Change directory architecture to use 2 separated projects.

Each projects, binder and generator, has to be compiled separatly.
CAN-binder will host high and low level binding
CAN-config-generator only the generator used for low level binding.
build.sh script just launch both build in their respective dir.

Change-Id: Ic77932660fcca507b23a631d4e4e790f608880ae
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

40 files changed, 5157 insertions, 0 deletions

diff --git a/CAN-binder/low-can-binding/CMakeLists.txt b/CAN-binder/low-can-binding/CMakeLists.txt
new file mode 100644
index 0000000..a1768ab
--- /dev/null
+++ b/CAN-binder/low-can-binding/CMakeLists.txt
@@ -0,0 +1,50 @@
+###########################################################################
+# Copyright 2015, 2016, 2017 IoT.bzh
+#
+# author: Fulup Ar Foll <fulup@iot.bzh>
+# contrib: 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.
+###########################################################################
+
+# Add target to project dependency list
+PROJECT_TARGET_ADD(low-can-binding)
+
+	# Define project Targets
+	add_library(${TARGET_NAME} MODULE ${TARGET_NAME}.cpp configuration.cpp configuration-generated.cpp
+		can/can-bus.cpp can/can-bus-dev.cpp can/can-message-set.cpp can/can-message-definition.cpp can/can-message.cpp can/can-signals.cpp can/can-decoder.cpp
+		diagnostic/diagnostic-message.cpp diagnostic/diagnostic-manager.cpp diagnostic/active-diagnostic-request.cpp
+		utils/signals.cpp utils/openxc-utils.cpp utils/timer.cpp utils/socket.cpp)
+
+	# Binder exposes a unique public entry point
+	SET_TARGET_PROPERTIES(${TARGET_NAME} PROPERTIES
+	PREFIX ""
+	LINK_FLAGS ${BINDINGS_LINK_FLAG}
+		OUTPUT_NAME ${TARGET_NAME}
+	)
+
+	# Library dependencies (include updates automatically)
+	TARGET_LINK_LIBRARIES(${TARGET_NAME}
+		openxc-message-format
+		nanopb
+		uds-c
+		isotp-c
+		bitfield-c
+		${link_libraries}
+	)
+
+	# installation directory
+	INSTALL(TARGETS ${TARGET_NAME}
+		LIBRARY DESTINATION ${BINDINGS_INSTALL_DIR})
+
+	build_widget("BINDING")
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
new file mode 100644
index 0000000..fb76498
--- /dev/null
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -0,0 +1,255 @@
+/*
+* 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.
+*/
+
+#include <map>
+#include <mutex>
+#include <unistd.h>
+#include <string.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <linux/can/raw.h>
+
+#include "can-bus-dev.hpp"
+
+#include "can-bus.hpp"
+#include "can-message.hpp"
+#include "../low-can-binding.hpp"
+
+/// @brief Class constructor
+///
+/// @param[in] dev_name - String representing the device name into the linux /dev tree
+/// @param[in] address - integer identifier of the bus, set using init_can_dev from can_bus_t.
+can_bus_dev_t::can_bus_dev_t(const std::string& dev_name, int32_t address)
+	: device_name_{dev_name}, address_{address}
+{}
+
+std::string can_bus_dev_t::get_device_name() const
+{
+	return device_name_;
+}
+
+uint32_t can_bus_dev_t::get_address() const
+{
+	return address_;
+}
+
+/// @brief Open the can socket and returning it
+///
+///  We try to open CAN socket and apply the following options
+///  timestamp received messages and pass the socket to FD mode.
+///
+/// @return -1 if something wrong.
+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, "open: CAN Handler socket : %d", can_socket_.socket());
+	if (can_socket_)
+		return 0;
+
+	can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW);
+	if (can_socket_)
+	{
+		DEBUG(binder_interface, "open: CAN Handler socket correctly initialized : %d", can_socket_.socket());
+
+		// Set timeout for read
+		can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
+
+		// Set timestamp for receveid frame
+		if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, &timestamp_on, sizeof(timestamp_on)) < 0)
+			WARNING(binder_interface, "open: setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
+		DEBUG(binder_interface, "open: Switch CAN Handler socket to use fd mode");
+
+		// try to switch the socket into CAN_FD mode
+		if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
+		{
+			NOTICE(binder_interface, "open: Can not switch into CAN Extended frame format.");
+			is_fdmode_on_ = false;
+		}
+		else
+		{
+			DEBUG(binder_interface, "open: 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, "open: ifr_name is : %s", ifr.ifr_name);
+		if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0)
+		{
+			ERROR(binder_interface, "open: 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 (can_socket_.bind((struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
+				ERROR(binder_interface, "Bind failed. %s", strerror(errno));
+			else return 0;
+		}
+		close();
+	}
+	else ERROR(binder_interface, "open: socket could not be created. Error was : %s", ::strerror(errno));
+	return -1;
+}
+
+/// @brief Close the bus.
+///
+/// @return interger return value of socket.close() function
+int can_bus_dev_t::close()
+{
+	return can_socket_.close();
+}
+
+/// @brief Read the can socket and retrieve canfd_frame.
+///
+///  Read operation are blocking and we try to read CANFD frame
+///  rather than classic CAN frame. CANFD frame are retro compatible.
+can_message_t can_bus_dev_t::read()
+{
+	ssize_t nbytes;
+	struct canfd_frame cfd;
+
+	// Test that socket is really opened
+	if (!can_socket_)
+	{
+		ERROR(binder_interface, "read: Socket unavailable. Closing thread.");
+		is_running_ = false;
+	}
+
+	nbytes = ::read(can_socket_.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_.c_str());
+		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 can_message_t::convert_from_canfd_frame(cfd, nbytes);
+}
+
+/// @brief start reading threads and set flag is_running_
+/// @param[in] can_bus 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 - object to be used to read the can socket
+void can_bus_dev_t::can_reader(can_bus_t& can_bus)
+{
+	while(is_running_)
+	{
+		can_message_t msg = read();
+		{
+			std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
+			can_bus.push_new_can_message(msg);
+		}
+		can_bus.get_new_can_message_cv().notify_one();
+	}
+}
+
+/// @brief Send a can message from a can_message_t object.
+/// @param[in] can_msg - the can message object to send
+///
+/// @return 0 if message snet, -1 if something wrong.
+int can_bus_dev_t::send(can_message_t& can_msg)
+{
+	ssize_t nbytes;
+	canfd_frame f;
+
+	f = can_msg.convert_to_canfd_frame();
+
+	if(can_socket_)
+	{
+		nbytes = ::sendto(can_socket_.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;
+}
+
+/// @brief Static method used to send diagnostic CAN message
+/// that follow isotp SendShimsMessage signature. This method is launched
+/// from diagnostic manager's' same name method. It will use the diagnostic
+/// manager configured CAN bus device to send the CAN message.
+///
+/// @param[in] arbitration_id - CAN arbitration id.
+/// @param[in] data - CAN message payload to send
+/// @param[in] size - size of the data to send
+///
+/// @return True if message sent, false if not.
+bool can_bus_dev_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
+{
+	ssize_t nbytes;
+	canfd_frame f;
+
+	f.can_id = arbitration_id;
+	f.len = size;
+	::memcpy(f.data, data, size);
+
+	if(can_socket_)
+	{
+		nbytes = ::sendto(can_socket_.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 false;
+		}
+		return true;
+	}
+	else
+	{
+		ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+		open();
+	}
+	return false;
+}
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.hpp b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
new file mode 100644
index 0000000..a612e7d
--- /dev/null
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
@@ -0,0 +1,65 @@
+/*
+ * 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 <stdint.h>
+#include <linux/can.h>
+#include <string>
+#include <thread>
+
+#include "../utils/socket.hpp"
+
+class can_bus_t;
+class can_message_t;
+
+/// @brief Object representing a can device. Handle opening, closing and reading on the
+/// socket. This is the low level object to be initialized and use by can_bus_t.
+class can_bus_dev_t
+{
+private:
+	std::string device_name_; ///< a string identifier identitfying the linux CAN device.
+	utils::socket_t can_socket_;
+
+	int32_t address_; ///< an identifier used through binding that refer to that 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_ = false; ///< 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, int32_t address);
+
+	std::string get_device_name() const;
+	uint32_t get_address() const;
+
+	int open();
+	int close();
+
+	void start_reading(can_bus_t& can_bus);
+
+	void stop_reading();
+
+	can_message_t read();
+
+	int send(can_message_t& can_msg);
+	bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
+};
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp
new file mode 100644
index 0000000..33f58fd
--- /dev/null
+++ b/CAN-binder/low-can-binding/can/can-bus.cpp
@@ -0,0 +1,398 @@
+/*
+ * 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 <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-bus.hpp"
+
+#include "can-signals.hpp"
+#include "can-decoder.hpp"
+#include "../configuration.hpp"
+#include "../utils/signals.hpp"
+#include "../utils/openxc-utils.hpp"
+
+extern "C"
+{
+	#include <afb/afb-binding.h>
+}
+
+/// @brief Class constructor
+///
+/// @param[in] conf_file - handle to the json configuration file.
+can_bus_t::can_bus_t(int conf_file)
+	: conf_file_{conf_file}
+{
+}
+
+std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
+
+/// @brief Will make the decoding operation on a classic CAN message. It will not
+/// handle CAN commands nor diagnostic messages that have their own method to get
+/// this happens.
+///
+/// It will add to the vehicle_message queue the decoded message and tell the event push
+/// thread to process it.
+///
+/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
+///
+/// @return How many signals has been decoded.
+int can_bus_t::process_can_signals(can_message_t& can_message)
+{
+	int processed_signals = 0;
+	std::vector <can_signal_t*> signals;
+	openxc_DynamicField search_key, decoded_message;
+	openxc_VehicleMessage vehicle_message;
+
+	// First we have to found which can_signal_t it is
+	search_key = build_DynamicField((double)can_message.get_id());
+	configuration_t::instance().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->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
+		{
+			decoded_message = decoder_t::translateSignal(*sig, can_message, configuration_t::instance().get_can_signals());
+
+			openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
+			vehicle_message = build_VehicleMessage(s_message);
+
+			std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+			push_new_vehicle_message(vehicle_message);
+			processed_signals++;
+		}
+	}
+
+	DEBUG(binder_interface, "process_can_signals: %d/%d CAN signals processed.", processed_signals, (int)signals.size());
+	return processed_signals;
+}
+
+/// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal
+/// corresponding and will add the vehicle_message to the queue of event to pushed before notifying
+/// the event push thread to process it.
+///
+/// @param[in] manager - the diagnostic manager object that handle diagnostic communication
+/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
+///
+/// @return How many signals has been decoded.
+int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
+{
+	int processed_signals = 0;
+
+	std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
+	std::map<std::string, struct afb_event>& s = get_subscribed_signals();
+
+	openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
+	if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
+		(s.find(vehicle_message.simple_message.name) != s.end() && afb_event_is_valid(s[vehicle_message.simple_message.name])))
+	{
+		std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+		push_new_vehicle_message(vehicle_message);
+		processed_signals++;
+	}
+
+	return processed_signals;
+}
+
+/// @brief thread to decoding raw CAN messages.
+///
+///  Depending on the nature of message, if arbitration ID matches ID for a diagnostic response
+///  then decoding a diagnostic message else use classic CAN signals decoding functions.
+///
+/// It will take from the can_message_q_ queue the next can message to process then it 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.
+///
+///  TODO: make diagnostic messages parsing optionnal.
+void can_bus_t::can_decode_message()
+{
+	can_message_t can_message;
+
+	while(is_decoding_)
+	{
+		{
+			std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
+			new_can_message_cv_.wait(can_message_lock);
+			while(!can_message_q_.empty())
+			{
+				can_message = next_can_message();
+
+				if(configuration_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
+					process_diagnostic_signals(configuration_t::instance().get_diagnostic_manager(), can_message);
+				else
+					process_can_signals(can_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);
+		while(!vehicle_message_q_.empty())
+		{
+			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);
+					if(afb_event_push(s[std::string(s_message.name)], jo) == 0)
+						on_no_clients(std::string(s_message.name));
+				}
+			}
+		}
+	}
+}
+
+/// @brief Will initialize threads that will decode
+///  and push subscribed events.
+void can_bus_t::start_threads()
+{
+	is_decoding_ = 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. All CAN buses
+/// Initialized here will be added to a vector holding them for
+/// inventory and later access.
+///
+/// That will initialize CAN socket reading too using a new thread.
+///
+/// @return 0 if ok, other if not.
+int can_bus_t::init_can_dev()
+{
+	std::vector<std::string> devices_name;
+	int i = 0;
+	size_t t;
+
+	devices_name = read_conf();
+
+	if (! devices_name.empty())
+	{
+		t = devices_name.size();
+
+		for(const auto& device : devices_name)
+		{
+			can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
+			if (can_bus_t::can_devices_[device]->open() == 0)
+			{
+				DEBUG(binder_interface, "Start reading thread");
+				NOTICE(binder_interface, "%s device opened and reading", device.c_str());
+				can_bus_t::can_devices_[device]->start_reading(*this);
+				i++;
+			}
+			else
+			{
+				ERROR(binder_interface, "Can't open device %s", device.c_str());
+				return 1;
+			}
+		}
+
+		NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, (int)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))
+		{
+			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_cv_ member
+///
+/// @return  return new_can_message_cv_ 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[in] can_msg - the const reference can_message_t object to push into the queue
+void can_bus_t::push_new_can_message(const can_message_t& can_msg)
+{
+	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[in] v_msg - 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
+const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
+{
+	return can_bus_t::can_devices_;
+}
+
+/// @brief Return the shared pointer on the can_bus_dev_t initialized 
+/// with device_name "bus"
+///
+/// @param[in] bus - CAN bus device name to retrieve.
+///
+/// @return A shared pointer on an object can_bus_dev_t
+std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
+{
+	return can_bus_t::can_devices_[bus];
+}
diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp
new file mode 100644
index 0000000..eb47476
--- /dev/null
+++ b/CAN-binder/low-can-binding/can/can-bus.hpp
@@ -0,0 +1,94 @@
+/*
+ * 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 <mutex>
+#include <queue>
+#include <thread>
+#include <linux/can.h>
+#include <condition_variable>
+
+#include "openxc.pb.h"
+#include "can-message.hpp"
+#include "can-bus-dev.hpp"
+#include "../diagnostic/active-diagnostic-request.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
+
+/// @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_; ///< 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_ = 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 <openxc_VehicleMessage> vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed
+
+	static std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_; ///< Can device map containing all can_bus_dev_t objects initialized during init_can_dev function
+
+public:
+	can_bus_t(int conf_file);
+	can_bus_t(can_bus_t&&);
+
+	int init_can_dev();
+	std::vector<std::string> read_conf();
+
+	void start_threads();
+	void stop_threads();
+
+	int process_can_signals(can_message_t& can_message);
+	int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message);
+
+	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);
+
+	const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_devices() const;
+	static std::shared_ptr<can_bus_dev_t> get_can_device(std::string bus);
+};
diff --git a/CAN-binder/low-can-binding/can/can-command.hpp b/CAN-binder/low-can-binding/can/can-command.hpp
new file mode 100644
index 0000000..4cf20cb
--- /dev/null
+++ b/CAN-binder/low-can-binding/can/can-command.hpp
@@ -0,0 +1,55 @@
+/*
+ * 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] name - the name of the received command.
+/// @param[in] value - the value of the received command, in a DynamicField. The actual type
+///		may be a number, string or bool.
+/// @param[in] event - an optional event from the received command, in a DynamicField. The
+///		actual type may be a number, string or bool.
+/// @param[in] signals - The list of all signals.
+/// @param[in] signalCount - The length of the signals array.
+///
+typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
+		openxc_DynamicField* event, can_signal_t* signals, int signalCount);
+
+/// @struct CanCommand
+/// @brief The structure to represent a supported custom OpenXC command.
+///
+/// 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;
diff --git a/CAN-binder/low-can-binding/can/can-decoder.cpp b/CAN-binder/low-can-binding/can/can-decoder.cpp
new file mode 100644
index 0000000..8843059
--- /dev/null
+++ b/CAN-binder/low-can-binding/can/can-decoder.cpp
@@ -0,0 +1,233 @@
+/*
+ * 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"
+#include "../utils/openxc-utils.hpp"
+
+/// @brief Parse the signal's bitfield from the given data and return the raw
+/// value.
+///
+/// @param[in] signal - The signal to parse from the data.
+/// @param[in] message - can_message_t to parse
+///
+/// @return Returns the raw value of the signal parsed as a bitfield from the given byte
+/// array.
+///
+float decoder_t::parseSignalBitfield(can_signal_t& signal, const can_message_t& message)
+{
+	 return bitfield_parse_float(message.get_data(), CAN_MESSAGE_SIZE,
+			signal.get_bit_position(), signal.get_bit_size(), signal.get_factor(),
+			signal.get_offset());
+}
+
+/// @brief 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 can_signal_t.decoder field.
+///
+/// @param[in] signal - The details of the signal that contains the state mapping.
+/// @param[in] signals - The list of all signals
+/// @param[in] value - The numerical value that will be wrapped in a DynamicField.
+/// @param[out] send - An output argument that will be set to false if the value should
+///     not be sent for any reason.
+///
+/// @return 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.
+///
+openxc_DynamicField decoder_t::noopDecoder(can_signal_t& signal,
+		const std::vector<can_signal_t>& signals, float value, bool* send)
+{
+	openxc_DynamicField decoded_value = build_DynamicField(value);
+
+	return decoded_value;
+}
+/// @brief Coerces a numerical value to a boolean.
+///
+/// This is an implementation of the SignalDecoder type signature, and can be
+/// used directly in the can_signal_t.decoder field.
+///
+/// @param[in] signal  - The details of the signal that contains the state mapping.
+/// @param[in] signals - The list of all signals
+/// @param[in] value - The numerical value that will be converted to a boolean.
+/// @param[out] send - An output argument that will be set to false if the value should
+///     not be sent for any reason.
+///
+/// @return 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.
+///
+openxc_DynamicField decoder_t::booleanDecoder(can_signal_t& signal,
+		const std::vector<can_signal_t>& signals, float value, bool* send)
+{
+	openxc_DynamicField decoded_value = build_DynamicField(value == 0.0 ? false : true);
+
+	return decoded_value;
+}
+/// @brief 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 can_signal_t.decoder field.
+///
+/// This function always flips 'send' to false.
+///
+/// @param[in] signal  - The details of the signal that contains the state mapping.
+/// @param[in] signals - The list of all signals.
+/// @param[in] value - The numerical value that will be converted to a boolean.
+/// @param[out] send - This output argument will always be set to false, so the caller will
+///      know not to publish this value to the pipeline.
+///
+/// @return Return value is undefined.
+///
+openxc_DynamicField decoder_t::ignoreDecoder(can_signal_t& signal,
+		const std::vector<can_signal_t>& signals, float value, bool* send)
+{
+	if(send)
+	  *send = false;
+
+	openxc_DynamicField decoded_value;
+
+	return decoded_value;
+}
+
+/// @brief 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 can_signal_t.decoder field.
+///
+/// @param[in] signal  - The details of the signal that contains the state mapping.
+/// @param[in] signals - The list of all signals.
+/// @param[in] value - The numerical value that should map to a state.
+/// @param[out] send - An output argument that will be set to false if the value should
+///     not be sent for any reason.
+///
+/// @return 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.
+///
+openxc_DynamicField decoder_t::stateDecoder(can_signal_t& signal,
+		const std::vector<can_signal_t>& signals, float value, bool* send)
+{
+	const std::string signal_state = signal.get_states((uint8_t)value);
+	openxc_DynamicField decoded_value = build_DynamicField(signal_state);
+	if(signal_state.size() <= 0)
+	{
+		*send = false;
+		ERROR(binder_interface, "stateDecoder: No state found with index: %d", (int)value);
+	}
+	return decoded_value;
+}
+
+
+/// @brief 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 can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value
+/// will be passed to the decoder before publishing.
+///
+/// @param[in] signal - The details of the signal to decode and forward.
+/// @param[in] message - The received CAN message that should contain this signal.
+/// @param[in] signals - an array of all active signals.
+///
+/// The decoder returns an openxc_DynamicField, which may contain a number,
+/// string or boolean.
+///
+openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, can_message_t& message,
+	const std::vector<can_signal_t>& signals)
+{
+	float value = decoder_t::parseSignalBitfield(signal, message);
+	DEBUG(binder_interface, "translateSignal: Decoded message from parseSignalBitfield: %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 = decoder_t::decodeSignal(signal,
+			value, signals, &send);
+
+	signal.set_received(true);
+	signal.set_last_value(value);
+	return decoded_value;
+}
+
+/// @brief Parse a signal from a CAN message and apply any required
+/// transforations to get a human readable value.
+///
+/// If the can_signal_t has a non-NULL 'decoder' field, the raw CAN signal value
+/// will be passed to the decoder before returning.
+///
+/// @param[in] signal - The details of the signal to decode and forward.
+/// @param[in] value - The numerical value that will be converted to a boolean.
+/// @param[in] signals - an array of all active signals.
+/// @param[out] send - An output parameter that will be flipped to false if the value could
+///      not be decoded.
+///
+/// @return 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 decoder_t::decodeSignal( can_signal_t& signal,
+		float value, const std::vector<can_signal_t>& signals, bool* send)
+{
+	SignalDecoder decoder = signal.get_decoder() == nullptr ?
+							noopDecoder : signal.get_decoder();
+	openxc_DynamicField decoded_value = decoder(signal, signals,
+			value, send);
+	return decoded_value;
+}
+
+/// @brief Decode a transformed, human readable value from an raw CAN signal
+/// already parsed from a CAN message.
+///
+/// This is the same as decodeSignal 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.
+///
+/// @param[in] signal - The details of the signal to decode and forward.
+/// @param[in] message - Raw CAN message to decode
+/// @param[in] signals - an array of all active signals.
+/// @param[out] send - An output parameter that will be flipped to false if the value could
+///      not be decoded.
+///
+openxc_DynamicField decoder_t::decodeSignal( can_signal_t& signal,
+		const can_message_t& message, const std::vector<can_signal_t>& signals, bool* send)
+{
+	float value = parseSignalBitfield(signal, message);
+	return decodeSignal(signal, value, signals, send);
+}
+
+
+///
+/// @brief Decode the payload of an OBD-II PID.
+///
+/// This function matches the type signature for a DiagnosticResponseDecoder, so
+/// it can be used as the decoder for a DiagnosticRequest. It returns the decoded
+/// value of the PID, using the standard formulas (see
+/// http://en.wikipedia.org/wiki/OBD-II_PIDs#Mode_01).
+///
+/// @param[in] response - the received DiagnosticResponse (the data is in response.payload,
+///  a byte array). This is most often used when the byte order is
+///  signiticant, i.e. with many OBD-II PID formulas.
+/// @param[in] parsed_payload - the entire payload of the response parsed as an int.
+///
+/// @return Float decoded value.
+///
+float decoder_t::decode_obd2_response(const DiagnosticResponse* response, float parsed_payload)
+{
+	return diagnostic_decode_obd2_pid(response);
+}
\ No newline at end of file
diff --git a/CAN-binder/low-can-binding/can/can-decoder.hpp b/CAN-binder/low-can-binding/can/can-decoder.hpp
new file mode 100644
index 0000000..ebe1de2
--- /dev/null
+++ b/CAN-binder/low-can-binding/can/can-decoder.hpp
@@ -0,0 +1,49 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *	 http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#pragma once
+
+#include "can-signals.hpp"
+#include "can-message.hpp"
+#include "openxc.pb.h"
+
+class decoder_t
+{
+public:
+	static float parseSignalBitfield(can_signal_t& signal, const can_message_t& message);
+
+	static openxc_DynamicField stateDecoder(can_signal_t& signal, const std::vector<can_signal_t>& signals,
+			float value, bool* send);
+	static openxc_DynamicField booleanDecoder(can_signal_t& signal, const std::vector<can_signal_t>& signals,
+			float value, bool* send);
+	static openxc_DynamicField ignoreDecoder(can_signal_t& signal, const std::vector<can_signal_t>& signals,
+			float value, bool* send);
+	static openxc_DynamicField noopDecoder(can_signal_t& signal, const std::vector<can_signal_t>& signals,
+			float value, bool* send);
+
+	static openxc_DynamicField translateSignal(can_signal_t& signal, can_message_t& message,
+		const std::vector<can_signal_t>& signals);
+
+	static openxc_DynamicField decodeSignal(can_signal_t& signal, const can_message_t& message,
+			const std::vector<can_signal_t>& signals, bool* send);
+
+	static openxc_DynamicField decodeSignal(can_signal_t& signal, float value,
+		const std::vector<can_signal_t>& signals, bool* send);
+
+	static float decode_obd2_response(const DiagnosticResponse* response, float parsed_payload);
+
+};
\ No newline at end of file
diff --git a/CAN-binder/low-can-binding/can/can-message-definition.cpp b/CAN-binder/low-can-binding/can/can-message-definition.cpp
new file mode 100644
index 0000000..206d0b0
--- /dev/null
+++ b/CAN-binder/low-can-binding/can/can-message-definition.cpp
@@ -0,0 +1,55 @@
+/*
+ * 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-definition.hpp"
+
+can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id, const std::string bus)
+	: message_set_id_{message_set_id}, bus_{bus}, last_value_{CAN_MESSAGE_SIZE}
+{}
+
+can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id,
+	const std::string bus,
+	uint32_t id,
+	frequency_clock_t frequency_clock,
+	bool force_send_changed)
+	: message_set_id_{message_set_id},
+	  bus_{bus},
+	  id_{id},
+	  frequency_clock_{frequency_clock},
+	  force_send_changed_{force_send_changed},
+	  last_value_{CAN_MESSAGE_SIZE}
+{}
+
+can_message_definition_t::can_message_definition_t(std::uint8_t message_set_id,
+	const std::string bus,
+	uint32_t id,
+	can_message_format_t format,
+	frequency_clock_t frequency_clock,
+	bool force_send_changed)
+	: message_set_id_{message_set_id},
+	bus_{bus},
+	id_{id},
+	format_{format},
+	frequency_clock_{frequency_clock},
+	force_send_changed_{force_send_changed},
+	last_value_{CAN_MESSAGE_SIZE}
+{}
+
+uint32_t can_message_definition_t::get_id() const
+{
+	return id_;
+}
\ No newline at end of file
diff --git a/CAN-binder/low-can-binding/can/can-message-definition.hpp b/CAN-binder/low-can-binding/can/can-message-definition.hpp
new file mode 100644
index 0000000..98cb2c5
--- /dev/null
+++ b/CAN-binder/low-can-binding/can/can-message-definition.hpp
@@ -0,0 +1,57 @@
+/*
+ * 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.
+ */
+
+/**
+ * @class can_message_definition_t
+ *
+ * @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.
+ */
+
+#pragma once
+
+#include <vector>
+#include <memory>
+
+#include "can-bus-dev.hpp"
+#include "can-message.hpp"
+#include "../utils/timer.hpp"
+
+class can_message_definition_t
+{
+private:
+	std::uint8_t message_set_id_;
+	std::string bus_; /*!< bus_ - Address of CAN bus device. */
+	uint32_t id_; /*!< id_ - The ID of the message.*/
+	can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
+	frequency_clock_t frequency_clock_; /*!<  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 retrieve.*/
+	bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send CAN
+ 							 *	message if it has changed when using raw passthrough.*/
+	std::vector<uint8_t> last_value_; /*!< last_value_ - 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.*/
+	
+public:
+	can_message_definition_t(std::uint8_t message_set_id, const std::string bus);
+	can_message_definition_t(std::uint8_t message_set_id, const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed);
+	can_message_definition_t(std::uint8_t message_set_id, const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed);
+
+	uint32_t get_id() const;
+};
diff --git a/CAN-binder/low-can-binding/can/can-message-set.cpp b/CAN-binder/low-can-binding/can/can-message-set.cpp
new file mode 100644
index 0000000..a9f8cf2
--- /dev/null
+++ b/CAN-binder/low-can-binding/can/can-message-set.cpp
@@ -0,0 +1,37 @@
+/*
+ * 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.
+ */
+
+#include "can-message-set.hpp"
+
+can_message_set_t::can_message_set_t(
+		uint8_t index,
+		const std::string& name,
+		uint8_t can_bus_count,
+		unsigned short can_message_count,
+		unsigned short can_signal_count,
+		unsigned short can_command_count,
+		unsigned short obd2_signal_count)
+	: index_{index}
+	, name_{name}
+	, can_bus_count_{can_bus_count}
+	, can_message_count_{can_message_count}
+	, can_signal_count_{can_signal_count}
+	, can_command_count_{can_command_count}
+	, obd2_signal_count_{obd2_signal_count}
+{
+}
diff --git a/CAN-binder/low-can-binding/can/can-message-set.hpp b/CAN-binder/low-can-binding/can/can-message-set.hpp
new file mode 100644
index 0000000..94e2d8d
--- /dev/null
+++ b/CAN-binder/low-can-binding/can/can-message-set.hpp
@@ -0,0 +1,47 @@
+/*
+ * 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 <cstdint>
+#include <string>
+
+/// @brief A parent wrapper for a particular set of CAN messages and associated
+/// CAN buses(e.g. a vehicle or program).
+class can_message_set_t
+{
+private:
+	uint8_t index_; /// < A numerical ID for the message set, ideally the index in an array for fast lookup
+	const std::string name_; /// < The name of the message set.
+	uint8_t can_bus_count_; /// < The number of CAN buses defined for this message set.
+	uint16_t can_message_count_; /// < The number of CAN messages (across all buses) defined for this message set.
+	uint16_t can_signal_count_; /// < The number of CAN signals (across all messages) defined for this message set.
+	uint16_t can_command_count_; /// < The number of CanCommmands defined for this message set.
+	uint16_t obd2_signal_count_; /// < The number of obd2 signals defined for this message set.
+
+public:
+	can_message_set_t(
+			uint8_t index,
+			const std::string& name,
+			uint8_t can_bus_count,
+			short unsigned int can_message_count,
+			short unsigned int can_signal_count,
+			short unsigned int can_command_count,
+			short unsigned int obd2_signal_count);
+
+};
diff --git a/CAN-binder/low-can-binding/can/can-message.cpp b/CAN-binder/low-can-binding/can/can-message.cpp
new file mode 100644
index 0000000..f61de67
--- /dev/null
+++ b/CAN-binder/low-can-binding/can/can-message.cpp
@@ -0,0 +1,264 @@
+/*
+ * 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"
+
+///
+/// @brief Class constructor
+///
+/// Constructor about can_message_t class.
+///
+can_message_t::can_message_t()
+	: maxdlen_{0}, id_{0}, length_{0}, format_{can_message_format_t::ERROR}, rtr_flag_{false}, flags_{0}
+{}
+
+can_message_t::can_message_t(uint8_t maxdlen,
+	uint32_t id,
+	uint8_t length,
+	can_message_format_t format,
+	bool rtr_flag,
+	uint8_t flags,
+	std::vector<uint8_t> data)
+	:  maxdlen_{maxdlen},
+	id_{id},
+	length_{length},
+	format_{format},
+	rtr_flag_{rtr_flag},
+	flags_{flags},
+	data_{data}
+{}
+
+///
+/// @brief Retrieve id_ member value.
+///
+/// @return id_ class member
+///
+uint32_t can_message_t::get_id() const
+{
+	return id_;
+}
+
+///
+/// @brief Retrieve RTR flag member.
+///
+/// @return rtr_flags_ class member
+///
+bool can_message_t::get_rtr_flag_() const
+{
+	return rtr_flag_;
+}
+
+///
+/// @brief Retrieve format_ member value.
+///
+/// @return format_ class member
+///
+can_message_format_t can_message_t::get_format() const
+{
+	if (format_ != can_message_format_t::STANDARD || format_ != can_message_format_t::EXTENDED)
+		return can_message_format_t::ERROR;
+	return format_;
+}
+
+///
+/// @brief Retrieve flags_ member value.
+///
+/// @return flags_ class member
+///
+uint8_t can_message_t::get_flags() const
+{
+	return flags_;
+}
+
+///
+/// @brief Retrieve data_ member value.
+///
+/// @return pointer to the first element
+///  of class member data_
+///
+const uint8_t* can_message_t::get_data() const
+{
+	return data_.data();
+}
+
+///
+/// @brief Retrieve length_ member value.
+///
+/// @return length_ class member
+///
+uint8_t can_message_t::get_length() const
+{
+	return length_;
+}
+
+///
+/// @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_ != can_message_format_t::ERROR)
+	{
+		int i;
+		for(i=0;i<CAN_MESSAGE_SIZE;i++)
+			if(data_[i] != 0)
+				return true;
+	}
+	return false;
+}
+
+///
+/// @brief Set format_ member value.
+///
+/// Preferred way to initialize these members by using
+/// convert_from_canfd_frame method.
+///
+/// @param[in] new_format - class member
+///
+void can_message_t::set_format(const can_message_format_t new_format)
+{
+	if(new_format == can_message_format_t::STANDARD || new_format == can_message_format_t::EXTENDED || new_format == can_message_format_t::ERROR)
+		format_ = new_format;
+	else
+		ERROR(binder_interface, "ERROR: Can set format, wrong format chosen");
+}
+
+///
+/// @brief Take a canfd_frame struct to initialize class members
+///
+/// This is the preferred way to initialize class members.
+///
+/// @param[in] frame - canfd_frame to convert coming from a read of CAN socket
+/// @param[in] nbytes - bytes read from socket read operation.
+///
+/// @return A can_message_t object fully initialized with canfd_frame values.
+///
+can_message_t can_message_t::convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes)
+{
+	uint8_t maxdlen, length, flags = (uint8_t)NULL;
+	uint32_t id;
+	can_message_format_t format;
+	bool rtr_flag;
+	std::vector<uint8_t> data;
+
+	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;
+	}
+
+	if (frame.can_id & CAN_ERR_FLAG)
+		format = can_message_format_t::ERROR;
+	else if (frame.can_id & CAN_EFF_FLAG)
+		format = can_message_format_t::EXTENDED;
+	else
+		format = can_message_format_t::STANDARD;
+		
+	switch(format)
+	{
+		case can_message_format_t::STANDARD:
+			id = frame.can_id & CAN_SFF_MASK;
+			break;
+		case can_message_format_t::EXTENDED:
+			id = frame.can_id & CAN_EFF_MASK;
+			break;
+		case can_message_format_t::ERROR:
+			id = frame.can_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;
+	}
+
+	/* Overwrite length_ 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)
+		{
+			if(rtr_flag)
+				length = frame.len& 0xF;
+			else
+			{
+				length = (frame.len > maxdlen) ? maxdlen : frame.len;
+			}
+		}
+	}
+	else
+	{
+		length = (frame.len > maxdlen) ? maxdlen : frame.len;
+
+		/* Flags field only present for CAN FD frames*/
+		if(maxdlen == CANFD_MAX_DLEN)
+				flags = frame.flags & 0xF;
+
+		if (data.capacity() < maxdlen)
+			data.reserve(maxdlen);
+				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(frame.data[i]);
+			};
+
+		DEBUG(binder_interface, "convert_from_canfd_frame: Found id: %X, format: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X",
+								id, (uint8_t)format, length, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
+	}
+
+	return can_message_t(maxdlen, id, length, format, rtr_flag, flags, data);
+}
+
+///
+/// @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/CAN-binder/low-can-binding/can/can-message.hpp b/CAN-binder/low-can-binding/can/can-message.hpp
new file mode 100644
index 0000000..6fe0317
--- /dev/null
+++ b/CAN-binder/low-can-binding/can/can-message.hpp
@@ -0,0 +1,75 @@
+/*
+ * 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 "../utils/timer.hpp"
+#include "can-message-set.hpp"
+
+#define CAN_MESSAGE_SIZE 8
+
+class can_bus_dev_t;
+
+/**
+ * @enum can_message_format_t
+ * @brief The ID format for a CAN message.
+ */
+enum class can_message_format_t {
+	STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */
+	EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
+	ERROR,    /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/
+};
+
+/**
+ * @class can_message_t
+ *
+ * @brief A compact representation of a single CAN message, meant to be used in in/out
+ * buffers.
+ */
+class can_message_t {
+private:
+	uint8_t maxdlen_; /*!< maxdlen_ - Max data length deduce from number of bytes read from the socket.*/
+	uint32_t id_; /*!< id_ - The ID of the message. */
+	uint8_t length_; /*!< length_ - the length of the data array (max 8). */
+	can_message_format_t format_; /*!< format_ - the format of the message's ID.*/
+	bool rtr_flag_; /*!< rtr_flag_ - Telling if the frame has RTR flag positionned. Then frame hasn't data field*/
+	uint8_t flags_; /*!< flags_ - flags of a CAN FD frame. Needed if we catch FD frames.*/
+	std::vector<uint8_t> data_; /*!< data_ - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
+
+public:
+	can_message_t();
+	can_message_t(uint8_t maxdlen, uint32_t id, uint8_t length, can_message_format_t format, bool rtr_flag_, uint8_t flags, std::vector<uint8_t> data);
+
+	uint32_t get_id() const;
+	bool get_rtr_flag_() const;
+	can_message_format_t get_format() const;
+	uint8_t get_flags() const;
+	const uint8_t* get_data() const;
+	uint8_t get_length() const;
+
+	void set_format(const can_message_format_t new_format);
+
+	bool is_correct_to_send();
+
+static can_message_t convert_from_canfd_frame(const struct canfd_frame& frame, size_t nbytes);
+	canfd_frame convert_to_canfd_frame();
+};
diff --git a/CAN-binder/low-can-binding/can/can-signals.cpp b/CAN-binder/low-can-binding/can/can-signals.cpp
new file mode 100644
index 0000000..6211fa1
--- /dev/null
+++ b/CAN-binder/low-can-binding/can/can-signals.cpp
@@ -0,0 +1,186 @@
+/*
+ * 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 <fnmatch.h>
+
+#include "can-signals.hpp"
+
+#include "../configuration.hpp"
+#include "../utils/signals.hpp"
+#include "can-decoder.hpp"
+#include "../diagnostic/diagnostic-message.hpp"
+
+std::string can_signal_t::prefix_ = "messages";
+
+can_signal_t::can_signal_t(std::uint8_t message_set_id,
+	std::uint8_t message_id,
+	std::string generic_name,
+	uint8_t bit_position,
+	uint8_t bit_size,
+	float factor,
+	float offset,
+	float min_value,
+	float max_value,
+	frequency_clock_t frequency,
+	bool send_same,
+	bool force_send_changed,
+	std::map<uint8_t, std::string> states,
+	bool writable,
+	SignalDecoder decoder,
+	SignalEncoder encoder,
+	bool received)
+	: message_set_id_{ message_set_id }
+	, message_id_{ message_id }
+	, generic_name_{ generic_name }
+	, bit_position_{ bit_position }
+	, bit_size_{ bit_size }
+	, factor_{ factor }
+	, offset_{ offset }
+	, min_value_{min_value}
+	, max_value_{max_value}
+	, frequency_{frequency}
+	, send_same_{send_same}
+	, force_send_changed_{force_send_changed}
+	, states_{states}
+	, writable_{writable}
+	, decoder_{decoder}
+	, encoder_{encoder}
+	, received_{received}
+	, last_value_{.0f}
+{}
+
+
+const can_message_definition_t& can_signal_t::get_message() const
+{
+	return configuration_t::instance().get_can_message_definition(message_set_id_, message_id_);
+}
+
+const std::string& can_signal_t::get_generic_name() const
+{
+	return generic_name_;
+}
+
+const std::string can_signal_t::get_name() const
+{
+	return prefix_ + "." + generic_name_;
+}
+
+const std::string& can_signal_t::get_prefix() const
+{
+	return prefix_;
+}
+
+uint8_t can_signal_t::get_bit_position() const
+{
+	return bit_position_;
+}
+
+uint8_t can_signal_t::get_bit_size() const
+{
+	return bit_size_;
+}
+
+float can_signal_t::get_factor() const
+{
+	return factor_;
+}
+
+float can_signal_t::get_offset() const
+{
+	return offset_;
+}
+
+float can_signal_t::get_min_value() const
+{
+	return min_value_;
+}	
+
+float can_signal_t::get_max_value() const
+{
+	return max_value_;
+}
+
+frequency_clock_t& can_signal_t::get_frequency()
+{
+	return frequency_;
+}
+
+bool can_signal_t::get_send_same() const
+{
+	return send_same_;
+}
+
+bool can_signal_t::get_force_send_changed() const
+{
+	return force_send_changed_;
+}
+
+const std::map<uint8_t, std::string>& can_signal_t::get_states() const
+{
+	return states_;
+}
+
+const std::string can_signal_t::get_states(uint8_t value)
+{
+	if (value < states_.size())
+		return states_[value];
+	return std::string();
+}
+
+size_t can_signal_t::get_state_count() const
+{
+	return states_.size();
+}
+
+bool can_signal_t::get_writable() const
+{
+	return writable_;
+}
+
+SignalDecoder& can_signal_t::get_decoder()
+{
+	return decoder_;
+}
+
+SignalEncoder& can_signal_t::get_encoder()
+{
+	return encoder_;
+}
+
+bool can_signal_t::get_received() const
+{
+	return received_;
+}
+float can_signal_t::get_last_value() const
+{
+	return last_value_;
+}
+
+void can_signal_t::set_prefix(std::string val)
+{
+	prefix_ = val;
+}
+
+void can_signal_t::set_received(bool r)
+{
+	received_ = r;
+}
+
+void can_signal_t::set_last_value(float val)
+{
+	last_value_ = val;
+}
diff --git a/CAN-binder/low-can-binding/can/can-signals.hpp b/CAN-binder/low-can-binding/can/can-signals.hpp
new file mode 100644
index 0000000..34ebeeb
--- /dev/null
+++ b/CAN-binder/low-can-binding/can/can-signals.hpp
@@ -0,0 +1,158 @@
+///
+/// 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 "openxc.pb.h"
+#include "../utils/timer.hpp"
+#include "can-bus.hpp"
+#include "can-message.hpp"
+#include "can-message-definition.hpp"
+#include "../diagnostic/diagnostic-message.hpp"
+
+extern "C"
+{
+	#include <afb/afb-binding.h>
+	#include <afb/afb-event-itf.h>
+}
+
+#define MESSAGE_SET_ID 0
+
+class can_signal_t;
+
+///
+/// @brief The type signature for a CAN signal decoder.
+///
+/// A SignalDecoder transforms a raw floating point CAN signal into a number,
+/// string or boolean.
+///
+/// @param[in] signal - The CAN signal that we are decoding.
+/// @param[in] signals - The list of all signals.
+/// @param[in] signalCount - The length of the signals array.
+/// @param[in] value - The CAN signal parsed from the message as a raw floating point
+///	value.
+/// @param[out] 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)(can_signal_t& signal,
+		const std::vector<can_signal_t>& signals, float value, bool* send);
+
+///
+/// @brief: The type signature for a CAN signal encoder.
+///
+/// A SignalEncoder transforms a number, string or boolean into a raw floating
+/// point value that fits in the CAN signal.
+///
+/// @param[in] signal - The CAN signal to encode. 
+/// @param[in] value - The dynamic field to encode.
+/// @param[out] 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)(can_signal_t* signal,
+		openxc_DynamicField* value, bool* send);
+
+class can_signal_t
+{
+private:
+	std::uint8_t message_set_id_;
+	std::uint8_t message_id_;
+	std::string generic_name_; /*!< generic_name_ - The name of the signal to be output.*/
+	static std::string prefix_; /*!< prefix_ - generic_name_ will be prefixed with it. It has to reflect the used protocol.
+						  * which make easier to sort message when the come in.*/
+	uint8_t bit_position_; /*!< 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 bit_size_; /*!< 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 min_value_; /*!< min_value_ - The minimum value for the processed signal.*/
+	float max_value_; /*!< max_value_ - The maximum value for the processed signal. */
+	frequency_clock_t frequency_; /*!< frequency_ - A frequency_clock_t struct to control the maximum frequency to
+								*	process and send this signal. To process every value, set the
+								*	clock's frequency to 0. */
+	bool send_same_; /*!< send_same_ - If true, will re-send even if the value hasn't changed.*/
+	bool force_send_changed_; /*!< force_send_changed_ - If true, regardless of the frequency, it will send the
+							   * value if it has changed. */
+	std::map<uint8_t, std::string> states_; /*!< states_ - A map of CAN signal state describing the mapping
+										 * between numerical and string values for valid states. */
+	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 last_value_; /*!< lastValue_ - The last received value of the signal. If 'received' is false,
+						*	this value is undefined. */
+
+public:
+	can_signal_t(
+		std::uint8_t message_set_id,
+		std::uint8_t message_id,
+		std::string generic_name,
+		uint8_t bit_position,
+		uint8_t bit_size,
+		float factor,
+		float offset,
+		float min_value,
+		float max_value,
+		frequency_clock_t frequency,
+		bool send_same,
+		bool force_send_changed,
+		std::map<uint8_t, std::string> states,
+		bool writable,
+		SignalDecoder decoder,
+		SignalEncoder encoder,
+		bool received);
+
+	const can_message_definition_t& get_message() const;
+	const std::string& get_generic_name() const;
+	const std::string get_name() const;
+	const std::string& get_prefix() const;
+	uint8_t get_bit_position() const;
+	uint8_t get_bit_size() const;
+	float get_factor() const;
+	float get_offset() const;
+	float get_min_value() const;
+	float get_max_value() const;
+	frequency_clock_t& get_frequency();
+	bool get_send_same() const;
+	bool get_force_send_changed() const;
+	const std::map<uint8_t, std::string>& get_states() const;
+	const std::string get_states(uint8_t value);
+	size_t get_state_count() const;
+	bool get_writable() const;
+	SignalDecoder& get_decoder();
+	SignalEncoder& get_encoder();
+	bool get_received() const;
+	float get_last_value() const;
+
+	void set_prefix(std::string val);
+	void set_received(bool r);
+	void set_last_value(float val);
+};
\ No newline at end of file
diff --git a/CAN-binder/low-can-binding/configuration-generated.cpp b/CAN-binder/low-can-binding/configuration-generated.cpp
new file mode 100644
index 0000000..2e96570
--- /dev/null
+++ b/CAN-binder/low-can-binding/configuration-generated.cpp
@@ -0,0 +1,350 @@
+#include "configuration.hpp"
+#include "can/can-decoder.hpp"
+
+configuration_t::configuration_t()
+	: can_message_set_{{0, "example", 0, 1, 5, 0, 20}}
+	, can_message_definition_
+	{
+		{
+			can_message_definition_t(0, "can0", 0x620, can_message_format_t::STANDARD, frequency_clock_t(0.00000f), true)
+		}
+	}
+	, can_signals_
+	{
+		{
+			{
+				0,
+				0,
+				"doors.coffer.open",
+				88,
+				1,
+				0.00000f, 
+				0, 
+				0,
+				0,
+				frequency_clock_t(0.00000f),
+				true,
+				false,
+				{
+				},
+				false,
+				decoder_t::booleanDecoder,
+				nullptr,
+				false
+			},
+			{
+				0,
+				0,
+				"doors.driver.open",
+				78,
+				1,
+				0.00000f, 
+				0, 
+				0,
+				0,
+				frequency_clock_t(0.00000f),
+				true,
+				false,
+				{
+				},
+				false,
+				decoder_t::booleanDecoder,
+				nullptr,
+				false
+			},
+			{
+				0,
+				0,
+				"doors.passenger.open",
+				79,
+				1,
+				0.00000f, 
+				0, 
+				0,
+				0,
+				frequency_clock_t(0.00000f),
+				true,
+				false,
+				{
+				},
+				false,
+				decoder_t::booleanDecoder,
+				nullptr,
+				false
+			},
+			{
+				0,
+				0,
+				"doors.rearleft.open",
+				86,
+				1,
+				0.00000f, 
+				0, 
+				0,
+				0,
+				frequency_clock_t(0.00000f),
+				true,
+				false,
+				{
+				},
+				false,
+				decoder_t::booleanDecoder,
+				nullptr,
+				false
+			},
+			{
+				0,
+				0,
+				"doors.rearright.open",
+				85,
+				4,
+				0.00000f, 
+				0, 
+				0,
+				0,
+				frequency_clock_t(0.00000f),
+				true,
+				false,
+				{
+				},
+				false,
+				decoder_t::booleanDecoder,
+				nullptr,
+				false
+			}
+		}
+	}
+	, diagnostic_messages_
+	{
+		{
+			{
+				4,
+				"engine.load",
+				0,
+				0,
+				UNIT::INVALID,
+				5.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				5,
+				"engine.coolant.temperature",
+				0,
+				0,
+				UNIT::INVALID,
+				1.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				10,
+				"fuel.pressure",
+				0,
+				0,
+				UNIT::INVALID,
+				1.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				11,
+				"intake.manifold.pressure",
+				0,
+				0,
+				UNIT::INVALID,
+				1.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				12,
+				"engine.speed",
+				0,
+				0,
+				UNIT::INVALID,
+				5.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				13,
+				"vehicle.speed",
+				0,
+				0,
+				UNIT::INVALID,
+				5.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				15,
+				"intake.air.temperature",
+				0,
+				0,
+				UNIT::INVALID,
+				1.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				16,
+				"mass.airflow",
+				0,
+				0,
+				UNIT::INVALID,
+				5.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				17,
+				"throttle.position",
+				0,
+				0,
+				UNIT::INVALID,
+				5.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				31,
+				"running.time",
+				0,
+				0,
+				UNIT::INVALID,
+				1.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				45,
+				"EGR.error",
+				0,
+				0,
+				UNIT::INVALID,
+				0.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				47,
+				"fuel.level",
+				0,
+				0,
+				UNIT::INVALID,
+				1.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				51,
+				"barometric.pressure",
+				0,
+				0,
+				UNIT::INVALID,
+				1.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				76,
+				"commanded.throttle.position",
+				0,
+				0,
+				UNIT::INVALID,
+				1.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				82,
+				"ethanol.fuel.percentage",
+				0,
+				0,
+				UNIT::INVALID,
+				1.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				90,
+				"accelerator.pedal.position",
+				0,
+				0,
+				UNIT::INVALID,
+				5.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				91,
+				"hybrid.battery-pack.remaining.life",
+				0,
+				0,
+				UNIT::INVALID,
+				5.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				92,
+				"engine.oil.temperature",
+				0,
+				0,
+				UNIT::INVALID,
+				1.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				94,
+				"engine.fuel.rate",
+				0,
+				0,
+				UNIT::INVALID,
+				1.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			},
+			{
+				99,
+				"engine.torque",
+				0,
+				0,
+				UNIT::INVALID,
+				1.00000f,
+				decoder_t::decode_obd2_response,
+				nullptr,
+				true
+			}
+		}
+	}
+{
+}
+
+const std::string configuration_t::get_diagnostic_bus() const
+{
+	return "can0";
+}
+
+
diff --git a/CAN-binder/low-can-binding/configuration.cpp b/CAN-binder/low-can-binding/configuration.cpp
new file mode 100644
index 0000000..8a50cbc
--- /dev/null
+++ b/CAN-binder/low-can-binding/configuration.cpp
@@ -0,0 +1,156 @@
+/*
+ * 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 "configuration.hpp"
+
+#include "utils/signals.hpp"
+#include "utils/openxc-utils.hpp"
+
+/// @brief Return singleton instance of configuration object.
+configuration_t& configuration_t::instance()
+{
+	static configuration_t config;
+	return config;
+}
+
+can_bus_t& configuration_t::get_can_bus_manager()
+{
+	return can_bus_manager_;
+}
+
+const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& configuration_t::get_can_bus_devices()
+{
+	return can_bus_manager_.get_can_devices();
+}
+
+diagnostic_manager_t& configuration_t::get_diagnostic_manager()
+{
+	return diagnostic_manager_;
+}
+
+uint8_t configuration_t::get_active_message_set() const
+{
+	return active_message_set_;
+}
+
+const std::vector<can_message_set_t>& configuration_t::get_can_message_set()
+{
+	return can_message_set_;
+}
+
+std::vector<can_signal_t>& configuration_t::get_can_signals()
+{
+	return can_signals_[active_message_set_];
+}
+
+std::vector<diagnostic_message_t>& configuration_t::get_diagnostic_messages()
+{
+	return diagnostic_messages_[active_message_set_];
+}
+
+const std::vector<can_message_definition_t>& configuration_t::get_can_message_definition()
+{
+	return can_message_definition_[active_message_set_];
+}
+
+const can_message_definition_t& configuration_t::get_can_message_definition(std::uint8_t message_set_id, std::uint8_t message_id)
+{
+	return can_message_definition_[message_set_id][message_id];
+}
+
+uint32_t configuration_t::get_signal_id(diagnostic_message_t& sig) const
+{
+	return sig.get_pid();
+}
+
+uint32_t configuration_t::get_signal_id(can_signal_t& sig) const
+{
+	return sig.get_message().get_id();
+}
+
+void configuration_t::set_active_message_set(uint8_t id)
+{
+	active_message_set_ = id;
+}
+
+/// @brief return diagnostic messages name found searching through diagnostic messages list.
+///
+/// @param[in] key - can contain numeric or string value in order to search against
+///   can signals or obd2 signals name.
+/// @param[out] found_signals - Vector of signals name found.
+///
+void configuration_t::find_diagnostic_messages(const openxc_DynamicField &key, std::vector<diagnostic_message_t*>& found_signals)
+{
+	switch(key.type)
+	{
+		case openxc_DynamicField_Type::openxc_DynamicField_Type_STRING:
+				lookup_signals_by_name(key.string_value, diagnostic_messages_[active_message_set_], found_signals);
+			break;
+		case openxc_DynamicField_Type::openxc_DynamicField_Type_NUM:
+				lookup_signals_by_id(key.numeric_value, diagnostic_messages_[active_message_set_], found_signals);
+			break;
+		default:
+			ERROR(binder_interface, "find_diagnostic_messages: wrong openxc_DynamicField specified. Use openxc_DynamicField_Type_NUM or openxc_DynamicField_Type_STRING type only.");
+			break;
+	}
+	DEBUG(binder_interface, "find_diagnostic_messages: Found %d signal(s)", (int)found_signals.size());
+}
+
+diagnostic_message_t* configuration_t::get_diagnostic_message(std::string message_name) const
+{
+	std::vector<diagnostic_message_t*> found;
+	configuration_t::instance().find_diagnostic_messages(build_DynamicField(message_name), found);
+	if(! found.empty())
+		return found.front();
+	return nullptr;
+}
+
+DiagnosticRequest* configuration_t::get_request_from_diagnostic_message(diagnostic_message_t* diag_msg) const
+{
+	return new DiagnosticRequest(diag_msg->build_diagnostic_request());
+}
+
+DiagnosticRequest* configuration_t::get_request_from_diagnostic_message(std::string message_name) const
+{
+	diagnostic_message_t* diag_msg = get_diagnostic_message(message_name);
+	if( diag_msg != nullptr)
+		return new DiagnosticRequest(diag_msg->build_diagnostic_request());
+	return nullptr;
+}
+
+/// @brief return signals name found searching through CAN signals list.
+///
+/// @param[in] key - can contain numeric or string value in order to search against
+///   can signals or obd2 signals name.
+/// @param[out] found_signals - provided vector to fill with pointer to matched signals.
+///
+void configuration_t::find_can_signals(const openxc_DynamicField& key, std::vector<can_signal_t*>& found_signals)
+{
+	switch(key.type)
+	{
+		case openxc_DynamicField_Type::openxc_DynamicField_Type_STRING:
+			lookup_signals_by_name(std::string(key.string_value), can_signals_[active_message_set_], found_signals);
+			break;
+		case openxc_DynamicField_Type::openxc_DynamicField_Type_NUM:
+			lookup_signals_by_id(key.numeric_value, can_signals_[active_message_set_], found_signals);
+			break;
+		default:
+			ERROR(binder_interface, "find_can_signals: wrong openxc_DynamicField specified. Use openxc_DynamicField_Type_NUM or openxc_DynamicField_Type_STRING type only.");
+			break;
+	}
+	DEBUG(binder_interface, "find_can_signals: Found %d signal(s)", (int)found_signals.size());
+}
diff --git a/CAN-binder/low-can-binding/configuration.hpp b/CAN-binder/low-can-binding/configuration.hpp
new file mode 100644
index 0000000..017b148
--- /dev/null
+++ b/CAN-binder/low-can-binding/configuration.hpp
@@ -0,0 +1,120 @@
+/*
+ * 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 <vector>
+#include <string>
+#include <fcntl.h>
+
+#include "can/can-bus.hpp"
+#include "can/can-signals.hpp"
+#include "can/can-message.hpp"
+#include "diagnostic/diagnostic-manager.hpp"
+
+#include "low-can-binding.hpp"
+
+///
+/// @brief Class representing a configuration attached to the binding.
+///
+/// It regroups all needed objects instance from other class
+///  that will be used along the binding life. It gets a global vision 
+///  on which signals are implemented for that binding. 
+///  Here, it is only the definition of the class with predefined accessors
+///  methods used in the binding.
+///
+///  It will be the reference point to needed objects.
+///
+class configuration_t
+{
+	private:
+		can_bus_t can_bus_manager_ = can_bus_t(
+			afb_daemon_rootdir_open_locale(
+				binder_interface->daemon, "etc/can_buses.json", O_RDONLY, NULL)); ///< instanciate the CAN bus
+				///< This will read the configuration file and initialize all CAN devices specified in it.
+		diagnostic_manager_t diagnostic_manager_; ///< Diagnostic manager use to manage diagnostic message communication.
+		uint8_t active_message_set_ = 0; ///< Which is the active message set ? Default to 0.
+
+		std::vector<can_message_set_t> can_message_set_;
+		std::vector<std::vector<can_message_definition_t>> can_message_definition_;
+		std::vector<std::vector<can_signal_t>> can_signals_;
+		std::vector<std::vector<diagnostic_message_t>> diagnostic_messages_;
+
+		configuration_t(); ///< Private constructor with implementation generated by the AGL generator.
+
+	public:
+		static configuration_t& instance();
+
+		can_bus_t& get_can_bus_manager();
+
+		const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_bus_devices();
+
+		const std::string get_diagnostic_bus() const;
+
+		diagnostic_manager_t& get_diagnostic_manager() ;
+
+		uint8_t get_active_message_set() const;
+
+		const std::vector<can_message_set_t>& get_can_message_set();
+
+		std::vector<can_signal_t>& get_can_signals();
+
+		std::vector<diagnostic_message_t>& get_diagnostic_messages();
+
+		const std::vector<std::string>& get_signals_prefix() const;
+
+		const std::vector<can_message_definition_t>& get_can_message_definition();
+		const can_message_definition_t& get_can_message_definition(std::uint8_t message_set_id, std::uint8_t message_id);
+
+		uint32_t get_signal_id(diagnostic_message_t& sig) const;
+
+		uint32_t get_signal_id(can_signal_t& sig) const;
+
+		void set_active_message_set(uint8_t id);
+
+		void find_diagnostic_messages(const openxc_DynamicField &key, std::vector<diagnostic_message_t*>& found_signals);
+		diagnostic_message_t* get_diagnostic_message(std::string message_name) const;
+		DiagnosticRequest* get_request_from_diagnostic_message(diagnostic_message_t* diag_msg) const;
+		DiagnosticRequest* get_request_from_diagnostic_message(std::string message_name) const;
+
+		void find_can_signals(const openxc_DynamicField &key, std::vector<can_signal_t*>& found_signals);
+
+/*
+		/// TODO: implement this function as method into can_bus class
+		/// @brief Pre initialize actions made before 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.
+		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
+		/// @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.
+		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
+		/// @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.
+		void logBusStatistics(can_bus_dev_t* buses, const int busCount);
+		/// TODO: implement this function as method into can_bus class
+		/// @brief Log transfer statistics about all active CAN buses to the debug log.
+		/// @param[in] buses An array of active CAN buses.
+		bool isBusActive(can_bus_dev_t* bus);
+		*/
+};
+
diff --git a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp
new file mode 100644
index 0000000..7ddf1d5
--- /dev/null
+++ b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.cpp
@@ -0,0 +1,194 @@
+/*
+ * 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 <map>
+#include <fnmatch.h>
+
+#include "active-diagnostic-request.hpp"
+
+#include "../configuration.hpp"
+
+#define ERROR_PID 0xFF
+
+std::string active_diagnostic_request_t::prefix_ = "diagnostic_messages";
+
+bool active_diagnostic_request_t::operator==(const active_diagnostic_request_t& b)
+{
+	return (bus_ == b.bus_ && id_ == b.id_ && handle_ == b.handle_);
+}
+
+active_diagnostic_request_t& active_diagnostic_request_t::operator=(const active_diagnostic_request_t& adr)
+{
+	if (this != &adr)
+	{
+		bus_ = adr.bus_;
+		id_ = adr.id_;
+		handle_ = adr.handle_;
+		name_ = adr.name_;
+		decoder_ = adr.decoder_;
+		callback_ = adr.callback_;
+		recurring_ = adr.recurring_; 
+		wait_for_multiple_responses_ = adr.wait_for_multiple_responses_;
+		in_flight_ = adr.in_flight_;
+		frequency_clock_ = adr.frequency_clock_;
+		timeout_clock_ = adr.timeout_clock_;
+	}
+	
+	return *this;
+}
+
+active_diagnostic_request_t::active_diagnostic_request_t()
+	: bus_{nullptr}, id_{0}, handle_{nullptr}, name_{""},
+	  decoder_{nullptr}, callback_{nullptr}, recurring_{false}, wait_for_multiple_responses_{false},
+	  in_flight_{false}, frequency_clock_{frequency_clock_t()}, timeout_clock_{frequency_clock_t()}
+{}
+
+active_diagnostic_request_t::active_diagnostic_request_t(const std::string& bus, DiagnosticRequest* request,
+		const std::string& name, bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
+		const DiagnosticResponseCallback callback, float frequencyHz)
+	: bus_{bus}, id_{request->arbitration_id}, handle_{nullptr}, name_{name},
+	  decoder_{decoder}, callback_{callback}, recurring_{frequencyHz ? true : false}, wait_for_multiple_responses_{wait_for_multiple_responses},
+	  in_flight_{false}, frequency_clock_{frequency_clock_t(frequencyHz)}, timeout_clock_{frequency_clock_t(10)}
+{}
+
+uint32_t active_diagnostic_request_t::get_id() const
+{
+	return id_;
+}
+
+const std::shared_ptr<can_bus_dev_t> active_diagnostic_request_t::get_can_bus_dev() const
+{
+	return can_bus_t::get_can_device(bus_);
+}
+
+uint16_t active_diagnostic_request_t::get_pid() const
+{
+	if (handle_->request.has_pid)
+		return handle_->request.pid;
+	return ERROR_PID;
+}
+
+DiagnosticRequestHandle* active_diagnostic_request_t::get_handle()
+{
+	return handle_;
+}
+
+const std::string active_diagnostic_request_t::get_name() const
+{
+	return name_;
+}
+
+std::string& active_diagnostic_request_t::get_prefix()
+{
+	return active_diagnostic_request_t::prefix_;
+}
+
+DiagnosticResponseDecoder& active_diagnostic_request_t::get_decoder()
+{
+	return decoder_;
+}
+
+DiagnosticResponseCallback& active_diagnostic_request_t::get_callback()
+{
+	return callback_;
+}
+
+bool active_diagnostic_request_t::get_recurring() const
+{
+	return recurring_;
+}
+
+bool active_diagnostic_request_t::get_in_flight() const
+{
+	return in_flight_;
+}
+
+frequency_clock_t& active_diagnostic_request_t::get_frequency_clock()
+{
+	return frequency_clock_;
+}
+
+frequency_clock_t& active_diagnostic_request_t::get_timeout_clock()
+{
+	return timeout_clock_;
+}
+
+void active_diagnostic_request_t::set_handle(DiagnosticShims& shims, DiagnosticRequest* request)
+{
+	handle_ = new DiagnosticRequestHandle(generate_diagnostic_request(&shims, request, nullptr));
+}
+
+void active_diagnostic_request_t::set_in_flight(bool val)
+{
+	in_flight_ = val;
+}
+
+///
+/// @brief Check if requested signal name is a diagnostic message. If the name
+///  begin with the diagnostic message prefix then true else false.
+///
+/// @param[in] name - A signal name.
+///
+/// @return true if name began with the diagnostic message prefix else false.
+///
+bool active_diagnostic_request_t::is_diagnostic_signal(const std::string& name)
+{
+	const std::string p = active_diagnostic_request_t::prefix_ + "*";
+	if(::fnmatch(p.c_str(), name.c_str(), FNM_CASEFOLD) == 0)
+		return true;
+	return false;
+}
+
+/// @brief Check is the request should be sent or not
+///
+/// @return true if the request is not running or recurring nor completed,
+/// or it's recurring, its clock elapsed
+/// so it's time to send another one.
+bool active_diagnostic_request_t::should_send()
+{
+	return !in_flight_ && ( (!recurring_ && !request_completed()) ||
+			(recurring_ && frequency_clock_.elapsed(true)) );
+}
+
+/// @brief check if the timeout clock has elapsed
+///
+/// @return true if elapsed, so it is a timeout, else false.
+bool active_diagnostic_request_t::timed_out()
+{
+	// don't use staggered start with the timeout clock
+	return timeout_clock_.elapsed(false);
+}
+
+/// @brief Returns true if a sufficient response has been received for a
+/// diagnostic request.
+///
+/// This is true when at least one response has been received and the request is
+/// configured to not wait for multiple responses. Functional broadcast requests
+/// may often wish to wait the full 100ms for modules to respond.
+bool active_diagnostic_request_t::response_received() const
+{
+	return !wait_for_multiple_responses_ &&
+				handle_->completed;
+}
+
+/// @brief Returns true if the request has timed out waiting for a response,
+/// or a sufficient number of responses has been received.
+bool active_diagnostic_request_t::request_completed()
+{
+	return response_received() || 
+		(timed_out() && diagnostic_request_sent(handle_));
+}
diff --git a/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp
new file mode 100644
index 0000000..247eeb1
--- /dev/null
+++ b/CAN-binder/low-can-binding/diagnostic/active-diagnostic-request.hpp
@@ -0,0 +1,122 @@
+/*
+ * 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 <vector>
+
+#include "uds/uds.h"
+#include "uds/uds_types.h"
+#include "../utils/timer.hpp"
+#include "../can/can-bus-dev.hpp"
+
+class active_diagnostic_request_t;
+class diagnostic_manager_t;
+
+/// @brief The signature for an optional function that can apply the neccessary
+/// formula to translate the binary payload into meaningful data.
+///
+/// @param[in] response - the received DiagnosticResponse (the data is in response.payload,
+///  a byte array). This is most often used when the byte order is signiticant, i.e. with many OBD-II PID formulas.
+/// @param[in] parsed_payload - the entire payload of the response parsed as an int.
+///
+/// @return float value after decoding.
+///
+typedef float (*DiagnosticResponseDecoder)(const DiagnosticResponse* response,
+		float parsed_payload);
+
+/// @brief: The signature for an optional function to handle a new diagnostic
+/// response.
+///
+/// @param[in] request - The original diagnostic request.
+/// @param[in] response - The response object that was just received.
+/// @param[in] parsed_payload - The payload of the response, parsed as a float.
+///
+typedef void (*DiagnosticResponseCallback)(const active_diagnostic_request_t* request,
+		const DiagnosticResponse* response, float parsed_payload);
+
+///
+/// @brief An active diagnostic request, either recurring or one-time.
+///
+/// Will host a diagnostic_message_t class members to describe an on going
+///  diagnostic request on the CAN bus. Diagnostic message will be converted to
+///  a DiagnosticRequest using ad-hoc method build_diagnostic_request from diagnostic message.
+///  Then missing member, that can not be hosted into a DiagnosticRequest struct, will be passed
+///  as argument when adding the request to (non)-recurrent vector. Argument will be used to instanciate
+///  an active_diagnostic_request_t object before sending it.
+///
+class active_diagnostic_request_t {
+private:
+	std::string bus_; ///< bus_ - The CAN bus this request should be made on, or is currently in flight-on
+	uint32_t id_; ///< id_ - The arbitration ID (aka message ID) for the request.
+	DiagnosticRequestHandle* handle_; ///< handle_ - A handle for the request to keep track of it between
+									  ///< sending the frames of the request and receiving all frames of the response.
+	std::string name_; ///< name_ - Human readable name, to be used when publishing received responses.
+					   ///< TODO: If the name is NULL, the published output will use the raw OBD-II response format.
+	static std::string prefix_; ///< prefix_ - It has to reflect the JSON object which it comes from. It makes easier sorting 
+								///< incoming CAN messages.
+	DiagnosticResponseDecoder decoder_; ///< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses
+										///< to this request. If the decoder is NULL, the output will include the raw payload
+										///< instead of a parsed value.
+	DiagnosticResponseCallback callback_; ///< callback_ - An optional DiagnosticResponseCallback to be notified whenever a
+										  ///< response is received for this request.
+	bool recurring_; ///< bool recurring_ - If true, this is a recurring request and it will remain as active until explicitly cancelled.
+					 ///< The frequencyClock attribute controls how often a recurrin request is made.
+	bool wait_for_multiple_responses_; ///< wait_for_multiple_responses_ - False by default, when any response is received for a request
+									   ///< it will be removed from the active list. If true, the request will remain active until the timeout
+									   ///< clock expires, to allow it to receive multiple response (e.g. to a functional broadcast request).
+	bool in_flight_; ///< in_flight_ - True if the request has been sent and we are waiting for a response.
+	frequency_clock_t frequency_clock_; ///< frequency_clock_ - A frequency_clock_t object to control the send rate for a
+										///< recurring request. If the request is not reecurring, this attribute is not used.
+	frequency_clock_t timeout_clock_; ///< timeout_clock_ - A frequency_clock_t object to monitor how long it's been since
+									  ///< this request was sent.
+public:
+	bool operator==(const active_diagnostic_request_t& b);
+	active_diagnostic_request_t& operator=(const active_diagnostic_request_t& adr);
+
+	active_diagnostic_request_t();
+	active_diagnostic_request_t(active_diagnostic_request_t&&) = default;
+	active_diagnostic_request_t(const std::string& bus, DiagnosticRequest* request,
+		const std::string& name, bool wait_for_multiple_responses,
+		const DiagnosticResponseDecoder decoder,
+		const DiagnosticResponseCallback callback, float frequencyHz);
+
+	uint32_t get_id() const;
+	const std::shared_ptr<can_bus_dev_t> get_can_bus_dev() const;
+	DiagnosticRequestHandle* get_handle();
+	uint16_t get_pid() const;
+	const std::string get_name() const;
+	static std::string& get_prefix();
+	DiagnosticResponseDecoder& get_decoder();
+	DiagnosticResponseCallback& get_callback();
+	bool get_recurring() const;
+	bool get_in_flight() const;
+	frequency_clock_t& get_frequency_clock();
+	frequency_clock_t& get_timeout_clock();
+
+	void set_handle(DiagnosticShims& shims, DiagnosticRequest* request);
+	void set_in_flight(bool val);
+
+	static bool is_diagnostic_signal(const std::string& name);
+
+	bool should_send();
+
+	bool timed_out();
+	bool response_received() const;
+	bool request_completed();
+};
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp
new file mode 100644
index 0000000..e3a78d0
--- /dev/null
+++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.cpp
@@ -0,0 +1,618 @@
+/*
+ * 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 <systemd/sd-event.h>
+#include <algorithm>
+
+#include "diagnostic-manager.hpp"
+
+#include "../utils/openxc-utils.hpp"
+#include "../configuration.hpp"
+
+#define MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ 10
+#define MAX_SIMULTANEOUS_DIAG_REQUESTS 50
+// There are only 8 slots of in flight diagnostic requests
+#define MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS 8
+#define TIMERFD_ACCURACY 0
+#define MICRO 1000000
+
+diagnostic_manager_t::diagnostic_manager_t()
+	: initialized_{false}
+{}
+
+/// @brief Diagnostic manager isn't initialized at launch but after
+///  CAN bus devices initialization. For the moment, it is only possible
+///  to have 1 diagnostic bus which are the first bus declared in the JSON
+///  description file. Configuration instance will return it.
+///
+/// this will initialize DiagnosticShims and cancel all active requests 
+///  if there are any.
+bool diagnostic_manager_t::initialize()
+{
+	// Mandatory to set the bus before intialize shims.
+	bus_ = configuration_t::instance().get_diagnostic_bus();
+
+	init_diagnostic_shims();
+	reset();
+
+	initialized_ = true;
+	DEBUG(binder_interface, "initialize: Diagnostic Manager initialized");
+	return initialized_;
+}
+
+/// @brief initialize shims used by UDS lib and set initialized_ to true.
+///  It is needed before used the diagnostic manager fully because shims are
+///  required by most member functions.
+void diagnostic_manager_t::init_diagnostic_shims()
+{
+	shims_ = diagnostic_init_shims(shims_logger, shims_send, NULL);
+	DEBUG(binder_interface, "init_diagnostic_shims: Shims initialized");
+}
+
+/// @brief Force cleanup all active requests.
+void diagnostic_manager_t::reset()
+{
+	DEBUG(binder_interface, "Clearing existing diagnostic requests");
+	cleanup_active_requests(true);
+}
+
+/// @brief send function use by diagnostic library. Only one bus used for now
+///  so diagnostic request is sent using the default diagnostic bus not matter of
+///  which is specified in the diagnostic message definition.
+///
+/// @param[in] arbitration_id - CAN arbitration ID to use when send message. OBD2 broadcast ID
+///  is 0x7DF by example.
+/// @param[in] data - The data payload for the message. NULL is valid if size is also 0.
+/// @param[in] size - The size of the data payload, in bytes.
+///
+/// @return true if the CAN message was sent successfully. 
+bool diagnostic_manager_t::shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size)
+{
+	std::shared_ptr<can_bus_dev_t> can_bus_dev = can_bus_t::get_can_device(configuration_t::instance().get_diagnostic_manager().bus_);
+	if(can_bus_dev != nullptr)
+		return can_bus_dev->shims_send(arbitration_id, data, size);
+	ERROR(binder_interface, "shims_send: Can not retrieve diagnostic bus: %s", configuration_t::instance().get_diagnostic_manager().bus_.c_str());
+	return false;
+}
+
+/// @brief The type signature for an optional logging function, if the user
+/// wishes to provide one. It should print, store or otherwise display the
+/// message.
+///
+/// message - A format string to log using the given parameters.
+/// ... (vargs) - the parameters for the format string.
+///
+void diagnostic_manager_t::shims_logger(const char* format, ...)
+{
+	va_list args;
+	va_start(args, format);
+
+	char buffer[256];
+	vsnprintf(buffer, 256, format, args);
+
+	DEBUG(binder_interface, "shims_logger: %s", buffer);
+}
+
+/// @brief The type signature for a... OpenXC TODO: not used yet.
+void diagnostic_manager_t::shims_timer()
+{}
+
+std::shared_ptr<can_bus_dev_t> diagnostic_manager_t::get_can_bus_dev()
+{
+	return can_bus_t::get_can_device(bus_);
+}
+
+/// @brief Return diagnostic manager shims member.
+DiagnosticShims& diagnostic_manager_t::get_shims()
+{
+	return shims_;
+}
+
+/// @brief Search for a specific active diagnostic request in the provided requests list
+/// and erase it from the vector. This is useful at unsubscription to clean up the list otherwize
+/// all received CAN messages will be passed to DiagnosticRequestHandle of all active diagnostic request
+/// contained in the vector but no event if connected to, so we will decode uneeded request.
+///
+/// @param[in] entry - a pointer of an active_diagnostic_request instance to clean up
+/// @param[in] requests_list - a vector where to make the search and cleaning.
+void diagnostic_manager_t::find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list)
+{
+	auto i = std::find(requests_list.begin(), requests_list.end(), entry);
+	if ( i != requests_list.end())
+		requests_list.erase(i);
+}
+
+// @brief TODO: implement cancel_request if needed... Don't know.
+void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
+{
+
+	/* TODO: implement acceptance filters.
+	if(entry.arbitration_id_ == OBD2_FUNCTIONAL_BROADCAST_ID) {
+		for(uint32_t filter = OBD2_FUNCTIONAL_RESPONSE_START;
+				filter < OBD2_FUNCTIONAL_RESPONSE_START +
+					OBD2_FUNCTIONAL_RESPONSE_COUNT;
+				filter++) {
+			removeAcceptanceFilter(entry.bus_, filter,
+					CanMessageFormat::STANDARD, getCanBuses(),
+					getCanBusCount());
+		}
+	} else {
+		removeAcceptanceFilter(entry.bus_,
+				entry.arbitration_id_ +
+					DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET,
+				CanMessageFormat::STANDARD, getCanBuses(), getCanBusCount());
+	}*/
+}
+
+/// @brief Cleanup a specific request if it isn't running and get complete. As it is almost
+/// impossible to get that state for a recurring request without waiting for that, you can 
+/// force the cleaning operation.
+///
+/// @param[in] entry - the request to clean
+/// @param[in] force - Force the cleaning or not ?
+void diagnostic_manager_t::cleanup_request(active_diagnostic_request_t* entry, bool force)
+{
+	if((force || (entry != nullptr && entry->get_in_flight() && entry->request_completed())))
+	{
+		entry->set_in_flight(false);
+
+		char request_string[128] = {0};
+		diagnostic_request_to_string(&entry->get_handle()->request,
+			request_string, sizeof(request_string));
+		if(force && entry->get_recurring())
+		{
+			find_and_erase(entry, recurring_requests_);
+			cancel_request(entry);
+			DEBUG(binder_interface, "cleanup_request: Cancelling completed, recurring request: %s", request_string);
+		}
+		else
+		{
+			DEBUG(binder_interface, "cleanup_request: Cancelling completed, non-recurring request: %s", request_string);
+			find_and_erase(entry, non_recurring_requests_);
+			cancel_request(entry);
+		}
+	}
+}
+
+/// @brief Clean up all requests lists, recurring and not recurring.
+///
+/// @param[in] force - Force the cleaning or not ? If true, that will do
+/// the same effect as a call to reset().
+void diagnostic_manager_t::cleanup_active_requests(bool force)
+{
+	for(auto& entry : non_recurring_requests_)
+		if (entry != nullptr)
+			cleanup_request(entry, force);
+
+	for(auto& entry : recurring_requests_)
+		if (entry != nullptr)
+			cleanup_request(entry, force);
+}
+
+/// @brief Will return the active_diagnostic_request_t pointer for theDiagnosticRequest or nullptr if
+/// not found.
+///
+/// @param[in] request - Search key, method will go through recurring list to see if it find that request
+///  holded by the DiagnosticHandle member.
+active_diagnostic_request_t* diagnostic_manager_t::find_recurring_request(const DiagnosticRequest* request)
+{
+	for (auto& entry : recurring_requests_)
+	{
+		if(entry != nullptr)
+		{
+			if(diagnostic_request_equals(&entry->get_handle()->request, request))
+			{
+				return entry;
+				break;
+			}
+		}
+	}
+	return nullptr;
+}
+
+/// @brief Add and send a new one-time diagnostic request.
+///
+/// A one-time (aka non-recurring) request can existing in parallel with a
+/// recurring request for the same PID or mode, that's not a problem.
+///
+/// For an example, see the docs for addRecurringRequest. This function is very
+/// similar but leaves out the frequencyHz parameter.
+///
+/// @param[in] request - The parameters for the request.
+/// @param[in] name - Human readable name this response, to be used when
+///      publishing received responses. TODO: If the name is NULL, the published output
+///      will use the raw OBD-II response format.
+/// @param[in] wait_for_multiple_responses - If false, When any response is received
+///      for this request it will be removed from the active list. If true, the
+///      request will remain active until the timeout clock expires, to allow it
+///      to receive multiple response. Functional broadcast requests will always
+///      waint for the timeout, regardless of this parameter.
+/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
+///      responses to this request. If the decoder is NULL, the output will
+///      include the raw payload instead of a parsed value.
+/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
+///      response is received for this request.
+///
+/// @return true if the request was added successfully. Returns false if there
+/// wasn't a free active request entry, if the frequency was too high or if the
+/// CAN acceptance filters could not be configured,
+bool diagnostic_manager_t::add_request(DiagnosticRequest* request, const std::string name,
+	bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
+	const DiagnosticResponseCallback callback)
+{
+	cleanup_active_requests(false);
+
+	bool added = true;
+
+	if (non_recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
+	{
+		// TODO: implement Acceptance Filter
+		//	if(updateRequiredAcceptanceFilters(bus, request)) {
+			active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
+					wait_for_multiple_responses, decoder, callback, 0);
+			entry->set_handle(shims_, request);
+
+			char request_string[128] = {0};
+			diagnostic_request_to_string(&entry->get_handle()->request, request_string,
+					sizeof(request_string));
+
+			find_and_erase(entry, non_recurring_requests_);
+			DEBUG(binder_interface, "Added one-time diagnostic request on bus %s: %s",
+					bus_.c_str(), request_string);
+
+			non_recurring_requests_.push_back(entry);
+	}
+	else
+	{
+		WARNING(binder_interface, "There isn't enough request entry. Vector exhausted %d/%d", (int)non_recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
+		non_recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
+		added = false;
+	}
+	return added;
+}
+
+bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
+{
+	if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
+		DEBUG(binder_interface, "Requested recurring diagnostic frequency %lf is higher than maximum of %d",
+			frequencyHz, MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ);
+		return false;
+	}
+	return true;
+}
+
+/// @brief Add and send a new recurring diagnostic request.
+///
+/// At most one recurring request can be active for the same arbitration ID, mode
+/// and (if set) PID on the same bus at one time. If you try and call
+/// addRecurringRequest with the same key, it will return an error.
+///
+/// TODO: This also adds any neccessary CAN acceptance filters so we can receive the
+/// response. If the request is to the functional broadcast ID (0x7df) filters
+/// are added for all functional addresses (0x7e8 to 0x7f0).
+///
+/// Example:
+///
+///     // Creating a functional broadcast, mode 1 request for PID 2.
+///     DiagnosticRequest request = {
+///         arbitration_id: 0x7df,
+///         mode: 1,
+///         has_pid: true,
+///         pid: 2
+///     };
+///
+///     // Add a recurring request, to be sent at 1Hz, and published with the
+///     // name "my_pid_request"
+///     addRecurringRequest(&getConfiguration()->diagnosticsManager,
+///          canBus,
+///          &request,
+///          "my_pid_request",
+///          false,
+///          NULL,
+///          NULL,
+///          1);
+///
+/// @param[in] request - The parameters for the request.
+/// @param[in] name - An optional human readable name this response, to be used when
+///      publishing received responses. If the name is NULL, the published output
+///      will use the raw OBD-II response format.
+/// @param[in] wait_for_multiple_responses - If false, When any response is received
+///      for this request it will be removed from the active list. If true, the
+///      request will remain active until the timeout clock expires, to allow it
+///      to receive multiple response. Functional broadcast requests will always
+///      waint for the timeout, regardless of this parameter.
+/// @param[in] decoder - An optional DiagnosticResponseDecoder to parse the payload of
+///      responses to this request. If the decoder is NULL, the output will
+///      include the raw payload instead of a parsed value.
+/// @param[in] callback - An optional DiagnosticResponseCallback to be notified whenever a
+///      response is received for this request.
+/// @param[in] frequencyHz - The frequency (in Hz) to send the request. A frequency above
+///      MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ is not allowed, and will make this
+///      function return false.
+///
+/// @return true if the request was added successfully. Returns false if there
+/// was too much already running requests, if the frequency was too high TODO:or if the
+/// CAN acceptance filters could not be configured,
+///
+bool diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
+		bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
+		const DiagnosticResponseCallback callback, float frequencyHz)
+{
+	if(!validate_optional_request_attributes(frequencyHz))
+		return false;
+
+	cleanup_active_requests(false);
+
+	bool added = true;
+	if(find_recurring_request(request) == nullptr)
+	{
+		if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
+		{
+			sd_event_source *source;
+			// TODO: implement Acceptance Filter
+			//if(updateRequiredAcceptanceFilters(bus, request)) {
+			active_diagnostic_request_t* entry = new active_diagnostic_request_t(bus_, request, name,
+					wait_for_multiple_responses, decoder, callback, frequencyHz);
+			entry->set_handle(shims_, request);
+
+			//start_diagnostic_request(&shims_, entry->get_handle());
+			//char request_string[128] = {0};
+			//diagnostic_request_to_string(&entry->get_handle()->request, request_string,
+			//		sizeof(request_string));
+
+			uint64_t usec;
+			sd_event_now(afb_daemon_get_event_loop(binder_interface->daemon), CLOCK_BOOTTIME, &usec);
+			if(recurring_requests_.size() > 0)
+			{
+				DEBUG(binder_interface, "add_recurring_request: Added 100ms to usec to stagger sending requests");
+				usec += 100000;
+			}
+
+			DEBUG(binder_interface, "add_recurring_request: Added recurring diagnostic request (freq: %f) on bus %s at %ld. Event loop state: %d",
+					frequencyHz,
+					bus_.c_str(),
+					usec,
+					sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)));
+
+			if(sd_event_add_time(afb_daemon_get_event_loop(binder_interface->daemon), &source,
+					CLOCK_BOOTTIME, usec, TIMERFD_ACCURACY, send_request, request) < 0)
+			{
+				ERROR(binder_interface, "add_recurring_request: Request fails to be schedule through event loop");
+				added = false;
+			}
+			recurring_requests_.push_back(entry);
+		}
+		else
+		{
+			WARNING(binder_interface, "add_recurring_request: There isn't enough request entry. Vector exhausted %d/%d", (int)recurring_requests_.size(), MAX_SIMULTANEOUS_DIAG_REQUESTS);
+			recurring_requests_.resize(MAX_SIMULTANEOUS_DIAG_REQUESTS);
+			added = false;
+		}
+	}
+	else
+	{
+		DEBUG(binder_interface, "add_recurring_request: Can't add request, one already exists with same key");
+		added = false;
+	}
+	return added;
+}
+
+/// @brief Returns true if there are two active requests running for the same arbitration ID.
+bool diagnostic_manager_t::conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const
+{
+	return (candidate->get_in_flight() && candidate != request &&
+			candidate->get_can_bus_dev() == request->get_can_bus_dev() &&
+			candidate->get_id() == request->get_id());
+}
+
+
+/// @brief Returns true if there are no other active requests to the same arbitration ID
+/// and if there aren't more than 8 requests in flight at the same time.
+bool diagnostic_manager_t::clear_to_send(active_diagnostic_request_t* request) const
+{
+	int total_in_flight = 0;
+	for ( auto entry : non_recurring_requests_)
+	{
+		if(conflicting(request, entry))
+			return false;
+		if(entry->get_in_flight())
+			total_in_flight++;
+	}
+
+	for ( auto entry : recurring_requests_)
+	{
+		if(conflicting(request, entry))
+			return false;
+		if(entry->get_in_flight())
+			total_in_flight++;
+	}
+
+	if(total_in_flight > MAX_SIMULTANEOUS_IN_FLIGHT_REQUESTS)
+		return false;
+	return true;
+}
+
+int diagnostic_manager_t::reschedule_request(sd_event_source *s, uint64_t usec, active_diagnostic_request_t* adr)
+{
+	usec = usec + (uint64_t)(adr->get_frequency_clock().frequency_to_period());
+	DEBUG(binder_interface, "send_request: Event loop state: %d. usec: %ld", sd_event_get_state(afb_daemon_get_event_loop(binder_interface->daemon)), usec);
+	if(sd_event_source_set_time(s, usec) >= 0)
+		if(sd_event_source_set_enabled(s, SD_EVENT_ON) >= 0)
+			return 0;
+	sd_event_source_unref(s);
+	return -1;
+}
+
+/// @brief Systemd timer event callback use to send CAN messages at regular interval. Depending
+/// on the diagnostic message frequency.
+///
+/// This should be called from systemd binder event loop and the event is created on add_recurring_request
+///
+/// @param[in] s - Systemd event source pointer used to reschedule the new iteration.
+/// @param[in] usec - previous call timestamp in microseconds.
+/// @param[in] userdata - the DiagnosticRequest struct, use to retrieve the active request from the list.
+///
+/// @return positive integer if sent and rescheduled or negative value if something wrong. If an error occurs
+/// event will be disabled.
+int diagnostic_manager_t::send_request(sd_event_source *s, uint64_t usec, void *userdata)
+{
+	diagnostic_manager_t& dm = configuration_t::instance().get_diagnostic_manager();
+	DiagnosticRequest* request = (DiagnosticRequest*)userdata;
+	active_diagnostic_request_t* adr = dm.find_recurring_request(request);
+
+	dm.cleanup_active_requests(false);
+	if(adr != nullptr && adr->get_can_bus_dev() == dm.get_can_bus_dev() && adr->should_send() &&
+		dm.clear_to_send(adr))
+	{
+		adr->get_frequency_clock().tick();
+		start_diagnostic_request(&dm.shims_, adr->get_handle());
+		if(adr->get_handle()->completed && !adr->get_handle()->success)
+		{
+				ERROR(binder_interface, "send_request: Fatal error sending diagnostic request");
+				sd_event_source_unref(s);
+				return -1;
+		}
+
+		adr->get_timeout_clock().tick();
+		adr->set_in_flight(true);
+	}
+
+	if(adr != nullptr && adr->get_recurring())
+	{
+		return dm.reschedule_request(s, usec, adr);
+	}
+
+	sd_event_source_unref(s);
+	NOTICE(binder_interface, "send_request: Request doesn't exist anymore. Canceling.'");
+	return -2;
+}
+
+/// @brief Will decode the diagnostic response and build the final openxc_VehicleMessage to return.
+///
+/// @param[in] adr - A pointer to an active diagnostic request holding a valid diagnostic handle
+/// @param[in] response - The response to decode from which the Vehicle message will be built and returned
+///
+/// @return A filled openxc_VehicleMessage or a zeroed struct if there is an error.
+openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response)
+{
+	openxc_VehicleMessage message = build_VehicleMessage();
+	float value = (float)diagnostic_payload_to_integer(&response);
+	if(adr->get_decoder() != nullptr)
+	{
+		value = adr->get_decoder()(&response, value);
+	}
+
+	if((response.success && strnlen(adr->get_name().c_str(), adr->get_name().size())) > 0)
+	{
+		// If name, include 'value' instead of payload, and leave of response
+		// details.
+		message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField(value)));
+	}
+	else
+	{
+		// If no name, send full details of response but still include 'value'
+		// instead of 'payload' if they provided a decoder. The one case you
+		// can't get is the full detailed response with 'value'. We could add
+		// another parameter for that but it's onerous to carry that around.
+		message = build_VehicleMessage(adr, response, value);
+	}
+
+	// If not success but completed then the pid isn't supported
+	if(!response.success)
+	{
+		std::vector<diagnostic_message_t*> found_signals;
+		configuration_t::instance().find_diagnostic_messages( build_DynamicField(adr->get_name()), found_signals );
+		found_signals.front()->set_supported(false);
+		cleanup_request(adr, true);
+		NOTICE(binder_interface, "relay_diagnostic_response: PID not supported or ill formed. Please unsubscribe from it. Error code : %d", response.negative_response_code);
+		message = build_VehicleMessage(build_SimpleMessage(adr->get_name(), build_DynamicField("This PID isn't supported by your vehicle.")));
+	}
+
+	if(adr->get_callback() != nullptr)
+	{
+		adr->get_callback()(adr, &response, value);
+	}
+
+	return message;
+}
+
+/// @brief Will take the CAN message and pass it to the receive functions that will process
+/// diagnostic handle for each active diagnostic request then depending on the result we will 
+/// return pass the diagnostic response to decode it.
+///
+/// @param[in] entry - A pointer to an active diagnostic request holding a valid diagnostic handle
+/// @param[in] cm - A raw CAN message.
+///
+/// @return A pointer to a filled openxc_VehicleMessage or a nullptr if nothing has been found.
+openxc_VehicleMessage diagnostic_manager_t::relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm)
+{
+	DiagnosticResponse response = diagnostic_receive_can_frame(&shims_, entry->get_handle(), cm.get_id(), cm.get_data(), cm.get_length());
+	if(response.completed && entry->get_handle()->completed)
+	{
+		if(entry->get_handle()->success)
+			return relay_diagnostic_response(entry, response);
+	}
+	else if(!response.completed && response.multi_frame)
+	{
+		// Reset the timeout clock while completing the multi-frame receive
+		entry->get_timeout_clock().tick();
+	}
+
+	return build_VehicleMessage();
+}
+
+/// @brief Find the active diagnostic request with the correct DiagnosticRequestHandle
+/// member that will understand the CAN message using diagnostic_receive_can_frame function
+/// from UDS-C library. Then decode it with an ad-hoc method.
+///
+/// @param[in] cm - Raw CAN message received
+///
+/// @return VehicleMessage with decoded value.
+openxc_VehicleMessage diagnostic_manager_t::find_and_decode_adr(const can_message_t& cm)
+{
+	openxc_VehicleMessage vehicle_message = build_VehicleMessage();
+
+	for ( auto entry : non_recurring_requests_)
+	{
+		vehicle_message = relay_diagnostic_handle(entry, cm);
+		if (is_valid(vehicle_message))
+			return vehicle_message;
+	}
+
+	for ( auto entry : recurring_requests_)
+	{
+		vehicle_message = relay_diagnostic_handle(entry, cm);
+		if (is_valid(vehicle_message))
+			return vehicle_message;
+	}
+
+	return vehicle_message;
+}
+
+/// @brief Tell if the CAN message received is a diagnostic response.
+/// Request broadcast ID use 0x7DF and assigned ID goes from 0x7E0 to Ox7E7. That allows up to 8 ECU to respond 
+/// at the same time. The response is the assigned ID + 0x8, so response ID can goes from 0x7E8 to 0x7EF.
+///
+/// @param[in] cm - CAN message received from the socket.
+///
+/// @return True if the active diagnostic request match the response.
+bool diagnostic_manager_t::is_diagnostic_response(const can_message_t& cm)
+{
+	if (cm.get_id() >= 0x7e8 && cm.get_id() <= 0x7ef)
+			return true;
+	return false;
+}
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp
new file mode 100644
index 0000000..3edb2b1
--- /dev/null
+++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-manager.hpp
@@ -0,0 +1,99 @@
+/*
+ * 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 <systemd/sd-event.h>
+#include <map>
+#include <vector>
+
+#include "uds/uds.h"
+#include "openxc.pb.h"
+#include "../can/can-bus.hpp"
+#include "active-diagnostic-request.hpp"
+
+///  Each CAN bus needs its own set of shim functions, so this should
+/// match the maximum CAN controller count.
+///
+#define MAX_SHIM_COUNT can_bus_t.get_can_devices().size()
+#define DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET 0x8
+
+class active_diagnostic_request_t;
+
+///
+/// @brief The core structure for running the diagnostics module by the binding.
+///
+/// This stores details about the active requests and shims required to connect
+/// the diagnostics library to the CAN device.
+///
+class diagnostic_manager_t {
+protected:
+	static bool shims_send(const uint32_t arbitration_id, const uint8_t* data, const uint8_t size);
+	static void shims_logger(const char* m, ...);
+	static void shims_timer();
+
+private:
+	DiagnosticShims shims_; /*!< shims_ - Shim functions for each CAN bus that plug the diagnostics
+							 * library (uds-c) into the VI's CAN peripheral.*/
+	std::string bus_; /*!< bus_ - A pointer to the CAN bus that should be used for all standard OBD-II requests, if the bus is not
+						* explicitly spcified in the request. Default to the first bus CAN at initialization.*/
+	std::vector<active_diagnostic_request_t*> recurring_requests_; /*!< recurringRequests - A list of active recurring diagnostic requests.*/
+	std::vector<active_diagnostic_request_t*> non_recurring_requests_; /*!< nonrecurringRequests - A list of active one-time diagnostic requests. When a
+																	   * response is received for a non-recurring request or it times out, it is removed*/
+	bool initialized_; /*!< * initialized - True if the DiagnosticsManager has been initialized with shims. It will interface with the uds-c lib*/
+
+	void init_diagnostic_shims();
+	void reset();
+public:
+	diagnostic_manager_t();
+
+	bool initialize();
+
+	std::shared_ptr<can_bus_dev_t> get_can_bus_dev();
+	DiagnosticShims& get_shims();
+
+	void find_and_erase(active_diagnostic_request_t* entry, std::vector<active_diagnostic_request_t*>& requests_list);
+	void cancel_request(active_diagnostic_request_t* entry);
+	void cleanup_request(active_diagnostic_request_t* entry, bool force);
+	void cleanup_active_requests(bool force);
+	active_diagnostic_request_t* find_recurring_request(const DiagnosticRequest* request);
+
+	void checkSupportedPids(const active_diagnostic_request_t& request,
+		const DiagnosticResponse& response, float parsedPayload);
+
+	// Subscription parts
+	bool add_request(DiagnosticRequest* request, const std::string name,
+		bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
+		const DiagnosticResponseCallback callback);
+	bool validate_optional_request_attributes(float frequencyHz);
+	bool add_recurring_request(DiagnosticRequest* request, const char* name,
+		bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
+		const DiagnosticResponseCallback callback, float frequencyHz);
+
+	// Sendig requests part
+	bool conflicting(active_diagnostic_request_t* request, active_diagnostic_request_t* candidate) const;
+	bool clear_to_send(active_diagnostic_request_t* request) const;
+	int reschedule_request(sd_event_source *s, uint64_t usec, active_diagnostic_request_t* adr);
+	static int send_request(sd_event_source *s, uint64_t usec, void *userdata);
+
+	// Decoding part
+	openxc_VehicleMessage relay_diagnostic_response(active_diagnostic_request_t* adr, const DiagnosticResponse& response);
+	openxc_VehicleMessage relay_diagnostic_handle(active_diagnostic_request_t* entry, const can_message_t& cm);
+	openxc_VehicleMessage find_and_decode_adr(const can_message_t& cm);
+	bool is_diagnostic_response(const can_message_t& cm);
+
+};
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp
new file mode 100644
index 0000000..6f61557
--- /dev/null
+++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.cpp
@@ -0,0 +1,108 @@
+/*
+ * 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 <map>
+
+#include "diagnostic-message.hpp"
+
+#include "../configuration.hpp"
+#include "../utils/signals.hpp"
+
+const char *UNIT_NAMES[10] = {
+	"POURCENT",
+	"DEGREES_CELSIUS",
+	"KPA",
+	"RPM",
+	"GRAMS_SEC",
+	"SECONDS",
+	"KM",
+	"KM_H",
+	"PA",
+	"NM"
+};
+
+diagnostic_message_t::diagnostic_message_t(uint8_t pid, const std::string generic_name, const int min,
+	const int max, enum UNIT unit, float frequency,	DiagnosticResponseDecoder decoder,
+	DiagnosticResponseCallback callback, bool supported)
+	: pid_{pid}, generic_name_{generic_name}, min_{min}, max_{max}, unit_{unit},
+	frequency_{frequency}, decoder_{decoder}, callback_{callback}, supported_{supported}
+{}
+
+uint32_t diagnostic_message_t::get_pid()
+{
+	return (uint32_t)pid_;
+}
+
+const std::string& diagnostic_message_t::get_generic_name() const
+{
+	return generic_name_;
+}
+
+const std::string diagnostic_message_t::get_name() const
+{
+	return active_diagnostic_request_t::get_prefix() + "." + generic_name_;
+}
+
+float diagnostic_message_t::get_frequency() const
+{
+	return frequency_;
+}
+
+DiagnosticResponseDecoder diagnostic_message_t::get_decoder() const
+{
+	return decoder_;
+}
+DiagnosticResponseCallback diagnostic_message_t::get_callback() const
+{
+	return callback_;
+}
+
+bool diagnostic_message_t::get_supported() const
+{
+	return supported_;
+}
+
+void diagnostic_message_t::set_supported(bool value)
+{
+	supported_ = value;
+}
+
+///
+/// @brief Build a DiagnosticRequest struct to be passed
+///  to diagnostic manager instance.
+///
+const DiagnosticRequest diagnostic_message_t::build_diagnostic_request()
+{
+	return {/*arbitration_id: */OBD2_FUNCTIONAL_BROADCAST_ID,
+			/*mode: */0x1,
+			/*has_pid: */true,
+			/*pid: */pid_,
+			/*pid_length: */0,
+			/*payload[]: */{0},
+			/*payload_length: */0,
+			/*no_frame_padding: */false,
+			/*DiagnosticRequestType: */DiagnosticRequestType::DIAGNOSTIC_REQUEST_TYPE_PID };
+}
+
+///
+/// @brief Check if a request is an OBD-II PID request.
+///
+/// @return true if the request is a mode 1 request and it has a 1 byte PID.
+///
+bool diagnostic_message_t::is_obd2_request(const DiagnosticRequest* request)
+{
+	return request->mode == 0x1 && request->has_pid && request->pid < 0xff;
+}
diff --git a/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp
new file mode 100644
index 0000000..064904d
--- /dev/null
+++ b/CAN-binder/low-can-binding/diagnostic/diagnostic-message.hpp
@@ -0,0 +1,79 @@
+/*
+ * 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 "uds/uds.h"
+#include "../can/can-message.hpp"
+#include "active-diagnostic-request.hpp"
+
+enum UNIT {
+	POURCENT,
+	DEGREES_CELSIUS,
+	KPA,
+	RPM,
+	GRAMS_SEC,
+	SECONDS,
+	KM,
+	KM_H,
+	PA,
+	NM,
+	INVALID
+};
+
+///
+/// @brief - A representation of an OBD-II PID.
+///
+class diagnostic_message_t {
+	private:
+		uint8_t pid_; /*!< pid_ - The 1 byte PID.*/
+		std::string generic_name_; /*!< generic_name_ - A human readable name to use for this PID when published.*/
+		int min_; /*!< min_ - Minimum value that can take this pid */
+		int max_; /*!< max_ - Maximum value that can take this pid */
+		enum UNIT unit_; /*!< unit_ : Which unit system is used by that pid. See enum UNIT above.*/
+		float frequency_; /*!< frequency_ - The frequency to request this PID if supported by the vehicle when automatic, recurring OBD-II requests are enabled.*/
+		DiagnosticResponseDecoder decoder_; /*!< decoder_ - An optional DiagnosticResponseDecoder to parse the payload of responses
+											 * to this request. If the decoder is NULL, the output will include the raw payload
+											 * instead of a parsed value.*/
+		DiagnosticResponseCallback callback_; /*!< callback_ - An optional DiagnosticResponseCallback to be notified whenever a
+											   * response is received for this request.*/
+
+		bool supported_; /*!< supported_ - boolean indicating whether this pid is supported by the vehicle or not.*/
+
+	public:
+		const char* generic_name = generic_name_.c_str();
+		diagnostic_message_t(uint8_t pid, const std::string generic_name, const int min, const int max, enum UNIT unit, float frequency,
+											DiagnosticResponseDecoder decoder, DiagnosticResponseCallback callback, bool supported);
+
+		uint32_t get_pid();
+		const std::string& get_generic_name() const;
+		const std::string get_name() const;
+		float get_frequency() const;
+		DiagnosticResponseDecoder get_decoder() const;
+		DiagnosticResponseCallback get_callback() const;
+		bool get_supported() const;
+
+		void set_supported(bool value);
+
+		const DiagnosticRequest build_diagnostic_request();
+
+		bool is_obd2_response(const can_message_t& can_message);
+		bool is_obd2_request(const DiagnosticRequest *request);
+};
diff --git a/CAN-binder/low-can-binding/low-can-binding.cpp b/CAN-binder/low-can-binding/low-can-binding.cpp
new file mode 100644
index 0000000..07b3f1e
--- /dev/null
+++ b/CAN-binder/low-can-binding/low-can-binding.cpp
@@ -0,0 +1,279 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loic 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.
+ */
+
+#include "low-can-binding.hpp"
+
+#include <map>
+#include <queue>
+#include <mutex>
+#include <vector>
+#include <thread>
+#include <time.h>
+#include <linux/can.h>
+#include <json-c/json.h>
+
+#include "openxc.pb.h"
+#include "configuration.hpp"
+#include "can/can-bus.hpp"
+#include "can/can-signals.hpp"
+#include "can/can-message.hpp"
+#include "utils/timer.hpp"
+#include "utils/signals.hpp"
+#include "diagnostic/diagnostic-message.hpp"
+#include "utils/openxc-utils.hpp"
+
+extern "C"
+{
+	#include <afb/afb-service-itf.h>
+};
+
+// Interface between the daemon and the binding
+const struct afb_binding_interface *binder_interface;
+
+void on_no_clients(std::string message)
+{
+	DiagnosticRequest* diag_req = configuration_t::instance().get_request_from_diagnostic_message(message);
+	if(diag_req != nullptr)
+	{
+		active_diagnostic_request_t* adr = configuration_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
+		if( adr != nullptr)
+			configuration_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
+	}
+}
+
+///******************************************************************************
+///
+///		Subscription and unsubscription
+///
+///*******************************************************************************/
+
+static int make_subscription_unsubscription(struct afb_req request, const std::string& sig_name, std::map<std::string, struct afb_event>& s, bool subscribe)
+{
+	/* Make the subscription or unsubscription to the event */
+	if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[sig_name])) < 0)
+	{
+		ERROR(binder_interface, "make_subscription_unsubscription: Operation goes wrong for signal: %s", sig_name.c_str());
+		return 0;
+	}
+	return 1;
+}
+
+static int create_event_handle(const std::string& sig_name, std::map<std::string, struct afb_event>& s)
+{
+	s[sig_name] = afb_daemon_make_event(binder_interface->daemon, sig_name.c_str());
+	if (!afb_event_is_valid(s[sig_name]))
+	{
+		ERROR(binder_interface, "create_event_handle: Can't create an event for %s, something goes wrong.", sig_name.c_str());
+		return 0;
+	}
+	return 1;
+}
+
+static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, const std::string& sig)
+{
+	int ret;
+
+	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(sig) != s.end())
+	{
+		if (!afb_event_is_valid(s[sig]) && !subscribe)
+		{
+			NOTICE(binder_interface, "subscribe_unsubscribe_signal: Event isn't valid, it can't be unsubscribed.");
+			ret = -1;
+		}
+		/*else
+		{
+			// Event it isn't valid annymore, recreate it
+			ret = create_event_handle(sig, s);
+		}*/
+	}
+	else
+	{
+		/* Event doesn't exist , so let's create it */
+		struct afb_event empty_event = {nullptr, nullptr};
+		subscribed_signals[sig] = empty_event;
+		ret = create_event_handle(sig, s);
+	}
+
+	/* Check whether or not the event handler has been correctly created and
+	 * make the subscription/unsubscription operation is so.
+	 */
+	if (ret <= 0)
+		return ret;
+	return make_subscription_unsubscription(request, sig, s, subscribe);
+}
+
+///
+/// @fn static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector<can_signal_t>& signals)
+/// @brief subscribe to all signals in the vector signals
+///
+/// @param[in] afb_req request : contain original request use to subscribe or unsubscribe
+/// @param[in] subscribe boolean value used to chose between a subscription operation or an unsubscription
+/// @param[in] can_signal_t  vector with can_signal_t to subscribe
+///
+/// @return Number of correctly subscribed signal
+///
+static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const std::vector<std::string>& signals)
+{
+	int rets = 0;
+
+	//TODO: Implement way to dynamically call the right function no matter
+	// how much signals types we have.
+
+	for(const std::string& sig : signals)
+	{
+		int ret;
+		if (active_diagnostic_request_t::is_diagnostic_signal(sig))
+		{
+			diagnostic_message_t* diag_msg = configuration_t::instance().get_diagnostic_message(sig);
+			DiagnosticRequest* diag_req = configuration_t::instance().get_request_from_diagnostic_message(diag_msg);
+
+			// If the requested diagnostic message isn't supported by the car then unssubcribe.
+			// no matter what we want, worse case will be a fail unsubscription but at least we don't
+			// poll a PID for nothing.
+			if(diag_msg->get_supported() && subscribe)
+			{
+					float frequency = diag_msg->get_frequency();
+					subscribe = configuration_t::instance().get_diagnostic_manager().add_recurring_request(
+						diag_req, sig.c_str(), false, diag_msg->get_decoder(), diag_msg->get_callback(), (float)frequency);
+						//TODO: Adding callback requesting ignition status:	diag_req, sig.c_str(), false, diagnostic_message_t::decode_obd2_response, diagnostic_message_t::check_ignition_status, frequency);
+			}
+			else
+			{
+				configuration_t::instance().get_diagnostic_manager().cleanup_request(
+					configuration_t::instance().get_diagnostic_manager().find_recurring_request(diag_req), true);
+				WARNING(binder_interface, "Signal: %s isn't supported. Canceling operation.", sig.c_str());
+				return -1;
+			}
+		}
+
+		ret = subscribe_unsubscribe_signal(request, subscribe, sig);
+		if(ret <= 0)
+			return ret;
+		rets++;
+
+		DEBUG(binder_interface, "Signal: %s subscribed", sig.c_str());
+	}
+	return rets;
+}
+
+static int subscribe_unsubscribe_name(struct afb_req request, bool subscribe, const char *name)
+{
+	std::vector<std::string> signals;
+	int ret = 0;
+
+	openxc_DynamicField search_key = build_DynamicField(std::string(name));
+	signals = find_signals(search_key);
+	if (signals.empty())
+		ret = 0;
+
+	ret = subscribe_unsubscribe_signals(request, subscribe, signals);
+	NOTICE(binder_interface, "Subscribed/unsubscribe correctly to %d/%d signal(s).", ret, (int)signals.size());
+
+	return ret;
+}
+
+static void subscribe_unsubscribe(struct afb_req request, bool subscribe)
+{
+	int ok, i, n;
+	struct json_object *args, *a, *x;
+
+	/* makes the subscription/unsubscription */
+	args = afb_req_json(request);
+	if (args == NULL || !json_object_object_get_ex(args, "event", &a)) {
+		ok = subscribe_unsubscribe_name(request, subscribe, "*");
+	} else if (json_object_get_type(a) != json_type_array) {
+		ok = subscribe_unsubscribe_name(request, subscribe, json_object_get_string(a));
+	} else {
+		n = json_object_array_length(a);
+		ok = 0;
+		for (i = 0 ; i < n ; i++) {
+			x = json_object_array_get_idx(a, i);
+			if (subscribe_unsubscribe_name(request, subscribe, json_object_get_string(x)))
+				ok++;
+		}
+		ok = (ok == n);
+	}
+
+	/* send the report */
+	if (ok)
+		afb_req_success(request, NULL, NULL);
+	else
+		afb_req_fail(request, "error", NULL);
+}
+
+extern "C"
+{
+	static void subscribe(struct afb_req request)
+	{
+		subscribe_unsubscribe(request, true);
+	}
+
+	static void unsubscribe(struct afb_req request)
+	{
+		subscribe_unsubscribe(request, false);
+	}
+
+	static const struct afb_verb_desc_v1 verbs[]=
+	{
+		{ .name= "subscribe",	.session= AFB_SESSION_NONE, .callback= subscribe,	.info= "subscribe to notification of CAN bus messages." },
+		{ .name= "unsubscribe",	.session= AFB_SESSION_NONE, .callback= unsubscribe,	.info= "unsubscribe a previous subscription." }
+	};
+
+	static const struct afb_binding binding_desc {
+		AFB_BINDING_VERSION_1,
+		{
+			"Low level CAN bus service",
+			"low-can",
+			verbs
+		}
+	};
+
+	const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf)
+	{
+		binder_interface = itf;
+
+		return &binding_desc;
+	}
+
+	/// @brief Initialize the binding.
+	///
+	/// @param[in] service Structure which represent the Application Framework Binder.
+	///
+	/// @return Exit code, zero if success.
+	int afbBindingV1ServiceInit(struct afb_service service)
+	{
+		can_bus_t& can_bus_manager = configuration_t::instance().get_can_bus_manager();
+
+		/// Initialize CAN socket
+		if(can_bus_manager.init_can_dev() == 0)
+		{
+			can_bus_manager.start_threads();
+
+			/// Initialize Diagnostic manager that will handle obd2 requests.
+			/// We pass by default the first CAN bus device to its Initialization.
+			/// TODO: be able to choose the CAN bus device that will be use as Diagnostic bus.
+			if(configuration_t::instance().get_diagnostic_manager().initialize())
+				return 0;
+		}
+
+		ERROR(binder_interface, "There was something wrong with CAN device Initialization. Check your config file maybe");
+		return 1;
+	}
+};
diff --git a/CAN-binder/low-can-binding/low-can-binding.hpp b/CAN-binder/low-can-binding/low-can-binding.hpp
new file mode 100644
index 0000000..ed5741d
--- /dev/null
+++ b/CAN-binder/low-can-binding/low-can-binding.hpp
@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loic 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 <cstddef>
+#include <string>
+
+extern "C"
+{
+	#include <afb/afb-binding.h>
+};
+
+extern "C" struct afb_binding_interface;
+
+extern const struct afb_binding_interface *binder_interface;
+
+void on_no_clients(std::string message);
\ No newline at end of file
diff --git a/CAN-binder/low-can-binding/packaging/wgt/config.xml b/CAN-binder/low-can-binding/packaging/wgt/config.xml
new file mode 100644
index 0000000..d735ce2
--- /dev/null
+++ b/CAN-binder/low-can-binding/packaging/wgt/config.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<widget xmlns="http://www.w3.org/ns/widgets" id="@PROJECT_NAME@" version="@PROJECT_VERSION@">
+  <name>@PROJECT_NAME@</name>
+  <icon src="icon.png"/>
+  <content src="libs" type="application/vnd.agl.service"/>
+  <description>This is a demo application used to control and dialog with HVAC system</description>
+  <author>Romain Forlot &lt;romain.forlot@iot.bzh&gt;</author>
+  <license>APL 2.0</license>
+</widget>
+
+
diff --git a/CAN-binder/low-can-binding/packaging/wgt/etc/can_buses.json b/CAN-binder/low-can-binding/packaging/wgt/etc/can_buses.json
new file mode 100644
index 0000000..c4292df
--- /dev/null
+++ b/CAN-binder/low-can-binding/packaging/wgt/etc/can_buses.json
@@ -0,0 +1,3 @@
+{
+	"canbus":  "can0"
+}
diff --git a/CAN-binder/low-can-binding/packaging/wgt/icon.png b/CAN-binder/low-can-binding/packaging/wgt/icon.png
new file mode 100644
index 0000000..9bd6a6e
--- /dev/null
+++ b/CAN-binder/low-can-binding/packaging/wgt/icon.png
diff --git a/CAN-binder/low-can-binding/utils/config-parser.cpp b/CAN-binder/low-can-binding/utils/config-parser.cpp
new file mode 100644
index 0000000..e73b0f9
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/config-parser.cpp
@@ -0,0 +1,84 @@
+/*
+ * Copyright (C) 2015, 2016 ,2017 "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.
+ */
+
+namespace utils
+{
+	config_parser_t::config_parser_t(int conf_file)
+		: conf_file_{conf_file}, devices_name{}
+	{}
+
+	/// @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.
+	void can_bus_t::read_conf()
+	{
+		FILE *fd = fdopen(conf_file_, "r");
+		if (fd)
+		{
+			std::fseek(fd, 0, SEEK_END);
+			config_content_.resize(std::ftell(fd));
+			std::rewind(fd);
+			std::fread(&config_content_[0], 1, config_content_.size(), fd);
+			std::fclose(fd);
+
+			DEBUG(binder_interface, "Configuration file content : %s", config_content_.c_str());
+		}
+		ERROR(binder_interface, "Problem at reading the conf file");
+	}
+
+	void parse_devices_name()
+	{
+		json_object *jo, *canbus;
+		const char* taxi;
+
+		jo = json_tokener_parse(config_content_.c_str());
+
+			if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
+			{
+				ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
+				devices_name_.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);
+				devices_name_.push_back(std::string(taxi));
+			}
+			else
+			{
+				int n, i;
+				n = json_object_array_length(canbus);
+				for (i = 0 ; i < n ; i++)
+					devices_name_.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
+			}
+	}
+
+	/// @brief Public method to access devices_name_ vector. If vector size equal 0
+	/// then it will parses the configuration file content to fill it. It could be empty even
+	/// after parsing if content file just don't have a correct "canbus" directive so you
+	/// have to test the returned value.
+	///
+	/// @return A const vector with string of linux CAN devices.
+	const std::vector<std::string>& get_devices_name()
+	{
+		if(devices_name_.empty())
+			parse_devices_name();
+
+		return devices_name_;
+	}
+}
\ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/config-parser.hpp b/CAN-binder/low-can-binding/utils/config-parser.hpp
new file mode 100644
index 0000000..e6bd9d2
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/config-parser.hpp
@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2015, 2016 ,2017 "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 <fcntl.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <json-c/json.h>
+
+#include <string>
+
+namespace utils
+{
+	class config_parser_t
+	{
+	private:
+		int conf_file_; /*!< conf_file_ - file that handle the binding configuration file */
+		std::string config_content_; /*!< config_content_ - String that contains the content of config file */
+		std::vector<std::string> devices_name_; /*!< devices_name - Found devices name after reading configuration file */
+
+		void parse_devices_name();
+	public:
+		config_parser_t(int conf_file);
+
+		void read_conf();
+		std::vector<std::string> get_devices_name();
+	};
+}
diff --git a/CAN-binder/low-can-binding/utils/openxc-utils.cpp b/CAN-binder/low-can-binding/utils/openxc-utils.cpp
new file mode 100644
index 0000000..52b49d2
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/openxc-utils.cpp
@@ -0,0 +1,282 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loic 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.
+ */
+
+#include "openxc-utils.hpp"
+
+#include "../configuration.hpp"
+
+///
+/// @brief Build a specific VehicleMessage containing a DiagnosticResponse.
+///
+/// @param[in] request - Original request use to retrieve decoder and callback
+/// @param[in] response - Response to the request that will be decoded if decoder set
+///  and put into the DiagnosticResponse of the VehicleMessage.
+/// @param[in] parsed_value - raw parsed value of the payload from CAN message
+///
+/// @return a vehicle message including simple message that will be convert into 
+/// a JSON object before being pushed to the subscribers
+///
+openxc_VehicleMessage build_VehicleMessage(active_diagnostic_request_t* request, const DiagnosticResponse& response, float parsed_value)
+{
+	openxc_VehicleMessage message;
+
+	message.has_type = true;
+	message.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_DIAGNOSTIC;
+	message.has_diagnostic_response = true;
+	message.diagnostic_response.has_bus = true;
+	message.diagnostic_response.bus = configuration_t::instance().get_diagnostic_manager().get_can_bus_dev()->get_address();
+	message.diagnostic_response.has_message_id = true;
+
+	if(request->get_id() != OBD2_FUNCTIONAL_BROADCAST_ID)
+	{
+		message.diagnostic_response.message_id = response.arbitration_id
+			- DIAGNOSTIC_RESPONSE_ARBITRATION_ID_OFFSET;
+	}
+	else
+	{
+		// must preserve responding arb ID for responses to functional broadcast
+		// requests, as they are the actual module address and not just arb ID +
+		// 8.
+		message.diagnostic_response.message_id = response.arbitration_id;
+	}
+
+	message.diagnostic_response.has_mode = true;
+	message.diagnostic_response.mode = response.mode;
+	message.diagnostic_response.has_pid = response.has_pid;
+	if(message.diagnostic_response.has_pid)
+		message.diagnostic_response.pid = response.pid;
+	message.diagnostic_response.has_success = true;
+	message.diagnostic_response.success = response.success;
+	message.diagnostic_response.has_negative_response_code = !response.success;
+	message.diagnostic_response.negative_response_code =
+			response.negative_response_code;
+
+	if(response.payload_length > 0)
+	{
+		if(request->get_decoder() != nullptr)
+		{
+			message.diagnostic_response.has_value = true;
+			message.diagnostic_response.value = parsed_value;
+		}
+		else
+		{
+			message.diagnostic_response.has_payload = true;
+			::memcpy(message.diagnostic_response.payload.bytes, response.payload,
+					response.payload_length);
+			message.diagnostic_response.payload.size = response.payload_length;
+		}
+	}
+
+	return message;
+}
+
+///
+/// @brief Build a specific VehicleMessage containing a SimpleMessage.
+///
+/// @param[in] message - simple message to include into openxc_VehicleMessage
+///
+/// @return a vehicle message including simple message that will be convert into 
+/// a JSON object before being pushed to the subscribers
+///
+openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message)
+{
+	openxc_VehicleMessage v;
+	
+	v.has_type = true,
+	v.type = openxc_VehicleMessage_Type::openxc_VehicleMessage_Type_SIMPLE;
+	v.has_simple_message = true;
+	v.simple_message =  message;
+	v.has_timestamp = true;
+	v.timestamp = system_time_ms();
+
+	return v;
+}
+
+///
+/// @brief Build an empty VehicleMessage that isn't usable by at least the struct
+///  is initialized for the most part and can be use to check a false return value.
+///
+/// @return A VehicleMessage with all boolean value to false.
+///
+openxc_VehicleMessage build_VehicleMessage()
+{
+	openxc_VehicleMessage v;
+
+	::memset(&v, 0, sizeof(openxc_VehicleMessage));
+	return v;
+}
+
+bool is_valid(const openxc_VehicleMessage& v)
+{
+	if (v.has_type == false &&
+		v.has_can_message == false &&
+		v.has_simple_message == false &&
+		v.has_diagnostic_response == false &&
+		v.has_control_command == false &&
+		v.has_command_response == false &&
+		v.has_timestamp == false)
+			return false;
+	return true;
+}
+
+///
+/// @brief Build an openxc_SimpleMessage associating a name to an openxc_DynamicField
+///
+/// @param[in] name - const string reference name to assign to the created SimpleMessage
+///  this will set has_name member to true and assign name to the name member. Maximum size for name is 
+///  set to 100 char.
+/// @param[in] value - const reference with DynamicField to assign to SimpleMessage
+///  value.
+///
+/// @return an openxc_SimpleMessage struct initialized with name and value provided.
+///
+openxc_SimpleMessage build_SimpleMessage(const std::string& name, const openxc_DynamicField& value)
+{
+	openxc_SimpleMessage s;
+
+	s.has_name = true;
+	::strncpy(s.name, name.c_str(), 100);
+	s.has_value = true;
+	s.value = value;
+
+	return s;
+}
+
+///
+/// @brief Build an openxc_DynamicField with a string value
+///
+/// @param[in] value - const string reference value to assign to builded
+///  openxc_DynamicField.
+///
+/// @return openxc_DynamicField initialized with a string value.
+///
+openxc_DynamicField build_DynamicField(const std::string& value)
+{
+	openxc_DynamicField d;
+	d.has_type = true;
+	d.type = openxc_DynamicField_Type_STRING;
+	
+	d.has_string_value = true;
+	d.has_numeric_value = false;
+	d.has_boolean_value = false;
+	::strncpy(d.string_value, value.c_str(), 100);
+	
+	return d;
+}
+
+///
+/// @fn openxc_DynamicField build_DynamicField(double value);
+///
+/// @brief Build an openxc_DynamicField with a double value
+///
+/// @param[in] value - double value to assign to builded openxc_DynamicField.
+///
+/// @return openxc_DynamicField initialized with a double value.
+///
+openxc_DynamicField build_DynamicField(double value)
+{
+	openxc_DynamicField d;
+	d.has_type = true;
+	d.type = openxc_DynamicField_Type_NUM;
+	
+	d.has_string_value = false;
+	d.has_numeric_value = true;
+	d.has_boolean_value = false;
+	d.numeric_value = value;
+	
+	return d;
+}
+
+///
+/// @brief Build an openxc_DynamicField with a boolean value
+///
+/// @param[in] value - boolean value to assign to builded openxc_DynamicField.
+///
+/// @return openxc_DynamicField initialized with a boolean value.
+///
+openxc_DynamicField build_DynamicField(bool value)
+{
+	openxc_DynamicField d;
+	d.has_type = true;
+	d.type = openxc_DynamicField_Type_BOOL;
+	
+	d.has_string_value = false;
+	d.has_numeric_value = false;
+	d.has_boolean_value = true;
+	d.boolean_value = value;
+	
+	return d;
+}
+
+///
+/// @brief Extract the simple message value from an openxc_VehicleMessage
+///  and return it. If there isn't SimpleMessage in the VehicleMessage then
+///  returned value will be a SimpleMessage with all field set at false.
+///  DynamicField from SimpleMessage will be boolean DynamicField set to false too.
+///
+/// @param[in] v_msg - const reference to openxc_VehicleMessage
+///
+/// @return A simpleMessage from the provided VehicleMessage.
+///
+openxc_SimpleMessage get_simple_message(const openxc_VehicleMessage& v_msg)
+{
+	if (v_msg.has_simple_message)
+		return v_msg.simple_message;
+	
+	openxc_SimpleMessage s_msg = { false, "", false, build_DynamicField(false), false, build_DynamicField(false)};
+	return s_msg;
+}
+
+///
+/// @brief Make a JSON object from a DynamicField
+///
+/// @param[in] field - openxc_DynamicField struct to convert into
+///  a json object.
+/// @param[out] value - pointer to the object to set up.
+///
+void jsonify_DynamicField(const openxc_DynamicField& field, json_object* value)
+{
+	if(field.has_numeric_value)
+		json_object_object_add(value, "value", json_object_new_double(field.numeric_value));
+	else if(field.has_boolean_value)
+		json_object_object_add(value, "value", json_object_new_boolean(field.boolean_value));
+	else if(field.has_string_value)
+		json_object_object_add(value, "value", json_object_new_string(field.string_value));
+}
+
+///
+/// @brief Make a JSON object from a SimpleMessage
+///
+/// @param[in] s_msg - const reference to an openxc_SimpleMessage 
+/// struct to convert into a json object.
+/// @param[out] json - pointer with the DynamicField converted into json object
+/// 
+/// @return True if SimpleMessage has been transformed into json object
+///  and false if not. In such case, a json object is returned { "error": "error msg"}
+///
+bool jsonify_simple(const openxc_SimpleMessage& s_msg, json_object* json)
+{
+	if(s_msg.has_name)
+	{
+		json_object_object_add(json, "name", json_object_new_string(s_msg.name));
+		jsonify_DynamicField(s_msg.value, json);
+		return true;
+	}
+	json_object_object_add(json, "error", json_object_new_string("openxc_SimpleMessage doesn't have name'"));
+	return false;
+}
\ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/openxc-utils.hpp b/CAN-binder/low-can-binding/utils/openxc-utils.hpp
new file mode 100644
index 0000000..d36b359
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/openxc-utils.hpp
@@ -0,0 +1,42 @@
+/*
+ * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loic 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 <string>
+#include <json-c/json.h>
+#include <sys/timeb.h>
+
+#include "openxc.pb.h"
+#include "../diagnostic/active-diagnostic-request.hpp"
+
+openxc_VehicleMessage build_VehicleMessage(active_diagnostic_request_t* request, const DiagnosticResponse& response, float parsed_value);
+openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message);
+openxc_VehicleMessage build_VehicleMessage();
+bool is_valid(const openxc_VehicleMessage& v);
+
+openxc_SimpleMessage build_SimpleMessage(const std::string& name, const openxc_DynamicField& value);
+openxc_DynamicField build_DynamicField(const std::string& value);
+openxc_DynamicField build_DynamicField(double value);
+openxc_DynamicField build_DynamicField(bool value);
+
+openxc_SimpleMessage get_simple_message(const openxc_VehicleMessage& v_msg);
+
+void jsonify_DynamicField(const openxc_DynamicField& field, json_object* value);
+
+bool jsonify_simple(const openxc_SimpleMessage& s_msg, json_object* json);
\ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/signals.cpp b/CAN-binder/low-can-binding/utils/signals.cpp
new file mode 100644
index 0000000..2e14a98
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/signals.cpp
@@ -0,0 +1,76 @@
+/*
+ * 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 "signals.hpp"
+
+/// 
+/// @brief Can signal event map making access to afb_event
+/// externaly to an openxc existing structure.
+///
+/// Event map is making relation between can_signal_t generic name
+/// and the afb_event struct used by application framework to pushed
+/// to the subscriber.
+///
+std::map<std::string, struct afb_event> subscribed_signals;
+
+///
+/// @brief Mutex allowing safe manipulation on subscribed_signals map.
+/// To ensure that the map object isn't modified when we read it, you
+///  have to set this mutex before use subscribed_signals map object.
+///
+std::mutex subscribed_signals_mutex;
+
+std::mutex& get_subscribed_signals_mutex()
+{
+	return subscribed_signals_mutex;
+}
+
+std::map<std::string, struct afb_event>& get_subscribed_signals()
+{
+	return subscribed_signals;
+}
+
+///
+/// @fn std::vector<std::string> find_signals(const openxc_DynamicField &key)
+/// @brief return signals name found searching through CAN_signals and OBD2 pid
+///
+/// @param[in] key : can contain numeric or string value in order to search against 
+///   can signals or obd2 signals name.
+///
+/// @return Vector of signals name found. 
+///
+std::vector<std::string> find_signals(const openxc_DynamicField &key)
+{
+	std::vector<std::string> found_signals_name;
+
+	switch(key.type)
+	{
+		case openxc_DynamicField_Type::openxc_DynamicField_Type_STRING:
+				lookup_signals_by_name(key.string_value, configuration_t::instance().get_can_signals(), found_signals_name);
+				lookup_signals_by_name(key.string_value, configuration_t::instance().get_diagnostic_messages(), found_signals_name);
+			break;
+		case openxc_DynamicField_Type::openxc_DynamicField_Type_NUM:
+				lookup_signals_by_id(key.numeric_value, configuration_t::instance().get_can_signals(), found_signals_name);
+				lookup_signals_by_id(key.numeric_value, configuration_t::instance().get_diagnostic_messages(), found_signals_name);
+			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, "find_signals: Found %d signal(s)", (int)found_signals_name.size());
+	return found_signals_name;
+}
diff --git a/CAN-binder/low-can-binding/utils/signals.hpp b/CAN-binder/low-can-binding/utils/signals.hpp
new file mode 100644
index 0000000..e941756
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/signals.hpp
@@ -0,0 +1,90 @@
+/*
+ * 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 <fnmatch.h>
+
+#include "openxc.pb.h"
+#include "../configuration.hpp"
+#include "../can/can-signals.hpp"
+#include "../diagnostic/diagnostic-message.hpp"
+
+#include "../low-can-binding.hpp"
+
+extern std::mutex subscribed_signals_mutex;
+std::mutex& get_subscribed_signals_mutex();
+
+/**
+ * @brief return the subscribed_signals map.
+ * 
+ * return Map of subscribed signals.
+ */
+extern std::map<std::string, struct afb_event> subscribed_signals;
+std::map<std::string, struct afb_event>& get_subscribed_signals();
+
+template <typename T>
+void lookup_signals_by_name(const std::string& key, std::vector<T>& signals, std::vector<T*>& found_signals)
+{
+	for(T& s : signals)
+	{
+		if(::fnmatch(key.c_str(), s.get_generic_name().c_str(), FNM_CASEFOLD) == 0)
+			found_signals.push_back(&s);
+		if(::fnmatch(key.c_str(), s.get_name().c_str(), FNM_CASEFOLD) == 0)
+			found_signals.push_back(&s);
+	}
+}
+
+template <typename T>
+void lookup_signals_by_name(const std::string& key, std::vector<T>& signals, std::vector<std::string>& found_signals_name)
+{
+	for(T& s : signals)
+	{
+		if(::fnmatch(key.c_str(), s.get_generic_name().c_str(), FNM_CASEFOLD) == 0)
+			found_signals_name.push_back(s.get_name());
+		if(::fnmatch(key.c_str(), s.get_name().c_str(), FNM_CASEFOLD) == 0)
+			found_signals_name.push_back(s.get_name());
+	}
+}
+
+template <typename T>
+void lookup_signals_by_id(const double key, std::vector<T>& signals, std::vector<T*>& found_signals)
+{
+	for(T& s : signals)
+	{
+		if(configuration_t::instance().get_signal_id(s) == key)
+		{
+			found_signals.push_back(&s);
+		}
+	}
+}
+
+template <typename T>
+void lookup_signals_by_id(const double key, std::vector<T>& signals, std::vector<std::string>& found_signals_name)
+{
+	for(T& s : signals)
+	{
+		if(configuration_t::instance().get_signal_id(s) == key)
+		{
+			found_signals_name.push_back(s.get_name());
+		}
+	}
+}
+
+std::vector<std::string> find_signals(const openxc_DynamicField &key);
diff --git a/CAN-binder/low-can-binding/utils/socket.cpp b/CAN-binder/low-can-binding/utils/socket.cpp
new file mode 100644
index 0000000..e75e27f
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/socket.cpp
@@ -0,0 +1,89 @@
+/*
+ * 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.
+ */
+
+#include <unistd.h>
+#include "socket.hpp"
+
+namespace utils
+{
+	/// @brief Construct a default, invalid, socket.
+	socket_t::socket_t()
+		: socket_{INVALID_SOCKET}
+	{
+	}
+
+	/// @brief Construct a socket by moving an existing one.
+	socket_t::socket_t(socket_t&& s)
+		: socket_{s.socket_}
+	{
+		s.socket_ = INVALID_SOCKET;
+	}
+
+	/// @brief Destruct the socket.
+	socket_t::~socket_t()
+	{
+		if(socket_ != INVALID_SOCKET)
+			::close(socket_);
+	}
+
+	/// @brief Test if socket is valid.
+	/// @return true if valid, false otherwise.
+	socket_t::operator bool() const
+	{
+		return socket_ != INVALID_SOCKET;
+	}
+
+	/// @brief Open the socket.
+	/// @param[in] domain Specifies the communications domain in which a socket is to be created.
+	/// @param[in] type Specifies the type of socket to be created.
+	/// @param[in] protocol Specifies a particular protocol to be used with the socket. Specifying a protocol of 0 causes socket() to use an unspecified default protocol appropriate for the requested socket type.
+	/// @return Upon successful completion, shall return a non-negative integer, the socket file descriptor. Otherwise, a value of -1 shall be returned and errno set to indicate the error.
+	int socket_t::open(int domain, int type, int protocol)
+	{
+		close();
+		socket_ = ::socket(domain, type, protocol);
+		return socket_;
+	}
+
+	/// @brief Close the socket.
+	/// @return 0 if success.
+	int socket_t::close()
+	{
+		return socket_ != INVALID_SOCKET ? ::close(socket_) : 0;
+	}
+
+	/// @brief Set socket option.
+	/// @return 0 if success.
+	int socket_t::setopt(int level, int optname, const void* optval, socklen_t optlen)
+	{
+		return socket_ != INVALID_SOCKET ? ::setsockopt(socket_, level, optname, optval, optlen) : 0;
+	}
+
+	/// @brief Bind the socket.
+	/// @return 0 if success.
+	int socket_t::bind(const struct sockaddr* addr, socklen_t len)
+	{
+		return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
+	}
+
+	/// @brief Get the file descriptor.
+	/// @return The socket's file descriptor
+	int socket_t::socket() const
+	{
+		return socket_;
+	}
+}
diff --git a/CAN-binder/low-can-binding/utils/socket.hpp b/CAN-binder/low-can-binding/utils/socket.hpp
new file mode 100644
index 0000000..b42eee6
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/socket.hpp
@@ -0,0 +1,46 @@
+#pragma once
+
+/*
+ * 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.
+ */
+
+#include <sys/socket.h>
+
+#define INVALID_SOCKET -1
+
+namespace utils
+{
+	class socket_t
+	{
+	public:
+		socket_t();
+		socket_t(const socket_t&) = delete;
+		socket_t(socket_t&&);
+		~socket_t();
+
+		explicit operator bool() const;
+
+		int open(int domain, int type, int protocol);
+		int close();
+		int setopt(int level, int optname, const void* optval, socklen_t optlen);
+		int socket() const;
+		int bind(const struct sockaddr* addr, socklen_t len);
+
+	private:
+		int socket_;
+	};
+}
+
diff --git a/CAN-binder/low-can-binding/utils/timer.cpp b/CAN-binder/low-can-binding/utils/timer.cpp
new file mode 100644
index 0000000..a35a3e9
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/timer.cpp
@@ -0,0 +1,102 @@
+/*
+ * 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 <time.h>
+#include <stdlib.h> 
+
+#include "timer.hpp"
+
+long long int system_time_us()
+{
+	struct timespec t_usec;
+	long long int timestamp_usec;
+	
+	if(!::clock_gettime(CLOCK_MONOTONIC, &t_usec))
+		timestamp_usec = (t_usec.tv_nsec / 1000ll) + (t_usec.tv_sec* 1000000ll);
+	return timestamp_usec;
+}
+
+long long int system_time_ms()
+{
+	struct timespec t_msec;
+	long long int timestamp_msec;
+	
+	if(!::clock_gettime(CLOCK_MONOTONIC, &t_msec))
+		timestamp_msec = (t_msec.tv_nsec / 1000000ll) + (t_msec.tv_sec* 1000ll);
+	return timestamp_msec;
+}
+
+long long int system_time_s()
+{
+	struct timespec t_sec;
+	long long int timestamp_sec;
+	
+	if(!::clock_gettime(CLOCK_MONOTONIC, &t_sec))
+		timestamp_sec = t_sec.tv_sec;
+	return timestamp_sec;
+}
+
+frequency_clock_t::frequency_clock_t()
+	: unit_{1000000}, frequency_{10.0}, last_tick_{0}, time_function_{nullptr}
+{}
+
+
+frequency_clock_t::frequency_clock_t(float frequency)
+	: unit_{1000000}, frequency_{frequency}, last_tick_{0}, time_function_{nullptr}
+{}
+
+/// @brief Return the period in ms given the frequency in hertz.
+/// @param[in] frequency - Frequency to convert, in hertz
+float frequency_clock_t::frequency_to_period()
+{
+	return 1 / frequency_ * unit_;
+}
+
+bool frequency_clock_t::started()
+{
+	return last_tick_ != 0;
+}
+
+time_function_t frequency_clock_t::get_time_function()
+{
+	return time_function_ != nullptr ? time_function_ : system_time_us;
+}
+
+bool frequency_clock_t::elapsed(bool stagger)
+{
+	float period = frequency_to_period();
+	float elapsed_time = 0;
+	if(!started() && stagger)
+		last_tick_ = get_time_function()() - (rand() % int(period));
+
+	// Make sure it ticks the the first call
+	elapsed_time = !started() ? period : get_time_function()() - last_tick_;
+
+	return frequency_ == 0 || elapsed_time >= period;
+}
+
+float frequency_clock_t::get_frequency() const
+{
+	return frequency_;
+}
+
+/// @brief Force the clock to tick, regardless of it its time has actually
+/// elapsed.
+void frequency_clock_t::tick()
+{
+	last_tick_ = get_time_function()();
+}
\ No newline at end of file
diff --git a/CAN-binder/low-can-binding/utils/timer.hpp b/CAN-binder/low-can-binding/utils/timer.hpp
new file mode 100644
index 0000000..f565904
--- /dev/null
+++ b/CAN-binder/low-can-binding/utils/timer.hpp
@@ -0,0 +1,53 @@
+/*
+ * 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
+
+/// @brief return epoch in milliseconds
+///
+/// @return long long int epoch in milliseconds
+typedef long long int (*time_function_t)();
+
+long long int system_time_us();
+long long int system_time_ms();
+long long int system_time_s();
+
+
+/// @brief A frequency counting clock.
+/// Utility class allowing some time function.
+class frequency_clock_t
+{
+private:
+	float unit_; ///< unit_ - multiplicator to make operation to be in the right unit (milli, micro, nano, etc)
+	float frequency_; ///< the clock frequency in Hz.
+	unsigned long last_tick_; ///< the last time (in milliseconds since startup) that the clock ticked.
+	time_function_t time_function_; ///<  a function returning current time
+
+public:
+	frequency_clock_t();
+	frequency_clock_t(float frequency);
+	frequency_clock_t(float frequency, unsigned long last_tick, time_function_t time_function);
+
+	float get_frequency() const;
+
+	float frequency_to_period();
+	bool started();
+	time_function_t get_time_function();
+	bool elapsed(bool stagger);
+
+	void tick();
+};
\ No newline at end of file