Separation Generator to a dedicated repo

Change-Id: Id94831651c3266861435272a6e36c7884bef2c45
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

42 files changed, 5960 insertions, 0 deletions

diff --git a/low-can-binding/CMakeLists.txt b/low-can-binding/CMakeLists.txt
new file mode 100644
index 0000000..cd38fca
--- /dev/null
+++ b/low-can-binding/CMakeLists.txt
@@ -0,0 +1,67 @@
+###########################################################################
+# 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)
+
+	# Define project Targets
+	add_library(${TARGET_NAME} MODULE
+		binding/${TARGET_NAME}-hat.cpp
+		binding/${TARGET_NAME}-cb.cpp
+		binding/${TARGET_NAME}-subscription.cpp
+		binding/application.cpp
+		binding/application-generated.cpp
+		can/can-bus.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/socketcan.cpp
+		utils/socketcan-raw.cpp
+		utils/socketcan-bcm.cpp
+		utils/config-parser.cpp)
+
+	# Binder exposes a unique public entry point
+	SET_TARGET_PROPERTIES(${TARGET_NAME} PROPERTIES
+		PREFIX "afb-"
+		LABELS "BINDING"
+		LINK_FLAGS ${BINDINGS_LINK_FLAG}
+		OUTPUT_NAME ${TARGET_NAME}
+	)
+
+	# Library dependencies (include updates automatically)
+	TARGET_LINK_LIBRARIES(${TARGET_NAME}
+		ini-config
+		openxc-message-format
+		uds-c
+		isotp-c
+		bitfield-c
+		${link_libraries})
+
+	# installation directory
+	INSTALL(TARGETS ${TARGET_NAME}
+		LIBRARY DESTINATION ${BINDINGS_INSTALL_DIR})
+
diff --git a/low-can-binding/binding/application-generated.cpp b/low-can-binding/binding/application-generated.cpp
new file mode 100644
index 0000000..60a21f5
--- /dev/null
+++ b/low-can-binding/binding/application-generated.cpp
@@ -0,0 +1,564 @@
+#include "application.hpp"
+#include "../can/can-decoder.hpp"
+
+application_t::application_t()
+	: can_bus_manager_{utils::config_parser_t{"/etc/dev-mapping.conf"}}
+	, can_message_set_{
+		{std::make_shared<can_message_set_t>(can_message_set_t{0,"example",
+			{ // beginning can_message_definition_ vector
+				{std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x3D9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+					{ // beginning can_signals vector
+						{std::make_shared<can_signal_t> (can_signal_t{
+							"engine.speed",
+							16,
+							16,
+							0.250000f,
+							0.00000,
+							0,
+							0,
+							frequency_clock_t(0.00000f),
+							true,
+							false,
+							{
+							},
+							false,
+							nullptr,
+							nullptr,
+							false
+						})},
+						{std::make_shared<can_signal_t> (can_signal_t{
+							"fuel.level.low",
+							55,
+							1,
+							1.00000f,
+							0.00000,
+							0,
+							0,
+							frequency_clock_t(0.00000f),
+							true,
+							false,
+							{
+							},
+							false,
+							decoder_t::booleanDecoder,
+							nullptr,
+							false
+						})},
+						{std::make_shared<can_signal_t> (can_signal_t{
+							"fuel.level",
+							8,
+							8,
+							0.392157f,
+							0.00000,
+							0,
+							0,
+							frequency_clock_t(0.00000f),
+							true,
+							false,
+							{
+							},
+							false,
+							nullptr,
+							nullptr,
+							false
+						})}
+					} // end can_signals vector
+				})} // end can_message_definition entry
+,				{std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x3E9,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+					{ // beginning can_signals vector
+						{std::make_shared<can_signal_t> (can_signal_t{
+							"vehicle.average.speed",
+							0,
+							15,
+							0.0156250f,
+							0.00000,
+							0,
+							0,
+							frequency_clock_t(0.00000f),
+							true,
+							false,
+							{
+							},
+							false,
+							nullptr,
+							nullptr,
+							false
+						})}
+					} // end can_signals vector
+				})} // end can_message_definition entry
+,				{std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x4D1,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+					{ // beginning can_signals vector
+						{std::make_shared<can_signal_t> (can_signal_t{
+							"engine.oil.temp",
+							16,
+							8,
+							1.00000f,
+							0.00000,
+							0,
+							0,
+							frequency_clock_t(0.00000f),
+							true,
+							false,
+							{
+							},
+							false,
+							nullptr,
+							nullptr,
+							false
+						})},
+						{std::make_shared<can_signal_t> (can_signal_t{
+							"engine.oil.temp.high",
+							7,
+							1,
+							1.00000f,
+							0.00000,
+							0,
+							0,
+							frequency_clock_t(0.00000f),
+							true,
+							false,
+							{
+							},
+							false,
+							decoder_t::booleanDecoder,
+							nullptr,
+							false
+						})}
+					} // end can_signals vector
+				})} // end can_message_definition entry
+,				{std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x620,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+					{ // beginning can_signals vector
+						{std::make_shared<can_signal_t> (can_signal_t{
+							"doors.boot.open",
+							47,
+							1,
+							1.00000f,
+							0.00000,
+							0,
+							0,
+							frequency_clock_t(0.00000f),
+							true,
+							false,
+							{
+							},
+							false,
+							decoder_t::booleanDecoder,
+							nullptr,
+							false
+						})},
+						{std::make_shared<can_signal_t> (can_signal_t{
+							"doors.front_left.open",
+							43,
+							1,
+							1.00000f,
+							0.00000,
+							0,
+							0,
+							frequency_clock_t(0.00000f),
+							true,
+							false,
+							{
+							},
+							false,
+							decoder_t::booleanDecoder,
+							nullptr,
+							false
+						})},
+						{std::make_shared<can_signal_t> (can_signal_t{
+							"doors.front_right.open",
+							44,
+							1,
+							1.00000f,
+							0.00000,
+							0,
+							0,
+							frequency_clock_t(0.00000f),
+							true,
+							false,
+							{
+							},
+							false,
+							decoder_t::booleanDecoder,
+							nullptr,
+							false
+						})},
+						{std::make_shared<can_signal_t> (can_signal_t{
+							"doors.rear_left.open",
+							46,
+							1,
+							1.00000f,
+							0.00000,
+							0,
+							0,
+							frequency_clock_t(0.00000f),
+							true,
+							false,
+							{
+							},
+							false,
+							decoder_t::booleanDecoder,
+							nullptr,
+							false
+						})},
+						{std::make_shared<can_signal_t> (can_signal_t{
+							"doors.rear_right.open",
+							45,
+							4,
+							1.00000f,
+							0.00000,
+							0,
+							0,
+							frequency_clock_t(0.00000f),
+							true,
+							false,
+							{
+							},
+							false,
+							decoder_t::booleanDecoder,
+							nullptr,
+							false
+						})}
+					} // end can_signals vector
+				})} // end can_message_definition entry
+,				{std::make_shared<can_message_definition_t>(can_message_definition_t{"hs",0x799,can_message_format_t::STANDARD,frequency_clock_t(5.00000f),true,
+					{ // beginning can_signals vector
+						{std::make_shared<can_signal_t> (can_signal_t{
+							"windows.front_left.open",
+							43,
+							1,
+							1.00000f,
+							0.00000,
+							0,
+							0,
+							frequency_clock_t(0.00000f),
+							true,
+							false,
+							{
+							},
+							false,
+							decoder_t::booleanDecoder,
+							nullptr,
+							false
+						})},
+						{std::make_shared<can_signal_t> (can_signal_t{
+							"windows.front_right.open",
+							44,
+							1,
+							1.00000f,
+							0.00000,
+							0,
+							0,
+							frequency_clock_t(0.00000f),
+							true,
+							false,
+							{
+							},
+							false,
+							decoder_t::booleanDecoder,
+							nullptr,
+							false
+						})},
+						{std::make_shared<can_signal_t> (can_signal_t{
+							"windows.rear_left.open",
+							46,
+							1,
+							1.00000f,
+							0.00000,
+							0,
+							0,
+							frequency_clock_t(0.00000f),
+							true,
+							false,
+							{
+							},
+							false,
+							decoder_t::booleanDecoder,
+							nullptr,
+							false
+						})},
+						{std::make_shared<can_signal_t> (can_signal_t{
+							"windows.rear_right.open",
+							45,
+							4,
+							1.00000f,
+							0.00000,
+							0,
+							0,
+							frequency_clock_t(0.00000f),
+							true,
+							false,
+							{
+							},
+							false,
+							decoder_t::booleanDecoder,
+							nullptr,
+							false
+						})}
+					} // end can_signals vector
+				})} // end can_message_definition entry
+
+		}, // end can_message_definition vector
+			{ // beginning diagnostic_messages_ vector
+				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					4,
+					"engine.load",
+					0,
+					0,
+					UNIT::INVALID,
+					5.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					5,
+					"engine.coolant.temperature",
+					0,
+					0,
+					UNIT::INVALID,
+					1.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					10,
+					"fuel.pressure",
+					0,
+					0,
+					UNIT::INVALID,
+					1.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					11,
+					"intake.manifold.pressure",
+					0,
+					0,
+					UNIT::INVALID,
+					1.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					12,
+					"engine.speed",
+					0,
+					0,
+					UNIT::INVALID,
+					5.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					13,
+					"vehicle.speed",
+					0,
+					0,
+					UNIT::INVALID,
+					5.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					15,
+					"intake.air.temperature",
+					0,
+					0,
+					UNIT::INVALID,
+					1.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					16,
+					"mass.airflow",
+					0,
+					0,
+					UNIT::INVALID,
+					5.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					17,
+					"throttle.position",
+					0,
+					0,
+					UNIT::INVALID,
+					5.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					31,
+					"running.time",
+					0,
+					0,
+					UNIT::INVALID,
+					1.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					45,
+					"EGR.error",
+					0,
+					0,
+					UNIT::INVALID,
+					0.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					47,
+					"fuel.level",
+					0,
+					0,
+					UNIT::INVALID,
+					1.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					51,
+					"barometric.pressure",
+					0,
+					0,
+					UNIT::INVALID,
+					1.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					70,
+					"ambient.air.temperature",
+					0,
+					0,
+					UNIT::INVALID,
+					1.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					76,
+					"commanded.throttle.position",
+					0,
+					0,
+					UNIT::INVALID,
+					1.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					82,
+					"ethanol.fuel.percentage",
+					0,
+					0,
+					UNIT::INVALID,
+					1.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					90,
+					"accelerator.pedal.position",
+					0,
+					0,
+					UNIT::INVALID,
+					5.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					91,
+					"hybrid.battery-pack.remaining.life",
+					0,
+					0,
+					UNIT::INVALID,
+					5.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					92,
+					"engine.oil.temperature",
+					0,
+					0,
+					UNIT::INVALID,
+					1.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					94,
+					"engine.fuel.rate",
+					0,
+					0,
+					UNIT::INVALID,
+					1.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+,				{std::make_shared<diagnostic_message_t>(diagnostic_message_t{
+					99,
+					"engine.torque",
+					0,
+					0,
+					UNIT::INVALID,
+					1.00000f,
+					decoder_t::decode_obd2_response,
+					nullptr,
+					true
+				})}
+
+			} // end diagnostic_messages_ vector
+		})} // end can_message_set entry
+	} // end can_message_set vector
+{
+	for(auto& cms: can_message_set_)
+	{
+		std::vector<std::shared_ptr<can_message_definition_t> >& can_messages_definition = cms->get_can_message_definition();
+		for(auto& cmd : can_messages_definition)
+		{
+			cmd->set_parent(cms.get());
+			std::vector<std::shared_ptr<can_signal_t> >& can_signals = cmd->get_can_signals();
+			for(auto& sig: can_signals)
+			{
+				sig->set_parent(cmd.get());
+			}
+		}
+
+		std::vector<std::shared_ptr<diagnostic_message_t> >& diagnostic_messages = cms->get_diagnostic_messages();
+		for(auto& dm : diagnostic_messages)
+		{
+			dm->set_parent(cms.get());
+		}
+	}
+		}
+
+const std::string application_t::get_diagnostic_bus() const
+{
+	return "hs";
+}
+
+
diff --git a/low-can-binding/binding/application.cpp b/low-can-binding/binding/application.cpp
new file mode 100644
index 0000000..6e6353b
--- /dev/null
+++ b/low-can-binding/binding/application.cpp
@@ -0,0 +1,78 @@
+/*
+ * 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 "application.hpp"
+
+#include "../utils/signals.hpp"
+#include "../utils/openxc-utils.hpp"
+
+/// @brief Return singleton instance of configuration object.
+application_t& application_t::instance()
+{
+	static application_t config;
+	return config;
+}
+
+can_bus_t& application_t::get_can_bus_manager()
+{
+	return can_bus_manager_;
+}
+
+diagnostic_manager_t& application_t::get_diagnostic_manager()
+{
+	return diagnostic_manager_;
+}
+
+uint8_t application_t::get_active_message_set() const
+{
+	return active_message_set_;
+}
+
+std::vector<std::shared_ptr<can_message_set_t> > application_t::get_can_message_set()
+{
+	return can_message_set_;
+}
+
+std::vector<std::shared_ptr<can_signal_t> > application_t::get_all_can_signals()
+{
+	return can_message_set_[active_message_set_]->get_all_can_signals();
+}
+
+std::vector<std::shared_ptr<diagnostic_message_t> >& application_t::get_diagnostic_messages()
+{
+	return can_message_set_[active_message_set_]->get_diagnostic_messages();
+}
+
+std::vector<std::shared_ptr<can_message_definition_t> >& application_t::get_can_message_definition()
+{
+	return can_message_set_[active_message_set_]->get_can_message_definition();
+}
+
+uint32_t application_t::get_signal_id(diagnostic_message_t& sig) const
+{
+	return sig.get_pid();
+}
+
+uint32_t application_t::get_signal_id(can_signal_t& sig) const
+{
+	return sig.get_message()->get_id();
+}
+
+void application_t::set_active_message_set(uint8_t id)
+{
+	active_message_set_ = id;
+}
diff --git a/low-can-binding/binding/application.hpp b/low-can-binding/binding/application.hpp
new file mode 100644
index 0000000..5fa6478
--- /dev/null
+++ b/low-can-binding/binding/application.hpp
@@ -0,0 +1,104 @@
+/*
+ * 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 <memory>
+
+#include "../can/can-bus.hpp"
+#include "../can/can-message-set.hpp"
+#include "../can/can-signals.hpp"
+#include "../diagnostic/diagnostic-manager.hpp"
+
+#include "low-can-hat.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 application_t
+{
+	private:
+		can_bus_t can_bus_manager_; ///< instanciate the CAN bus manager. It's the one in charge of initialize the CAN bus devices.
+		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<std::shared_ptr<can_message_set_t> > can_message_set_; ///< Vector holding all message set from JSON signals description file
+
+		application_t(); ///< Private constructor with implementation generated by the AGL generator.
+
+	public:
+		static application_t& instance();
+
+		can_bus_t& get_can_bus_manager();
+
+		const std::string get_diagnostic_bus() const;
+
+		diagnostic_manager_t& get_diagnostic_manager() ;
+
+		uint8_t get_active_message_set() const;
+
+		std::vector<std::shared_ptr<can_message_set_t> > get_can_message_set();
+
+		std::vector<std::shared_ptr<can_signal_t> > get_all_can_signals();
+
+		std::vector<std::shared_ptr<diagnostic_message_t> >& get_diagnostic_messages();
+
+		const std::vector<std::string>& get_signals_prefix() const;
+
+		std::vector<std::shared_ptr<can_message_definition_t> >& get_can_message_definition();
+
+		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);
+
+/*
+		/// 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/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp
new file mode 100644
index 0000000..97b6d20
--- /dev/null
+++ b/low-can-binding/binding/low-can-cb.cpp
@@ -0,0 +1,358 @@
+/*
+ * 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-hat.hpp"
+
+#include <map>
+#include <queue>
+#include <mutex>
+#include <vector>
+#include <thread>
+#include <json-c/json.h>
+#include <systemd/sd-event.h>
+
+#include "openxc.pb.h"
+#include "application.hpp"
+#include "../can/can-bus.hpp"
+#include "../can/can-signals.hpp"
+#include "../can/can-message.hpp"
+#include "../utils/signals.hpp"
+#include "../diagnostic/diagnostic-message.hpp"
+#include "../utils/openxc-utils.hpp"
+
+
+///******************************************************************************
+///
+///		SystemD event loop Callbacks
+///
+///*******************************************************************************/
+
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+	if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
+	{
+		DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
+		active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
+		if( adr != nullptr)
+			application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
+	}
+
+	on_no_clients(can_subscription, s);
+}
+
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+	auto it = s.find(can_subscription->get_index());
+	s.erase(it);
+}
+
+static void push_n_notify(const can_message_t& cm)
+{
+	can_bus_t& cbm = application_t::instance().get_can_bus_manager();
+	{
+		std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
+	 	cbm.push_new_can_message(cm);
+	}
+	cbm.get_new_can_message_cv().notify_one();
+}
+
+int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
+{
+	low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
+	if ((revents & EPOLLIN) != 0)
+	{
+		can_message_t cm;
+		utils::socketcan_bcm_t& s = can_subscription->get_socket();
+		s >> cm;
+
+		// Sure we got a valid CAN message ?
+		if(! cm.get_id() == 0 && ! cm.get_length() == 0)
+			{push_n_notify(cm);}
+	}
+
+	// check if error or hangup
+	if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
+	{
+		sd_event_source_unref(event_source);
+		can_subscription->get_socket().close();
+	}
+	return 0;
+}
+
+///******************************************************************************
+///
+///		Subscription and unsubscription
+///
+///*******************************************************************************/
+
+static int make_subscription_unsubscription(struct afb_req request, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s, bool subscribe)
+{
+	/* Make the subscription or unsubscription to the event */
+	if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, s[can_subscription->get_index()]->get_event())) < 0)
+	{
+		ERROR("Operation goes wrong for signal: %s", can_subscription->get_name().c_str());
+		return -1;
+	}
+	return 0;
+}
+
+static int create_event_handle(std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+	int sub_index = can_subscription->get_index();
+	can_subscription->set_event(afb_daemon_make_event(can_subscription->get_name().c_str()));
+	s[sub_index] = can_subscription;
+	if (!afb_event_is_valid(s[sub_index]->get_event()))
+	{
+		ERROR("Can't create an event for %s, something goes wrong.", can_subscription->get_name().c_str());
+		return -1;
+	}
+	return 0;
+}
+
+/// @brief Will determine if it is needed or not to create the event handle and checks it to be sure that
+/// we got a valid afb_event to get subscribe or unsubscribe. Then launch the subscription or unsubscription
+/// against the application framework using that event handle.
+static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, std::shared_ptr<low_can_subscription_t>& can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+	int ret = -1;
+	int sub_index = can_subscription->get_index();
+
+	if (can_subscription && s.find(sub_index) != s.end())
+	{
+		if (!afb_event_is_valid(s[sub_index]->get_event()) && !subscribe)
+		{
+			NOTICE("Event isn't valid, no need to unsubscribed.");
+			ret = -1;
+		}
+		ret = 0;
+	}
+	else
+	{
+		/* Event doesn't exist , so let's create it */
+		can_subscription->set_event({nullptr, nullptr});
+		s[sub_index] = can_subscription;
+		ret = create_event_handle(can_subscription, 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, can_subscription, s, subscribe);
+}
+
+static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscription)
+{
+		struct sd_event_source* event_source = nullptr;
+		return ( sd_event_add_io(afb_daemon_get_event_loop(),
+			&event_source,
+			can_subscription->get_socket().socket(),
+			EPOLLIN,
+			read_message,
+			can_subscription.get()));
+}
+
+static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+	int rets = 0;
+	application_t& app = application_t::instance();
+	diagnostic_manager_t& diag_m = app.get_diagnostic_manager();
+
+	for(const auto& sig : diagnostic_messages)
+	{
+		DiagnosticRequest* diag_req = new DiagnosticRequest(sig->build_diagnostic_request());
+		event_filter.frequency = std::isnan(event_filter.frequency) ? sig->get_frequency() : event_filter.frequency;
+		std::shared_ptr<low_can_subscription_t> can_subscription;
+
+		auto it =  std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return (! sub.second->get_diagnostic_message().empty());});
+		can_subscription = it != s.end() ?
+			it->second : 
+			std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
+		// If the requested diagnostic message isn't supported by the car then unsubcribe it
+		// no matter what we want, worse case will be a fail unsubscription but at least we don't
+		// poll a PID for nothing.
+		//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);
+		if(sig->get_supported() && subscribe)
+		{
+			diag_m.add_recurring_request(diag_req, sig->get_name().c_str(), false, sig->get_decoder(), sig->get_callback(), event_filter.frequency);
+			if(can_subscription->create_rx_filter(sig) < 0)
+				{return -1;}
+			DEBUG("Signal: %s subscribed", sig->get_name().c_str());
+			if(it == s.end() && add_to_event_loop(can_subscription) < 0)
+			{
+				diag_m.cleanup_request(
+					diag_m.find_recurring_request(*diag_req), true);
+				WARNING("signal: %s isn't supported. Canceling operation.",  sig->get_name().c_str());
+				return -1;
+			}
+		}
+		else
+		{
+			if(sig->get_supported())
+			{DEBUG("%s cancelled due to unsubscribe", sig->get_name().c_str());}
+			else
+			{
+				WARNING("signal: %s isn't supported. Canceling operation.", sig->get_name().c_str());
+				return -1;
+			}
+		}
+		int ret = subscribe_unsubscribe_signal(request, subscribe, can_subscription, s);
+		if(ret < 0)
+			return ret;
+
+		rets++;
+	}
+
+	return rets;
+}
+
+static int subscribe_unsubscribe_can_signals(struct afb_req request, bool subscribe, std::vector<std::shared_ptr<can_signal_t> > can_signals, struct event_filter_t& event_filter, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+	int rets = 0;
+	for(const auto& sig: can_signals)
+	{
+		auto it =  std::find_if(s.begin(), s.end(), [&sig](std::pair<int, std::shared_ptr<low_can_subscription_t> > sub){ return sub.second->get_can_signal() == sig; });
+		std::shared_ptr<low_can_subscription_t> can_subscription;
+		if(it != s.end())
+		{
+			 can_subscription = it->second;
+		}
+		else
+		{
+			 can_subscription = std::make_shared<low_can_subscription_t>(low_can_subscription_t(event_filter));
+			if(can_subscription->create_rx_filter(sig) < 0)
+				{return -1;}
+			if(add_to_event_loop(can_subscription) < 0)
+				{return -1;}
+		}
+
+		if(subscribe_unsubscribe_signal(request, subscribe, can_subscription, s) < 0)
+			{return -1;}
+
+		rets++;
+		DEBUG("signal: %s subscribed", sig->get_name().c_str());
+	}
+	return rets;
+}
+
+///
+/// @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] signals -  struct containing vectors with can_signal_t and diagnostic_messages to subscribe
+///
+/// @return Number of correctly subscribed signal
+///
+static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe, const struct utils::signals_found& signals, struct event_filter_t& event_filter)
+{
+	int rets = 0;
+	utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+
+	std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+	std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
+
+	rets += subscribe_unsubscribe_diagnostic_messages(request, subscribe, signals.diagnostic_messages, event_filter, s);
+	rets += subscribe_unsubscribe_can_signals(request, subscribe, signals.can_signals, event_filter, s);
+
+	return rets;
+}
+
+static int one_subscribe_unsubscribe(struct afb_req request, bool subscribe, const std::string& tag, json_object* args)
+{
+	int ret = 0;
+	struct event_filter_t event_filter;
+	struct json_object  *filter, *obj;
+	struct utils::signals_found sf;
+
+	// computes the filter
+	if (json_object_object_get_ex(args, "filter", &filter))
+	{
+		if (json_object_object_get_ex(filter, "frequency", &obj)
+		&& (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
+		{
+			event_filter.frequency = (float)json_object_get_double(obj);
+			ret += 1;
+		}
+		if (json_object_object_get_ex(filter, "min", &obj)
+		&& (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
+		{
+			event_filter.min = (float)json_object_get_double(obj);
+			ret += 2;
+		}
+		if (json_object_object_get_ex(filter, "max", &obj)
+		&& (json_object_is_type(obj, json_type_double) || json_object_is_type(obj, json_type_int)))
+		{
+			event_filter.max = (float)json_object_get_double(obj);
+			ret += 4;
+		}
+	}
+
+	// subscribe or unsubscribe
+	openxc_DynamicField search_key = build_DynamicField(tag);
+	sf = utils::signals_manager_t::instance().find_signals(search_key);
+	if (sf.can_signals.empty() && sf.diagnostic_messages.empty())
+		NOTICE("No signal(s) found for %s.", tag.c_str());
+	else
+		ret = subscribe_unsubscribe_signals(request, subscribe, sf, event_filter);
+
+	return ret;
+}
+
+static void do_subscribe_unsubscribe(struct afb_req request, bool subscribe)
+{
+	int i, n, rc, rc2;
+	struct json_object *args, *event, *x;
+
+	args = afb_req_json(request);
+	if (args == NULL || !json_object_object_get_ex(args, "event", &event))
+	{
+		rc = one_subscribe_unsubscribe(request, subscribe, "*", args);
+	}
+	else if (json_object_get_type(event) != json_type_array)
+	{
+		rc = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(event), args);
+	}
+	else
+	{
+		rc = 0;
+		n = json_object_array_length(event);
+		for (i = 0 ; i < n ; i++)
+		{
+			x = json_object_array_get_idx(event, i);
+			rc2 = one_subscribe_unsubscribe(request, subscribe, json_object_get_string(x), args);
+			if (rc >= 0)
+				rc = rc2 >= 0 ? rc + rc2 : rc2;
+		}
+	}
+
+	if (rc >= 0)
+		afb_req_success(request, NULL, NULL);
+	else
+		afb_req_fail(request, "error", NULL);
+}
+
+void subscribe(struct afb_req request)
+{
+	do_subscribe_unsubscribe(request, true);
+}
+
+void unsubscribe(struct afb_req request)
+{
+	do_subscribe_unsubscribe(request, false);
+}
diff --git a/low-can-binding/binding/low-can-hat.cpp b/low-can-binding/binding/low-can-hat.cpp
new file mode 100644
index 0000000..7113b69
--- /dev/null
+++ b/low-can-binding/binding/low-can-hat.cpp
@@ -0,0 +1,73 @@
+/*
+ * 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-hat.hpp"
+#include "low-can-subscription.hpp"
+
+#include <map>
+#include <queue>
+#include <mutex>
+#include <vector>
+#include <json-c/json.h>
+
+#include "application.hpp"
+#include "../can/can-bus.hpp"
+
+extern "C"
+{
+	static int initv2();
+
+	static const struct afb_verb_v2 verbs[]=
+	{
+		{ .verb= "subscribe", .callback= subscribe, .auth= NULL, .session= AFB_SESSION_NONE},
+		{ .verb= "unsubscribe", .callback= unsubscribe, .auth= NULL, .session= AFB_SESSION_NONE},
+		{ .verb= NULL, .callback= NULL, .auth= NULL, .session= 0}
+	};
+
+	const struct afb_binding_v2 afbBindingV2 {
+		.api = "low-can",
+		.specification = NULL,
+		.verbs = verbs,
+		.preinit = NULL,
+		.init = initv2,
+		.onevent = NULL,
+		.noconcurrency = 0
+	};
+
+	/// @brief Initialize the binding.
+	///
+	/// @param[in] service Structure which represent the Application Framework Binder.
+	///
+	/// @return Exit code, zero if success.
+	static int initv2()
+	{
+		can_bus_t& can_bus_manager = application_t::instance().get_can_bus_manager();
+
+		can_bus_manager.set_can_devices();
+		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(application_t::instance().get_diagnostic_manager().initialize())
+			return 0;
+
+		ERROR("There was something wrong with CAN device Initialization.");
+		return 1;
+	}
+};
diff --git a/low-can-binding/binding/low-can-hat.hpp b/low-can-binding/binding/low-can-hat.hpp
new file mode 100644
index 0000000..cf3d999
--- /dev/null
+++ b/low-can-binding/binding/low-can-hat.hpp
@@ -0,0 +1,40 @@
+/*
+ * 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 <map>
+#include <string>
+#include <memory>
+#include <systemd/sd-event.h>
+
+extern "C"
+{
+	#define AFB_BINDING_VERSION 2
+	#include <afb/afb-binding.h>
+};
+
+class low_can_subscription_t;
+
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata);
+
+void subscribe(struct afb_req request);
+void unsubscribe(struct afb_req request);
\ No newline at end of file
diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp
new file mode 100644
index 0000000..5488cc5
--- /dev/null
+++ b/low-can-binding/binding/low-can-subscription.cpp
@@ -0,0 +1,306 @@
+/*
+ * 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-hat.hpp"
+
+#include "low-can-subscription.hpp"
+#include "application.hpp"
+#include "canutil/write.h"
+
+low_can_subscription_t::low_can_subscription_t()
+	: index_{-1},
+	event_filter_{event_filter_t()},
+	socket_{}
+{}
+
+low_can_subscription_t::low_can_subscription_t(struct event_filter_t event_filter)
+	: event_filter_{event_filter}
+{}
+
+low_can_subscription_t::low_can_subscription_t( low_can_subscription_t&& s)
+	: index_{s.index_},
+	event_filter_{s.event_filter_},
+	socket_{std::move(s.socket_)}
+{}
+
+low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscription_t& s)
+{
+	socket_ = std::move(s.socket_);
+	return *this;
+}
+
+low_can_subscription_t::~low_can_subscription_t()
+{
+	socket_.close();
+}
+
+low_can_subscription_t::operator bool() const
+{
+	return ((can_signal_ != nullptr || ! diagnostic_message_.empty()) && afb_event_is_valid(event_));
+}
+
+struct afb_event& low_can_subscription_t::get_event()
+{
+	return event_;
+}
+
+int low_can_subscription_t::get_index() const
+{
+	return index_;
+}
+
+const std::shared_ptr<can_signal_t> low_can_subscription_t::get_can_signal() const
+{
+	return can_signal_;
+}
+
+const std::vector<std::shared_ptr<diagnostic_message_t> > low_can_subscription_t::get_diagnostic_message() const
+{
+	return diagnostic_message_;
+}
+
+/// @brief Retrieve a diagnostic_message subscribed from a pid
+/// 
+/// @param[in] pid - Diagnostic messages PID to search for
+///
+/// @return shared_ptr diagnostic_message_ if found and nullptr if not found
+const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(uint32_t pid) const
+{
+	for(const auto& diag: diagnostic_message_)
+	{
+		if(diag->get_pid() == pid)
+		{
+			return diag;
+		}
+	}
+	return nullptr;
+}
+
+/// @brief Retrieve a diagnostic message search from its name
+///
+/// @return shared_ptr diagnostic_message_ if found and nullptr if not found
+const std::shared_ptr<diagnostic_message_t> low_can_subscription_t::get_diagnostic_message(const std::string& name) const
+{
+	for(const auto& diag: diagnostic_message_)
+	{
+		if(diag->get_name() == name)
+		{
+			return diag;
+		}
+	}
+	return nullptr;
+}
+
+/// @brief Return the CAN signal name and empty string if not found
+/// or no CAN signal subscribed
+const std::string low_can_subscription_t::get_name() const
+{
+	if (can_signal_ != nullptr)
+		return can_signal_->get_name();
+
+	return "";
+}
+
+/// @brief Return name from a diagnostic message from a PID
+///
+/// @param[in] pid - Diagnostic message PID
+const std::string low_can_subscription_t::get_name(uint32_t pid) const
+{
+	if (!diagnostic_message_.empty())
+		return get_diagnostic_message(pid)->get_name() ;
+
+	return "";
+}
+
+float low_can_subscription_t::get_frequency() const
+{
+	return event_filter_.frequency;
+}
+
+float low_can_subscription_t::get_min() const
+{
+	return event_filter_.min;
+}
+
+float low_can_subscription_t::get_max() const
+{
+	return event_filter_.max;
+}
+
+utils::socketcan_bcm_t& low_can_subscription_t::get_socket()
+{
+	return socket_;
+}
+
+void low_can_subscription_t::set_event(struct afb_event event)
+{
+	event_ = event;
+}
+
+void low_can_subscription_t::set_frequency(float freq)
+{
+	event_filter_.frequency = freq;
+}
+
+void low_can_subscription_t::set_min(float min)
+{
+	event_filter_.min = min;
+}
+
+void low_can_subscription_t::set_max(float max)
+{
+	event_filter_.max = max;
+}
+
+/// @brief Based upon which object is subscribed CAN signal or diagnostic message
+/// this will open the socket with the required CAN bus device name.
+///
+/// @return INVALID_SOCKET on failure else positive integer
+int low_can_subscription_t::open_socket()
+{
+	int ret = 0;
+	if(! socket_)
+	{
+		if( can_signal_ != nullptr)
+			{ret = socket_.open(can_signal_->get_message()->get_bus_device_name());}
+		else if (! diagnostic_message_ .empty())
+			{ret = socket_.open(application_t::instance().get_diagnostic_manager().get_bus_device_name());}
+		index_ = (int)socket_.socket();
+	}
+	return ret;
+}
+
+/// @brief Build a BCM message head but don't set can_frame.
+///
+/// @return a simple_bcm_msg with the msg_head parts set and can_frame
+/// zeroed.
+struct utils::simple_bcm_msg low_can_subscription_t::make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const
+{
+	struct utils::simple_bcm_msg bcm_msg;
+
+	memset(&bcm_msg, 0, sizeof(bcm_msg));
+
+	bcm_msg.msg_head.opcode  = RX_SETUP;
+	bcm_msg.msg_head.can_id  = can_id;
+	bcm_msg.msg_head.flags = flags;
+	bcm_msg.msg_head.ival1.tv_sec = timeout.tv_sec ;
+	bcm_msg.msg_head.ival1.tv_usec = timeout.tv_usec;
+	bcm_msg.msg_head.ival2.tv_sec = frequency_thinning.tv_sec ;
+	bcm_msg.msg_head.ival2.tv_usec = frequency_thinning.tv_usec;
+
+	return bcm_msg;
+}
+
+/// @brief Take an existing simple_bcm_msg struct and add a can_frame to it.
+/// Only possible for now to add 1 uniq can_frame, it isn't possible to build
+/// a multiplexed message with several can_frame.
+void low_can_subscription_t::add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const
+{
+	for(int i=0; i < CAN_MAX_DLEN; i++)
+	{
+		if(cfd.data[i] != 0)
+		{
+			bcm_msg.msg_head.nframes = 1;
+			bcm_msg.frames = cfd;
+			return;
+		}
+	}
+}
+
+/// @brief Create a RX_SETUP receive job used by the BCM socket for a CAN signal
+/// subscription
+///
+/// @return 0 if ok else -1
+int low_can_subscription_t::create_rx_filter(std::shared_ptr<can_signal_t> sig)
+{
+	can_signal_= sig;
+
+	struct can_frame cfd;
+	memset(&cfd, 0, sizeof(cfd));
+
+	float val = (float)(1 << can_signal_->get_bit_size()) - 1;
+	bitfield_encode_float(val,
+							can_signal_->get_bit_position(),
+							can_signal_->get_bit_size(),
+							can_signal_->get_factor(),
+							can_signal_->get_offset(),
+							cfd.data,
+							CAN_MAX_DLEN);
+
+	struct timeval freq, timeout = {0, 0};
+	frequency_clock_t f = std::isnan(event_filter_.frequency) ? can_signal_->get_frequency() : frequency_clock_t(event_filter_.frequency);
+	freq = f.get_timeval_from_period();
+
+	utils::simple_bcm_msg bcm_msg = make_bcm_head(can_signal_->get_message()->get_id(), SETTIMER|RX_NO_AUTOTIMER, timeout, freq);
+	add_bcm_frame(cfd, bcm_msg);
+
+	return create_rx_filter(bcm_msg);
+}
+
+/// @brief Create a RX_SETUP receive job used by the BCM socket for a
+/// diagnostic message subscription.
+///
+/// @return 0 if ok else -1
+int low_can_subscription_t::create_rx_filter(std::shared_ptr<diagnostic_message_t> sig)
+{
+	diagnostic_message_.push_back(sig);
+
+	struct timeval freq = frequency_clock_t(event_filter_.frequency).get_timeval_from_period();
+	//struct timeval timeout = frequency_clock_t(10).get_timeval_from_period();
+	struct timeval timeout = {0,0};
+
+	utils::simple_bcm_msg bcm_msg =  make_bcm_head(OBD2_FUNCTIONAL_BROADCAST_ID, SETTIMER|RX_NO_AUTOTIMER|RX_FILTER_ID, timeout, freq);
+	return create_rx_filter(bcm_msg);
+}
+
+/// @brief Create a RX_SETUP receive job used by the BCM socket directly from
+/// a simple_bcm_msg. You will not use this method directly but rather use the
+/// two previous method with can_signal_t or diagnostic_message_t object.
+///
+/// If the CAN arbitration ID is the OBD2 functional broadcast id the subscribed
+/// to the 8 classics OBD2 functional response ID
+///
+/// @return 0 if ok else -1
+int low_can_subscription_t::create_rx_filter(utils::simple_bcm_msg& bcm_msg) 
+{
+	// Make sure that socket has been opened.
+	if(open_socket() < 0)
+		{return -1;}
+
+	// If it isn't an OBD2 CAN ID then just add a simple RX_SETUP job
+	// else monitor all standard 8 CAN OBD2 ID response.
+	if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID) 
+	{
+		socket_ << bcm_msg;
+			if(! socket_)
+				return -1;
+	}
+	else
+	{
+		for(uint8_t i = 0; i < 8; i++)
+		{
+			bcm_msg.msg_head.can_id  =  OBD2_FUNCTIONAL_RESPONSE_START + i;
+
+			socket_ << bcm_msg;
+			if(! socket_)
+				return -1;
+		}
+	}
+
+	return 0;
+}
\ No newline at end of file
diff --git a/low-can-binding/binding/low-can-subscription.hpp b/low-can-binding/binding/low-can-subscription.hpp
new file mode 100644
index 0000000..0ad7e3a
--- /dev/null
+++ b/low-can-binding/binding/low-can-subscription.hpp
@@ -0,0 +1,91 @@
+/*
+ * 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 <cmath>
+#include <utility>
+
+#include "../can/can-signals.hpp"
+#include "../diagnostic/diagnostic-message.hpp"
+#include "../utils/socketcan-bcm.hpp"
+
+/// @brief Filtering values. Theses values has to be tested into
+/// can_bus_t::apply_filter method.
+struct event_filter_t
+{
+	float frequency; ///< frequency - Maximum frequency which will be received and pushed a subscribed event.
+	float min; ///< min - Minimum value that the signal don't have to go below to be pushed.
+	float max; ///< max - Maximum value that the signal don't have to go above to be pushed.
+	event_filter_t() : frequency{NAN}, min{NAN}, max{NAN} {}
+};
+
+/// @brief A subscription object used has a context that handle all needed values to describe a subscription
+/// to the low-can binding. It can holds a CAN signal or diagnostic message. Diagnostic message for OBD2 is a kind
+/// of special because there is only 1 listener to retrieve OBD2 requests. So it's needed that all diagnostic messages
+/// subscriptions is to be in 1 object.
+class low_can_subscription_t
+{
+private:
+	int index_; ///< index_ - index number is the socket (int) casted
+	struct afb_event event_; ///< event_ - application framework event used to push on client
+
+	/// Signal part
+	std::shared_ptr<can_signal_t> can_signal_; ///< can_signal_ - the CAN signal subscribed
+	std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to received OBD2 responses.
+				/// normal diagnostic request and response not tested for now.
+
+	/// Filtering part
+	struct event_filter_t event_filter_; ///< event_filter_ - filtering values applied to a subscription
+
+	utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages.
+public:
+	low_can_subscription_t();
+	low_can_subscription_t(struct event_filter_t event_filter);
+	low_can_subscription_t(const low_can_subscription_t& s) = delete;
+	low_can_subscription_t(low_can_subscription_t&& s);
+	~low_can_subscription_t();
+
+	low_can_subscription_t& operator=(const low_can_subscription_t& s);
+	explicit operator bool() const;
+
+	int get_index() const;
+	struct afb_event& get_event();
+	const std::shared_ptr<can_signal_t> get_can_signal() const;
+	const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(uint32_t pid) const;
+	const std::vector<std::shared_ptr<diagnostic_message_t> > get_diagnostic_message() const;
+	const std::shared_ptr<diagnostic_message_t> get_diagnostic_message(const std::string& name) const;
+	const std::string get_name() const;
+	const std::string get_name(uint32_t pid) const;
+	float get_frequency() const;
+	float get_min() const;
+	float get_max() const;
+	utils::socketcan_bcm_t& get_socket();
+
+	void set_event(struct afb_event event);
+	void set_frequency(float freq);
+	void set_min(float min);
+	void set_max(float max);
+
+	struct utils::simple_bcm_msg make_bcm_head(uint32_t can_id, uint32_t flags, const struct timeval& timeout, const struct timeval& frequency_thinning) const;
+	void add_bcm_frame(const struct can_frame& cfd, struct utils::simple_bcm_msg& bcm_msg) const;
+	int open_socket();
+	int create_rx_filter(std::shared_ptr<can_signal_t> sig);
+	int create_rx_filter(std::shared_ptr<diagnostic_message_t> sig);
+	int create_rx_filter(utils::simple_bcm_msg& bcm_msg);
+};
diff --git a/low-can-binding/can/can-bus.cpp b/low-can-binding/can/can-bus.cpp
new file mode 100644
index 0000000..6167335
--- /dev/null
+++ b/low-can-binding/can/can-bus.cpp
@@ -0,0 +1,337 @@
+/*
+ * 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 <net/if.h>
+#include <sys/socket.h>
+#include <json-c/json.h>
+#include <linux/can/raw.h>
+#include <map>
+#include <cerrno>
+#include <vector>
+#include <string>
+#include <algorithm>
+
+#include "can-bus.hpp"
+
+#include "can-signals.hpp"
+#include "can-decoder.hpp"
+#include "../binding/application.hpp"
+#include "../utils/signals.hpp"
+#include "../utils/openxc-utils.hpp"
+
+/// @brief Class constructor
+///
+/// @param[in] conf_file - handle to the json configuration file.
+can_bus_t::can_bus_t(utils::config_parser_t conf_file)
+	: conf_file_{conf_file}
+{}
+
+/// @brief Take a decoded message to determine if its value comply with the wanted
+/// filtering values.
+///
+/// @param[in] vehicle_message - A decoded message to analyze
+/// @param[in] can_subscription - the subscription which will be notified depending
+///  on its filtering values. Filtering values are stored in the event_filtermember.
+///
+/// @return True if the value is compliant with event filter values, false if not...
+bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription)
+{
+	bool send = false;
+	if(is_valid(vehicle_message))
+	{
+		float min = std::isnan(can_subscription->get_min()) ? -INFINITY : can_subscription->get_min();
+		float max = std::isnan(can_subscription->get_max()) ? INFINITY : can_subscription->get_max();
+		double value = get_numerical_from_DynamicField(vehicle_message);
+		send = (value < min && value > max) ? false : true;
+	}
+	return send;
+}
+
+/// @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.
+void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+	int subscription_id = can_message.get_sub_id();
+	openxc_DynamicField decoded_message;
+	openxc_VehicleMessage vehicle_message;
+
+	// First we have to found which can_signal_t it is
+	std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
+
+	if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
+	{
+		bool send = true;
+		decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send);
+		openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
+		vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
+
+		if(send && apply_filter(vehicle_message, sig))
+		{
+			std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+			push_new_vehicle_message(subscription_id, vehicle_message);
+			DEBUG("%s CAN signals processed.",  sig->get_name().c_str());
+		}
+	}
+}
+
+/// @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.
+void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+	int subscription_id = can_message.get_sub_id();
+
+	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(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
+	{
+		if (apply_filter(vehicle_message, s[subscription_id]))
+		{
+			std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+			push_new_vehicle_message(subscription_id, vehicle_message);
+			DEBUG("%s CAN signals processed.",  s[subscription_id]->get_name().c_str());
+		}
+	}
+}
+
+/// @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()
+{
+	utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+
+	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())
+		{
+			const can_message_t can_message = next_can_message();
+			can_message_lock.unlock();
+
+			{
+				std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+				std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
+				if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
+					{process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message, s);}
+				else
+					{process_can_signals(can_message, s);}
+			}
+			can_message_lock.lock();
+		}
+	new_decoded_can_message_.notify_one();
+	can_message_lock.unlock();
+	}
+}
+
+/// @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_SimpleMessage s_message;
+	json_object* jo;
+	utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+
+	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())
+		{
+			std::pair<int, openxc_VehicleMessage> v_message = next_vehicle_message();
+			decoded_can_message_lock.unlock();
+			{
+				std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+				std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
+				s_message = get_simple_message(v_message.second);
+				if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event()))
+				{
+					jo = json_object_new_object();
+					jsonify_simple(s_message, jo);
+					if(afb_event_push(s[v_message.first]->get_event(), jo) == 0)
+					{
+						if(v_message.second.has_diagnostic_response)
+							{on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid, s);}
+						else
+							{on_no_clients(s[v_message.first], s);}
+					}
+				}
+			}
+			decoded_can_message_lock.lock();
+		}
+		decoded_can_message_lock.unlock();
+	}
+}
+
+/// @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);
+	th_decoding_.detach();
+
+	is_pushing_ = true;
+	th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
+	th_pushing_.detach();
+}
+
+/// @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 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
+const 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("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
+std::pair<int, openxc_VehicleMessage> can_bus_t::next_vehicle_message()
+{
+	std::pair<int, openxc_VehicleMessage> v_msg;
+
+	if(! vehicle_message_q_.empty())
+	{
+		v_msg = vehicle_message_q_.front();
+		vehicle_message_q_.pop();
+		DEBUG("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(int subscription_id, const openxc_VehicleMessage& v_msg)
+{
+	vehicle_message_q_.push(std::make_pair(subscription_id, v_msg));
+}
+
+/// @brief Fills the CAN device map member with value from device
+/// mapping configuration file read at initialization.
+void can_bus_t::set_can_devices()
+{
+	can_devices_ = conf_file_.get_devices_name();
+
+	if(can_devices_.empty())
+	{
+		ERROR("No mapping found in config file: '%s'. Check it that it have a CANbus-mapping section.",
+			conf_file_.filepath().c_str());
+	}
+}
+
+
+/// @brief Return the CAN device index from the map
+/// map are sorted so index depend upon alphabetical sorting.
+int can_bus_t::get_can_device_index(const std::string& bus_name) const
+{
+	int i = 0;
+	for(const auto& d: can_devices_)
+	{
+		if(d.first == bus_name)
+			break;
+		i++;
+	}
+	return i;
+}
+
+/// @brief Return CAN device name from a logical CAN device name gotten from
+/// the signals.json description file which comes from a CAN databases file in
+/// general.
+const std::string can_bus_t::get_can_device_name(const std::string& id_name) const
+{
+	std::string ret;
+	for(const auto& d: can_devices_)
+	{
+		if(d.first == id_name)
+		{
+			ret = d.second;
+			break;
+		}
+	}
+	return ret;
+}
diff --git a/low-can-binding/can/can-bus.hpp b/low-can-binding/can/can-bus.hpp
new file mode 100644
index 0000000..a76d3e8
--- /dev/null
+++ b/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 <utility>
+#include <mutex>
+#include <queue>
+#include <thread>
+#include <linux/can.h>
+#include <condition_variable>
+
+#include "openxc.pb.h"
+#include "can-message.hpp"
+#include "../utils/config-parser.hpp"
+#include "../binding/low-can-hat.hpp"
+#include "../binding/low-can-subscription.hpp"
+
+// TODO actual max is 32 but dropped to 24 for memory considerations
+#define MAX_ACCEPTANCE_FILTERS 24
+// TODO this takes up a ton of memory
+#define MAX_DYNAMIC_MESSAGE_COUNT 12
+
+#define CAN_ACTIVE_TIMEOUT_S 30
+
+class diagnostic_manager_t;
+
+/// @brief Object used to handle decoding and manage event queue to be pushed.
+///
+/// This object is also used to initialize can_bus_dev_t object after reading
+/// json conf file describing the CAN devices to use. Thus, those object will read
+/// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
+///
+/// That queue will be later used to be decoded and pushed to subscribers.
+class can_bus_t
+{
+private:
+	utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects.
+
+	bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription);
+	void process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+	void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+
+	void can_decode_message();
+	std::thread th_decoding_; ///< thread that'll handle decoding a can frame
+	bool is_decoding_ = false; ///< boolean member controling thread while loop
+
+	void can_event_push();
+	std::thread th_pushing_; ///< thread that'll handle pushing decoded can frame to subscribers
+	bool is_pushing_ = false; ///< boolean member controling thread while loop
+
+	std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read
+	std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ queue.
+	std::queue <can_message_t> can_message_q_; ///< queue that'll store can_message_t to decoded
+
+	std::condition_variable new_decoded_can_message_; ///< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_
+	std::mutex decoded_can_message_mutex_;  ///< mutex protecting the vehicle_message_q_ queue.
+	std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed
+
+	std::vector<std::pair<std::string, std::string> > can_devices_; ///< can_devices_ - holds a mapping between logical CAN devices names and linux CAN devices names.
+public:
+	explicit can_bus_t(utils::config_parser_t conf_file);
+	can_bus_t(can_bus_t&&);
+
+	void set_can_devices();
+	int get_can_device_index(const std::string& bus_name) const;
+	const std::string get_can_device_name(const std::string& id_name) const;
+
+	void start_threads();
+	void stop_threads();
+
+	const can_message_t next_can_message();
+	void push_new_can_message(const can_message_t& can_msg);
+	std::mutex& get_can_message_mutex();
+	std::condition_variable& get_new_can_message_cv();
+
+	std::pair<int, openxc_VehicleMessage> next_vehicle_message();
+	void push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg);
+};
diff --git a/low-can-binding/can/can-command.hpp b/low-can-binding/can/can-command.hpp
new file mode 100644
index 0000000..4cf20cb
--- /dev/null
+++ b/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/low-can-binding/can/can-decoder.cpp b/low-can-binding/can/can-decoder.cpp
new file mode 100644
index 0000000..61bfe75
--- /dev/null
+++ b/low-can-binding/can/can-decoder.cpp
@@ -0,0 +1,244 @@
+/*
+ * 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"
+#include "can-message-definition.hpp"
+#include "../binding/low-can-hat.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<std::shared_ptr<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<std::shared_ptr<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<std::shared_ptr<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<std::shared_ptr<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("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.
+/// @param[out] send - An output parameter that will be flipped to false if the value could
+///      not be decoded.
+///
+/// The decoder returns an openxc_DynamicField, which may contain a number,
+/// string or boolean.
+///
+openxc_DynamicField decoder_t::translateSignal(can_signal_t& signal, const can_message_t& message,
+	const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send)
+{
+	float value = decoder_t::parseSignalBitfield(signal, message);
+	DEBUG("Decoded message from parseSignalBitfield: %f", value);
+
+	// 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);
+
+	// Don't send if they is no changes
+	if ((signal.get_last_value() == value && !signal.get_send_same()) || !*send )
+	{
+		*send = false;
+	}
+	signal.set_last_value(value);
+	signal.set_timestamp(message.get_timestamp());
+	signal.get_message()->set_last_value(message);
+	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<std::shared_ptr<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<std::shared_ptr<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/low-can-binding/can/can-decoder.hpp b/low-can-binding/can/can-decoder.hpp
new file mode 100644
index 0000000..7eaa4a7
--- /dev/null
+++ b/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<std::shared_ptr<can_signal_t> >& signals,
+			float value, bool* send);
+	static openxc_DynamicField booleanDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> >& signals,
+			float value, bool* send);
+	static openxc_DynamicField ignoreDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> >& signals,
+			float value, bool* send);
+	static openxc_DynamicField noopDecoder(can_signal_t& signal, const std::vector<std::shared_ptr<can_signal_t> >& signals,
+			float value, bool* send);
+
+	static openxc_DynamicField translateSignal(can_signal_t& signal, const can_message_t& message,
+		const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send);
+
+	static openxc_DynamicField decodeSignal(can_signal_t& signal, const can_message_t& message,
+			const std::vector<std::shared_ptr<can_signal_t> >& signals, bool* send);
+
+	static openxc_DynamicField decodeSignal(can_signal_t& signal, float value,
+		const std::vector<std::shared_ptr<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/low-can-binding/can/can-message-definition.cpp b/low-can-binding/can/can-message-definition.cpp
new file mode 100644
index 0000000..28d45fe
--- /dev/null
+++ b/low-can-binding/can/can-message-definition.cpp
@@ -0,0 +1,100 @@
+/*
+ * 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"
+
+#include "../binding/application.hpp"
+
+can_message_definition_t::can_message_definition_t(const std::string bus)
+	: parent_{nullptr}, bus_{bus}, last_value_{CAN_MESSAGE_SIZE}
+{}
+
+can_message_definition_t::can_message_definition_t(
+	const std::string bus,
+	uint32_t id,
+	frequency_clock_t frequency_clock,
+	bool force_send_changed)
+	: parent_{nullptr},
+	  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(
+	const std::string bus,
+	uint32_t id,
+	can_message_format_t format,
+	frequency_clock_t frequency_clock,
+	bool force_send_changed)
+	: parent_{nullptr},
+	bus_{bus},
+	id_{id},
+	format_{format},
+	frequency_clock_{frequency_clock},
+	force_send_changed_{force_send_changed},
+	last_value_{CAN_MESSAGE_SIZE}
+{}
+
+can_message_definition_t::can_message_definition_t(
+	const std::string bus,
+	uint32_t id,
+	can_message_format_t format,
+	frequency_clock_t frequency_clock,
+	bool force_send_changed,
+	const std::vector<std::shared_ptr<can_signal_t> >& can_signals)
+	:  parent_{nullptr},
+	bus_{bus},
+	id_{id},
+	format_{format},
+	frequency_clock_{frequency_clock},
+	force_send_changed_{force_send_changed},
+	last_value_{CAN_MESSAGE_SIZE},
+	can_signals_{can_signals}
+{}
+
+const std::string can_message_definition_t::get_bus_name() const
+{
+	return bus_;
+}
+
+const std::string can_message_definition_t::get_bus_device_name() const
+{
+	return application_t::instance().get_can_bus_manager()
+		.get_can_device_name(bus_);
+}
+
+uint32_t can_message_definition_t::get_id() const
+{
+	return id_;
+}
+
+std::vector<std::shared_ptr<can_signal_t> >& can_message_definition_t::get_can_signals()
+{
+	return can_signals_;
+}
+
+void can_message_definition_t::set_parent(can_message_set_t* parent)
+{
+	parent_= parent;
+}
+
+void can_message_definition_t::set_last_value(const can_message_t& cm)
+{
+	last_value_= cm.get_data_vector();
+}
\ No newline at end of file
diff --git a/low-can-binding/can/can-message-definition.hpp b/low-can-binding/can/can-message-definition.hpp
new file mode 100644
index 0000000..6d0f17d
--- /dev/null
+++ b/low-can-binding/can/can-message-definition.hpp
@@ -0,0 +1,71 @@
+/*
+ * 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-signals.hpp"
+#include "can-message.hpp"
+#include "can-message-set.hpp"
+#include "../utils/timer.hpp"
+
+class can_message_set_t;
+
+/// @brief The definition of a CAN message. This includes a lot of metadata, so
+///  to save memory this class gets the can_signal_t object related to a CAN message.
+class can_message_definition_t
+{
+private:
+	can_message_set_t* parent_; ///< parent_ - Pointer to the CAN message set holding this CAN message definition */
+	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.*/
+	std::vector<std::shared_ptr<can_signal_t> > can_signals_; ///< can_signals_ - Vector holding can_signal_t object which share the same arbitration ID */
+
+public:
+	//can_message_definition_t(const can_message_definition_t& b);
+	can_message_definition_t(const std::string bus);
+	can_message_definition_t(const std::string bus, uint32_t id, frequency_clock_t frequency_clock, bool force_send_changed);
+	can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed);
+	can_message_definition_t(const std::string bus, uint32_t id, can_message_format_t format, frequency_clock_t frequency_clock, bool force_send_changed, const std::vector<std::shared_ptr<can_signal_t> >& can_signals);
+
+	const std::string get_bus_name() const;
+	const std::string get_bus_device_name() const;
+	uint32_t get_id() const;
+	std::vector<std::shared_ptr<can_signal_t> >& get_can_signals();
+
+	void set_parent(can_message_set_t* parent);
+	void set_last_value(const can_message_t& cm);
+};
diff --git a/low-can-binding/can/can-message-set.cpp b/low-can-binding/can/can-message-set.cpp
new file mode 100644
index 0000000..c31dec6
--- /dev/null
+++ b/low-can-binding/can/can-message-set.cpp
@@ -0,0 +1,59 @@
+/*
+ * 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"
+
+#include "../can/can-message-definition.hpp"
+
+can_message_set_t::can_message_set_t(
+		uint8_t index,
+		const std::string& name,
+		const std::vector<std::shared_ptr<can_message_definition_t> >& can_messages_definition,
+		const std::vector<std::shared_ptr<diagnostic_message_t> >& diagnostic_messages)
+	: index_{index}
+	, name_{name}
+	, can_messages_definition_{can_messages_definition}
+	, diagnostic_messages_{diagnostic_messages}
+{}
+
+/// @brief Return vector holding all message definition handled by this message set.
+std::vector<std::shared_ptr<can_message_definition_t> >& can_message_set_t::get_can_message_definition()
+{
+	return can_messages_definition_;
+}
+
+std::vector<std::shared_ptr<can_signal_t> > can_message_set_t::get_all_can_signals() const
+{
+	std::vector<std::shared_ptr<can_signal_t> > can_signals;
+	for(const auto& cmd: can_messages_definition_)
+	{
+		std::vector<std::shared_ptr<can_signal_t> >& cmd_signals = cmd->get_can_signals();
+		can_signals.insert( can_signals.end(),
+							cmd_signals.begin(),
+							cmd_signals.end()
+		);
+	}
+
+	return can_signals;
+}
+
+/// @brief Return vector holding all diagnostic messages definitions handled by this message set.
+std::vector<std::shared_ptr<diagnostic_message_t> >& can_message_set_t::get_diagnostic_messages()
+{
+	return diagnostic_messages_;
+}
\ No newline at end of file
diff --git a/low-can-binding/can/can-message-set.hpp b/low-can-binding/can/can-message-set.hpp
new file mode 100644
index 0000000..2a7cb53
--- /dev/null
+++ b/low-can-binding/can/can-message-set.hpp
@@ -0,0 +1,50 @@
+/*
+ * 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>
+#include <vector>
+#include <memory>
+
+class can_signal_t;
+class can_message_definition_t;
+class diagnostic_message_t;
+
+/// @brief A parent wrapper for a particular set of CAN messages and diagnostic messages 
+/// (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.
+	std::vector<std::shared_ptr<can_message_definition_t> > can_messages_definition_; ///< Vector holding all message definition handled by this message set.
+	std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages_; ///< Vector holding all diagnostics messages from JSON signals description file. First vector map to message set
+
+public:
+	can_message_set_t(
+			uint8_t index,
+			const std::string& name,
+			const std::vector<std::shared_ptr<can_message_definition_t> >& can_messages_definition,
+			const std::vector<std::shared_ptr<diagnostic_message_t> >& diagnostic_messages);
+
+	std::vector<std::shared_ptr<can_message_definition_t> >& get_can_message_definition();
+	std::vector<std::shared_ptr<can_signal_t> > get_all_can_signals() const;
+	std::vector<std::shared_ptr<diagnostic_message_t> >& get_diagnostic_messages();
+};
diff --git a/low-can-binding/can/can-message.cpp b/low-can-binding/can/can-message.cpp
new file mode 100644
index 0000000..057bc71
--- /dev/null
+++ b/low-can-binding/can/can-message.cpp
@@ -0,0 +1,389 @@
+/*
+ * 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 "../binding/low-can-hat.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::INVALID},
+	 rtr_flag_{false},
+	 flags_{0},
+	 timestamp_{0},
+	 sub_id_{-1}
+{}
+
+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,
+	uint64_t timestamp)
+	:  maxdlen_{maxdlen},
+	id_{id},
+	length_{length},
+	format_{format},
+	rtr_flag_{rtr_flag},
+	flags_{flags},
+	data_{data},
+	timestamp_{timestamp},
+	sub_id_{-1}
+{}
+
+///
+/// @brief Retrieve id_ member value.
+///
+/// @return id_ class member
+///
+uint32_t can_message_t::get_id() const
+{
+	return id_;
+}
+
+int can_message_t::get_sub_id() const
+{
+	return sub_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. Default to INVALID.
+///
+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::INVALID;
+	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 data_ member whole vector
+///
+/// @return the vector as is
+///
+const std::vector<uint8_t> can_message_t::get_data_vector() const
+{
+	return data_;
+}
+
+///
+/// @brief Retrieve length_ member value.
+///
+/// @return length_ class member
+///
+uint8_t can_message_t::get_length() const
+{
+	return length_;
+}
+
+void can_message_t::set_sub_id(int sub_id)
+{
+	sub_id_ = sub_id;
+}
+
+uint64_t can_message_t::get_timestamp() const
+{
+	return timestamp_;
+}
+
+void can_message_t::set_timestamp(uint64_t timestamp)
+{
+	timestamp_ = timestamp;
+}
+
+/// @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::INVALID)
+	{
+		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::INVALID)
+		format_ = new_format;
+	else
+		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_frame(const struct canfd_frame& frame, size_t nbytes, uint64_t timestamp)
+{
+	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("Got an CAN FD frame");
+			maxdlen = CANFD_MAX_DLEN;
+			break;
+		case CAN_MTU:
+			DEBUG("Got a legacy CAN frame");
+			maxdlen = CAN_MAX_DLEN;
+			break;
+		default:
+			ERROR("unsupported CAN frame");
+			break;
+	}
+
+	if (frame.can_id & CAN_ERR_FLAG)
+	{
+		format = can_message_format_t::INVALID;
+		id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+	}
+	else if (frame.can_id & CAN_EFF_FLAG)
+	{
+		format = can_message_format_t::EXTENDED;
+		id = frame.can_id & CAN_EFF_MASK;
+	}
+	else
+	{
+		format = can_message_format_t::STANDARD;
+		id = frame.can_id & CAN_SFF_MASK;
+	}
+
+	/* 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("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, timestamp);
+}
+
+/// @brief Take a can_frame struct to initialize class members
+///
+/// This is the preferred way to initialize class members.
+///
+/// @param[in] frame - can_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 can_frame values.
+can_message_t can_message_t::convert_from_frame(const struct can_frame& frame, size_t nbytes, uint64_t timestamp)
+{
+	uint8_t maxdlen, length, flags = (uint8_t)NULL;
+	uint32_t id;
+	can_message_format_t format;
+	bool rtr_flag;
+	std::vector<uint8_t> data;
+
+	if(nbytes <= CAN_MTU)
+	{
+			DEBUG("Got a legacy CAN frame");
+			maxdlen = CAN_MAX_DLEN;
+	}
+	else
+	{
+			ERROR("unsupported CAN frame");
+	}
+
+	if (frame.can_id & CAN_ERR_FLAG)
+	{
+		format = can_message_format_t::INVALID;
+		id = frame.can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+	}
+	else if (frame.can_id & CAN_EFF_FLAG)
+	{
+		format = can_message_format_t::EXTENDED;
+		id = frame.can_id & CAN_EFF_MASK;
+	}
+	else
+	{
+		format = can_message_format_t::STANDARD;
+		id = frame.can_id & CAN_SFF_MASK;
+	}
+
+	/* 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.can_dlc && frame.can_dlc <= CAN_MAX_DLC)
+		{
+			if(rtr_flag)
+				length = frame.can_dlc& 0xF;
+			else
+			{
+				length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
+			}
+		}
+	}
+	else
+	{
+		length = (frame.can_dlc > maxdlen) ? maxdlen : frame.can_dlc;
+
+		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("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, timestamp);
+}
+
+/// @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.
+struct 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("can_message_t not correctly initialized to be sent");
+
+	return frame;
+}
+
+/// @brief Take all initialized class's members and build an
+/// can_frame struct that can be use to send a CAN message over
+/// the bus.
+///
+/// @return can_frame struct built from class members.
+struct can_frame can_message_t::convert_to_can_frame()
+{
+	can_frame frame;
+
+	if(is_correct_to_send())
+	{
+		frame.can_id = get_id();
+		frame.can_dlc = get_length();
+		::memcpy(frame.data, get_data(), length_);
+	}
+	else
+		ERROR("can_message_t not correctly initialized to be sent");
+
+	return frame;
+}
diff --git a/low-can-binding/can/can-message.hpp b/low-can-binding/can/can-message.hpp
new file mode 100644
index 0000000..b206ebd
--- /dev/null
+++ b/low-can-binding/can/can-message.hpp
@@ -0,0 +1,80 @@
+/*
+ * 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"
+
+#define CAN_MESSAGE_SIZE 8
+
+/**
+ * @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. */
+	INVALID,    ///< INVALID - INVALID 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. It is a wrapper of a can_frame struct with some sugar around it for binding purposes.
+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.*/
+	uint64_t timestamp_; ///< timestamp_ - timestamp of the received message*/
+	int sub_id_; ///< sub_id_ - Subscription index. */
+
+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, uint64_t timestamp);
+
+	uint32_t get_id() const;
+	int get_sub_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;
+	const std::vector<uint8_t> get_data_vector() const;
+	uint8_t get_length() const;
+	uint64_t get_timestamp() const;
+
+	void set_sub_id(int sub_id);
+	void set_timestamp(uint64_t timestamp);
+	void set_format(const can_message_format_t new_format);
+
+	bool is_correct_to_send();
+
+	static can_message_t convert_from_frame(const canfd_frame& frame, size_t nbytes, uint64_t timestamp);
+	static can_message_t convert_from_frame(const can_frame& frame, size_t nbytes, uint64_t timestamp);
+
+	struct canfd_frame convert_to_canfd_frame();
+	struct can_frame convert_to_can_frame();
+};
diff --git a/low-can-binding/can/can-signals.cpp b/low-can-binding/can/can-signals.cpp
new file mode 100644
index 0000000..fe74115
--- /dev/null
+++ b/low-can-binding/can/can-signals.cpp
@@ -0,0 +1,203 @@
+/*
+ * 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 "../binding/application.hpp"
+#include "../utils/signals.hpp"
+#include "can-decoder.hpp"
+#include "can-message.hpp"
+#include "can-bus.hpp"
+#include "../diagnostic/diagnostic-message.hpp"
+#include "canutil/write.h"
+
+std::string can_signal_t::prefix_ = "messages";
+
+can_signal_t::can_signal_t(
+	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)
+	: parent_{nullptr},
+	 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}
+{}
+
+can_message_definition_t* can_signal_t::get_message() const
+{
+	return parent_;
+}
+
+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_;
+}
+
+std::pair<float, uint64_t> can_signal_t::get_last_value_with_timestamp() const
+{
+	return std::make_pair(last_value_, frequency_.get_last_tick());
+}
+
+void can_signal_t::set_parent(can_message_definition_t* parent)
+{
+	parent_ = parent;
+}
+
+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;
+}
+
+void can_signal_t::set_timestamp(uint64_t timestamp)
+{
+	frequency_.tick(timestamp);
+}
+
diff --git a/low-can-binding/can/can-signals.hpp b/low-can-binding/can/can-signals.hpp
new file mode 100644
index 0000000..a56fc8c
--- /dev/null
+++ b/low-can-binding/can/can-signals.hpp
@@ -0,0 +1,151 @@
+///
+/// Copyright (C) 2015, 2016 "IoT.bzh"
+/// Author "Romain Forlot" <romain.forlot@iot.bzh>
+///
+/// Licensed under the Apache License, Version 2.0 (the "License");
+/// you may not use this file except in compliance with the License.
+/// You may obtain a copy of the License at
+///
+///	 http://www.apache.org/licenses/LICENSE-2.0
+///
+/// Unless required by applicable law or agreed to in writing, software
+/// distributed under the License is distributed on an "AS IS" BASIS,
+/// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+/// See the License for the specific language governing permissions and
+/// limitations under the License.
+///
+
+#pragma once
+
+#include <map>
+#include <mutex>
+#include <vector>
+#include <string>
+#include <memory>
+
+#include "openxc.pb.h"
+#include "can-message-definition.hpp"
+#include "../utils/timer.hpp"
+#include "../utils/socketcan-bcm.hpp"
+#include "can-message.hpp"
+#include "../diagnostic/diagnostic-message.hpp"
+
+#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<std::shared_ptr<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:
+	can_message_definition_t* parent_; /*!< parent_ - pointer to the parent message definition holding this signal*/
+	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_; /*!< bit_size_ - 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::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);
+
+	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;
+	std::pair<float, uint64_t> get_last_value_with_timestamp() const;
+
+	void set_parent(can_message_definition_t* parent);
+	void set_prefix(std::string val);
+	void set_received(bool r);
+	void set_last_value(float val);
+	void set_timestamp(uint64_t timestamp);
+};
diff --git a/low-can-binding/diagnostic/active-diagnostic-request.cpp b/low-can-binding/diagnostic/active-diagnostic-request.cpp
new file mode 100644
index 0000000..f503e0a
--- /dev/null
+++ b/low-can-binding/diagnostic/active-diagnostic-request.cpp
@@ -0,0 +1,182 @@
+/*
+ * 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 "../binding/application.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_;
+		frequency_clock_ = adr.frequency_clock_;
+		timeout_clock_ = adr.timeout_clock_;
+		socket_ = adr.socket_;
+	}
+	
+	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},
+	  frequency_clock_{frequency_clock_t()},
+	  timeout_clock_{frequency_clock_t()},
+	  socket_{}
+{}
+
+active_diagnostic_request_t::active_diagnostic_request_t(const std::string& bus, uint32_t id,
+		const std::string& name,
+		bool wait_for_multiple_responses,
+		const DiagnosticResponseDecoder decoder,
+		const DiagnosticResponseCallback callback,
+		float frequencyHz)
+	: bus_{bus},
+	  id_{id},
+	  handle_{nullptr},
+	  name_{name},
+	  decoder_{decoder},
+	  callback_{callback},
+	  recurring_{frequencyHz ? true : false},
+	  wait_for_multiple_responses_{wait_for_multiple_responses},
+	  frequency_clock_{frequency_clock_t(frequencyHz)},
+	  timeout_clock_{frequency_clock_t(10)},
+	  socket_{}
+{}
+
+active_diagnostic_request_t::~active_diagnostic_request_t()
+{
+	socket_.close();
+	delete handle_;
+	handle_ = nullptr;
+}
+
+uint32_t active_diagnostic_request_t::get_id() const
+{
+	return id_;
+}
+
+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_;
+}
+
+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_;
+}
+
+utils::socketcan_bcm_t& active_diagnostic_request_t::get_socket()
+{
+	return socket_;
+}
+
+void active_diagnostic_request_t::set_handle(DiagnosticShims& shims, DiagnosticRequest* request)
+{
+	handle_ = new DiagnosticRequestHandle(generate_diagnostic_request(&shims, request, nullptr));
+}
+
+///
+/// @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 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 && handle_->success;
+}
diff --git a/low-can-binding/diagnostic/active-diagnostic-request.hpp b/low-can-binding/diagnostic/active-diagnostic-request.hpp
new file mode 100644
index 0000000..d263a2d
--- /dev/null
+++ b/low-can-binding/diagnostic/active-diagnostic-request.hpp
@@ -0,0 +1,117 @@
+/*
+ * 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 "../utils/socketcan-bcm.hpp"
+#include "uds/uds.h"
+#include "uds/uds_types.h"
+#include "../utils/timer.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).
+	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.
+	utils::socketcan_bcm_t socket_; ///< socket_ - A BCM socket setup to send cyclic message to CAN ID 7DF.
+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, uint32_t id,
+		const std::string& name, bool wait_for_multiple_responses,
+		const DiagnosticResponseDecoder decoder,
+		const DiagnosticResponseCallback callback, float frequencyHz);
+	~active_diagnostic_request_t();
+
+	uint32_t get_id() 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;
+	frequency_clock_t& get_frequency_clock();
+	frequency_clock_t& get_timeout_clock();
+	utils::socketcan_bcm_t& get_socket();
+
+	void set_handle(DiagnosticShims& shims, DiagnosticRequest* request);
+
+	static bool is_diagnostic_signal(const std::string& name);
+
+	bool response_received() const;
+};
diff --git a/low-can-binding/diagnostic/diagnostic-manager.cpp b/low-can-binding/diagnostic/diagnostic-manager.cpp
new file mode 100644
index 0000000..61aa699
--- /dev/null
+++ b/low-can-binding/diagnostic/diagnostic-manager.cpp
@@ -0,0 +1,508 @@
+/*
+ * 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 <string.h>
+
+#include "diagnostic-manager.hpp"
+
+#include "../utils/openxc-utils.hpp"
+#include "../utils/signals.hpp"
+#include "../binding/application.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_ = application_t::instance().get_diagnostic_bus();
+
+	init_diagnostic_shims();
+	reset();
+
+	initialized_ = true;
+	DEBUG("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("Shims initialized");
+}
+
+/// @brief Force cleanup all active requests.
+void diagnostic_manager_t::reset()
+{
+	DEBUG("Clearing existing diagnostic requests");
+	cleanup_active_requests(true);
+}
+
+/// @brief send function use by diagnostic library. It will open a BCM CAN socket TX_SETUP type.
+/// That socket will send cyclic messages configured from a diagnostic request.
+///
+/// @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)
+{
+	diagnostic_manager_t& dm = application_t::instance().get_diagnostic_manager();
+	active_diagnostic_request_t* current_adr = dm.get_last_recurring_requests();
+	utils::socketcan_bcm_t& tx_socket = current_adr->get_socket();
+
+	// Make sure that socket has been opened.
+	if(! tx_socket)
+		tx_socket.open(
+			dm.get_bus_device_name());
+
+	struct utils::simple_bcm_msg bcm_msg;
+	struct can_frame cfd;
+
+	memset(&cfd, 0, sizeof(cfd));
+	memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
+
+	struct timeval freq = current_adr->get_frequency_clock().get_timeval_from_period();
+
+	bcm_msg.msg_head.opcode  = TX_SETUP;
+	bcm_msg.msg_head.can_id  = arbitration_id;
+	bcm_msg.msg_head.flags = SETTIMER|STARTTIMER|TX_CP_CAN_ID;
+	bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec;
+	bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
+	bcm_msg.msg_head.nframes = 1;
+	cfd.can_dlc = size;
+	::memcpy(cfd.data, data, size);
+
+	bcm_msg.frames = cfd;
+
+	tx_socket << bcm_msg;
+	if(tx_socket)
+		return true;
+	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("%s", buffer);
+	va_end(args);
+}
+
+/// @brief The type signature for a... OpenXC TODO: not used yet.
+void diagnostic_manager_t::shims_timer()
+{}
+
+const std::string diagnostic_manager_t::get_bus_name() const
+{
+	return bus_;
+}
+
+const std::string diagnostic_manager_t::get_bus_device_name() const
+{
+	return application_t::instance().get_can_bus_manager()
+		.get_can_device_name(bus_);
+}
+
+active_diagnostic_request_t* diagnostic_manager_t::get_last_recurring_requests() const
+{
+	return recurring_requests_.back();
+}
+
+/// @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 Free memory allocated on active_diagnostic_request_t object and close the socket.
+void diagnostic_manager_t::cancel_request(active_diagnostic_request_t* entry)
+{
+	entry->get_socket().close();
+	delete entry;
+	entry = nullptr;
+}
+
+/// @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(entry != nullptr && (force || entry->response_received()))
+	{
+		char request_string[128] = {0};
+		diagnostic_request_to_string(&entry->get_handle()->request,
+			request_string, sizeof(request_string));
+		if(force && entry->get_recurring())
+		{
+			cancel_request(entry);
+			find_and_erase(entry, recurring_requests_);
+			DEBUG("Cancelling completed, recurring request: %s", request_string);
+		}
+		else if (!entry->get_recurring())
+		{
+			DEBUG("Cancelling completed, non-recurring request: %s", request_string);
+			cancel_request(entry);
+			find_and_erase(entry, non_recurring_requests_);
+		}
+	}
+}
+
+/// @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(DiagnosticRequest& request)
+{
+	for (auto& entry : recurring_requests_)
+	{
+		if(entry != nullptr)
+		{
+			if(diagnostic_request_equals(&entry->get_handle()->request, &request))
+				{return entry;}
+		}
+	}
+	return nullptr;
+}
+
+/// @brief Add and send a new one-time diagnostic request. DON'T USED AT THIS TIME
+///
+/// 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,
+active_diagnostic_request_t* 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);
+
+	active_diagnostic_request_t* entry = nullptr;
+
+	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->arbitration_id, 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));
+
+			// Erase any existing request not already cleaned.
+			cleanup_request(entry, true);
+			DEBUG("Added one-time diagnostic request on bus %s: %s",
+					bus_.c_str(), request_string);
+
+			non_recurring_requests_.push_back(entry);
+	}
+	else
+	{
+		WARNING("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);
+	}
+	return entry;
+}
+
+/// @brief Validate frequency asked don't get higher than the maximum of a classical
+/// CAN bus OBD2 request.
+///
+/// @param[in] frequencyHz - frequency asked for sending diagnostic requests.
+///
+/// @return True if frequency is below the Maximum false if not.
+bool diagnostic_manager_t::validate_optional_request_attributes(float frequencyHz)
+{
+	if(frequencyHz > MAX_RECURRING_DIAGNOSTIC_FREQUENCY_HZ) {
+		DEBUG("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
+/// add_recurring_request with the same key, it will return an error.
+///
+/// @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,
+active_diagnostic_request_t* diagnostic_manager_t::add_recurring_request(DiagnosticRequest* request, const char* name,
+		bool wait_for_multiple_responses, const DiagnosticResponseDecoder decoder,
+		const DiagnosticResponseCallback callback, float frequencyHz)
+{
+	active_diagnostic_request_t* entry = nullptr;
+
+	if(!validate_optional_request_attributes(frequencyHz))
+		return entry;
+
+	cleanup_active_requests(false);
+
+	if(find_recurring_request(*request) == nullptr)
+	{
+		if(recurring_requests_.size() <= MAX_SIMULTANEOUS_DIAG_REQUESTS)
+		{
+			entry = new active_diagnostic_request_t(bus_, request->arbitration_id, name,
+					wait_for_multiple_responses, decoder, callback, frequencyHz);
+			recurring_requests_.push_back(entry);
+
+			entry->set_handle(shims_, request);
+			start_diagnostic_request(&shims_, entry->get_handle()); 
+		}
+		else
+		{
+			WARNING("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);
+		}
+	}
+	else
+		{ DEBUG("Can't add request, one already exists with same key");}
+	return entry;
+}
+
+/// @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 && 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)));
+		message.has_diagnostic_response = true;
+		message.diagnostic_response = build_VehicleMessage(adr, response, value).diagnostic_response;
+	}
+	else
+	{
+		// If no name, only 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)
+	{
+		struct utils::signals_found found_signals;
+		found_signals = utils::signals_manager_t::instance().find_signals(build_DynamicField(adr->get_name()));
+		found_signals.diagnostic_messages.front()->set_supported(false);
+		cleanup_request(adr, true);
+		NOTICE("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);
+	}
+
+	// Reset the completed flag handle to make sure that it will be reprocessed the next time.
+	adr->get_handle()->success = false;
+	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(
+			entry->get_timeout_clock().get_time_function()());
+	}
+
+	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/low-can-binding/diagnostic/diagnostic-manager.hpp b/low-can-binding/diagnostic/diagnostic-manager.hpp
new file mode 100644
index 0000000..05a67c8
--- /dev/null
+++ b/low-can-binding/diagnostic/diagnostic-manager.hpp
@@ -0,0 +1,91 @@
+/*
+ * 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 "../utils/socketcan-bcm.hpp"
+#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 {
+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();
+
+	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();
+public:
+	diagnostic_manager_t();
+
+	bool initialize();
+
+	const std::string get_bus_name() const;
+	const std::string get_bus_device_name() const;
+	active_diagnostic_request_t* get_last_recurring_requests() const;
+	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(DiagnosticRequest& request);
+
+	// Subscription parts
+	active_diagnostic_request_t* add_request(DiagnosticRequest* request, const std::string& name,
+		bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
+		const DiagnosticResponseCallback callback);
+	bool validate_optional_request_attributes(float frequencyHz);
+	active_diagnostic_request_t* add_recurring_request(DiagnosticRequest* request, const char* name,
+		bool waitForMultipleResponses, const DiagnosticResponseDecoder decoder,
+		const DiagnosticResponseCallback callback, float frequencyHz);
+
+	// 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/low-can-binding/diagnostic/diagnostic-message.cpp b/low-can-binding/diagnostic/diagnostic-message.cpp
new file mode 100644
index 0000000..69ca4e3
--- /dev/null
+++ b/low-can-binding/diagnostic/diagnostic-message.cpp
@@ -0,0 +1,113 @@
+/*
+ * 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 "../binding/application.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)
+	: parent_{nullptr}, 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;
+}
+
+void diagnostic_message_t::set_parent(can_message_set_t* parent)
+{
+	parent_ = parent;
+}
+
+///
+/// @brief Build a DiagnosticRequest struct to be passed
+///  to diagnostic manager instance.
+///
+ const DiagnosticRequest diagnostic_message_t::build_diagnostic_request() const
+{
+	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/low-can-binding/diagnostic/diagnostic-message.hpp b/low-can-binding/diagnostic/diagnostic-message.hpp
new file mode 100644
index 0000000..99c4811
--- /dev/null
+++ b/low-can-binding/diagnostic/diagnostic-message.hpp
@@ -0,0 +1,82 @@
+/*
+ * 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-set.hpp"
+#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
+};
+
+class can_message_set_t;
+
+/// @brief - A representation of an OBD-II PID.
+class diagnostic_message_t
+{
+	private:
+		can_message_set_t* parent_; /*!< parent_ - Pointer to the CAN message set holding this diagnostic message */
+		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);
+		void set_parent(can_message_set_t* parent);
+		const DiagnosticRequest build_diagnostic_request() const;
+
+		bool is_obd2_response(const can_message_t& can_message);
+		bool is_obd2_request(const DiagnosticRequest *request);
+};
diff --git a/low-can-binding/utils/config-parser.cpp b/low-can-binding/utils/config-parser.cpp
new file mode 100644
index 0000000..8ccf5bc
--- /dev/null
+++ b/low-can-binding/utils/config-parser.cpp
@@ -0,0 +1,67 @@
+/*
+ * 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.
+ */
+
+#include "config-parser.hpp"
+
+#include "../binding/low-can-hat.hpp"
+
+namespace utils
+{
+	/// @brief constructor using path to file
+	config_parser_t::config_parser_t(std::string conf_file)
+		: filepath_{conf_file}, config_content_{}
+	{
+		config_content_.read_file(conf_file);
+	}
+
+	const std::string& config_parser_t::filepath() const
+	{
+		return filepath_;
+	}
+
+	/// @brief read the conf_file_ and parse it into an INIReader object
+	/// to search into later.
+	bool config_parser_t::check_conf()
+	{
+		if (config_content_.size() <= 0)
+		{
+			ERROR("Can't load the INI config file.");
+			return false;
+		}
+			DEBUG("Configuration file parsed");
+			return true;
+	}
+
+	/// @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::pair<std::string, std::string> > config_parser_t::get_devices_name()
+	{
+		std::vector<std::pair<std::string, std::string> > devices_name;
+
+		std::map<std::string, std::string> bus_mapping = config_content_.get_keys("CANbus-mapping");
+		for(const auto& busIt : bus_mapping )
+		{
+			devices_name.push_back(std::make_pair(busIt.first, busIt.second));
+		}
+
+		return devices_name;
+	}
+}
\ No newline at end of file
diff --git a/low-can-binding/utils/config-parser.hpp b/low-can-binding/utils/config-parser.hpp
new file mode 100644
index 0000000..3115e9b
--- /dev/null
+++ b/low-can-binding/utils/config-parser.hpp
@@ -0,0 +1,44 @@
+/*
+ * 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 <string>
+#include <vector>
+#include <utility>
+#include "ini-config.hpp"
+
+namespace utils
+{
+	/// @brief A configuration file parser that handle INI configuration
+	/// file format.
+	class config_parser_t
+	{
+	private:
+		const std::string filepath_; /*!< filepath_ - Path to the config file*/
+		ini_config config_content_; /*!< config_content_ - Parsed content of INI file.*/
+
+	public:
+		config_parser_t(config_parser_t&&) = default;
+		config_parser_t(const config_parser_t&) = default;
+		explicit config_parser_t(std::string conf_file);
+
+		const std::string& filepath() const;
+		bool check_conf();
+		const std::vector<std::pair<std::string, std::string> > get_devices_name();
+	};
+}
diff --git a/low-can-binding/utils/openxc-utils.cpp b/low-can-binding/utils/openxc-utils.cpp
new file mode 100644
index 0000000..f39f418
--- /dev/null
+++ b/low-can-binding/utils/openxc-utils.cpp
@@ -0,0 +1,351 @@
+/*
+ * 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 "../binding/application.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
+///
+const openxc_VehicleMessage build_VehicleMessage(active_diagnostic_request_t* request, const DiagnosticResponse& response, float parsed_value)
+{
+	openxc_VehicleMessage message;
+	application_t& app = application_t::instance();
+
+	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 = app.get_can_bus_manager().get_can_device_index(
+																app.get_diagnostic_manager().get_bus_name());
+	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 with associated timestamp
+///
+/// @param[in] message - simple message to include into openxc_VehicleMessage
+/// @param[in] timestamp - timestamp from ioctl when reading the socket
+///
+/// @return a vehicle message including simple message that will be convert into 
+/// a JSON object before being pushed to the subscribers
+///
+const openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message, uint64_t timestamp)
+{
+	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 = timestamp;
+
+	return v;
+}
+
+///
+/// @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
+///
+const 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_us();
+
+	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.
+///
+const 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.
+///
+const openxc_DynamicField build_DynamicField(const char* 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, 100);
+
+	return d;
+}
+
+///
+/// @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.
+///
+const 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.
+///
+const 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.
+///
+const 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;
+}
+
+int get_bool_from_DynamicField(const openxc_VehicleMessage& v_msg, bool* ret)
+{
+	if(v_msg.has_simple_message && v_msg.simple_message.has_value && v_msg.simple_message.value.has_boolean_value)
+	{
+		*ret = v_msg.simple_message.value.boolean_value;
+		return 0;
+	}
+
+	return -1;
+}
+
+double get_numerical_from_DynamicField(const openxc_VehicleMessage& v_msg)
+{
+	return (v_msg.has_simple_message && v_msg.simple_message.has_value && v_msg.simple_message.value.has_numeric_value) ?
+		v_msg.simple_message.value.numeric_value : -1.0;
+}
+
+const std::string get_string_from_DynamicField(const openxc_VehicleMessage& v_msg)
+{
+return (v_msg.has_simple_message && v_msg.simple_message.has_value && v_msg.simple_message.value.has_string_value) ?
+		v_msg.simple_message.value.string_value : "";
+}
+
+///
+/// @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.
+///
+const 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/low-can-binding/utils/openxc-utils.hpp b/low-can-binding/utils/openxc-utils.hpp
new file mode 100644
index 0000000..83d6379
--- /dev/null
+++ b/low-can-binding/utils/openxc-utils.hpp
@@ -0,0 +1,47 @@
+/*
+ * 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"
+
+const openxc_VehicleMessage build_VehicleMessage(active_diagnostic_request_t* request, const DiagnosticResponse& response, float parsed_value);
+const openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message, uint64_t timestamp);
+const openxc_VehicleMessage build_VehicleMessage(const openxc_SimpleMessage& message);
+openxc_VehicleMessage build_VehicleMessage();
+bool is_valid(const openxc_VehicleMessage& v);
+
+const openxc_SimpleMessage build_SimpleMessage(const std::string& name, const openxc_DynamicField& value);
+const openxc_DynamicField build_DynamicField(const char* value);
+const openxc_DynamicField build_DynamicField(const std::string& value);
+const openxc_DynamicField build_DynamicField(double value);
+const openxc_DynamicField build_DynamicField(bool value);
+
+int get_bool_from_DynamicField(const openxc_VehicleMessage& v_msg, bool& ret);
+double get_numerical_from_DynamicField(const openxc_VehicleMessage& v_msg);
+const std::string get_string_from_DynamicField(const openxc_VehicleMessage& v_msg);
+const 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/low-can-binding/utils/signals.cpp b/low-can-binding/utils/signals.cpp
new file mode 100644
index 0000000..fbc4904
--- /dev/null
+++ b/low-can-binding/utils/signals.cpp
@@ -0,0 +1,77 @@
+/*
+ * 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"
+
+namespace utils
+{
+	signals_manager_t::signals_manager_t()
+	{}
+
+	/// @brief Return singleton instance of configuration object.
+	signals_manager_t& signals_manager_t::instance()
+	{
+		static signals_manager_t sm;
+		return sm;
+	}
+
+	/// @brief Return Subscribed signals map mutex.
+	std::mutex& signals_manager_t::get_subscribed_signals_mutex()
+	{
+		return subscribed_signals_mutex_;
+	}
+
+	///
+	/// @brief return the subscribed_signals map.
+	/// 
+	/// @return Map of subscribed signals.
+	std::map<int, std::shared_ptr<low_can_subscription_t> >& signals_manager_t::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. 
+	///
+	struct signals_found signals_manager_t::find_signals(const openxc_DynamicField &key)
+	{
+		struct signals_found sf;
+
+		switch(key.type)
+		{
+			case openxc_DynamicField_Type::openxc_DynamicField_Type_STRING:
+					lookup_signals_by_name(key.string_value, application_t::instance().get_all_can_signals(), sf.can_signals);
+					lookup_signals_by_name(key.string_value, application_t::instance().get_diagnostic_messages(), sf.diagnostic_messages);
+				break;
+			case openxc_DynamicField_Type::openxc_DynamicField_Type_NUM:
+					lookup_signals_by_id(key.numeric_value, application_t::instance().get_all_can_signals(), sf.can_signals);
+					lookup_signals_by_id(key.numeric_value, application_t::instance().get_diagnostic_messages(), sf.diagnostic_messages);
+				break;
+			default:
+				ERROR("wrong openxc_DynamicField specified. Use openxc_DynamicField_Type_NUM or openxc_DynamicField_Type_STRING type only.");
+				break;
+		}
+		DEBUG("Found %d signal(s)", (int)(sf.can_signals.size() + sf.diagnostic_messages.size()));
+		return sf;
+	}
+}
\ No newline at end of file
diff --git a/low-can-binding/utils/signals.hpp b/low-can-binding/utils/signals.hpp
new file mode 100644
index 0000000..555c5dd
--- /dev/null
+++ b/low-can-binding/utils/signals.hpp
@@ -0,0 +1,86 @@
+/*
+ * 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 "../binding/application.hpp"
+#include "../can/can-signals.hpp"
+#include "../diagnostic/diagnostic-message.hpp"
+
+#include "../binding/low-can-hat.hpp"
+#include "../binding/low-can-subscription.hpp"
+
+namespace utils
+{
+	struct signals_found
+	{
+		std::vector<std::shared_ptr<can_signal_t> > can_signals;
+		std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_messages;
+	};
+
+	/// @brief Signal manager singleton hold subscription object with attached afb_event and its mutex 
+	/// to read and write it safely.
+	/// It can be used to browse CAN signals and Diagnostic messages vectors and find a particular signal to
+	/// subscribe to.
+	class signals_manager_t
+	{
+	private:
+		std::mutex subscribed_signals_mutex_;
+		std::map<int, std::shared_ptr<low_can_subscription_t> > subscribed_signals_; ///< Map containing all subscribed signals, key is the socket int value.
+
+		signals_manager_t(); ///< Private constructor to make singleton class.
+
+	public:
+		static signals_manager_t& instance();
+
+		std::mutex& get_subscribed_signals_mutex();
+		std::map<int, std::shared_ptr<low_can_subscription_t> >& get_subscribed_signals();
+
+		struct signals_found find_signals(const openxc_DynamicField &key);
+		void find_diagnostic_messages(const openxc_DynamicField &key, std::vector<std::shared_ptr<diagnostic_message_t> >& found_signals);
+		void find_can_signals(const openxc_DynamicField &key, std::vector<std::shared_ptr<can_signal_t> >& found_signals);
+
+		template <typename T>
+		void lookup_signals_by_name(const std::string& key, std::vector<std::shared_ptr<T> > signals, std::vector<std::shared_ptr<T> >& found_signals)
+		{
+			for(std::shared_ptr<T> s : signals)
+			{
+				if(::fnmatch(key.c_str(), s->get_generic_name().c_str(), FNM_CASEFOLD) == 0)
+					found_signals.push_back(s);
+				else 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_id(const double key, std::vector<std::shared_ptr<T> > signals, std::vector<std::shared_ptr<T> >& found_signals)
+		{
+			for(std::shared_ptr<T> s : signals)
+			{
+				if(application_t::instance().get_signal_id(*s) == key)
+				{
+					found_signals.push_back(s);
+				}
+			}
+		}
+	};
+}
\ No newline at end of file
diff --git a/low-can-binding/utils/socketcan-bcm.cpp b/low-can-binding/utils/socketcan-bcm.cpp
new file mode 100644
index 0000000..e16b246
--- /dev/null
+++ b/low-can-binding/utils/socketcan-bcm.cpp
@@ -0,0 +1,101 @@
+/*
+ * 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 "socketcan-bcm.hpp"
+
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <fcntl.h>
+
+#include "../binding/application.hpp"
+
+namespace utils
+{
+	/// @brief Connect the socket.
+	/// @return 0 if success.
+	int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len)
+	{
+		return socket_ != INVALID_SOCKET ? ::connect(socket_, addr, len) : 0;
+	}
+
+ 	/// @brief Open a raw socket CAN.
+	/// @param[in] device_name is the kernel network device name of the CAN interface.
+	///
+	/// @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 socketcan_bcm_t::open(std::string device_name)
+	{
+		close();
+		
+		struct ifreq ifr;
+		socket_ = socketcan_t::open(PF_CAN, SOCK_DGRAM, CAN_BCM);
+
+		// Attempts to open a socket to CAN bus
+		::strcpy(ifr.ifr_name, device_name.c_str());
+		DEBUG("BCM socket ifr_name is : %s", ifr.ifr_name);
+		if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
+		{
+			ERROR("ioctl failed. Error was : %s", strerror(errno));
+			close();
+		}
+		else
+		{
+			tx_address_.can_family = AF_CAN;
+			tx_address_.can_ifindex = ifr.ifr_ifindex;
+
+			if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
+			{
+				ERROR("Connect failed. %s", strerror(errno));
+				close();
+			}
+			// Needed because of using systemD event loop. See sd_event_add_io manual.
+			fcntl(socketcan_t::socket_, F_SETFL, O_NONBLOCK);
+		}
+		return socket_;
+	}
+
+	/// Read the socket to retrieve the associated CAN message. All the hard work is do into
+	/// convert_from_frame method and if there isn't CAN message retrieve, only BCM head struct,
+	/// then CAN message will be zeroed and must be handled later.
+	socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
+	{
+		struct utils::simple_bcm_msg msg;
+
+		::memset(&msg, 0, sizeof(msg));
+		const struct sockaddr_can& addr = s.get_tx_address();
+		socklen_t addrlen = sizeof(addr);
+		struct ifreq ifr;
+
+		ssize_t nbytes = ::recvfrom(s.socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
+		ifr.ifr_ifindex = addr.can_ifindex;
+		ioctl(s.socket(), SIOCGIFNAME, &ifr);
+		long unsigned int frame_size = nbytes-sizeof(struct bcm_msg_head);
+
+		DEBUG("Data available: %li bytes read. BCM head, opcode: %i, can_id: %i, nframes: %i", frame_size, msg.msg_head.opcode, msg.msg_head.can_id, msg.msg_head.nframes);
+		DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, msg.msg_head.can_id, msg.frames.can_dlc,
+			msg.frames.data[0], msg.frames.data[1], msg.frames.data[2], msg.frames.data[3], msg.frames.data[4], msg.frames.data[5], msg.frames.data[6], msg.frames.data[7]);
+
+		struct timeval tv;
+		ioctl(s.socket(), SIOCGSTAMP, &tv);
+		uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
+		cm = ::can_message_t::convert_from_frame(msg.frames ,
+				frame_size,
+				timestamp);
+		cm.set_sub_id((int)s.socket());
+
+		return s;
+	}
+}
\ No newline at end of file
diff --git a/low-can-binding/utils/socketcan-bcm.hpp b/low-can-binding/utils/socketcan-bcm.hpp
new file mode 100644
index 0000000..97f093d
--- /dev/null
+++ b/low-can-binding/utils/socketcan-bcm.hpp
@@ -0,0 +1,53 @@
+/*
+ * 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 "socketcan.hpp"
+#include "../can/can-message.hpp"
+
+namespace utils
+{
+	struct simple_bcm_msg
+	{
+		struct bcm_msg_head msg_head;
+		struct can_frame frames;
+	};
+
+	struct canfd_bcm_msg
+	{
+		struct bcm_msg_head msg_head;
+		struct canfd_frame frames;
+		canfd_bcm_msg() { msg_head.flags |= CAN_FD_FRAME; }
+	};
+
+	/// @brief derivated socketcan class specialized for BCM CAN socket.
+	class socketcan_bcm_t : public socketcan_t
+	{
+	public:
+		using socketcan_t::socketcan_t;
+
+		virtual int open(std::string device_name);
+
+	private:
+		int connect(const struct sockaddr* addr, socklen_t len);
+	};
+
+	socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm);
+//	socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct simple_bcm_msg& obj);
+//	socketcan_bcm_t& operator<<(socketcan_bcm_t& s, const struct canfd_bcm_msg& obj);
+}
diff --git a/low-can-binding/utils/socketcan-raw.cpp b/low-can-binding/utils/socketcan-raw.cpp
new file mode 100644
index 0000000..31965c3
--- /dev/null
+++ b/low-can-binding/utils/socketcan-raw.cpp
@@ -0,0 +1,88 @@
+/*
+ * 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 "socketcan-raw.hpp"
+
+#include <net/if.h>
+#include <sys/ioctl.h>
+
+namespace utils
+{
+	/// @brief Bind the socket.
+	/// @return 0 if success.
+	int socketcan_raw_t::bind(const struct sockaddr* addr, socklen_t len)
+	{
+		return socket_ != INVALID_SOCKET ? ::bind(socket_, addr, len) : 0;
+	}
+
+ 	/// @brief Open a raw socket CAN.
+	/// @param[in] device_name is the kernel network device name of the CAN interface.
+	///
+	/// @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 socketcan_raw_t::open(std::string device_name)
+	{
+		close();
+		
+		struct ifreq ifr;
+		socket_ = socketcan_t::open(PF_CAN, SOCK_RAW, CAN_RAW);
+
+		// Attempts to open a socket to CAN bus
+		::strcpy(ifr.ifr_name, device_name.c_str());
+		DEBUG("ifr_name is : %s", ifr.ifr_name);
+		if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
+		{
+			ERROR("ioctl failed. Error was : %s", strerror(errno));
+			close();
+		}
+		else
+		{
+			tx_address_.can_family = AF_CAN;
+			tx_address_.can_ifindex = ifr.ifr_ifindex;
+
+			if(bind((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
+			{
+				ERROR("Bind failed. %s", strerror(errno));
+				close();
+			}
+		}
+		return socket_;
+	}
+
+	socketcan_raw_t& operator>>(socketcan_raw_t& s, can_message_t& cm)
+	{
+		struct canfd_frame frame;
+
+		const struct sockaddr_can& addr = s.get_tx_address();
+		socklen_t addrlen = sizeof(addr);
+		struct ifreq ifr;
+
+		ssize_t nbytes = ::recvfrom(s.socket(), &frame, sizeof(frame), 0, (struct sockaddr*)&addr, &addrlen);
+		ifr.ifr_ifindex = addr.can_ifindex;
+		ioctl(s.socket(), SIOCGIFNAME, &ifr);
+
+		DEBUG("Data available: %i bytes read", (int)nbytes);
+		DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, frame.can_id, frame.len,
+			frame.data[0], frame.data[1], frame.data[2], frame.data[3], frame.data[4], frame.data[5], frame.data[6], frame.data[7]);
+
+		struct timeval tv;
+		ioctl(s.socket(), SIOCGSTAMP, &tv);
+		uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
+		cm = ::can_message_t::convert_from_frame(frame , nbytes, timestamp);
+
+		return s;
+	}
+}
\ No newline at end of file
diff --git a/low-can-binding/utils/socketcan-raw.hpp b/low-can-binding/utils/socketcan-raw.hpp
new file mode 100644
index 0000000..6167241
--- /dev/null
+++ b/low-can-binding/utils/socketcan-raw.hpp
@@ -0,0 +1,35 @@
+/*
+ * 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 "socketcan.hpp"
+#include "../can/can-message.hpp"
+
+namespace utils
+{
+	class socketcan_raw_t : public socketcan_t
+	{
+	public:
+		using socketcan_t::socketcan_t;
+		virtual int open(std::string device_name);
+
+	private:
+		int bind(const struct sockaddr* addr, socklen_t len);
+	};
+
+	socketcan_raw_t& operator>>(socketcan_raw_t& s, can_message_t& cm);
+}
diff --git a/low-can-binding/utils/socketcan.cpp b/low-can-binding/utils/socketcan.cpp
new file mode 100644
index 0000000..71588a6
--- /dev/null
+++ b/low-can-binding/utils/socketcan.cpp
@@ -0,0 +1,97 @@
+/*
+ * 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 <string>
+#include <linux/can/raw.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+
+#include "socketcan.hpp"
+
+namespace utils
+{
+
+	/// @brief Construct a default, invalid, socket.
+	socketcan_t::socketcan_t()
+		: socket_{INVALID_SOCKET}
+	{}
+
+	/// @brief Construct a socket by moving an existing one.
+	socketcan_t::socketcan_t(socketcan_t&& s)
+		: socket_{s.socket_}
+	{
+		::memset(&tx_address_, 0, sizeof(tx_address_));
+	}
+
+	socketcan_t& socketcan_t::operator=(const socketcan_t& s)
+	{
+		socket_ = std::move(s.socket_);
+		return *this;
+	}
+
+	socketcan_t::~socketcan_t()
+	{
+		close();
+		socket_ = INVALID_SOCKET;
+	}
+
+	const struct sockaddr_can& socketcan_t::get_tx_address() const
+	{
+		return tx_address_;
+	}
+
+	/// @brief Test if socket is valid.
+	/// @return true if valid, false otherwise.
+	socketcan_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 socketcan_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 socketcan_t::close()
+	{
+		return socket_ != INVALID_SOCKET ? ::close(socket_) : 0;
+	}
+
+	/// @brief Set socket option.
+	/// @return 0 if success.
+	int socketcan_t::setopt(int level, int optname, const void* optval, socklen_t optlen)
+	{
+		return socket_ != INVALID_SOCKET ? ::setsockopt(socket_, level, optname, optval, optlen) : 0;
+	}
+
+	/// @brief Get the file descriptor.
+	/// @return The socket's file descriptor
+	int socketcan_t::socket() const
+	{
+		return socket_;
+	}
+}
\ No newline at end of file
diff --git a/low-can-binding/utils/socketcan.hpp b/low-can-binding/utils/socketcan.hpp
new file mode 100644
index 0000000..82b797e
--- /dev/null
+++ b/low-can-binding/utils/socketcan.hpp
@@ -0,0 +1,71 @@
+#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 <vector>
+
+#include <sys/socket.h>
+#include <linux/can/bcm.h>
+#include <string.h>
+
+#include "../binding/low-can-hat.hpp"
+
+#define INVALID_SOCKET -1
+
+namespace utils
+{
+	class socketcan_t
+	{
+	public:
+		socketcan_t();
+		socketcan_t(const socketcan_t& s) = delete;
+		socketcan_t(socketcan_t&&);
+		socketcan_t& operator=(const socketcan_t& s);
+		virtual ~socketcan_t();
+
+		const struct sockaddr_can& get_tx_address() const;
+		explicit operator bool() const;
+
+		int socket() const;
+		virtual int open(std::string device_name) = 0;
+		int setopt(int level, int optname, const void* optval, socklen_t optlen);
+		int close();
+
+	protected:
+		int socket_;
+		struct sockaddr_can tx_address_;
+
+		int open(int domain, int type, int protocol);
+	};
+
+	template <typename T>
+	socketcan_t& operator<<(socketcan_t& s, const std::vector<T>& vobj)
+	{
+		for(const auto& obj : vobj)
+			s << obj;
+		return s;
+	}
+
+	template <typename T>
+	socketcan_t& operator<<(socketcan_t& s, const T& obj)
+	{
+		if (::sendto(s.socket(), &obj, sizeof(obj), 0, (const struct sockaddr*)&s.get_tx_address(), sizeof(s.get_tx_address())) < 0)
+			ERROR("Error sending : %i %s", errno, ::strerror(errno));
+		return s;
+	}
+}
diff --git a/low-can-binding/utils/timer.cpp b/low-can-binding/utils/timer.cpp
new file mode 100644
index 0000000..f3cdd5e
--- /dev/null
+++ b/low-can-binding/utils/timer.cpp
@@ -0,0 +1,129 @@
+/*
+ * 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 <cmath>
+
+#include "timer.hpp"
+
+long long int system_time_us()
+{
+	struct timespec t_usec;
+	long long int timestamp_usec = 0;
+	
+	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 = 0;
+	
+	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 = 0;
+	
+	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}
+{
+	if(frequency_ <= 0)
+		frequency_ = 1;
+}
+
+frequency_clock_t::frequency_clock_t(float frequency, uint64_t last_tick, time_function_t time_function)
+	: unit_{1000000}, frequency_{frequency}, last_tick_{0}, time_function_{nullptr}
+{
+	if(frequency_ <= 0)
+		frequency_ = 1;
+}
+
+/// @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() const
+{
+	return frequency_ == 0 ? 0 : 1 / frequency_;
+}
+
+/// @brief Return a timeval struct based on the frequency_ member. used to 
+/// specified CAN BCM timers.
+const struct timeval frequency_clock_t::get_timeval_from_period() const
+{
+	struct timeval freq = {0, 0};
+	float f;
+	freq.tv_usec = (long int)(std::modf(frequency_to_period(), &f) * unit_);
+	freq.tv_sec = (time_t)f;
+
+	return freq;
+}
+
+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 : (float)get_time_function()() - (float)last_tick_;
+
+	return frequency_ == 0 || elapsed_time >= period;
+}
+
+float frequency_clock_t::get_frequency() const
+{
+	return frequency_;
+}
+
+uint64_t frequency_clock_t::get_last_tick() const
+{
+	return last_tick_;
+}
+
+/// @brief Force the clock to tick, regardless of it its time has actually
+/// elapsed.
+void frequency_clock_t::tick(uint64_t timestamp)
+{
+	last_tick_ = timestamp;
+}
\ No newline at end of file
diff --git a/low-can-binding/utils/timer.hpp b/low-can-binding/utils/timer.hpp
new file mode 100644
index 0000000..a667022
--- /dev/null
+++ b/low-can-binding/utils/timer.hpp
@@ -0,0 +1,58 @@
+/*
+ * 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 <sys/time.h>
+#include <stdint.h>
+
+/// @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.
+	uint64_t last_tick_; ///< the last time (in microseconds since startup) that the clock ticked.
+	time_function_t time_function_; ///<  a function returning current time
+
+public:
+	frequency_clock_t();
+	explicit frequency_clock_t(float frequency);
+	frequency_clock_t(float frequency, uint64_t last_tick, time_function_t time_function);
+
+	float get_frequency() const;
+	const struct timeval get_timeval_from_period() const;
+
+	float frequency_to_period() const;
+	bool started();
+	time_function_t get_time_function();
+	bool elapsed(bool stagger);
+
+	uint64_t get_last_tick() const;
+	void tick(uint64_t timestamp);
+};
\ No newline at end of file