Index: sources/canbus/caninterface.cpp
===================================================================
diff -u -rfeb3423b373dc2a2c4267ef9fcb4d924d738423d -re1605219ac2baf49ef21d0889f845ac53d59c3c1
--- sources/canbus/caninterface.cpp	(.../caninterface.cpp)	(revision feb3423b373dc2a2c4267ef9fcb4d924d738423d)
+++ sources/canbus/caninterface.cpp	(.../caninterface.cpp)	(revision e1605219ac2baf49ef21d0889f845ac53d59c3c1)
@@ -15,17 +15,16 @@
 
 // Qt
 #include <QDebug>
+#include <QApplication>
 
 // Project
 #include "logger.h"
 #include "frameinterface.h"
+#include "messageglobals.h"
 
 // namespace
 using namespace Can;
 
-// Singleton
-SINGLETON_INIT(CanInterface)
-
 /*!
  * \brief Caninterface Constructor
  * \param parent object
@@ -39,32 +38,47 @@
  */
 bool CanInterface::init()
 {
-    QString mError;
-    _canDevice = QCanBus::instance()->createDevice(_canType, _canInterface, &mError);
-    if (!_canDevice) {
-        status(tr("Device Creation"), mError);
-        LOG_ERROR(status());
-        return false;
-    }
 
-    _numberFramesWritten = 0;
+    // This is required for Signal/Slots in threading.
+    qRegisterMetaType<QCanBusFrame>("QCanBusFrame");
 
+    // runs in main thread
+    Q_ASSERT_X(QThread::currentThread() == qApp->thread() , "_CanInterface::init", "The Class initialization must be done in Main Thread" );
+    _CanFrame_Thread.setObjectName("CAN Frame Thread");
+    connect(qApp, &QApplication::aboutToQuit, this, &CanInterface::quit);
+    _CanFrame_Thread.start();
+    moveToThread(&_CanFrame_Thread);
+
+    if ( ! createDevice() ) return false;
+    if ( ! checkDevice () ) return false;
+
+    _numberFramesWritten = 0;
     initConnections();
 
-    if (!_canDevice->connectDevice()) {
-        status(tr("Connection"));
-        LOG_ERROR(status());
-        delete _canDevice;
-        _canDevice = nullptr;
-        return false;
-    }
     status(tr("Connected"));
     LOG_EVENT(QObject::tr("CanInterface Initialized"));
     LOG_EVENT(status());
     return true;
 }
 
 /*!
+ * \brief   CanInterface quit
+ * \details Quit the CANBUS Interface by disconnecting the bus and device.
+ */
+void CanInterface::quit()
+{
+    deleteDevice();
+
+    // runs in Logger thread
+    moveToThread(qApp->thread());
+
+    // runs in main thread
+    _CanFrame_Thread.quit();
+    _CanFrame_Thread.wait();
+
+}
+
+/*!
  * \brief   CanInterface status
  * \details CanInterface status description
  * \return  The current stores status
@@ -92,11 +106,59 @@
                 this      , SLOT  (onFrameWrittern(qint64)));
 
     }
-    connect(_FrameInterface, SIGNAL(didFrameTransmit(QCanBusFrame)),
-            this           ,   SLOT( onFrameTransmit(QCanBusFrame)));
+    connect(&_FrameInterface, SIGNAL(didFrameTransmit(QCanBusFrame)),
+            this            ,   SLOT( onFrameTransmit(QCanBusFrame)));
 }
 
 /*!
+ * \brief   CanInterface::createDevice
+ * \details Creates the CANBus device
+ * \return  false if can't create the device
+ */
+bool CanInterface::createDevice()
+{
+    QString mError;
+    _canDevice = QCanBus::instance()->createDevice(_canType, _canInterface, &mError);
+    if (!_canDevice) {
+        status(tr("Device Creation"), mError);
+        LOG_ERROR(status());
+        return false;
+    }
+    return true;
+}
+
+/*!
+ * \brief   CanInterface::checkDevice
+ * \details Checks if the device has been connected.
+ * \return
+ */
+bool CanInterface::checkDevice()
+{
+    if (!_canDevice->connectDevice()) {
+        status(tr("Connection"));
+        LOG_ERROR(status());
+        delete _canDevice;
+        _canDevice = nullptr;
+        return false;
+    }
+    return true;
+}
+
+/*!
+ * \brief   CanInterface::deleteDevice
+ * \details Disconnect the CANBus device and deletes the pointer
+ */
+void CanInterface::deleteDevice()
+{
+    if (!_canDevice)
+        return;
+    _canDevice->disconnectDevice();
+    delete _canDevice;
+    _canDevice = nullptr;
+    status(tr("Disconnected"));
+}
+
+/*!
  * \brief   CanInterface status
  * \details Sets the Can interface status description
  * \param   vDescription - Description about the CANBUS Interface errors
@@ -159,22 +221,6 @@
 }
 
 /*!
- * \brief   CanInterface quit
- * \details Quit the CANBUS Interface by disconnecting the bus and device.
- */
-void CanInterface::quit()
-{
-    if (!_canDevice)
-        return;
-
-    _canDevice->disconnectDevice();
-    delete _canDevice;
-    _canDevice = nullptr;
-
-    status(tr("Disconnected"));
-}
-
-/*!
  * \brief   frameFlags
  * \details CANBUS message frame type as flags
  * \param   vFrame - CANBUS message frame
@@ -237,10 +283,10 @@
 {
     if (!_canDevice)
         return;
-
     while (_canDevice->framesAvailable()) {
-        // qDebug() << "framesAvailable : " << _canDevice->framesAvailable();
+        //int i = _canDevice->framesAvailable();
         const QCanBusFrame frame = _canDevice->readFrame();
+        //qDebug() << "frame: #" << i << frame.toString();
         consoleOut(frame);
         emit didFrameReceive(frame);
     }