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diff --git a/low-can-binding/can/can-bus.hpp b/low-can-binding/can/can-bus.hpp
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+++ b/low-can-binding/can/can-bus.hpp
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+/*
+ * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loïc Collignon" <loic.collignon@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include <utility>
+#include <mutex>
+#include <queue>
+#include <thread>
+#include <linux/can.h>
+#include <condition_variable>
+
+#include "openxc.pb.h"
+#include "can-message.hpp"
+#include "../utils/config-parser.hpp"
+#include "../binding/low-can-hat.hpp"
+#include "../binding/low-can-subscription.hpp"
+
+// TODO actual max is 32 but dropped to 24 for memory considerations
+#define MAX_ACCEPTANCE_FILTERS 24
+// TODO this takes up a ton of memory
+#define MAX_DYNAMIC_MESSAGE_COUNT 12
+
+#define CAN_ACTIVE_TIMEOUT_S 30
+
+class diagnostic_manager_t;
+
+/// @brief Object used to handle decoding and manage event queue to be pushed.
+///
+/// This object is also used to initialize can_bus_dev_t object after reading
+/// json conf file describing the CAN devices to use. Thus, those object will read
+/// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
+///
+/// That queue will be later used to be decoded and pushed to subscribers.
+class can_bus_t
+{
+private:
+	utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects.
+
+	bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription);
+	void process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+	void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+
+	void can_decode_message();
+	std::thread th_decoding_; ///< thread that'll handle decoding a can frame
+	bool is_decoding_ = false; ///< boolean member controling thread while loop
+
+	void can_event_push();
+	std::thread th_pushing_; ///< thread that'll handle pushing decoded can frame to subscribers
+	bool is_pushing_ = false; ///< boolean member controling thread while loop
+
+	std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read
+	std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ queue.
+	std::queue <can_message_t> can_message_q_; ///< queue that'll store can_message_t to decoded
+
+	std::condition_variable new_decoded_can_message_; ///< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_
+	std::mutex decoded_can_message_mutex_;  ///< mutex protecting the vehicle_message_q_ queue.
+	std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed
+
+	std::vector<std::pair<std::string, std::string> > can_devices_; ///< can_devices_ - holds a mapping between logical CAN devices names and linux CAN devices names.
+public:
+	explicit can_bus_t(utils::config_parser_t conf_file);
+	can_bus_t(can_bus_t&&);
+
+	void set_can_devices();
+	int get_can_device_index(const std::string& bus_name) const;
+	const std::string get_can_device_name(const std::string& id_name) const;
+
+	void start_threads();
+	void stop_threads();
+
+	const can_message_t next_can_message();
+	void push_new_can_message(const can_message_t& can_msg);
+	std::mutex& get_can_message_mutex();
+	std::condition_variable& get_new_can_message_cv();
+
+	std::pair<int, openxc_VehicleMessage> next_vehicle_message();
+	void push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg);
+};