-can-binding/can/can-encoder.hpp
index f8398836..294b1674 100644
--- a/low-can-binding/can/can-encoder.hpp
+++ b/low-can-binding/can/can-encoder.hpp
@@ -18,7 +18,7 @@
 #pragma once
 
 #include "can-signals.hpp"
-#include "can-message.hpp"
+#include "message/can-message.hpp"
 #include "openxc.pb.h"
 
 class encoder_t
diff --git a/low-can-binding/can/can-message-definition.cpp b/low-can-binding/can/can-message-definition.cpp
index 483f4a36..92040c31 100644
--- a/low-can-binding/can/can-message-definition.cpp
+++ b/low-can-binding/can/can-message-definition.cpp
@@ -54,6 +54,18 @@ bool can_message_definition_t::is_fd() const
 	return is_fd_;
 }
 
+bool can_message_definition_t::is_j1939() const
+{
+	if(format_ == can_message_format_t::J1939)
+	{
+		return true;
+	}
+	else
+	{
+		return false;
+	}
+}
+
 std::vector<std::shared_ptr<can_signal_t> >& can_message_definition_t::get_can_signals()
 {
 	return can_signals_;
@@ -64,7 +76,7 @@ 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)
+void can_message_definition_t::set_last_value(const message_t& cm)
 {
 	last_value_= cm.get_data_vector();
 }
diff --git a/low-can-binding/can/can-message-definition.hpp b/low-can-binding/can/can-message-definition.hpp
index b9025cbb..689c654c 100644
--- a/low-can-binding/can/can-message-definition.hpp
+++ b/low-can-binding/can/can-message-definition.hpp
@@ -29,7 +29,7 @@
 #include <memory>
 
 #include "can-signals.hpp"
-#include "can-message.hpp"
+#include "message/can-message.hpp"
 #include "can-message-set.hpp"
 #include "../utils/timer.hpp"
 
@@ -72,8 +72,9 @@ public:
 	const std::string get_bus_device_name() const;
 	uint32_t get_id() const;
 	bool is_fd() const;
+	bool is_j1939() 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);
+	void set_last_value(const message_t& cm);
 };
diff --git a/low-can-binding/can/can-signals.cpp b/low-can-binding/can/can-signals.cpp
index 14881e89..76a9665f 100644
--- a/low-can-binding/can/can-signals.cpp
+++ b/low-can-binding/can/can-signals.cpp
@@ -22,7 +22,7 @@
 #include "../binding/application.hpp"
 #include "../utils/signals.hpp"
 #include "can-decoder.hpp"
-#include "can-message.hpp"
+#include "message/can-message.hpp"
 #include "can-bus.hpp"
 #include "../diagnostic/diagnostic-message.hpp"
 #include "canutil/write.h"
diff --git a/low-can-binding/can/can-signals.hpp b/low-can-binding/can/can-signals.hpp
index 2fd7cecf..9ac55081 100644
--- a/low-can-binding/can/can-signals.hpp
+++ b/low-can-binding/can/can-signals.hpp
@@ -27,7 +27,7 @@
 #include "can-message-definition.hpp"
 #include "../utils/timer.hpp"
 #include "../utils/socketcan-bcm.hpp"
-#include "can-message.hpp"
+#include "message/can-message.hpp"
 #include "../diagnostic/diagnostic-message.hpp"
 
 #define MESSAGE_SET_ID 0
diff --git a/low-can-binding/can/can-message.cpp b/low-can-binding/can/message/can-message.cpp
index 074f5990..91f66252 100644
--- a/low-can-binding/can/can-message.cpp
+++ b/low-can-binding/can/message/can-message.cpp
@@ -15,11 +15,11 @@
  * limitations under the License.
  */
 
-#include "can-message.hpp"
+#include "./can-message.hpp"
 
 #include <cstring>
 
-#include "../binding/low-can-hat.hpp"
+#include "../../binding/low-can-hat.hpp"
 
 ///
 /// @brief Class constructor
@@ -27,14 +27,11 @@
 /// can_message_t class constructor.
 ///
 can_message_t::can_message_t()
-	: maxdlen_{0},
+	: message_t(),
+	 maxdlen_{0},
 	 id_{0},
-	 length_{0},
-	 format_{can_message_format_t::INVALID},
 	 rtr_flag_{false},
-	 flags_{0},
-	 timestamp_{0},
-	 sub_id_{-1}
+	 flags_{0}
 {}
 
 can_message_t::can_message_t(uint8_t maxdlen,
@@ -45,15 +42,11 @@ can_message_t::can_message_t(uint8_t maxdlen,
 	uint8_t flags,
 	std::vector<uint8_t>& data,
 	uint64_t timestamp)
-	:  maxdlen_{maxdlen},
+	: message_t(length, format, data, timestamp),
+	maxdlen_{maxdlen},
 	id_{id},
-	length_{length},
-	format_{format},
 	rtr_flag_{rtr_flag},
-	flags_{flags},
-	data_{data},
-	timestamp_{timestamp},
-	sub_id_{-1}
+	flags_{flags}
 {}
 
 ///
@@ -66,51 +59,6 @@ uint32_t can_message_t::get_id() const
 	return id_;
 }
 
-int can_message_t::get_sub_id() const
-{
-	return sub_id_;
-}
-
-///
-/// @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_;
-}
 
 /// @brief Control whether the object is correctly initialized
 ///  to be sent over the CAN bus
@@ -136,7 +84,7 @@ bool can_message_t::is_correct_to_send()
 /// @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)
+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 id;
@@ -213,5 +161,34 @@ can_message_t can_message_t::convert_from_frame(const struct canfd_frame& frame,
 								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);
+	return std::make_shared<can_message_t>(can_message_t(maxdlen, id, length, format, rtr_flag, flags, data, timestamp));
+}
+
+
+bool can_message_t::is_set()
+{
+	return (id_ != 0 && length_ != 0);
+}
+
+std::string can_message_t::get_debug_message()
+{
+	std::string ret = "";
+    ret = ret + "Here is the next can message : id " + std::to_string(id_)  + " length " + std::to_string(length_) + ", data ";
+    for (size_t i = 0; i < data_.size(); i++)
+    {
+        ret = ret + std::to_string(data_[i]);
+    }
+
+    return ret;
+}
+
+struct bcm_msg can_message_t::get_bcm_msg()
+{
+	return bcm_msg_;
 }
+
+void can_message_t::set_bcm_msg(struct bcm_msg bcm_msg)
+{
+	bcm_msg_ = bcm_msg;
+}
+
diff --git a/low-can-binding/can/message/can-message.hpp b/low-can-binding/can/message/can-message.hpp
new file mode 100644
index 00000000..5aa302cc
--- /dev/null
+++ b/low-can-binding/can/message/can-message.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 "./message.hpp"
+
+
+
+/// @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 : 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.*/
+		struct bcm_msg bcm_msg_;
+
+	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;
+
+		static std::shared_ptr<can_message_t> convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
+		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();
+
+};
diff --git a/low-can-binding/can/message/j1939-message.cpp b/low-can-binding/can/message/j1939-message.cpp
new file mode 100644
index 00000000..8269cbfa
--- /dev/null
+++ b/low-can-binding/can/message/j1939-message.cpp
@@ -0,0 +1,163 @@
+/*
+ * Copyright (C) 2018, 2019 "IoT.bzh"
+ * Author "Arthur Guyader" <arthur.guyader@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 "./j1939-message.hpp"
+#include <cstring>
+#include "../../binding/low-can-hat.hpp"
+
+
+///
+/// @brief Class constructor
+///
+/// j1939_message_t class constructor.
+///
+j1939_message_t::j1939_message_t():
+    message_t(),
+    name_{0},
+    pgn_{0},
+    addr_{0}
+{}
+
+j1939_message_t::j1939_message_t(uint8_t length,
+    can_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),
+    name_{name},
+    pgn_{pgn},
+    addr_{addr}
+{}
+
+///
+/// @brief Retrieve name_ member value.
+///
+/// @return name_ class member
+///
+uint64_t j1939_message_t::get_name() const {
+    return name_;
+}
+
+///
+/// @brief Retrieve pgn_ member value.
+///
+/// @return pgn_ class member
+///
+uint32_t j1939_message_t::get_pgn() const{
+    return pgn_;
+}
+
+///
+/// @brief Retrieve addr_ member value.
+///
+/// @return addr_ class member
+///
+uint8_t j1939_message_t::get_addr() const{
+    return addr_;
+}
+
+
+/// @brief Take a sockaddr_can struct and array of data to initialize class members
+///
+/// This is the preferred way to initialize class members.
+///
+/// @param[in] addr - sockaddr_can to get pgn, name and addr
+/// @param[in] data - array of data get from the j1939 socket
+/// @param[in] nbytes - size of the array of data
+/// @param[in] timestamp - timestamp of the message
+///
+/// @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;
+	can_message_format_t format;
+	std::vector<uint8_t> dataVector;
+
+    if(nbytes > J1939_MAX_DLEN)
+    {
+        AFB_DEBUG("Unsupported j1939 frame");
+        format = can_message_format_t::INVALID;
+    }
+    else
+    {
+        AFB_DEBUG("Got a j1939 frame");
+        format = can_message_format_t::J1939;
+    }
+
+    length = (uint8_t) nbytes;
+    dataVector.reserve(length);
+    int i;
+    dataVector.clear();
+    for(i=0;i<length;i++)
+    {
+        dataVector.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]);
+
+	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));
+}
+
+/// @brief Test if members pgn_ and length are set.
+///
+/// @return boolean - true = set - false = not set
+bool j1939_message_t::is_set()
+{
+	return (pgn_ != 0 && length_ != 0);
+}
+
+/// @brief Generate a string with informations about the message
+///
+/// @return Debug message with informations about members
+std::string j1939_message_t::get_debug_message()
+{
+	std::string ret = "";
+    ret = ret + "Here is the next j1939 message : pgn " + std::to_string(pgn_)  + " length " + std::to_string(length_) + ", data ";
+    for (size_t i = 0; i < data_.size(); i++)
+    {
+        ret = ret + std::to_string(data_[i]);
+    }
+    return ret;
+}
+
+///
+/// @brief Retrieve pgn_ member value.
+///
+/// @return pgn_ class member
+///
+uint32_t j1939_message_t::get_id() const
+{
+    AFB_WARNING("Prefer method get_pgn() for j1939 messages");
+	return get_pgn();
+}
+
+
+struct bcm_msg j1939_message_t::get_bcm_msg()
+{
+    AFB_WARNING("Not implemented");
+    struct bcm_msg bcm_msg;
+    ::memset(&bcm_msg, 0, sizeof(struct bcm_msg));
+	return bcm_msg;
+}
+
+void j1939_message_t::set_bcm_msg(struct bcm_msg bcm_msg)
+{
+	AFB_WARNING("Not implemented");
+}
diff --git a/low-can-binding/can/message/j1939-message.hpp b/low-can-binding/can/message/j1939-message.hpp
new file mode 100644
index 00000000..74b625e0
--- /dev/null
+++ b/low-can-binding/can/message/j1939-message.hpp
@@ -0,0 +1,73 @@
+/*
+ * Copyright (C) 2018, 2019 "IoT.bzh"
+ * Author "Arthur Guyader" <arthur.guyader@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 <linux/can.h>
+#include <linux/can/j1939.h>
+#include "./message.hpp"
+
+#define J1939_MAX_MULTIPACKETS 255
+#define J1939_MAX_DLEN J1939_MAX_MULTIPACKETS * CAN_MAX_DLEN
+
+class j1939_message_t : public message_t
+{
+    private:
+        /* J1939 NAME
+        *
+        * bit 0-20	: Identity Number
+        * bit 21-31	: Manufacturer Code
+        * bit 32-34	: ECU Instance
+        * bit 35-39	: Function Instance
+        * bit 40-47	: Function
+        * bit 48	: Reserved
+        * bit 49-55	: Vehicle System
+        * bit 56-59	: Vehicle System Instance
+        * bit 60-62	: Industry Group
+        * bit 63	: Arbitrary Address Capable
+        */
+        name_t name_;
+
+        /* J1939 Parameter Group Number
+        *
+        * bit 0-7	: PDU Specific (PS)
+        * bit 8-15	: PDU Format (PF)
+        * bit 16	: Data Page (DP)
+        * bit 17	: Reserved (R)
+        * bit 19-31	: set to zero
+        */
+        pgn_t pgn_;
+
+
+        /* J1939 Address
+         */
+        uint8_t addr_;
+
+    public:
+        j1939_message_t();
+        j1939_message_t(uint8_t length, can_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;
+        static std::shared_ptr<j1939_message_t> convert_from_addr(struct sockaddr_can& addr, uint8_t (&data)[128], size_t nbytes, uint64_t timestamp);
+        bool is_set();
+        std::string get_debug_message();
+        uint32_t get_id() const;
+        struct bcm_msg get_bcm_msg();
+		void set_bcm_msg(struct bcm_msg bcm_msg);
+};
+
+
diff --git a/low-can-binding/can/message/message.cpp b/low-can-binding/can/message/message.cpp
new file mode 100644
index 00000000..fe37e7ad
--- /dev/null
+++ b/low-can-binding/can/message/message.cpp
@@ -0,0 +1,96 @@
+/*
+ * 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 "./message.hpp"
+
+#include <cstring>
+
+#include "../../binding/low-can-hat.hpp"
+
+///
+/// @brief Class constructor
+///
+/// message_t class constructor.
+///
+message_t::message_t()
+	: length_{0},
+	 format_{can_message_format_t::INVALID},
+	 timestamp_{0},
+	 sub_id_{-1}
+{}
+
+message_t::message_t(uint8_t length,
+	can_message_format_t format,
+	std::vector<uint8_t>& data,
+	uint64_t timestamp)
+	: length_{length},
+	format_{format},
+	data_{data},
+	timestamp_{timestamp},
+	sub_id_{-1}
+{}
+
+int message_t::get_sub_id() const
+{
+	return sub_id_;
+}
+
+///
+/// @brief Retrieve data_ member value.
+///
+/// @return pointer to the first element
+///  of class member data_
+///
+const uint8_t* message_t::get_data() const
+{
+	return data_.data();
+}
+
+///
+/// @brief Retrieve data_ member whole vector
+///
+/// @return the vector as is
+///
+const std::vector<uint8_t> message_t::get_data_vector() const
+{
+	return data_;
+}
+
+///
+/// @brief Retrieve length_ member value.
+///
+/// @return length_ class member
+///
+uint8_t message_t::get_length() const
+{
+	return length_;
+}
+
+void message_t::set_sub_id(int sub_id)
+{
+	sub_id_ = sub_id;
+}
+
+uint64_t message_t::get_timestamp() const
+{
+	return timestamp_;
+}
+
+can_message_format_t message_t::get_msg_format()
+{
+	return format_;
+}
diff --git a/low-can-binding/can/can-message.hpp b/low-can-binding/can/message/message.hpp
index 032ef4d3..6e0daada 100644
--- a/low-can-binding/can/can-message.hpp
+++ b/low-can-binding/can/message/message.hpp
@@ -20,12 +20,25 @@
 #include <vector>
 #include <string>
 #include <cstdint>
+#include <iostream>
+#include <memory>
 #include <linux/can.h>
-
-#include "../utils/timer.hpp"
+#include <linux/can/bcm.h>
+#include "../../utils/timer.hpp"
 
 #define CAN_MESSAGE_SIZE 8
 
+#define MAX_BCM_CAN_FRAMES 257
+
+struct bcm_msg
+{
+	struct bcm_msg_head msg_head;
+	union {
+		struct canfd_frame fd_frames[MAX_BCM_CAN_FRAMES];
+		struct can_frame frames[MAX_BCM_CAN_FRAMES];
+	};
+};
+
 /**
  * @enum can_message_format_t
  * @brief The ID format for a CAN message.
@@ -33,30 +46,28 @@
 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'*/
+	J1939,	  ///< J1939 	- Format for j1939 messages
+	INVALID,  ///< INVALID  - INVALID code used at initialization to signify that it isn't usable'*/
 };
 
-/// @class can_message_t
+
+/// @class 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. */
+class message_t {
+protected:
 	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);
+	message_t();
+	message_t(uint8_t length, can_message_format_t format, std::vector<uint8_t>& data, uint64_t timestamp);
 
-	uint32_t get_id() const;
 	int get_sub_id() const;
 	const uint8_t* get_data() const;
 	const std::vector<uint8_t> get_data_vector() const;
@@ -65,8 +76,11 @@ public:
 
 	void set_sub_id(int sub_id);
 	void set_timestamp(uint64_t timestamp);
+	can_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;
 
-	bool is_correct_to_send();
-
-	static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
 };
diff --git a/low-can-binding/diagnostic/diagnostic-manager.cpp b/low-can-binding/diagnostic/diagnostic-manager.cpp
index 65afecfe..7c067c6a 100644
--- a/low-can-binding/diagnostic/diagnostic-manager.cpp
+++ b/low-can-binding/diagnostic/diagnostic-manager.cpp
@@ -104,7 +104,7 @@ bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8
 	if(! tx_socket)
 		tx_socket.open(dm.get_bus_device_name());
 
-	struct utils::bcm_msg bcm_msg;
+	struct bcm_msg bcm_msg;
 	struct can_frame cf;
 
 	struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period();
@@ -123,7 +123,12 @@ bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8
 
 	bcm_msg.frames[0] = cf;
 
-	tx_socket.write_message(bcm_msg);
+
+	std::shared_ptr<message_t> msg = std::make_shared<can_message_t>();
+
+	msg->set_bcm_msg(bcm_msg);
+
+	tx_socket.write_message(msg);
 	if(tx_socket)
 		return true;
 	return false;
@@ -466,13 +471,13 @@ openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_dia
 /// @param[in] cm - A raw CAN message.
 ///
 /// @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, const can_message_t& cm)
+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(), cm.get_id(), cm.get_data(), cm.get_length());
+	DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), m->get_id(), m->get_data(), m->get_length());
 	if(response.completed && entry->get_handle()->completed)
 	{
 		if(entry->get_handle()->success)
-			return relay_diagnostic_response(entry, response, cm.get_timestamp());
+			return relay_diagnostic_response(entry, response, m->get_timestamp());
 	}
 	else if(!response.completed && response.multi_frame)
 	{
@@ -491,20 +496,20 @@ openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagn
 /// @param[in] cm - Raw CAN message received
 ///
 /// @return VehicleMessage with decoded value.
-openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
+openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(std::shared_ptr<message_t> m)
 {
 	openxc_VehicleMessage vehicle_message = build_VehicleMessage();
 
 	for ( auto entry : non_recurring_requests_)
 	{
-		vehicle_message = relay_diagnostic_handle(entry, cm);
+		vehicle_message = relay_diagnostic_handle(entry, m);
 		if (is_valid(vehicle_message))
 			return vehicle_message;
 	}
 
 	for ( auto entry : recurring_requests_)
 	{
-		vehicle_message = relay_diagnostic_handle(entry, cm);
+		vehicle_message = relay_diagnostic_handle(entry, m);
 		if (is_valid(vehicle_message))
 			return vehicle_message;
 	}
@@ -519,9 +524,12 @@ openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_messag
 /// @param[in] cm - CAN message received from the socket.
 ///
 /// @return True if the active diagnostic request match the response.
-bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
+bool diagnostic_manager_t::is_diagnostic_response(std::shared_ptr<message_t> m)
 {
-	if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)
-			return true;
+	if(m->get_msg_format() == can_message_format_t::STANDARD || m->get_msg_format() == can_message_format_t::EXTENDED)
+	{
+		if (m->get_id() >= 0x7e8 && m->get_id() <= 0x7ef)
+				return true;
+	}
 	return false;
 }
diff --git a/low-can-binding/diagnostic/diagnostic-manager.hpp b/low-can-binding/diagnostic/diagnostic-manager.hpp
index 26c869e2..64a19d7c 100644
--- a/low-can-binding/diagnostic/diagnostic-manager.hpp
+++ b/low-can-binding/diagnostic/diagnostic-manager.hpp
@@ -84,7 +84,7 @@ public:
 
 	// Decoding part
 	openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response, const uint64_t timestamp);
-	openxc_VehicleMessage relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm);
-	openxc_VehicleMessage find_and_decode_adr(const can_message_t& cm);
-	bool is_diagnostic_response(const can_message_t& cm);
+	openxc_VehicleMessage relay_diagnostic_handle(active_diagnostic_request_t* entry, std::shared_ptr<message_t> m);
+	openxc_VehicleMessage find_and_decode_adr(std::shared_ptr<message_t> m);
+	bool is_diagnostic_response(std::shared_ptr<message_t> m);
 };
diff --git a/low-can-binding/diagnostic/diagnostic-message.hpp b/low-can-binding/diagnostic/diagnostic-message.hpp
index 4ae84358..86149413 100644
--- a/low-can-binding/diagnostic/diagnostic-message.hpp
+++ b/low-can-binding/diagnostic/diagnostic-message.hpp
@@ -22,7 +22,7 @@
 
 #include "uds/uds.h"
 #include "../can/can-message-set.hpp"
-#include "../can/can-message.hpp"
+#include "../can/message/can-message.hpp"
 #include "active-diagnostic-request.hpp"
 
 enum UNIT {
diff --git a/low-can-binding/utils/socketcan-bcm.cpp b/low-can-binding/utils/socketcan-bcm.cpp
index b9124ee3..0f6bc75c 100644
--- a/low-can-binding/utils/socketcan-bcm.cpp
+++ b/low-can-binding/utils/socketcan-bcm.cpp
@@ -70,7 +70,7 @@ namespace utils
 	/// Read the socket to retrieve the associated CAN message. All the hard work is do into
 	/// convert_from_frame method and if there isn't CAN message retrieve, only BCM head struct,
 	/// then CAN message will be zeroed and must be handled later.
-	std::shared_ptr<can_message_t> socketcan_bcm_t::read_message()
+	std::shared_ptr<message_t> socketcan_bcm_t::read_message()
 	{
 		struct bcm_msg msg;
 		std::shared_ptr<can_message_t> cm = std::make_shared<can_message_t>();
@@ -98,33 +98,24 @@ namespace utils
 		struct timeval tv;
 		ioctl(socket(), SIOCGSTAMP, &tv);
 		uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
-		*cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp);
+		cm = can_message_t::convert_from_frame(msg.fd_frames[0] , frame_size, timestamp);
 		cm->set_sub_id((int)socket());
 
 		return cm;
 	}
 
-	void socketcan_bcm_t::write_message(std::vector<std::shared_ptr<can_message_t>>& vobj)
+	void socketcan_bcm_t::write_message(std::vector<std::shared_ptr<message_t>>& vobj)
 	{
 		for(const auto& obj : vobj)
 			write_message(obj);
 	}
 
-	void socketcan_bcm_t::write_message(std::shared_ptr<can_message_t> m)
-	{
-		struct can_frame obj;
-		obj.can_id  = m->get_id();
-		obj.can_dlc = m->get_length();
-		::memcpy(obj.data, m->get_data(), CAN_MAX_DLEN);
-		if (::sendto(socket(), &obj, sizeof(&obj), 0, (const struct sockaddr*)&get_tx_address(), sizeof(get_tx_address())) < 0)
-			AFB_API_ERROR(afbBindingV3root, "Error sending : %i %s", errno, ::strerror(errno));
-	}
-
-	void socketcan_bcm_t::write_message(struct bcm_msg& obj)
+	void socketcan_bcm_t::write_message(std::shared_ptr<message_t> m)
 	{
+		struct bcm_msg obj = m->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);
+			(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));
 	}
diff --git a/low-can-binding/utils/socketcan-bcm.hpp b/low-can-binding/utils/socketcan-bcm.hpp
index 00028905..5e86aa4f 100644
--- a/low-can-binding/utils/socketcan-bcm.hpp
+++ b/low-can-binding/utils/socketcan-bcm.hpp
@@ -18,21 +18,10 @@
 #pragma once
 
 #include "socketcan.hpp"
-#include "../can/can-message.hpp"
-
-#define MAX_BCM_CAN_FRAMES 257
+#include "../can/message/can-message.hpp"
 
 namespace utils
 {
-	struct bcm_msg
-	{
-		struct bcm_msg_head msg_head;
-		union {
-			struct canfd_frame fd_frames[MAX_BCM_CAN_FRAMES];
-			struct can_frame frames[MAX_BCM_CAN_FRAMES];
-		};
-	};
-
 	/// @brief derivated socketcan class specialized for BCM CAN socket.make_bcm_head
 	class socketcan_bcm_t : public socketcan_t
 	{
@@ -40,10 +29,9 @@ namespace utils
 		using socketcan_t::socketcan_t;
 
 		virtual int open(std::string device_name);
-		virtual std::shared_ptr<can_message_t> read_message();
-		virtual void write_message(std::vector<std::shared_ptr<can_message_t>>& vobj);
-		virtual void write_message(std::shared_ptr<can_message_t> obj);
-		void write_message(struct bcm_msg& obj);
+		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);
 
 	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 f914ac27..5f977f04 100644
--- a/low-can-binding/utils/socketcan-j1939.cpp
+++ b/low-can-binding/utils/socketcan-j1939.cpp
@@ -181,12 +181,12 @@ namespace utils
 	}
 
 
-	void socketcan_j1939_t::write_message(std::vector<std::shared_ptr<can_message_t>>& vobj)
+	void socketcan_j1939_t::write_message(std::vector<std::shared_ptr<message_t>>& vobj)
 	{
 		AFB_WARNING("Not implemented");
 	}
 
-	void socketcan_j1939_t::write_message(std::shared_ptr<can_message_t> cm)
+	void socketcan_j1939_t::write_message(std::shared_ptr<message_t> cm)
 	{
 		AFB_WARNING("Not implemented");
 	}
diff --git a/low-can-binding/utils/socketcan.hpp b/low-can-binding/utils/socketcan.hpp
index 6419175d..fdf8c949 100644
--- a/low-can-binding/utils/socketcan.hpp
+++ b/low-can-binding/utils/socketcan.hpp
@@ -24,7 +24,7 @@
 #include <string.h>
 
 #include "../binding/low-can-hat.hpp"
-#include "../can/can-message.hpp"
+#include "../can/message/can-message.hpp"
 
 #define INVALID_SOCKET -1
 
@@ -47,9 +47,9 @@ namespace utils
 		virtual int open(std::string device_name) = 0;
 		int setopt(int level, int optname, const void* optval, socklen_t optlen);
 		virtual int close();
-		virtual std::shared_ptr<can_message_t> read_message() = 0;
-		virtual void write_message(std::shared_ptr<can_message_t> obj) = 0;
-		virtual void write_message(std::vector<std::shared_ptr<can_message_t>>& vobj) = 0;
+		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;
 
 	protected:
 		int socket_;