8 files changed, 45 insertions, 7 deletions
diff --git a/low-can-binding/can/message-definition.cpp b/low-can-binding/can/message-definition.cpp
index 407ad750..a875dafa 100644
--- a/low-can-binding/can/message-definition.cpp
+++ b/low-can-binding/can/message-definition.cpp
@@ -77,6 +77,11 @@ bool message_definition_t::is_j1939() const
 	return (flags_&J1939_PROTOCOL);
 }
 
+bool message_definition_t::is_isotp() const
+{
+	return (flags_&ISOTP_PROTOCOL);
+}
+
 std::vector<std::shared_ptr<signal_t>>& message_definition_t::get_signals()
 {
 	return signals_;
diff --git a/low-can-binding/can/message-definition.hpp b/low-can-binding/can/message-definition.hpp
index 13ae2289..f46d3adb 100644
--- a/low-can-binding/can/message-definition.hpp
+++ b/low-can-binding/can/message-definition.hpp
@@ -82,6 +82,7 @@ public:
 	uint32_t get_id() const;
 	bool is_fd() const;
 	bool is_j1939() const;
+	bool is_isotp() const;
 	std::vector<std::shared_ptr<signal_t>>& get_signals();
 	uint32_t get_length() const;
 	uint32_t get_flags() const;
diff --git a/low-can-binding/can/message/can-message.cpp b/low-can-binding/can/message/can-message.cpp
index 0ef693c7..b274206b 100644
--- a/low-can-binding/can/message/can-message.cpp
+++ b/low-can-binding/can/message/can-message.cpp
@@ -55,6 +55,11 @@ uint32_t can_message_t::get_id() const
 }
 
 
+void can_message_t::set_id(const canid_t id)
+{
+	id_ = id;
+}
+
 /// @brief Control whether the object is correctly initialized
 ///  to be sent over the CAN bus
 ///
diff --git a/low-can-binding/can/message/can-message.hpp b/low-can-binding/can/message/can-message.hpp
index 769899ea..acc3bfc1 100644
--- a/low-can-binding/can/message/can-message.hpp
+++ b/low-can-binding/can/message/can-message.hpp
@@ -39,8 +39,16 @@ class can_message_t : public message_t {
 
 	public:
 		can_message_t();
-		can_message_t(uint32_t maxdlen, uint32_t id, uint32_t length, bool rtr_flag_, uint32_t flags, std::vector<uint8_t>& data, uint64_t timestamp);
+		can_message_t(  uint32_t maxdlen,
+						uint32_t id,
+						uint32_t length,
+						bool rtr_flag_,
+						uint32_t flags,
+						std::vector<uint8_t>& data,
+						uint64_t timestamp);
+
 		uint32_t get_id() const;
+		void set_id(const canid_t id);
 
 		static std::shared_ptr<can_message_t> convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
 		struct canfd_frame convert_to_canfd_frame();
@@ -53,5 +61,4 @@ class can_message_t : public message_t {
 		void set_bcm_msg(struct bcm_msg bcm_msg);
 
 		std::string get_debug_message();
-
 };
diff --git a/low-can-binding/can/message/j1939-message.cpp b/low-can-binding/can/message/j1939-message.cpp
index ec65cba4..8e056c17 100644
--- a/low-can-binding/can/message/j1939-message.cpp
+++ b/low-can-binding/can/message/j1939-message.cpp
@@ -159,6 +159,12 @@ uint32_t j1939_message_t::get_id() const
 	return get_pgn();
 }
 
+void j1939_message_t::set_id(const canid_t id)
+{
+	pgn_ = id;
+}
+
+
 /**
  * @brief Return the sockname of the message
  *
diff --git a/low-can-binding/can/message/j1939-message.hpp b/low-can-binding/can/message/j1939-message.hpp
index 9e9cea4a..a513e94e 100644
--- a/low-can-binding/can/message/j1939-message.hpp
+++ b/low-can-binding/can/message/j1939-message.hpp
@@ -75,6 +75,7 @@ class j1939_message_t : public message_t
 		bool is_set();
 		std::string get_debug_message();
 		uint32_t get_id() const;
+		void set_id(const canid_t id);
 		struct sockaddr_can get_sockname();
 		void set_sockname(struct sockaddr_can sockname);
 		void set_sockname(pgn_t pgn, name_t name, uint8_t addr);
diff --git a/low-can-binding/can/message/message.cpp b/low-can-binding/can/message/message.cpp
index aaab99f5..2496b672 100644
--- a/low-can-binding/can/message/message.cpp
+++ b/low-can-binding/can/message/message.cpp
@@ -135,7 +135,7 @@ uint32_t message_t::get_length() const
  *
  * @param data A vector of data
  */
-void message_t::set_data(std::vector<uint8_t> &data)
+void message_t::set_data(std::vector<uint8_t> data)
 {
 	data_ = data;
 }
@@ -170,13 +170,22 @@ void message_t::set_flags(uint32_t flags)
 	flags_ = flags_ | flags;
 }
 
+void message_t::erase_flags()
+{
+	flags_ = 0;
+}
+
 uint32_t message_t::get_maxdlen()
 {
 	return maxdlen_;
 }
 
-
 void message_t::set_maxdlen(uint32_t maxdlen)
 {
 	maxdlen_ = maxdlen;
+}
+
+void message_t::set_length(uint32_t length)
+{
+	length_ = length;
 }
 \ No newline at end of file
diff --git a/low-can-binding/can/message/message.hpp b/low-can-binding/can/message/message.hpp
index 6cef0185..db06eb38 100644
--- a/low-can-binding/can/message/message.hpp
+++ b/low-can-binding/can/message/message.hpp
@@ -29,6 +29,7 @@
 #define CAN_MESSAGE_SIZE 8
 
 #define MAX_BCM_CAN_FRAMES 257
+#define MAX_ISOTP_FRAMES 4096
 
 
 /**
@@ -42,6 +43,8 @@
 #define J1939_PROTOCOL 0x0010
 #define J1939_ADDR_CLAIM_PROTOCOL 0x0020
 #define ISOTP_PROTOCOL 0x0040
+#define ISOTP_SEND 0x0080
+#define ISOTP_RECEIVE 0x0100
 #define FD_FRAME 0x0800
 
 /// @class message_t
@@ -69,16 +72,17 @@ public:
 	uint32_t get_length() const;
 	uint64_t get_timestamp() const;
 
-	void set_data(std::vector<uint8_t> &data);
+	void set_data(std::vector<uint8_t> data);
 	void set_sub_id(int sub_id);
 	void set_timestamp(uint64_t timestamp);
 	virtual bool is_set() = 0;
 	virtual std::string get_debug_message() = 0;
 	virtual uint32_t get_id() const = 0;
+	virtual void set_id(canid_t id) = 0;
 	uint32_t get_flags();
 	void set_flags(uint32_t flags);
+	void erase_flags();
 	uint32_t get_maxdlen();
 	void set_maxdlen(uint32_t maxdlen);
-
-
+	void set_length(uint32_t length);
 };