Move sources into src directory

make some cleaning

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

21 files changed, 1762 insertions, 0 deletions

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
new file mode 100644
index 0000000..768d6b4
--- /dev/null
+++ b/src/CMakeLists.txt
@@ -0,0 +1,92 @@
+###########################################################################
+# Copyright 2016 IoT.bzh
+#
+# author: José Bollo <jose.bollo@iot.bzh>
+# author: Stéphane Desneux <stephane.desneux@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.
+###########################################################################
+
+project(ll-can)
+
+cmake_minimum_required(VERSION 3.3)
+
+include(GNUInstallDirs)
+
+set(PROJECT_VERSION "0.1")
+set(PROJECT_ICON "icon.png")
+set(PROJECT_LIBDIR "libs")
+
+set(CMAKE_BUILD_TYPE Debug)
+
+###########################################################################
+
+link_libraries(-Wl,--as-needed -Wl,--gc-sections)
+
+add_compile_options(-Wall -Wextra -Wconversion)
+add_compile_options(-Wno-unused-parameter) # frankly not using a parameter does it care?
+add_compile_options(-Werror=maybe-uninitialized)
+add_compile_options(-Werror=implicit-function-declaration)
+add_compile_options(-ffunction-sections -fdata-sections)
+add_compile_options(-Wl,--as-needed -Wl,--gc-sections)
+add_compile_options(-fPIC)
+
+set(CMAKE_C_FLAGS_PROFILING    "-g -O0 -pg -Wp,-U_FORTIFY_SOURCE")
+set(CMAKE_C_FLAGS_DEBUG        "-g -O0 -ggdb -Wp,-U_FORTIFY_SOURCE")
+set(CMAKE_C_FLAGS_RELEASE      "-g -O2")
+set(CMAKE_C_FLAGS_CCOV         "-g -O2 --coverage")
+
+set(CMAKE_CXX_FLAGS_PROFILING    "-g -O0 -pg -Wp,-U_FORTIFY_SOURCE")
+set(CMAKE_CXX_FLAGS_DEBUG        "-g -O0 -ggdb -Wp,-U_FORTIFY_SOURCE")
+set(CMAKE_CXX_FLAGS_RELEASE      "-g -O2")
+set(CMAKE_CXX_FLAGS_CCOV         "-g -O2 --coverage")
+
+###########################################################################
+
+include(FindPkgConfig)
+
+pkg_check_modules(EXTRAS REQUIRED json-c afb-daemon)
+add_compile_options(${EXTRAS_CFLAGS})
+include_directories(${EXTRAS_INCLUDE_DIRS} ${PROJECT_LIBDIR}/openxc-message-format/gen/cpp ${PROJECT_LIBDIR}/nanopb/)
+link_libraries(${EXTRAS_LIBRARIES})
+
+###########################################################################
+# the binding for afb
+
+message(STATUS "Creation of ${PROJECT_NAME} binding for AFB-DAEMON")
+###########################################################################
+add_library(${PROJECT_NAME}-binding MODULE ${PROJECT_NAME}-binding.c)
+
+set_target_properties(${PROJECT_NAME}-binding PROPERTIES
+	PREFIX ""
+	LINK_FLAGS "-Wl,--version-script=${CMAKE_CURRENT_SOURCE_DIR}/export.map"
+)
+
+###########################################################################
+# WGT packaging
+
+message(STATUS "Creation of ${PROJECT_NAME}.wgt package for AppFW")
+###############################################################
+configure_file(config.xml.in config.xml)
+
+add_custom_command(
+	OUTPUT ${PROJECT_NAME}.wgt
+	DEPENDS ${PROJECT_NAME}-binding
+	COMMAND rm -rf package
+	COMMAND mkdir -p package/${PROJECT_LIBDIR} package/htdocs
+	COMMAND cp config.xml package/
+	COMMAND cp ${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_ICON} package/icon.png
+	COMMAND cp ${PROJECT_NAME}-binding.so package
+	COMMAND wgtpkg-pack -f -o ${PROJECT_NAME}.wgt package
+)
+add_custom_target(widget ALL DEPENDS ${PROJECT_NAME}.wgt)
diff --git a/src/can-decoder.cpp b/src/can-decoder.cpp
new file mode 100644
index 0000000..000db2a
--- /dev/null
+++ b/src/can-decoder.cpp
@@ -0,0 +1,93 @@
+/*
+ * 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.
+ */
+
+Decoder::Decoder
+{
+	decoded_value = { .has_type = false,
+					.has_numeric_value = false,
+					.has_boolean_value = false,
+					.has_string_value = false };
+}
+
+float Decoder::parseSignalBitfield(CanSignal* signal, const CanMessage* message)
+{
+	 return bitfield_parse_float(message->data, CAN_MESSAGE_SIZE,
+			signal->bitPosition, signal->bitSize, signal->factor,
+			signal->offset);
+}
+
+openxc_DynamicField Decoder::noopDecoder(CanSignal* signal,
+        CanSignal* signals, int signalCount, float value, bool* send)
+{
+	decoded_value = { .has_type = true,
+					.type = openxc_DynamicField_Type_NUM,
+					.has_numeric_value = true,
+					.numeric_value = value };
+    return decoded_value;
+}
+
+openxc_DynamicField Decoder::booleanDecoder(CanSignal* signal,
+        CanSignal* signals, int signalCount, float value, bool* send)
+{
+	decoded_value = { .has_type = true,
+					.type = openxc_DynamicField_Type_BOOL,
+					.has_boolean_value = true,
+					.numeric_value = value == 0.0 ? false : true };
+	return decoded_value;
+}
+
+openxc_DynamicField Decoder::ignoreDecoder(CanSignal* signal,
+        CanSignal* signals, int signalCount, float value, bool* send)
+{
+    *send = false;
+    openxc_DynamicField decoded_value = {0};
+    return decoded_value;
+}
+
+openxc_DynamicField Decoder::stateDecoder(CanSignal* signal,
+        CanSignal* signals, int signalCount, float value, bool* send)
+{
+    openxc_DynamicField decoded_value = {0};
+    decoded_value.has_type = true;
+    decoded_value.type = openxc_DynamicField_Type_STRING;
+    decoded_value.has_string_value = true;
+
+    const CanSignalState* signalState = lookupSignalState(value, signal);
+    if(signalState != NULL) {
+        strcpy(decoded_value.string_value, signalState->name);
+    } else {
+        *send = false;
+    }
+    return decoded_value;
+}
+
+openxc_DynamicField Decoder::decodeSignal(CanSignal* signal,
+        float value, CanSignal* signals, int signalCount, bool* send)
+{
+    SignalDecoder decoder = signal->decoder == NULL ?
+				            noopDecoder : signal->decoder;
+    openxc_DynamicField decoded_value = decoder(signal, signals,
+            signalCount, value, send);
+    return decoded_value;
+}
+
+openxc_DynamicField Decoder::decodeSignal(CanSignal* signal,
+        const CanMessage* message, CanSignal* signals, int signalCount,
+        bool* send) {
+    float value = parseSignalBitfield(signal, message);
+    return decodeSignal(signal, value, signals, signalCount, send);
+}
\ No newline at end of file
diff --git a/src/can-decoder.h b/src/can-decoder.h
new file mode 100644
index 0000000..249d5b0
--- /dev/null
+++ b/src/can-decoder.h
@@ -0,0 +1,146 @@
+/*
+ * 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
+
+
+class Decoder_c
+{
+	private:
+		openxc_DynamicField decoded_value;
+
+	public:
+		/* Public: Parse the signal's bitfield from the given data and return the raw
+		* value.
+		*
+		* signal - The signal to parse from the data.
+		* data - The data to parse the signal from.
+		* length - The length of the data array.
+		*
+		* Returns the raw value of the signal parsed as a bitfield from the given byte
+		* array.
+		*/
+		float parseSignalBitfield(CanSignal* signal, const CanMessage* message);
+
+		/* Public: 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 CanSignal.decoder field.
+		*
+		* signal  - The details of the signal that contains the state mapping.
+		* signals - The list of all signals.
+		* signalCount - the length of the signals array.
+		* value - The numerical value that should map to a state.
+		* send - An output argument that will be set to false if the value should
+		*     not be sent for any reason.
+		*
+		* 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 stateDecoder(CanSignal* signal, CanSignal* signals,
+				int signalCount, float value, bool* send);
+
+		/* Public: Coerces a numerical value to a boolean.
+		*
+		* This is an implementation of the SignalDecoder type signature, and can be
+		* used directly in the CanSignal.decoder field.
+		*
+		* signal  - The details of the signal that contains the state mapping.
+		* signals - The list of all signals
+		* signalCount - The length of the signals array
+		* value - The numerical value that will be converted to a boolean.
+		* send - An output argument that will be set to false if the value should
+		*     not be sent for any reason.
+		*
+		* 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 booleanDecoder(CanSignal* signal, CanSignal* signals,
+				int signalCount, float value, bool* send);
+
+		/* Public: 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 CanSignal.decoder field.
+		*
+		* This function always flips 'send' to false.
+		*
+		* signal  - The details of the signal that contains the state mapping.
+		* signals - The list of all signals.
+		* signalCount - The length of the signals array.
+		* value - The numerical value that will be converted to a boolean.
+		* send - This output argument will always be set to false, so the caller will
+		*      know not to publish this value to the pipeline.
+		*
+		* The return value is undefined.
+		*/
+		openxc_DynamicField ignoreDecoder(CanSignal* signal, CanSignal* signals,
+				int signalCount, float value, bool* send);
+
+		/* Public: 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 CanSignal.decoder field.
+		*
+		* signal  - The details of the signal that contains the state mapping.
+		* signals - The list of all signals
+		* signalCount - The length of the signals array
+		* value - The numerical value that will be wrapped in a DynamicField.
+		* send - An output argument that will be set to false if the value should
+		*     not be sent for any reason.
+		*
+		* 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 noopDecoder(CanSignal* signal, CanSignal* signals,
+				int signalCount, float value, bool* send);
+
+		/* Public: Parse a signal from a CAN message and apply any required
+		* transforations to get a human readable value.
+		*
+		* If the CanSignal has a non-NULL 'decoder' field, the raw CAN signal value
+		* will be passed to the decoder before returning.
+		*
+		* signal - The details of the signal to decode and forward.
+		* message   - The CAN message that contains the signal.
+		* signals - an array of all active signals.
+		* signalCount - The length of the signals array.
+		* 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. If 'send' is false, the return value is undefined.
+		*/
+		openxc_DynamicField decodeSignal(CanSignal* signal,
+				const CanMessage* message, CanSignal* signals, int signalCount,
+				bool* send);
+
+		/* Public: Decode a transformed, human readable value from an raw CAN signal
+		* already parsed from a CAN message.
+		*
+		* This is the same as decodeSignal(CanSignal*, CanMessage*, CanSignal*, int,
+		* bool*) 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.
+		*/
+		openxc_DynamicField decodeSignal(CanSignal* signal, float value,
+		CanSignal* signals, int signalCount, bool* send);
+}
\ No newline at end of file
diff --git a/src/can-signals.cpp b/src/can-signals.cpp
new file mode 100644
index 0000000..13ff30b
--- /dev/null
+++ b/src/can-signals.cpp
@@ -0,0 +1,40 @@
+/*
+ * 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 <string>
+#include "can-signals.h"
+
+bool match(const std::string &first, const std::string &second)
+{
+
+}
+
+CanSignal* getSignals(std::string name)
+{
+	int n_signals, i;
+	CanSignal ret_signals[];
+
+	n_signals = size(SIGNALS);
+
+	for(i=0; i<=n_signals; i++)
+	{
+		if(SIGNALS[i].generic_name == name)
+			return &SIGNALS[i];
+		i++;
+	}
+	return 0;
+}
diff --git a/src/can-signals.h b/src/can-signals.h
new file mode 100644
index 0000000..f34c743
--- /dev/null
+++ b/src/can-signals.h
@@ -0,0 +1,84 @@
+/*
+ * 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-utils.h"
+#include <string>
+
+/** Public: Return the currently active CAN configuration. */
+CanMessageSet* getActiveMessageSet();
+
+/** Public: Retrive a list of all possible CAN configurations.
+ *	*
+ *	 * Returns a pointer to an array of all configurations.
+ *	  */
+CanMessageSet* getMessageSets();
+
+/** Public: Return the length of the array returned by getMessageSets() */
+int getMessageSetCount();
+
+/* Public: Return the number of CAN buses configured in the active
+ *	* configuration. This is limited to 2, as the hardware controller only has 2
+ *	 * CAN channels.
+ *	  */
+int getCanBusCount();
+
+/* Public: Return an array of all CAN messages to be processed in the active
+ *	* configuration.
+ *	 */
+CanMessageDefinition* getMessages();
+
+/* Public: Return signals from an signals array filtered on name.
+ */
+CanSignal* getSignals(std::string name);
+
+/* Public: Return an array of all OpenXC CAN commands enabled in the active
+ *	* configuration that can write back to CAN with a custom handler.
+ *	 *
+ *	  * Commands not defined here are handled using a 1-1 mapping from the signals
+ *	   * list.
+ *		*/
+CanCommand* getCommands();
+
+/* Public: Return the length of the array returned by getCommandCount(). */
+int getCommandCount();
+
+/* Public: Return the length of the array returned by getSignals(). */
+int getSignalCount();
+
+/* Public: Return the length of the array returned by getMessages(). */
+int getMessageCount();
+
+/* Public: Return an array of the metadata for the 2 CAN buses you want to
+ *	* monitor. The size of this array is fixed at 2.
+ *	 */
+CanBus* getCanBuses();
+
+/* Public: Decode CAN signals from raw CAN messages, translate from engineering
+ *	* units to something more human readable, and send the resulting value over USB
+ *	 * as an OpenXC-style JSON message.
+ *	  *
+ *	   * This is the main workhorse function of the VI. Every time a new
+ *		* CAN message is received that matches one of the signals in the list returend
+ *		 * by getSignals(), this function is called with the message ID and 64-bit data
+ *		  * field.
+ *		   *
+ *			* bus - The CAN bus this message was received on.
+ *			 * message - The received CAN message.
+ *			  */
+void decodeCanMessage(openxc::pipeline::Pipeline* pipeline, CanBus* bus, CanMessage* message);
diff --git a/src/can-utils.cpp b/src/can-utils.cpp
new file mode 100644
index 0000000..6721410
--- /dev/null
+++ b/src/can-utils.cpp
@@ -0,0 +1,226 @@
+/*
+ * 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
+
+/********************************************************************************
+*
+*		CanBus method implementation
+*
+*********************************************************************************/
+
+CanBus_c::CanBus_c(afb_binding_interface *itf, const std:string& dev_name)
+{
+	interface = itf;
+	deviceName = dev_name;
+}
+
+int CanBus_c::open()
+{
+	const int canfd_on = 1;
+	struct ifreq ifr;
+	struct timeval timeout = {1, 0};
+
+	DEBUG(interface, "open_can_dev: CAN Handler socket : %d", socket);
+	if (socket >= 0)
+		close(socket);
+
+	socket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+	if (socket < 0)
+	{
+		ERROR(interface, "open_can_dev: socket could not be created");
+	}
+	else
+	{
+		/* Set timeout for read */
+		setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
+		/* try to switch the socket into CAN_FD mode */
+		if (setsockopt(socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
+		{
+			NOTICE(interface, "open_can_dev: Can not switch into CAN Extended frame format.");
+			is_fdmode_on = false;
+		} else {
+			is_fdmode_on = true;
+		}
+
+		/* Attempts to open a socket to CAN bus */
+		strcpy(ifr.ifr_name, device);
+		if(ioctl(socket, SIOCGIFINDEX, &ifr) < 0)
+			ERROR(interface, "open_can_dev: ioctl failed");
+		else
+		{
+			txAddress.can_family = AF_CAN;
+			txAddress.can_ifindex = ifr.ifr_ifindex;
+
+			/* And bind it to txAddress */
+			if (bind(socket, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0)
+			{
+				ERROR(interface, "open_can_dev: bind failed");
+			}
+			else
+			{
+				fcntl(socket, F_SETFL, O_NONBLOCK);
+				return 0;
+			}
+		}
+		close(socket);
+		socket = -1;
+	}
+	return -1;
+}
+
+int CanBus_c::close()
+{
+	close(socket);
+	socket = -1;
+}
+
+void CanBus_c::start_threads()
+{
+	std::queue <CanMessage_c> can_message_q;
+
+	th_reading = std::thread(can_reader, interface, socket, can_message_q);
+	th_decoding = std::thread(can_decoder, interface, can_message_q, can_message_q);
+	th_pushing = std::thread(can_event_push, interface, can_message_q);
+}
+
+/*
+ * Send a can message from a CanMessage_c object.
+ */
+int CanBus_c::send_can_message(CanMessage_c can_msg)
+{
+	int nbytes;
+	canfd_frame *f;
+
+	f = can_msg.convert_to_canfd_frame();
+
+	if(socket >= 0)
+	{
+		nbytes = sendto(socket, &f, sizeof(struct canfd_frame), 0,
+				(struct sockaddr*)&txAddress, sizeof(txAddress));
+				
+		if (nbytes == -1)
+		{
+			ERROR(interface, "send_can_message: Sending CAN frame failed.");
+			return -1;
+		}
+		return nbytes;
+	}
+	else
+	{
+		ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+		open_can_dev();
+	}
+	return 0;
+}
+
+/********************************************************************************
+*
+*		CanMessage method implementation
+*
+*********************************************************************************/
+
+uint32_t CanMessage_c::get_id()
+{
+	return id;
+}
+
+int CanMessage_c::get_format()
+{
+	return format;
+}
+
+uint8_t CanMessage_c::get_data()
+{
+	return data;
+}
+uint8_t CanMessage_c::get_lenght()
+{
+	return lenght;
+}
+
+void CanMessage_c::set_id(uint32_t new_id)
+{
+	switch(format):
+		case CanMessageFormat::SIMPLE:
+			id = new_id & CAN_SFF_MASK;
+		case CanMessageFormat::EXTENDED:
+			id = new_id & CAN_EFF_MASK;
+		default:
+			ERROR(interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
+}
+
+void CanMessage_c::set_format(CanMessageFormat new_format)
+{
+	if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED)
+		format = new_format;
+	else
+		ERROR(interface, "ERROR: Can set format, wrong format chosen");
+}
+
+void CanMessage_c::set_data(uint8_t new_data)
+{
+	data = new_data;
+}
+
+void CanMessage_c::set_lenght(uint8_t new_length)
+{
+	lenght = new_lenght;
+}
+
+/*
+ * This is the preferred way to initialize a CanMessage object 
+ * from a read canfd_frame message.
+ * 
+ * params: canfd_frame pointer
+ */
+void CanMessage_c::convert_from_canfd_frame(canfd_frame *frame)
+{
+	
+	lenght = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len;
+
+	switch (canfd_frame->can_id): 
+		case (canfd_frame->can_id & CAN_ERR_FLAG):
+			id = canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+			break;
+		case (canfd_frame->can_id & CAN_EFF_FLAG):
+			id = canfd_frame->can_id & CAN_EFF_MASK;
+			format = CanMessageFormat::EXTENDED;
+			break;
+		default:
+			format = CanMessageFormat::STANDARD;
+			id = canfd_frame->can_id & CAN_SFF_MASK;
+			break;
+
+	if (sizeof(canfd_frame->data) <= sizeof(data))
+	{
+		memcpy(data, canfd_frame->data, lenght);
+		return 0;
+	} else if (sizeof(canfd_frame->data) >= CAN_MAX_DLEN)
+		ERROR(interface, "CanMessage_c: canfd_frame data too long to be stored into CanMessage object");
+}
+
+canfd_frame* convert_to_canfd_frame()
+{
+	canfd_frame frame;
+
+	frame.id = can_msg.get_id();
+	frame.len = can_msg.get_lenght();
+	frame.data = can_msg.get_data();
+
+	return &frame;
+}
diff --git a/src/can-utils.h b/src/can-utils.h
new file mode 100644
index 0000000..8c850e6
--- /dev/null
+++ b/src/can-utils.h
@@ -0,0 +1,396 @@
+/*
+ * 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 "timer.h"
+#include "openxc.pb.h"
+
+// TODO actual max is 32 but dropped to 24 for memory considerations
+#define MAX_ACCEPTANCE_FILTERS 24
+// TODO this takes up a ton of memory
+#define MAX_DYNAMIC_MESSAGE_COUNT 12
+
+#define CAN_MESSAGE_SIZE 8
+
+#define CAN_ACTIVE_TIMEOUT_S 30
+
+#define QUEUE_DECLARE(type, max_length) \
+static const int queue_##type##_max_length = max_length; \
+static const int queue_##type##_max_internal_length = max_length + 1; \
+typedef struct queue_##type##_s { \
+	int head; \
+	int tail; \
+	type elements[max_length + 1]; \
+} queue_##type; \
+\
+bool queue_##type##_push(queue_##type* queue, type value); \
+\
+type queue_##type##_pop(queue_##type* queue); \
+\
+type queue_##type##_peek(queue_##type* queue); \
+void queue_##type##_init(queue_##type* queue); \
+int queue_##type##_length(queue_##type* queue); \
+int queue_##type##_available(queue_##type* queue); \
+bool queue_##type##_full(queue_##type* queue); \
+bool queue_##type##_empty(queue_##type* queue); \
+void queue_##type##_snapshot(queue_##type* queue, type* snapshot, int max);
+
+/* Public: The type signature for a CAN signal decoder.
+ *
+ * A SignalDecoder transforms a raw floating point CAN signal into a number,
+ * string or boolean.
+ *
+ * signal - The CAN signal that we are decoding.
+ * signals - The list of all signals.
+ * signalCount - The length of the signals array.
+ * value - The CAN signal parsed from the message as a raw floating point
+ *		value.
+ * 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.
+ *
+ * Returns a decoded value in an openxc_DynamicField struct.
+ */
+typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
+		CanSignal* signals, int signalCount, float value, bool* send);
+
+/* Public: 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.
+ *
+ * signal - The CAN signal to encode. 
+ * value - The dynamic field to encode.
+ * send - An output parameter. If the encoding failed or the CAN signal should
+ * not be encoded for some other reason, this will be flipped to false.
+ */
+typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
+		openxc_DynamicField* value, bool* send);
+
+/* 
+ * CanBus represent a can device definition gotten from configuraiton file 
+ */
+class CanBus_c {
+	private:
+		afb_binding_interface *interface;
+
+		/* Got from conf file */
+		std::string deviceName;
+
+		int socket;
+		bool is_fdmode_on;
+		struct sockaddr_can txAddress;
+
+		std::thread th_reading;
+		std::thread th_decoding;
+		std::thread th_pushing;
+		std::queue <CanMessage_c> can_message_q;
+		std::queue <openxc_VehicleMessage> VehicleMessage_q;
+
+	public:
+		int open();
+		int close();
+
+		void start_threads();
+		int send_can_message(CanMessage_c can_msg);
+};
+
+/* A compact representation of a single CAN message, meant to be used in in/out
+ * buffers.
+ *
+ * id - The ID of the message.
+ * format - the format of the message's ID.
+ * data  - The message's data field.
+ * length - the length of the data array (max 8).
+struct CanMessage {
+	uint32_t id;
+	CanMessageFormat format;
+	uint8_t data[CAN_MESSAGE_SIZE];
+	uint8_t length;
+};
+typedef struct CanMessage CanMessage;
+*/
+class CanMessage_c {
+	private:
+		uint32_t id;
+		CanMessageFormat format;
+		uint8_t data[CAN_MESSAGE_SIZE];
+		uint8_t length;
+
+	public:
+		uint32_t get_id();
+		int get_format();
+		uint8_t get_data();
+		uint8_t get_lenght();
+
+		void set_id(uint32_t id);
+		void set_format(CanMessageFormat format);
+		void set_data(uint8_t data);
+		void set_lenght(uint8_t length);
+
+		void convert_from_canfd_frame(canfd_frame frame);
+		canfd_frame convert_to_canfd_frame();
+};
+
+QUEUE_DECLARE(CanMessage_c, 8);
+
+/* Public: The ID format for a CAN message.
+ *
+ * STANDARD - standard 11-bit CAN arbitration ID.
+ * EXTENDED - an extended frame, with a 29-bit arbitration ID.
+ */
+enum CanMessageFormat {
+	STANDARD,
+	EXTENDED,
+};
+typedef enum CanMessageFormat CanMessageFormat;
+
+/* Public: A state encoded (SED) signal's mapping from numerical values to
+ * OpenXC state names.
+ *
+ * value - The integer value of the state on the CAN bus.
+ * name  - The corresponding string name for the state in OpenXC.
+struct CanSignalState {
+	const int value;
+	const char* name;
+};
+typedef struct CanSignalState CanSignalState;
+ */
+ class CanSignalState_c {
+	 private:
+		const int value;
+		const char *name;
+};
+
+/* Public: A CAN signal to decode from the bus and output over USB.
+ *
+ * message	   - The message this signal is a part of.
+ * genericName - The name of the signal to be output over USB.
+ * 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)
+ * bitSize	   - The width of the bit field in the CAN message.
+ * factor	   - The final value will be multiplied by this factor. Use 1 if you
+ *				 don't need a factor.
+ * offset	   - The final value will be added to this offset. Use 0 if you
+ *				 don't need an offset.
+ * minValue    - The minimum value for the processed signal.
+ * maxValue    - The maximum value for the processed signal.
+ * frequencyClock - A FrequencyClock struct to control the maximum frequency to
+ *				process and send this signal. To process every value, set the
+ *				clock's frequency to 0.
+ * sendSame    - If true, will re-send even if the value hasn't changed.
+ * forceSendChanged - If true, regardless of the frequency, it will send the
+ *				value if it has changed.
+ * states	   - An array of CanSignalState describing the mapping
+ *				 between numerical and string values for valid states.
+ * stateCount  - The length of the states array.
+ * writable    - True if the signal is allowed to be written from the USB host
+ *				 back to CAN. Defaults to false.
+ * decoder	   - An optional function to decode a signal from the bus to a human
+ *		readable value. If NULL, the default numerical decoder is used.
+ * 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.
+ * received    - True if this signal has ever been received.
+ * lastValue   - The last received value of the signal. If 'received' is false,
+ *		this value is undefined.
+ */
+struct CanSignal {
+	struct CanMessageDefinition* message;
+	const char* genericName;
+	uint8_t bitPosition;
+	uint8_t bitSize;
+	float factor;
+	float offset;
+	float minValue;
+	float maxValue;
+	FrequencyClock frequencyClock;
+	bool sendSame;
+	bool forceSendChanged;
+	const CanSignalState* states;
+	uint8_t stateCount;
+	bool writable;
+	SignalDecoder decoder;
+	SignalEncoder encoder;
+	bool received;
+	float lastValue;
+
+	struct afb_event event;
+};
+typedef struct CanSignal CanSignal;
+
+/* Public: 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.
+ *
+ * bus - A pointer to the bus this message is on.
+ * id - The ID of the message.
+ * format - the format of the message's ID.
+ * 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.
+ * forceSendChanged - If true, regardless of the frequency, it will send CAN
+ *		message if it has changed when using raw passthrough.
+ * lastValue - The last received value of the message. Defaults to undefined.
+ *		This is required for the forceSendChanged functionality, as the stack
+ *		needs to compare an incoming CAN message with the previous frame.
+ */
+struct CanMessageDefinition {
+	struct CanBus* bus;
+	uint32_t id;
+	CanMessageFormat format;
+	FrequencyClock frequencyClock;
+	bool forceSendChanged;
+	uint8_t lastValue[CAN_MESSAGE_SIZE];
+};
+typedef struct CanMessageDefinition CanMessageDefinition;
+
+/* Private: An entry in the list of acceptance filters for each CanBus.
+ *
+ * This struct is meant to be used with a LIST type from <sys/queue.h>.
+ *
+ * filter - the value for the CAN acceptance filter.
+ * activeUserCount - The number of active consumers of this filter's messages.
+ *		When 0, this filter can be removed.
+ * format - the format of the ID for the filter.
+struct AcceptanceFilterListEntry {
+	uint32_t filter;
+	uint8_t activeUserCount;
+	CanMessageFormat format;
+	LIST_ENTRY(AcceptanceFilterListEntry) entries;
+};
+ */
+
+/* Private: A type of list containing CAN acceptance filters.
+LIST_HEAD(AcceptanceFilterList, AcceptanceFilterListEntry);
+
+struct CanMessageDefinitionListEntry {
+	CanMessageDefinition definition;
+	LIST_ENTRY(CanMessageDefinitionListEntry) entries;
+};
+LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
+ */
+
+/** Public: A parent wrapper for a particular set of CAN messages and associated
+ *	CAN buses(e.g. a vehicle or program).
+ *
+ *	index - A numerical ID for the message set, ideally the index in an array
+ *		for fast lookup
+ *	name - The name of the message set.
+ *	busCount - The number of CAN buses defined for this message set.
+ *	messageCount - The number of CAN messages (across all buses) defined for
+ *		this message set.
+ *	signalCount - The number of CAN signals (across all messages) defined for
+ *		this message set.
+ *	commandCount - The number of CanCommmands defined for this message set.
+typedef struct {
+	uint8_t index;
+	const char* name;
+	uint8_t busCount;
+	unsigned short messageCount;
+	unsigned short signalCount;
+	unsigned short commandCount;
+} CanMessageSet;
+ */
+class CanMessageSet_c {
+	private:
+		uint8_t index;
+		const char * name;
+		uint8_t busCount;
+		unsigned short messageCount;
+		unsigned short signalCount;
+		unsigned short commandCount;
+};
+
+/* Public: The type signature for a function to handle a custom OpenXC command.
+ *
+ * name - the name of the received command.
+ * value - the value of the received command, in a DynamicField. The actual type
+ *		may be a number, string or bool.
+ * event - an optional event from the received command, in a DynamicField. The
+ *		actual type may be a number, string or bool.
+ * signals - The list of all signals.
+ * signalCount - The length of the signals array.
+ */
+typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
+		openxc_DynamicField* event, CanSignal* signals, int signalCount);
+
+/* Public: 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.
+ *
+ * genericName - The name of the command.
+ * handler - An function to process the received command's data and perform some
+ *		action.
+typedef struct {
+	const char* genericName;
+	CommandHandler handler;
+} CanCommand;
+ */
+
+class CanCommand_c {
+	private:
+		const char* genericName;
+		CommandHandler handler;
+};
+
+/* Pre initialize actions made before CAN bus initialization
+ *
+ * bus - A CanBus struct defining the bus's metadata
+ * 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.
+ * buses - An array of all CAN buses.
+ * busCount - The length of the buses array.
+ */
+void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
+
+/* Post-initialize actions made after CAN bus initialization and before the
+ * event loop connection.
+ *
+ * bus - A CanBus struct defining the bus's metadata
+ * 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.
+ * buses - An array of all CAN buses.
+ * busCount - The length of the buses array.
+ */
+void post_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCount);
+
+/* Public: Check if the device is connected to an active CAN bus, i.e. it's
+ * received a message in the recent past.
+ *
+ * Returns true if a message was received on the CAN bus within
+ * CAN_ACTIVE_TIMEOUT_S seconds.
+ */
+bool isBusActive(CanBus* bus);
+
+/* Public: Log transfer statistics about all active CAN buses to the debug log.
+ *
+ * buses - an array of active CAN buses.
+ * busCount - the length of the buses array.
+ */
+void logBusStatistics(CanBus* buses, const int busCount);
diff --git a/src/can_decode_message.cpp b/src/can_decode_message.cpp
new file mode 100644
index 0000000..ba82202
--- /dev/null
+++ b/src/can_decode_message.cpp
@@ -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.
+ */
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <queue>
+
+#include <afb/afb-binding.h>
+
+#include "can-utils.h"
+#include "openxc.pb.h"
+
+void can_decode_message(CanBus_c *can_bus)
+{
+	CanMessage_c can_message;
+
+	while(true)
+	{
+		if(! can_bus->can_message_q.empty())
+		{
+			can_message = can_bus->can_message_q.front();
+			can_bus->can_message_q.pop();
+		}
+	}
+}
\ No newline at end of file
diff --git a/src/can_event_push.cpp b/src/can_event_push.cpp
new file mode 100644
index 0000000..b08619b
--- /dev/null
+++ b/src/can_event_push.cpp
@@ -0,0 +1,38 @@
+/*
+ * 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 <linux/can.h>
+#include <linux/can/raw.h>
+#include <queue>
+
+#include <afb/afb-binding.h>
+
+#include "can-utils.h"
+#include "openxc.pb.h"
+
+void can_event_push(CanBus_c *can_bus)
+{
+	while(true)
+	{
+		if(! can_bus->vehicle_message_q.empty())
+		{
+			vehicle_message = can_bus->vehicle_message_q.front();
+			can_bus->vehicle_message_q.pop();
+		}
+	}
+}
diff --git a/src/can_reader.cpp b/src/can_reader.cpp
new file mode 100644
index 0000000..d9b3e67
--- /dev/null
+++ b/src/can_reader.cpp
@@ -0,0 +1,66 @@
+/*
+ * 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 <linux/can.h>
+#include <linux/can/raw.h>
+
+#include <afb/afb-binding.h>
+
+#include "can-utils.h"
+
+void can_reader(CanBus_c *can_bus))
+{
+	ssize_t nbytes;
+	int maxdlen;
+	CanMessage_c can_message;
+	canfd_frame canfd_frame;
+
+	/* Test that socket is really opened */
+	if ( can_bus->socket < 0)
+	{
+		ERROR(interface, "read_can: Socket unavailable");
+		return -1;
+	}
+
+	while(true)
+	{
+		nbytes = read(can_bus->socket, &canfd_frame, CANFD_MTU);
+
+		switch(nbytes)
+		{
+			case CANFD_MTU:
+				DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
+				maxdlen = CANFD_MAX_DLEN;
+				break;
+			case CAN_MTU:
+				DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
+				maxdlen = CAN_MAX_DLEN;
+				break;
+			default:
+				if (errno == ENETDOWN)
+					ERROR(interface, "read_can: %s interface down", device);
+				
+				ERROR(interface, "read_can: Error reading CAN bus");
+				return -2;
+		}
+
+		can_message.convert_from_canfd_frame(canfd_frame);
+
+		can_message_q.push(can_message);
+	}
+}
diff --git a/src/config.xml.in b/src/config.xml.in
new file mode 100644
index 0000000..33a8ff8
--- /dev/null
+++ b/src/config.xml.in
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<widget xmlns="http://www.w3.org/ns/widgets" id="@PROJECT_NAME@" version="@PROJECT_VERSION@">
+  <name>@PROJECT_NAME@</name>
+  <icon src="icon.png"/>
+  <content src="@PROJECT_NAME@" type="application/vnd.agl.service"/>
+  <description>This is a demo application used to control and dialog with HVAC system</description>
+  <author>Romain Forlot &lt;romain.forlot@iot.bzh&gt;</author>
+  <license>APL 2.0</license>
+</widget>
+
+
diff --git a/src/export.map b/src/export.map
new file mode 100644
index 0000000..52c1b4a
--- /dev/null
+++ b/src/export.map
@@ -0,0 +1 @@
+{ global: afbBindingV1*; local: *; };
diff --git a/src/icon.png b/src/icon.png
new file mode 100644
index 0000000..9bd6a6e
--- /dev/null
+++ b/src/icon.png
diff --git a/src/libs/bitfield-c b/src/libs/bitfield-c
new file mode 160000
+Subproject a34745ec93ae0a1d4f1b640dba8fb6702331a8e
diff --git a/src/libs/nanopb b/src/libs/nanopb
new file mode 160000
+Subproject ffe4aff87cc3a15863c09aa808adf2381c8f2fb
diff --git a/src/libs/openxc-message-format b/src/libs/openxc-message-format
new file mode 160000
+Subproject d9f54f97578429773421abce98d5f6579717afc
diff --git a/src/libs/uds-c b/src/libs/uds-c
new file mode 160000
+Subproject e506334e270d77b20c0bc259ac6c7d8c9b702b7
diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp
new file mode 100644
index 0000000..b609890
--- /dev/null
+++ b/src/low-can-binding.cpp
@@ -0,0 +1,253 @@
+/*
+ * 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 <unistd.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <net/if.h>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <fcntl.h>
+#include <systemd/sd-event.h>
+#include <errno.h>
+#include <vector>
+#include <map>
+#include <queue>
+#include <string>
+#include <functional>
+#include <memory>
+#include <thread>
+
+#include <json-c/json.h>
+#include <openxc.pb.h>
+
+#include <afb/afb-binding.h>
+#include <afb/afb-service-itf.h>
+
+#include "ll-can-binding.h"
+#include "obd2.h"
+
+/*
+ *	 Interface between the daemon and the binding
+ */
+static const struct afb_binding_interface *interface;
+
+/********************************************************************************
+*
+*		Event management
+*
+*********************************************************************************/
+
+/*
+ * TBF TBF TBF
+ * called on an event on the CAN bus
+ */
+static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+{
+	openxc_CanMessage can_message;
+
+	can_message = openxc_CanMessage_init_default;
+
+	/* read available data */
+	if ((revents & EPOLLIN) != 0)
+	{
+		read_can(&can_message);
+		send_event();
+	}
+
+	/* check if error or hangup */
+	if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
+	{
+		sd_event_source_unref(s);
+		close(fd);
+		connect_to_event_loop();
+	}
+
+	return 0;
+}
+
+/*
+ * USELESS SINCE THREADS SEPARATION
+ *
+ * Get the event loop running.
+ * Will trigger on_event function on EPOLLIN event on socket
+ *
+ * Return 0 or positive value on success. Else negative value for failure.
+static int connect_to_event_loop(CanBus &CanBus_handler)
+{
+	sd_event *event_loop;
+	sd_event_source *source;
+	int rc;
+
+	if (CanBus_handler.socket < 0)
+	{
+		return CanBus_handler.socket;
+	}
+
+	event_loop = afb_daemon_get_event_loop(interface->daemon);
+	rc = sd_event_add_io(event_loop, &source, CanBus_handler.socket, EPOLLIN, on_event, NULL);
+	if (rc < 0)
+	{
+		CanBus_handler.close();
+		ERROR(interface, "Can't connect CAN bus %s to the event loop", CanBus_handler.device);
+	} else
+	{
+		NOTICE(interface, "Connected CAN bus %s to the event loop", CanBus_handler.device);
+	}
+
+	return rc;
+}
+ */
+
+/********************************************************************************
+*
+*		Subscription and unsubscription
+*
+*********************************************************************************/
+
+static int subscribe_unsubscribe_sig(struct afb_req request, int subscribe, struct signal *sig)
+{
+	if (!afb_event_is_valid(sig->event)) {
+		if (!subscribe)
+			return 1;
+		sig->event = afb_daemon_make_event(afbitf->daemon, sig->name);
+		if (!afb_event_is_valid(sig->event)) {
+			return 0;
+		}
+	}
+
+	if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, sig->event)) < 0) {
+		return 0;
+	}
+
+	return 1;
+}
+
+static int subscribe_unsubscribe_all(struct afb_req request, int subscribe)
+{
+	int i, n, e;
+
+	n = sizeof OBD2_PIDS / sizeof * OBD2_PIDS;
+	e = 0;
+	for (i = 0 ; i < n ; i++)
+		e += !subscribe_unsubscribe_sig(request, subscribe, &OBD2_PIDS[i]);
+	return e == 0;
+}
+
+static int subscribe_unsubscribe_name(struct afb_req request, int subscribe, const char *name)
+{
+	struct signal *sig;
+
+	if (0 == strcmp(name, "*"))
+		return subscribe_unsubscribe_all(request, subscribe);
+
+	sig = getSignal(name);
+	if (sig == NULL) {
+		return 0;
+	}
+
+	return subscribe_unsubscribe_sig(request, subscribe, sig);
+}
+
+static void subscribe_unsubscribe(struct afb_req request, int subscribe)
+{
+	int ok, i, n;
+	struct json_object *args, *a, *x;
+
+	/* makes the subscription/unsubscription */
+	args = afb_req_json(request);
+	if (args == NULL || !json_object_object_get_ex(args, "event", &a)) {
+		ok = subscribe_unsubscribe_all(request, subscribe);
+	} else if (json_object_get_type(a) != json_type_array) {
+		ok = subscribe_unsubscribe_name(request, subscribe, json_object_get_string(a));
+	} else {
+		n = json_object_array_length(a);
+		ok = 0;
+		for (i = 0 ; i < n ; i++) {
+			x = json_object_array_get_idx(a, i);
+			if (subscribe_unsubscribe_name(request, subscribe, json_object_get_string(x)))
+				ok++;
+		}
+		ok = (ok == n);
+	}
+
+	/* send the report */
+	if (ok)
+		afb_req_success(request, NULL, NULL);
+	else
+		afb_req_fail(request, "error", NULL);
+}
+
+static void subscribe(struct afb_req request)
+{
+	subscribe_unsubscribe(request, 1);
+}
+
+static void unsubscribe(struct afb_req request)
+{
+	subscribe_unsubscribe(request, 0);
+}
+static const struct afb_verb_desc_v1 verbs[]=
+{
+  { .name= "subscribe",    .session= AFB_SESSION_NONE, .callback= subscribe,	.info= "subscribe to notification of CAN bus messages." },
+  { .name= "unsubscribe",  .session= AFB_SESSION_NONE, .callback= unsubscribe,	.info= "unsubscribe a previous subscription." },
+	{NULL}
+};
+
+static const struct afb_binding binding_desc = {
+	.type = AFB_BINDING_VERSION_1,
+	.v1 = {
+		.info = "CAN bus service",
+		.prefix = "can",
+		.verbs = verbs
+	}
+};
+
+const struct afb_binding *afbBindingV1Register (const struct afb_binding_interface *itf)
+{
+	interface = itf;
+
+	return &binding_desc;
+}
+
+int afbBindingV1ServiceInit(struct afb_service service)
+{
+	std::ifstream fd_conf;
+	std::string fd_conf_content;
+	json_object jo_canbus;
+
+	/* Open JSON conf file */
+	jo_canbus = json_object_new_object();
+	fd_conf = afb_daemon_rootdir_open_locale(interface->daemon, "canbus.json", O_RDONLY, NULL);
+	if (fd_conf)
+	{
+		fd_conf.seekg(0, std::ios::end);
+		fd_conf_content.resize(fd_conf.tellg());
+		fd_conf.seekg(0, std::ios::beg);
+		fd_conf.read(&fd_conf_content[0], fd_conf_content.size());
+		fd_conf.close();
+	}
+
+	jo_canbus = json_tokener_parse(&fd_conf_content);
+
+	/* Open CAN socket */
+	CanBus_c CanBus_handler(interface, json_object_get_string(json_object_object_get(jo_canbus, "deviceName"));
+	CanBus_handler.open();
+	CanBus_handler.start_threads();
+}
diff --git a/src/obd2.cpp b/src/obd2.cpp
new file mode 100644
index 0000000..7db5d97
--- /dev/null
+++ b/src/obd2.cpp
@@ -0,0 +1,59 @@
+/*
+ * 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.
+ */
+
+
+void shims_logger(afb_binding_interface *itf)
+{
+	//DEBUG(itf, "dd");
+}
+
+void shims_timer()
+{
+}
+
+/*
+ * Will scan for supported Obd2 pids
+ */
+Obd2Handler::Obd2Handler(afb_binding_interface *itf, CanBus_c cb)
+{
+	CanBus_c can_bus = cb;
+	DiagnosticShims shims = diagnostic_init_shims(shims_logger, can_bus.send_can_message, NULL);
+
+	int n_pids, i;
+
+	n_pids = size(Obd2Pid);
+	for(i=0; i<=n_pids; i++)
+	{
+	}
+}
+
+Obd2Handler::add_request(int pid)
+{
+	DiagnosticRequest request = {
+	arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID,
+	mode: 0x1, has_pid: true, pid: pid};
+}
+
+Obd2Handler::is_obd2_request(DiagnosticRequest* request)
+{
+	return request->mode == 0x1 && request->has_pid && request->pid < 0xff;
+}
+
+Obd2Handler::decode_obd2_response(DiagnosticResponse* responce)
+{
+	return diagnostic_decode_obd2_pid(response);
+}
diff --git a/src/obd2.h b/src/obd2.h
new file mode 100644
index 0000000..862c04a
--- /dev/null
+++ b/src/obd2.h
@@ -0,0 +1,150 @@
+/*
+ * 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.
+ */
+
+/*
+ *	A representation of an OBD-II PID.
+ *
+ * pid - The 1 byte PID.
+ * name - A human readable name to use for this PID when published.
+ * frequency - The frequency to request this PID if supported by the vehicle
+ *		when automatic, recurring OBD-II requests are enabled.
+ */
+
+enum UNIT {
+	POURCENT,
+	DEGREES_CELSIUS,
+	KPA,
+	RPM,
+	GRAMS_SEC,
+	SECONDS,
+	KM,
+	KM_H,
+	PA,
+	NM
+};
+
+const char *UNIT_NAMES[10] = {
+	"POURCENT",
+	"DEGREES_CELSIUS",
+	"KPA",
+	"RPM",
+	"GRAMS_SEC",
+	"SECONDS",
+	"KM",
+	"KM_H",
+	"PA",
+	"NM"
+};
+
+
+/*
+ *	A representation of an OBD-II PID.
+ *
+ * pid - The 1 byte PID.
+ * name - A human readable name to use for this PID when published.
+ * min - minimum value for this pid
+ * max - maximum value for this pid
+ * unit - unit used
+ * frequency - The frequency to request this PID if supported by the vehicle
+ *		when automatic, recurring OBD-II requests are enabled.
+ *	supported - is it supported by the vehicle. Initialized after scan
+ * event - application framework event handler.
+ * 
+ */
+typedef struct _Obd2Pid {
+	uint8_t pid;
+	const char* name;
+	const int min;
+	const int max;
+	enum UNIT unit;
+	int frequency;
+	bool supported;
+	struct afb_event event;
+} Obd2Pid;
+
+/*
+	{ pid: 0x4, name: "engine.load", frequency: 5 },
+	{ pid: 0x5, name: "engine.coolant.temperature", frequency: 1 },
+	{ pid: 0xa, name: "fuel.pressure", frequency: 1 },
+	{ pid: 0xb, name: "intake.manifold.pressure", frequency: 1 },
+	{ pid: 0xc, name: "engine.speed", frequency: 5 },
+	{ pid: 0xd, name: "vehicle.speed", frequency: 5 },
+	{ pid: 0xf, name: "intake.air.temperature", frequency: 1 },
+	{ pid: 0x10, name: "mass.airflow", frequency: 5 },
+	{ pid: 0x11, name: "throttle.position", frequency: 5 },
+	{ pid: 0x1f, name: "running.time", frequency: 1 },
+	{ pid: 0x27, name: "fuel.level", frequency: 1 },
+	{ pid: 0x33, name: "barometric.pressure", frequency: 1 },
+	{ pid: 0x4c, name: "commanded.throttle.position", frequency: 1 },
+	{ pid: 0x52, name: "ethanol.fuel.percentage", frequency: 1 },
+	{ pid: 0x5a, name: "accelerator.pedal.position", frequency: 5 },
+	{ pid: 0x5c, name: "engine.oil.temperature", frequency: 1 },
+	{ pid: 0x63, name: "engine.torque", frequency: 1 },
+};
+ */
+
+/* Public: Check if a request is an OBD-II PID request.
+ *
+ * Returns true if the request is a mode 1	request and it has a 1 byte PID.
+ */
+bool isObd2Request(DiagnosticRequest* request);
+
+/* Public: 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).
+ */
+float handleObd2Pid(const DiagnosticResponse* response, float parsedPayload);
+
+/*
+ * Object to handle obd2 session with pre-scan of supported pid
+ * then request them regularly
+ */
+class Obd2Handler_c {
+	private:
+		/*
+		* Pre-defined OBD-II PIDs to query for if supported by the vehicle.
+		*/
+		const Obd2Pid OBD2_PIDS[] = {
+			{ pid: 0x04, name: "obd2.engine.load", min:0, max: 100, unit: POURCENT, frequency: 5, supported: false },
+			{ pid: 0x05, name: "obd2.engine.coolant.temperature", min: -40, max: 215, unit: DEGREES_CELSIUS, frequency: 1, supported: false },
+			{ pid: 0x0a, name: "obd2.fuel.pressure", min: 0, max: 765, unit: KPA, frequency: 1, supported: false },
+			{ pid: 0x0b, name: "obd2.intake.manifold.pressure", min: 0, max: 255, unit: KPA, frequency: 1, supported: false },
+			{ pid: 0x0c, name: "obd2.engine.speed", min: 0, max: 16383, unit: RPM, frequency: 5, supported: false },
+			{ pid: 0x0d, name: "obd2.vehicle.speed", min: 0, max: 255, unit: KM_H, frequency: 5, supported: false },
+			{ pid: 0x0f, name: "obd2.intake.air.temperature", min: -40, max:215, unit: DEGREES_CELSIUS, frequency: 1, supported: false },
+			{ pid: 0x10, name: "obd2.mass.airflow", min: 0, max: 655, unit: GRAMS_SEC, frequency: 5, supported: false },
+			{ pid: 0x11, name: "obd2.throttle.position", min: 0, max: 100, unit: POURCENT, frequency: 5, supported: false },
+			{ pid: 0x1f, name: "obd2.running.time", min: 0, max: 65535, unit: SECONDS, frequency: 1, supported: false },
+			{ pid: 0x2d, name: "obd2.EGR.error", min: -100, max: 99, unit: POURCENT, frequency: 0, supported: false },
+			{ pid: 0x2f, name: "obd2.fuel.level", min: 0, max: 100, unit: POURCENT, frequency: 1, supported: false },
+			{ pid: 0x33, name: "obd2.barometric.pressure", min: 0, max: 255, unit: KPA, frequency: 1, supported: false },
+			{ pid: 0x4c, name: "obd2.commanded.throttle.position", min: 0, max: 100, unit: POURCENT, frequency: 1, supported: false },
+			{ pid: 0x52, name: "obd2.ethanol.fuel.percentage", min: 0, max: 100, unit: POURCENT, frequency: 1, supported: false },
+			{ pid: 0x5a, name: "obd2.accelerator.pedal.position", min: 0, max: 100, unit: POURCENT, frequency: 5, supported: false },
+			{ pid: 0x5b, name: "obd2.hybrid.battery-pack.remaining.life", min: 0, max: 100, unit: POURCENT, frequency: 5, supported: false },
+			{ pid: 0x5c, name: "obd2.engine.oil.temperature",min: -40, max: 210, unit: DEGREES_CELSIUS, frequency: 1, supported: false },
+			{ pid: 0x63, name: "obd2.engine.torque", min: 0, max: 65535, unit: NM, frequency: 1, supported: false },
+		};
+
+		public:
+			Obd2Handler_c();
+			
+			bool isObd2Request(request);
+}
diff --git a/src/timer.h b/src/timer.h
new file mode 100644
index 0000000..76eb51d
--- /dev/null
+++ b/src/timer.h
@@ -0,0 +1,33 @@
+/*
+ * 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
+
+//typedef unsigned long (*TimeFunction)();
+
+/* Public: A frequency counting clock.
+ *
+ * frequency - the clock frequency in Hz.
+ * last_time - the last time (in milliseconds since startup) that the clock
+ *	ticked.
+ * time_function - a function returning current time in ms
+ */
+typedef struct {
+		float frequency;
+		unsigned long lastTick;
+		TimeFunction timeFunction;
+} FrequencyClock;