Beginning of work on obd2 object and

files reorganization.

Change-Id: Idaa7ad05c45d734ce771506fd6e41f1a09a6ac66
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

9 files changed, 1781 insertions, 0 deletions

diff --git a/src/can/can-bus.cpp b/src/can/can-bus.cpp
new file mode 100644
index 00000000..d46092bf
--- /dev/null
+++ b/src/can/can-bus.cpp
@@ -0,0 +1,556 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "can-bus.hpp"
+
+#include <map>
+#include <cerrno>
+#include <vector>
+#include <string>
+#include <fcntl.h>
+#include <unistd.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <json-c/json.h>
+#include <linux/can/raw.h>
+
+#include "can-decoder.hpp"
+#include "openxc-utils.hpp"
+
+extern "C"
+{
+	#include <afb/afb-binding.h>
+}
+
+/********************************************************************************
+*
+*		can_bus_t method implementation
+*
+*********************************************************************************/
+/**
+* @brief Class constructor
+*
+* @param struct afb_binding_interface *interface between daemon and binding
+* @param int file handle to the json configuration file.
+*/
+can_bus_t::can_bus_t(int conf_file)
+	: conf_file_{conf_file}
+{
+}
+
+/**
+* @brief thread to decoding raw CAN messages. 
+*
+* @desc It will take from the can_message_q_ queue the next can message to process then it will search 
+*  about signal subscribed if there is a valid afb_event for it. We only decode signal for which a 
+*  subscription has been made. Can message will be decoded using translateSignal that will pass it to the
+*  corresponding decoding function if there is one assigned for that signal. If not, it will be the default
+*  noopDecoder function that will operate on it.
+*/
+void can_bus_t::can_decode_message()
+{
+	can_message_t can_message;
+	std::vector <CanSignal*> signals;
+	openxc_VehicleMessage vehicle_message;
+	openxc_DynamicField search_key, decoded_message;
+
+	decoder_t decoder;
+
+	while(is_decoding_)
+	{
+		std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
+		new_can_message_.wait(can_message_lock);
+		can_message = next_can_message();
+	
+		/* First we have to found which CanSignal it is */
+		search_key = build_DynamicField((double)can_message.get_id());
+		signals.clear();
+		find_can_signals(search_key, signals);
+
+		/* Decoding the message ! Don't kill the messenger ! */
+		for(auto& sig : signals)
+		{
+			std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
+			std::map<std::string, struct afb_event>& s = get_subscribed_signals();
+			
+			/* DEBUG message to make easier debugger STL containers...
+			DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
+			DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
+			DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
+			DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name))); */
+			if( s.find(sig->generic_name) != s.end() && afb_event_is_valid(s[sig->generic_name]))
+			{
+				decoded_message = decoder.translateSignal(*sig, can_message, get_can_signals());
+
+				openxc_SimpleMessage s_message = build_SimpleMessage(sig->generic_name, decoded_message);
+				vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
+
+				std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+				push_new_vehicle_message(vehicle_message);
+				new_decoded_can_message_.notify_one();
+			}
+		}
+	}
+}
+
+/**
+* @brief thread to push events to suscribers. It will read subscribed_signals map to look 
+* which are events that has to be pushed.
+*/
+void can_bus_t::can_event_push()
+{
+	openxc_VehicleMessage v_message;
+	openxc_SimpleMessage s_message;
+	json_object* jo;
+	
+	while(is_pushing_)
+	{
+		std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+		new_decoded_can_message_.wait(decoded_can_message_lock);
+		v_message = next_vehicle_message();
+
+		s_message = get_simple_message(v_message);
+		{
+			std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
+			std::map<std::string, struct afb_event>& s = get_subscribed_signals();
+			if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)]))
+			{
+				jo = json_object_new_object();
+				jsonify_simple(s_message, jo);
+				afb_event_push(s[std::string(s_message.name)], jo);
+			}
+		}
+	}
+}
+
+/**
+	* @brief Will initialize threads that will decode
+	*  and push subscribed events.
+	*/
+void can_bus_t::start_threads()
+{
+	v_ = true;
+	th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
+	if(!th_decoding_.joinable())
+		is_decoding_ = false;
+	
+	is_pushing_ = true;
+	th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
+	if(!th_pushing_.joinable())
+		is_pushing_ = false;
+}
+
+/**
+* @brief Will stop all threads holded by can_bus_t object
+*  which are decoding and pushing then will wait that's 
+* they'll finish their job.
+*/
+void can_bus_t::stop_threads()
+{
+	is_decoding_ = false;
+	is_pushing_ = false;
+}
+
+/**
+* @brief Will initialize can_bus_dev_t objects after reading 
+* the configuration file passed in the constructor.
+*/
+int can_bus_t::init_can_dev()
+{
+	std::vector<std::string> devices_name;
+	int i;
+	size_t t;
+
+	devices_name = read_conf();
+
+	if (! devices_name.empty())
+	{
+		t = devices_name.size();
+		i=0;
+
+		for(const auto& device : devices_name)
+		{
+			can_devices_m_[device] = std::make_shared<can_bus_dev_t>(device);
+			if (can_devices_m_[device]->open() == 0)
+			{
+				i++;
+				DEBUG(binder_interface, "Start reading thread");
+				NOTICE(binder_interface, "%s device opened and reading", device.c_str());
+				can_devices_m_[device]->start_reading(*this);
+			}
+			else
+				ERROR(binder_interface, "Can't open device %s", device.c_str());
+		}
+
+		NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
+		return 0;
+	}
+	ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read from configuration file. Did you specify canbus JSON object ?");
+	return 1;
+}
+
+/**
+* @brief read the conf_file_ and will parse json objects
+* in it searching for canbus objects devices name.
+*
+* @return Vector of can bus device name string.
+*/
+std::vector<std::string> can_bus_t::read_conf()
+{
+	std::vector<std::string> ret;
+	json_object *jo, *canbus;
+	int n, i;
+	const char* taxi;
+
+	FILE *fd = fdopen(conf_file_, "r");
+	if (fd)
+	{
+		std::string fd_conf_content;
+		std::fseek(fd, 0, SEEK_END);
+		fd_conf_content.resize(std::ftell(fd));
+		std::rewind(fd);
+		std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
+		std::fclose(fd);
+
+		DEBUG(binder_interface, "Configuration file content : %s", fd_conf_content.c_str());
+		jo = json_tokener_parse(fd_conf_content.c_str());
+
+		if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
+		{/**
+* @brief Telling if the pushing thread is running
+*  This is the boolean value on which the while loop
+*  take its condition. Set it to false will stop the 
+*  according thread.
+*
+* @return true if pushing thread is running, false if not.
+*/
+
+			ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
+			ret.clear();
+		}
+		else if (json_object_get_type(canbus) != json_type_array)
+		{
+			taxi = json_object_get_string(canbus);
+			DEBUG(binder_interface, "Can bus found: %s", taxi);
+			ret.push_back(std::string(taxi));
+		}
+		else
+		{
+			n = json_object_array_length(canbus);
+			for (i = 0 ; i < n ; i++)
+				ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
+		}
+		return ret;
+	}
+	ERROR(binder_interface, "Problem at reading the conf file");
+	ret.clear();
+	return ret;
+}
+
+/**
+* @brief return new_can_message_ member
+*
+* @return  return new_can_message_ member
+*/
+std::condition_variable& can_bus_t::get_new_can_message_cv()
+{
+	return new_can_message_cv_;
+}
+
+/**
+* @brief return can_message_mutex_ member
+*
+* @return  return can_message_mutex_ member
+*/
+std::mutex& can_bus_t::get_can_message_mutex()
+{
+	return can_message_mutex_;
+}
+
+/**
+* @brief Return first can_message_t on the queue 
+*
+* @return a can_message_t 
+*/
+can_message_t can_bus_t::next_can_message()
+{
+	can_message_t can_msg;
+
+	if(!can_message_q_.empty())
+	{
+		can_msg = can_message_q_.front();
+		can_message_q_.pop();
+		DEBUG(binder_interface, "next_can_message: Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", can_msg.get_id(), can_msg.get_length(),
+			can_msg.get_data()[0], can_msg.get_data()[1], can_msg.get_data()[2], can_msg.get_data()[3], can_msg.get_data()[4], can_msg.get_data()[5], can_msg.get_data()[6], can_msg.get_data()[7]);
+		return can_msg;
+	}
+	
+	return can_msg;
+}
+
+/**
+* @brief Push a can_message_t into the queue
+*
+* @param the const reference can_message_t object to push into the queue
+*/
+void can_bus_t::push_new_can_message(const can_message_t& can_msg)
+{
+	can_message_q_.push(can_msg);
+}
+
+/**
+* @brief Return first openxc_VehicleMessage on the queue 
+*
+* @return a openxc_VehicleMessage containing a decoded can message
+*/
+openxc_VehicleMessage can_bus_t::next_vehicle_message()
+{
+	openxc_VehicleMessage v_msg;
+
+	if(! vehicle_message_q_.empty())
+	{
+		v_msg = vehicle_message_q_.front();
+		vehicle_message_q_.pop();
+		DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
+		return v_msg;
+	}
+	
+	return v_msg;
+}
+
+/**
+* @brief Push a openxc_VehicleMessage into the queue
+*
+* @param the const reference openxc_VehicleMessage object to push into the queue
+*/
+void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
+{
+	vehicle_message_q_.push(v_msg);
+}
+
+/**
+* @brief Return a map with the can_bus_dev_t initialized
+*
+* @return map can_bus_dev_m_ map
+*/
+std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices()
+{
+	return can_devices_m_;
+}
+
+/********************************************************************************
+*
+*		can_bus_dev_t method implementation
+*
+*********************************************************************************/
+/**
+* @brief Class constructor 
+*
+* @param const string representing the device name into the linux /dev tree
+*/
+can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
+	: device_name_{dev_name}, can_socket_{-1}
+{
+}
+
+/**
+* @brief Open the can socket and returning it 
+*
+* @return 
+*/
+int can_bus_dev_t::open()
+{
+	const int canfd_on = 1;
+	const int timestamp_on = 1;
+	struct ifreq ifr;
+	struct timeval timeout;
+
+	DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_);
+	if (can_socket_ >= 0)
+		return 0;
+
+	can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
+	DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_);
+	if (can_socket_ < 0)
+		ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
+	else
+	{
+		/* Set timeout for read */
+		::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
+		/* Set timestamp for receveid frame */
+		if (::setsockopt(can_socket_, SOL_SOCKET, SO_TIMESTAMP, &timestamp_on, sizeof(timestamp_on)) < 0)
+			WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
+		DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode");
+		/* try to switch the socket into CAN_FD mode */
+		if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
+		{
+			NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
+			is_fdmode_on_ = false;
+		} else {
+			DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames.");
+			is_fdmode_on_ = true;
+		}
+
+		/* Attempts to open a socket to CAN bus */
+		::strcpy(ifr.ifr_name, device_name_.c_str());
+		DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name);
+		if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
+			ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
+		else
+		{
+			txAddress_.can_family = AF_CAN;
+			txAddress_.can_ifindex = ifr.ifr_ifindex;
+
+			/* And bind it to txAddress */
+			DEBUG(binder_interface, "Bind the socket");
+			if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
+				ERROR(binder_interface, "Bind failed. %s", strerror(errno));
+			else
+				return 0;
+		}
+		close();
+	}
+	return -1;
+}
+
+/**
+	* @brief Open the can socket and returning it 
+	*
+	* @return 
+	*/
+int can_bus_dev_t::close()
+{
+	::close(can_socket_);
+	can_socket_ = -1;
+	return can_socket_;
+}
+
+/**
+* @brief Read the can socket and retrieve canfd_frame
+*
+* @param const struct afb_binding_interface* interface pointer. Used to be able to log 
+*  using application framework logger.
+*/
+std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read()
+{
+	ssize_t nbytes;
+	//int maxdlen;
+	struct canfd_frame cfd;
+
+	/* Test that socket is really opened */
+	if (can_socket_ < 0)
+	{
+		ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
+		is_running_ = false;
+	}
+
+	nbytes = ::read(can_socket_, &cfd, CANFD_MTU);
+
+	/* if we did not fit into CAN sized messages then stop_reading. */
+	if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
+	{
+		if (errno == ENETDOWN)
+			ERROR(binder_interface, "read: %s CAN device down", device_name_);
+		ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
+		::memset(&cfd, 0, sizeof(cfd));
+	}
+	
+	DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len,
+							cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]);
+	return std::pair<struct canfd_frame&, size_t>(cfd, nbytes);
+}
+
+/**
+* @brief start reading threads and set flag is_running_
+*
+* @param can_bus_t reference can_bus_t. it will be passed to the thread 
+*  to allow using can_bus_t queue.
+*/
+void can_bus_dev_t::start_reading(can_bus_t& can_bus)
+{
+	DEBUG(binder_interface, "Launching reading thread");
+	is_running_ = true;
+	th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
+	if(!th_reading_.joinable())
+		is_running_ = false;
+}
+
+/**
+* @brief stop the reading thread setting flag is_running_ to false and
+* and wait that the thread finish its job.
+*/
+void can_bus_dev_t::stop_reading()
+{
+	is_running_ = false;
+}
+
+/**
+*
+* @brief Thread function used to read the can socket.
+*
+* @param[in] can_bus_dev_t object to be used to read the can socket
+* @param[in] can_bus_t object used to fill can_message_q_ queue
+*/
+void can_bus_dev_t::can_reader(can_bus_t& can_bus)
+{
+	can_message_t can_message;
+
+	while(is_running_)
+	{
+		can_message.convert_from_canfd_frame(read());
+
+		{
+			std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
+			can_bus.push_new_can_message(can_message);
+		}
+		can_bus.get_new_can_message_cv_().notify_one();
+	}
+}
+
+/**
+* @brief Send a can message from a can_message_t object.
+* 
+* @param const can_message_t& can_msg: the can message object to send 
+* @param const struct afb_binding_interface* interface pointer. Used to be able to log 
+*  using application framework logger.
+*/
+int can_bus_dev_t::send_can_message(can_message_t& can_msg)
+{
+	ssize_t nbytes;
+	canfd_frame f;
+
+	f = can_msg.convert_to_canfd_frame();
+
+	if(can_socket_ >= 0)
+	{
+		nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
+				(struct sockaddr*)&txAddress_, sizeof(txAddress_));
+		if (nbytes == -1)
+		{
+			ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
+			return -1;
+		}
+		return (int)nbytes;
+	}
+	else
+	{
+		ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+		open();
+	}
+	return 0;
+}
\ No newline at end of file
diff --git a/src/can/can-bus.hpp b/src/can/can-bus.hpp
new file mode 100644
index 00000000..bc2bb04c
--- /dev/null
+++ b/src/can/can-bus.hpp
@@ -0,0 +1,172 @@
+/*
+ * 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 <mutex>
+#include <queue>
+#include <thread>
+#include <linux/can.h>
+#include <condition_variable>
+
+#include "timer.hpp"
+#include "openxc.pb.h"
+#include "can-signals.hpp"
+#include "can-message.hpp"
+#include "low-can-binding.hpp"
+
+// TODO actual max is 32 but dropped to 24 for memory considerations
+#define MAX_ACCEPTANCE_FILTERS 24
+// TODO this takes up a ton of memory
+#define MAX_DYNAMIC_MESSAGE_COUNT 12
+
+#define CAN_ACTIVE_TIMEOUT_S 30
+
+class can_bus_dev_t;
+
+/** 
+ * @class can_bus_t
+ * @brief Object used to handle decoding and manage event queue to be pushed.
+ *
+ * This object is also used to initialize can_bus_dev_t object after reading 
+ * json conf file describing the CAN devices to use. Thus, those object will read 
+ * on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
+ *
+ * That queue will be later used to be decoded and pushed to subscribers.
+ */
+class can_bus_t {
+	private:
+		int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/
+
+		void can_decode_message();
+		std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */
+		bool is_decoding_; /*!< boolean member controling thread while loop*/
+
+		void can_event_push();
+		std::thread th_pushing_; /*!<  thread that'll handle pushing decoded can frame to subscribers */
+		bool is_pushing_; /*!< boolean member controling thread while loop*/
+
+		std::condition_variable new_can_message_cv_; /*!< condition_variable use to wait until there is a new CAN message to read*/
+		std::mutex can_message_mutex_; /*!< mutex protecting the can_message_q_ queue.*/
+		std::queue <can_message_t> can_message_q_; /*!< queue that'll store can_message_t to decoded */
+
+		std::condition_variable new_decoded_can_message_; /*!< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_*/
+		std::mutex decoded_can_message_mutex_;  /*!< mutex protecting the vehicle_message_q_ queue.*/
+		std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */
+
+		std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_m_; /*!< Can device map containing all can_bus_dev_t objects initialized during init_can_dev function*/
+
+	public:
+		can_bus_t(int conf_file);
+
+		int init_can_dev();
+		std::vector<std::string> read_conf();
+		
+
+		void start_threads();
+		void stop_threads();
+
+		can_message_t next_can_message();
+		void push_new_can_message(const can_message_t& can_msg);		
+		std::mutex& get_can_message_mutex();
+		std::condition_variable& get_new_can_message_cv_();
+
+		openxc_VehicleMessage next_vehicle_message();
+		void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
+
+		std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices();
+};
+
+
+/**
+ * @class can_bus_dev_t 
+ *
+ * @brief Object representing a can device. Handle opening, closing and reading on the
+ *  socket. This is the low level object to be use by can_bus_t.
+ */
+class can_bus_dev_t {
+	private:
+		int32_t id_; /*!< int32_t id_ - an identifier used through binding that refer to that device*/
+		std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */
+		int can_socket_; /*!< socket handler for the can device */
+		bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */
+		struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */
+		
+		std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */
+		bool is_running_; /*!< boolean telling whether or not reading is running or not */
+		
+		void can_reader(can_bus_t& can_bus);
+
+	public:
+		can_bus_dev_t(const std::string& dev_name);
+
+		int open();
+		int close();
+		
+
+		void start_reading(can_bus_t& can_bus);
+
+		void stop_reading();
+
+		std::pair<struct canfd_frame&, size_t> read();
+		
+		int send_can_message(can_message_t& can_msg);
+};
+
+/** TODO: implement this function as method into can_bus class
+ * @fn void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
+ * @brief Pre initialize actions made before CAN bus initialization
+ *
+ * @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata
+ * @param[in] bool writable - configure the controller in a writable mode. If false, it will be
+ *		configured as "listen only" and will not allow writes or even CAN ACKs.
+ * @param[in] buses - An array of all CAN buses.
+ * @param[in] int busCount - The length of the buses array.
+ */
+void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
+
+/** TODO: implement this function as method into can_bus class
+ * @fn void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
+ * @brief Post-initialize actions made after CAN bus initialization
+ *
+ * @param[in] bus - A CanBus struct defining the bus's metadata
+ * @param[in] writable - configure the controller in a writable mode. If false, it will be
+ *		configured as "listen only" and will not allow writes or even CAN ACKs.
+ * @param[in] buses - An array of all CAN buses.
+ * @param[in] busCount - The length of the buses array.
+ */
+void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
+
+/** TODO: implement this function as method into can_bus class
+ * @fn bool isBusActive(can_bus_dev_t* bus);
+ * @brief Check if the device is connected to an active CAN bus, i.e. it's
+ * received a message in the recent past.
+ *
+ * @return true if a message was received on the CAN bus within
+ * CAN_ACTIVE_TIMEOUT_S seconds.
+ */
+bool isBusActive(can_bus_dev_t* bus);
+
+/** TODO: implement this function as method into can_bus class
+ *
+ * @fn void logBusStatistics(can_bus_dev_t* buses, const int busCount);
+ * @brief Log transfer statistics about all active CAN buses to the debug log.
+ *
+ * @param[in] buses - an array of active CAN buses.
+ * @param[in] busCount - the length of the buses array.
+ */
+void logBusStatistics(can_bus_dev_t* buses, const int busCount);
\ No newline at end of file
diff --git a/src/can/can-command.hpp b/src/can/can-command.hpp
new file mode 100644
index 00000000..62b56c1e
--- /dev/null
+++ b/src/can/can-command.hpp
@@ -0,0 +1,66 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include "openxc.pb.h"
+#include "can-signals.hpp"
+
+/**
+ * @brief The type signature for a function to handle a custom OpenXC command.
+ *
+ * @param[in] char* name - the name of the received command.
+ * @param[in] openxc_DynamicField* value - the value of the received command, in a DynamicField. The actual type
+ *		may be a number, string or bool.
+ * @param[in] openxc_DynamicField* event - an optional event from the received command, in a DynamicField. The
+ *		actual type may be a number, string or bool.
+ * @param[in] CanSignal* signals - The list of all signals.
+ * @param[in] int signalCount - The length of the signals array.
+ */
+typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
+		openxc_DynamicField* event, CanSignal* signals, int signalCount);
+
+/* @struct CanCommand
+ * @brief The structure to represent a supported custom OpenXC command.
+ *
+ * @desc For completely customized CAN commands without a 1-1 mapping between an
+ * OpenXC message from the host and a CAN signal, you can define the name of the
+ * command and a custom function to handle it in the VI. An example is
+ * the "turn_signal_status" command in OpenXC, which has a value of "left" or
+ * "right". The vehicle may have separate CAN signals for the left and right
+ * turn signals, so you will need to implement a custom command handler to send
+ * the correct signals.
+ *
+ * Command handlers are also useful if you want to trigger multiple CAN messages
+ * or signals from a signal OpenXC message.
+ */
+typedef struct {
+	const char* generic_name; /*!< generic_name - The name of the command.*/
+	CommandHandler handler; /*!< handler - An function to process the received command's data and perform some
+ 							*	action.*/
+} CanCommand;
+
+/* Public: Return an array of all OpenXC CAN commands enabled in the active
+ * configuration that can write back to CAN with a custom handler.
+ *
+ * * Commands not defined here are handled using a 1-1 mapping from the signals
+ * list.
+ *		*/
+CanCommand* getCommands();
+
+/* Public: Return the length of the array returned by getCommandCount(). */
+int getCommandCount();
\ No newline at end of file
diff --git a/src/can/can-decoder.cpp b/src/can/can-decoder.cpp
new file mode 100644
index 00000000..03471398
--- /dev/null
+++ b/src/can/can-decoder.cpp
@@ -0,0 +1,119 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "can-decoder.hpp"
+#include "canutil/read.h"
+
+float decoder_t::parseSignalBitfield(CanSignal& signal, const can_message_t& message)
+{
+	 return bitfield_parse_float(message.get_data(), CAN_MESSAGE_SIZE,
+			signal.bitPosition, signal.bitSize, signal.factor,
+			signal.offset);
+}
+
+openxc_DynamicField decoder_t::noopDecoder(CanSignal& signal,
+		const std::vector<CanSignal>& signals, float value, bool* send)
+{
+	openxc_DynamicField decoded_value;
+	decoded_value.has_type = true;
+	decoded_value.type = openxc_DynamicField_Type_NUM;
+	decoded_value.has_numeric_value = true;
+	decoded_value.numeric_value = value;
+
+	return decoded_value;
+}
+
+openxc_DynamicField decoder_t::booleanDecoder(CanSignal& signal,
+		const std::vector<CanSignal>& signals, float value, bool* send)
+{
+	openxc_DynamicField decoded_value;
+	decoded_value.has_type = true;
+	decoded_value.type = openxc_DynamicField_Type_BOOL;
+	decoded_value.has_boolean_value = true;
+	decoded_value.boolean_value = value == 0.0 ? false : true;
+
+	return decoded_value;
+}
+
+openxc_DynamicField decoder_t::ignoreDecoder(CanSignal& signal,
+		const std::vector<CanSignal>& signals, float value, bool* send)
+{
+	if(send)
+	  *send = false;
+	
+	openxc_DynamicField decoded_value = {0, openxc_DynamicField_Type_BOOL, 0, "", 0, 0, 0, 0};
+	
+	return decoded_value;
+}
+
+openxc_DynamicField decoder_t::stateDecoder(CanSignal& signal,
+		const std::vector<CanSignal>& signals, float value, bool* send)
+{
+	openxc_DynamicField decoded_value = {0, openxc_DynamicField_Type_BOOL, 0, "", 0, 0, 0, 0};
+	decoded_value.has_type = true;
+	decoded_value.type = openxc_DynamicField_Type_STRING;
+	decoded_value.has_string_value = true;
+
+	/* TODO: Handle SignalState 
+	const CanSignalState* signalState = lookupSignalState(value, signal);
+	if(signalState != NULL) {
+		::strcpy(decoded_value.string_value, signalState->name);
+	} else {
+		*send = false;
+	}*/
+	return decoded_value;
+}
+
+openxc_DynamicField decoder_t::translateSignal(CanSignal& signal, can_message_t& message,
+	const std::vector<CanSignal>& signals)
+{
+	if(&signal == nullptr || &message == nullptr)
+	{
+		openxc_DynamicField ret = {0, openxc_DynamicField_Type_BOOL, 0, "", 0, 0, 0, 0};
+		return ret;
+	}
+
+	float value = parseSignalBitfield(signal, message);
+	DEBUG(binder_interface, "translateSignal: Decoded message: %f", value);
+
+	bool send = true;
+	// Must call the decoders every time, regardless of if we are going to
+	// decide to send the signal or not.
+	openxc_DynamicField decoded_value = decodeSignal(signal,
+			value, signals, &send);
+
+	signal.received = true;
+	signal.lastValue = value;
+	return decoded_value;
+}
+
+openxc_DynamicField decoder_t::decodeSignal( CanSignal& signal,
+		float value, const std::vector<CanSignal>& signals, bool* send)
+{
+	SignalDecoder decoder = signal.decoder == NULL ?
+							noopDecoder : signal.decoder;
+	openxc_DynamicField decoded_value = decoder(signal, signals,
+			value, send);
+	return decoded_value;
+}
+
+openxc_DynamicField decoder_t::decodeSignal( CanSignal& signal,
+		const can_message_t& message, const std::vector<CanSignal>& signals, bool* send)
+{
+	float value = parseSignalBitfield(signal, message);
+	return decodeSignal(signal, value, signals, send);
+}
diff --git a/src/can/can-decoder.hpp b/src/can/can-decoder.hpp
new file mode 100644
index 00000000..e7dfff86
--- /dev/null
+++ b/src/can/can-decoder.hpp
@@ -0,0 +1,161 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include "can-bus.hpp"
+
+class decoder_t
+{
+	private:
+
+	public:
+		/* Public: Parse the signal's bitfield from the given data and return the raw
+		* value.
+		*
+		* signal - The signal to parse from the data.
+		* data - The data to parse the signal from.
+		* length - The length of the data array.
+		*
+		* Returns the raw value of the signal parsed as a bitfield from the given byte
+		* array.
+		*/
+		float parseSignalBitfield(CanSignal& signal, const can_message_t& message);
+
+		/* Public: Find and return the corresponding string state for a CAN signal's
+		* raw integer value.
+		*
+		* This is an implementation of the SignalDecoder type signature, and can be
+		* used directly in the CanSignal.decoder field.
+		*
+		* signal  - The details of the signal that contains the state mapping.
+		* signals - The list of all signals.
+		* signalCount - the length of the signals array.
+		* value - The numerical value that should map to a state.
+		* send - An output argument that will be set to false if the value should
+		*     not be sent for any reason.
+		*
+		* Returns a DynamicField with a string value if a matching state is found in
+		* the signal. If an equivalent isn't found, send is sent to false and the
+		* return value is undefined.
+		*/
+		static openxc_DynamicField stateDecoder(CanSignal& signal, const std::vector<CanSignal>& signals,
+				float value, bool* send);
+
+		/* Public: Coerces a numerical value to a boolean.
+		*
+		* This is an implementation of the SignalDecoder type signature, and can be
+		* used directly in the CanSignal.decoder field.
+		*
+		* signal  - The details of the signal that contains the state mapping.
+		* signals - The list of all signals
+		* signalCount - The length of the signals array
+		* value - The numerical value that will be converted to a boolean.
+		* send - An output argument that will be set to false if the value should
+		*     not be sent for any reason.
+		*
+		* Returns a DynamicField with a boolean value of false if the raw signal value
+		* is 0.0, otherwise true. The 'send' argument will not be modified as this
+		* decoder always succeeds.
+		*/
+		static openxc_DynamicField booleanDecoder(CanSignal& signal, const std::vector<CanSignal>& signals,
+				float value, bool* send);
+
+		/* Public: Update the metadata for a signal and the newly received value.
+		*
+		* This is an implementation of the SignalDecoder type signature, and can be
+		* used directly in the CanSignal.decoder field.
+		*
+		* This function always flips 'send' to false.
+		*
+		* signal  - The details of the signal that contains the state mapping.
+		* signals - The list of all signals.
+		* signalCount - The length of the signals array.
+		* value - The numerical value that will be converted to a boolean.
+		* send - This output argument will always be set to false, so the caller will
+		*      know not to publish this value to the pipeline.
+		*
+		* The return value is undefined.
+		*/
+		 openxc_DynamicField ignoreDecoder(CanSignal& signal, const std::vector<CanSignal>& signals,
+				float value, bool* send);
+
+		/* Public: Wrap a raw CAN signal value in a DynamicField without modification.
+		*
+		* This is an implementation of the SignalDecoder type signature, and can be
+		* used directly in the CanSignal.decoder field.
+		*
+		* signal  - The details of the signal that contains the state mapping.
+		* signals - The list of all signals
+		* signalCount - The length of the signals array
+		* value - The numerical value that will be wrapped in a DynamicField.
+		* send - An output argument that will be set to false if the value should
+		*     not be sent for any reason.
+		*
+		* Returns a DynamicField with the original, unmodified raw CAN signal value as
+		* its numeric value. The 'send' argument will not be modified as this decoder
+		* always succeeds.
+		*/
+		static openxc_DynamicField noopDecoder(CanSignal& signal, const std::vector<CanSignal>& signals,
+				float value, bool* send);
+
+
+		/* Public: Parse a signal from a CAN message, apply any required transforations
+		 *      to get a human readable value and public the result to the pipeline.
+		 *
+		* If the CanSignal has a non-NULL 'decoder' field, the raw CAN signal value
+		* will be passed to the decoder before publishing.
+		*
+		* signal - The details of the signal to decode and forward.
+		* message   - The received CAN message that should contain this signal.
+		* signals - an array of all active signals.
+		*
+		* The decoder returns an openxc_DynamicField, which may contain a number,
+		* string or boolean.
+		*/
+		openxc_DynamicField translateSignal(CanSignal& signal, can_message_t& message,
+			const std::vector<CanSignal>& signals);
+		
+		/* Public: Parse a signal from a CAN message and apply any required
+		* transforations to get a human readable value.
+		*
+		* If the CanSignal has a non-NULL 'decoder' field, the raw CAN signal value
+		* will be passed to the decoder before returning.
+		*
+		* signal - The details of the signal to decode and forward.
+		* message   - The CAN message that contains the signal.
+		* signals - an array of all active signals.
+		* send - An output parameter that will be flipped to false if the value could
+		*      not be decoded.
+		*
+		* The decoder returns an openxc_DynamicField, which may contain a number,
+		* string or boolean. If 'send' is false, the return value is undefined.
+		*/
+		openxc_DynamicField decodeSignal(CanSignal& signal, const can_message_t& message,
+				const std::vector<CanSignal>& signals, bool* send);
+
+		/* Public: Decode a transformed, human readable value from an raw CAN signal
+		* already parsed from a CAN message.
+		*
+		* This is the same as decodeSignal(const CanSignal&, CanMessage*, const CanSignal&, int,
+		* bool*) but you must parse the bitfield value of the signal from the CAN
+		* message yourself. This is useful if you need that raw value for something
+		* else.
+		*/
+		openxc_DynamicField decodeSignal(CanSignal& signal, float value,
+			const std::vector<CanSignal>& signals, bool* send);
+};
\ No newline at end of file
diff --git a/src/can/can-message.cpp b/src/can/can-message.cpp
new file mode 100644
index 00000000..ad032021
--- /dev/null
+++ b/src/can/can-message.cpp
@@ -0,0 +1,313 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "can-message.hpp"
+
+#include <cstring>
+
+#include "low-can-binding.hpp"
+
+/********************************************************************************
+*
+*		CanMessage method implementation
+*
+*********************************************************************************/
+/**
+* @brief Class constructor
+*
+* Constructor about can_message_t class.
+*/
+can_message_t::can_message_t()
+	: id_{0}, rtr_flag_{false}, length_{0}, flags_{0}, format_{CanMessageFormat::ERROR}
+{}
+
+/**
+* @brief Retrieve id_ member value.
+*
+* @return uint32_t id_ class member
+*/
+uint32_t can_message_t::get_id() const
+{
+	return id_;
+}
+
+/**
+* @brief Retrieve RTR flag member.
+*
+* @return bool rtr_flags_ class member
+*/
+bool can_message_t::get_rtr_flag_() const
+{
+	return rtr_flag_;
+}
+
+/**
+* @brief Retrieve format_ member value.
+*
+* @return CanMessageFormat format_ class member
+*/
+int can_message_t::get_format() const
+{
+	if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
+		return CanMessageFormat::ERROR;
+	return format_;
+}
+
+/**
+* @brief Retrieve format_ member value.
+*
+* @return CanMessageFormat format_ class member
+*/
+uint8_t can_message_t::get_flags() const
+{
+	return flags_;
+}
+
+/**
+* @brief Retrieve data_ member value.
+*
+* @return uint8_t data_ pointer to the first element 
+*  of class member data_
+*/
+const uint8_t* can_message_t::get_data() const
+{
+	return data_.data();
+}
+
+/**
+* @brief Retrieve length_ member value.
+*
+* @return uint8_t length_ class member
+*/
+uint8_t can_message_t::get_length() const
+{
+	return length_;
+}
+
+void can_message_t::set_max_data_length(size_t nbytes)
+{
+	maxdlen_ = 0;
+
+	switch(nbytes)
+	{
+		case CANFD_MTU:
+			DEBUG(binder_interface, "set_max_data_length: Got an CAN FD frame");
+			maxdlen_ = CANFD_MAX_DLEN;
+			break;
+		case CAN_MTU:
+			DEBUG(binder_interface, "set_max_data_length: Got a legacy CAN frame");
+			maxdlen_ = CAN_MAX_DLEN;
+			break;
+		default:
+			ERROR(binder_interface, "set_max_data_length: unsupported CAN frame");
+			break;
+	}
+}
+
+/**
+* @brief Control whether the object is correctly initialized
+*  to be sent over the CAN bus
+*
+* @return true if object correctly initialized and false if not...
+*/
+bool can_message_t::is_correct_to_send()
+{
+	if (id_ != 0 && length_ != 0 && format_ != CanMessageFormat::ERROR)
+	{
+		int i;
+		for(i=0;i<CAN_MESSAGE_SIZE;i++)
+			if(data_[i] != 0)
+				return true;
+	}
+	return false;
+}
+
+/**
+* @brief Set id_ member value.
+*
+* Preferred way to initialize these members by using 
+* convert_from_canfd_frame method.
+*
+* @param uint32_t id_ class member
+*/
+void can_message_t::set_id_and_format(const uint32_t new_id)
+{
+	set_format(new_id);
+	switch(format_)
+	{
+		case CanMessageFormat::STANDARD:
+			id_ = new_id & CAN_SFF_MASK;
+			break;
+		case CanMessageFormat::EXTENDED:
+			id_ = new_id & CAN_EFF_MASK;
+			break;
+		case CanMessageFormat::ERROR:
+			id_ = new_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+			break;
+		default:
+			ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
+			break;
+	}
+}
+
+/**
+* @brief Set format_ member value.
+*
+* Preferred way to initialize these members by using 
+* convert_from_canfd_frame method.
+*
+* @param CanMessageFormat format_ class member
+*/
+void can_message_t::set_format(const CanMessageFormat new_format)
+{
+	if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED || new_format == CanMessageFormat::ERROR)
+		format_ = new_format;
+	else
+		ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
+}
+
+/**
+* @brief Set format_ member value. Deducing from the can_id
+*  of a canfd_frame.
+*
+* Preferred way to initialize these members by using 
+* convert_from_canfd_frame method.
+*
+* @param uint32_t can_id integer from a canfd_frame
+*/
+void can_message_t::set_format(const uint32_t can_id)
+{
+	if (can_id & CAN_ERR_FLAG)
+		format_ = CanMessageFormat::ERROR;
+	else if (can_id & CAN_EFF_FLAG)
+		format_ = CanMessageFormat::EXTENDED;
+	else
+		format_ = CanMessageFormat::STANDARD;
+}
+
+/**
+* @brief Set format_ member value.
+*
+* Preferred way to initialize these members by using 
+* convert_from_canfd_frame method.
+*
+* @param CanMessageFormat format_ class member
+*/
+void can_message_t::set_flags(const uint8_t flags)
+{
+	flags_ = flags & 0xF;
+}
+
+/**
+* @brief Set length_ member value.
+*
+* Preferred way to initialize these members by using 
+* convert_from_canfd_frame method.
+*
+* @param uint8_t length_ array with a max size of 8 elements.
+*/
+void can_message_t::set_length(const uint8_t new_length)
+{
+	if(rtr_flag_)
+		length_ = new_length & 0xF;
+	else
+	{
+		length_ = (new_length > maxdlen_) ? maxdlen_ : new_length;
+	}
+}
+
+/**
+* @brief Set data_ member value.
+*
+* Preferred way to initialize these members by using 
+* convert_from_canfd_frame method.
+*
+* @param uint8_t data_ array with a max size of 8 elements.
+*/
+void can_message_t::set_data(const __u8* new_data)
+{
+		int i;
+
+		data_.clear();
+		/* maxdlen_ is now set at CAN_MAX_DLEN or CANFD_MAX_DLEN, respectively 8 and 64 bytes*/
+		for(i=0;i<maxdlen_;i++)
+		{
+			data_.push_back(new_data[i]);
+		}
+}
+
+/**
+* @brief Take a canfd_frame struct to initialize class members
+*
+* This is the preferred way to initialize class members.
+*
+* @param canfd_frame struct read from can bus device.
+*/
+void can_message_t::convert_from_canfd_frame(const std::pair<struct canfd_frame&, size_t>args)
+{
+	// May be it's overkill to assign member of the pair... May be it will change...
+	struct canfd_frame frame = args.first;
+	size_t nbytes = args.second;
+	set_max_data_length(nbytes);
+	set_length(frame.len);
+	set_id_and_format(frame.can_id);
+
+	/* Overwrite lenght_ if RTR flags is detected.
+	 * standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
+	if (frame.can_id & CAN_RTR_FLAG)
+	{
+		rtr_flag_ = true;
+		if(frame.len && frame.len <= CAN_MAX_DLC)
+			set_length(frame.len);
+		return;
+	}
+
+	/* Flags field only present for CAN FD frames*/
+	if(maxdlen_ == CANFD_MAX_DLEN)
+		set_flags(frame.flags);
+
+	if ( data_.capacity() < maxdlen_)
+		data_.reserve(maxdlen_);
+	set_data(frame.data);
+
+	DEBUG(binder_interface, "convert_from_canfd_frame: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", id_, format_, length_,
+							data_[0], data_[1], data_[2], data_[3], data_[4], data_[5], data_[6], data_[7]);
+}
+
+/**
+* @brief Take all initialized class's members and build an 
+* canfd_frame struct that can be use to send a CAN message over
+* the bus.
+*
+* @return canfd_frame struct built from class members.
+*/
+canfd_frame can_message_t::convert_to_canfd_frame()
+{
+	canfd_frame frame;
+
+	if(is_correct_to_send())
+	{
+		frame.can_id = get_id();
+		frame.len = get_length();
+		::memcpy(frame.data, get_data(), length_);
+	}
+	else
+		ERROR(binder_interface, "can_message_t not correctly initialized to be sent");
+	
+	return frame;
+}
+
diff --git a/src/can/can-message.hpp b/src/can/can-message.hpp
new file mode 100644
index 00000000..9f6a36da
--- /dev/null
+++ b/src/can/can-message.hpp
@@ -0,0 +1,151 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <vector>
+#include <string>
+#include <cstdint>
+#include <linux/can.h>
+
+#include "timer.hpp"
+
+#define CAN_MESSAGE_SIZE 8
+
+/**
+ * @enum CanMessageFormat
+ * @brief The ID format for a CAN message.
+ */
+enum CanMessageFormat {
+	STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */
+	EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
+	ERROR,    /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/
+};
+typedef enum CanMessageFormat CanMessageFormat;
+
+/**
+ * @class can_message_t
+ *
+ * @brief A compact representation of a single CAN message, meant to be used in in/out
+ * buffers.
+ */
+
+/*************************
+ * old CanMessage struct *
+ *************************
+struct CanMessage {
+	uint32_t id;
+	CanMessageFormat format;
+	uint8_t data[CAN_MESSAGE_SIZE];
+	uint8_t length;
+};
+typedef struct CanMessage CanMessage;
+*/
+class can_message_t {
+	private:
+		uint32_t id_; /*!< uint32_t id - The ID of the message. */
+		bool rtr_flag_; /*!< bool rtr_flag - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
+		uint8_t length_; /*!<  uint8_t length - the length of the data array (max 8). */
+		uint8_t flags_; /*!< unint8_t flags of a CAN FD frame. Needed if we catch FD frames.*/
+		CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/
+		std::vector<uint8_t> data_; /*!< uint8_t data  - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
+
+		uint8_t maxdlen_;
+
+	public:
+		can_message_t();
+
+		uint32_t get_id() const;
+		bool get_rtr_flag_() const;
+		int get_format() const;
+		uint8_t get_flags() const;
+		const uint8_t* get_data() const;
+		uint8_t get_length() const;
+
+		void set_max_data_length(size_t nbytes);
+		void set_id_and_format(const uint32_t new_id);
+		void set_format(const CanMessageFormat new_format);
+		void set_format(const uint32_t can_id);
+		void set_flags(const uint8_t flags);
+		void set_data(const __u8* new_data);
+		void set_length(const uint8_t new_length);
+
+		bool is_correct_to_send();
+
+		void convert_from_canfd_frame(const std::pair<struct canfd_frame&, size_t>args);
+		canfd_frame convert_to_canfd_frame();
+};
+
+/**
+ * @struct CanMessageDefinition
+ *
+ * @brief The definition of a CAN message. This includes a lot of metadata, so
+ * to save memory this struct should not be used for storing incoming and
+ * outgoing CAN messages.
+ */
+struct CanMessageDefinition {
+	//can_bus_dev_t bus; /*!< bus - A pointer to the bus this message is on. */
+	uint32_t id; /*!<  id - The ID of the message.*/
+	CanMessageFormat format; /*!< format - the format of the message's ID.*/
+	FrequencyClock frequencyClock; /*!<  clock - an optional frequency clock to control the output of this
+ 									*	message, if sent raw, or simply to mark the max frequency for custom
+ 									*	handlers to retriec++ if ? syntaxve.*/
+	bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send CAN
+ 							*	message if it has changed when using raw passthrough.*/
+	uint8_t lastValue[CAN_MESSAGE_SIZE]; /*!< lastValue - The last received value of the message. Defaults to undefined.
+ 										*	This is required for the forceSendChanged functionality, as the stack
+ 										*	needs to compare an incoming CAN message with the previous frame.*/
+};
+typedef struct CanMessageDefinition CanMessageDefinition;
+
+/**
+ * @struct CanMessageSet
+ *
+ * @brief A parent wrapper for a particular set of CAN messages and associated
+ *	CAN buses(e.g. a vehicle or program).
+ */
+ typedef struct {
+	uint8_t index; /*!<index - A numerical ID for the message set, ideally the index in an array
+ 					*	for fast lookup*/
+	const std::string name; /*!< name - The name of the message set.*/
+	uint8_t busCount; /*!< busCount - The number of CAN buses defined for this message set.*/
+	unsigned short messageCount; /*!< messageCount - The number of CAN messages (across all buses) defined for
+ 									*	this message set.*/
+	unsigned short signalCount; /*!< signalCount - The number of CAN signals (across all messages) defined for
+ 								*	this message set.*/
+	unsigned short commandCount; /*!< commandCount - The number of CanCommmands defined for this message set.*/
+} CanMessageSet;
+
+/** Public: Return the currently active CAN configuration. */
+CanMessageSet* getActiveMessageSet();
+
+/** Public: Retrive a list of all possible CAN configurations.
+ *
+ * Returns a pointer to an array of all configurations.
+ */
+CanMessageSet* getMessageSets();
+
+/** Public: Return the length of the array returned by getMessageSets() */
+int getMessageSetCount();
+
+/* Public: Return an array of all CAN messages to be processed in the active
+ * configuration.
+ */
+CanMessageDefinition* getMessages();
+
+/* Public: Return the length of the array returned by getMessages(). */
+int getMessageCount();
\ No newline at end of file
diff --git a/src/can/can-signals.cpp b/src/can/can-signals.cpp
new file mode 100644
index 00000000..07689a01
--- /dev/null
+++ b/src/can/can-signals.cpp
@@ -0,0 +1,101 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "can-signals.hpp"
+
+#include <fnmatch.h>
+
+#include "signals.hpp"
+#include "obd2-signals.hpp"
+#include "can-decoder.hpp"
+#include "low-can-binding.hpp"
+
+std::vector<std::vector<CanMessageDefinition>> CAN_MESSAGES = {
+	{
+		{0x620, CanMessageFormat::STANDARD, {10, 0, nullptr}, false, (uint8_t)NULL},
+		{0x442, CanMessageFormat::STANDARD, {10, 0, nullptr}, false, (uint8_t)NULL},
+	},
+};
+
+/**
+ * @brief Dumb SIGNALS array. It is composed by CanMessageSet
+ * SIGNALS[MESSAGE_SET_ID][CanSignal]
+ */
+std::vector<std::vector<CanSignal>> SIGNALS = {
+	{
+		{&(CAN_MESSAGES[MESSAGE_SET_ID][0]), "can.driver_door.open", 2, 4, 1.000000, 0.000000, 0.000000, 0.000000, {10, 0, nullptr}, false, true, nullptr, 0, false, decoder_t::booleanDecoder, nullptr, false, 0.0},
+		{&(CAN_MESSAGES[MESSAGE_SET_ID][1]), "can.driver_door.close", 0, 4, 1.000000, 0.000000, 0.000000, 0.000000, {10, 0, nullptr}, false, true, nullptr, 0, false, decoder_t::booleanDecoder, nullptr, false, 0.0}
+	},
+};
+
+/**
+ * @fn std::vector<CanSignal>& get_can_signals()
+ *
+ * @return A reference to a vector of signals
+ */
+std::vector<CanSignal>& get_can_signals()
+{
+	return SIGNALS[MESSAGE_SET_ID];
+}
+
+/**
+ * @fn size_t getSignalCount()
+ *
+ * @return the length of the array returned by get_can_signals().
+ */
+size_t getSignalCount()
+{
+	return SIGNALS[MESSAGE_SET_ID].size();
+}
+
+/**
+ * @brief Retrieve can arbitration id of a given CanSignal
+ *
+ * @param[in] CanSignal& - a const reference to a CanSignal
+ *
+ * @return uint32_t - unsigned integer representing the arbitration id.
+ */
+uint32_t get_signal_id(const CanSignal& sig)
+{
+	return sig.message->id;
+}
+
+/**
+ * @fn void find_can_signals(const openxc_DynamicField& key, std::vector<CanSignal*>& found_signals)
+ * @brief return signals name found searching through CAN_signals and OBD2 pid
+ * 
+ * @param[in] const openxc_DynamicField : can contain numeric or string value in order to search against 
+ *   can signals or obd2 signals name.
+ * @param[out] std::vector<CanSignal*>& found_signals : provided vector to fill with ponter to signals matched.
+ *
+ */
+void find_can_signals(const openxc_DynamicField& key, std::vector<CanSignal*>& found_signals)
+{
+	switch(key.type)
+	{
+		case openxc_DynamicField_Type::openxc_DynamicField_Type_STRING:
+			lookup_signals_by_name(key.string_value, get_can_signals(), found_signals);
+			break;
+		case openxc_DynamicField_Type::openxc_DynamicField_Type_NUM:
+			lookup_signals_by_id(key.numeric_value, get_can_signals(), found_signals);
+			break;
+		default:
+			ERROR(binder_interface, "find_signals: wrong openxc_DynamicField specified. Use openxc_DynamicField_Type_NUM or openxc_DynamicField_Type_STRING type only.");
+			break;
+	}
+	DEBUG(binder_interface, "Found %d signal(s)", (int)found_signals.size());
+}
diff --git a/src/can/can-signals.hpp b/src/can/can-signals.hpp
new file mode 100644
index 00000000..250ff197
--- /dev/null
+++ b/src/can/can-signals.hpp
@@ -0,0 +1,142 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <map>
+#include <mutex>
+#include <queue>
+#include <vector>
+#include <string>
+
+#include "obd2-signals.hpp"
+#include "timer.hpp"
+#include "openxc.pb.h"
+#include "can-bus.hpp"
+#include "can-message.hpp"
+
+extern "C"
+{
+	#include <afb/afb-binding.h>
+	#include <afb/afb-event-itf.h>
+}
+
+#define MESSAGE_SET_ID 0
+
+extern std::mutex subscribed_signals_mutex;
+std::mutex& get_subscribed_signals_mutex();
+
+/**
+ * @brief return the subscribed_signals map.
+ * 
+ * return std::map<std::string, struct afb_event> - map of subscribed signals.
+ */
+extern std::map<std::string, struct afb_event> subscribed_signals;
+std::map<std::string, struct afb_event>& get_subscribed_signals();
+
+/**
+ * @brief The type signature for a CAN signal decoder.
+ *
+ * @desc A SignalDecoder transforms a raw floating point CAN signal into a number,
+ * string or boolean.
+ *
+ * @param[in] CanSignal signal - The CAN signal that we are decoding.
+ * @param[in] CanSignal signals - The list of all signals.
+ * @param[in] int signalCount - The length of the signals array.
+ * @param[in] float value - The CAN signal parsed from the message as a raw floating point
+ *	value.
+ * @param[out] bool send - An output parameter. If the decoding failed or the CAN signal should
+ *	not send for some other reason, this should be flipped to false.
+ *
+ * @return a decoded value in an openxc_DynamicField struct.
+ */
+typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal& signal,
+		const std::vector<CanSignal>& signals, float value, bool* send);
+
+/**
+ * @brief: The type signature for a CAN signal encoder.
+ *
+ * @desc A SignalEncoder transforms a number, string or boolean into a raw floating
+ * point value that fits in the CAN signal.
+ *
+ * @params[signal] - The CAN signal to encode. 
+ * @params[value] - The dynamic field to encode.
+ * @params[send] - An output parameter. If the encoding failed or the CAN signal should
+ * not be encoded for some other reason, this will be flipped to false.
+ */
+typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
+		openxc_DynamicField* value, bool* send);
+
+/**
+ * @struct CanSignalState
+ *
+ * @brief A state encoded (SED) signal's mapping from numerical values to
+ * OpenXC state names.
+ */
+struct CanSignalState {
+	const int value; /*!< int value - The integer value of the state on the CAN bus.*/
+	const char* name; /*!< char* name  - The corresponding string name for the state in OpenXC. */
+};
+typedef struct CanSignalState CanSignalState;
+
+/**
+ * @struct CanSignal
+ *
+ * @brief A CAN signal to decode from the bus and output over USB.
+ */
+struct CanSignal {
+	struct CanMessageDefinition* message; /*!< message	   - The message this signal is a part of. */
+	const char* generic_name; /*!< generic_name - The name of the signal to be output over USB.*/
+	uint8_t bitPosition; /*!< bitPosition - The starting bit of the signal in its CAN message (assuming
+ 						*	non-inverted bit numbering, i.e. the most significant bit of
+ 						*	each byte is 0) */
+	uint8_t bitSize; /*!< bitSize - The width of the bit field in the CAN message. */
+	float factor; /*!< factor - The final value will be multiplied by this factor. Use 1 if you
+ 				*	don't need a factor. */
+	float offset; /*!< offset	   - The final value will be added to this offset. Use 0 if you
+ 				*	don't need an offset. */
+	float minValue; /*!< minValue    - The minimum value for the processed signal.*/
+	float maxValue; /*!< maxValue    - The maximum value for the processed signal. */
+	FrequencyClock frequencyClock; /*!< frequencyClock - A FrequencyClock struct to control the maximum frequency to
+ 								*	process and send this signal. To process every value, set the
+ 								*	clock's frequency to 0. */
+	bool sendSame; /*!< sendSame    - If true, will re-send even if the value hasn't changed.*/
+	bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send the
+ 						*	value if it has changed. */
+	const CanSignalState* states; /*!< states	   - An array of CanSignalState describing the mapping
+ 								*	between numerical and string values for valid states. */
+	uint8_t stateCount; /*!< stateCount  - The length of the states array. */
+	bool writable; /*!< writable    - True if the signal is allowed to be written from the USB host
+ 				*	back to CAN. Defaults to false.*/
+	SignalDecoder decoder; /*!< decoder	   - An optional function to decode a signal from the bus to a human
+ 						*	readable value. If NULL, the default numerical decoder is used. */
+	SignalEncoder encoder; /*!< encoder	   - An optional function to encode a signal value to be written to
+ 						*	CAN into a byte array. If NULL, the default numerical encoder
+ 						*	is used. */
+	bool received; /*!< received    - True if this signal has ever been received.*/
+	float lastValue; /*!< lastValue   - The last received value of the signal. If 'received' is false,
+ 					*	this value is undefined. */
+};
+typedef struct CanSignal CanSignal;
+
+std::vector<CanSignal>& get_can_signals();
+
+size_t getSignalCount();
+
+void find_can_signals(const openxc_DynamicField &key, std::vector<CanSignal*>& found_signals);
+
+uint32_t get_signal_id(const CanSignal& sig);
\ No newline at end of file