Re-arranging objects splitting all objects over

separated files.

Change-Id: Ifbdb2ea08704324e505a48ba3124df6f2af63c6b
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

14 files changed, 833 insertions, 764 deletions

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index ff6b6db5..c47f4b6a 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -84,7 +84,7 @@ add_library(openxc STATIC ${PROJECT_LIBDIR}/openxc-message-format/gen/cpp/openxc
 
 message(STATUS "Creation of ${PROJECT_NAME} binding for AFB-DAEMON")
 ###########################################################################
-add_library(${PROJECT_NAME} MODULE ${PROJECT_NAME}.cpp can-signals.cpp can-utils.cpp can-decoder.cpp can_reader.cpp can_decode_message.cpp can_event_push.cpp openxc-utils.cpp timer.cpp)
+add_library(${PROJECT_NAME} MODULE ${PROJECT_NAME}.cpp can-bus.cpp can-message.cpp can-signals.cpp can-decoder.cpp can_reader.cpp can_decode_message.cpp can_event_push.cpp openxc-utils.cpp timer.cpp)
 target_link_libraries(${PROJECT_NAME} ${EXTRAS_LIBRARIES} bitfield isotp uds openxc pthread)
 
 set_target_properties(${PROJECT_NAME} PROPERTIES
diff --git a/src/can-utils.cpp b/src/can-bus.cpp
index 47375443..29cadba5 100644
--- a/src/can-utils.cpp
+++ b/src/can-bus.cpp
@@ -15,11 +15,10 @@
  * limitations under the License.
  */
 
-#include "can-utils.hpp"
+#include "can-bus.hpp"
 
 #include <map>
 #include <vector>
-#include <cstdio>
 #include <string>
 #include <fcntl.h>
 #include <unistd.h>
@@ -36,127 +35,6 @@ extern "C"
 
 /********************************************************************************
 *
-*		CanMessage method implementation
-*
-*********************************************************************************/
-
-can_message_t::can_message_t()
-	: id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0}
-{}
-
-uint32_t can_message_t::get_id() const
-{
-	return id_;
-}
-
-int can_message_t::get_format() const
-{
-	if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
-		return CanMessageFormat::ERROR;
-	return format_;
-}
-
-const uint8_t* can_message_t::get_data() const
-{
-	return data_;
-}
-uint8_t can_message_t::get_length() const
-{
-	return length_;
-}
-
-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;
-}
-
-void can_message_t::set_id(const uint32_t new_id)
-{
-	switch(format_)
-	{
-		case CanMessageFormat::STANDARD:
-			id_ = new_id & CAN_SFF_MASK;
-			break;
-		case CanMessageFormat::EXTENDED:
-			id_ = new_id & CAN_EFF_MASK;
-			break;
-		default:
-			ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
-			break;
-	}
-}
-
-void can_message_t::set_format(const CanMessageFormat new_format)
-{
-	if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
-		format_ = new_format;
-	else
-		ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
-}
-
-void can_message_t::set_data(const uint8_t new_data)
-{
-	if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE))
-		ERROR(binder_interface, "Can set data, your data array is too big");
-	else
-	{
-		::memcpy(&data_, &new_data, sizeof(new_data));
-		length_ = sizeof(new_data);
-	}
-}
-
-void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
-{
-	length_ = (frame.len > CAN_MAX_DLEN) ? (uint8_t)CAN_MAX_DLEN : frame.len;
-	length_ = (frame.len > CANFD_MAX_DLEN) ? (uint8_t)CANFD_MAX_DLEN : frame.len;
-
-	if (frame.can_id & CAN_ERR_FLAG)
-	{
-		id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
-		format_ = CanMessageFormat::ERROR;
-	}
-	else if (frame.can_id & CAN_EFF_FLAG)
-	{
-		id_ = frame.can_id & CAN_EFF_MASK;
-		format_ = CanMessageFormat::EXTENDED;
-	}
-	else
-	{
-		id_ = frame.can_id & CAN_SFF_MASK;
-		format_ = CanMessageFormat::STANDARD;
-	}
-
-	if (sizeof(frame.data) <= sizeof(data_))
-		::memcpy(&data_, frame.data, length_);
-	else if (sizeof(frame.data) >= CAN_MAX_DLEN)
-		ERROR(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
-}
-
-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;
-}
-
-/********************************************************************************
-*
 *		can_bus_t method implementation
 *
 *********************************************************************************/
diff --git a/src/can-bus.hpp b/src/can-bus.hpp
new file mode 100644
index 00000000..9100ff80
--- /dev/null
+++ b/src/can-bus.hpp
@@ -0,0 +1,322 @@
+/*
+ * 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_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.*/
+		
+		std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */
+		bool is_decoding_; /*!< boolean member controling thread while loop*/
+		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_;
+		std::mutex can_message_mutex_;
+		bool has_can_message_; /*!< boolean members that control whether or not there is can_message into the 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_;
+		std::mutex decoded_can_message_mutex_;
+		bool has_vehicle_message_; /*!< boolean members that control whether or not there is openxc_VehicleMessage into the queue */
+		std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */
+
+	public:
+		/**
+		 * @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(int& conf_file);
+		
+		/**
+		 * @brief Will initialize can_bus_dev_t objects after reading 
+		 * the configuration file passed in the constructor.
+		 */
+		int init_can_dev();
+
+		/**
+		 * @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> read_conf();
+		
+		std::condition_variable& get_new_can_message();
+		std::mutex& get_can_message_mutex();
+		std::condition_variable& get_new_decoded_can_message();
+		std::mutex& get_decoded_can_message_mutex();
+
+		/**
+		 * @brief Will initialize threads that will decode
+		 *  and push subscribed events.
+		 */
+		void start_threads();
+
+		/**
+		 * @brief Will stop all threads holded by can_bus_t object
+		 *  which are decoding and pushing threads.
+		 */
+		void stop_threads();
+
+		/**
+		 * @brief Telling if the decoding 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 decoding thread is running, false if not.
+		 */
+		bool is_decoding();
+
+		/**
+		 * @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.
+		 */
+		bool is_pushing();
+
+		/**
+		 * @brief Return first can_message_t on the queue 
+		 *
+		 * @return a can_message_t 
+		 */
+		can_message_t next_can_message();
+		
+		/**
+		 * @brief Push a can_message_t into the queue
+		 *
+		 * @param the const reference can_message_t object to push into the queue
+		 */
+		void push_new_can_message(const can_message_t& can_msg);		
+		
+		/**
+		 * @brief Return a boolean telling if there is any can_message into the queue
+		 *
+		 * @return true if there is at least a can_message_t, false if not.
+		 */
+		bool has_can_message() const;
+		
+		/**
+		 * @brief Return first openxc_VehicleMessage on the queue 
+		 *
+		 * @return a openxc_VehicleMessage containing a decoded can message
+		 */
+		openxc_VehicleMessage next_vehicle_message();
+		
+		/**
+		 * @brief Push a openxc_VehicleMessage into the queue
+		 *
+		 * @param the const reference openxc_VehicleMessage object to push into the queue
+		 */
+		void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
+		
+		/**
+		 * @brief Return a boolean telling if there is any openxc_VehicleMessage into the queue
+		 *
+		 * @return true if there is at least a openxc_VehicleMessage, false if not.
+		 */
+		bool has_vehicle_message() const;
+};
+
+/**
+ * @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:
+		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 */
+
+	public:
+		/**
+		 * @brief Class constructor 
+		 * 
+		 * @param const string representing the device name into the linux /dev tree
+		 */
+		can_bus_dev_t(const std::string& dev_name);
+
+		/**
+		 * @brief Open the can socket and returning it 
+		 *
+		 * @return 
+		 */
+		int open();
+		
+		/**
+		 * @brief Open the can socket and returning it 
+		 *
+		 * @return 
+		 */
+		int close();
+		
+		/**
+		 * @brief Telling if the reading 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 reading thread is running, false if not.
+		 */
+		bool is_running();
+		
+		/**
+ 		* @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 start_reading(can_bus_t& can_bus);
+
+		/**
+ 		* @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.
+ 		*/
+		canfd_frame read();
+		
+		/**
+		* @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 send_can_message(can_message_t& can_msg);
+};
+
+/**
+ * @brief Return an array of the metadata for the 2 CAN buses you want to
+ * monitor. The size of this array is fixed at 2.
+ */
+can_bus_dev_t getCanBuses();
+
+/**
+ * @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);
+
+/**
+ * @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);
+
+/**
+ * @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);
+
+/**
+ * @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);
+
+/**
+ * @fn void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
+ *
+ * @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_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
+
+/**
+ * @fn void can_decode_message(can_bus_t& can_bus);
+ *
+ * @brief Thread function used to decode can messages read into the can_message_q_
+ *
+ * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
+ * into vehicle_message_q_ queue.
+ */
+void can_decode_message(can_bus_t& can_bus);
+
+/**
+ * @fn void can_decode_message(can_bus_t& can_bus);
+ *
+ * @brief Thread function used to push afb_event
+ *
+ * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
+ * into vehicle_message_q_ queue.
+ */
+void can_event_push(can_bus_t& can_bus);
\ No newline at end of file
diff --git a/src/can-command.hpp b/src/can-command.hpp
new file mode 100644
index 00000000..ee9ea375
--- /dev/null
+++ b/src/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* genericName; /*!< genericName - 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-decoder.hpp b/src/can-decoder.hpp
index 200035d3..e7dfff86 100644
--- a/src/can-decoder.hpp
+++ b/src/can-decoder.hpp
@@ -17,7 +17,7 @@
 
 #pragma once
 
-#include "can-utils.hpp"
+#include "can-bus.hpp"
 
 class decoder_t
 {
diff --git a/src/can-message.cpp b/src/can-message.cpp
new file mode 100644
index 00000000..f9ec6b21
--- /dev/null
+++ b/src/can-message.cpp
@@ -0,0 +1,144 @@
+/*
+ * 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
+*
+*********************************************************************************/
+
+can_message_t::can_message_t()
+	: id_{0}, length_{0}, format_{CanMessageFormat::ERROR}, data_{0,0,0,0,0,0,0,0}
+{}
+
+uint32_t can_message_t::get_id() const
+{
+	return id_;
+}
+
+int can_message_t::get_format() const
+{
+	if (format_ != CanMessageFormat::STANDARD || format_ != CanMessageFormat::EXTENDED)
+		return CanMessageFormat::ERROR;
+	return format_;
+}
+
+const uint8_t* can_message_t::get_data() const
+{
+	return data_;
+}
+uint8_t can_message_t::get_length() const
+{
+	return length_;
+}
+
+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;
+}
+
+void can_message_t::set_id(const uint32_t new_id)
+{
+	switch(format_)
+	{
+		case CanMessageFormat::STANDARD:
+			id_ = new_id & CAN_SFF_MASK;
+			break;
+		case CanMessageFormat::EXTENDED:
+			id_ = new_id & CAN_EFF_MASK;
+			break;
+		default:
+			ERROR(binder_interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
+			break;
+	}
+}
+
+void can_message_t::set_format(const CanMessageFormat new_format)
+{
+	if(new_format == CanMessageFormat::STANDARD || new_format == CanMessageFormat::EXTENDED)
+		format_ = new_format;
+	else
+		ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
+}
+
+void can_message_t::set_data(const uint8_t new_data)
+{
+	if ((sizeof(new_data) / sizeof(uint8_t) > CAN_MESSAGE_SIZE))
+		ERROR(binder_interface, "Can set data, your data array is too big");
+	else
+	{
+		::memcpy(&data_, &new_data, sizeof(new_data));
+		length_ = sizeof(new_data);
+	}
+}
+
+void can_message_t::convert_from_canfd_frame(const canfd_frame& frame)
+{
+	length_ = (frame.len > CAN_MAX_DLEN) ? (uint8_t)CAN_MAX_DLEN : frame.len;
+	length_ = (frame.len > CANFD_MAX_DLEN) ? (uint8_t)CANFD_MAX_DLEN : frame.len;
+
+	if (frame.can_id & CAN_ERR_FLAG)
+	{
+		id_ = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+		format_ = CanMessageFormat::ERROR;
+	}
+	else if (frame.can_id & CAN_EFF_FLAG)
+	{
+		id_ = frame.can_id & CAN_EFF_MASK;
+		format_ = CanMessageFormat::EXTENDED;
+	}
+	else
+	{
+		id_ = frame.can_id & CAN_SFF_MASK;
+		format_ = CanMessageFormat::STANDARD;
+	}
+
+	if (sizeof(frame.data) <= sizeof(data_))
+		::memcpy(&data_, frame.data, length_);
+	else if (sizeof(frame.data) >= CAN_MAX_DLEN)
+		ERROR(binder_interface, "can_message_t: canfd_frame data too long to be stored into CanMessage object");
+}
+
+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-message.hpp b/src/can-message.hpp
new file mode 100644
index 00000000..f076c5ce
--- /dev/null
+++ b/src/can-message.hpp
@@ -0,0 +1,205 @@
+/*
+ * 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 <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. */
+		uint8_t length_; /*!<  uint8_t length - the length of the data array (max 8). */
+		CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/
+		uint8_t data_[CAN_MESSAGE_SIZE]; /*!< uint8_t data  - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
+
+	public:
+		/**
+		 * @brief Class constructor
+		 *
+		 * Constructor about can_message_t class.
+		 */
+		can_message_t();
+
+		/**
+		 * @brief Retrieve id_ member value.
+		 *
+		 * @return uint32_t id_ class member
+		 */
+		uint32_t get_id() const;
+		
+		/**
+		 * @brief Retrieve format_ member value.
+		 *
+		 * @return CanMessageFormat format_ class member
+		 */
+		int get_format() const;
+		
+		/**
+		 * @brief Retrieve data_ member value.
+		 *
+		 * @return uint8_t data_ pointer class member
+		 */
+		const uint8_t* get_data() const;
+		
+		/**
+		 * @brief Retrieve length_ member value.
+		 *
+		 * @return uint8_t length_ class member
+		 */
+		uint8_t get_length() const;
+
+		/**
+		 * @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 is_correct_to_send();
+		
+		/**
+		 * @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 set_id(const uint32_t new_id);
+		
+		/**
+		 * @brief Set format_ member value.
+		 *
+		 * Preferred way to initialize these members by using 
+		 * convert_from_canfd_frame method.
+		 *
+		 * @param CanMessageFormat format_ class member
+		 */
+		void set_format(const CanMessageFormat format);
+		
+		/**
+		 * @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 set_data(const uint8_t new_data);
+		
+		/**
+		 * @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 set_length(const uint8_t new_length);
+
+		/**
+		 * @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 convert_from_canfd_frame(const canfd_frame& frame);
+		
+		/**
+		 * @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 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;
\ No newline at end of file
diff --git a/src/can-signals.hpp b/src/can-signals.hpp
index 4b43945e..92dfe728 100644
--- a/src/can-signals.hpp
+++ b/src/can-signals.hpp
@@ -22,12 +22,11 @@
 #include <queue>
 #include <vector>
 #include <string>
-#include <thread>
-#include <linux/can.h>
 
 #include "timer.hpp"
 #include "openxc.pb.h"
-#include "can-utils.hpp"
+#include "can-bus.hpp"
+#include "can-message.hpp"
 
 extern "C"
 {
@@ -49,6 +48,91 @@ static std::map<std::string, struct afb_event> subscribed_signals;
 
 std::mutex& get_subscribed_signals_mutex();
 
+/**
+ * @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* genericName; /*!< genericName - 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;
+
 /** Public: Return the currently active CAN configuration. */
 CanMessageSet* getActiveMessageSet();
 
@@ -76,17 +160,6 @@ CanMessageDefinition* getMessages();
  */
 const std::vector<CanSignal> getSignals();
 
-/* 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();
-
 /* Public: Return the length of the array returned by getSignals(). */
 size_t getSignalCount();
 
@@ -94,12 +167,6 @@ size_t getSignalCount();
 int getMessageCount();
 
 /**
- * @brief Return an array of the metadata for the 2 CAN buses you want to
- * monitor. The size of this array is fixed at 2.
- */
-can_bus_dev_t getCanBuses();
-
-/**
  * @brief Find one or many signals based on its name or id
  * passed through openxc_DynamicField.
  *
diff --git a/src/can-utils.hpp b/src/can-utils.hpp
deleted file mode 100644
index 29a41f26..00000000
--- a/src/can-utils.hpp
+++ /dev/null
@@ -1,614 +0,0 @@
-/*
- * 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 "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_MESSAGE_SIZE 8
-
-#define CAN_ACTIVE_TIMEOUT_S 30
-
-/**
- * @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);
-
-/**
- * @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. */
-		uint8_t length_; /*!<  uint8_t length - the length of the data array (max 8). */
-		CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/
-		uint8_t data_[CAN_MESSAGE_SIZE]; /*!< uint8_t data  - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
-
-	public:
-		/**
-		 * @brief Class constructor
-		 *
-		 * Constructor about can_message_t class.
-		 */
-		can_message_t();
-
-		/**
-		 * @brief Retrieve id_ member value.
-		 *
-		 * @return uint32_t id_ class member
-		 */
-		uint32_t get_id() const;
-		
-		/**
-		 * @brief Retrieve format_ member value.
-		 *
-		 * @return CanMessageFormat format_ class member
-		 */
-		int get_format() const;
-		
-		/**
-		 * @brief Retrieve data_ member value.
-		 *
-		 * @return uint8_t data_ pointer class member
-		 */
-		const uint8_t* get_data() const;
-		
-		/**
-		 * @brief Retrieve length_ member value.
-		 *
-		 * @return uint8_t length_ class member
-		 */
-		uint8_t get_length() const;
-
-		/**
-		 * @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 is_correct_to_send();
-		
-		/**
-		 * @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 set_id(const uint32_t new_id);
-		
-		/**
-		 * @brief Set format_ member value.
-		 *
-		 * Preferred way to initialize these members by using 
-		 * convert_from_canfd_frame method.
-		 *
-		 * @param CanMessageFormat format_ class member
-		 */
-		void set_format(const CanMessageFormat format);
-		
-		/**
-		 * @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 set_data(const uint8_t new_data);
-		
-		/**
-		 * @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 set_length(const uint8_t new_length);
-
-		/**
-		 * @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 convert_from_canfd_frame(const canfd_frame& frame);
-		
-		/**
-		 * @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 convert_to_canfd_frame();
-};
-
-/** 
- * @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.*/
-		
-		std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */
-		bool is_decoding_; /*!< boolean member controling thread while loop*/
-		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_;
-		std::mutex can_message_mutex_;
-		bool has_can_message_; /*!< boolean members that control whether or not there is can_message into the 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_;
-		std::mutex decoded_can_message_mutex_;
-		bool has_vehicle_message_; /*!< boolean members that control whether or not there is openxc_VehicleMessage into the queue */
-		std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */
-
-	public:
-		/**
-		 * @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(int& conf_file);
-		
-		/**
-		 * @brief Will initialize can_bus_dev_t objects after reading 
-		 * the configuration file passed in the constructor.
-		 */
-		int init_can_dev();
-
-		/**
-		 * @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> read_conf();
-		
-		std::condition_variable& get_new_can_message();
-		std::mutex& get_can_message_mutex();
-		std::condition_variable& get_new_decoded_can_message();
-		std::mutex& get_decoded_can_message_mutex();
-
-		/**
-		 * @brief Will initialize threads that will decode
-		 *  and push subscribed events.
-		 */
-		void start_threads();
-
-		/**
-		 * @brief Will stop all threads holded by can_bus_t object
-		 *  which are decoding and pushing threads.
-		 */
-		void stop_threads();
-
-		/**
-		 * @brief Telling if the decoding 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 decoding thread is running, false if not.
-		 */
-		bool is_decoding();
-
-		/**
-		 * @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.
-		 */
-		bool is_pushing();
-
-		/**
-		 * @brief Return first can_message_t on the queue 
-		 *
-		 * @return a can_message_t 
-		 */
-		can_message_t next_can_message();
-		
-		/**
-		 * @brief Push a can_message_t into the queue
-		 *
-		 * @param the const reference can_message_t object to push into the queue
-		 */
-		void push_new_can_message(const can_message_t& can_msg);		
-		
-		/**
-		 * @brief Return a boolean telling if there is any can_message into the queue
-		 *
-		 * @return true if there is at least a can_message_t, false if not.
-		 */
-		bool has_can_message() const;
-		
-		/**
-		 * @brief Return first openxc_VehicleMessage on the queue 
-		 *
-		 * @return a openxc_VehicleMessage containing a decoded can message
-		 */
-		openxc_VehicleMessage next_vehicle_message();
-		
-		/**
-		 * @brief Push a openxc_VehicleMessage into the queue
-		 *
-		 * @param the const reference openxc_VehicleMessage object to push into the queue
-		 */
-		void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
-		
-		/**
-		 * @brief Return a boolean telling if there is any openxc_VehicleMessage into the queue
-		 *
-		 * @return true if there is at least a openxc_VehicleMessage, false if not.
-		 */
-		bool has_vehicle_message() const;
-};
-
-/**
- * @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:
-		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 */
-
-	public:
-		/**
-		 * @brief Class constructor 
-		 * 
-		 * @param const string representing the device name into the linux /dev tree
-		 */
-		can_bus_dev_t(const std::string& dev_name);
-
-		/**
-		 * @brief Open the can socket and returning it 
-		 *
-		 * @return 
-		 */
-		int open();
-		
-		/**
-		 * @brief Open the can socket and returning it 
-		 *
-		 * @return 
-		 */
-		int close();
-		
-		/**
-		 * @brief Telling if the reading 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 reading thread is running, false if not.
-		 */
-		bool is_running();
-		
-		/**
- 		* @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 start_reading(can_bus_t& can_bus);
-
-		/**
- 		* @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.
- 		*/
-		canfd_frame read();
-		
-		/**
-		* @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 send_can_message(can_message_t& can_msg);
-};
-
-/**
- * @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* genericName; /*!< genericName - 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;
-
-/**
- * @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 char* 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;
-
-/**
- * @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* genericName; /*!< genericName - The name of the command.*/
-	CommandHandler handler; /*!< handler - An function to process the received command's data and perform some
- 							*	action.*/
-} CanCommand;
-
-/**
- * @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);
-
-/**
- * @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);
-
-/**
- * @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);
-
-/**
- * @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);
-
-/**
- * @fn void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
- *
- * @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_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
-
-/**
- * @fn void can_decode_message(can_bus_t& can_bus);
- *
- * @brief Thread function used to decode can messages read into the can_message_q_
- *
- * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
- * into vehicle_message_q_ queue.
- */
-void can_decode_message(can_bus_t& can_bus);
-
-/**
- * @fn void can_decode_message(can_bus_t& can_bus);
- *
- * @brief Thread function used to push afb_event
- *
- * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
- * into vehicle_message_q_ queue.
- */
-void can_event_push(can_bus_t& can_bus);
\ No newline at end of file
diff --git a/src/can_decode_message.cpp b/src/can_decode_message.cpp
index ed518f1e..d4443ee9 100644
--- a/src/can_decode_message.cpp
+++ b/src/can_decode_message.cpp
@@ -18,7 +18,7 @@
 
 #include "can_decode_message.hpp"
 
-#include "can-utils.hpp"
+#include "can-bus.hpp"
 #include "openxc-utils.hpp"
 #include "can-signals.hpp"
 #include "can-decoder.hpp"
diff --git a/src/can_event_push.cpp b/src/can_event_push.cpp
index b3719734..3baaaf77 100644
--- a/src/can_event_push.cpp
+++ b/src/can_event_push.cpp
@@ -18,7 +18,7 @@
 
 #include "can_event_push.hpp"
 
-#include "can-utils.hpp"
+#include "can-bus.hpp"
 #include "can-signals.hpp"
 #include "openxc-utils.hpp"
 
diff --git a/src/can_reader.cpp b/src/can_reader.cpp
index 4706d92c..4ee1c48b 100644
--- a/src/can_reader.cpp
+++ b/src/can_reader.cpp
@@ -19,7 +19,7 @@
 #include "can_reader.hpp"
 
 #include "low-can-binding.hpp"
-#include "can-utils.hpp"
+#include "can-bus.hpp"
 
 void can_reader(can_bus_dev_t &can_bus_dev, can_bus_t& can_bus)
 {
diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp
index ebb3f33b..0ffef5e9 100644
--- a/src/low-can-binding.cpp
+++ b/src/low-can-binding.cpp
@@ -29,8 +29,9 @@
 
 #include "timer.hpp"
 #include "openxc.pb.h"
-#include "can-utils.hpp"
+#include "can-bus.hpp"
 #include "can-signals.hpp"
+#include "can-message.hpp"
 #include "openxc-utils.hpp"
 
 extern "C"
diff --git a/src/obd2.hpp b/src/obd2.hpp
index a1ba644a..54098e37 100644
--- a/src/obd2.hpp
+++ b/src/obd2.hpp
@@ -19,7 +19,7 @@
 
 #include <vector>
 #include "uds/uds.h"
-#include "can-utils.hpp"
+#include "can-bus.hpp"
 
 extern "C"
 {